*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 fAggregate::initialize lineCaptureHoming:InitialDivePInitialize.1Q Initialize.qQInitialize.I? ?ɚ?i?I?i?)?B?#Will construct direction to contact in vehicle frame from tetrahedron phase data.=%0got command restart logsO?<JB^JBVJBCJ?BJB} :JBB9JB4J?B ?I?Will construct direction to contact in vehicle frame from tetrahedron phase data.\Lw,4uA6կ@Y6@6 o<96<ڃ>y6H?`?4?@u̿@;YL??ɨ6կ@6ꩉ;6~CyRaR ~#~& ~*)$I#i#&) % ()*II@9٢e^= eD=9mmQ m>iq uG٣qyu > bBottom track data is 3.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config;49ک?;4YM i>99I?>3<L@v;4 |B!l}l}HBl}L=1Q}l8HI̒8 ɚ5i1I5r(:i1)=AjH<bH<H>IC I/DIM=IN=&I.I6Iq<:IFBI}CJIyRIyZI}N=bI}O=jI}a6]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiYGP=BO> n$?I hzSw,NuA2@Y2@2tD92>y2H?`?Aǿ `?ѿ}?r?@%?ɨ2@2&;0yBvBIJ(IJ%9٢nW nS=9rj{Q r>pt vG٣tyvZ< v> bBottom track data is 3.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from configx%;49z߯?%;4Yz[ iz>-8)-9-TT-?z ?z;zd@z x;4Q UBYlilililizlq =HI ɚ@iIQ;i)Will construct direction to contact in vehicle frame from tetrahedron phase data.zK&(KKKK'KG-02=B9OM=e Will construct direction to contact in vehicle frame from tetrahedron phase data.JY J] AAfYw,huhuAU@YKd@G߼90>yH`;??ɿ@@P? ѿ@Gߛ? ?@ ?ɨU@;|C yIyyޕxޕ4á         @ @ @  @ {Gz?I +?Mb?#<94=? )IMb@Mb@Mb@i vwB)IBykBI%}I%9٢U(I= U=9UnQ U>YY ]G٣Yy*< > bBottom track data is 4.1 s old, using for 20.0 s. Nusing accuracyPremultiplier from config;49?;4Y* iS>89T?1?p<1@Bz;4 rBްEllllzly 隅#HI ɚӷiI^;i)Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I C I aDI =I Q=&I .I MD6I 5<:I FD Ń:"G 4=G p=G 7:B O >`w,IuA6m@Y6}@696ny>y6H`F?@f?;%Ŀ@f?ǿz?j? i?ɨ6m@6NJ;6{Cy^w^4IjIj9٢    =9 Q  ? G٣Will construct direction to contact in vehicle frame from tetrahedron phase data.y=~'< =? UbBottom track data is 4.4 s old, using for 20.0 s. UNusing accuracyPremultiplier from configA};49E?};4YE iE>}8y}9 D?EE?ED;E@EF{;4 BllllzlJJNJGJJJ!9Jc4JJ :a%J:a-J:a-J:a-1 9=IHI9 9ɚ=i9IE;iA)qDQ iIi) Eeq:Will construct direction to contact in vehicle frame from tetrahedron phase data.zK% KK% #9K! K% (K%   %()),-,($#G} }:B O5 >$gw,uAyޕޕ+1IgIK:٢<%;  0=9 Q  >QY ]G٣Yy] ]> mbBottom track data is 4.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from configa;49eč?;4Ye ie ?8R9?e(f?e1 Will construct direction to contact in vehicle frame from tetrahedron phase data.Lmw,ȷuA6 @Y60@6;96L1=y6H?R?@M?ͅe}?']?`??ɨ6 @6;4yNнRrI^I^6;:٢f fa=9fQ j>jL?jL? jG٣j>Gy %> -bBottom track data is 5.2 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!};49%ʍ?};4Y% i%?}[8*9}3?%~?%3@<%a@%g};4 BllllzlZHqRHuAAH}>I}C I}/DI}M=I}P=&Iy.Iy6I}:<:I}F hHI ɚηiID]:Em=GBO<>]Will construct direction to contact in vehicle frame from tetrahedron phase data.J]_J]QJYJYJ] :J]-.9JYJYJ]:J]:J](5:J]+5: m o$?Ii ) = ېCM }Ge5tw,uA6Ok@Y6z@6o96=y6H@L1?`N?Tժ $b?Q?@Q??ɨ6Ok@6;6|CyNؽN^IVϠIVTX:~`wA =sY=`wAyEA٢Um ]F=9]\=Q ]>aa eG٣ayef[ m>Will construct direction to contact in vehicle frame from tetrahedron phase data. bBottom track data is 5.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from configi;49mэ?;4Ym im/?18 91;?mʍ?mDlHI ɚiIq;m Will construct direction to contact in vehicle frame from tetrahedron phase data.dzw,tuA |I|=dž@Y=@=㢃;9=W>y=H^?g?@`N?@ſYtp N? K?ɨ=dž@= Z;=}CyޕyޕG) A = = == ==  = } } rh/$?RQȿ}C }<}B y)yY}Zd;O?J +?v/y}j<=}=}x}B }B)}ӆBI}̌B}y}щBII9٢Z= $=9* G٣y=]i => ENusing accuracyPremultiplier from configAM;49E}֍?M;4YE iEG$?MT:M >U;U?U?E?E;E;E;4Y ]BaWill construct direction to contact in vehicle frame from tetrahedron phase data.lqlllzl]% >]% >]%+D?]%@q quQHIy yɚ}oRiI \Ii ImHDIm=Ii&Ii.ImLD6Im<:ImFE >G B O >Fw,WvAWill construct direction to contact in vehicle frame from tetrahedron phase data.::\@Y:k@:9:K>y:H`ؑ? ?@ɿY= (? п>t?6?0?ɨ::\@:;:~Cy~~$I CI (9J%bJ%NJ%DJ!J%:J%!9J%4J!J% ;J% ;J%:J%:٢H > |=9Q  ? G٣y  ? Nusing accuracyPremultiplier from config;49ٍ?;4Y i?j???::;41 5tB9lIlIlIlIzlQ]A]A]A]E@ 隝$HI ɚiI2tGB)OEQ>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK[LKX9KK*Kpw, 5vA2g@Y2@2Us92>y2H`AA EG٣E>GyMX= M> UNusing accuracyPremultiplier from configQ;49Ufݍ?;4YU1 iU5?T??U?U^GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,9vA6|@Y6ҋ@6R96>y6H9?f?`x%ſ 5Sg?3ʿ J?@?}?ɨ6|@6Gό;6}CH%>I! I%CI%JK=I%Q=&I!.I!6I%^<:I%F=Will construct direction to contact in vehicle frame from tetrahedron phase data.ym(miIdI:JEyJEWJEFJAJE]:JEG9JE4JAJE;JE;JE'`:JE)`:٢U ]=9]&Q ]>aa eG٣aye< m> Nusing accuracyPremultiplier from configi;49m㍜?;4Ym imN ???m?m1:DU ? I DE !: Will construct direction to contact in vehicle frame from tetrahedron phase data.Em4>zK/KK9KK+KGaBiO?w,0YvA2ͭ@Y2ܴ@2$H6=92qC>y2H@?? p?@U¿Ǧ@Ғ??ɨ2ͭ@2h;0ɸ8:GwA:ƽi:ssFGwA)>ƽ IEV> ]@] ]@ @  @ ]`"޿Zd;?p= ףп]]?] Y)YI]Mb@Mb@Mb@i]‰]©]] ] yB)]I]]y] yBIID:H=>I=C I=DI=s=I9&I9.I=MD6I=<:I=FBICJICRIГCZIQ=bIQ=jIг5٢% <9Ș=Q R> G٣>Gyͼ R> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config;498ꍜ?;4Y i>+:;???B0=eb?;4 yBlAlAlAlAzlA}Will construct direction to contact in vehicle frame from tetrahedron phase data.Y eA,>隭2HI IXf ɚ;iI½"EE=-Will construct direction to contact in vehicle frame from tetrahedron phase data.Ee>GmsAGmrAzKJ3KK9KK,KG B O ?w,qvA: @Y:[/@:˽9:U>y:H@ZM?z?@ʿT|F?p?{l? &?ɨ: @:D/;:C)xIx~D| | i  i!)! !I! Q)YYYYquGwAiqIqqIqi}wA yy)yρ Ёρρω  I ) iyH)! !ILIH:٢: =9Q  >    G٣ y > bBottom track data is 1.4 s old, using for 20.0 s. %Nusing accuracyPremultiplier from configm;49?u;4Y i>u :y}];}>}?K?}K<?;4 xBllalalizli}Will construct direction to contact in vehicle frame from tetrahedron phase data. =I 1ɚ5ri1I5 p$?IGBO >6w,.y6H?@?п@`?`#?I??@ ?ɨ6q@6`2;6}CnWill construct direction to contact in vehicle frame from tetrahedron phase data.y}}IIdI9٢ Y=9#Q > G٣>GyO > UbBottom track data is 1.8 s old, using for 20.0 s. UNusing accuracyPremultiplier from config ];49 P?];4Y  i >]9Ye3;e>e? ? W1<  ? ;4 BذEllllzl H->I-C I-aDI-=I-F=&I).I-KD6I-0<:I-}F RHI ɚːiIXG B O > I w,0vAyޝ}ƽޝtIϰI:٢e$ eD=9Q > G٣y > bBottom track data is 2.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.m;49 ?m;4YJ i>u9qu;qu??d<7@;4y BzKQJK9KK-KDvLI2 wV=$ ~obllllyzl cHI ɚ"iIXw:E rAE rAE W>G ?G > Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,vAJ0J2OJ2EJ0J0J2%9J24J0 AIA@Yi%@9y=yHz?;?@a麿:?`9B ƹ?$?@?ɨ@! ;~Cym̽mzġ         @ @% %@%  %@% \(\?q= ףpͿDl鿹>kOM )IMb@Mb@Mb@i ,yB)iBIyBI=(I=C9٢k =97>Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.1 5G٣9y=Dۼ => bBottom track data is 2.7 s old, using for 20.0 s. Nusing accuracyPremultiplier from configI;49M?;4YM iMD>9:k>?M?M:m fHIi q ɚu ɸiq Iu I5 C I5 DI5 s=I5 N=&I1 .I5 HD6I5 T<:I5 FD u:E =GY Bi O >)w,%wA60@Y68@@6K96N=y6H??7@%?@v |?H??ɨ60@6~;6|Cy=Ƚ=vImkI6:-Will construct direction to contact in vehicle frame from tetrahedron phase data.٢e'; e=9m:Q m?qq uG٣u>Gy} ;< }? EbBottom track data is 3.0 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAM;49E?M;4YE iE5>Uo9QU:U4>U?E?E7%;EC@E:;4 B IllllzlQ Y]dHIY Yɚ]"߸iYIeImY> zYvAy9 B Will construct direction to contact in vehicle frame from tetrahedron phase data.E p=zK NK u9K K .K XOGA<6,(#    BK rA:K qAG B O >)ǝw,UwA2=@Y2@2R92%3)>y2H ~?@? T¿U^?@﷿R? ??ɨ2=@2;2}CyNNNIjLIjk(:٢C-= ]=9+Q >I MG٣IyU+ U> ]bBottom track data is 3.4 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQe;49U?e;4YU iUf>B9:>?U2?UsTHI ɚiI=i)JJNJJJJ!9JJDVs:Ea=GrAG IGBO>=͝w,7wA "Will construct direction to contact in vehicle frame from tetrahedron phase data.:N @Y:@:-(9:!؉>y:H?5?3ʿ`mx?` Rƿ-???>?ɨ:N @:ø;:|CyNH3R{IZC$IZ:٢a= %X=9%)) -G٣)y-Xa -> }bBottom track data is 3.8 s old, using for 20.0 s. }Nusing accuracyPremultiplier from config1;495?;4Y5 i5G>9z:>?5{?5q';5q@5k;4 uBllllzl 隕,HI ɚiIO=i)jHQbHU<He>Ia IeHDIe=IeS=&Ia.Ia6Ieڱ<:IeFD},r:EM&>GABIOm5>Will construct direction to contact in vehicle frame from tetrahedron phase data. I s%ԝw, dQwA6c@Y6r@6D;96P>y6H@CV?j?Bȿ6?@?Ϳr??ɨ6c@6x;6CyNlRIZIZ9٢= L=9=Q >    G٣ >Gy>< > bBottom track data is 4.2 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config%<49 ?%<4YI i'>-8)-J:-(?-?k?N;Z@<4y }fByllllzl9 Eħ0>EHIA AɚEGiAIM=iI)2DrA*DrAmWill construct direction to contact in vehicle frame from tetrahedron phase data.Du q:zK] nMK]9KYK]/K]) EUU#>G1BAOe> Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J% `J% RJ% DJ! J% :J% S29J% 4J! Qڝw,0IkwA !I!_@Y@<9u>yH.??"ÿ@ɐ??ʿ`PR??ɨ_@q;;騡y|Lá         @ @ @  @ K?(\ҿ{Gz?^:?zף> )IMb@Mb@Mb@i pB)IByBI-TI-*9٢=!< = =9EWAI MG٣IyM< M> ]bBottom track data is 4.7 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQ<49Uw?<4YUe iU=8$:f??U?U7GBO>HM >II  IM DIM s=IM T=&II .IM ID6IM <<:IM qF7w, wA2{@Y2IJ@2X92X->y2H?@.?O I;BSIJIJB:٢= ==9EܽQ E?AA EG٣AyM; M? bBottom track data is 5.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from configQ<49UO?<4YU iU=8:9>?U?U4.HI ɚiI.=i!)!D2n: q$?IEMy 1>G) B1 OU >m Will construct direction to contact in vehicle frame from tetrahedron phase data.zK KK K K 0K    `w,wA2ī@Y2Բ@292=y2H@Ӕ?R?@(|m?@|?(?`?ɨ2ī@2ĉ;2{CyB^BIJ#IJ.:٢=g =J=9E{AA EG٣M>GyM; M> bBottom track data is 5.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configQ<49U?<4YUV iUI=89#> ?U@U1%7HI! !ɚ%mJi!I%t $=ii)qDMl:Will construct direction to contact in vehicle frame from tetrahedron phase data.E Q3(>GB O%M>JɄK̈́74 K̈́g/KɄKɄ"KɄJ9J=PJ=CJ9J9J=*9J=4J9 Iii>Iw,иwAWill construct direction to contact in vehicle frame from tetrahedron phase data.y~`~ I 0I 9٢Uh ]9=9]Q ]>aa eG٣aye m> bBottom track data is 5.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from configi<49m?<4Ym im;[89?m@m{W;m@m<4H>I IaDI=IO=&I.IHD6IO<:IFBICJICRI•CZIO=bIO=jI¨61 11llllzl 8HI ɚSiI+=i)DEj:Will construct direction to contact in vehicle frame from tetrahedron phase data.Ee 6%> I Ga Bq O >rw,wA6j;@Y6J@6=96!]>y6Hཎ?M?.ӡ@B?ǿz? G٣y] ]> mbBottom track data is 6.2 s old, using for 20.0 s. mNusing accuracyPremultiplier from configau<49em?u<4Ye ie0u18q9>?e@e4隍HI ɚwiIK2=i)5Will construct direction to contact in vehicle frame from tetrahedron phase data.Di:Em+>GABIOm5>zKe^LK@9KK1K Will construct direction to contact in vehicle frame from tetrahedron phase data. i w,wA @I@b/%@Ybz4@b3׼9b{>ybHO?w? ʿl(?@Wſ?N? ?ɨb/%@bSs;b}CyzP㼙zƋá         @ @ @  @ Cl?~jt?Dl;=D>O )IMb@Mb@Mb@i zB)IByGBIxI9٢M #=9HQ >   G٣ >Gy   > bBottom track data is 6.7 s old, using for 20.0 s. Nusing accuracyPremultiplier from confige<49}"?e<4Yg ie8aee9e>m?/ @/<Q@D<4q umBqllllzly }'>隅HI ɚpiI:=i)5Will construct direction to contact in vehicle frame from tetrahedron phase data.D h:) H>IC IDI#>IJ=&I.IED6Ic<:IyFE a->G B O >w,]xA6[0@Y6?@696%>y6H@?u?H?@ߒϿ`?Sÿgw???ɨ6[0@6Bl;4y~v~[%IgI9Will construct direction to contact in vehicle frame from tetrahedron phase data.٢ x=93Q ? G٣y== ? bBottom track data is 7.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%<49%?%<4Y iFĽ%7!%99%>%? @_3<@<41 uBqllllJJSJDJJJy69J4JJ:aJ:aJ~C:aJC:azlB*** querying acoustic contact ***jj qIq IN>隕CHI ɚiI>=i)Dmf:EEQ3(>GB)OEQ>M Will construct direction to contact in vehicle frame from tetrahedron phase data. U 2Acoustic response timeoutU Querying Benthos address 50 with one ping in standard two-way mode.zK MKK #9K K 2K w,9 xAynynLIv1Iv9٢=' =U=9=Q E>AA EG٣AyM M> }bBottom track data is 7.4 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configQ<49U)?<4YUU iU579?Uo@U;U@U <4 Bllllzl! %!>-SHI) )ɚ-@i)I-D;D=iY)aDMe:Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:1598> BDAT read: Tx time:21:10:55.8652 $Ping request sent.GQBaO}>e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245015 w,S:xAj@Yjج@jZ9j >yjH?#?RǿL?_\`k7?s?@u?ɨj@j*9;hyHQfI%I%+:٢5Xʼ 5G=9=Q ]>Ya eG٣e>Gyer2 e> ubBottom track data is 7.8 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi<49m.?<4Ym imm(78>?m@m!;mG@m\<4 Bllllzl) -BU>-]HI) 1ɚ5aƷiQIU{I=iY)YHd>IC IDIM>IP=&I"D.ICD6I<:IFD5d:E=H!>GBO%>iIi>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495740J^JTJCJJ} :J:9J4JJ :J:JJ:JJ: 1 I1 ) E ~G] tAq 7"Y tAy &Bw,2TxAF@YFϤ@F9F$>yFH@5[?@@?ſ 8k?g?w? D}?ɨF@F;F~CyNRUIZIZ&:٢fM< fQ=9f4=Q j>hh jG٣hy~۪ ~>  bBottom track data is 8.2 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config <49 2?<4Yq iMw78>?@%;bA<4A EBEҰElQlylylyzly +>隥VHI ɚiI AO=i)DQc:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747335zK=/KK=9K9K=3K=E!>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002501 ! I) Sw,nxAF@YF@F9F@j>yFH$?BY?ƿ?oF¿? {?`'?ɨF@Fy;F|Cy^bIġ        ^I +?{GzMb?X9?ף= )YCl?)\(S?y>Ga/]>B J~B)ڀBIy=BIIX :٢#,< 7=93=Q > G٣y%= %> -Nusing accuracyPremultiplier from config)U<49-0:?U<4Y- i-ܽ]T:]#>]:]]?-%@-;- ;-<4a eBallllzl]>]>]s D@]M@  8>RHI ɚJiIuV=i)Da:Ejb+>GBO@>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251166HuS>IuC IuDIu">IuN=&Iq.IuAD6IuX<:IuRF!w,)xA6+@Y6v@6\$[96@g>y6H )?4?}ȿ 0`?A. 3a?? $?ɨ6+@6;4yRRIZIZw:٢r= v`=9v3wQ v>xx zG٣z>Gyz; ~> -Nusing accuracyPremultiplier from config!5<49%@?5<4Y% i%O׼15]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.503124e?%H/@%<%<%%<4i mqBqllllzl]]]]JS@ (N,>%&HI! !ɚ%i)I-3\=i1)12D9*D=qAJe`JaJeAJaJe:JaJe4JaJe:Je:JeJ:Ja r$?ID5&`:E ->GiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755014(w,ˡxA2ݤ@Y2(@2a}ɽ92ye>y2H@o??̿f'? GF%?N? ?ɨ2ݤ@2fH;2{CzK> KK>ж9K<K>4K>yNKKRIZIZ :٢b bL=9fQ f>dh jG٣hyjN z> Nusing accuracyPremultiplier from config|<49~G? <4Y~u i~$=   ?~q9@~:~7:~2<41 =wB9lIlIlIlQzlQ]]]](@ >隥2HI ɚGiIha=i)D_:EE*E"EuWill construct direction to contact in vehicle frame from tetrahedron phase data.qiuAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.010120 IGB!O=r> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2591327.w,xA6@Y6+@6ն96?݃>y6HW?@g?Hο j'?@\Ҷ?xx ~G٣y< > %Nusing accuracyPremultiplier from config!-<49%(O?-<4Y%& i%k&>15Ȃ5?%C@%X:!%=A<4]`B eBeӰEllllzl]]]] @HK>I C IDIw>IT=&I.I@D6Ix<:IbF 5r7*>5>HI1 1ɚ=Cʷi9I=g=i9)AD-y]:G BO- >}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512403Ju_JuRJqJqJu :JuS29JqJqJu:Ju:JuR<: IYfJuT<:Q5w,|xA2@Y2̰@2592O >y2HH6? ? Hɿ<?@dÿ O??S?ɨ2@2;2~CyNnRIZIZ9٢X; %G=9%=Q %>)) -G٣)y-ɶ 5> ]Nusing accuracyPremultiplier from config1e<495V?e<4Y5 i5)>amʂm?5N@5T:5:5pO<4q u~BuаEllllzl]]]]=@ ;>;HI !ɚ%i!I%mm=i!))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763629D +\:GYG]sAG)B1OM>zK}.JKyKyK}5K}RK?JK> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018628 I I;w,qUxAynntġ @ @ @  @ -?㥛 ?w/??5>>> )IMb@Mb@Mb@i‰©  yB)BIyBI(I:٢ ?  <=95Q 5>99 =G٣=>Gy= E> MbBottom track data is 0.4 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAu<49Eo^?u<4YE iE}>u+:q}:y}?E/Z@E;E>E[<4 Bllllzl @HI  ɚ Li I5t=i1)9D-Z:GABIOe4>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267074HV>IC IDI6>IS=&I.IAD6I<:IFBICJICRIZIP=bIP=jI{63Bw,; yA @2Gx@Y2@2w@92j}>y2HQ?`?ʿ?N@?Q??ɨ2Gx@2G;2}CyNhh jG٣hyݽ > %bBottom track data is 0.8 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-<49d?-<4Yj i>5 :1=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519303U:UU?c@;N?Ed<4Y ]xBallllzl /HI ɚ|iITz=i s$?I)D ZY:E5oE->G=>G= ?G BO5>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:10:59.1829 TRx dataTimestamp_ set to:1736370660.436797checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772243[Hw,#yA2@Y2O,@292#z>y2H ?` ? п A=? ???ɨ2@2o;2~CyN̼N{zKn>KKn}9KlKn6KnIZIZ"9٢P= E=9)VQ %>!! %G٣!y-J= -> UbBottom track data is 1.2 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from config1]<495Ek?e<4Y5  i5?e9aes:ee?5m@5*;5X?5k<4i umBqllllzl  >HI ɚiI=i)D:X:E4>MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.023452GB I O*>JAJEPJEDJAJAJE*9JE4JAaU@aU@aU@aU@ Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 21:10:59.1829 LVL= 32752, 32753, 25266, 32755, AGC= 74, IDX= 118,-0.17, 0.976, 0.625, 2.388, 1.536, PHS=-0.472,-0.864, 0.850, RAW= 197.4, 6.3, CAL= 198.0, -2.0, ROT= 312.0, 2.0 = Ygot valid direction response: 21:10:59.1829 LVL= 32752, 32753, 25266, 32755, AGC= 74, IDX= 118,-0.17, 0.976, 0.625, 2.388, 1.536, PHS=-0.472,-0.864, 0.850, RAW= 197.4, 6.3, CAL= 198.0, -2.0, ROT= 312.0, 2.0 E PDAT read: Bearing 312.0, 2.0 (Local) E ~Local bearing/azimuth received: Bearing 312.0, 2.0 (Local) M DAT read: Range 10 to 50 : 685.0 m (Round-trip 913.4 ms) speed -1.0 m/s Nw,))yOkI-/lI-9٢ B=9Q > G٣>GH;>I C IDIJK>IM=&I.I?D6I<:IFy > bBottom track data is 1.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from config<49Dr?<4Y" i ?9E:?x@=;??r<4A E}BEͰElylylylzlk-T?k-. k) k-B&*-&AN-}vMu-C%Cz+ ߿"k-ŷ*k-lk-/?k- 2k-vé1 5|+%>=:HI9 9ɚ=Ai9I=ୂ=iA)ADV:*E="E=]Will construct direction to contact in vehicle frame from tetrahedron phase data. IE;>GGrAG B O >mUw,VyA2Q@Y2`@2#y92:=y2HC??eο`ץg\?`ָ??l?"?ɨ2Q@2\;2}CyNޔR7IZ>tIZ9٢v# vV=9vQ z>xx zG٣xy~]< ~>  bBottom track data is 2.0 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config <49Zx?<4Y% i=?9:4}?@_;@v<4A EBAlylylylyzly ~=JHI ɚ3ʸiIU=i )9Will construct direction to contact in vehicle frame from tetrahedron phase data.D-rU:E vh5>GBO )>zKKKU9KK7Ku Will construct direction to contact in vehicle frame from tetrahedron phase data. I Jm ^Ji Jm CJi Jm } :Ji Jm 4Ji [w,TpyA>ʧ@Y>^ٮ@>+q9> =y>H>? ?vͿ G??^?;?@?ɨ>ʧ@>ċ;>Cy^E^>ġ         @ @ @  @ Cl?B`"?Mbؿ>َ> )IMb@Mb@Mb@i B)iBIyINI:٢ :=9ێ G٣yq߽ > 5bBottom track data is 2.4 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config =<49 ?=<4Y F) i U_?=o99=:=xE? @ ; @  {<4I MBillllzl | >MHI ɚiIGe=i)BD?:D ?DS:Will construct direction to contact in vehicle frame from tetrahedron phase data.ix>I>H)>I C IEIi>IO=&I.I=D6I<:IFE">GBO>bw,hxyA2(@Y2s@2~B92 >y2H@K?"?a̿v8?N???y$?ɨ2(@2uЊ;2}CyRCRC+IZNBIZ$:٢rP< v]=9zM>Q z>x|Will construct direction to contact in vehicle frame from tetrahedron phase data. %G٣%>Gy% -> 5bBottom track data is 2.8 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)e<49-?e<4Y-|, i-4z?eB9ae9em?-@-;-5@-!~<4 t$?I Bllllzl! %48 >%EHI! !ɚ%i)I-t=i))1D-R:E5rAE5sAv}GE>-vAA }Y}vAyBGBO$>Will construct direction to contact in vehicle frame from tetrahedron phase data.,hw,EdyA6@Y6@696?=>y6H7?-?ౙ̿w?Ӎ?L?D.?ɨ6@6T;6~CyNNh")P PIVIVE:zKz&`KKz59KxKz8Kz٢# < G=9>Q >!! %G٣!y%I -> ubBottom track data is 3.2 s old, using for 20.0 s. }Nusing accuracyPremultiplier from config)}<49-?<4Y-%0 i-E?99e?-@-6-;-EO@-<4bB BΰEllllzl) p0>隕BHI ɚ\ iI=i)%Will construct direction to contact in vehicle frame from tetrahedron phase data.D-P: iIiJ%`J!J%AJ!J%:J!J%4J!E >Ga Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data.nw,-yA6b@Y6@6@ӽ96]>y6H'?@?ͿM?:'`.r?@F??ɨ6b@6c։;6}CHe>IeC Ie@EIe~>IeN=&Ia.Ie   G٣ >Gy :  k>  bBottom track data is 4.0 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config ] <49 C?] <4Y 47 i ?e 8i m 9m m ? @ C< @ <4 yB ˰El l l l zl q q u /HIq y ɚ} iy I} Z=iy ) 2D *D rADN:*E="E=Will construct direction to contact in vehicle frame from tetrahedron phase data.Ee->G9BIOe ?kww,֏yAjA@Yj,Q@jHWý9j^T>yjH\?`? ˿Xw?oa?G B O >ť~w,oyA"Will construct direction to contact in vehicle frame from tetrahedron phase data.H>IC IEIi>IR=&I.I:D6I<:IFy ` á        ~jt?B`"۹?ʡE>=- )Yi|?5?Zd;?Dly?y=O  zB)ITByfBI5I59٢E= *=9Q > G٣y > Nusing accuracyPremultiplier from config<49Y?<4Y= i?T:K?:?ͥ@] ;H;<4aB hBȰEllllzl]5?]5?]5v?@]5S@ 隅HI ɚ4iI[w=i)DK:EE*E"E v$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.G B! OE >1w,DzA2@Y2h@26%92 ^>y2Hq?`}?'ѿ` L?N 3?/?@C?ɨ2@2;2}Cy]]uiyI}Y>ImkIm9٢a {=9VQ  ? G٣?Gy= E? MNusing accuracyPremultiplier from configI<49M?<4YM,A iMu?~?MЬ@M&隵 HI ɚc@iIf=i)DJ:GBOE>zKM]KKMŷ9KIKM:KM  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.*J 4="J a=lw,K 1zAB7@YB9G@Bvn9B X>yBH??ЖӿQcf?? ? !(?q?ɨB7@B55;B{CyN,RIZTIZY9٢vR v\=9zBQ z>AA MG٣IyU > Nusing accuracyPremultiplier from config<49#Ҏ?<4Y+HI ɚLiIT=i)!DI:GB O%,>]Will construct direction to contact in vehicle frame from tetrahedron phase data.H>I I@EI~>I&I.I6Iޱ<:IFBICJI CRIǖCZIO=bIjI!6pw,JzA6$@Y6p @6'[96&9>y6HU? ?\ѿ 8m?@?`#>?F?`?ɨ6$@6Y;6}CyNNIZgIZ : Ew$?IAWill construct direction to contact in vehicle frame from tetrahedron phase data.٢< ==9.=Q > G٣y> > Nusing accuracyPremultiplier from config%<49+厜?%<4YI iw%?)-+-?@L:n:<4JaJSJDJJ:Jy69J4JJ8;aJ:;aJ}C:aJC:a pBl lililizlq]]]]/@ >HI ɚQiI=i!))DG:GGsAGBOI>m Will construct direction to contact in vehicle frame from tetrahedron phase data.EȘw,dzA6Ȥ@Y6׫@696>y6H]??`cɿZ?5?@) ?F?[?ɨ6Ȥ@6'!;6CyBBIN?IN,:٢M = UR=9 ;>Q > G٣y% > Nusing accuracyPremultiplier from config<49?E<4YbN zKUqkKKU9KQKU;KUiK>2?@= =<4]`B ehBe°E =x$?IAllllzlWill construct direction to contact in vehicle frame from tetrahedron phase data.]]]]I@ [:>HI ɚiIN=ia)a2DmsA*DmsAD=3F:E 1>G B O >w,~zAWill construct direction to contact in vehicle frame from tetrahedron phase data.y H>IC I/EIM>IS=&I.I9D6I<:I @ @ @  @  +?333333Sݿv? )IMb@Mb@Mb@i‰© |B)wBIyQzBImMImT:٢}< },=9Q > G٣?Gy > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%<49 ?-<4YS i>-+:)-X:)-?@51<>A<4=cB =gB=ðEllllzl AEHIA AɚAiAIEנ=iI)IDmE: !I!E=8>Will construct direction to contact in vehicle frame from tetrahedron phase data.GB!O=>J4KT4 KKK"KJ_JRJBJJ :JS29J-4JJ:J:JR<:JU<:gڥw,zA6\@Y6@6r96^0>y6Ha??\Ϳ-~ൗ?Pz?jJ?@د?*?ɨ6\@6A;6~CyR켙RInqIn9٢EM Ev=9M5Q M?IQ UG٣Qy]= e ? mbBottom track data is 0.8 s old, using for 20.0 s. mNusing accuracyPremultiplier from configau<49e ?u<4YeV ie= :/:=&?e@e4隍HI ɚiIТ=i)5Will construct direction to contact in vehicle frame from tetrahedron phase data.DC:EUp:>Ge>Ge>zKJK9KK<K'D^owzxmdZQJB:4-)& GI BQ Om > y$?I [f Will construct direction to contact in vehicle frame from tetrahedron phase data.w,gzAJ@YJ쐫@J1I9J >yJH;?`R?@Կ ?k??;?ɨJ@JP;JCy~W~\I I 9٢p= %M=9%Q %>)) -G٣)y-S -> bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config1<495*?<4Y5"[ i5K695 :5 5?5V@5=5?5<4A EeBIllllzl y >HI ɚ i I =iI)QD-TB:E1>GBOF>=Will construct direction to contact in vehicle frame from tetrahedron phase data.H}>I}C I};EI}w>Iy&Iy.Iy6I}3<:I}F_첞w,BzAF@YFa@F 9F!X> PIPyFH@+~?t(?zϿ P?(x`u???ɨF@F%;Dy^^LIf-KIfк9٢v: vN=9v.>Q v>xx zG٣z?Gyn< > -bBottom track data is 1.6 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!5<49%AII IɚIiIIM=J}`J}SJ}DJyJ}:J}y69J}4JyJ}:J}:J}}C:J}C:i) ) }G%`wA=ZA eYm`wAym B?AD!A:E.>GGU Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >"w, zA6Qͤ@Y6ܫ@6A}ֽ96o>y6H x?`_?5ǿ,?Rú? ?w?ɨ6Qͤ@6ʊ;6~CyRu=RCIZx IZ@:٢f= fL=9jw=Q j>hh G٣y %> -bBottom track data is 2.0 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config!5<49%M?<4Y%c i%uվ99/?%@%=%@% <4zKMK9KK=K  NB z$?IllllzlQ Y]GIY Yɚ]iYI]Tª=Will construct direction to contact in vehicle frame from tetrahedron phase data.ձiձi)Dq?:E9>GqByO~>U Will construct direction to contact in vehicle frame from tetrahedron phase data.<w,_ {A2'@Y27@292>y2H ??MȿRig?p~?T??`?]?ɨ2'@2?;0H>IC IaEI>IM=&I.I6I<:IF)q qyލL{=ޕD m m mm mm  m m  m@m u@u u@u  u@u mOn?X9vV-?m>mmh= i)iImMb@Mb@Mb@iiiii muB)m|BIiiym(yBIZTI3:٢@+= =9Q >   G٣ ?Gy "  > bBottom track data is 2.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config<49c?<4Yi i'o99:?@@<#@M<4 }{$?IyaB BBEllllzlWill construct direction to contact in vehicle frame from tetrahedron phase data. i1>GI ɚbiI}ޭ=i)JaJUJCJJ:J>9J4JJ9;J;;JQ:JQ:D- =:EM [A>G!B)OM>t'Ǟw,{AB@YB @B09Bh>yBH ش??˿ _l?@ʪ???@3?ɨB@BĆ;B|Cyny=nSeDWill construct direction to contact in vehicle frame from tetrahedron phase data.I-׆I-`:٢== =m=9EԀQ E? G٣y > bBottom track data is 2.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config<49r?<4Ym iOB9t99?A1<9@"<4 2BElQlQlYlYzlY 隽GI ɚʷiI=i ) D<:E<>GyBO>>zK-؞KK-9K)K->K- qIqWill construct direction to contact in vehicle frame from tetrahedron phase data.P͞w,7{AJ@YJ-@J"9J+>yJH2?`?Ϳ gIq??qB??'?ɨJ@J" ;J}CyZ=^xDIfCIf:٢u< uG=9}=Q }>yy G٣y; > bBottom track data is 3.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config<49?<4Ykr i |9E93?.A~(;R@<4cB 51B1llllzl GI ɚiI=i)A%Will construct direction to contact in vehicle frame from tetrahedron phase data.D-v;:H%>I%C I%zEI%J>I%P=&I!.I%7D6I%ֱ<:I%lFEMk1>G) B9 O] > e |$?Ia  Will construct direction to contact in vehicle frame from tetrahedron phase data.i p>I ]>4Ԟw,Q{A6@Y6˴@6&969>y6Hg? "?@ο ?0?`???ɨ6@6;4y^I=^DIri'Ir9٢e?< eL=9m>$Q u>yy }G٣yG > bBottom track data is 3.7 s old, using for 20.0 s. Nusing accuracyPremultiplier from config<49N?<4Y"w iޔ8 95? A%;l@<41 5.B5ElIlIlIlIzl 隽GI ɚIiIs=i)D 9:E E *E "E =Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>Zfڞw,k{A |I|zK~JK|K|K~?K~RK JK ?mK]@Yml@m)39m0>ymH#?r:?ο@ ?@/?F? Ң?I ?ɨmK]@mƉ;m|Cyޅ=ޅKgDWill construct direction to contact in vehicle frame from tetrahedron phase data.Je`Je\JeDJaJe:Je[9Je4Jaam@am@am@am@         @ @ @  @ !rh?i|?5V-?l'?h> )IMb@Mb@Mb@i zB)Iy{BI%5I%9٢- 5$=95ļQ 5>yy }G٣}?Gy}h > bBottom track data is 4.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config=49G?=4Y| i⯿899?A|1<o@=4 4B1llllzl 隽GI ɚ&iIT=i)D'8:GBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I C I @EI t>I Q=&I .I 6I <:I YFBICJICRIʔCZIQ=bIQ=jI$6Fw,Y{A6N@Y6@6i,96>y6HN?͞? ˿9k?4?h?D?54?ɨ6N@6 ;6}Cy^K=^8DIfIf6:٢}݉= }=9}Will construct direction to contact in vehicle frame from tetrahedron phase data.) pw,;4{A6J@Y6 @6ɫ296VC>y6H@x?`? wʿ`p?@?8?@?Jaa eG٣iym:p m> bBottom track data is 4.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from configq=49uƏ?=4Yux iuֿ88D?uiAu+< ~$?IzKu KKu9KqKu@KuWill construct direction to contact in vehicle frame from tetrahedron phase data.*J C="J %=J J SJ CJ J J y69J 4J w,s{A6W@Y6@6tW96?>y6H@?݉?5ο``?? ܻ???ɨ6W@6;6|CyR>RDIfriIf9٢}< }H=9(Q > G٣?GyD; > bBottom track data is 5.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config=49׏?=4Y i'쿑[88B?A(;@=4 5 B5ElIlIlIlIzlI |GI ɚyɸiIz=i) Will construct direction to contact in vehicle frame from tetrahedron phase data.D-4:H>I IEI>IR=&I.I6D6I<:IRFGBO)> I ]f Will construct direction to contact in vehicle frame from tetrahedron phase data.w,V{A6?@Y6N@6u96K1>y6H?`?+ѿ`#{??p?d?J?ɨ6?@6;6}CyNC>NgDIV_IV9٢=l= =N=9EQ E>AA EG٣AyM< M> bBottom track data is 5.7 s old, using for 20.0 s. Nusing accuracyPremultiplier from configQ=49U#鏜?=4YUl iU18_8<?UJ AU;隽bGI ɚiI\=i) D3:GGrAGBO$>Will construct direction to contact in vehicle frame from tetrahedron phase data.Hw,{A 2$?I0V @YVX@Vҏ9V̕C>yVH@u? m?@ӿNg:?`??X?@/?ɨV @VL;Tyr0>rDzK&`KK}9KKAK M M MM MM  M M  U@U U@U U@U  U@U MDl?Dl?Q?MO>MO >Mu> I)IIMMb@Mb@Mb@iIIII MB)MzBIIIyM(BmWill construct direction to contact in vehicle frame from tetrahedron phase data.I&I9٢Z'= 6=9׹Q > G٣yDQ > bBottom track data is 6.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config=49c?=4Y" i 858; ?w%A;@|=4dB  BEJMbJMWJMFJIJM:JMG9JM4JIllllzl  > OGI  ɚ iIJ=i)BDE?:DE.?D\1:G1B9OUT> Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I @EI b?I Q=&I .I 7D6I <:I Fw,|A2lj@Y2y@2D92?>y2H?`0?ԿR?#?5M???ɨ2lj@2;2~CyBz<>BDIJIJ:٢r#= rl=9rlQ r?tt vG٣v?Gyzq z? bBottom track data is 6.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config|%=49~ ?-=4Y~ i~-7)-8-B-?~r)A~.;~ @~=41 =BAlilililizlq tV>CGI ɚ iI[;=i1)QD5;0: m$?IiG BO- >Will construct direction to contact in vehicle frame from tetrahedron phase data.GvAA EYEvAyEPBu Sending 255 bytes from file Logs/20250108T193415/Express0043.lzmaXw,~ |A6k@Y6{@696D>y6H9?3?տ˖E? ???@?ɨ6k@6O;6CyRHI>RD)T TnWill construct direction to contact in vehicle frame from tetrahedron phase data.IZX;IZN9٢z=< zI=9z8Q z>!! %G٣!y-ƚ -> UbBottom track data is 6.9 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from config1]=495y?]=4Y5R i5 e7ae7eJe?5I.A5;53@5K=4i uBuEllllzl 6GI ɚ%i!I%c=i)))D .: aIaE5mC2>GzKKK9KKBKB)OE>Will construct direction to contact in vehicle frame from tetrahedron phase data.Jm ^Jm TJm CJi Jm } :Jm :9Jm 4Ji w,Nc:|A2@Y2M@292, G>y2H5?@H?@bտ h ?}?b?@x)? j?ɨ2@2;0y>A>>V&EIFqSIF9٢r+> vK=9zmQ >!! %G٣!y-x 5> ]bBottom track data is 7.3 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configYe=49]/?e=4Y] i] m7im7mPm?]3A].';],@]=4q uܑByllllzl FI ɚi I )~=i))1D s-:EQ(>Will construct direction to contact in vehicle frame from tetrahedron phase data.Hu>IuC IuEIu,?IuR=&Iq.Iu6D6Iuʱ<:IuWFGBO> M $?II  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,<2T|Ay~ܔ>~7EI I C9٢%7= -G=9-Q ->11 5G٣5?Gy5 ]> mbBottom track data is 7.7 s old, using for 20.0 s. mNusing accuracyPremultiplier from configau=49e0A?u=4Ye֪ ie(uw77?e7Ae1;eF@e=4cB ΑBEllllzl) )5FI1 1ɚ5Ji9I=ܛ=i9)AxMoved sent file to Logs/20250108T193415/Express0043.lzma.bak$SBD MOMSN=23886227D-A,:E M>GBO$>Will construct direction to contact in vehicle frame from tetrahedron phase data. 9 IA vw, n|A6!š@Y6mԨ@6ڲ96>>y6H?`X?ӿj`M?`t0??`[Q?o?ɨ6!š@6};4yfE>jUE e e ee ee  e e  e@e e@e e@e  e@e e@m eʡE?n? ףp= ?e>eV>eQ8= a)aIeMb@Mb@Mb@iaaaa e)eIaaieI}MI}d9٢.= D=9 G٣y(= > bBottom track data is 8.1 s old, using for 20.0 s. Nusing accuracyPremultiplier from config=49R?=4Y i0H7|7O?G9G9G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.Hu >Iu C Iu EIu M?Iu O=&Iq .Iu 5D6Iu ڱ<:Iu ^Fi >I %!w,C|A2o.@Y2=@292f=y2HK?`'5?Xп/? -? ?@9?@?ɨ2o.@2;2~Cy>F>BZEIJ IJ:٢Vت< VZ=9VT(Q V>XX ZG٣Xy^ = ^> bbBottom track data is 8.5 s old, using for 20.0 s. bNusing accuracyPremultiplier from config`f=49bb?f=4Yb ib 8j"7hjL7jXj?b AAb&;b'Ab?=4l rBplxlxlxl|zly 隝FI ɚ~DiI=i) $?I^fDp):EE*E"E}Will construct direction to contact in vehicle frame from tetrahedron phase data.GqBO~> nManaging dock network, ignoring radio surface power off (w,ǡ|AbWill construct direction to contact in vehicle frame from tetrahedron phase data.y~{>~fpEIII9٢%a= %C=9%Q ->)) -G٣-?Gy5 5> EbBottom track data is 8.9 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9E=49=Hs?M=4Y= i=E@M7IM%7IM?=FA=T&;=A=c=4 BEl!l!l!l)zl)I IUyFIQ QɚUyɷiQIUa=iY)YDm':GABYO}> $?IzKM>KKM9KIKMDKMmWill construct direction to contact in vehicle frame from tetrahedron phase data.g6.w,|AZ9@YZ9I@Z9Z>yZH$?.?`|տ]???C̿?`F?ɨZ9@Zy;ZCyr>rEIbI:٢%> %K=9-OQ 5>19 =G٣9yE8 E> ebBottom track data is 9.3 s old, using for 20.0 s. mNusing accuracyPremultiplier from configQu=49U?}=4YUc iUF67_?UKAU;UvAU=4 BllllzlY ]E=]8FIa aɚeiaIe:=ii)qDM&:G]>G]?Will construct direction to contact in vehicle frame from tetrahedron phase data.H>IC IpFIhq?IJ=&I.I3D6Iձ<:IIFBICJICRIZIbIP=jInX6G1BAO]> I} Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՁ JY J] WJ] FJY JY J] G9J] 4JY J] :am J] :am J] (`:am J] *`:am -5w,|A6.r@Y6z@6Q96;>y6HX?x?ֿ{??0?`2?࿥?ɨ6.r@6/;6~Cy>%;E-8Not Powering down - fast GPSI-i---555 5)5I5i55555 =)=IMIMO9٢]> ]E=9eɽQ e>aa eG٣iymq m> }bBottom track data is 9.7 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configq=49uĔ?=4Yu iu%K66e?uPAu8;uAu=4dB eBEllllzl FI ɚiI}S=i)2D*DD%:GBO >Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I H;w,S|A6}]@Y6l@696h=y6H VO?@8'?IRտF ?MW?@?` ? ?ɨ6}]@6r;6|Cy^?^E } } }} }}  } } }} }A`"?^I +?Eп}?}X9>} y)yY}L7A`尿@5^I ?~jt?y}+}b>}=}5B }B)}kBI}B}y}¦BIPI9٢)> G=9r G٣ ?Gyɻ > Nusing accuracyPremultiplier from config=49W?=4Y iIT:>;;??RA;;=4 EBllllzl]eC?]eC?]4@] ?)=Will construct direction to contact in vehicle frame from tetrahedron phase data. 1EEIA AɚAiAIEv=iI)IzKUuJKU9KQKUEKURKe?JKe?D5#:G BO5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I C I 0FI ?I P=&I #D.I 0D6I ?<:I FG2Bw,]6 }A2T@Y2@2}92;=y2H??`K5? 1Կ_`?q?/?E 9=9:Z=Q > G٣yo< > Nusing accuracyPremultiplier from config=49?=4Y iHr;??UA* ;: ;Z&=4 #Bllllzl]]]]D? g=|EI ɚiI=i)D/":EWill construct direction to contact in vehicle frame from tetrahedron phase data.J%cJ%fJ%GJ!J%:J%9J%c4J!J%;J%;J%ѥ:J%ӥ:E G G sAG B O >[Hw, #}A>N@Y>@>39> e=y>H(?`&F?@ ӿ~?0?ua?@ ?I?ɨ>N@>䋋;<RWill construct direction to contact in vehicle frame from tetrahedron phase data.)I Dii) I )vAiIIi ) I)iy 6? EI-I->":٢ER> EC=9MU;Q U>QY ]G٣Yye; e> -Nusing accuracyPremultiplier from config)5=49-A?5=4Y- i-G15:?5?-XA-:-z:-5=4A EBEElylyllzl]]]]? $EI ɚi )I)I5"=i1)9BDe ?:De>D} :EU>G)BAUWill construct direction to contact in vehicle frame from tetrahedron phase data.Ou>zKJK9KKFKBK:KrA*J- 4="J) Nw,l<}A2P@Y2@292=y2H?[?ӿ`b?@l? Y? D?! ?ɨ2P@2Q;2Cɸ8:vA:Hi:dsF8i<>vA)>G  G٣ ?Gy* > Nusing accuracyPremultiplier from config=49侐?=4Y iF 9? ?ZA';w;A=4 Bl)l)l)l)zl]]]]? DI ɚiIK=i ) Will construct direction to contact in vehicle frame from tetrahedron phase data.H>IC IIFI?IS=&I.I/D6Ir<:IFD^:E=GBOI> $?I)1 5 C ~G .Y y B] Will construct direction to contact in vehicle frame from tetrahedron phase data.JH4K74 K/KK"KJ= `J= XJ9 J9 J= :J= 5K9J9 J9 J= :J= :lUw,V}AJuQg:JuSg::km@Y:|@:[9:ަ=y:H ;k?@?Pӿ@ľ /?@y?>?T? '?ɨ:km@:h;:~CyޝK?ޝ}EI I:٢= J=9עQ > G٣yb2 > Nusing accuracyPremultiplier from config=49fɐ?=4YB iF7??]A::O=4 ̐Bl l llzl])])])]-?I Me=MDII QɚQiQIUfn=iY)YDU5:EQEQ*EY"EYWill construct direction to contact in vehicle frame from tetrahedron phase data.G?G?GBO>  I [w,+p}A6@@Y6PO@6c96=y6HQb??Mӿ @?@h?@V?ֵ?@,?ɨ6@@6;4yX?Fn?&1?Mbp?= )Y333333?V-?&1yY?h>PB B)vmBI%ByBBIDI9٢= F=9(=Q >    G٣ Will construct direction to contact in vehicle frame from tetrahedron phase data.y%L[ %> -Nusing accuracyPremultiplier from config)5=49-搜?5=4Y-4 i-M=#?=/:=E=?-EeA-'!;-;-]=4EcB EBEElYlYlYlYzla]}q?]}q?]}P0@]}^? 隕DI ɚiI=i)2DrA*DrAzKJK 9KKGKD:GaBqO>H >I  I bFI ;?I T=&I .I  Will construct direction to contact in vehicle frame from tetrahedron phase data.6I <:I JFbw,>x}A:&@Y:r@:<9:==y:He;?D?@Yӿv? ?ଉ?~?r?ɨ:&@:;:CyR3k?RFIZ{IZ^9٢bQR> ba=9fZ=Q f>dd jG٣j ?Gyj?ϼ j> rNusing accuracyPremultiplier from configlr=49n[?r=4Yn in@UtvhDz?n lAn*;n*;nj=4| ~B~Ellllzl]1]1]1]5O'?A E=ESDIA IɚIiIIM(=iQ)Q $?IDum:GBO=-Will construct direction to contact in vehicle frame from tetrahedron phase data.JbJRJJJ:JS29JJJ ;J ;JR<:JT<:Өhw, R}A6@Y6ﺥ@6 96K=y6H`?q? ӿpu??`?::??ɨ6@6&;4BWill construct direction to contact in vehicle frame from tetrahedron phase data.yF~?FFIN0INJh:٢f?> fJ=9jll EG٣AyMx M> ]Nusing accuracyPremultiplier from configYe=49]?e=4Y] i] ^aeFm?]sA]z:]X:]Ky=4ueB uhBuEllllzl]]]]w,? DI ɚiI=i)DC:GGrAGBO= I_f5Will construct direction to contact in vehicle frame from tetrahedron phase data.zKE V$KKE 9KA KE HKE  nw,+}A>z@Y>@>99>}=y>H@?? ѿA Ӳ?4?,?#۵?x?ɨ>z@>;>}CyJ?J)FIRfIR29٢ZPW> ZL=9^;Q ^>`` bG٣`yb| f> jNusing accuracyPremultiplier from configdj=49fP8?n=4Yfr ifYflnKn?f{Af2 ;fC ;fʆ=4t vD:HU{>IUC IU{FIU?IUR=&IQ.IQ6IQ:IUFFWill construct direction to contact in vehicle frame from tetrahedron phase data.E= }$?IyGBO5>E Will construct direction to contact in vehicle frame from tetrahedron phase data.5uw,M}AN;@YNK@N,X9N=yNHV-?`)?ѿ &??s?@?@?ɨN;@N;NCyZܓ?Z5FIbKIb9٢j>> jH=9nQ n>lp rG٣r ?Gyrә r> zNusing accuracyPremultiplier from configtz=49vS?~=4Yv iv*o|~O~?vWAv ;v ;v=4dB B El!l!l)l)zl)]A]A]A]ECY*?Q Y]aCIY YɚYiYI]v=ia)aDur:EM=G!B1OM>Will construct direction to contact in vehicle frame from tetrahedron phase data. e $?Ia {w,L}A6g˝@Y6ڤ@696Ȥ=y6H`W?`?)п G@"7?e?`$?of?2?ɨ6g˝@63;6}Cy^Ġ?bEFUy&1?Gzǿn?U`E?Up=UV> Q)QYUX9v? rh/$?yU?UCU>UB UB)UbBIUMBQyUBImImZS9٢p> >=9¼Q > G٣y > Nusing accuracyPremultiplier from config=49>a?=4Y ib\f?*:?A;j;=4fB BllllzlUWill construct direction to contact in vehicle frame from tetrahedron phase data.]>]>]Zu}>]Z@ BI ɚiI=i)zKM>KKIKIKMIKM J}cJ}YJyJyJ}:J}[O9JyJya@a@a@a@D:EE*E"EGQBaO>HU q>IU C IU 0FIU =?IU T=&IQ .IU .D6IU )<:IU [FBICJICRIZIS=bIS=jI5 Will construct direction to contact in vehicle frame from tetrahedron phase data.) ̂w,Q ~A2S@Y2(c@292S=y2H`Oi??Aп@W?g?@Vv?T?-S?ɨ2S@2;2~CyN?R:TFIZIZ9 I٢ /u>  T=9Q > G٣y > 5Nusing accuracyPremultiplier from config)U=49-l?U=4Y-d i-"KY]]?-A-;-p;-=4i mBillllzl]]]],@ 隵BI ɚiI=-=i)D:GBO=eWill construct direction to contact in vehicle frame from tetrahedron phase data.w,0%~ARE@YR-@Rժ9RA=yRH??пh?@(?@0??5?ɨRE@R.;R}CbWill construct direction to contact in vehicle frame from tetrahedron phase data.yf?fbFIvD Iv59٢u9e> uD=9}Q }>yy G٣yZ > Nusing accuracyPremultiplier from config=49x?=4Y iH8?A? ; ;=4 BEllllzl]]]]@  =;BI ɚiI`o=i!))DM: $?I`fG!B1Oe>mWill construct direction to contact in vehicle frame from tetrahedron phase data.zK ؉LK K K JK  J bJ [J IJ J :J W9J F4J !w,t?~A2U@Y2@292"ɼ=y2HK?K?Rѿ@??`h?״?)/?ɨ2U@26;2CyR{?VtFIn HInf9٢ve> vS=9v_:Q z>xx zG٣z ?Gy~h ~> Nusing accuracyPremultiplier from config =49? =4Y i&r?A::=4 LBl1l1l1l1zl9]Q]Q]Q]UJ@i imAIq qɚiI=i)D:GGjHbH<Hm>I IFI@IU=&I.I-D6Io<:IFWill 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.Ձ iՁ w,LY~AfH@YfУ@fv9fG=yfHCX?m?xӿ 6@w?S?l?`׻?@?ɨfH@f1;f}CyrJ?vFI%9I%i@9٢e> E=9D0Q > G٣y$_ > Nusing accuracyPremultiplier from config %=49 d?-=4Y  i \)-ȟ-? 8A ; ʃ; =4MhB MBUElalalalizli]]]]P@ 隥]AI ɚiIL=i)BD ?:D?D2:GBO >Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I af3w,,s~AJ$ۜ@YJp@J.9J>yJH@`?G?ӿξ? ͍?0?`?@&?ɨJ$ۜ@J;JyCyV?VFm> ףp=?p= ף??m>m>mL= i)iYmPn?ktn?ymD?m m>mB mB)iImBiym̙BII^:٢> E=9ۼQ > G٣yh< > Nusing accuracyPremultiplier from config=49Ȓ?=4Y iS?:?A;_;=4 BEllllzl] >] >] @@] bF@ @I !ɚ!i!I%=i)))5Will construct direction to contact in vehicle frame from tetrahedron phase data.D-:JQJQJ]`J]XJ]KJYJ]:J]5K9J](4JYzKu LKu9KqKuKKuRK}?JK} ?EU=GaGe>G)B9OU>Hi>IC I@FIb@IT=&I.I6I<:IF Will construct direction to contact in vehicle frame from tetrahedron phase data.w,~A 4I4y-?-sFIE>IE UO=9UQ U>Ya eG٣e?Gye e> uNusing accuracyPremultiplier from configiu=49m#?}=4YmJ% imf这yy}?mAm;m;mt=4 Bllllzl]]]] @I ɚiIm6=i)DX :pG HY y BEm=GAMWill construct direction to contact in vehicle frame from tetrahedron phase data.BYOu6>~Ew,&~A6ޜ@Y6@6G96C2 >y6HL?:?@~GԿП@,? V?`.?@K??ɨ6ޜ@6e;6}CyB?FFRWill construct direction to contact in vehicle frame from tetrahedron phase data.IN ZU=9^Q ^>`` bG٣`yf: f> jNusing accuracyPremultiplier from confighn>49jQ?n>4Yj* ijʿlrr?jjAj ;j ;j>4t vzBtllllzl])])])]- @A IM#@II IɚQiQIU%N=iY)a2DmsA*DiD=@ :EAEA*EA"EA QIUbfGBOk>UWill construct direction to contact in vehicle frame from tetrahedron phase data.*J a="J p=J J _J J J J =h9J J zKE cKKE 9KA KE LKE BKI :KM qAA.w,~A>4@Y>(@>OZ9>M>y>H-?0?Yӿ @/_? #?@vd?/?$?ɨ>4@> >;>~CyJ:@JbFIVFtIV9٢^W> ^J=9^o=Q b>`` bG٣`yf< f> jNusing accuracyPremultiplier from confighn>49j򜑜?n>4Yj0 ijlrZr?j6Aj ;jC ;j>4vjB vQBvEllllzl]A]A]A]E1@Q QU?IQ YɚYiYI];=ia)aHe>I IFI"@IU=&I.I6IC<:IdFD :GBWill construct direction to contact in vehicle frame from tetrahedron phase data.O= AIAe Will construct direction to contact in vehicle frame from tetrahedron phase data.XWw,̘~A6`@Y6@6)96{x>y6HU?wF? ӿ !??`?9?`$?ɨ6`@6;6}CyBB @B̨FIJeIJ9٢REp> RL=9VtTX ZG٣Z?GyZ< Z> %Nusing accuracyPremultiplier from config%>49?%>4Y6 i)--?A5;P:l">41 5 B9lIlIlQlQzlQ]q]q]q]uЈ@ 隍k?I ɚiI/=i)Df :GiByO=Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 Hw,&s~A2o@Y2@292uN >y2H@?j?@*hӿ@#k?;?}???ɨ2o@2 ;2|CyBB@BiF%+?{Gzi|?5?%v>%#%q> !)!Y%ˡE?kt&1?y%?% 0%>%B !)%FeBI%B!y%BIA*Iu9٢> :=9;Q > G٣ys > Nusing accuracyPremultiplier from config>49o?>4Y9 iS+?:⿿?A9;U;a1>4 Bllll zl Will construct direction to contact in vehicle frame from tetrahedron phase data.]-6>]-6>]-"h@]-r 6@A AE>II IɚIiIIM =iQ)YBDe?:De%?Dm+:zK-+KK-+9K)K-MK-GIBO>Hb>IC IFI>1@I&I.I6I&<:IJF Will construct direction to contact in vehicle frame from tetrahedron phase data.  I! Fhßw,JA>&@Y>s@>W9>S >y>H`??7(ӿ *z? ?`'1?uK??ɨ>&@>?;>}CyZ@ZFIjIjs9٢> MU=9M0Q M>QQ UG٣Qy]z( ]> eNusing accuracyPremultiplier from configam>49e󡑜?m>4Ye;= ieiu¿u?eAe; ;e ;e#@>4y }Byllllzl]]]]3@ ~>I ɚiIF=i)D:=Will construct direction to contact in vehicle frame from tetrahedron phase data.GBOI>JMbJMQJMLJIJM:JM-.9JM4JIJM ;aUJIaUJM'5:a]JM*5:a]Еɟw, 4(A2h|@Y2@2#92>y2H`c?E?ҿ@ &n???@#?@?ɨ2h|@2L;2CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yJ@JLFIV&IVS-9٢bp> bO=9f)Q f>hh jG٣j?Gy]~2 ]> mNusing accuracyPremultiplier from configa>49e@?>4Ye @ ieĿ?eAe;e;e(M>4 zBllllzl]!]!]!]%[0@Q Q] >IY YɚYiYI]c=ia)a IDeZ:GABIOm>-Will construct direction to contact in vehicle frame from tetrahedron phase data.zK] MKK] 9KY K] NK]  "&! |Пw, BAJ"@YJ&2@JQ9Jb=yJHh\?@41?@ݬѿ J|?0?`??c?ɨJ"@J$y;JCyVk$@V3FIb=aIb9٢f}> jJ=9j_Q j>ll nG٣lyr r> vNusing accuracyPremultiplier from configtz>49v?z>4YvB iv8ཙx~ſ~?vϞAvV;v;vZ>4 GBllllzl!]]]]p,@ ==I ɚ i HMW>IMC IMFIMeB@IMS=&II.IM,D6IM<:IMFBICJICRIZIU=bIT=jI5I g=i)2DrA*DsADu:Will construct direction to contact in vehicle frame from tetrahedron phase data.GaByO> I= Will construct direction to contact in vehicle frame from tetrahedron phase data.n֟w,[AJ*aJ*]J*OJ(J*:J*_9J*4J(J*8;J*:;J*:J*:V@YV7@V 9V=yVH ] ? CZ?п?`:+?7?9A? Iu?ɨV@Vٔ;VCyf+@f^FIrtpIrZ9٢zI> zH=9zּQ z>|| ~G٣y >  Nusing accuracyPremultiplier from config >49 碑?>4Y E i >ÿ? A S; ; h>4! % B!l9l9l9lAzlA]a]a]a]e(u)@q quB=Iq yɚiIZ=i)DU:GsAGGiByO=Will construct direction to contact in vehicle frame from tetrahedron phase data. Iܟw,uA6-@Y6z*@6 96t*=y6H G&? \?п.?ju?R??i?ɨ6-@6<;6~CyV1@ZFE r?I +?OnÿE>E9A EB)EcBIEkBAyEBIUIU[9٢eh> mC=9mQ m>qq uG٣u?Gyu; }> Nusing accuracyPremultiplier from config>49=?>4YD it>>7;[@?A;j;w>4 یBllllzl]>]>]4K@]@ zKm`LKm 9KiKmOKm "3>H=S>I9 I=xGI=.T@I=T=&I=$D.I96I=5<:I=JF Will construct direction to contact in vehicle frame from tetrahedron phase data. I i >I >w,ƣA2E@Y2T@2M92=y2H`r?`f??@4ѿ@ci???>?\?p?ɨ2E@2Z;2CyN`:@N5FIV}IV:٢^}> ^U=9b;Q b>`` bG٣dyfW]< f> 5Nusing accuracyPremultiplier from configh=>49j?=>4YjC ijy>9E@E?jUAj:j:j>4I MBIlalalalazla]y]y]y]}%@ 隥Yw,;rA6Will construct direction to contact in vehicle frame from tetrahedron phase data.V)j@YVvy@V9VA=yVH ?? Fҿ?`J? *?  E=9 G٣!y%0< %> -Nusing accuracyPremultiplier from config)5>49-ԝ?5>4Y-B i->@?-A-Y<-p<-w>4 fBllllzl]!]!]!]%@ 9I9Q Y];IY YɚYiYI]3=ia)aDW9ES-=GaBiO:>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK LK 9K K PK J^y!9R_c^P<! zoc\PE?842,'$"   BK :K rAw,AN @YNZ@N9N>yNH?K?Zҿ ?`7p????ɨN @N3;LyZF@ZWFIrQEIr'9٢z8r> zK=9zO|| ~G٣~?GyN; >  Nusing accuracyPremultiplier from config >49 ?>4Y  B i ? @? A U: : >4) -5B)lAlAlAlAzlA]Y]Y]Y]]\T@i qu;Iq qɚqiqIu<==ZHRH?AHI I GIUe@IV=&I.I6I:IHFiy)9D9]Will construct direction to contact in vehicle frame from tetrahedron phase data. I)I MCE=G%rAG! -Y)y- BGB O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.JA JE UJE MJA JA JE >9JE 4JA JE :JE :JE Q:JE Q:9w, ]AMK@YM@M=9M >yMH`#?1?@ M*=9MgQQ UG٣Qy]; ]> eNusing accuracyPremultiplier from configam>49e?m>4YeA ie5?im @?eZAe[4 Bllllzl] ] ] ]  @! !--;I1 1ɚ1i1I=[=i9)92DA*DErADe9EiEi*Eq"Eq}Will construct direction to contact in vehicle frame from tetrahedron phase data. IG B O% >4w,!A6z@Y6Ǡ@6y96 >y6HS?e?ӿ`K9\? ??c??ɨ6z@6J;6{CyRcT@RG]Zd;O?!rh?Zd;]~J?]lg>]y Y)YY])\(?v/?q= ףpտy]G>]xi>]]B ]׌B)]]`BI]BYy]BIu\Iu99٢> n=9 =Q ? G٣yU; ? Nusing accuracyPremultiplier from config>49[?>4YC i+?d?: ?A%;%;]>4 NjBWill construct direction to contact in vehicle frame from tetrahedron phase data.llllzl] ?] ?]H@]o?! %uh=%:I! !ɚ)i)I-Ȁ=i))1D5P9G BO5 >zKNK9KKQK  Ryj`VK>5.+%"%! RK?JK?HQ>I IGIs@IT=&I.I6IO<:I[F Will construct direction to contact in vehicle frame from tetrahedron phase data.  I 7w,A2@Y2@@2E92 [ >y2H .?P?@ҿi?L??[¾?`?ɨ2@22i;2~CyNY@RGIZIZO9٢bPh> bX=9b=Q b>dd fG٣f?GyfH; j> nNusing accuracyPremultiplier from confighr>49j;?r>4YjF ijT ?prr?j4x zB~El l llzl]]]]?? a:I ɚiI=i)D-9GE ?GE?G BO)Will construct direction to contact in vehicle frame from tetrahedron phase data.1 w,*A"Will construct direction to contact in vehicle frame from tetrahedron phase data.F|@YFՋ@F39FEc >yFH{??@[ҿ@ 'i? r??G? D?ɨF|@Fj&;F}CyV_@V GI^yI^Z.9٢j-h> jI=9j=Q n>ll nG٣lyrt r> vNusing accuracyPremultiplier from configtz>49v ?z>4YvI iv6?|~ ~?vۥAv ;v\ ;v>4 lBllll!zl!]9]9]9]=?Q QU:IY YɚYiYI]a=ia)aBDm?:Dm> $?IDm9GIBYOu=Will construct direction to contact in vehicle frame from tetrahedron phase data.J{a4K{4 K{0KsKs"KsJ- cJ- eJ- RJ) J- :J- 9J- A4J) a= @a= @a= @a= @zKU NKU ػ9KQ KU RKU BKa :Ka w,DAB{ @YB@B49B>yBH]??@ѿ@ ???@?@Y?ɨB{ @B;@HO>I IGIG@IS=&I.I6I?<:IMFyf@ GI%vPI%C9٢Ef> M)=UWill construct direction to contact in vehicle frame from tetrahedron phase data.9U!YY ]G٣Yye e> Nusing accuracyPremultiplier from config>49Б?>4YM i?$?اA1;S;B>4 3BEll!l!l)zl1]a]a]a]eY? I 隕9I ɚiIۗ=i)D_9E l=G G qAG B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >Cw,x^A6Џ@Y6@6,!96".=y6H?_?п`g?ga??@?[?ɨ6Џ@6ׯ;6~C)eYCIewAmi iufCuvAuDiu4Fqiu@C}vA)}ף }CFIy }C)}xA}ĻҁҁӅCӅwAiӁIӅFӁIԍ&CiԍvA ԍӍBF)ԉԝC ՝vAԝТԝrFԙyޥ3p@ޥGI2I.9٢2> R=9Q > G٣?Gy > Nusing accuracyPremultiplier from config>49ݑ?>4YP i>*?SAN;;G>4lB BEllllzl]9]9]9]=xj?Q QU8IQ QɚQiYI]c=iY)aD9EO)=mWill construct direction to contact in vehicle frame from tetrahedron phase data.GBOk> }$?I}cf) ?Apw,^xAɸhnvAnFinVsFlilnvA)rJ r*FIp p)pɹvtttxɺzvAizRIz`vF|I~@Ci~vA ~p=|)| wA C vAI m) \~Fi  }Calculating totals. Valid battery stick count: 52. Valid reserve battery stick count: 6.Will construct direction to contact in vehicle frame from tetrahedron phase data.YuPIiuwA)qq uALReceived data from all battery sticks.y-t@-\GJgJWJQJJ%:JG9J4J%C?J +?L7A`?Z$?H=+> )YZd;O?MbX?Dlyj?>OeB JB)FeBIByǚBIUtIU%9٢e#> @=9Q > G٣y > Nusing accuracyPremultiplier from config?49?표??4YU i ?,?:  F ?xA k<|j<>?4 ȊBl)l)l)l)zl)]m&>]m&>]m+?]mz > 隥8I ɚiIW=i)2D*DsAzKqKKKKSK   D9HuI>IuC Iu(GIu8@IuU=&Iq.Iu+D6Iuc<:IubFBIUCJIUCRIUǓCZIUT=bIQjIU?5m Will construct direction to contact in vehicle frame from tetrahedron phase data.E = i Ii G B O >S$w,d#A6@Y6#@6c96=y6H?+?wRο@?@^?f?/w?H?ɨ6@6x;6CyR{@RGIZIZ>9٢bj> b=9bQ f?dd fG٣dyj- j? rNusing accuracyPremultiplier from configpv?49r?v?4YrOY ir$?tzKz?r Ar/;ra;r3?4~kB BEllllzl]1]1]1]5=A IMG8II IɚIiIIMW=iQ)YD|9EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.JJBAGB!O=r>P}*w,AWill construct direction to contact in vehicle frame from tetrahedron phase data. IyM @MGIuߥIu:9٢r> >=9Q > G٣?Gy > Nusing accuracyPremultiplier from config?49??4Yh^ i???5A߈;T;S!?4 [Bllllzl!]9]9]9]9I IM7IQ QɚQiQIUH=iY)YDM9G)B1OU>Will construct direction to contact in vehicle frame from tetrahedron phase data.J bJ SJ VJ J :J y69J 5J zK LK 9K K TK e1w,ŀA2̙@Y2۠@2^92=y2H"?? ̿ x#!?̱?@d?@P?`m?ɨ2̙@2;2~CyN@Rn"GIZ0IZ/9٢b> bX=9bIdd fG٣dyj& j> nNusing accuracyPremultiplier from configlr?49n?r?4Ynb in1V?tvWMv?nAn;n;nf.?4x z*Bz~El l l l zlH5@>I5C I52GI5z@I1&I1.I16I5<:I5#F]]]]TQ= }7I ɚ!i!I%?=i!))BD5?:D5-?D9EWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.*J R="J a=k7w,߀AB@YBb @B>9B} =yBH?? L̿XIi? ?)? h1??ɨB@Bm;@yNH@N^&GIVumIV!9٢^U|> ^I=9^=Q b>`d fG٣dyfj< f> nNusing accuracyPremultiplier from confighn?49j%?r?4Yjg ijm?tvuLv?j&AjB;jmC;j :=9Q > G٣?Gy e> }Nusing accuracyPremultiplier from configy?49}3??4Y}o i}Tx?I?:V?}A};}Y;}L?4 B{ElllJfJYJSJJ|":J[O9J5Jlzl]%:>]%:>]%O6@]% ݢ?y y}6Iy yɚiI/7=i)D&9GaBqO:>zK!LK9KKUKH%=>I%C I% 5V=95=Q 5>AA EG٣AyE; M> UNusing accuracyPremultiplier from configI]?49MM??]?4YMv iM~?Y]Љe?MJAM;M%;MKY?4mmB mBm|Ellllzl]]]]? 隵F6I ɚiI=i)D 9GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.Jw,_D-AWill construct direction to contact in vehicle frame from tetrahedron phase data. 4I6dfB@YB! @Bχؾ9B7=yBHq[??`q̿`??ED?lw? n?ɨB@Bq;@yJR@N2GIZDMIZ9٢bl> bR=9b,dd fG٣dyj j> nNusing accuracyPremultiplier from confighr?49jvK?r?4Yj} ij?pv䉿v?jAjZ;j|;jf?4x zXBxl l l l zl ]]]];? 5I ɚiI#k=i)D59Ee=GWill construct direction to contact in vehicle frame from tetrahedron phase data.BO>JM cJM TJM UJI JM :JM :9JM J5JI zK J3KK 9K K VK BK! :K% sAgQw,6"GA2f@Y2Ơ@2׾92=y2H!?y?;Ϳ ;??Y(?Cu??ɨ2f@2 ;2CyB@B6GIJgIJP9٢R}> RL=9VØ;Q V>TT ZG٣XyZ˥ Z>jHb<bHb<Hf;>Id If FGIf @Id&Id.Id6If<:IfF rNusing accuracyPremultiplier from configlr?49nX?v?4Yn in,?tvv?nEAnX:n:nu?4zlB z$B~yEl l l lzl])])])]-?9 AEp5IA AɚAiAIE=iI)IDU9EV)==Will construct direction to contact in vehicle frame from tetrahedron phase data. U$?IYGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. i Ww,n`AF}Q@YF`@FGؾ9FK=yFH8?$?Ϳ`s?j? fH=9fw]Q j>hh jG٣j?Gynk n> zNusing accuracyPremultiplier from configtz?49v`d?~?4Yv iv?؋?vѿAv ;vH!;v5?4  B l!l!l!l!zl)]A]A]A]E+?Q QU5IQ QɚYiYI]t=ia)iBDu?:DuF?D9 M$?II]Will construct direction to contact in vehicle frame from tetrahedron phase data.E}J=GQBaO{>;^w,zAy~@~>GuV?~jth?S㥛?r(?D;$> )YQ?T㥛 ?Mb?yh?=@=2B )^BIByܗBI#jIx 9Will construct direction to contact in vehicle frame from tetrahedron phase data.٢h> ;=9Q > G٣y > Nusing accuracyPremultiplier from config?49 o??4Y9 i@?i?h:?A;;m?4oB BzEllllzl]5>]5>]5ZZo>]5@ 4I ɚi I p=i))1D Y9E E *E"EzK= KK=ػ9K9K=WK=),"   RKQJKQH<>I IlOGI@IW=&I.I6I<:IFGBO> 1 I1 m Will construct direction to contact in vehicle frame from tetrahedron phase data.Idw,A2@Y2h@2xھ92a=y2H ?K%?`g̿T? =?`|?@9? ?ɨ2@2O;0yR@RCGIZoIZ89٢b> f\=9fdh jG٣hyj j> rNusing accuracyPremultiplier from configlr?49nw?v?4Yn ins?tvv?n An:nC:na?4znB ~B~vEllllzl]]]]$@  4I ɚiI=i)DR9GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.JaJ[JXJJ:JW9J5JJ7;aJ9;aJ|:aJ|:a) @A ! I% efkw,AWill construct direction to contact in vehicle frame from tetrahedron phase data.6G@Y6hV@67۾96T%=y6Hm?D?˿@?a??t? G?ɨ6G@6n;6Cy^@^FGIf̭Ifs>9٢n+N> rH=9rxjQ r>tt vG٣v?Gyv v> ~Nusing accuracyPremultiplier from configx?49zဒ??4YzѤ iz?  Н ?zAz-;zW-;z?4 UBl)l1l1l1zl1]I]I]I]M=@ 3I !ɚ!i!I%ű=i)))DM9G!B1OM>Will construct direction to contact in vehicle frame from tetrahedron phase data.rw,HjȁAzK"PLK"9K K"XK" BK$:K&rAH6;>I4 I6YGI6@I6U=&I4.I6+D6I6<:I6FBI-CJI-CRI)ZI-V=bI-V=jI-b5R($@YRu3@R.ھ9RJ=yRH?@?@Z?/ʿ 2!D?'?N?X?`?ɨR($@Rʼn;R}CynĤ@nJGIviIv>9٢~aw> ~H=9P;Q >   G٣ y y+  > Nusing accuracyPremultiplier from config?49?%?4Y i?!%P%?MA ; ;ܻ?4) -"B1lAlAlAlIzlI]a]a]a]el@q y}g3Iy yɚyiyIV=i)D]9 $?IffG1BQOu=Will construct direction to contact in vehicle frame from tetrahedron phase data.% Will construct direction to contact in vehicle frame from tetrahedron phase data.J fJ UJ J J |":J >9J J J 6;J 9;J Q:J Q:+xw,E⁺A>%@Y>85@>iؾ9>=y>HU?c?`:ʿ`k.l#??@?`8?@?ɨ>%@>r;>{CyNk@ROGIZHIZ~S9٢j> jM=9j.,lA EG٣AyM: M> UNusing accuracyPremultiplier from configQ]?49U6?e?4YUS iU&?aeDe?UAU;U;UB?4mpB uButEllllzl]]]]]@ >隽2I ɚiIO=i)D]9GBO5 > I}Will construct direction to contact in vehicle frame from tetrahedron phase data.i I U~w,A2b)@Y28@2Yվ92=y2Ht?g?Fɿ?`t?>?>?>^?G?ɨ2b)@2V;2}Cy>@>SG S?Zd;Ol? :? j = ) Y ˡE?Zd;OK7?y G? j< I > B ) ]BI B y BI%*I%H9٢5v> 5D=9=m[AA EG٣E?GyM`: M> UNusing accuracyPremultiplier from configQ]?49U?]?4YUE iUZ@]TK?]:eٲe?UAU;U5;U[?4i mBiWill construct direction to contact in vehicle frame from tetrahedron phase data.lll!l!zl!]mQ=]mQ=]msh9?]m= 隥2I ɚiI=i)D29GBO>He:>Ia IeXcGIeݸ@Ia&Ia.Ia6Ie<:IeFzKs$LK9KKYKRK ?JK? I Will construct direction to contact in vehicle frame from tetrahedron phase data.>w,CA:x"@Y:1@:Ҿ9:=y:Hm?@i?ɿ]Q??q??:,?ɨ:x"@:gV;:CyR@V.WGIbIb=9٢r~> vO=9zQ|| ~G٣y   > %Nusing accuracyPremultiplier from config-?49񚒜?-?4Y$ ic@)5𲿑=?;A;;B?4MmB M~BQlylylylyzl]]]]4K= 隵 2I ɚiIu=i)D͹9GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.JaJYJ[JJ:J[O9J5JJ7;J:;J{n:J}n: I Qhw,/A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:@:;.Ѿ9:=y:Hf6?li?ɿ`?@޶?m? d?@4?ɨ:@:;8yrF@v=[GII9٢ > H=9  G٣y%鹻 %> -Nusing accuracyPremultiplier from config)5?49-̞?5?4Y-* i-@15N=?-eA-;-;-m?4A EIBAlYlYlYlYzla]]]]t= 隕1I ɚiI6=i)Dh9E=G ?G>GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.H] 9>IY  I] mGI] @I] V=&IY .IY 6I] ı<:I] F_w,VIA6c@Y6@6Qо96=y6H` ? (g?@+ʿ@!j ?ٙ?@d?:?@0?ɨ6c@6_5;6~CyB@B_GIJIJ9I9٢R7> RO=9V:Q V>TT ZG٣Z?GyZS# Z>zK^UKK^S9K\K^ZK^  -QL jNusing accuracyPremultiplier from configdj@49ft?n@4Yf ifz(@lnn?fAfK ;f~ ;fG@4voB vBvuElylylylzl]]]]4U= A1I ɚiIV= Igfi) 2DsA*DrAD95Will construct direction to contact in vehicle frame from tetrahedron phase data.E>)y }CGBO%>cG)A mYiym B Will construct direction to contact in vehicle frame from tetrahedron phase data.*J "J J hJ WJ YJ J (:J G9J -5J J *;J *;J &`:J (`:3zw,zcAR@YRiО@RҾ9RK=yRH?)f? i˿mƶ??x?`8?q"?ɨR@Rf;RCy^6@^cGIfJIf9٢z~> zG=9~୻Q ~> G٣ypa > 5Nusing accuracyPremultiplier from config)=@49-?E@4Y-1 i-3@AE봿E?-A-3;-;-@4I M܆BQlalililizli]]]]!=A AE0IA IɚIiIIMD=iQ)qDUر9 I ]Will construct direction to contact in vehicle frame from tetrahedron phase data.Eu>GGrAGiByO>7w,d}A:@Y:@:nԾ9:+>y:H "?vk? ̿xmUl?`}?v?`m?s ?ɨ:@:͉;8yFü@J$hG E@M M@M M@M  M@M M@M E/$?y&1?q= ףp?E&?E`e=E= A)AIEMb@Mb@Mb@iE‰E©EE A)EIEEiEIeIe29٢uf> uC=9u8Q u>yy }G٣yy훼 > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config@49?@4Yg id?@+:X:&?Al;C>r@4 BWill construct direction to contact in vehicle frame from tetrahedron phase data.llllzlQ 隝g0I ɚiIހ=i)Duw9EqEq*Eq"EqH 8>I  I DwGI @I U=&I .I 6I <:I FzKLKKK[K8'  IGBO]>m Will construct direction to contact in vehicle frame from tetrahedron phase data.荥w,KAZ@YZ@Zßھ9Zέ>yZH??^̿d ގ?@? N?`?`?ɨZ@Z;Z~Cyb4@f_lGInjIns 9٢v> vS=9z[Q z>|| ~G٣~?Gy6 >  bBottom track data is 0.8 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config @49 I?@4Y  i \J@ :/:? A 8; HN? X%@4! -lB)l9lAlAlAzlAa im/Ii qɚqiqIu=iy)yBD ?:D>DH9GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I ɵw,AWill construct direction to contact in vehicle frame from tetrahedron phase data.N<Ȗ@YNם@Nܾ9N1>yNHe? V?`˿`^~C? ?`+? X??ɨN<Ȗ@N.X;N}Cyn@rpGIzIzE9٢UE> ]D=9]#Q e>aa eG٣aymF m> }bBottom track data is 1.2 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configq@49u#?@4YuF iu7V@9:=?u,Au8;u?u-@4 4Bllllzl /I ɚiI=i)DM9G)B9OU>Will construct direction to contact in vehicle frame from tetrahedron phase data.J`JSJZJJ:Jy69Je5Ja@a@a@a@ZH RH H 2>I C I GI @I &I .I *D6I <:I FXw,5˂Af@YfH̝@fݾ9fF>yfH 8?@?z˿Z?o;?`?s?Y?ɨf@f4;zKj$)LKj]9KhKj\Kj  f|Cyv @vtGIY/Iw9٢ ޅ> N=9Q > G٣y%c %> -bBottom track data is 1.6 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config)5@49-ұ?5@4Y- i-a@=99=9=[=?-@A- 7;- ?- 3@4EqB MBMsE yI}hfllllzl /I ɚ i I T=i1)1D 9=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. i AǸw,9䂺A:Ė@Y:ӝ@:}ݾ9:O=y:HR? ?3ʿmX@?O????ɨ:Ė@:;8yj@jByGI~)[I~9٢ >  K=9 Q > %G٣%?Gy%; %> 5bBottom track data is 2.0 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)5@49-?=@4Y- i-m@=99=9EE?-_A-g5;-c@-7@4I MƅBIlalililizli 隵.I ɚiI=i)2D *D sAD5E9 qIqGBOM0>EWill construct direction to contact in vehicle frame from tetrahedron phase data.hw,A2ϖ@Y2ߝ@2.ݾ92=y2H}?`? )ʿTZ?V??`%?0?ɨ2ϖ@2;2Cy>@R|G = = == ==  = = == =B`"?MbP?ˡE?=?=:='= 9)9Y=M?T㥛 ?Pn?y=n>===>=qB =}|B)=WBI9=y=Q~BIUYIU9٢eAi> eE=9mC;Q m>ii uG٣qyuY; }> Nusing accuracyPremultiplier from config@49?@4YD it@T:>:?oA;H;vF@4Will construct direction to contact in vehicle frame from tetrahedron phase data. Bllllzl]:>]:>]/@]o? I.I ɚiIχ=i)J5K5 Kt1KK"KJ]bJ]ZJ]cJYJ]:J]S9J]c45JYD9GBO>H0>I I.GI7@I&I.I6I<:I FBIiJImCRIiZImU=bImU=jIm/4 YIYzKe:KKe9KaKe]Ke  RKm?JKm ?] Will construct direction to contact in vehicle frame from tetrahedron phase data.Šw,XAN֖@YN@Nܾ9Nf=yNH~?`?`ɿ``?B?ũ? '? ?ɨN֖@N;N~Cyr@ʀGII'a9٢% > %N=9-;Q ->)) -G٣1y5B; 5> ENusing accuracyPremultiplier from configAM@49E?M@4YEb iEP|@IMeM?EsAE:Eq:EKT@4a eZBalylylylyzly]]]];G? 隭-I ɚiI`#=i)D9GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. I II ̠w,jh2AWill construct direction to contact in vehicle frame from tetrahedron phase data.y@%ʂGI5*I5^9٢uU{> uE=9}Q }>y G٣?Gy > Nusing accuracyPremultiplier from config@49?@4Y i @?Ay-;-;b@4 &Bllllzl]]]] i-I ɚiI=i) BD?:D>DP9GiBqO>Will construct direction to contact in vehicle frame from tetrahedron phase data.JudJufJu_JqJu<:Ju9Ju'5JqjH <bH H />I  I BGI y@I &I .I 6I <:I F8Ҡw,^LA> s@Y>X@>aܾ9>!==y>H&;??tBɿsS4?`&e??mr??ɨ> s@> ; ZU=9ZԶ6Q Z> `I`dd fG٣dyjA j> nNusing accuracyPremultiplier from configlr@49nFĒ?r@4Yn in@prv?nAn ;n:n4p@4x zBxllllzlzKLK9KK^K]A]A]A]ErϾ?Q Y] -IY YɚYiYI]^=ia)aD59Will construct direction to contact in vehicle frame from tetrahedron phase data.G B)O= Will construct direction to contact in vehicle frame from tetrahedron phase data.٠w,afA2"@Y2%2@2ݾ92)=y2H? ? ɿ`{`L? >? ?`?d?ɨ2"@2;2}Cy:@>GIF|XIF9٢N> jN=9jQ n>pp vG٣tyz?Ƽ > Nusing accuracyPremultiplier from config @49  Ȓ?@4Y  i @N? A %; ; k~@4) -ńB)lQlQlQlYzlY]]]]y? ,I  ɚiI%=i1)D9 IGBO>%Will construct direction to contact in vehicle frame from tetrahedron phase data.) w,%AVΕ@YVݜ@V޾9V 6=yVH?q?#ȿMY ???P??ɨVΕ@V;V~Cyj@nGuWill construct direction to contact in vehicle frame from tetrahedron phase data. @ @ @  @ @5^I ?ʡE?~jt?b0?=< )IMb@Mb@Mb@i‰© JB)XBIy(lBI*wI>&9٢7p> 8=9pQ > G٣?Gyi > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config@49˒?@4YZ i@+::?A';>@4 Bl!l!l!l)J5bJ5ZJ5\J1J5:J5S9J55J1zlAi iu<,Iq qɚqiqIux=iy)yD_9GaBiO>HE,>IEC IEVGIE@IEV=&IA.IA6IE<:IEF IzKKK9KK_KRK ?JK?% Will construct direction to contact in vehicle frame from tetrahedron phase data. *G 5 G Y1 y5 ,B'w,љAy~@~GI }I @)9٢3> %W=9%Q %>)) -G٣)y- -> EbBottom track data is 0.8 s old, using for 20.0 s. ENusing accuracyPremultiplier from config1M@495Tϒ?M@4Y5[ i57@M :IM:IU?5A5Fg;5Q?5e@4]sB ]TB]tElqlqlqlqzl1 1=+I9 9ɚ9i9I=-=iA)ID 9GaBqWill 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.4Rw,AJ\q@YJ@JϺ9J׸=yJHb? ?6>ǿ/{a?@u~? O??`H?ɨJ\q@J=;HyZ@ZьGIbIbi9٢jqu> jO=9nmQ n>pp rG٣pyv v> zbBottom track data is 1.2 s old, using for 20.0 s. zNusing accuracyPremultiplier from configt~@49vҒ?~@4Yv| iv@9:?vAv5;v?v@4  #BqEl)l)l)l)zl1Q Y]_+IY YɚYiYIe=ia)iD59G1B9OU=Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHA RHA HM +>II  IM jGIM @II &II .II 6IM <:IM Fi i>I Y>6:w,a̓A2j@Y2y@2a>92=y2Hm?x?%ƿx`?ඞ?z^???ɨ2j@2G̉;0 F$?IFifyJU@J܎GIR^IR_=9٢Z"> ZL=9Z$Q ^> G٣?Gy E  > bBottom track data is 1.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%@49[֒?%@4Y iޘ@-9)-Q:-j-?A[;[?@41 5BYlililqlqzlqzKKKػ9KK`K *I ɚiIK@=i)BD?:D*?Will construct direction to contact in vehicle frame from tetrahedron phase data.D-|9G BAO]> Will construct direction to contact in vehicle frame from tetrahedron phase data.*J] 4="J] =Je dJe UJe ]Ja Je <:Je >9Je !5Ja Je j;au Je l;au Je Q:au Je Q:au dw,c烺ABQr@YB@B9BhF=yBHV?`?Pƿ`fz??RR?G?@y?ɨBQr@BJ";B|CyNE@NGIVHIV9٢^.h> ^J=9b;Q b>`` fG٣dyf; f> ~bBottom track data is 2.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from configt@49vْ?e@4Yv iv@m9qu*:u"?vAv=v|@v@41 ]BYllllzlQ Y]*IY YɚYiYI]=ia)i yIyDe 9GABIOm5>Will construct direction to contact in vehicle frame from tetrahedron phase data.Lw,tAA6さ@Y60@6Ue96K=y6H??@&<ƿti*?q?(??@?ɨ6さ@6;6~CyN@N\G - - -- --  - 5  5@5 5@5 5@5  5@5 5S?L7A`?q= ףp5:?5+=5 1)1I5Mb@Mb@Mb@i1111 5B)5UBI11y5jBIMmPIM9]Will construct direction to contact in vehicle frame from tetrahedron phase data.٢muN> m@=9me;Q m>qq uG٣qy%; %> -bBottom track data is 2.5 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)U@49-ݒ?]@4Y-f i-@]o9Y] :]䝿]?-A-;-@-!@4i mBillllzl ?*I ɚiIh=i)D9GBH)>I I~GI?@I&I%D.I6I<:IFO+> aIazK iKK 9K K aK  Will construct direction to contact in vehicle frame from tetrahedron phase data.) ?Aexw,l#A>ғ@Y>@> ޾9>:=y>H`? y? 4ZƿRm?@%?@?R??ɨ>ғ@>BK; nT=9r=Btt vG٣v ?Gy~; ~> bBottom track data is 2.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config -@49  ᒜ?-@4Y T! 5tIi Z@=B99=9=E? A #; w5@ @4Q U[BYlilililizlq 隝)I ɚiIF=i)2D*DrADu9mPExceeded connect timeout, disconnecting.GBO>eWill construct direction to contact in vehicle frame from tetrahedron phase data.JEaJERJE_JAJE:JES29JE'5JAJE7;JE:;JER<:JET<: I IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. w,4A2@Y2ͩ@2ھ92=y2H`;? ?~ƿ ]???c? ?ɨ2@27;2}CyN@NXGIVmIV!9٢ 5g>  G=9nn G٣y; %> -bBottom track data is 3.2 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!5@49%䒜?5@4Y%$ i%,@=99=9==?%A% 7;%AO@%@4A E+BIlYlalalazla 隕p)I ɚiI=i)DL~9GiBqO=uWill construct direction to contact in vehicle frame from tetrahedron phase data.jH bH H (>I  I .GI oAI &I .I 6I ٱ<:I FBICJICRIZIV=bIV=jI[5 9 IA ow,xNA2T@Y2@2׾92=y2H??@ ǿ?gX?0?s?%?ɨ2T@2B;2|Cy>p@>&GIFIF+9٢RNq> RR=9RTT VG٣TyZL Z> ^bBottom track data is 3.6 s old, using for 20.0 s. bNusing accuracyPremultiplier from configXb@49Z=蒜?b@4YZ' iZΫ@f8df9ff?ZAZ6;Z-h@Z@4h jBllxlxlxlxzl|Y ae)Ia aɚiiiIm:=iq)yzKKKKKbK DUy9Will construct direction to contact in vehicle frame from tetrahedron phase data.GIBYOu= m nManaging dock network, ignoring radio surface power off Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՁ Ja Je WJe `Ja Ja Je G9Je *5Ja Ja Ja Je &`:Je (`:w,hAZ@Y"j@7Oվ9<=yHq?x ?0ǿ`? :?$?H`??ɨZ@h;Cy]@]WGImImr*9٢}u> }0=9}/ G٣!?GyY > bBottom track data is 4.1 s old, using for 20.0 s. Nusing accuracyPremultiplier from config@49I쒜?@4Y}+ i@8m9?A\(;@@4 ÂBllllzl I u> (I  ɚ i I]1 =iY)aBDm>:Dm ?D,s9GBO=>Will construct direction to contact in vehicle frame from tetrahedron phase data. w,A:@Y:@:Ӿ9:=y:HvE??ƿy@ǩ?o?q?`W?(?ɨ:@::;:|CyF @FCG        ףp= ?Q?ˡE?^?\='= )Yףp= ?v/?Mbȿy>?xi=@LB 2{B)SBIyxB=Will construct direction to contact in vehicle frame from tetrahedron phase data.IEmIE99٢U> U_=9US Ya eG٣ayeR e> mNusing accuracyPremultiplier from configiu@49m?}@4Ym2 im@}T:}=E?}:}}?m>Am;m;m@4uB BoEllllzl]>]>]O@]ƚ?Y Y];(IY YɚYiaIe=ia)iDmbn9G?G?GIBQOm>H$>IC IޣGI?AIU=&I.I6I<:IF IzKLK]9KKcK()%  Will construct direction to contact in vehicle frame from tetrahedron phase data.&w,`A>@Y>@>Y>Ӿ9>=y>HG?`T8?ſ K?"??")?!?ɨ>@>-ԉ;>CyJAJGIjEIj 9٢rb> vQ=9vt;Q v>xx zG٣xyz ~> Nusing accuracyPremultiplier from config @49? @4Y: i[@   ?A:T:-@4 UBl1l1l1l1zl1]I]I]I]Mm? 隅'I ɚiIj=i)Dg9GBO>MWill construct direction to contact in vehicle frame from tetrahedron phase data.J)J)J-dJ)J)J)J-75J)J)J)J)J) $?Ijf Will construct direction to contact in vehicle frame from tetrahedron phase data.)! % @A,w,[?A2"@Y2.2@2oӾ92|=y2Ht?Q?_Ŀ -?@V?5? r? #?ɨ2"@2ʼn;2}CyBAB|GIJGIJ;9٢fn> fL=9fDsQ f>hh jG٣hyji n> rNusing accuracyPremultiplier from configpz@49r?z@4YrA ir@xzpz?r Ar-;r>;r*@4 %Bllllzl]1]1]1]5i? `'I ɚiI+=i)DBc9E>]Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>H ">I  I GI 7 AI W=&I .I 6I <:I F I 43w,ЄAy8AGI-UI-V9٢=˃> EC=9EQ E>AI MG٣M"?GyU U> eNusing accuracyPremultiplier from configYe@49]0?e@4Y]J i]۶@iim?]A]":]:]@4q uByllllzl]]]]) CzK}LK}ػ9KyK}dK}BK:KWill construct direction to contact in vehicle frame from tetrahedron phase data.cG %z Y!y-pB )U&IQ QɚQiQIUx=iq)D\9E M>GaBO]>e Will construct direction to contact in vehicle frame from tetrahedron phase data.:w,!ꄺAq@YҀ@Wվ9=yHa?`~?/4¿@?`?@ ?N?A ?ɨq@k;騕CyA̤G 9I=kfoʡ?+ηMbP ?v )YV-? 2=9DQ > G٣yA > Nusing accuracyPremultiplier from config@49?@4YR iE@N?:R?4A-;;@4wB BpEl)l)l)l)zl1]U9>]U9>]UU>]U@i im&Ii qɚqiqIui=iq)yDW9EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.GA BQ Om >i t>I l>@w,A6L@Y61\@6*'־96z=y6Hu?`ш?qm?@F??@?@?ɨ6L@6e;6~Cy>AB)GIN,NIN9٢Vr> Vw=9VQ V?XX ZG٣Xy^] ^? bNusing accuracyPremultiplier from config`fA49b ?fA4YbX ib4@hjܾj?b Bb:b@:bdA4l nzBplxlxlxlxzl|=Will construct direction to contact in vehicle frame from tetrahedron phase data.]]]]Τ@ &I ɚiI9O=i)J dJ UJ bJ J <:J >9J *15J a@a@a@a@DR9GBO=H5!>I1 I5GI5 AI1&I1.I16I5k<:I5pF )I)= Will construct direction to contact in vehicle frame from tetrahedron phase data.zK= 2KK= 9K9 K= eK= 8BLXaltusquz|mVIDB=9430,+&# RKy JK} ? Gw,CA6H@Y6X@6 H־96Ѵ=y6H@?_? P@@?5??`cK? ?ɨ6H@6};6}CyB? ABʨGIJsgIJG9٢RQ> RJ=9Rh"Q V>XX ZG٣^#?Gybģ b> nNusing accuracyPremultiplier from confighnA49j ?nA4Yjy` ij @pr뾿r?j6Bj;jX);jA4x ~OB|llllzl])])])]-̤@9 AE%IA AɚAiAIE$=iI)QDML9G!B1OM=]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.i jH=9jm;Q n>lp rG٣pyr; r> zNusing accuracyPremultiplier from configtzA49v ?~A4Yvh iv@|~~?v_Bv;vR;v"A4  B l!l!l!l!zl!]9]9]9]=ܤ@Q Q]B%IY YɚYiYIe=ia)aDH9GBO>}Will construct direction to contact in vehicle frame from tetrahedron phase data.JJkJfJJJ9J >5JjH) bH- <H5 >I5 C I5 GI5 AI1 &I1 .I1 6I5 y<:I5 xF I :$Tw,^QA6y@Y6Q@6Ӿ96[=y6HM?z?ு¿@??`??@@? (?ɨ6y@6.ω;6~CyN ARsGIZqIZ#9٢~k> ~G=9   G٣ y I;  > Nusing accuracyPremultiplier from configA49?%A4Yo i@!%8%?B;1;1A4) 5րB1lIlIlIlQzlQ]i]i]i]m@y 隅$I ɚiIk=i)2D*DsAWill construct direction to contact in vehicle frame from tetrahedron phase data.DA9zK GNKػ9KKfK G9G=sAG BO- > Will construct direction to contact in vehicle frame from tetrahedron phase data.*J% C="J% %=\Zw,vkA=@Y=ݓ@=Ѿ9==y=H@'?q?aJÿ@V$O?h? W? Q?o/?ɨ=@=b;9yUAUQG Ilfoʡ?V-? rh-?=C )YbX9?~jth?yE6?D;B )OBIy(rBIcI9٢9[> 8=9!! %G٣%$?Gy%%P; -> 5Nusing accuracyPremultiplier from config)=A49-?=A4Y-Vw i-@=F6?=:=E?-B-5;-;-@A4MyB MBMmElalalalazla]>]>]m@]y\@1 15\$I9 9ɚ9i9I=>=iA)ADm:9GABQOm5>Will construct direction to contact in vehicle frame from tetrahedron phase data.5aw,8A2q@Y2@2)о92o=y2H/?l?@ÿ1M?@(?A>ٱGIJG8IJ` 9٢R> Rh=9R9$TT VG٣TyZԻ Z> ^Nusing accuracyPremultiplier from config\bA49^3?bA4Y^[} i^@`fKf?^B^ ;^& ;^LA4h jeBhltltltltzlx] ] ] ] \@! !%#I! !ɚ)i)I-=i))1]Will construct direction to contact in vehicle frame from tetrahedron phase data.JJUJgJJJ>9JFA5JDV69GBO%=H>I I.GIAIY=&I.I)D6I<:IFBICJICRIZIW=bIW=jI5 I Will construct direction to contact in vehicle frame from tetrahedron phase data.zKm KKm 9Ki Km gKm `gw,񞅺A2VN@Y2]@2ξ92=y2H W5?@l?HĿ`?`?1?N?`"C?;?ɨ2VN@2;2CybAbGIjhIj8٢:e>  D=9 ;Q  > G٣y* > -Nusing accuracyPremultiplier from config!5A49%?EA4Y% i%@AMںM?%B%.;%;%[A4Q U5BQlqlqlqlqzly]]]]\@ 隥y#I ɚiI=i)DD19GBO>mWill construct direction to contact in vehicle frame from tetrahedron phase data. yI Will construct direction to contact in vehicle frame from tetrahedron phase data.mw,˸A6X@Y6@6;961=y6He? t?ĿbK?@??q?`??ɨ6X@67;4y>ABGIJ*IJu9٢R|> RQ=9Rٍ;Q R>TT VG٣V%?GyZ Z> bNusing accuracyPremultiplier from config`fA49b?fA4Yb6 ib;@dfڻf?bBb:b:b2iA4l nBlltlxlxlxzlx]I]I]I]MWn\@ 隅#I ɚiI2=i)D+9GiByO=}Will construct direction to contact in vehicle frame from tetrahedron phase data.JK-5KK*15 KKS1KCKC"KCJcJWJjJJ:JG9JJ5JZH RH H >I  I AGI AI &I .I 6I <:I m $?Ii rtw,*҅A2Zƒ@Y2ՙ@2̾92X=y2H`Y?@0?ÿ@cV w?@?@?}?D?ɨ2Zƒ@2;0yB}ABطGIJjIJj 9٢fǏ> fH=9f^;Q f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpvA49r?vA4Yr: ir@xzz?rBr@:r:rzwA4~{B ~B~nEllllzl]1]1]1]5[@I Mi>M"II QɚQiQIUY=iY)YD5&9Will construct direction to contact in vehicle frame from tetrahedron phase data.G9BIOe=zKmFKKmػ9KiKmhKm   Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՅ Azw,"셺Afr{@Yf@f̾9f=yfH4?N?7¿]c|?`?`W?p?iI?ɨfr{@ff;dyn7AnG Imf}K7A`?{Gz?RQ?}+?}ף<}= y)yY}ʡE?~jt?p= ף?y}=?}D<}>}YB } oB)}dMBIyyy} oBIEI9٢> ==9G3:Q > G٣yL > Nusing accuracyPremultiplier from configA49?A4Ye i@@?:? B;;A4Q U)BQlilililizl]=]=]@]=@ 2"I ɚiIE=i)2DrA*DD9GGrAGBO$>Will construct direction to contact in vehicle frame from tetrahedron phase data.bw,\A6n7@Y6F@6 ̾96=y6H@QA? ?b s?'??? L?ɨ6n7@6";6~CyBFABGIJDBIJ9٢jw> jY=9rx9Q r>pt vG٣v&?Gyv v> ~Nusing accuracyPremultiplier from configx~A49zu?A4Yz iz~@?z Bz;z;zʓA4  ~Bl!l)l)l)zl)EWill construct direction to contact in vehicle frame from tetrahedron phase data.]I]I]I]MJj@i qu!Iy ɚiI=i)JJ\JmJJJ[9JT5JD%L9Hu>Iq IuVGIuAIq&Iq.Iu*D6Iud<:IubF IGB O% >*GZA E$ YIyMBWill construct direction to contact in vehicle frame from tetrahedron phase data.zK KK K K iK  w,: A2c@Y2@2̾9241=y2H@?`?xe?B?_?x׸?uN?ɨ2c@2";2Cy>ABGDFAIJ8"IJ9٢fM> fK=9jPhQ n>pp vG٣tyz z> ]Nusing accuracyPremultiplier from configQeA49U?eA4YU iU@aeXe?U BU.:UC:UYA4i uR~Bqllllzl]]]]D@ [!I ɚiIM=i)DM9MWill construct direction to contact in vehicle frame from tetrahedron phase data. IEW>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.ٍw,:A6ґ@Y60@6 O;968`=y6H??uf@?@\?@;?e?M?ɨ6ґ@6;6Cy>ABGIJ.IJ9٢RE> RM=9VQ V>TT ZG٣XyZj Z> bNusing accuracyPremultiplier from config\fA49^@!?fA4Y^ i^@dff?^ B^7:^7:^̯A4h n}Blltlxlxlxzlx] ] ] ] @! )- I) )ɚ)i)I-=i1)1D9E|>GBO=]Will construct direction to contact in vehicle frame from tetrahedron phase data.Hu >Iq  Iu GIu O"AIu X=&Iq .Iu )D6Iu z<:Iu pF I w,tSA6@Y6lȘ@67;96=y6H ;??6(`e?xq?R?? L?ɨ6@6;6~Cy^0AbGIj!Ijg9٢rt> rG=9r_Q r>tt vG٣v'?Gyzu z> ~Nusing accuracyPremultiplier from configxA49z"? A4Yzʳ iz`@  d ?z Bz{<;z/;z)A4}B o}BoEl1l1l1l1zl1]I]I]I]M@a aes Ia aɚiiiIm7m=ii)qD 9Will construct direction to contact in vehicle frame from tetrahedron phase data.zK KK 9K K jK BK:KEk>G!G!GBOM>u Will construct direction to contact in vehicle frame from tetrahedron phase data.J iJ uJ qJ J +:J 9J |a5J J h/;a5 J k/;a= J :aM J :aU 뚡w,umA 4I6nfB䬑@YB2@BJξ9Bd=yBH?@k?/@-b@3??.?F ?H?ɨB䬑@BX;@yJANqG]d;O?+ÿS㥫]?]]/] Y)YY]-?{Gzv/?y]??]#]x=]VB ]nB)]OBIYYy]nBI} I}N8٢[h> @=9J,Q > G٣ye > Nusing accuracyPremultiplier from configA49"?A4YQ i@?:ƿ?B;: A4  }Bllllzl]c>]c>]O?]?) )- I) )ɚ)i)I5F=i)Du9EqEq*Eq"EqWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>) ?A ӡw,A6㶑@Y61Ƙ@6wξ96=y6H? ?`|W@_T"?`?`l ? gm? E?ɨ6㶑@6Љ;6CyN!ARGIZ"IZ9٢b> fW=9f輺Q f>hh jG٣hyjR; j> rNusing accuracyPremultiplier from configpvA49r"#?vA4Yr= irAtvƿv?rBr:r:rKA4xWill construct direction to contact in vehicle frame from tetrahedron phase data. ~|Bllllzl] ] ] ] k?Y aeIa aɚaiaIm=ii)2DsA*DH%>I! I%GI%&AI%Y=&I!.I%*D6I%<:I%F YIYDm8GYBaO}>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK% JK% ͼ9K! K% kK% RK- ?JK- >w,A>̑@Y>ۘ@>!ξ9>x=y>HR? H?`]?`-?@$? ?AC?ɨ>̑@>A; ZL=9ZQ Z>\\ ^G٣^(?Gyb; b> fNusing accuracyPremultiplier from configdjA49fv#?jA4Yfq ifAhnƿn?fJBf ;f2 ;fQA4p r|Bpl|l|l|l|zl]]]]c?) )-I) 1ɚ1i1I5=iQ)D8GBO=5Will construct direction to contact in vehicle frame from tetrahedron phase data.JgJZJoJJ%:JS9J [5JJ$;J$;Ju:Ju: AII Will construct direction to contact in vehicle frame from tetrahedron phase data.2(w,`AJ@YJ$@J]ξ9J"=yJH@%ׯ?,?BM^?`-m?V??B?ɨJ@J,;HyV%AVGI^I^8٢f_t> fH=9jt:Q j>hh jG٣lyn< n> vNusing accuracyPremultiplier from configpA49r#? A4Yr irCA4ƿ?rBr;r;rA4! %{B)l9l9lAlAzlA]Y]Y]Y]]9?i imIq qɚqiqI}ԝ=iy)D8GiByO=5Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I C I ZGI +AI &I .I 6I <:I F 1 I1 BICJICRIZIY=bIY=jI4Aw,8ՆA68@Y6 @6;96=y6H`?8?` ? kO?6?`?D?ɨ68@6;6}Cy>&ABGIJH IJ8٢f> G=9 ?;Q  >  G٣y"; > %Nusing accuracyPremultiplier from config!-B49%A$?-B4Y% i%rA)5ſ5?%B%j:%U:%B49 =K{BAlQlQlQlYzlY]y]y]y]}V? 隕OI ɚiIYn=i)BD>:DWill construct direction to contact in vehicle frame from tetrahedron phase data.Dy8GqBOzKeiJKeH9KaKelKe !%#$&((%"!U Will construct direction to contact in vehicle frame from tetrahedron phase data.*J "J 4=J aJ YJ uJ J :J [O9J ^n5J J 7;J 9;J zn:J |n: ! I! 9w,UAJ@YJl @JS˾9J%=yJHs??`f¿`o}?@?? ?M?ɨJ@Jcˉ;JCyn(An`GʡE?I +?~jt/?9< )Y/$?(\µ?+y&?=iB kB)NMBIyQmBII$I9٢> ?=95 G٣)?Gy\ > Nusing accuracyPremultiplier from configB49)?B4Y0 i A ?:p?B;;B4B zBpEllllzl]5>]5>]5)@]5Y?A AEIA IɚIiQIUP=iQ)YDU8G)B1OU>Will construct direction to contact in vehicle frame from tetrahedron phase data. ¡w,AF*֑@YFx@Fɾ9F:Q=yFH` ??¿`z}?@?R? x?S?ɨF*֑@F&;DyN3*ANPGIZ-%IZ9٢b> f\=9f;Q f>hh jG٣hyjL n> rNusing accuracyPremultiplier from configpvB49r-?vB4Yr| irr Atvv?rBr:r7:r B4| ~rzBWill construct direction to contact in vehicle frame from tetrahedron phase data.llllzl!]A]A]A]Eu?Q QUsIQ ɚiI=i) IofH>I InGI,/AI&I.I)D6I<:IpFD8GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK MK ͼ9K K mK     Kȡw,"A^@Y^ڭ@^Ⱦ9^=y^H@ҫ?? 2¿ÅY?^?r?@i?\?ɨ^@^}ԉ;^{Cyf+AfFGIrIr8٢vWy> zH=9zP;Q z>x| ~G٣|yχ >  Nusing accuracyPremultiplier from config B49 i1?B4Y X i u A諿? B u ;  ; 0/B4! % zB%mEl9l9lAlAzlAMB*** querying acoustic contact ***jIjI]Y]Y]Y]]W?q qu Iq yɚyiyI}9=iy)2DrA*DD8GqBO=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.JJJdJWJvJJ<:JG9Jq5JJi;Jk;J%`:J(`: I Will construct direction to contact in vehicle frame from tetrahedron phase data. ,DAT read: user:1599>  BDAT read: Tx time:21:11:56.1659  $Ping request sent.  >=9c;Q > G٣*?Gy > Nusing accuracyPremultiplier from configB495?B4Y i A8?B.::7>B4 yBlAlIlIlIzlI]]]]*? 隽I ɚiI=i)D8GiBqO>Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:21:11:56.1651 -checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251749 IjHbH<HI IGIM3AIZ=&I.I*D6Ix<:IgF)I I 7G |uA A - Y5 |uAy5 ,B\աw,}VAy~f/A~GI .I I8٢Eڦ> ER=9MQ M>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configamB49e9?mB4Ye iex Aqqu?enBe:e:eKB4y }%yBllllzl]]]] &I ɚiI}=i)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503492zKq:MK9KKnK De8GBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.M AiM A] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760792 I pfۡw,YpA6@Y6౗@6Ǿ96.=y6H@䖚?M?ե;?`$?O?ٹ?`l?ɨ6@6d#;6~CyR1ARGʡE?/$y&1=?`e )YI +??L7A`堿y94?>+ƅB hB)7LBIyjBIIb8٢|> ?=9 :Q  >    G٣yG > %Nusing accuracyPremultiplier from config%B49??-B4Y| i.A-<7?-:-묿-?B ; ;ZB4=B =xB=nElQlQlQlYzlY]u6Z>]u6Z>]uf}?]uhI> v">隅I ɚiI[>i)GqBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010659kow,6A:?@Y:N@:Ǿ9: 9=y:HC??&Ĭ??r]??l?ɨ:?@:;8yR2ARGIZSIZG8٢f> fa=9f Q f>hh jG٣j+?Gyn" n> rNusing accuracyPremultiplier from configpvB49r=C?vB4Yr irAtzzz?rBr :rq:r~gB4~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262668  OxB l)l)l)l)zl)]I]I]I]Mz;>JecJeUJaJaJe:Je>9JaJaam@am@am@am@q quLIq yɚyiyI}/>i) %$?I!H]>IY I]GI]n7AI]Y=&IY.IY6I]<:I]FGqBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515556zK= LK= 9K9 K= oK=  %#+21,%" w,A2@Y2J@2 Ⱦ92@=y2H` ??PúW?@1?_?y?`o?ɨ2@2P;2CyBX4ABGIZIZ8٢=k> =C=9EιQ E>AI MG٣IyMF M> ]Nusing accuracyPremultiplier from configQ]B49UG?eB4YU iUNAaeze?UBUX;U;UvB4i uwBqllllzl]]]]*,2> 隽I ɚiI5>i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770859 I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018735w,콇A6ۏ@Y6@6ߴǾ96=y6Hl??q广X?@0?U??r?ɨ6ۏ@6ȉ;6CyBG6AB+GIJIJ8٢R٠> RU=9V:Q V>TT VG٣TyZGB Z> ^Nusing accuracyPremultiplier from config\bB49^'L?bB4Y^ i^Adff?^B^-;^,;^B4l nqwBplxlxlxlxzl|]]]],>) )-nI) )ɚ)i)I5%>i1)E'>GBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270689O-o>J}hJyJ}zJyJ}(:JyJ}z~5Jy IHU>IQ IUGIU;AIQ&IQ.IQ6IU<:IUwFrw,ׇA6@Y6̖@6Ǿ96P=y6H`s?f?t7k? 9?X? ʇ?r?ɨ6@6b;6~CyN7ANGIZHIZH8٢bu> bH=9f&ĹQ f>dd fG٣j,?Gyj  j> nNusing accuracyPremultiplier from configlrB49nP?rB4Yn invAtvv?nBn:n7:n֑B4x z wB~kEl l l lzl]1]1]1]5)>I IM II IɚIiIIU`>iY)Y2De*DeBDe:DeuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523566E0">GBO=zK=MK=9K9K=pK= BKMqA:KI5 Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778408 I qfw,4Ay9ANGK7A`?Onÿ~jt ?D )YMbX9?ˡE? :=9Q > G٣y > Nusing accuracyPremultiplier from configmB49Q?mB4Yp iKAu2"?u:udu?B<<(B4}B }vBlEllllzl]Y>]Y>]G?]@ I ɚiI%>i)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026629GQBaO{>i p>I #w,| A2u@Y2ã@2Ǿ9277=y2Hr@?@FB?;?cS?Wͷ?r?ɨ2u@2 ;0y>Q;A>^GIJiIJ`8٢R > R`=9R`:Q R>TT VG٣TyZa Z> ^Nusing accuracyPremultiplier from configrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278752JEcJEVJEJAJE:JEB9JE5JAX IB49ZS?B4YZ iZA ?ZBZI IGI?AI&I.I)D6Iű<:IFBICJICRIZIbIjIϗ4])])])]-gX@ 隅+I ɚiI>i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531251zK} KK} S9Ky K} qK} RK ?JK ?w,V%A2O~@Y2@2Ǿ92f=y2H[|? M֟?>?R?? r?ɨ2O~@2É;2|CyB=ABGIJIJ8٢R> VJ=9V9Q V>XX ZG٣XyZڻ Z> bNusing accuracyPremultiplier from config`fB49bIT?fB4Yb ibAdfdf?bBb7:b:b B4p ruBpllllzl]]]]D@ I ɚi!I%l>i)))G1BIOu=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:11:59.4511 TRx dataTimestamp_ set to:1736370720.712611checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783672 yIy Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034762rw,L3?A6b@Y6>r@6Ǿ966=y6Hc`o? 󟹿 q?@F?UV? `? No?ɨ6b@6$H;6Cyr>AvGIzIzu8٢ ~>  D=9 xQ  > G٣-?Gym > %Nusing accuracyPremultiplier from config!-B49%nU?-B4Y%s& i%=A)--?%B%a:%:%B4A EXuBAlYlYlYlYzlY]q]q]q]uo/@  QI  ɚ i I >i)G- ?G- ?G BOE=Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 21:11:59.4511 LVL= 18400, 19809, 13522, 21491, AGC= 74, IDX= 91,-0.11,-2.966, 1.911,-2.700, 2.746, PHS= 0.659,-0.788, 0.833, RAW= 155.6, -9.2, CAL= 161.0, -16.5, ROT= 349.0, 16.5 5Ygot valid direction response: 21:11:59.4511 LVL= 18400, 19809, 13522, 21491, AGC= 74, IDX= 91,-0.11,-2.966, 1.911,-2.700, 2.746, PHS= 0.659,-0.788, 0.833, RAW= 155.6, -9.2, CAL= 161.0, -16.5, ROT= 349.0, 16.5 =PDAT read: Bearing 349.0, 16.5 (Local) =~Local bearing/azimuth received: Bearing 349.0, 16.5 (Local) EDAT read: Range 10 to 50 : 660.8 m (Round-trip 881.1 ms) speed 0.6 m/s MR#Rx 1: Read range and direction messages. YIam^direction in FSK: [0.062379,-0.882359,0.466423]mFpublishing direction and range info9P3?FI< =?y3%DJ}eJ}XJ}xJyJ}\:J}5K9J}x5JyGaM 4)SIi9(?^I}?U?-@l$ 3@)rI@ir>;S?7.d?bgĿ)?I#>i!qjHU<bHQHe>IeC Ie6GIe#DAIa&Ia.Ia6Ie<:IeFWw,YA27@Y2G@2yOȾ92=y2H0?@~\v?``?`g? 3?j?ɨ27@2K;2CyR~@ARGIZIZ8٢n> nM=9r#pp vG٣tyvX v> zNusing accuracyPremultiplier from configx~B49zlV?B4Yz, izA¿?zz Bz;zV;zB4  tBl)l)l)l)zl1k-e{ʛ?k-\^w k) k-_MA:k-3%DBk-$DZk-l@B@"-J4D@PD 8fCs@-P3?FI< =?Jk-!Rk-q*-Z$> QRP@:Jn@-m[n֖K?vx?"k-B*k-k-~vʛ?k-;It 2k-_~C]a]a]a]e @y y}Iy yɚiII>i)]Will construct direction to contact in vehicle frame from tetrahedron phase data.GaBiO=zKeKKe9KaKerKe     Will construct direction to contact in vehicle frame from tetrahedron phase data. I II *J %="J %=#w,trA2 @Y2n@2ɾ92<=y2H%]?ﱓ?}?|?`M?Of?ɨ2 @2{;2~CyB*BABG=m?#~j:v=?=㥽=T 9)9Y=/$?{Gzy=&?=#==܀B =lfB)=GBI99y=QeBIUIU8٢e[}> eB=9mPXQ m>ii uG٣qyuE u> Nusing accuracyPremultiplier from configB49U?B4YS2 i]A,?:7ο?]!B;;HB4B tBmEllllzl]<=]<=]&?]@ uI ɚiIڼ>i)GBO=eWill construct direction to contact in vehicle frame from tetrahedron phase data. #w,TÌA6@Y6@@6gʾ96[=y6H@?ċ? ? E?"?a?ɨ6@6;6|CyRCARGIZsIZ)8bWill construct direction to contact in vehicle frame from tetrahedron phase data.٢fu> fU=9j%Q j>hh jG٣j.?G tIvrfyvZ z> ~Nusing accuracyPremultiplier from configxB49zT?B4Yz7 iz A ο ?z,"Bz;z;zB4 !tBl)l)l)l)zl)]]]]9@ I ɚiIP(>i)H>I IJGIDHAIZ=&I.I*D6I<:IuFG%sAG%sAGBO5=%G=`wAUZA yY`wAy(AuWill construct direction to contact in vehicle frame from tetrahedron phase data.zK GLK K K sK @)w,-̦ANĎ@YNDԕ@Nʾ9Nh0=yNH، ?߶ກ7?`?? ٷ?^?ɨNĎ@NQ;NCyVjEAVGI^I^8٢f> fI=9jQ j>hl nG٣lyn) n> vNusing accuracyPremultiplier from configpvC49rT?zC4Yr9= ir"Axz]Ͽz?r#Br@:ra:rC4| ~sBllllzl]Q]Q]Q]Uk@y I  ɚ i I >i)G9BAO]= IWill construct direction to contact in vehicle frame from tetrahedron phase data.JqJu@AJq5KEq5 Kk1KK"KJ}bJ}WJ}{JyJ}:J}G9J}ـ5JyJ} ;aJ} ;aJyaJ}'`:a Will construct direction to contact in vehicle frame from tetrahedron phase data.0w,l|AJB@YJ@Je̾9J=yJH.`9?y1Fu??@M? ֶ?Z?ɨJB@J;J}Cy^FAbGIjxIj]8٢rn> rJ=9r츻Q r>tt vG٣tyvJ z> ~Nusing accuracyPremultiplier from configxC49zS?C4YzB iz#AϿ ?z#Bz ;z:zC4 OsBl)l1l1l1zl1]I]I]I]M>Q@a aeDIa aɚaiiIm@>ii)qGQBaO}= IWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHRH@AH>I I^GIeLAIY=&I&D.I6Ip<:ITFpG6w,VڈAB@YBm@Bp̾9Bv=yBH瞿9?(`upr?`?@?@?bW?ɨB@B߼;B~CybYHAbdGI=}I=a8٢UY> UC=9]LQ ]>aa eG٣e/?Gye%# e> uNusing accuracyPremultiplier from configiuC49m%R?}C4YmH im%AyϿ?m$Bm7;m7;mC4 rBllllzl]]]]N@ I ɚiIh>i)G?G>UWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO=zKV$KKͼ9KKtK     I  Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai AJ J VJ J J J B9J J5J J J J X:J X:)  @Aq=y2H@_?Heq t?"?6?Q?jS?ɨ2@2s;2CyBBJABG Gz?S㥻Mb p? /ݽ  ) Y > ףp=?i|?5:vy ? q Խ  TeB) EBI  y =dBI%AI%&8٢5!> 5L=9}fQ > G٣yF: > Nusing accuracyPremultiplier from configC49O?C4YN i%A?:0ؿ?%B_;; .C4 zrBpEllllzl]=lj=]=lj=]=@]=#?I IMoII qɚqiqIu>iy)yGiByO=eWill construct direction to contact in vehicle frame from tetrahedron phase data.ZCw,ZA $I$>Ď@Y>ԕ@>m;9>O=y>H`R? qS"?@ ?@?¶?`'R?ɨ>Ď@>k;>~CyFKAFGIN$IN8٢V> VS=9Zz8Q Z>XbWill construct direction to contact in vehicle frame from tetrahedron phase data.\ fG٣dyf٫; j> nNusing accuracyPremultiplier from confighrC49jM?rC4YjLT ij&Apr׿r?j&Bj:j :j<;C4zB zrBzqEl l l l zl ]!]!]!]%+#?9 AEIA AɚIiIIM=2>iI)QH  >I  I RHI PAI Z=&I .I 6I [<:I AFGQBYO=mWill construct direction to contact in vehicle frame from tetrahedron phase data.zK5 [LK5 9K1 K5 uK5 pIw,'A><Ԏ@Y>@>P;9>|=y>H`?ȹ`sj?@F?e? D?@rP?ɨ><Ԏ@>͉; nH=9r:Q r>tt vG٣v0?Gyz*; z> Nusing accuracyPremultiplier from config C49K?C4YeZ iX'A׿?x'BEP;P;IC4) -qB)lIlIlQlQzlQ]y]y]y]}'a$? 隥I ɚiI>i)GG 9I=sfGqByO=Will construct direction to contact in vehicle frame from tetrahedron phase data.JmdJmWJm~JiJm<:JmG9Jm5JiJmi;Jmk;Jm%`:Jm'`:} Will construct direction to contact in vehicle frame from tetrahedron phase data.i I p>lPw,AA2َ@Y2E@2|;92-=y2H fX? u????N?ɨ2َ@2WG;2CyN OANGIVIV8٢~<> ~H=9_:Q  >    G٣ yu: > %Nusing accuracyPremultiplier from config%C49RI?-C4Yz` i"(A)-\׿-?f(Ba:@:WC41 =GqB9lIlIlIlQzlQ]i]i]i]m$?y 隅7I ɚiI>i)GBO= !I!Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I IHITAI&I.I6I<:IgFBI]CJI]CRIYZI]Z=bIYjI]ǚ4}Vw,s[A2&ӎ@Y2t@2̾92K=y2HWߚ?``3v0݌????WL?ɨ2&ӎ@2;2}CyNPARHIZ IZC8٢b2> bN=9b2:Q f>dd fG٣dyj j> nNusing accuracyPremultiplier from configlrC49n5G?vC4Yn_f in(AtvZ׿z?nL)Bn,;n,;neC4| ~pB|llllzl]]]]O$? I ɚiIp>i ) EWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO5=zK]KK]9KYK]vK]  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J YJ J J J [O9J :5J J J J zn:J |n:Y\w,ywuA2@Y2>ȕ@2g̾92l=y2H㝿 ]A=9]p8Q ]>aa eG٣e1?Gym m> uNusing accuracyPremultiplier from configqC49uF?C4YuYn iu)A:?:ʿ?u*Bupi)G?G>GBO=EWill construct direction to contact in vehicle frame from tetrahedron phase data.  I ) ?A3cw,RAB&@YBt@B8̾9BQ=yBH@g?pt.?Y??f?@F?ɨB&@BCj;BCyJ(TAJuHRWill construct direction to contact in vehicle frame from tetrahedron phase data.IZIZ<8٢fN> fT=9fiQ f>hh jG٣hyj^ n> rNusing accuracyPremultiplier from configpvC49rjF?vC4Yru ir*Atvq˿v?r+Br:rv:r܁C4~B ~ pB~rEllllzl]1]1]1]5Dd@I IMIQ QɚQiQIU#= >iY)YH >I IMHIXAIY=&I.I6I,<:IFGqBO=UWill construct direction to contact in vehicle frame from tetrahedron phase data.iw,8AF(U@YFvd@F'9;9F=zK^&KK^9K\K^wK^RKj>JKj?yFH \@N?BnoY???@J?`C?ɨF(U@F0;F~CyvUAvHI I m8٢%> %D=9%)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9EC49=E?EC4Y=v} i=+AAMX̿M?=,B=a:=:=fC4UB UoBQlilililizli]]]]Yd@ 隝I ɚiIѧ >i) ItfGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.] Will construct direction to contact in vehicle frame from tetrahedron phase data.pw, ÉA2@Y2"*@2Q_;92=y2H` 7?kzv*?@?H? C?ɨ2@2ˉ;2CyBWABHIJFIJ8٢n> rO=9rDAQ r>tt vG٣v2?Gyzl z> Nusing accuracyPremultiplier from config|C49~D?C4Y~ i~,A  AͿ ?~-B~:~:~:C4 }oBl)l)l)l1zl1]]]]c@ I ɚiI >i)GGGBO= IWill construct direction to contact in vehicle frame from tetrahedron phase data.J]eJ]VJ]JYJ]\:J]B9J]5JYae@ae@ae@ae@H>IC IHI\AIZ=&I.I6I<:IsF)y yG U DҿYQ yU /A @ mB vw,܉Ay_YAHI-I-α8٢=> ED=9EQ E>II MG٣IyU ]> eNusing accuracyPremultiplier from configamC49e*D?mC4Yenj ie-Aiqu?e!/Bea:eL:eͬC4y } oBylllWill construct direction to contact in vehicle frame from tetrahedron phase data.lAzlA]a]a]a]ay y}Iy yɚiI~ >i)GqByO=zKKKý9KKxK +<?>70(! yIuf Will construct direction to contact in vehicle frame from tetrahedron phase data.*Je C="Je =H}w,A:\@Y:@:>;9:6=y:H@*Ů?t dוC?@&?`Q?`E?ɨ:\@:;:}CyB [ABH~jt?V- EJ=9EMYQ E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYeC49]D?eC4Y]! i]/Ae,Y?mz:mzǿm?]f0B];]M;]C4uB unBqllllzl]>]>]Cb)?]!@ =I ɚiI >i)GBO =%Will construct direction to contact in vehicle frame from tetrahedron phase data. a Ia zw,ԚA6h@Y6x@6H;96Ś=y6H ?`K`z`eM?@?`J?G?ɨ6h@6{;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yF/]AFHIRIRõ8٢Z> ZT=9ZɧQ Z>\\J%cJ%WJ%J!J%:J%G9J%5J! ^G٣53?Gy5j 5>HAIA IEa HIE aAIA&IA.IA6IE<:IEVF eNusing accuracyPremultiplier from configYeC49]D?mC4Y] i]1Aimoȿm?]1B]:]:]C4 nBllllzl]]]]B@! !%I! !ɚ)i)I-{I >i))1G?G?GIBYOu=5Will construct direction to contact in vehicle frame from tetrahedron phase data.!w,(|*AF)@YF9@FI;9F=yFH)ﲿ`?j]@pN??`Gb?oJ?ɨF)@F״;F~CzKNMKN9KLKNyKN  yV^AZHIb.Ib 8٢jh> jH=9jݫ:Q j>ll nG٣lyr柼 r> vNusing accuracyPremultiplier from configtzC49vD?zC4Yv iv3Ax~lɿ~?v2Bv ;v;vC4 mBllllzl]]]]!@ UI ɚiI >i) IGBO%=Will construct direction to contact in vehicle frame from tetrahedron phase data.= Will construct direction to contact in vehicle frame from tetrahedron phase data.: w,qXDAv@Yv@v4;9vM=yvH ?6XY@T?7? ? L?ɨv@v<;vCyF`A HII8٢%x> %E=9-9Q ->)) -G٣)y5E 5> =Nusing accuracyPremultiplier from config9EC49=CD?EC4Y=2 i=5AIMjʿM?=44B=;=;=C4Y ]VmBYlqlqlql zl ]!]!]!]%@9 9=I9 AɚAiAIEw >iA)IGIBYOu= I vfWill construct direction to contact in vehicle frame from tetrahedron phase data.J=aJ=YJ=J9J=:J=[O9J=s5J9jHM<bHM4=HQIQ IU HIU|eAIQ&IQ.IQ6IU<:IUWF1w,+^A:@Y:@:U;9:x!=y:Hƶ ?<R>ma??`Ӹ?L?ɨ:@:e';:}CybAbAb! HIj-Ij8٢r}> rO=9r&Q v>tt vG٣v4?Gyz z> ~Nusing accuracyPremultiplier from config|C49~C?C4Y~c i~7A  ˿ ?~s5B~z:~ :~C4B lBsEl)l)l)l)zl1]Q]Q]Q]Ux@a e+>moIi iɚiiiImK| >iq)qGG=Will construct direction to contact in vehicle frame from tetrahedron phase data.GQBYO=zK5sLK5S9K1K5zK5 9OXUOMKGCBA>;73.-+*& I Will construct direction to contact in vehicle frame from tetrahedron phase data. i '^w,xAN\@YN l@Nٞ;9No=yNH@͸n?uSJC@s?g?`?I?ɨN\@N$;NCyn&dAnK HmZd;?V-?m?mLm< i)iYmQ?)\(?RQ?ym\O?mGa=m=mxB m\B)mm>BIiiym[BII8٢> ?=9Q > G٣yǥ > Nusing accuracyPremultiplier from configD49B?D4Y^ i:AAQ?:{ο?6Bw;;D4 alBllllzl]x>]x>]]>]H@ I! !ɚ!i!I%| >i)))G BO5=EWill construct direction to contact in vehicle frame from tetrahedron phase data. I Cw,7㑊A2@Y2i#@2Bξ92ݩ=y2H ݺ`?@?'q?`G?@?rF?ɨ2@2lc;2CRWill construct direction to contact in vehicle frame from tetrahedron phase data.yV3fAV HI^iI^8٢f> fY=9fYQ j>hh jG٣hHr>Ip IrHIriAJiJ[JJJ+:JW9J-5JIp&Ip.Ip6IrQ<:Ir.FBICJIRIZIbIZ=jI 5yn > Nusing accuracyPremultiplier from configD49uA?D4Y i+=AϿ?7B::D4 kBllllzl]]]]Ht@q y}sI ɚiI5Q >i)GBO=UWill construct direction to contact in vehicle frame from tetrahedron phase data.nw,DA:ҋ@Y:@:;GϾ9:=y:H Nȿ?`?@1DZ?25? h?-A?ɨ:ҋ@:܈;:CyBhAFHININ8٢V> VL=9VQ V>XX ZG٣Z5?Gy^c ^> bNusing accuracyPremultiplier from config`fD49b%@?fD4Yb ib?Adfпj?b8Bb;b!.;b D4p rgkBtl|l|llzl]]]]v<@) )5 I1 1ɚ1i1I5 >zK=MK= 9K9K={K="     !"! !iI)I yIWill construct direction to contact in vehicle frame from tetrahedron phase data.ED#>G?G ?GyBOc>] Will construct direction to contact in vehicle frame from tetrahedron phase data.Uw,ŊAJ@YJզ@Jaо9J}=yJH S]?@6橿 #`?U? ?`;?ɨJ@J;J}Cy^iA^HIjIj8٢r> rG=9rjQ r>tt vG٣tyz' z> ~Nusing accuracyPremultiplier from configxD49z>?D4Yzn izZBAyѿ ?z:Bz. ;zC:zc+D4B kBtEl)l)l)l)zl)]a]a]a]ej @y y} Iy yɚyiI>i)EU[+>G)B9OU= iIuwfWill construct direction to contact in vehicle frame from tetrahedron phase data.HI IHInAI[=&I.I6I3<:IFJUgJUXJUJQJU%:JU5K9JU5JQJU$;aeJU$;aeJUOg:aeJURg:aeiw,vߊA6n@Y6}@6SѾ963=y6H@aӸ? sϧ`z ]? !x? 8? P5?ɨ6n@6J;6~CybkAbHIjƾIj8٢%r> %F=9-}Q ->)) -G٣1y5SF 5> ENusing accuracyPremultiplier from config9ED49=i)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.GGrAGBOe> YIYzKu^MKqKqKu|Ku       Will construct direction to contact in vehicle frame from tetrahedron phase data.w,+NABT@YBc@BҾ9B=yBH  6? "{ ?%?`j/?@.?ɨBT@B;BCyZmAZ2HCl?B`"۹V-d>νm )YX9v? rh?Q?y?C<\>vB )Iy[BIƯIƛ8٢g> A=9aQ > G٣6?Gy > Nusing accuracyPremultiplier from configD49n:?D4Y iGA"?:ٿ? ]-~>]-@?]-@A AE IA AɚIiIIM>iI)QGIBYOu=%Will construct direction to contact in vehicle frame from tetrahedron phase data. M $?II i I jĢw,-A2I@Y2X@2{Ӿ92=y2H`p>B? 2ӥ!7:??5?;(?ɨ2I@2:;0H@I@ IBHIBMsAIBZ=&I@.I@6IB<:IBFNWill construct direction to contact in vehicle frame from tetrahedron phase data.yRoARSHI^I^8٢f՝> f[=9fYQ j> -G٣)yEe U>*G ٿYyA  Nusing accuracyPremultiplier from config=D498?=D4Y# iJA9EڿE?i)G BO- >UWill construct direction to contact in vehicle frame from tetrahedron phase data.ѻʢw,--A:]I@Y:X@:Ծ9: =y:H@_;` ?q @Gb@U?E??"?ɨ:]I@:;:~CyB|qAB~HIbIb8٢jD> jJ=9j¥Q j> pIplt vG٣tyvs z> ~Nusing accuracyPremultiplier from configxD49z6?D4Yz izYLA ڿ ?z=Bz;z;zcD4 iBl)l)l)l)zl)]I]I]I]MnϺ@zK]/+MK]ý9KYK]}K]   RKe>JKe>q y} Iy yɚyiyI} >i)GqByO=Will construct direction to contact in vehicle frame from tetrahedron phase data.JcJZJJJ:JS9J-5Ja@a@a@a@e Will construct direction to contact in vehicle frame from tetrahedron phase data.Ѣw,FAJW@YJf@Jվ9J|=yJHJ? ߓt??>?M?ɨJW@J;JCyrsAvzHI~I~>8٢ Dy>  G=9 BQ  > G٣y; > -Nusing accuracyPremultiplier from config!-D49%3?5D4Y%y i%NA15ٿ5?%u>B%:%:%0rD4EB EhBEuElQlQlQlizlq]]]]@ 隥: I ɚiId>i)GqBO= IH>I IqHIwAI[=&I.I6Ie<:I:FWill construct direction to contact in vehicle frame from tetrahedron phase data.) @A|עw,`A>(X@Y>wg@>D־9>l=y>H Ƿ?`3v`Lւ??@Dl?q?ɨ>(X@>?T; jM=9n6Q n>ll nG٣n7?GyrD9 r> ENusing accuracyPremultiplier from configAMD49E1?MD4YE iEAQAQUٿU?ED?BE ;E ;ED4Y ]i)Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO =Mfsetting unavailable, lastComms_.elapsed()=60.239971! U! uU i] IxfzKLK 9KK~K   Will construct direction to contact in vehicle frame from tetrahedron phase data.JK5KK5 KKS}1KCKC"KCJ bJ TJ J J :J :9J 5J ݢw,zAy~vAHoʡ?I +Dl ?94O )Ym?/$ ;=9Q > G٣y > Nusing accuracyPremultiplier from configD491.?D4Y iRA ? : Z߿ ?+@B;j;dD4 gBxEl)l)l)l1zl15=k=nAggregate::initialize lineCaptureHoming:MicromodemComms16= l=~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6=5=Bb=@lEzInitialize ReadDataComponent to sense platform_communications]]xf=]]xf=]] f?]]S?q y}^ Iy yɚyiyI}{>i)GqBy%Will construct direction to contact in vehicle frame from tetrahedron phase data. I O >Yw,%xAHI IFHI|AI&I.I6I<:IFBWill construct direction to contact in vehicle frame from tetrahedron phase data.*J\"J^%=y=xA=HIUWIU8٢eɫ> eR=9iQ m>ii mG٣qyq u> }Nusing accuracyPremultiplier from configyD49}C+?D4Y} i}TA?}@B}:}:}D4 KgBllllzl5krAggregate::uninitialize lineCaptureHoming:MicromodemComms16 lAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInq6]q]q]q]q 隅 I ɚiI4>i)GBO=5Will construct direction to contact in vehicle frame from tetrahedron phase data. E nManaging dock network, ignoring radio surface power offi t>I L w,RA I F@YF3!@Fxؾ9Fv=yFH?bpZl?B?ʸ?i?ɨF@F[P;Dyf`zAfH! un! n IrIr8٢zƐ> zR=9~5Q ~> G٣8?Gy. > Nusing accuracyPremultiplier from config D49 .(?D4Y   i PUA!%n࿑-? AB \; e\; D41 5fB1lIlIlIlIzlQ5Uk]nAggregate::initialize lineCaptureHoming:MicromodemComms16] l]~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6]]i]i]i]mG? 隅g I ɚiIE>i)zK0LK9KKK  GBWill construct direction to contact in vehicle frame from tetrahedron phase data.JcJXJJJ:J5K9Jɕ5JO >U Will construct direction to contact in vehicle frame from tetrahedron phase data.Vw,^.ȋA2{@Y2@2پ92z\=y2H@`p? WM/z?` h? D?`@?ɨ2{@2 ;2~Cy>|A>HIJIJNj8٢R> RP=9R#ѻQ V>TT VG٣TyZ<{ Z> ^Nusing accuracyPremultiplier from config\bD49^$?bD4Y^K i^VAdf2ῑf?^BB^X:^z:^RD4h jofBhltltltltzlx]]]]?! !%I) )ɚ)i)I-r>i1)1GBO= 1I5yfZHRHAAH%>I! I%HI%{AI!&I!.I!6I%<:I!BIJICRIZI[=bI[=jI4Will construct direction to contact in vehicle frame from tetrahedron phase data.w,t ⋺A6b@Y6@6V۾96x=y6HG¿?8@0O*?\?Y@?@S?ɨ6b@6w;6CyB}ABHIJIJ 8٢V > VJ=9VtջQ V>XX ZG٣XyZh ^> bNusing accuracyPremultiplier from config`fD49b!?fD4Yb ibXAdfῑj?bmCBb:b:bwD4nB n fBnyEl|l|l|lzl]]]]WJ?) 15I1 1ɚ1i1I=>i9)AWill construct direction to contact in vehicle frame from tetrahedron phase data.GB O-= !I!zK\LK 9KKK  $GQH<0( ;m6< Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iթ JE fJE \JE JA JE |":JE [9JE 5JA ) RFw,UAB|@YB֋@Bܾ9B2I=yBH@¿ ?@ ``??0?@?ɨB|@B;@yfAf'H$C?S㥛~jtx?$Ļ )YZd;O?MbpT㥛 yj?vB  ZB)W;BIy\YBII8٢> 8=9Q > G٣9?Gym > Nusing accuracyPremultiplier from config D49 ? D4Yj inYA??:oݿ?vDBN;;D4 eB!llllzl]>]>]?]@  I  ɚ iIyA>i1)1G)B1OM>Will construct direction to contact in vehicle frame from tetrahedron phase data.  I H! I!  I% HI% ȂAI% \=&I! .I% +D6I% <:I% F.w,+A2Will construct direction to contact in vehicle frame from tetrahedron phase data.:L@Y:*\@:)޾9::=y:H࿢ÿ~?g`ӝ {|`?7?sD??ɨ:L@:;:}CyFAFWH*JL"JN=ININ˂8٢b> b_=9bQ f>dd fG٣dyj6 j> nNusing accuracyPremultiplier from configlrD49n.?rD4Yn inZAtv,޿v?nOEBn:nu:nD4x zeBxllllzl]]]]~a@ !%I! !ɚ!i!I%>iQ)QG)BAO]=Will construct direction to contact in vehicle frame from tetrahedron phase data. I -[ w,/A6 @Y6o.@6&߾96'h=y6H??Ŀ?@ZOҌ? V?@͸?@??ɨ6 @6{;6Cy>A>fHIJQIJq8٢V> VL=9V Q V>XX ZG٣Xy^c ^> bNusing accuracyPremultiplier from config`fD49b?fD4Yb# ib[Adj޿j?b>FBb:b:bD4p rdBpl|l|l|l|zl|]!]!]!]%&@1 151I1 9ɚ9i9I= >iA)AzKUTNKUS9KQKUKUrfN- rg]RG@:4.*&$#  /06MYb="vnbUMG@:GiByO=mWill construct direction to contact in vehicle frame from tetrahedron phase data. Will construct direction to contact in vehicle frame from tetrahedron phase data.i x>I i> @w,rpIAR~@YR @RA9R$'=yRH ;Ŀz?@Nn` ?,?`? _?ɨR~@R;RCynAn HIEIf8٢n> D=9΂Q > %G٣%:?Gy%* %> -Nusing accuracyPremultiplier from config)5D49-K?5D4Y-C* i->]A9=|߿=?-5GB- ;- ;-hD4A E/dBIlYlYlYlazla]]]],@ 隥I ɚiIl>i)G $?IBO=)&= HI I#HIAI&I.I6I<:IF5GAY}Will construct direction to contact in vehicle frame from tetrahedron phase data.JJAAJcJ^JJJ:Jd9Jɕ5JJ;aJ;aJ':aJ(:a "ӿYyA7kw,OcA6݉@Y6S@6OE96>=y6H"ſь?S4 Lwc?SB?`=??ɨ6݉@65;6}CyBvAB!HIJNIJuz8٢r> rM=9vpwQ v>tt vG٣tyz/ z> Nusing accuracyPremultiplier from config|E49~?E4Y~@0 i~^A  ߿ ?~"HB~7:~X:~S E4B cBzEl1l1l1l1zl1]Y]Y]Y]]Լ@i quDIq qɚyiyI}T\>iy)Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO= IzfzKPOK9KKK64<FJKW[jvNV |-l; xX>){BKsA:K Will construct direction to contact in vehicle frame from tetrahedron phase data.w,'}A2@Y2hȐ@2t92=y2Hſ?M m@.¿?CQ?'? ?ɨ2@2ٿ;2CyBxAB"H] ףp= ?&1 rh]Q?]P]C Y)YY]w/?Mbp?X9vy]&?];]}]tB ]XB)]86BIYYy]GVBIuIus8٢a> @=9Q > G٣y' > Nusing accuracyPremultiplier from configE49 ?E4Y 7 i`A'?:޿?1IB;;[E4  ?cB }El9l9l9l9zlA]]=]]=]]}D?]]@i imIq qɚqiqIu>iy)yGBO >Will construct direction to contact in vehicle frame from tetrahedron phase data. qIqH >I  I &HI cAI &I .I 6I <:I F) |%w,A>Will construct direction to contact in vehicle frame from tetrahedron phase data.J@JBZJBJ@J@JBS9JB5J@J@J@JBu:JBu:vꕉ@Yv9@v9vk=yvH )ƿ3?p@b`¿?f???ɨvꕉ@vbv;vCyZA$HI׍Ih{8٢-> -Q=95tQ 5>11 =G٣=;?Gy=4 E> MNusing accuracyPremultiplier from configAME49E ?UE4YEN= iEuaAQU߿U?E%JBE@:Ei)GBO=UWill construct direction to contact in vehicle frame from tetrahedron phase data. a Ia ^+w,ܰA>g@Y>ev@> 9>j2=y>HƿO|?䒿g@> ; ZR=9Zo%Q Z>\\ ^G٣\ybGq b> fNusing accuracyPremultiplier from configdjE49f?jE4YfC ifbAhn9࿑n?fKBf ;f. ;fr7E4p rnbBplll l zl ]!]!]!]%b@1 9=I9 9ɚ9iAIE)>iA)IGB!O==zK`OK9KKKwsqoki\SRRQMHFGC?@@:97875552//-*))(&#!RK ?JK>Will construct direction to contact in vehicle frame from tetrahedron phase data.] Will construct direction to contact in vehicle frame from tetrahedron phase data.2w,ضʌA68@Y64H@696=y6H[ǿ`u?sHa+Ŀ .? ? f׷?@?ɨ68@6k;6~CyjAj&HItIt٢~d> ~F=9~Q > G٣y _  > Nusing accuracyPremultiplier from configE49?E4YJ iWdA!%࿑%?LB" ; ;EE4-B -aB)lIlIlIlQzlQ]]]]9.@ |I ɚiIn>i) I GBO=ZHiRHm@AHu>Iq IuV)HIuAIq&Iq.Iq6Iu1<:IuFJJXJJJJ5K9J5JJJJOg:JRg:Will construct direction to contact in vehicle frame from tetrahedron phase data. Powering down) i I  ,8w,h䌺A6@Y6@696=y6H i ȿm?a?:KĿjD??`_??ɨ6@6*;6CyN ARQ'HIZIZx8٢fg> fM=9fzQ f>hh jG٣j ENusing accuracyPremultiplier from configAME49E?ME4YEP iEeAIMῑM?E MBEb;E;E5TE4}B }zaB~Ellllzl]]]]@Will construct direction to contact in vehicle frame from tetrahedron phase data.A IMIQ aɚiiiIu>i)GB I{fO&>zK- /NK) K) K- K-   BK= rA:K9  Will construct direction to contact in vehicle frame from tetrahedron phase data.>w,sAyAu(H(\?M¿~jt.?nD )Y"~?{Gz ףp= y3?#Q8qB UB)IyTBIId8٢z> 9=9Q >    G٣ y > 5Nusing accuracyPremultiplier from config)EE49-?EE4Y-W i-gAMZ4?M:M俑M?-CNB-;-y;-dcE4Y ]aBYlqlqlqlqzlq]H>]H>]$?]q@ 隭I ɚiIN>i)GBO=-Will construct direction to contact in vehicle frame from tetrahedron phase data. IHi Ii  Im *,HIm AIi &Ii .Ii 6Im <:Im FBI!JI!RI!ZI%\=bI%\=jI%Y4Ew,EKAJ0J2TJ2J0J0J2:9J2X5J0J0J0J2J:J2J:bWill construct direction to contact in vehicle frame from tetrahedron phase data.fU@Yf@f<9f,=yfH\ɿ|]? r@tƿ?@ ??ަ?ɨfU@fΈ;f~Cy~A~)HI xI U8٢]> ]T=9ex-Q e>ai mG٣iym m> Nusing accuracyPremultiplier from configE49?E4YX^ iIiA濑?DOB::pE4 ~`Bllllzl])])])]-4@9 AEIA AɚAiAIE1>iI)IGiBqO=uWill construct direction to contact in vehicle frame from tetrahedron phase data. I CKw,#2A6r@Y6a@6?96=y6H`ɿ6U?hm[Q`)ǿ d??!?ҟ?ɨ6r@6:;6CyRAR*HIZ;yIZV8٢b> fU=9fեQ f>hh jG٣j=?Gynz n> vNusing accuracyPremultiplier from configpvE49r?vE4Yrd irjAxzE翑z?rBPBrz:r:r(~E4 `BEllllzl]]]]>@ I ɚiI\l>i)!GBO=zK-LK- 9K)K-K-RK=?JK=?Will construct direction to contact in vehicle frame from tetrahedron phase data.} Will construct direction to contact in vehicle frame from tetrahedron phase data.]Rw,KA:C@Y:8S@:9:>=y:H`ʿ M? VL=9V »Q V>XX ZG٣Xy^f b> fNusing accuracyPremultiplier from config`fE49b钜?jE4Yb_k iblAhj近j?bMQBb:bz:b#E4p r_Bplxlxlxl|zl|]]]]Ѻ@) )-!I) 1ɚ1i1I5>i9)A $?IG9BIOe=jH<bH<H I  I /HI LAI &I .I 6I <:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.Yw,eA: @Y:[(@:<9:=y:H()˿ ME?Ox?@ȿ.? VJ=9ZQ Z>X\ ^G٣\ybS b> fNusing accuracyPremultiplier from configdjE49fG䒜?jE4Yfr if]nAhj近n?f[RBf$;f);fFE4r’B v"_BvElll!l!zl)]A]A]A]Er@Q Q]IY YɚYiYI]>ia)aEWill construct direction to contact in vehicle frame from tetrahedron phase data.GiBOE= IzK uKK ػ9K K K :5T%J J UJ J J J >9J J a @a @a @a @ Will construct direction to contact in vehicle frame from tetrahedron phase data.0_w,A2t@Y2 @292p=y2Hl˿??R? y:ɿ? W? .϶??ɨ2t@2d;2CyBABA.HeMb?ʡEMbe#?e-e a)aYeV-?~jtI +yeh1?eDe94epB eTB)e1BIaaye3RBIIj8٢> <=9Q > G٣>?Gy > Nusing accuracyPremultiplier from configE49hޒ?E4Yy ijpAt1?:G꿑?qSB;;jE4 ^Bllllzl]u=]u=]Cm?]@ 'I ɚiI\>i!)!GBO=EWill construct direction to contact in vehicle frame from tetrahedron phase data. I|f G H >I  I 1HI AI &I .I 6I <:I F M YQ yU A<fw,A6߇@Y6(@696=y6H%˿ :?ّ?v@~ɿ?k?k϶? ?ɨ6߇@6;4RWill construct direction to contact in vehicle frame from tetrahedron phase data.yVAVq/HI^a{I^Z8٢f> fX=9jlQ j>hh jG٣hyr r> vNusing accuracyPremultiplier from configtzE49v5ْ?zE4Yv  iv7rAxz꿑~?vdTBv:vu;vE4 1^Bllllzl]]]]"@ I ɚiIoK>i)!GBO5=UWill construct direction to contact in vehicle frame from tetrahedron phase data. I lBlw,kA6ȇ@Y6'؎@6m.96z0=y6H`1̿@06??`j 6ɿ ?`|?kѶ?T?ɨ6ȇ@6w;6CyNAR0HIZ!tIZM8٢bĘ> fK=9fn8Q f>dh jG٣hyj j> rNusing accuracyPremultiplier from configlvE49nӒ?vE4Ynu in"tAtv뿑v?nfUBn:n:nE4x ~]B|l l llzl])])])]-[ձ@A IM0II IɚIiIIUU}>iQ)YGQBaO}=J]bJ]WJ]JYJ]:J]G9J]5JYzKhMKͼ9KKK;niE$  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.**sw,F͍AF籇@YF6@F.9F_=yFH i|̿1?m?6T0ʿ ?`?Ƕ?b?ɨF籇@F₈;FCyVAV1HI^ rI^!J8٢f6> fJ=9jhh nG٣n??Gyn n> vNusing accuracyPremultiplier from configpvE49r͒?zE4Yr irvAxzr뿑z?riVBr:r:rE4~ÒB :]BEllll -$?I)zl1]I]I]I]Mñ@Y aeiIa aɚaiaIe>ii)iGQBaO=HI I4HIAI&I.I6I<:IFJYJYWill construct direction to contact in vehicle frame from tetrahedron phase data.Vyw,(獺AF @YFX@F 9Fƾ=yFH@̿_-?GҎ?qzʿ@?"? }?Qܶ?`|?ɨF @F$G;FCyn[An2HINsI_L8٢Mj> UB=9eQ m>qy G٣y̻ > Nusing accuracyPremultiplier from configE49ǒ?E4Y i!xA뿑?~WB@<r<E4%ʒB %\B-EEWill construct direction to contact in vehicle frame from tetrahedron phase data.l9l9l9l9zl9]]]]@ I I )ɚ)i)I->i1)9GGsAGyBO=>Ji Jm XJm Ji Ji Jm 5K9Jm X5Ji  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK LK {9K K K  ;#gw]G.ysqiaYUMFB@=85440,((#O>w,WA2@Y2@2+922=y2H`XͿ)?B? @ʿ@I.?Ԣ?@ն?y?ɨ2@22;0yNsAN4HE? ףp= ?~jtE@?EQ8=EĽ A)AYE9v?~jtktyE4?AE 0EmB E'SB)E,BIAAyEQOBI]*wI]7S8٢m*> mH=9m,Q m>qq G٣y   > Nusing accuracyPremultiplier from configE49?E4Y iyA%Z5?%:%[뿑%?XB;8;zE4) -[\B1lAlAlAlAzlI]e=]e=]eb@]eg@q y}Iy yɚyiyI}>>i)GIBYO}=EWill construct direction to contact in vehicle frame from tetrahedron phase data. I}fH >I C I 7HI qAI ]=&I 'D.I 6I ߰<:I Fgw,A*JR="J4=BZk@YBz@Bx9B=yBHkͿ#?ӄ?@v*˿Y5??r?x?ɨBZk@B*z;B}CRWill construct direction to contact in vehicle frame from tetrahedron phase data.yRtAVX5HI^EvI^Q8٢j> jU=9jo9Q n>ll rG٣r@?Gyr% r> vNusing accuracyPremultiplier from configtzE49vn?zE4Yv iv{A|~뿑~?vYBv ;v ;vCE4 [B ll!l!l!zl!]I]I]I]M@Y YeIa aɚaiaIeTJ>ii)iGqBO=UWill construct direction to contact in vehicle frame from tetrahedron phase data. I w,4A2jQ@Y2`@292=y2H JͿB??@l˿9?q?`? v?ɨ2jQ@2;2CyBHAB\6HIJrIJ}K8٢V > VM=9V/Q V>X\ ^G٣`yf f> %Nusing accuracyPremultiplier from config5F49Q?5F4Yv ih}A156쿑=?ZBB<'=< F4 q[Bllllzl]]]]ad@1 QUIQ YɚYiYI]>iY)aJ5K‘5 Kp0KK"KJ=cJ=VJ9J9J=:J=B9J9J9GQBYO}=Will construct direction to contact in vehicle frame from tetrahedron phase data.zK OK ý9K K K     RK?JK>e Will construct direction to contact in vehicle frame from tetrahedron phase data.yw,NA2A)@Y28@2@92=y2H@Oο`??@ܘ˿@:?H?9?`gv?ɨ2A)@2;2~C DIDyFVAF7HIR oIRD8٢V> ZJ=9Z :Q Z>\\ ^G٣\ybF b> fNusing accuracyPremultiplier from configdjF49f[?jF4Yf if'Ahj쿑j?f[Bf ;f` ;fYF4p rZBpl|l|l|l|zl]]]]#@1 15I1 1ɚ9i9I=>i9)AGBO=jHM<bHMp<HU>IQ IU:HIUӗAIU\=&IQ.IU,D6IU<:IUFBIJIRIZIbIjI%4Will construct direction to contact in vehicle frame from tetrahedron phase data.Ԣw,jhAZ@YZ @Z!9Z`=yZH4ο@{ ? ?`̿B??@/?`t?ɨZ@Z;ZCyQA8HIelIe@8٢> <=9Q > G٣A?GyA >%Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from configF499?F4Y iA}?\B:.:)F4̒B pZBEllllzl]A]A]A]ET@ }$?I}~f 隵I ɚiIy>i)GBO )> Will construct direction to contact in vehicle frame from tetrahedron phase data.zK% `LK% (9K! K% K% BKM sA:KM sAƌw,rNAB̆@YBۍ@BC9Bҗ=yBHϿ+?_?@3EZͿ@2C??ҷ?(s?ɨB̆@BJ/;BCy^~A^P:H&1?V-MbP?h )Y)\(?Mbp?lyGA?;jB IPB)((BIyKBImI\B8٢> I=9ZQ > G٣ygy > Nusing accuracyPremultiplier from configF49d?F4Y9 iAA?:\뿑?]B;B;6F4 YBllllzl]%=]%=]%9;@]%z }>A AEII IɚIiQIU>iY)YGBO>%Will construct direction to contact in vehicle frame from tetrahedron phase data. aIaH] >IY  I] =HI] IAI] ]=&IY .IY 6I] <:I] F񳦣w,.AJ&aJ&`J&J$J&:J&bl9J&5J$J&6;a.J&8;a.J&Q:a.J&R:a.BWill construct direction to contact in vehicle frame from tetrahedron phase data.J@YJԪ@JE9J =yJH@п?? p*ο@G? r??`Lq?ɨJ@JC3;J~Cyn|Ar;HIzlIzA8٢K> V=9"ȺQ  >    G٣ y > Nusing accuracyPremultiplier from config%F49c?%F4Y ivA)-!쿑-?^B'8;q+; DF49 =ZYB9lQlQlQlQzlQ] ] ] ] v> !%I! !ɚ!i!I-G>i1)9G)B9O]=5Will construct direction to contact in vehicle frame from tetrahedron phase data. Q IY ^ᬣw,)A:jb@Y:q@:79:m=y:H`xп3?Wޞ?L_Ͽ`M?@??ؐ?n?ɨ:jb@:ǚ;:CyNAN bN=9bQ b>`d fG٣dyf# f> nNusing accuracyPremultiplier from confighnF49j?rF4Yj ijoAprr?j`BjC:j:jQF4t zXBxl l l lzl])])])]-*n>A AEaIA AɚAiAIMt>iI)QGiByO=Will construct direction to contact in vehicle frame from tetrahedron phase data.zKeKKeͼ9KaKeKeRKm?JKm?E Will construct direction to contact in vehicle frame from tetrahedron phase data. A IA {dzw,ώA2A2@Y2A@2g92 =y2H`nп`W?I?[PϿ@>Q?P?a?l?ɨ2A2@2E;0yfAf>HInfIn48٢z> zG=9~ۺQ ~>| G٣B?Gyj > Nusing accuracyPremultiplier from config F49 :?F4Y  i qA? )aB ; ; ?`F4%ΒB -ZXB-El9lAlAlAzlA]Y]Y]Y]]*]h>y y}|I ɚiI>i)GBO=)= KC=GQi ۵YyAZHRHAAHI I@HIAI&I.I6Iڰ<:IFJebJeXJeJaJe:Je5K9JeJ5JaJe ;Je ;JeOg:JeQg:Will construct direction to contact in vehicle frame from tetrahedron phase data.w,鎺Ar@Y @t9%=yH`ѿP?j?#>Kп`E[?? %?h?ɨr@&;騍}CyA[?HWill construct direction to contact in vehicle frame from tetrahedron phase data. IfDl?X9vMbp?O ?; )Y r?~jtxS㥫?yC?Ļ/]=8gB lMB)W$BIyQHBIdID18٢%> -+=9-/Q ->11 5G٣1y59Y 5> ENusing accuracyPremultiplier from config9UF49=܇?UF4Y= i=A]D?]:]B]?=jbB=u;=o;=pF4i mWBmEllllzl]}>]}>]?]@ 隵hI ɚiI^>i)GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.zK KK K K K  (:UlMT)wF%xhXNA5/08-%%#.+~G2e:u[LBK rA:K rAyw,AJυ@YJߌ@Je9JG5=yJH@lkѿ'?ܓ?,Pп/d? ?@Aֶ?@d?ɨJυ@J;JCyRAR@HIfcIf08٢rK? ry=9rQ v?tt vG٣tyz8 z? ~Nusing accuracyPremultiplier from config|F49~?F4Y~: i~A   ?~GcB~:~e:~c|F4 (WBl)l)l)l)zl1]I]I]I]M$[@ I ɚ i I J>i )GBO5=Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IH >I  I CHI ^AI &I .I 6I <:I ~Fǣw,ZgAJdJRJJJ<:JS29J5JJh;Jk;JP<:JS<:2Will construct direction to contact in vehicle frame from tetrahedron phase data.fV@Yf@f59f=yfHѿ!?H?@ѿ`p?R ?@o?_?ɨfV@f;dy~A~AHIbIn/8٢Ez> ED=9M[zQ M>II MG٣MC?GyUF U> }Nusing accuracyPremultiplier from configyF49}jz?F4Y} i}LA?}bdByy}F4 VBllllzl]A]A]A]E8@q quFIy yɚyiyI}?2>i)GGGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. I,ͣw,NC7A2P{@Y2@2v927=y2Hѿ@?@t?@ LQѿ{? t??`*\?ɨ2P{@2 ;2CybAbxCHIjbIj/8٢r> rQ=9vtQ v>xx zG٣xy~5[ ~> Nusing accuracyPremultiplier from config F49Js? F4Ys iAJ?heB:a:F4 $VB!l1l1l1l1zl9]y]y]y]}J@ 隕I ɚiIC[>i)GBO=uWill construct direction to contact in vehicle frame from tetrahedron phase data.zKqOK9KKK?70# % Will construct direction to contact in vehicle frame from tetrahedron phase data. I ԣw,zQA2W@Y2kf@2(92=y2H{-ҿ ?? ѿ&?@4?S?(V?ɨ2W@2Ik;2CyNARDHIZ bM=9bQ b>dd fG٣dyj95 n> rNusing accuracyPremultiplier from configpvF49rk?vF4Yr irʊAtvv?rtfBr:rG:rF4~ВB ~UB}Ellllzl]]]]@ I ɚiIu>i)GB O5=H>I I8GHIAI&I.I6I<:IFJ9J9JEaJEUJEJAJE:JE>9JE5JAJE6;JE8;JEQ:JEQ:}Will construct direction to contact in vehicle frame from tetrahedron phase data.Eڣw,kAy޵A޵FHWill construct direction to contact in vehicle frame from tetrahedron phase data. 1I5f]}?5^I?v/?Mb?]M"?]xi=]< Y)YY]Q?{GzI +?y]\/?]#]9=][dB ]KB)YIYYy]FBIu]Iu%8٢> 0=9Q > G٣D?Gy > Nusing accuracyPremultiplier from configF49d?F4Yu i;A0?:?gB[K;H;ʶF4 !UBllllzl]u=]u=]uӝ@]uzA@ 隭I ɚiIS>i)G ?G >GBO(>} Will construct direction to contact in vehicle frame from tetrahedron phase data.zK5 LK5 =9K1 K5 K5 &w,RӄAV݄@YVg@V9Vo=yVH@Iҿ`"?>?xҿ,?q??E?ɨV݄@Vx;VCynPAnGHI~YI~8٢ >  g=9 |AQ > G٣y%, %> =Nusing accuracyPremultiplier from config1EF495]?MF4Y5n i5YAIMM?5QhB5:;5;5>F4Q UxTBYlilililqzlq]]]]Dv@@ 隥I ɚiI>i)G)B9O]=Will construct direction to contact in vehicle frame from tetrahedron phase data. 5$?I1H I  I JHI AI &I .I 6I Ұ<:I FBIUCJIUCRIQZIU]=bIU]=jIU4Sw,A*Will construct direction to contact in vehicle frame from tetrahedron phase data.-H@Y-‹@-9-m=y-H`1ӿv?z?@K xҿX?????ɨ-H@-q;-CyE1AEHHIUXIU8٢e> eD=9m5Q m>iq uG٣yy}H }> Nusing accuracyPremultiplier from configF49V?F4Y3 iAm?BiB);[;F4 TBllllzl]]]]@@ I ɚiI>i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. Ihw,A6@Y6f@6o96 ^=y6H 8yӿ`i?h?ӿ`W?`?V?8?ɨ6@6;6Cy>gAB0JHIJVIJt8٢R> RW=9R=Q V>TT VG٣VE?GyZn Z> ^Nusing accuracyPremultiplier from config\bF49^O?bF4Y^s i^ُAdf%f?^jB^,;^/t<^F49 =nSB=Elqlqlqlyzly]]]] ?@ I ɚiIw >i)GBJ J [J {J J J W9J ـ5J a@a@a@a@O%=MWill construct direction to contact in vehicle frame from tetrahedron phase data.zK=FJK=ý9K9K=K= ):9/'"  RKE>JKE?  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.cw,MfҏA6/Y@Y6~h@6$96=y6H`Dӿ]??Y ~Xӿ? ?`P?B2?ɨ6/Y@6+;6Cy>zA>KHIFTIF8٢N=> NK=9R`Q R>PT VG٣TyVF_ V> ^Nusing accuracyPremultiplier from config\bF49^~H?bF4Y^ i^Adff?^kB^;^:^F4h jRBhltltltltzlx] ] ] ] *?@ !%I! !ɚ!i!I%A>i)))GqByO=ZH1RH5?AH=>I9 I=MHI=cAI=^=&I9.I96I=<:I=F}Will construct direction to contact in vehicle frame from tetrahedron phase data.@w,kc쏺AymtAmLH IWill construct direction to contact in vehicle frame from tetrahedron phase data.5n? ]0=9]Q e>aa eG٣iym m> uNusing accuracyPremultiplier from configq}F49uJA?}F4Yu iu\A?:?ukBu%;u#;u8F4ҒB jRBEllllzl]?=]?=]c5@]? I ɚiIh>i)GBO>J% hJ! J% |J! J% (:J! J% u5J! } Will construct direction to contact in vehicle frame from tetrahedron phase data.zK MK ͼ9K K K  BK sA:K sAtw,Ay§AQNHI-RI-|8٢M> U^=9YQ ]>Ya eG٣eF?Gya e> mNusing accuracyPremultiplier from configiuG49m;?}G4Ym imZAyy}?mlBm';mB.;m G4 QBllllzl]]]] =I ɚiI>i)G ?G  ?GBO= $?IfWill construct direction to contact in vehicle frame from tetrahedron phase data.G1 ]YYy]_AH5 >I1  I5 .QHI5 AI1 &I1 .I5 -D6I5 <:I5 Fw,A"Will construct direction to contact in vehicle frame from tetrahedron phase data."Ai :@Y:@:+9:=y:HpԿT:?`%N?\:Կ ?`/?씶?\!?ɨ:@:);:CyRARNOHIZuRIZ'8٢b'> bT=9bMQ f>dd fG٣dyj j> =Nusing accuracyPremultiplier from config9EG49='5?EG4Y= i=mAIMKM?=mB=;=;=G4Q U\QBQlqlqlqlqzly]]]]? oI ɚiI8>i)!GBO5= IWill construct direction to contact in vehicle frame from tetrahedron phase data.$ w,|9A6Ƀ@Y6?ي@6I#96 =y6HԿ U0?@?`GO}Կ@>? ?'??ɨ6Ƀ@6|;4ybAbPHIjRIj8٢r> rH=9v!Q v>tt zG٣xyz z> Nusing accuracyPremultiplier from config|G49~.? G4Y~! i~A   ?~inB~;~;~%G4 PBEl)l1l1l1zl1]]]]a? kI ɚiIN>i!)!JcJZJ{JJ:JS9Jـ5JGBO1UWill construct direction to contact in vehicle frame from tetrahedron phase data.zKuLKý9KKKFc]J8-)'!  RK ?JK? i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,SA:ӳ@Y:"Ê@:L9:<0=y:H ýԿ(??CԿ '? 3??@?ɨ:ӳ@:>;:CyFªAFRHIRRIR8٢V> ZL=9Z9PQ Z>\\ ^G٣^G?Gybjܻ b> fNusing accuracyPremultiplier from configdjG49f0(?jG4Yf& ifAhj n?f>oBf;f;f3G4p rCPBpl|l|l|lzl]]]]75?1 15=I1 1ɚ1i9I=>i9)AGB!O==jHbH<HI ITHIɬAI&I.I6Iװ<:IF=Will construct direction to contact in vehicle frame from tetrahedron phase data.w,mA2@Y2@2U92=y2HԿ !?`/? ;gԿ'?h? ?`?ɨ2@2';2CyRAR-SH IEq= ףp??DlE+?EL=EO A)AYE&1?Mb:vyE?EETE|aB A)E?&BIAAyEFBI]QI]8٢m> m@=9uZQ u>y G٣ypϻ > Nusing accuracyPremultiplier from configG49 ?G4YC, iWA?:1?#pB7 ;;BG4 OBWill construct direction to contact in vehicle frame from tetrahedron phase data.llllzl]=]=]@m@]p?  II ɚiIB>i)GBO=J dJ TJ yJ J <:J :9J A{5J e Will construct direction to contact in vehicle frame from tetrahedron phase data.e Aia zK bMK 9K K K       BK rA:K rA!w,bA2F@Y2@2_92d=y2HԿ`?`u?3 Կ ,?,?`ܹ??ɨ2F@2ˈ;0yB׬ABTHIJOIJ 8٢R> RY=9V+Q V>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\bG49^_?bG4Y^ 1 i^Adfkf?^pB^ ;^:^OG4jԒB ji )1GiByO= $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.H >I IWHIhAI_=&I.I6Iа<:IF'w,5AAWill construct direction to contact in vehicle frame from tetrahedron phase data.:z@Y:@:X9:=y:HRտx?ߵ?-տ+?+?? ?ɨ:z@:;;:CyFAFUHINMIN 8٢V<> VJ=9Z9Q Z>XX ZG٣^H?GybԻ b> fNusing accuracyPremultiplier from configdjG49fP?jG4Yf36 ifAlnn?fqBf;f;f^G4p rNBtl|l|llzl]]]]?1 15II1 1ɚ1i9I=3>iA)IGBO= IWill construct direction to contact in vehicle frame from tetrahedron phase data.".w,iA:e@Y:lt@:9:-=y:H 9տ?`5?#>տ1?l5?+?@?ɨ:e@:;:}CyFîAFVHINKIN8٢Z> ZJ=9Z'׺Q ^>\` bG٣`ybcջ b> fNusing accuracyPremultiplier from configdjG49fC ?jG4YfS; ifmAlnn?frBf ;f;f5lG4p vGNBvEllllzl]!]!]!]%?1 9=iA)IG9BYO=5Will construct direction to contact in vehicle frame from tetrahedron phase data.JUbJU[JUvJQJU:JUW9JUq5JQzKLKKKK  I f Will construct direction to contact in vehicle frame from tetrahedron phase data.5w,ԐA2D@Y2^S@292=y2H@oտ`?k?rտ 5?U8?/???ɨ2D@2!ʈ;2Cy>֯ABAXHIJKIJ8٢zZ> zF=9z Q ~>|| G٣y   > Nusing accuracyPremultiplier from configG49?G4Y@ i(A!%%?}sBk;;zG4) -MB)lAlAlAlAzlI]a]a]a]e?q y})Iy yɚyiyIlj>i)HyI}C I} [HI}AI}^=&Iy.Iy6I}<:I}FBI9JI9RI9ZI=^=bI=^=jI=4GBO=JJ@A=Will construct direction to contact in vehicle frame from tetrahedron phase data.a);w,A 4I4>\$@Y>3@>F9>4=y>H@ӟտ?ʶ? @Pտ@?@F?W??ɨ>\$@>;>~CybAb]YH/$?Q롿~jt&1?\D )Ysh|??MbS㥻y)?/ݽ`B HB)W$BWill construct direction to contact in vehicle frame from tetrahedron phase data.IyDBIKI8٢> >=9Q > G٣I?Gy > Nusing accuracyPremultiplier from configG49r?G4YG iAi,?:?tB; ;G4 JMBl l l l zl]-=]-=]-;B@]-͛@A AEBIA AɚAiIIMA>iI)QGaGaG1B9O=M Will construct direction to contact in vehicle frame from tetrahedron phase data.IBw,AzK2!LK2 9K0K2K2F`#^@Y^@^M|9^<=y^H`տO?@d?@Wտ@G?`L? `?c ?ɨ^@^?;^CyfѱAfZHIrKIr8٢z> zX=9zQ ~>|| G٣yB >  Nusing accuracyPremultiplier from config G49 ?G4Y L i A? uB ; ; ؖG4! %LB)l9l9l9lAzlA]Y]Y]Y]]9̛@i qu.Iq qɚqiqIX>i) G BO5= U$?IUfWill construct direction to contact in vehicle frame from tetrahedron phase data.HyI}C I}^HI}AIy&Iy.I}.D6I}<:I}}FJ[5K[#5 K[1KSKS"KSJ J SJ rJ J J y69J d5J J ;a J ;a J zC:a% J }C:a% ] Will construct direction to contact in vehicle frame from tetrahedron phase data.?Hw,F"AVRނ@YV@V9V9=yVHHֿP?@?`DֿoL?U?w?@?ɨVRނ@V;V}CyMزAM[HI]EII]8٢m> mB=9uԺQ u>qq }G٣yy} }> Nusing accuracyPremultiplier from configG49o鑜?G4YKS iIA^?vB;;G4֒B @LBEllllzl]]]]>@ 'I ɚiI>i)G!B9O]= AIAWill construct direction to contact in vehicle frame from tetrahedron phase data.fNw,f bV=9bQ b>dd fG٣fJ?GyjB j> =Nusing accuracyPremultiplier from configl=G49n?EG4YnY inAAEE?nwBn ;n:nܲG4I MKBQlalililizli]]]]Ȉ@ 隥i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.zKuLKuͼ9KqKuKu 6IEBBA?A>5.(#   ) I1  Will construct direction to contact in vehicle frame from tetrahedron phase data.LUw,G:VA)*= *PCZGdt dYy%GAeܜ@Ye,@e49e=yeH@"tֿ?.?`sYֿ@Q?h?ষ?v?ɨeܜ@e;eCyލAލ:^HIEI7٢> <=9ºQ > G٣y > Nusing accuracyPremultiplier from configG49֑?G4Y_ iA?xBz:z:G4 SKBllllzljHbH<H!I! I%2aHI%AI%`=&I!.I!6I%<:I!]9]9]9]=NP@I IUMIQ QɚQiQIU>iY)YGQBYO}=JaJUJoJJ:J>9J [5JJ5;J8;JQ:JQ:%Will construct direction to contact in vehicle frame from tetrahedron phase data. ! I) ~[w,v7pA2@Y2ّ@292II=y2Hyֿ?`?ֿS?xr?`|?`?ɨ2@2鈈;0yVεAZ_HEM?MbX9X9vEnR?EʡE A)AYES?:v+yE/=?ETEE\B EDB)E\"BIAAyEABI]DI]D7mWill construct direction to contact in vehicle frame from tetrahedron phase data.٢}6> }L=9}lݺQ }> G٣y-3 5> =Nusing accuracyPremultiplier from config9EG49=~ˑ?MG4Y=xf i=AM>?M:U U?=yB=|S;= R;=G4Y ]JB]Elqlqlqlqzlq]=]=]4@]s? 隭1I ɚiIi>i)GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data."_bw,򉑺A6*u@Y6y@696.=y6Hֿ?Q?`ֿ/R?t?`(??ɨ6*u@6D;4zKNMKN9KLKNKN    BKVsA:KVtAyZӶAZ`HIrDIr)7٢z> zT=9z=Q ~>|| G٣K?Gy >  Nusing accuracyPremultiplier from config G49 ?G4Y Xl i uA=(=? zB F; ; qG4A ECJBIllllzl]]]]+=? -I ɚiI->i) $?IG)B9OU=Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I9dHIAI&I.I6I<:IxFJ `J J pJ J :J J C^5J J :J :J J Q:= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i9 hw,ΣAy5ϷA=bHIM9DIM7٢> A=9Q > G٣y > Nusing accuracyPremultiplier from configG49^?G4Y3s igA? |B1;;FG4ؒB IBEllllzl]]]] %0I! !ɚ!i!I% 0>i)))G1BAOe= IfWill construct direction to contact in vehicle frame from tetrahedron phase data.nw,A2%h@Y2uw@2y92=y2Hֿ?,?`ֿ`N?Qt?`U??ɨ2%h@23Ȉ;0y>A>zcHIFBIFC7٢N4> RZ=9R$Q R>TT VG٣TyV V> ^Nusing accuracyPremultiplier from configXbG49ZY?bG4YZ7y iZi))1G1BAO]=Will construct direction to contact in vehicle frame from tetrahedron phase data.zKRLK 9KKK /x}_K=82+%  RK?JK? $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.uw,בA2_`@Y2o@2u92_=y2Hpֿ@?T?ֿN? n?߶? ?ɨ2_`@2S;0yRιAVdHI^BI^7٢f> fH=9j$:Q j>hl nG٣nL?Gyr r> vNusing accuracyPremultiplier from configtzH49vK?zH4Yv iv&AxzOz?v4~Bv:vL ;vH4 HBllllzl]1]1]1]5φ?I IM1II QɚQiQI]]>iY)aZHRHAAH>I IYgHIAIa=&I.I6I<:I}FGQBaO=JaJJJJ:JJJJ5;J7;JJWill construct direction to contact in vehicle frame from tetrahedron phase data. I {w,bA2\@Y2k@2H92Ae=y2H`qֿࡺ? ?`ֿEO?@Q\?@? ?ɨ2\@2)x;0yB޺ABeHE$C?KA`"E:?E^EY A)AYEV-?Zd;O/$yEM?Ej7٢u> }@=9}$=;Q }> G٣y > Nusing accuracyPremultiplier from configH49U?H4Y iNA/N?:?rB1;;H4 AHBllllzl]H=]H=]+?]ϩ@ !I ɚiI"x>i ) GBO= Will construct direction to contact in vehicle frame from tetrahedron phase data. i 5w,9 A2Z@Y2i@292=y2Hֿ@?`?@ֿ :Q? +N?@m$??ɨ2Z@2 Ј;2CzKNKMKN9KLKNKN BKT:KVsAyZAZYgHIb?Ibr7٢jX> jU=9n';Q n>ll rG٣pyr( r> vNusing accuracyPremultiplier from configtzH49v?zH4Yv ivXA|~~?vHBv6;v;v#H4 GB Elll!l!zl!]]]]u@ I ɚiIo>i) 5$?I9G BOM=}Will construct direction to contact in vehicle frame from tetrahedron phase data.H>IC I`jHIAI&I.I-D6IŰ<:IFBIyJIyRIyZI}`=bI}`=jI}Nj5 Will construct direction to contact in vehicle frame from tetrahedron phase data.r∤w,C%A>P@Y>N`@>9>v=y>H.ֿ}?T? OֿH?`*7?L?`+ ?ɨ>P@>$;>CyV AVhHI^?I^e7٢f> fI=9f;Q j>hh jG٣hyn< n> vNusing accuracyPremultiplier from configtzH49v?zH4Yv ivqAxzz?vBv:vP:v2H4ڒB -GBllllzl]9]9]9]=@I QUIQ QɚQiQI]>iY)aGaBqO= 1I=feWill construct direction to contact in vehicle frame from tetrahedron phase data.|w,Z>A:B@Y:R@:Q 9:m=y:H `׿[?@?`zֿ>?B#? %#? ?ɨ:B@:I;:CyBAFiHIN>IN27٢VO> VN=9Vyc;Q V>XX ZG٣ZM?Gy^ ^> bNusing accuracyPremultiplier from config`fH49bs?fH4Ybk ibAhjj?buBb;bV;b?H4p rFBpl|l|l|l|zl|]]]]@) )-I) 1ɚ1i1I5G>i9)9GQBiJ_JJlJJ :JJaQ5Ja@a@a@a@O=Will construct direction to contact in vehicle frame from tetrahedron phase data.zKu}KKu 9KqKuKu 9I9 Will construct direction to contact in vehicle frame from tetrahedron phase data.7땤w,FXAJd,@YJ;@J]9JJ=yJH<׿ ??`׿.?`3? [?D?ɨJd,@J;JCyV*AVkHIv>Iv7٢~> ~E=9%P;Q > G٣y ػ  > Nusing accuracyPremultiplier from configH49h?H4Y iA!%>%?B: ;m ;oNH4) -FB-ElIlIlIlIzlIHe>IeC IemHIeAIee=&Ie(D.Ie,D6Ie<:IeF]]]]g@ 隝I ɚiI>i)GBO=J@AJAAWill construct direction to contact in vehicle frame from tetrahedron phase data. % $?I! w,rA6 @Y62@696=y6H@t׿@??nxG׿? ???ɨ6 @6v;4yZZA^lHEWill construct direction to contact in vehicle frame from tetrahedron phase data.}Zd;?S㥛?I +?}>?}/<}94< y)yY}l?Mb?+?y}W?}@=}=}VB } @=9;Q > G٣y > Nusing accuracyPremultiplier from configH49^?H4Y iAX?{:U?B#;";Y]H4 EBllllzl]=]=]*SR>]@) )5I1 1ɚ1i1I5>i9)9GU?GU?GABQOu=J^JYJiJJ} :J[O9JG5JWill construct direction to contact in vehicle frame from tetrahedron phase data.w,#A2)@Y2x@292"=y2HK׿ ?6?׿@ ???j?@?ɨ2)@2ĉ;0yNARnHIZ#;IZ7٢bu> b[=9b.;Q f>dd fG٣fN?GyjZ j> nNusing accuracyPremultiplier from configlrH49nNV?rH4Yn ineApvv?n9Bn ;nP:ngjH4zܒB zDBxllllzK KKͼ9KKK $JYP>, zl)]A]A]A]EX@Y Y]tIY YɚaiaIeD#>ia)i IGBO=MWill construct direction to contact in vehicle frame from tetrahedron phase data.u7G YyAH]>I]C I]pHI]AI]i=&IY.I]+D6I]ڰ<:I]F*J 4="J  Will construct direction to contact in vehicle frame from tetrahedron phase data.%w,^AJ'@YJvĈ@JM9J=yJH`ؿ6?q?@;׿P? ?mB?@?ɨJ'@Jl;JCybAbLoHIj<:Ijp7٢v> vH=9v1V;Q v>xx zG٣xy~e ~> Nusing accuracyPremultiplier from config H49M? H4Y iϫA ?уB :L:xH41 5oDB5ElIlIlIlIzlI]q]q]q]u"@ 隕lI ɚiID>i)GBO= If]Will construct direction to contact in vehicle frame from tetrahedron phase data.k w,G8A6@Y6R@6:96=y6H_ؿ Fo?`?;ؿ`? vJ=9v#;Q z>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config H49C? H4Y- i4A?gB7:z:ՆH4! %CB!l1l9l9lAzlA]a]a]a]e@q quFIq yɚyiyI}e>i)J]\J]NJ]kJYJ]=:J]!9J](N5JYGBWill construct direction to contact in vehicle frame from tetrahedron phase data.O= $?IzKLKS9KKK e Will construct direction to contact in vehicle frame from tetrahedron phase data.7w,<ڒA2]I@Y2X@2|92?=y2H`ؿ Y?'?ߟؿ@?>?`3o?`(?ɨ2]I@2;;2~CybAb%rHhhIr8Ir7٢v> vJ=9z;Q z>x| ~GZH9RH=?AHE>IEގC IE$tHIEAIEu=&IE)D.IE&D6IE<:IEGF٣}O?Gy > Nusing accuracyPremultiplier from configH499?H4Y iAo?B;;H4 GCBllllzl]9]9]9]=n@Q quIy yɚyiyI}N>i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. I aw,|A2g@Y2'@2Ƞ92AK=y2H ٿF?yB?q@Tؿ?k?@r?V*?ɨ2g@2;0yR)ARsHWill construct direction to contact in vehicle frame from tetrahedron phase data.=T㥛 ?!rh=.RB =c8B)=BI=B9y=MBIM7IM}7٢e> eC=9eX:Q e>ii mG٣iyus u> -Nusing accuracyPremultiplier from config)5H49-2?5H4Y- i-DA=F?=:=x=?-B-J;-;-aH4A EBBAlYlYlYlYzla]}@>]}@>]}z?]}@ 隝I ɚiI>i)GBO=Ju]JuTJu`JqJu]:Ju:9Ju*5JqWill construct direction to contact in vehicle frame from tetrahedron phase data. Jäw, A:@Y:@:9:x=y:H^`ٿ@?3?e?@b`ISٿǜ??`Y?`w/?ɨ:@:?9;8y^aA^6uHIf7If7٢r> rS=9vBr;Q v>tt zG٣xyz{ z> Nusing accuracyPremultiplier from config|H49~/,? H4Y~ i~A  B ?~B~2:~T:~*H4ޒB  BB !I!%El9l9l9lAzlA]Y]Y]Y]]4ȱ@q y}Iy yɚyiyI>i)zK<LKKKKGYBiO=-Will construct direction to contact in vehicle frame from tetrahedron phase data.H=>I=֎C I=wHI=JAI==&I9.I=!D6I=<:I=CF Will construct direction to contact in vehicle frame from tetrahedron phase data. i Auɤw,'A6%€@Y6uч@6}96Z=y6H؝ٿX#?o?`Uaٿ?@Y? W?`2?ɨ6%€@6ȍ;6CyNgANxvHIV7IV7٢E> ED=9M:Q M>QQ UG٣UP?Gy]13 ]> mNusing accuracyPremultiplier from configi}H49m$?}H4Ym im>Ay?m}BmQ;msQ;mǿH4 ABllllzl]]]]B@   I  ɚiI>i) I fPExceeded connect timeout, disconnecting.GB O%,>5Will construct direction to contact in vehicle frame from tetrahedron phase data.\Фw,AAy~A~xHI 6I 7٢> M=9%Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9EH49=?EH4Y= i=AIIM?=B=":=:=H4Q U@BQlilililizli]]]]9 AEUIA AɚAiAIE>iI)qWill construct direction to contact in vehicle frame from tetrahedron phase data.GIBYOu= $?I'-TFailed to parse incomplete device message.E Will construct direction to contact in vehicle frame from tetrahedron phase data.$֤w,Fa[A:l@Y:@:9:]=y:Hٿ ? ph? LG (ڿ A?`r?`?@*=?ɨ:l@:{j;:CyFAFSyHJ8Not Powering down - fast GPSIHiJJHHJJ J)JINiNNNNN N)NIVs5IVy7٢^׭> ^Q=9^v;Q b>`` bG٣`yfy f>jHpbHr<HzS>Iz͎C Iz{HIz&AIz=&Iz*D.IzD6Iz<:IzFBIގCJI܎CRICZIu=bIz=jI+7 =Nusing accuracyPremultiplier from config9EH49=?EH4Y= i=IAIMnM?=xB=:=i:=H4Q U_@BYlilililizlq]]]]T@ 隥EI ɚiIB>i)RK ?JK?GiByO=JIJMKJMhJIJIJMK9JM~D5JIJM$:aUJM):a]JM :a]JM :a]Will construct direction to contact in vehicle frame from tetrahedron phase data. I  XRadio surface powered OFF, will not connect.  nManaging dock network, ignoring radio surface power offܤw,:uA2,@Y2|@2u92=y2H ڿf? hU?B`ڿ ?h?@B?`PB?ɨ2,@2!n;2CyBABzH~Will construct direction to contact in vehicle frame from tetrahedron phase data.m(\?{GzT㥛 ?m?m#m= i)iYmMb?/$??ym ?mmaNB m}6B)mBImÅBiymJBI!4I˸7٢ͷ> ;=9:Q > G٣Q?Gy靻 > Nusing accuracyPremultiplier from configH49?H4Y iA#?:?B1;l0;H4 ?BEl lllzl]5=]5=]5)>]5P@A AEIA IɚIiIIMk>iQ)QGB!O==Will construct direction to contact in vehicle frame from tetrahedron phase data.ձiյA{w,A6v@Y6ᅇ@6Y_96|v=y6HVڿ`M?f?D?@tڿ@T ?`f?ķ?D?ɨ6v@6;4 @IBfyF;AFh|HIN2IN7٢V> V^=9Z9Q Z>XX ZG٣\y^CP ^> fNusing accuracyPremultiplier from configdjH49f?jH4Yf\ ifԸAlnn?fCBf;f;fH4p v?Btl|l|llzl]]]]:Y@zKVLK 9KKK    I! !ɚ!i!I%>i)))G)B9OU=Will construct direction to contact in vehicle frame from tetrahedron phase data.H:>IȎC I~HIAI=&I+D.ID6IW<:IKFJe [Je PJe _Ja Je :Je *9Je '5Ja Je :Je :Je -:Je -: Will construct direction to contact in vehicle frame from tetrahedron phase data.w,3ATl@Y{@9>=yHh1ڿ?\?>`eڿ{?U?=ɷ?H?ɨTl@;y%AA%}HI=1I=7٢EZ> M?=9M-;Q M>IQ UG٣Qy]E? ]> eNusing accuracyPremultiplier from configamI49e?mI4Yed ie2Aqu'u?eBe:e:ezI4ߒB >BEllll zl]I]I]I]M4C@y y隅I ɚiI5>i) YIYGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.w,“Ay~PA~~HI0I 7٢%> %O=9%Q ->)) -G٣-R?Gy5 5> =Nusing accuracyPremultiplier from config9EI49=E?EI4Y= i=uAIIM?=B=~:=G:=GI4Q U>BYlilililizlq]]]] 隥I ɚiI;>i)}Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO= e$?IazKLKH9KKK  ) = KC- Will construct direction to contact in vehicle frame from tetrahedron phase data.q Y y NAw,ܓAHF->IFƎC IF HIFAIF=&ID.IFD6IF<:IFcFrd@Yrds@r19ri=yrHvBڿ??^?ڿ?D?;?K?ɨrd@r;rCy~MAHI[0Ij7٢%> %J=9%|=;Q %>)) -G٣)y5# 5> MNusing accuracyPremultiplier from configA]I49E?eI4YE iEAam@m?E}BE2;E;Eq"I4y =Bllllzl]]]]@ I ɚiI >i)GBO=J%AAJ%@AJJ5KmF5 K1KK"KJ-]J-KJ-`J)J-]:J-K9J-*5J)J-:J-!:J- :J- :Will construct direction to contact in vehicle frame from tetrahedron phase data. Q IQ 0w, AJi@YJcx@J9J\=yJH@=ڿ`?@? C~ڿ?`H:? I ?N?ɨJi@J6U;JCyVYAVHrWill construct direction to contact in vehicle frame from tetrahedron phase data. rh?-ƿZd;O?C ??5j< )YV-?i|?5V-?yh?q<}KB 5B)BIy1BI"0I7٢p> @=9(:Q > G٣yֺ: > Nusing accuracyPremultiplier from configI49x搜?I4Yl iA`?: ?B;;S1I4 B =BEl!l!l!l)zl)]E=]E=]E`?]E=5@a aeIi iɚiiiIm6>iq)qGGGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. I II w, nA6p@Y6@696d=y6H7ڿ? ܼ? Mz~ڿ@??|? T?ɨ6p@6W;6CyZcAZ`HIb/IbS7٢j> n[=9n};Q n>pp rG٣rS?GyrX"; v> zNusing accuracyPremultiplier from configt~I49vݐ?~I4Yvt ivA|~ ~?vIBv ;v:vS>I4  @Y Y]IY aɚaiaIe^>ii)iGiBqzK<LKػ9KKK !o p `sjN%[)wdREC@O=Will construct direction to contact in vehicle frame from tetrahedron phase data.H}>I}ĎC I}HI}AI}=&Iy.I}D6I}<:I}jFJ= [J= JJ= _J9 J= :J= &9J= '5J9 J= :J= :J= :J= : Will construct direction to contact in vehicle frame from tetrahedron phase data. w,G;*AVy@YV=@V9V"=yVH.ڿ? ?eVU_ڿ?? ?X?ɨVy@V7;Ty`AHI-1/I-J7٢]~> ]C=9e;Q e>aa eG٣iym-1; m> Nusing accuracyPremultiplier from configqI49uӐ?I4Yu iuwA ?uBu:u:uMI4 ii) $?IGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.w,MDA2R@Y2@292=y2H`-ڿV?`=?@b GJڿ?? cv?@a?ɨ2R@2s;0yR`ARHIZ|.IZȤ7٢b> bU=9b;Q f>dd fG٣dyjC; j> =Nusing accuracyPremultiplier from configlEI49ntʐ?EI4Yn3 inPAAE E?nBngi)]Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO= IfzK iOK S9K K K 856103:1+&  %#!")*$   ?tzncZY^^ Will construct direction to contact in vehicle frame from tetrahedron phase data.j$w,]AjH<bH<H>IÎC ISHI0AI=&I,D.ID6Iݱ<:IFBj@YB@B[;9Bp=yBHڿ?`h?q,ڿڧ?`M?ד?@3k?ɨBj@B;BCy^LA^*HIf.If7٢> F=9;Q  >    G٣ T?Gy; > Nusing accuracyPremultiplier from config%I49?%I4Y i9A)- -?B :L:hI4B ;BEllllzl]i]i]i]m%a@ 隝I ɚiI>i)GBO=mWill construct direction to contact in vehicle frame from tetrahedron phase data. IKw,7wA:@Y:@:h9:g=y:Hڿ  ?۹?K@ ڿ? ??.w?ɨ:@:R;8yF;AFHbWill construct direction to contact in vehicle frame from tetrahedron phase data.%J +?~jtMb%h?%% !)!Y%~jt?㥛 㥛 y%?%%%CJB %2B)%BI!!y%0BIE-IE 7٢MА> UF=9Ui YY ]G٣Yye3; e> mNusing accuracyPremultiplier from configiuI49mn?uI4Ym imAu?}:} }?mBm ;m;mNwI4 :Bllllzl]>]>]txP@])? QUĹIQ YɚYiYI]! >ia)aGQBYOu=JJMJ^JJJ9JH$5Ja%@a%@a%@a%@uWill construct direction to contact in vehicle frame from tetrahedron phase data. $?I 3$w,oA2@Y2mć@2A92$B=y2Hٿ ??kٿZ?L? ?``?ɨ2@2ꊉ;2}CyN"ARKHIZ-IZ7٢z> ~P=9~ G٣y y<  > Nusing accuracyPremultiplier from config%I49֪?%I4Y iA!% -?rB]?;F1;I45B 52:B5İElIlIlIlIzlI]i]i]i]m?y y}ݸI ɚiIW >i)GzK{FNK9KKK\QF=2+#!%#    BO=Will construct direction to contact in vehicle frame from tetrahedron phase data.H%>I%ŽC I%օHI%AI%=&I!.I%D6I%<:I%FBIĎCJIŎCRIŕCZIŮ=bIŮ=jI.M6 Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՁ w_*w,ԁA2Ā@Y2&ԇ@2U 92=y2H Mٿ?z?߭ػٿ 7??@?t?ɨ2Ā@2i;2Cy>A>HIFc-IF7٢b)q> fM=9fFhh jG٣jU?Gyj; j> rNusing accuracyPremultiplier from configpvI49r?vI4Yr9" irAtvx v?rBr;r3&;rI4B 9Bllllzl]1]1]1]5$? I ɚiI >i) YIYGBO==Will construct direction to contact in vehicle frame from tetrahedron phase data.jE1w,TŔA:eՀ@Y:@:9:=y:Hٿz!???h@ٿ@ ?V?{? ?ɨ:eՀ@:ֈ;:~CyFAFaHIN,IN7٢V~> VL=9Zt>XX ^G٣\y^; ^> fNusing accuracyPremultiplier from config`fI49b]?fI4Ybj' ibAhjO j?baBbv&;bpJ;bI4p vS9Btl|l|llzl]]]]u?) 15I1 1ɚ1i1I5# >i9)AJJLJ\JJJq9J5J=Will construct direction to contact in vehicle frame from tetrahedron phase data.GABIOm= IIIzK- wMK- ػ9K) K- K-  BK1 :K5 rA Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH H% >I% C I% AHI% AI% =&I! .I% D6I% <:I% Fo7w,@1ߔAZH@YZ@Z9Z =yZHٿ &? 2g?@Q@2{ٿ{?5? ;»??ɨZH@ZP;Z}CybAb҅HIjQ,Ij7٢r`> vG=9vT'xx zG٣xyz; ~>  Nusing accuracyPremultiplier from configI49S?I4Y, iWA!%/ %?ݍBa;;NI41 58B5ǰElQlQlQlQzlY]q]q]q]uK؛? 5>隍`I ɚiI !>i)GqBO=UWill construct direction to contact in vehicle frame from tetrahedron phase data. =$?I9ݚ=w,0A2@Y24@292ro=y2H@ٿ@l*?c?2`ٿ?:? %??ɨ2@2t;0yFwAJWHVWill construct direction to contact in vehicle frame from tetrahedron phase data.K7A? rh/$ b?C )YQ?y&1Mby5?`弹FB -B)8BI7|By=ABI+I7٢ ht> 9=94 %G٣%V?Gy%u; %> 5Nusing accuracyPremultiplier from config)=I49-L~?=I4Y-3 i-A=8?=:=>=?-|B-;-(;-ȾI4MB M8BMȰElalalalazla]P>]P>]6 M@]y? I ɚiIc!>i)G)B9O]>JZJJJZJJ9J&9Je5JUWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQ ! I% fIDw,lA2@Y2 @2^޾92)=y2Hٿ@/.?hz?w yHٿ`Yy??`? y?ɨ2@2>;2CyRlARHIZ+IZ7٢b4> bb=9fEdh jG٣hyj; j> rNusing accuracyPremultiplier from configlrI49nt?vI4Yn9 inAtv"v?nBn:n:nfI4x ~8Bllllzl]1]1]1]51?A IMII IɚIiIIM!>iQ)QG Y!y%AB)OE=zKM ULKM9KIKMKM RK]?JK]?Will construct direction to contact in vehicle frame from tetrahedron phase data.H>IC IHIAI=&I.ID6I<:I0Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.mJw,,A2/ @Y2@2' ܾ925=y2H`ٿd3?Z?@(ٿ>?e??`T?ɨ2/ @2W;2CyB ABQHIJ+IJ̛7٢zE> zG=9~U G٣y;  > Nusing accuracyPremultiplier from config I49 mi?I4Y @ i A%? B  ;  ; I4-B -7B-˰ElAlAlAlAzlA]a]a]a]e?y y}Iy ɚiIT!>i) $?IEl,>GWill construct direction to contact in vehicle frame from tetrahedron phase data.BOg>Qw,FA6@Y6S.@6پ96O>y6H ٿ9?~F?G)ٿ?$h? ^??ɨ6@6;6{CyRARއHTTIZ^,IZG7٢f> fM=9j6hh jG٣lyr; r> vNusing accuracyPremultiplier from configtzI49v^?zI4Yv,G ivAxzz?vBv:v:vI4 Q7BllllzlJXJJ[JJ{9JJ5J]]]]?    I  ɚ iIeN">Will construct direction to contact in vehicle frame from tetrahedron phase data.i!)!Es&4>GBO> IzK "LK 9K K K !~j]RG=3,'  Will construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH H >I C I HI AI =&I .I D6I ˱<:I <FWw,ϻ`A6%@Y6 5@6:׾96f>y6Hٿ;?@ ?:Wؿo?@C?`??ɨ6%@6;6CyBABRHIR[,IR<7٢bf> bI=9fFdh jG٣jW?Gyj!; j> rNusing accuracyPremultiplier from configpvI49rS?vI4YrM ir5Atzz?rBr:rC:rI4~B ~6B|llllzl]1]1]1]5?A IMQII QɚQiYI]W">ii)qJJWill construct direction to contact in vehicle frame from tetrahedron phase data.Ex 6>GBO%o> yIy]w,5zA2Will construct direction to contact in vehicle frame from tetrahedron phase data.yA܈H/$?I +?I +?1H?9<94= )YQ? <=9Q > G٣y > Nusing accuracyPremultiplier from configuJ49I?uJ4Y^V i3AuLW?u|:}b}?aB<A<J4B 6BϰEllllzl] >] >]A?]t@ pI ɚiI#>i)EE*E"EGqBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.JYJHJNJJ9J9J|4J m $?Im f3dw,"oA6j-@Y6<@6Ҿ96p>y6H`ٿ@ vY=9vXxx zG٣xy~"; ~>  Nusing accuracyPremultiplier from config J49@?J4Y] i AC?B.::LJ4! %6B!l9l9l9l9zlA]a]a]a]e@q u]A>uIq yɚyiyI}W#>i)GBO=uWill construct direction to contact in vehicle frame from tetrahedron phase data.zKgNK9KKK HM|>IMC IMHIMAIM=&IM-D.IMD6IM%<:IMXF% Will construct direction to contact in vehicle frame from tetrahedron phase data. kw,LA2'@Y2D7@2#Ѿ92W >y2Hrٿ:?T?_ؿi?k?`?`?ɨ2'@2K;2~CyVGAVHI^y*I^7٢f~> fL=9fhh jG٣jX?Gyn]ں n> rNusing accuracyPremultiplier from configpvJ49r7?vJ4Yre irAxzWz?rBrn:r:rE J4 I  5B llllzl]]]]d@  I  ɚ i I ͽ#>i)GBO=}Will construct direction to contact in vehicle frame from tetrahedron phase data.jqw,.ȕA2@Y2.!@2Ͼ92DM >y2H`_ڿv0??`a ؿ@=? M/?@?`|$?ɨ2@2;2Cy:A:nHIF*IF7٢RӅ> RM=9RZ%TT VG٣TyZTݻ Z> ^Nusing accuracyPremultiplier from config\bJ49^^.?bJ4Y^um i^A`ff?^@B^":^:^7.J4jB jG5BjҰEltltltltzlx]]]]@) )-I) )ɚ)i)I5$>i1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.GQBYO}= I Will construct direction to contact in vehicle frame from tetrahedron phase data.zK LK ػ9K K K ZH9 RH9 HE >IE C IE HIE AIE =&IE .D.IE D6IE Ҳ<:IE FBI˸CJI˵CRI˞CZI˻=bI˾=jI"7~xw, ╺ABr@YB@Bs;9B- >yBH9ڿP%?ζ?@``",ٿ?r?`f?.?ɨBr@BY;B~Cy~A~HI%)I%7٢5> 5A=9=;Q =>9A EG٣AyE E> UNusing accuracyPremultiplier from configI]J49Ma$?]J4YMu iMAaee?MBM-;M-;M=J4mB m4BmӰEllllzl]]]]d@ I ɚiI $>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.J%WJ%FJ%LJ!J%;9J%9J%4J!J%F:aUJ%K:aUJ%}9a]J%9aeEUr5> $?IGQBYOuy>F~w,HA&Will construct direction to contact in vehicle frame from tetrahedron phase data.:ʀ@Y:ڇ@:˾9: >y:H Uڿ?@?GVٿ 4?@?}(?7?ɨ:ʀ@:Z;:}CyNARHS?sh|??:v?o?=T< )YJ +?ʡE?I +?yh?>94==B t!B) BIdByQ4BID*Iԕ7٢> C=9;Q > G٣Y?Gy_ > Nusing accuracyPremultiplier from configJ49?J4Y~ iAIl?f:?B B;@;KJ4 a4Bllll zl ]%=]%=]%e?]%t=9 9=I9 9ɚ9iAIE$>iA)IE;>GBO >Will construct direction to contact in vehicle frame from tetrahedron phase data. I f-w,NA6@Y6Ҥ@6ʾ96Z >y6H ڿ?^? 'Fٿu?7?I?@=?ɨ6@6|;6CybAb HIj*Ij7٢r> rX=9r;Q v>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|J49~l?J4Y~_ i~YA   ?~=B~3;~;~XJ4 3Bl1l1l1l9zl9]Q]Q]Q]U)f=a im Ii iɚiiiIml[%>iq)]Will construct direction to contact in vehicle frame from tetrahedron phase data.zK LK S9K K K   `z@BX6NX`efabd]SD7RK ?JK?H>IC IBHIAI=&I0D.ID6I=<:IsFE%QA>GyG}tAG1BAOmx> Will construct direction to contact in vehicle frame from tetrahedron phase data.J% ZJ% GJ% JJ! J% 9J% 9J% 4J! J% :J% :J% 9J% 9Xw,/A 0I4>=L@Y>[@>s"ʾ9>b>y>H hۿ`~?ڞ?`*}bڿ@?@?`K`?`@?ɨ>=L@>Cz; rJ=9rR;Q r>tt vG٣tyvx v> ~Nusing accuracyPremultiplier from configxJ49z ?J4YzĎ izA ?zBz2;z?;zfJ4 x3BְEl)l)l)l1zl15B*** querying acoustic contact ***j9j9]Q]Q]Q]Ui0B=a ae?Ia iɚiiiImv%>iq)qEyEy*Ey"EyGBOK>]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.@w,rIA6@Y6J@6Ͽɾ96P>y6Hۿ?@PV? d +ڿA? 3?`;e?C?ɨ6@6;6CyBABGHIJ)IJՓ7٢j> jK=9n:Q n>lp rG٣rZ?Gyr˿ r> ~Nusing accuracyPremultiplier from config|J49~G?J4Y~% i~A  A ?~B~:~:~uJ4B 2BװEl)l)l)l1zl1]I]I]I]M=Y aeAIa aɚaiaIm 6&>iq)Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:1600> BDAT read: Tx time:21:12:56.4165 $Ping request sent.I C I HI AI =&I 1D.I D6I c<:I QFkw,RcAyUA]ݍHI}(I}M7٢'> >=9Q > G٣y > Nusing accuracyPremultiplier from configJ49?J4Y idA?HB ; ;J4 2Bllllzl]]]]  MI !ɚ!i!I%&>i9)IGqBO= >Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJIJJJJF4JJ:J:J9J9checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505115 AIA9w,w.}AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750138y~A~jH}?5^I?B`"۹?L7A`?MB?=+> )YMb?(\?gfffff?y`?.>33>:B  B) BIG\ByG0BIB(I7٢ !>  C=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-J49%O?-J4Y% i%!A= i?=i:=8￑=?%B%oq;%Vo;%J4A M2BIlYlalalazla]}>]}>]}t?]}q@ 隕gI ɚiIR'>i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.002065 ) I1 `|w,`A6~@Y6@6/˾96o=y6HukݿG?]?@ݿ??D?M?ɨ6~@6;6~Cy^A^HIj'Ij7٢rZ> r_=9r\Q r>tt vG٣v[?Gyz+ z> ~Nusing accuracyPremultiplier from config|J49~ꏜ?J4Y~ i~A f ?~uB~:~o;~pJ4B 1BڰEl1l1l1l1zl1]Q]Q]Q]U(ߙ@a imHIi iɚiiiIm}'>iq)yGBO=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253868zKuOKKKKT)v]G1~wqrlkhb^[S: H >I}C IHIAI =&I2D.IݺD6I<:IGFRK ?JK? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505668JK5KKu5 KKd2KCKC"KCJ VJ DJ HJ J 9J 8J Ժ4J J [:J `:J 9J 9 ! I% f}w,vݰA2Pc}@Y2@2T̾92:=y2H`iݿm?@$?`f>ݿ n?``?k?I?ɨ2Pc}@2;;2CyNARHIV'IV7٢~ō> H=9Q >    G٣ y ټ > Nusing accuracyPremultiplier from config%J49⏜?%J4YV iVA!%%?B ;;J45B 51B5۰ElIlIlIlIzlI]a]a]a]e@y 隅aI ɚiI'>i)GBO==Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.757737ʎw,bʖA2y|@Y2 `@2;92=y2H@S޿?@3?2޿@?? ?bC?ɨ2y|@2C,;2Cy>ABAHIJ'IJ@7٢R5> RQ=9RԻQ R>TT VG٣TyVK Z> ^Nusing accuracyPremultiplier from configXbJ49ZKڏ?bJ4YZ iZA`bf?ZBZS;Z;ZcJ4h n0Bllxlxlxlxzlx]]]]E@ 隅jI ɚiI7L(>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009888GB ~$?IO=M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261664H >I yC I iHI wAI  =&I .I ٺD6I `<:I FzK NK S9K K K ]w,6䖺AR {@YRU@RKϾ9R\=yRH ߿@e?"?@6߿?@5?? ;?ɨR {@R0;RCyZAZHIr&Ir7٢z> zE=9z}Q z>|| ~G٣~\?Gy >  Nusing accuracyPremultiplier from config J49 Fя?J4Y ; i AX? EB . ;  ; J4! %0B!l9l9l9l9zlA]Y]Y]Y]]$@i imPIi qɚqiqIu (>iy)GBO==Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513763JJAA I⾥w,HpA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777695y=A=H!rh?Pn?i|?5?l'?>= )Y^I +?A`"?Zd;O?yX9?=~j>5B B)a BIp[By.BI,%IŃ7٢> ;=9Q > G٣y >  Nusing accuracyPremultiplier from config J49 ȏ?J4Y M i wAGD?:b? ƚB @; >; "J4) -/B-ްElAlAlAlAzlA]em>]em>]e;@]e1+I@ HI ɚiI$ )>i!)!G BO5 >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018089JJEJJJJ8JJa@a@a@a@ Iťw,FAz@YFo@Ծ9=yH@߿`{s??o*? ?`)? #?ɨz@;騥~Cy޵A޵:HWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269830Ii$I7٢ > /=9pQ > G٣y > Nusing accuracyPremultiplier from config J49 9?J4Y  i bA? PB : : J4H5>I5rC I5HI5AI5* =&I53D.I5ԺD6I5ó<:I5)FBI}CJICRIZI =bI =jI87%B U.BU߰Elalililizli]]]]F@ 隥3zK KK9KKKI AɚAiAIE9)>iI)IGB)OMS> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521781*J R="J %= I =˥w,#2A:_z@Y:*?@:־9:U=y:H@.Y? j?Fs]\`.?V? ,??ɨ:_z@: ;8yFAFHIRf#IRz7٢V> Z=9ZQ Z?\\ ^G٣^]?Gyb b? fNusing accuracyPremultiplier from configdjJ49f:?jJ4Yf ifAlnNn?fBfr>;f ?;fJ4t vm.Btllllzl]]]]E@1 15I1 1ɚ1i1I=)>i9)AG9BAO=%Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:21:12:59.6500 -TRx dataTimestamp_ set to:1736370780.984686-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774876-ҥw,*LA2y@Y2N@2*1ھ92=y2H =?*?`FHW!O? t?&??ɨ2y@2 ;2CyBABWHIJ"IJ{w7٢zU> zF=9~lQ ~> G٣yil  > Nusing accuracyPremultiplier from config K49 ܰ?K4Y b i NA? B  ;  ; `K4) -.B)lAlAlAlIzlI]a]a]a]eD@}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025816 隅eI ɚiI=!*>iJJGJEJJJ9J4J)GG E}$?IEfGBO=- Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: 21:12:59.6500 LVL= 23008, 32753, 28850, 31331, AGC= 65, IDX= 425,-0.30,-1.875, 3.017,-2.371,-2.605, PHS= 0.818,-0.614, 0.230, RAW= 125.9, -7.0, CAL= 129.7, -20.1, ROT= 20.3, 20.1 m Ygot valid direction response: 21:12:59.6500 LVL= 23008, 32753, 28850, 31331, AGC= 65, IDX= 425,-0.30,-1.875, 3.017,-2.371,-2.605, PHS= 0.818,-0.614, 0.230, RAW= 125.9, -7.0, CAL= 129.7, -20.1, ROT= 20.3, 20.1 u PDAT read: Bearing 20.3, 20.1 (Local) u ~Local bearing/azimuth received: Bearing 20.3, 20.1 (Local) } DAT read: Range 10 to 50 : 621.9 m (Round-trip 829.3 ms) speed 0.7 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [0.014575,-0.515383,0.856836] Fpublishing direction and range info) 9- >ٍ?l~&cc3k?y- yD) - Y-  - p)- czI- Ai- shQ?- /- k>- @- 5 - T@)- I- g>i- >) ) - +ᯗ?rSҥ? |qE)- =I- =i- tqſ- ) ) jH) bH- p<H- >I- oC I- HI- AI- , =&I) .I- ҺD6I- ճ<:I- 'FzK K ͼ9K K K ٥w,eA2y@Y2@2ݾ92=y2H@,`I'??D~? ?`_??ɨ2y@2;0yBABHIJ!IJq7٢f> jM=9nQ ~>  G٣yMH M> UNusing accuracyPremultiplier from configQ}K49U?}K4YU iUAy}?UBU;U;UK4 -BElQlylylzlk]z\6HP?k]䣫 kY k]8_A:k]yDBk]DZk] @"]"e "@_OSDt'G@]>ٍ?l~&cc3k?Jk]tqſRk]*]ؠm'hPNw@Rc|@]]ӿ!3G+0?C?"k]tC*k];Ak]@6? P?k]7Q 2k][Ck]@6? P?k]7Q k][Ck]Ck]^ @]]]]+C@1 9=I9 AɚAiAIm~*>iq)qWill construct direction to contact in vehicle frame from tetrahedron phase data. 1I1GBOA>= Will construct direction to contact in vehicle frame from tetrahedron phase data.*0ߥw,$AyoAwHx&1?K7~jt?!?I = )Y|?5^?ktPn?y ? 0>2B Q!B)6 BI]By=/BI!Im7٢N> 7=9%Q ->9A EG٣E^?GyE M> eNusing accuracyPremultiplier from configYmK49]?uK4Y] i];Au?}:}}?]B]҉;];] K4 *-Bllllzl]>]>]ht@]m> I ɚiI*>i)GBO!>Will construct direction to contact in vehicle frame from tetrahedron phase data.JJEJDJJJ8J4J I! ! E ZATw,~A *6Y(y.AFHy@YF@F-9F =yFH3 ?e?@@?@?#? ?ɨFHy@FVz;F~CyRkARHIZR!IZ bb=9fV0Q f>dd fG٣hyji j> rNusing accuracyPremultiplier from configpvK49r?vK4Yr irA AMII IɚIiIIM*>iQ)QGm?Gm>GQBaO=Will construct direction to contact in vehicle frame from tetrahedron phase data.H>IlC I%HI+AI- =&I.IϺD6Iȳ<:I FzK%JQJK% 9K!K%K% Will construct direction to contact in vehicle frame from tetrahedron phase data. |$?I QBw,kA64y@Y6@6q96 nI=9rQ r>pp rG٣tyvbG v> zNusing accuracyPremultiplier from configx~K49z?~K4Yz tIizeA?zBz;z5;z:K4  ;,B El!l!l!l)zl)]I]I]I]Me>Y YeIa aɚaiaIee3+>ii)iGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.,w,P͗A:P!y@Y:@:9:oM=y:H!`v?h0?s@Ү?`ҭ?А?`?ɨ:P!y@:;:CyB4AB+HIN INh7٢V> VM=9V0Q Z>XX ZG٣Z_?Gy^A ^> fNusing accuracyPremultiplier from config`fK49b?fK4Yb" ibAhjj?bBb:b& ;bHK4l r+BpeWill construct direction to contact in vehicle frame from tetrahedron phase data.lxlililizliJ}WJ}DJyJyJ};9J}8JyJy I]]]]Me> ˛I ɚiIg+>i)G BO5= Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH @AH a>I hC I HI AI 1 =&I .I ̺D6I <:I FzK JK ػ9K K K BK :K kTw,!痺A:'y@Y:ڢ@:E9:K=y:Hr ? '?ЉX` ??s? c?ɨ:'y@:V;:Cy^A^HIj Ijg7٢rt> rG=9rpQ r>tt vG٣tyq`:  > 5Nusing accuracyPremultiplier from config)MK49-v?UK4Y- i-A ?-bB-<-p<-4WK4MB Uf+BuEl l l lzl]]]]f> ,7>隵I ɚiI֘+>i)GGuWill construct direction to contact in vehicle frame from tetrahedron phase data. IGBO%+> Will construct direction to contact in vehicle frame from tetrahedron phase data.U<w, Ay=A=%H\(\?Mb rh:?C )Y(\?"~j+y?S㽹Q3B #B) BI.jBy2BI IUg7٢=Yd> =6=9EQ E>AA EG٣IyM M> UNusing accuracyPremultiplier from configQ]K49UFh?]K4YU5 iU^AeC?e:e&e?UݞBU(;Ul0;UfK4uB u+BuEllllzl]9>]9>]wBO@]CՈ? 5I ɚiIU+>i)G BO- >}Will construct direction to contact in vehicle frame from tetrahedron phase data. {$?IfRfw,AJ\Cy@YJ@J9J=yJH ǯ߿ ?-]?aN:?Q?j?@?ɨJ\Cy@Jx-;JCyVAVHIz Izh7٢)> a=9mQ  >    G٣ `?Gym; > Nusing accuracyPremultiplier from config%K49\?%K4Y iA)--?BB":e:_sK41 5*B1lQlQlQlQzlY]q]q]q]u? 隍II ɚiIM+>i)GBWill construct direction to contact in vehicle frame from tetrahedron phase data.O=HuH>IueC Iu,HIuAIu4 =&Iu4D.IuʺD6Iu<:Iu FzK2KKH9KKKRK>JK> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.J UJ CJ J J 9J =8J J J :a J :a J X9a J ]9a w,4AB7y@YBߪ@B9Bx=yBH߿%?@Rb?t7?? 2?L?ɨB7y@Bi;@yNAN2HIZ IZ?h7٢b}> bN=9b1Q f>dd fG٣dyji j> nNusing accuracyPremultiplier from configlrK49nO?rK4Yn inAtvv?nBnC:n:n3K4x z&*BzEl l llzl]1]1]1]5? I ɚiI+>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.ED>G5?G5?GBOn>v{w,NA2 "y@Y2U@2ҕ92d=y2H@߿\&? ?` `QE??ʧ??ɨ2 "y@2GY;2~CyN'ANHIV IVh7٢^Q> ^J=9b׃Q b>`` bG٣`yfP f> jNusing accuracyPremultiplier from confighnK49jB?nK4Yj ij Apr0r?jBj ;j;jOK4t v)Btl l l l zl z$?I!=Will construct direction to contact in vehicle frame from tetrahedron phase data.]A]A]A]E?Y Y]ؗIY aɚaiaIe3+>ii)iEM6>G)B1OM=Will construct direction to contact in vehicle frame from tetrahedron phase data.Hm 9>Im cC Im HIm dAIm ; =&Ii .Im ȺD6Im <:Im FBI5hCJI5iCRI5ɘCZI51 =bI52 =jI5ɵ6zK KK ͼ9K K K Ow,shhA>x@Y>|@>9>=y>H`߿@???@;T?8[? b?@g?ɨ>x@>و;>CyEAM)HI I+g7٢54> ]5=9e:QQ m> G٣a?GyA > Nusing accuracyPremultiplier from configK493?K4Yk iAs?B;;zK4 ^)Bl1l1l9l9zl9]q]q]q]u? U.>隍I ɚiI,>i) IUWill construct direction to contact in vehicle frame from tetrahedron phase data.JJBAJVJDJBJJ9J8J-4JJP:JU:J9J9EU7>GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.k w,DAy~A~Hx&1?!rh?MbA?l= )YV-?:vClǿy O=9Q > G٣y > Nusing accuracyPremultiplier from config K49o&? K4Y iwAB?: ?-B~C;@;K4! %)B%El9l9l9l9zlA]e>]e>]ee@]el?q y};Iy yɚyiyI},>i)EsAErAEm=1>GIBQOu> y$?If]Will construct direction to contact in vehicle frame from tetrahedron phase data.2&w,p"A:nw@Y:@:a9:m=y:H4`?A?p?@?m?t?ɨ:nw@:-;8y^AbHIf$ Ifc7٢r> r]=9rQ r>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|K49~k?K4Y~f i~A s  ?~B~;~Q;~йK4B (BEl1l1l1l1zl1]Q]Q]Q]U?a aeqIa iɚiiiIm,>iq)qWill construct direction to contact in vehicle frame from tetrahedron phase data.H->IbC IHIAI9 =&I.IǺD6IF<:I'FEd/>zK=KK=ػ9K9K=K=GBOh> I e Will construct direction to contact in vehicle frame from tetrahedron phase data.J J BJ J J J 8J J J J J 9J 9,w,A2`mw@Y2Ƃ@2{92 =y2H`-o?4?c@??'?`up?sw?ɨ2`mw@2I;2}CybdAbHIjIj`b7٢r> rJ=9v`Q v>tt zG٣xyz) z> Nusing accuracyPremultiplier from config|K49~ ? K4Y~ i~A ?~OB~)0;~[0;~K4! %7(B%El9l9l9l9zl9]Y]Y]Y]]d?i imIi qɚqiqIu ,>iy)yEE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO J>3w,ϘA2Mv@Y2wd@2W92r=y2He?`?!TC?I?@?@ c?ɨ2Mv@2B;2C DIDyFBAF HININ`7٢V> VN=9ZbEQ Z>X\ ^G٣^b?Gyb b> fNusing accuracyPremultiplier from configdjK49f?jK4Yf ifyAhj j?fBfa:f:fK4p r'Bp%Will construct direction to contact in vehicle frame from tetrahedron phase data.lylllzl]]]]Lv? I ɚiI,>i) GBO=) cG Yy=A=??EAWill construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH H *>I aC I -HI AI &I .I 6I <:I F:9w, 阺AzKJK9KKKru@Y@y 9.b=yHݝ@Ob?? s?l?+?qO?ɨru@;Cy-,A-Hsh|??/$?'d6B  B)BI1yBy4BII `7٢Mn> M&=9U&Q U>QQ ]G٣Yy]˼ ]> }x$?Iy Nusing accuracyPremultiplier from configK49?K4Y3) i4Aug?j:?B7;6;,K4B T'BEllllzl]c=]c=]8?]@ ӒI ɚiIp+>i ) -Will construct direction to contact in vehicle frame from tetrahedron phase data.JmUJmHJiJiJm9Jm9JiJiJm:Jm:Jm9Jm9GBO=/> Will construct direction to contact in vehicle frame from tetrahedron phase data.y@w,AJpt@YJ@J* 9J:=yJH`&"?@L ?@ܒ@> ?$?jڶ?` v|=9viQ v ?xx zG٣xy~. ~ ? Nusing accuracyPremultiplier from config K49l䎜? K4Y/ iSA  ?-B::SK4 &Bl9l9l9l9zlA]Y]Y]Y]]@i imđIi qɚqiqIu +>iy)yG9BIO= ew$?Ief=Will construct direction to contact in vehicle frame from tetrahedron phase data.Gw,gA6 t@Y6@6o 96dG=y6H@N`?\|?:G@(??`&-?@)?ɨ6 t@6;6Cy>A>ԜHIJIIJ]7٢j~> nK=9nJQ n>pp rG٣rc?GyvW v> zNusing accuracyPremultiplier from configx~L49z؎?~L4Yz6 izA|?zФBz? ;z ;z^L4 B h&B El)l)l)l)zl)]I]I]I]M@Y e$>eIa aɚaiaIe+>ii)iGqBWill construct direction to contact in vehicle frame from tetrahedron phase data.H#>I IHIBI&I.I6I<:IFO=zK}JK}H9KyK}K} Q IQ E Will construct direction to contact in vehicle frame from tetrahedron phase data.*J a="J a=k-Mw,$E7A2u1s@Y2 @2' 92!=y2H#_`?}?@b @d?e?v? ?ɨ2u1s@2;2CyRBRHIZIZf[7٢f> fK=9f7Q f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpvL49rBˎ?vL4Yr= ir/Axzlz?rrBr,;rh-;rmL4 %BEllllzl]]]]E@ ؏I ɚiI+>i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. 9 IA Tw,yQA~Will construct direction to contact in vehicle frame from tetrahedron phase data.y B +HILIV7٢-i> -D=9-Q 5>11 5G٣1JAJECJAJAJAJE=8JAJAaM@aM@aM@aM@yU > Nusing accuracyPremultiplier from configL49k?L4YE iA?"B:<;L4 R%Bllllzl]9]9]9]9I IMɎII IɚQiQIU+>iY)aG1B9OU=Will construct direction to contact in vehicle frame from tetrahedron phase data.jH<bH<H>I_C IHIBI&I.IƺD6I<:IFCZw, kAzK^JK^ͼ9K\K^K^0BKvrA:KvrAeRrq@Ye@e9eз=yeH@"?@?Jb`Z??ػ?#?ɨeRrq@e ;eCyu)BuڞHM|?5^?y&1i|?5?M2?M`Mq= I)IYMCl? r?HzG?yMd[?MC>M= >M{2B MB)MAIMIyMBIkIP7٢d> 5=9Q > G٣d?Gyx > Nusing accuracyPremultiplier from config v$?IL49Ѳ?L4YL iAjc?o:S?BD;P;,L4 $Bl lllzl]->]->]- r?]-0@A AEIA IɚIiIIMy+>iQ)QWill construct direction to contact in vehicle frame from tetrahedron phase data.Ea->GiBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.&aw,tӄA6p@Y6~@6Iw96~F=y6H  ?`&? q/C?k?@? ?ɨ6p@6;6CyBBBHININJ7٢V> Vq=9VQ V?XX ZG٣XyZ  ^? UNusing accuracyPremultiplier from configIUL49M䩎?UL4YMAR iMoAY]e?M/BM;M;MB9L4mB m$$BmEllllzl]]]]m@ 隽hI ɚiI[+>i)E`=(>GiByO= IfWill construct direction to contact in vehicle frame from tetrahedron phase data.J4Kם4 K0KK"KJ]VJYJYJYJ]9JYJYJY~Qgw,A2%o@Y2~@2h92=y2HN:|?5?mz@?6?2*? &?ɨ2%o@2%É;0yNHBN;HIZIZ G7٢b> bI=9b'Q f>dd fG٣dyjƼ j> nNusing accuracyPremultiplier from configlrL49n?rL4YnZX inDAtvv?nBnz:n":nFL4x ~#B|llllzl]]]]7n@ oI ɚiI5+>i)He>}Will construct direction to contact in vehicle frame from tetrahedron phase data.Ia IeHIeUBIe8 =&Ia.Ia6Ie<:IeFBIaCJI`CRI”CZI9 =bI9 =jI$4E$>GyBO^>zKRKKH9KKK &cGL RK?JK? I% Will construct direction to contact in vehicle frame from tetrahedron phase data.}mw,A:Io@Y:h}@:F9:=y:Hi@=??զs.?@H? ??ɨ:Io@:;:}CyFBFHININ D7٢V> VL=9VԻQ V>XX ZG٣Ze?Gy^3߼ ^> bNusing accuracyPremultiplier from config`fL49b?fL4Yb^ ib(Ahj<n?b=BbA;bB;bTL4p r#Bpl|l|l|l|zl|]]]]@) )-UI) 1ɚ1i1I5+>i9)9EAEA*EA"EAWill construct direction to contact in vehicle frame from tetrahedron phase data.GBOI> t$?I Uctw,gҙAnWill construct direction to contact in vehicle frame from tetrahedron phase data.y~B~ġHJ%UJ%BJ%AJ!J%9J%8J%4J!I <I A7٢EV> EA=9EQ E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYeL49]?eL4Y])e i]'Aiim?]ͨB].:]:]cL4q ui"B}Ellllzl]]]] I ɚiIW*>i)GIBYOu=ZHUAARHUAAH] >I]^C I];HI]BI]: =&IY.I]źD6I]P<:I]FWill construct direction to contact in vehicle frame from tetrahedron phase data.~zw,=`왺AzKfNKfý9KdKfKfrb4n@YrS|@r59rƞ=yrH`?)?H <@/^?`]g?o??ɨrb4n@rMc;rCy~=B~Hx&1?M?{Gz?!?n>ף= )YRQ?Cl?gfffff?yB?;=33>.B  B)AIyBII>7٢> C=9J-Q > G٣y% > Nusing accuracyPremultiplier from configL49?L4Y'j iBI?: ?BB;l;QrL4 !Bllllzl]'>]'>]@]FT@ )I) 隵I ɚiI*>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO >JJ@A Will construct direction to contact in vehicle frame from tetrahedron phase data.uw,A2m@Y2:{@2\92$=y2H@&?`?$`g {=?s?`F??ɨ2m@2"x;2CyNBRnHIZIZ=7٢b> b\=9bHQ b>dd fG٣ff?Gyf j> nNusing accuracyPremultiplier from confighzL49j3v?eL4Yjn ij_Bim m?jBji)GBOE= -s$?I)Will construct direction to contact in vehicle frame from tetrahedron phase data.JETJECJE@JAJE{9JE=8JEJ4JA= EGQ i Y y ]Aw,A6_m@Y68~{@6 96g=y6H@?'?ʏ(?@~? bJ=9bNqQ b>dd fG٣dyfX j> rNusing accuracyPremultiplier from configlrL49nk?vL4YnVs inJBtv^ v?nBnq:nP:ntL4zB z{ B~El l l lzl])])])]-S@A AEIA IɚIiIIM"a*>iI)QH>I]C I#HIEBI; =&I5D.IĺD6I#<:IFUWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO=zK5KK59K1K5K5 If Will construct direction to contact in vehicle frame from tetrahedron phase data.*JE C="JE %=Ѝw,9ANm@YN2{@N؅9N=yNHt?@ _?@W??R0?@?ɨNm@N;NCyZ)BZHIbIby87٢j> nH=9nQ n>pp rG٣pyr8 v> zNusing accuracyPremultiplier from configx~L49z`?~L4Yz#x iz8B|~ ~?zBzn:zL:zL4  B ll!l!l!zl!]A]A]A]ElS@Y ]z>]IY YɚYiaIe0*>ia)iGiBqO=UWill construct direction to contact in vehicle frame from tetrahedron phase data. I ۰w,SA6l@Y6_z@696U=y6H@E `X? ?@*@?`:?l`?`˧?ɨ6l@6X`;6~CyRBRХHfWill construct direction to contact in vehicle frame from tetrahedron phase data.ImID47٢]> ?=9قQ > G٣g?GyX >JVJBJJJ9J8JJ Nusing accuracyPremultiplier from configL49U?L4Y} i2B ?BÚ;;L4 "Bllllzl]]]]R@1 9=\I9 9ɚ9i9I=)>iA)AGQBYOu=jHbHp<H>I IHIBI9 =&I.I6I,<:IFuWill construct direction to contact in vehicle frame from tetrahedron phase data.qiq ᚦw,MmA2il@Y2Gz@2n[92l=y2H`D??`D&?@ݠ?Ұ?@?ɨ2il@2;0y>B>HzKiJKͼ9KKKMb?Q롿X9v? ?\= )Yq= ףp? G=9xQ > G٣y> > Nusing accuracyPremultiplier from configL49VI?L4Y؀ iB!.?:?kB;;L4 dBEllll zl ]% |=]% |=]%L?]%@1 9=I9 9ɚ9i9I=)>iA)IG1BQOm=Will construct direction to contact in vehicle frame from tetrahedron phase data.u Will construct direction to contact in vehicle frame from tetrahedron phase data..ԡw,A6l@Y6I8z@6s96ɪ=y6H@.`.??u@U0?&?@"?@_?ɨ6l@6ϩ;6CyNFBNHIV!IV+7٢rd> rW=9vQ v>tx zG٣xyzR z> Nusing accuracyPremultiplier from configL49=?L4YK iB!%%?̫B ; ;WL4) -B)lIlIlIlIzlI]i]i]i]m@Q QU~IQ QɚYiYI]m)>iY)a iIiE=H%>GM>GM>Will construct direction to contact in vehicle frame from tetrahedron phase data.G1BAO]v>w,A::k@Y:y@:=9:=y:Hs@)??k 5?l?@%x?@S?ɨ::k@:p;8yVBVSHI^I^(7٢f> fL=9f^Q f>hh jG٣jh?GynA n> rNusing accuracyPremultiplier from configpvL49r1?vL4Yr܇ irlBxzIz?r0Br:r*:riY)YH>I I$HI BI&I.I6I<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.EU *!>G1B9O]= ]q$?IYzKJK 9KKK&RB Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J J J J J P:a J U:a J 9a J 9a 'w,\A>9k@Y>ڳy@>I9>k=y>HfL@4?d?W/? i?@??ɨ>9k@>P;>Cyr Br"HIzQIzO%7٢> F=99Q > G٣y% %> -Nusing accuracyPremultiplier from config)5L49-%?5L4Y- i-2B1==?-B- ;-G;-L4A EpBE ElYlYlYlYzla]y]y]y]}@ 隕yI ɚiI*)>i)-Will construct direction to contact in vehicle frame from tetrahedron phase data.Er%>GBO-p> I II w, 7՚A6Y:k@Y6Xy@696=y6H eT??|;Y7 $?`?Ա?`?ɨ6Y:k@6!;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yF4 BFHININ;#7٢V> VQ=9ZQ Z>XX ^G٣\yb h b> fNusing accuracyPremultiplier from configdjL49f?jL4Yf ifBhnn?fBf;fO;f\L4t vBtllllzl ]]]]@ 隽/wI ɚiIw(>i)*E="E=E5%>GBOj>ZH@ARH@AH>I\C I1HI1 BI: =&I.I6I<:IFBIE]CJIE]CRIEǓCZIE: =bIE: =jIEP5=Will construct direction to contact in vehicle frame from tetrahedron phase data.8w,A61j@Y6y@6[96=y6Hx`?/?(K`?@??x?ɨ61j@6Z;6CyN BRH pIp=K7A?x&1ȿMb`= B?=A= 9)9Y=jt?+V-?y= ?==<=+B =B)="AI99y=BI]I]!7٢m> m?=9u9Q u>qqzK}{kLK}H9KyK}K}"BK:K G٣i?GyD > %Nusing accuracyPremultiplier from config!-M49% ?-M4Y%n i%B-,"?-:5#5?%qB%;%;%M4=B =1B=Elqlqlqlqzly]1>]1>]@]r= tI ɚiI(>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.JUJJBJJ9JJ-4JJ:J:J9J9PExceeded connect timeout, disconnecting.E>GBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data. ¦w,AJgj@YJx@J9J`6=yJH~Ǽ? A+?@e@? ?@\??ɨJgj@JK;JCyV BVHIbIb 7٢f)> jU=9j;Q j>ll nG٣lyr r> vNusing accuracyPremultiplier from configtzM49vS?zM4Yv/ iv Bxz^#z?vҭBvn:v:v M4 pBllllzl]9]9]9]=)_=Q QUqIQ QɚQiYI]8(>iY)aEiEi*Em"Em p$?IGBOI>Will construct direction to contact in vehicle frame from tetrahedron phase data.LȦw,"A6Pj@Y6"ox@6~96Q=y6H.?`'? a4}2?x?Dz??ɨ6Pj@6;6CyN BNPHIV]IV7٢v> zH=9z';Q z>|| ~G٣|y4 > Nusing accuracyPremultiplier from config H%>I%ZC I%>HI% BI!&I!.I%úD6I%<:I%F=M49 l퍜?=M4Y E i  B9=#=? >B ; ;  M4MB MBMElalalalazla]]]]iP= 隥oI ɚiIT(>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.iAGBO= IfzKoKKͼ9KKK >"t1 Will construct direction to contact in vehicle frame from tetrahedron phase data.*J "J =J J AJ >J J J 8J t4J J :J J 9J 9 } nManaging dock network, ignoring radio surface power offquΦw, BB HIJ)IJ7٢j> jL=9rtx zG٣zj?Gy~T > Nusing accuracyPremultiplier from config%M49ލ?%M4YL iN B)-#-?BK;7;')M41 5DB1llllzl]]]]==) 150mI1 1ɚ1i9I="(>i9)AGBO5=Will construct direction to contact in vehicle frame from tetrahedron phase data. o$?I M^զw, ZL=9Z `h jG٣hyr, r> zNusing accuracyPremultiplier from configt M49vύ? M4YvH iv B3$?vBv";v;v7M4)-= -CY eBmEcGlIlIlI UYQyUAlqzlq]]]]).= jI ɚiI'>i)GGGBO% >jHbHH%>I! I%>HI%}BI%9 =&I!.I!6I%<:I%FWill construct direction to contact in vehicle frame from tetrahedron phase data.ۦw,XpA $I$Fgi@YFw@FƄ9F=yFH`:@rM?@?.@#? T? ??ɨFgi@F͈;FCyR BRH=@= =@= =@= =@= =Mb@Mb@Mb@=== =)9Y=}?5^I?MbX9Qy=M"?=ʡ=u=}(B ={B)=AI99y=BIU6IUy7٢e}> e@=9m,ii uG٣qyu: u> Nusing accuracyPremultiplier from configyM49}?M4Y}ߡ i}^ BG$?:"?}B}&;};}EM4 Bllllzl 1hI ɚiI'>zK NKS9KKKiq)uWill construct direction to contact in vehicle frame from tetrahedron phase data.GBJJJJEJJJJ8JJJ:J:J9J9O>% Will construct direction to contact in vehicle frame from tetrahedron phase data.nw,+4A2_i@Y2:w@2&92Q[=y2HfE`0?*? `~?#/?@???ɨ2_i@2pڈ;2CyNBRIHIZXIZj7٢b> bU=9bsidd fG٣fk?GyjE j> nNusing accuracyPremultiplier from confighrM49j?rM4Yj ij Bpr#v?jBj;j;j?SM4x zsBzEllllzl eI ɚiIީ'>i)GBO= 5n$?I9}Will construct direction to contact in vehicle frame from tetrahedron phase data.֡w,4AHj>IjUC IjHIjBIj; =&Ih.IjD6Ij<:IjFMh@YM+w@M9Mp<=yMHfe?@? @?  ?`'?@?ɨMh@MX;M~Cye BmHWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Ysh|??~jtˡEy)?D什%B B)3AIy=BIfI7٢܋> ,=9F= G٣y4 >  Nusing accuracyPremultiplier from configM49/?M4Yé iW B+?:`?B;<<cM4 BllllzlA IMcII IɚIiIIMȁ'>iQ)YGiGm?G1B9OU3> m$?IfzK=JK==9K9K=K=} Will construct direction to contact in vehicle frame from tetrahedron phase data.4w,󽛺Aflh@Yf v@f!9f=yfH`Ő@"?H?@`!VB??@i5?U?ɨflh@f;fCyrBrHIz~Izw7٢p> o=9 Wi)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. I ժw,;כA"Will construct direction to contact in vehicle frame from tetrahedron phase data.JDJFCJF=JDJDJF=8JFg4JDaJ@aJ@aJ@aJ@>Ph@Y>ov@>_ 9>ȵ=y>HM@?L?:@?Ų? [?0?ɨ>Ph@>;>CyV&BVJHI%fI%7٢e^> mD=9mtqq uG٣ul?Gyu' > Nusing accuracyPremultiplier from configM49|?M4Y i- B?BC:C:~M4B BEl)l)l)l1zl1 隭d_I ɚiIU'>i)GBO>ZHRH?AH>IQC I۲HImBID =&I6D.ID6I<:InFWill construct direction to contact in vehicle frame from tetrahedron phase data.  k$?I w,àA6h@Y6(v@6 96%=y6H@`?d?`ټV`ת?`? ԓ? J?ɨ6h@6g;6}CyBBBHUMb@Mb@Mb@QQQ Q)QYUtV?I +{GzyU2?U94UףU!B UB)UAIQQyU BIeLIe7٢u¹> }I=9}| G٣yE > Nusing accuracyPremultiplier from configM49;l?M4Y| i B3?:b?B;A;M4B >BEllllzl ]I !ɚ!i!I-!F'>i)zK5a3JK59K1K5K5-M3GEw~[ _G |Q, )AGQGQG1B9UWill construct direction to contact in vehicle frame from tetrahedron phase data.Oe= Will construct direction to contact in vehicle frame from tetrahedron phase data.w,p| A>g@Y>u@>h 9>W=y>HX?@3?@A@lk?\??/c?ɨ>g@>;>~Cy^6B^HIjDIj7٢r> rT=9rH~tt vG٣tyvI- z> Nusing accuracyPremultiplier from config M49:\? M4Y iB?BG:: M4 B!l1l1l1l1zl9  }$>%[IY YɚYiYI];'>ia)a j$?IGIBYOu=]Will construct direction to contact in vehicle frame from tetrahedron phase data.JJAJJJJ8JJw,^%AH>>I>NC I>HI>BI>H =&I<.I>D6I><:I>wFBIEUCJIEUCRIECZIE; =bIE? =jIE 6Will construct direction to contact in vehicle frame from tetrahedron phase data.M g@YMb+u@M09M=yMH@qam?`?@@N?$???ɨM g@M*;MCymBm;H%Mb@Mb@Mb@!!! !)!Y%S?S㥛?y&1y%:?%/<%`e%B %B)%AI!!y%= BI="I=7٢E> M)=9UQY ]G٣]m?Gye붼 e> uNusing accuracyPremultiplier from configq}M49u^H?}M4YuL iuB}M;?}:}?u)Bu;u;uM4 AB"Ellllzli quYIq qɚqiqIut:'>iy)y IGBOA>zK PK9KKKq[B6 ~zvqlh`\ZXUROJFBB?:9951-*)'&'"!%!m Will construct direction to contact in vehicle frame from tetrahedron phase data.*J "J _w,2?AyABHI&I7٢%> -u=9-Q -?11 5G٣1y5 5? ENusing accuracyPremultiplier from config9EM49=:?MM4Y=, i=!BIIM?=B=:=:=M4Q ]BYlililqlqzlq VI ɚiI :'>i)GBOu=Will construct direction to contact in vehicle frame from tetrahedron phase data. qIy`w,YAWill construct direction to contact in vehicle frame from tetrahedron phase data.J;ـ4K;~4 K;/K3K3"K3J0J2?J2>J0J0J28J2t4J0b M=9-=Q  >    G٣ y > %Nusing accuracyPremultiplier from config!-M49%*?-M4Y% i%B155?%!B%":%:%M49 =JBE%ElQlQllzl 6UI ɚiID'>i ) jHe<bHe<H\>IIC IHI BII =&I.IDE4>6Iq<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO-> e i$?Ia t#w,rARe@YRhs@RH9Rp=yRH ?/H?3e 9? ?`ε?@S?ɨRe@R;RCyZ/BZHMMb@Mb@Mb@III I)IYMRQ?:v?~jtyMB?MT=MM6B M B)MAIIIyMBIeIe7٢uJ> uC=9}r G٣y;v > Nusing accuracyPremultiplier from configM49?M4Y i8BC?:?Bx;;'M4 Bllllzli i隕CSI ɚiIU'>i)zKNKͼ9KKK 5Will construct direction to contact in vehicle frame from tetrahedron phase data.E=H!>GBO!> Will construct direction to contact in vehicle frame from tetrahedron phase data.#w,b֌A6qe@Y6s@6996e=y6H! ?@?RG% m?&? L/?@?ɨ6qe@6;6Cy>B>HIFIFX7٢f> fU=9j ll nG٣nn?Gyr" r> vNusing accuracyPremultiplier from configtzM49v?zM4Yv~ ivB|~z~?v6BvS;v;vM4B >B)Ellllzl!A E.>MPII IɚIiIIMoh'>iY)Y h$?IfE7%>GGEWill construct direction to contact in vehicle frame from tetrahedron phase data.]EGJyJ}AJ};JyJyJ}8J}(N4JyG dYy%ABOf>Hm 2>Im CC Im HIm GBIm T =&Im 7D.Im D6Im \<:Im jF l)w,/A=Will construct direction to contact in vehicle frame from tetrahedron phase data.AiA e@Yi(s@29=yH@4P@??`<Gp?C?` f?q?ɨ e@D;Cy%<B%QHMb@Mb@Mb@ )Y?Q?/$?yfF?u=<=B B)OAICNByBIIQ7٢@~> '=9F G٣y U  > Nusing accuracyPremultiplier from configM496?M4YW iBG?%:!%?޵B; ;M4) -B)lAlAlAlAzlIq qu OIy yɚyiyI}7'>i)*E="E= yIEF/>GqByO;>Will construct direction to contact in vehicle frame from tetrahedron phase data.zKnMK9KKK*J %="J R=L0w,?A2d@Y25r@292=y2H@}?@?$5jI'?C?}?`$?ɨ2d@2i;0yRBRHIbIb7٢j> nv=9ni)E E *E "E MWill construct direction to contact in vehicle frame from tetrahedron phase data.GYBiOZ> }g$?Iy Will construct direction to contact in vehicle frame from tetrahedron phase data.v6w,ۜA6Ed@Y6adr@6&96t=y6H@o@Z??? ??n7?ɨ6Ed@6;6{Cy>ZBBHIFIF7٢R> VN=9VoMXX ZG٣Zo?GyZ]Z ^> bNusing accuracyPremultiplier from config`fN49bPՌ?fN4Yb ibBdfGf?b۶Bb:b:b N4l nBlltlxlxlxzlx %JI! !ɚ)i)I-'>i))1GE?GE>GB OE=ZHRHAAH>I=C IHIwBI[ =&I.ID6Ix<:I]F]Will construct direction to contact in vehicle frame from tetrahedron phase data. i Ii ٢ e>=9m?ii mG٣qyui u> Nusing accuracyPremultiplier from configyN49}XŒ?N4Y}4 i}_BP?:=?}tB}H;}d.;}N4  B/Ellllzl HI ɚiIa'>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.zKKKػ9KKKJJBAJTJCJJJ{9J=8JJJVw:a%J`w:a%JJ9a%JO9a%G)B1OU=e Will construct direction to contact in vehicle frame from tetrahedron phase data.LCw,A2Vc@Y2q@2©92 =y2H ?M? ൲@N?C?@nڷ?`CX?ɨ2Vc@2E ;2CyNjBRHIZAIZ7٢b> bV=9b%Add fG٣dyfI j> nNusing accuracyPremultiplier from config f$?IhUN49jW?UN4Yj ijBQU]?jBji)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I 3C I yHI BI d =&I 8D.I D6I <:I SFIw,(A-Will construct direction to contact in vehicle frame from tetrahedron phase data.Cc@Ybq@E9 =yHd`?$? g?`?\?g?ɨCc@,;CyBHMb@Mb@Mb@ )Y@5^I ?S㥫?{Gz?ybP?/]=ף=B B)AIAByBI I#7٢> .=9"   G٣ p?GyK > Nusing accuracyPremultiplier from config%N49?%N4Y] iB%Q?E:MM?B;u;-8N4Q ]B]2Ellllzl e$?I tDI ɚ i I R(>i )G!G!GBO(>Will construct direction to contact in vehicle frame from tetrahedron phase data.J SJ AJ 7J J ;9J 8J 4J J a:J a:J 9J 9zK 7KK K K K Pw,BA>| c@Y>,q@>1^9>=y>H.? [?k| c@>=;>CyRBRbHIZIZ7٢b> bq=9b3]AIY YɚYiYIez(>ia)iGqByO=-Will construct direction to contact in vehicle frame from tetrahedron phase data. If Will construct direction to contact in vehicle frame from tetrahedron phase data.Vw,l\A2rb@Y2p@292$=y2HQ???@[q?}?`?ɨ2rb@2{;2CynBnHIvuIv 7٢> F=9 ;Q  > G٣yUh > %Nusing accuracyPremultiplier from config!-N49%z?-N4Y% i%,B)-'-?%B%:%:%(RN49 =B9lQlQlQlQzlYy 隅?I ɚiI(>i)GBO=jHAbHE<HE?>IE%C IEHIEBIEr =&IE9D.IED6IE <:IELFBI%=CJI%:CRI%šCZI%[ =bI%\ =jI%Ŝy7EWill construct direction to contact in vehicle frame from tetrahedron phase data. d$?I \w,>vA2rb@Y2p@2@92=y2HSi??v?`OE?E?F?ɨ2rb@2;2CyBBBH=Mb@Mb@Mb@999 9)9Y=Gz??+η?y=P?=L==v==HB =B)9I=5:B9y=3BIU6IUK7٢ek> eD=9mm;Q m>qy }G٣}q?Gy} }> Nusing accuracyPremultiplier from configN49g?N4Y iBbR?:??B$;";`N4B r B:Ellllzl =I ɚiI(>i)G ?G  ?Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ6JJJJ 4JJa:Ja:J9J9GBO=zKUBoJKU9KQKUKUE Will construct direction to contact in vehicle frame from tetrahedron phase data./cw,A 0I4:~b@Y:7p@:[9:=y:H,??``/(?? ?`u?ɨ:~b@:n;8yBBBFHININ 7٢VҬ> VW=9Vc;Q V>XX ZG٣Xy^}l ^> bNusing accuracyPremultiplier from config`fN49bZV?jN4Yb ibBhj7j?bźBb-;b-;bmN4p r Bplxl|l|l|zl|! !%;I! )ɚ)i)I-s!)>i1)1Eev/>Will construct direction to contact in vehicle frame from tetrahedron phase data.GABYOY>HM >IM C IM HIM BIM =&IM ;D.IM D6IM f<:IM 0F jw,GA~Will construct direction to contact in vehicle frame from tetrahedron phase data.Ma@YMo@M9M=yMHp_? ?`Uj9H@z??+?b?ɨMa@MCĈ;MCy]B]HMb@Mb@Mb@ )YK7A`?Mb?Cl?yK?@=;=B 8B)AI1:By BI I 8 7٢> (=9%Q;Q %>)) 5G٣1 Ec$?IAyE M> UNusing accuracyPremultiplier from configI]N49M@?]N4YM> iMyBeEM?e:ee?MlBM$;M/#;MN4i mr Bm=Ellllzl 9I ɚiIj)>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.E8>*J4="Ja=JJCJJJJ=8JJJa:Ja:J59J:9zK VBJK S9K K K  0YCZeibM04UsT6G B O >pw,OÝA2(la@Y2Ȋo@2"92=y2H``7B>HIFYIF, 7٢N? N=9R^;Q R ?TX ZG٣Zr?Gyb b ? jNusing accuracyPremultiplier from confighnN49jo2?nN4Yj ij Bpr7r?jٻBj ;jt;j@N4t v Btllllzl   7I ɚiIk)>i)EE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data. Ea$?IIGYBiOZ>)Q Q ~G % Y! y% A Will construct direction to contact in vehicle frame from tetrahedron phase data.ww,;ݝANa@YNP4o@ND9Nף=yNHl??.%{B??B?@??ɨNa@N 1;NCyVBZ)HIb*Ib7٢jGv> jG=9j*;Q j>ll nG٣lyrjS r> vNusing accuracyPremultiplier from configt~N49v6 ?N4Yv ivB?vdBv6c;vyc;v|N4  g B@El)l)l)l)zl)Q QU5IY YɚYiYI]J)>ia)aGBO=ZHRH?AH>IC IHIYBI =&I.ID6I<:IsF%Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 <}w,A>h`@Y>n@>f9>=y>H?@? ,??H??ɨ>h`@> Ȉ;>}Cy^(BbԾHUMb@Mb@Mb@QQQ Q)QYUT㥛 ?{Gz?&1?yUA?Uף ?=9+ ;Q > G٣yL > Nusing accuracyPremultiplier from configN49n ?N4Y i~BB?:b"?B+;;eN4B  BDEllllzluWill construct direction to contact in vehicle frame from tetrahedron phase data. 隍\3I ɚiI!*>i)G?G>zKOKKKKm]P?/#zxvsromkhfdb[VQOOICGBO >% Will construct direction to contact in vehicle frame from tetrahedron phase data. % `$?I! F$w,_A6_`@Y6}n@696K=y6H@}? ?߿-?`?s??ɨ6_`@6;6CyRBRH)T TIzIz7٢ 8>  R=9 :Q  > G٣s?Gyu > %Nusing accuracyPremultiplier from config!-N49%C?-N4Y% i%$B)-"5?%mB%:%;%N4A ET BAlYlYlYlYzla 隍21I ɚiI\*>i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.JJAJJJJ8JJa@a@a@a@H >I C I HI BI =&I .I D6I <:I F"Qw,E+AzWill construct direction to contact in vehicle frame from tetrahedron phase data.z"`@YAn@;91=yH@T?`3?`ͫ߿`@?ش? ?ά?ɨz"`@>;y->B5)H IfMb@Mb@Mb@ )Yl?~jt+η?y7?Dv=~ B A)AI2Byp BI5I5h7٢EH> E+=9M]Q M>II UG٣QyUn U> ]Nusing accuracyPremultiplier from configYeN49]Y狜?mN4Y] i]Bm9?m:m1&m?]B];]_;]N4q } B}GEllllzl /I ɚiI*>i)GBO!>Will construct direction to contact in vehicle frame from tetrahedron phase data.*JC="Jp=zK l"OK ]9K K K ><9852..-,+,*''&&&#$(&##"""#!! 7w,EA6_@Y6qm@6={96_=y6H0 ڒ? ^?@f߿!D???@?ɨ6_@6{;4y^B^HIfIf07٢v> zz=9~~Q ?    G٣y %? =Nusing accuracyPremultiplier from config1EN495؋?MN4Y5` i5jBIM&U?5iB5;5;5KN4a e8 Bill l l zl q qu,Iq yɚyiyI}P*>iy)GGrAGiBqO=Will construct direction to contact in vehicle frame from tetrahedron phase data. _$?I Will construct direction to contact in vehicle frame from tetrahedron phase data.J TJ BJ 5J J {9J 8J 4J k`w,^AV_@YV(m@V9VϪ=yVH@^:{??];߿ ?? ?`?ɨV_@V_;VCyb<BbcHIjaIjM7٢v> vK=9v,Q z>xx zG٣zt?Gy~b >  Nusing accuracyPremultiplier from config N49ANj?N4Y i B&?B:z:5N4%B %B%JEl1l1l9l9zl9a im +Ii iɚiiiIm+>iq)yG9BIOe=jHbH<H>IC IIHIBI =&I.ID6I[<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data. ^$?I&w,FxA2F_@Y2em@2x92F=y2HJY?@r? p޿ ࠗ??_\??ɨ2F_@2v;2~CyBBBHEMb@Mb@Mb@AAA A)AYEq= ףp?A`"Mb?yE+?EYE=EV B E5A)EAIE0BAyEpBI]!I]7٢mn> mB=9u#Q u>qy }G٣yy}: }> Nusing accuracyPremultiplier from configN49ܴ?N4Y" iB,?:I+?bB";{!;N4 @Bllllzl (I ɚiIh\+>i)UWill construct direction to contact in vehicle frame from tetrahedron phase data.JJGBO5=zK%MK%9K!K%K% Will construct direction to contact in vehicle frame from tetrahedron phase data. I Irw,PA6_@Y68m@6D196$=y6HQE?s? ޿@y?L??@{?ɨ6_@6\L;6Cy>RB>HIFIF/6٢R> RX=9V&tQ V>TT ZG٣XyZ Z> bNusing accuracyPremultiplier from config\bN49^P?bN4Y^% i^$Bdfw+f?^ҿB^:^P:^N4h jBnMEltltltlxzlx 隥&I ɚiI—+>i)GBO=eWill construct direction to contact in vehicle frame from tetrahedron phase data.JSJDJ6JJ;9J8J 4JH >I C I HI HBI =&I .I D6I ̵<:I JFBIUCJIUCRIUʖCZIUʞ =bIUʝ =jIUʐ6w,&AF^@YFm@F/9F<=yFHT H3? 4?޿''vs? ??ڜ?ɨF^@F;FCbWill construct direction to contact in vehicle frame from tetrahedron phase data.yvBvLHI5I56 5]$?I9٢}> }0=9\Q > G٣u?Gy > Nusing accuracyPremultiplier from configO49? O4YJ( iB  +?^B\(<~(< O4 >BPEl1l1l1l1zl1 隭$I ɚiI+>i)GBO >mWill construct direction to contact in vehicle frame from tetrahedron phase data.zK KK K K K     Ɔw,gƞARs^@YRl@RL9RS=yRH?[ w?@>?4޿56h?@#???ɨRs^@RA;RCyZDBZH5Mb@Mb@Mb@111 1)1Y5 r?+ηV-?y5#?5v5<5 B 5A)5AI50B1y5QBIMIM6٢] > ]_=9]vQ ]>aa eG٣aym* m> Nusing accuracyPremultiplier from configO49u?O4Yd* i:By%?:/?Bd;Q;FO4 Bllllzly y}"Iy yɚyiyI,>i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data. %\$?I)} Will construct direction to contact in vehicle frame from tetrahedron phase data.J J >J 9J J J ľ8J c44J w,?8A6^@Y66l@6(d96=y6HY9? n?f޿>h? CI?`tK?@?ɨ6^@6;6~CyBzHIVI6٢%c> %N=9%ӻQ ->)) -G٣)y5q 5> ENusing accuracyPremultiplier from config9MO49=m?MO4Y=, i=BIM0U?=i)GBO=ZH)RH-AAH5>I5 C I5vHI5 BI1&I1.I5D6I5µ<:I52FWill construct direction to contact in vehicle frame from tetrahedron phase data. )I9xٽw,A2}^@Y2\l@2M92=y2H\ ?@e? =޿`]Jj?i?l mF=9mQ u>qq }G٣}v?Gy}/ϻ }> Nusing accuracyPremultiplier from configO49Z?O4Y/ i$ B&?:0?BA;;|4O4 Bllllzl I ɚiI|,>i)=Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO==zK MK9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data. % [$?I! ħw,A2r^@Y2l@2=92f=y2HU ??`(޿M@w??P ?{?ɨ2r^@2:;2CyN BRHIZ"IZ6٢b4> bV=9bQ b>dd fG٣dyj j> nNusing accuracyPremultiplier from configlrO49nH?rO4YnC1 in Bpv0v?n.Bn;n|;nAO4zB ziBzWEl lllzl9 9=sI9 AɚAiAIEƬ,>iI)IGBO9UGay uYy>AEWill construct direction to contact in vehicle frame from tetrahedron phase data.J 4K4 Kh0KK"KJTJEJ4JJ{9J8J3JH] >I] C I] pHI] "BI] =&I]  7=9ƻQ > G٣y꨻ > Nusing accuracyPremultiplier from config%O492?%O4Y4 i!B!-0-?B::RO4Q UBQlilllzl I ɚiI,>i)GB O-,>UWill construct direction to contact in vehicle frame from tetrahedron phase data.*JR="J=zK N KK H9K K K Oѧw,GAJB^@YJWal@JW9J.1=yJHK,?@%?EݿV ?`?@)?&b?ɨJB^@J;;JCyV|!BVHMMb@Mb@Mb@III I)IYMQ?)\(+yM(?MGόMM>B MzA)MKAIM1BIyMfBIeIe,6٢u> uS=9u8(Q u>yy }G٣}w?Gy >  Nusing accuracyPremultiplier from config O49  ?O4Y D6 i t!B+?:0? 5B Y; ; _O4A EBEZElYlYlYlzl I ɚiI->i ) Will construct direction to contact in vehicle frame from tetrahedron phase data.GB!O= > X$?IM Will construct direction to contact in vehicle frame from tetrahedron phase data.Sקw,aAJ&^@YJ(El@J^9JQ=yJHEp?W?ݿ@Z ?&5?@.P?@R?ɨJ&^@J};JCyV!BVHI`I`٢f> jW=9j)Q j>ll nG٣lyr r> vNusing accuracyPremultiplier from configtzO49v ?zO4Yvw8 iv!B|~0~?vBv;v;vGlO4 'B]Ellll!zl!I QUgIQ QɚQiQI]f6->iY)aGQBaO}=jH<bH<HZ>IC IHI$BI =&I.ID6I<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data. If)ާw,g{A25^@Y24l@292L=y2HT;?P?ǧݿ ]`?@u? K??B?ɨ25^@2z;0yBN"BBH=Mb@Mb@Mb@999 9)9Y=B`"?RQy&1y=.?=½=`e=B =A)=AI=\1B9y=BIUIU6٢ev> eA=9m+Q m>ii mG٣iyuI u> Nusing accuracyPremultiplier from configyO49}?O4Y}S; i}C"B1?:.?}3B}T;}kS;}{O4 Bllllzl I ɚiI^->i)Will construct direction to contact in vehicle frame from tetrahedron phase data.GGsAJJAAJWJDJJJ;9J8JJJ:aJ:aJ9aJ9aG BO==zK&~JK9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data. W$?I $w,78A2]@Y2Fl@2 92}=y2H3`?`?0ݿ(``?\?h`? 2?ɨ2]@2;0yB"BB'HDFAIJIJ6٢f> fU=9f2Q f>hh jG٣hyjqk n> vNusing accuracyPremultiplier from configpvO49r犜?zO4Yr= ir"Bxz.z?rBr;r9;rxO4 PB`Ellllzl  I ɚiIa->i1)9G BAO]=%Will construct direction to contact in vehicle frame from tetrahedron phase data.H N>I C I ,HI 2%BI =&I .I D6I <:I Fp8w,AFWill construct direction to contact in vehicle frame from tetrahedron phase data.y #B HIM qIyIM6٢mfJ> m3=9Q > G٣x?Gy > ENusing accuracyPremultiplier from config9mO49="ϊ?uO4Y=$A i=(#Bqqu?=PB=`;=;=JO4}B BcEllllzl I )ɚ)i)I-%->i1)1G!B)OM0>5Will construct direction to contact in vehicle frame from tetrahedron phase data.JJFJJJJ9JJJ:JJ/9J49zK= JK= 9K9 K= K=  w, ȟAy#BGHMb@Mb@Mb@ )YzG?p= ףy 7?LB A)AI3ByBII6٢%> %O=9!Q %>)) -G٣)y) 5> ENusing accuracyPremultiplier from config9MO49=?MO4Y=D i=#B]=8?]:]+e?=B=U;=;=?O4q ufBqllllzl aI ɚiI->i)G?G>Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO= > uV$?IqE Will construct direction to contact in vehicle frame from tetrahedron phase data.Lw,⟺A2ގ]@Y2~k@2ݠ923=y2H" ^?@b?ܿkn x?9l? 6??ɨ2ގ]@2K;2Cyb#BbHIjqIj"6٢rYj> ra=9rQ v>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|O49~i? O4Y~F i~#B  5,?~HB~B.;~.;~O4 BfEl1l1l1l1zl9Y ae Ia aɚaiaIe->ii)iGBO=ZHqRHu?AH->IC I~HID&BI =&I.I}D6I<:IFBIeCJIeCRIeėCZIeĝ =bIajIe6Will construct direction to contact in vehicle frame from tetrahedron phase data. }U$?Iyuw,A2?n]@Y2ߌk@2_92}=y2H?@,?ܿrg?v?`f?@?ɨ2?n]@2/;2CyBd$BB0H=Mb@Mb@Mb@999 9)9Y=Mb? rhMby=@?=C ==B =XA)=(AI=2B9y=BIUXIU6٢ew> eB=9e%Q e>qq uG٣uy?Gy} }> Nusing accuracyPremultiplier from configO495?O4YQJ i$B@?:p)?B$;a#;O4 Bllllzl lI ɚ Will construct direction to contact in vehicle frame from tetrahedron phase data.iI%->i)))JJJXJIJJJ{9J 9JJJæ:JȦ:J.9J39GBO==zKEJKEͼ9KAKEKE Will construct direction to contact in vehicle frame from tetrahedron phase data. q Iu f\w,~A2]@Y28k@2v92=y2H "`? ?ܿ@@?#???ɨ2]@2 e;0yB$BBHIJ&IJ6٢f'> fU=9jQ j>hl nG٣lyr\[ r> vNusing accuracyPremultiplier from configtzO49v灊?zO4YvM iv%Bxz)z?v_Bv:v7:vO4 ;BiEllllzlA AE IA IɚIiIIMB.>iQ)GBO= Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I C I HI W'BI =&I =D.I xD6I <:I Fۆ w,X0A2Will construct direction to contact in vehicle frame from tetrahedron phase data.>Z\@Y>j@>$9>u=y>H@#@͒? /? 8AܿP??>??ɨ>Z\@>i>;>CyRG%BRGHI^ I^|6٢f> fJ=9f"Q f>hh jG٣hyn- n> zNusing accuracyPremultiplier from config T$?ItO49vm?O4YvP iv%B *%?vBv;v;v=O4-B -B-mElAlAlIlIzlI  I ɚiIs.>i)G)B1OU>Will construct direction to contact in vehicle frame from tetrahedron phase data.JYJJ5JJ9JJ4JJ:J:J-9J29zK FJK 9K K K F\<fpw,:JAyz%BzHMb@Mb@Mb@ )YZd;O? rh?~jth?y~J?C<D;cB A)AI3ByBII6٢(> 8=9Q > G٣z?Gy   > Nusing accuracyPremultiplier from configO49W?O4YU iI&B%J?%:%%%?B;;O4) -TB)lAlAlAlAzlIi   I ɚiI5!.>i)}Will construct direction to contact in vehicle frame from tetrahedron phase data. S$?IG BO- >)= ېCEG EYAyEA Will construct direction to contact in vehicle frame from tetrahedron phase data.Qw,dA>[@Y>sj@>29>KN=y>H<@+;? ? {ۿ? y?:??ɨ>[@>(;>CyJC&BJ|HIRIR6٢Z> Zb=9ZQ Z>\\ bG٣`yb b> jNusing accuracyPremultiplier from configdzO49fE?~O4YfxX if&B&?fBfy;f;fSO4 WB lB pEl!l!l!l)zl)I QUIQ QɚQiQI]u(.>iY)aGBO =jH-<bH)Hǿ>IC I:HI}(BI =&I.IsD6Ip<:IF}Will construct direction to contact in vehicle frame from tetrahedron phase data. R$?Iw,l}A:[[@Y: zi@:M9:l#=y:HS?`A?@ڿ``??c? ?ɨ:[[@:;:CyF&BFHEMb@Mb@Mb@AAA A)AYE ףp= ?V-?)\(?yEQX?Em=EGa=E(B EjA)AIE1BAyEBIelIe6٢mEz> u?=9u^ɻQ u>yy G٣y > Nusing accuracyPremultiplier from configP49d0?P4Y\ i'BIY?z:#?B(; ;MP4XB BllllzlWill construct direction to contact in vehicle frame from tetrahedron phase data.y y}FIy yɚyiyI..>i)GBO=zK$MKS9KKKsU?.    Will construct direction to contact in vehicle frame from tetrahedron phase data. I Ӫ%w,3ŗAJ3Z@YJ:Rh@J9J=yJHz|?`?ڿ_A")??@?@?ɨJ3Z@J;JCyV:'BVHIv6Iv6٢~*> ~R=9~Q > G٣{?Gy >  > Nusing accuracyPremultiplier from config%P49?%P4Y` ig(B!%%%?-B3;3;P41 5A=sElIlIlQlQzlQy }}->}Iy ɚiI..>i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.JXJQJ3JJ{9J-.9J(3Ja@a@a@a@H >I C I HI )BI =&I >D.I pD6I ;<:I F+w,ݵAWill construct direction to contact in vehicle frame from tetrahedron phase data. .Q$?I,F1Y@YFg@F؛9F=yFH*`7?$?ٿl?`?=??ɨF1Y@Fe<;F|CyR'BRKHI^ I^26٢b> bM=9fQ f>dh jG٣hyjN n> rNusing accuracyPremultiplier from configlrP49n?vP4Ynd in))Btv%v?nBn:n;n#P4| ~A~vEllllzla 隝I ɚiI,.>i) GYBiO>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK- MK- ػ9K) K- K- ]k* 2w,N|ˠAurY@Yu&g@u?`2'?#?1y?ɨurY@u';u~Cy:(BHMb@Mb@Mb@ )Y"~?I +?I +?yS?9=9=B (A)AI+3By=BII6٢>  += QIY]Will construct direction to contact in vehicle frame from tetrahedron phase data.9 Q > G٣y > Nusing accuracyPremultiplier from configP49x?P4Yhi i(*BYV?}:z#?gB;k;+5P4 All!l!l!zl!c 隍)I ɚiI+.>i)GBO>> Will construct direction to contact in vehicle frame from tetrahedron phase data.J J HJ J J J 9J J 8w,GW堺ABfX@YBbf@B#9Bl=yBHε@#;? ?ؿ`|'? 9?^?@Mp?ɨBfX@B;BCy^(B^HIfIf6٢r> rt=9vwQ v?tt zG٣z|?Gyz z? Nusing accuracyPremultiplier from config| P49~≜? P4Y~nl i~*B  $ ?~B~:~:~%@P4YB A%yEl1l1l1l9zl9e  imFIi iɚiiiIm.>iq)yZH?ARHH->I) I-MHI-*BI- =&I).I)6I-z<:I- FE MP$?IIeWill construct direction to contact in vehicle frame from tetrahedron phase data.GyBO]>?w,4A6W@Y6Je@696==y6H`?iv?` ؿ@>?O? >?e?ɨ6W@6;4y>])B>NHEMb@Mb@Mb@AAA A)AYEK7A`?~jt?A`"?yEK?E=E=EB EA)EAIES1BAyEBI]MI]6٢e> mB=9mEQ m>qq uG٣qy}" }> Nusing accuracyPremultiplier from configP49 Љ?P4YLp i+BHN?:v#?ZB;;NP4 AzEllWill construct direction to contact in vehicle frame from tetrahedron phase data.llzl I ɚiIp.>i)EG1>G?G>GBO=zK LK9KKKq@:`n4s/\5  5 N$?I5 fm Will construct direction to contact in vehicle frame from tetrahedron phase data."Ew, AV0FW@YVde@Va 9V=yVH ?@y?׿=;?_?@c?]?ɨV0FW@V ;VCy~)B~HI *I 6٢M > ML=9UɻQ U>YY ]G٣Yy]f e> mNusing accuracyPremultiplier from configamP49eH?uP4Yes ier,Bqu$u?eBeG;e;e\P4 |A}Ellllzl  UI ɚiI->i)*E="E=Will construct direction to contact in vehicle frame from tetrahedron phase data.JJUJ4JJJ>9J3JEoE->GBOj>H% >I% C I% HI% a,BI% =&I! .I! 6I% X<:I% FBI%CJI%CRI!ZI%ɱ =bI%ɮ =jI%o7  I #Lw,2AWill construct direction to contact in vehicle frame from tetrahedron phase data.6VV@Y6d@6. 96Ƚ=y6H@?2?'׿ ?.?'r?@%R?0U?ɨ6VV@6?;6~CyF*BFHIN INh6٢Vs> VU=9ZzݻQ Z>XX ^G٣^}?Gyb^ b> fNusing accuracyPremultiplier from configdjP49fA?jP4Yf]w if9-Bhjk$j?fVBfC:f:fAjP4p r:ArEl|l|l|lzl) )-KI) )ɚ1i1I5->i1)9EAEA*EE"EEGBOE>Will construct direction to contact in vehicle frame from tetrahedron phase data.> Sw,aLAzK&NK&9K$K&K&>:V@Y>Yd@>. 9>5?=y>H`??ֿ c??`? M?ɨ>:V@>>;>CyJ+BJsHMb@Mb@Mb@ )YuV?(\µ?Q?yrH?==AA A)+AIyAI5 I5N6٢Ef> EA=9EQ M>II MG٣IyUR U> ]Nusing accuracyPremultiplier from configYeP49]?eP4Y]z i].BmK?m:m&m?]B]";];]yP4q u.Ayllllzl  >隽I ɚiI?->i) M$?I5Will construct direction to contact in vehicle frame from tetrahedron phase data.G9BAO]= Will construct direction to contact in vehicle frame from tetrahedron phase data.J ZJ PJ J J 9J *9J J u5Yw,fAJ6U@YJc@JD 9J}=yJH `g??Wֿ ~@l??@V?)H?ɨJ6U@Jw;J~Cy+B7HIs I6٢e> eH=9mz|Q m>qq uG٣qy}s} > Nusing accuracyPremultiplier from configP49?P4YJ~ i.Bf&?ZBQ;e;\P4 AEllllzl; !%$I! )ɚ)i)I-;->i1)9jHYbHYHe>IeC IeHIe-BIe =&Ia.Ia6Ie5<:IeFG BO5 > L$?I=Will construct direction to contact in vehicle frame from tetrahedron phase data.V`w, {A: PU@Y:nc@:T 9:7C=y:H=??^տ@ ju??@^?ND?ɨ: PU@:mn;:}Cy^c,B^HMb@Mb@Mb@ )Yףp= ?kt?v/?y>? 0=x=A A)AI+0ByAWill construct direction to contact in vehicle frame from tetrahedron phase data.I6 IT6٢}> D=9Q > G٣~?Gy> > Nusing accuracyPremultiplier from configP49v?P4Y" i/B@A?:+?B;;ӕP4 Al l l l zl E] AEIA AɚIiIIMX->iIJQJQ)YG1BAO]=zK}KK}S9KyK}K}+`4"V*Je|pG{@scL7! o^M>4% IM Will construct direction to contact in vehicle frame from tetrahedron phase data.Lfw,rlA 2@2@F7GPh ܺYyA%T@Y%c@%{ 9% Q=y%H#? ?ୠտ 5wO?`?`?A?ɨ%T@% ȇ;%~Cy5,B5HIE IEd6٢Už> ]P=9] ȺQ ]>aa eG٣ayer m> uNusing accuracyPremultiplier from configqP49ue?P4Yũ iu0Bq+?uHBu&D;uD;uP4ZB vAElll)l)zl)u qu:Iq yɚyiyI<->i)Will construct direction to contact in vehicle frame from tetrahedron phase data.E2/>G?G>GBO>HM>IMC IMHIMf/BIM =&II.IMnD6IM<:IMF } K$?Iy M Will construct direction to contact in vehicle frame from tetrahedron phase data.Kwlw,AIA6vT@Y6pb@6 96m=y6H6=?:?A?տD#???`??ɨ6vT@6s;6Cyn-BnHIv Iv6٢~> ~P=9舺Q >  G٣ y  > Nusing accuracyPremultiplier from config%P49{T?%P4Yl iC1B!%+%?B~:i:BP41 5A1lAlIlIlIzlI} 隅I ɚiIM,>i)E`=(>GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.JYJJ3JJ9JJ(3JJ:aJ:aJ-:aJ-:aZsw,ΡA6 T@Y6O)b@6ц 96LR=y6HAI%?@V?Կ@??欳?@?ɨ6 T@6֑;6CzK>PK> 9K<K>K>xskheb_\YWRQPMJGEBBA>;9975341//-(&###!  y^9.B^GH}Mb@Mb@Mb@yyy y)yY}A`"?Q?+η?y}9?}u<}v=}A };A)}&AI}yy}AI I06٢> A=9:Q > G٣?Gy  > Nusing accuracyPremultiplier from configP49A?P4Y i 2B:?:9/?8B;;P4 AEllllzl J$?I%/ %>i>%6I! )ɚ)i)I-},>i1)1E=sAE=sA Will construct direction to contact in vehicle frame from tetrahedron phase data.E; >GqByO~> Will construct direction to contact in vehicle frame from tetrahedron phase data.̅yw,硺A6S@Y6:a@6f 96.u=y6H\u?Nn? Կm$?ओ??B?ɨ6S@6Ƈ;6CyJ.BJHIZ{ IZ6٢fI> fY=9j:Q n>pp rG٣pyv v> Nusing accuracyPremultiplier from config| P49~0? P4Y~ i~2B/?~B~VP;~U;~VP4! -A)llllzlZH@ARH@AH>IC IHI0BI =&I.ImD6I[<:IFMMݾ IMII QɚQiQIU!,>iq)qE!8>GqBO> I Will construct direction to contact in vehicle frame from tetrahedron phase data.lw,A:+S@Y:4a@:= 9:s=y:H@9x@nB?8}?/Կ`x?O?ѳ?@H?ɨ:+S@:;8yF|/BFHJAH-jonly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 308.13, 282.22, 220.87,  j@j j@j j@j  j@j InN Inz6٢vع> vH=9zm;Q z>xx ~G٣|y~ > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config P49 ?P4Y p i w3B+:!%k:%/0%? B <; "> P4) -oA-ElAlAlAlAzlIm quIq}Will construct direction to contact in vehicle frame from tetrahedron phase data. ɚiI+>i)J 3K 23 K A.KK"KJ9J=MJ9J9J9J=9J9J9J9J=:J=<:J=?:E]>G9BAO]U>zK3[NKS9KKK       I$?I- Will construct direction to contact in vehicle frame from tetrahedron phase data. bM=9b;Q b>dd fG٣f?GyjST j> rbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlvP49n% ?vP4Yn in/4Bz :xz?:z0~?nBn;nN?nP4 BAEllllzl!E־ AMbII IɚIiIIM:l+>iQ)QWill construct direction to contact in vehicle frame from tetrahedron phase data.E>GBO%o>HW>IC I{HIt2BI =&I.IiD6I~<:IF I 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.cw,{5A6bRR@Y6q`@6 96b߷=y6H`b?? ӿ=8 ?wk?~?@[?ɨ6bRR@6;6Cy>0BBRHIJ IJ6٢R> RM=9R;Q R>TT VG٣TyZ2 Z> bbBottom track data is 1.2 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\jP49^??jP4Y^ i^4Bj9hj:j0j?^B^K<^?^]P4! %A%ElYlYlalazlaԳ̾ >lI ɚiI*>i)E E *E9"E9GBOf>Will construct direction to contact in vehicle frame from tetrahedron phase data.JUZJUKJQJQJU9JUK9JQJQJUS:JUX:JU :JU : :=9;Q > G٣y5 > Nusing accuracyPremultiplier from configP49c戜?P4Ya i5BT:0?::?B;;P4[B AEllllzl-?Mƾ )-I1 1ɚ1i1I5p*>i9)9Will construct direction to contact in vehicle frame from tetrahedron phase data.G1BAO= Will construct direction to contact in vehicle frame from tetrahedron phase data.*J] C="J] 4=7ۙw,!WiAFQ@YF_@FIA9F&g=yFH`?@2M?@3$ӿ^?1=?!(?Cu?ɨFQ@F>;FCyf1BfHIr Ir6٢> S=9!! %G٣%?Gy-l| -> 5Nusing accuracyPremultiplier from config1=Q495ӈ?=Q4Y5 i5(6B9E;E?5B57:57:5:Q4I MAIlalalalizliH 4>I C I VHI 3BI  =&I ?D.I dD6I <:I FBIUCJIUCRIUCZIU =bIU =jIU6^S 隝ްI ɚiI)>i)GyBO= ]G$?IYWill construct direction to contact in vehicle frame from tetrahedron phase data.w,=A>S_Q@Y>}_@>i9>"=y>H~@R?9?@yҿxnIx?%? ??ɨ>S_Q@>.j;>CyF2BJH%Mb@Mb@Mb@!!! !)!Y%/$?K~jt?y%&1?%^%<%zA %pA)!I!!y%AI5 I5R6٢Eپ> EH=9MIQ UG٣Q]Will construct direction to contact in vehicle frame from tetrahedron phase data.ye e> uNusing accuracyPremultiplier from configi}Q49m?}Q4Ym im6B}2?}:<?myBmF;m;mQ4 mAEllllzlkƾ I ɚiIsx)>i)JJMJJJJ9JJJN:JS:J::J<:GBO= ]F$?IYzKuNKu 9KqKuKu Will construct direction to contact in vehicle frame from tetrahedron phase data.J㦨w,㜢ARkQ@YR %_@Rz9R=yRH H?`s ?ҿ\>?  ?`? ?ɨRkQ@R;RCy^ 3B^4HI~ I~66٢ Ү>  N=9 1 G٣yia > %Nusing accuracyPremultiplier from config!-Q49%?-Q4Y% i%N7B15<5?%B%:%G:%O"Q49 =XA=ElYlYlYlYzla*' 隍I ɚiI(>i)mWill construct direction to contact in vehicle frame from tetrahedron phase data.E":>GyBOd>H>IߍC IHId5BI =&I.IaD6I<:IF I II  Will construct direction to contact in vehicle frame from tetrahedron phase data.3w,3¶A:P@Y:^@:ԑ9:̷=y:H# ?+?@0ҿ` @ ?@?-?n?ɨ:P@:LD;:CyB3BFHIN IN6٢Zc> ZP=9Z\` bG٣`yb b> fNusing accuracyPremultiplier from configdjQ49f?jQ4YfC if7Bln=n?fkBf ;f%;f 0Q4p rBAtllllzl =隭TI ɚiIig(>i)Ev >GBO>PExceeded connect timeout, disconnecting.uWill construct direction to contact in vehicle frame from tetrahedron phase data.w,wТA6P@Y6R^@696=y6H`:`?}?Ggҿ+*?;?Iڳ??ɨ6P@6;6CyB4BBH rD$?Ip-Mb@Mb@Mb@))) )))Y-Q?1Zdy-5?-"۽--A -A)-̪AI-"B)y-AIE IE6٢U֛> U@=zKUKKUػ9KQKUKU0=<62.,)(&%#"    9U3;Q m>ii mG٣m?Gyu u> }Nusing accuracyPremultiplier from configyQ49}/?Q4Y}q i}s8B7?:V>?}B};};}>Q41 59A5ElIlIlIlIzlI꫾ 隕1I ɚiI'>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.EsAErA) ѐC)AY YyAE5*>G BO=> Will construct direction to contact in vehicle frame from tetrahedron phase data.JE ]JE OJE 2JA JE ]:JE %9JE c3JA aU @aU @aU @aU @ w,{ꢺAFZP@YF2y^@F9F=yFHN ?r?@HJҿNY??ȳ??ɨFZP@F*;FCyR4BRJHIZ IZ6٢> O=9    G٣ y > Nusing accuracyPremultiplier from config%Q49m?%Q4Y i8B)->-?tB:;:LQ41 5A=ElIlIlIlIzlQ/ 隕I ɚiIC?'>i)H>IݍC IHI6BI =&I@D.I`D6I<:IFES>GBO= C$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.  nManaging dock network, ignoring radio surface power off&w,SA6*P@Y6;I^@6968d=y6Hdi??`,ҿ i.? M??t?ɨ6*P@6[;4yN#5BNH=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yn?&1:vy6?нT/A xA)AIBypAI I6٢o> >=9 G٣y߻ > Nusing accuracyPremultiplier from configQ49V?Q4Yě i9B7?:=?BB;vA;[Q4  &A ll!l!l!zl!Mxy IMII QɚQiYI]]&>ia)a IE=zKMKS9KKK GBKsA:KBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.1Ǩw,+A2O@Y2B^@2?92`=y2H@P}@f f\=9jhMpt vG٣v?Gyv v> ~Nusing accuracyPremultiplier from configxQ49zB?Q4Yz֜ iz:B  > ?zzBz-;z1.;zhQ4 AEl)l)l)l)zl1]S YeIa aɚaiaIe &>ii)iEuEu*Eq"EqMWill construct direction to contact in vehicle frame from tetrahedron phase data.J \J PJ J J =:J *9J J GyBO]>H >I܍C I^HI 8BI =&I.I6I<:IF B$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.[ͨw,F8A6)O@Y6]@6Mw96Wλ=y6H@ˑ ~!?&? ҿ`??@t??ɨ6)O@6͈;6Cy^>6B^%HIv Iv-6٢> %E=9%3)) -G٣)y-km 5> =Nusing accuracyPremultiplier from config1EQ495-?EQ4Y5 i5:BAE1>E?5B5. ;5P ;5wQ4Q UAUElilililizli#뜾 >=隝 I ɚiIa%>i)GBO=]Will construct direction to contact in vehicle frame from tetrahedron phase data.CԨw,QA &A$?I$6iO@Y6 ]@696=y6H@??\ѿy`l?`x?'? ?ɨ6iO@6l;6CyF6BFHMMb@Mb@Mb@III I)IYMd;O?J +~jtyM4?MȽMļMA MA)MAIM7BIyMAIe\ Ie6٢u\> uE=9\ G٣y > Nusing accuracyPremultiplier from configQ49?Q4Y> i;B6?:=?B;D;Q4 AzKH LK9KKKRK?JK?llllzl|W  @I  ɚ i I S$>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.G1B9OU=m Will construct direction to contact in vehicle frame from tetrahedron phase data.J- _J- UJ- 3J) J- :J- >9J- (3J) 9mڨw,kA6O@Y6]@6X96v)=y6H,`??ѿw?+?O{??ɨ6O@6È;6~CyB?7BBaHIJK IJ!6٢R > RY=9VgTT ZG٣Z?GyZt^ Z> bNusing accuracyPremultiplier from config\bQ49^?fQ4Y^Z i^;Bdf=f?^B^:^\:^̒Q4l nArElxlxlxlxzl|%/ !%I! !ɚ!i)I-$>i))1jHm<bHiHu>Iq IuHIuH9BIu =&Iq.Iu_D6IuJ<:IuYFG9BAOe= 5@$?I9Will construct direction to contact in vehicle frame from tetrahedron phase data.Uw,tA:x_O@Y:~]@:l9:m=y:H@~ G?J?%ѿl?`?p?*?ɨ:x_O@:J;8yF7BFHWill construct direction to contact in vehicle frame from tetrahedron phase data.%Mb@Mb@Mb@!!! !)!Y%y&1? rh~jtxy%`E?%C%Ļ%A %A)%dAI%B!y%AIE9 IE"6٢U> U@=9UGYa eG٣aye~ e> uNusing accuracyPremultiplier from configiuQ49mdꇜ?}Q4Ym im!i) E?$?IAES%=GBO>zK=JK=H9K9K=K=Will construct direction to contact in vehicle frame from tetrahedron phase data.w,A6>O@Y6\]@6096^=y6H???ӳѿ .??? >?ɨ6>O@6LH;6Cy^:8BbHIj) Ij?6٢v|> zQ=9~`   G٣ y > =Nusing accuracyPremultiplier from config1MQ495Ӈ?UQ4Y5 i5i ) E z=GB -Will construct direction to contact in vehicle frame from tetrahedron phase data.O= >JJJ ^J TJ 2J J } :J :9J c3J H]>IY I]XHI]y:BI] =&IY.IY6I]<:I]FBI5܍CJI5ݍCRI5ǔCZI5 =bI5 =jI5r 6 ) I)  Will construct direction to contact in vehicle frame from tetrahedron phase data. w,OA2#O@Y2,]@2b92Q=y2H3o?? ѿ?@XJ?r? 5P?ɨ2#O@2 +;2Cy:8B:HIF IF6٢N> NP=9ROPP VG٣V?GyVk V> ZNusing accuracyPremultiplier from configXbQ49Z?bQ4YZ- iZ4=B`b#;b?ZBZ;Z/;Z Q4j\B jAjEltltltltzltu ] quduIq ɚiI ">i)E=GBOj>=Will construct direction to contact in vehicle frame from tetrahedron phase data.  >$?I! w,)ӣA6N@Y6B\@696=y6H*@7??mѿ`o0??2?b?ɨ6N@6k;6CyR'9BRH5Mb@Mb@Mb@111 1)1Y5"~j?y&1~jtxy5SC?5`弹15A 5EA)5IAI5B1y5zAIM IM6٢UC> ?=9?G G٣y > Nusing accuracyPremultiplier from configQ49?Q4YO i=BzKFJK9KKK46%wC? : 7 ?PBs;;Q4 !AEl)l)l)l)zl)Will construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՕAuh u=umIq yɚyiyI}C!>i)EE*E"EGE?GE?GBO=>E Will construct direction to contact in vehicle frame from tetrahedron phase data.J5 _J5 RJ1 J1 J5 :J5 S29J1 J1 ۻw,WAFN@YF\@F29F3=yFH /B?=?]ѿ?? ?@v?ɨFN@F Ԉ;FCyN9BNRHIV IVš6٢b> bT=9fndd jG٣hyjү j> rNusing accuracyPremultiplier from configlrQ49nV?vQ4Yn inL>Btv7v?nBn:n~:nQ4x ~(AH>IۍC IHI;BI&I.I6I`<:I_F|l)l)l)l1zl1]] aeeIa aɚaiaIe >ii)i =$?IGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.=w,A~Will construct direction to contact in vehicle frame from tetrahedron phase data.y:BHMb@Mb@Mb@ )Y#~j?{Gzt?Mb`yE?ף;A A)bAI ByAI I6٢> 8=9Q > G٣?Gy   > Nusing accuracyPremultiplier from configQ49w?Q4Y i>B%E?%:%4%?oBM;|4; Q41 55A5ElIlIlIlIzlI}#m y}#^Iy ɚiIx>i)G BO- > ;$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.zK"MK9KKK G 5 ĿY9 y= \Aw,# A>JN@Y>i\@> 9>2=y>H@kv?@j?`Y!ѿ Q?#?`9?ў?ɨ>JN@>;>}CyJ:BJHIV IV6٢^D> ^a=9^4`` bG٣`yf f> jNusing accuracyPremultiplier from confighnQ49jc?nQ4Yj ijf?Bpr<5r?jBj ;j;jQ4t v!AvEllllzl -{ )5UI1 1ɚ1i1I5/>i9)9GaGaGQBaO=Will construct direction to contact in vehicle frame from tetrahedron phase data.H>I I!HI fI=9jwhh jG٣hyn( r> vNusing accuracyPremultiplier from configtzR49vL?zR4Yv iv?Bx~5~?vBvy;vS;vR4 [A Elll!l!zl!Mf IMOOII IɚIiQIUq>iQ)YE=GBOc>Will construct direction to contact in vehicle frame from tetrahedron phase data.JJSJJJJy69JJJG:a JL:a J6C:a J8C:a :$?I w,XqTA6EM@Y6[@6t96f=y6Hެ@4?U#?`п K?Z??`?ɨ6EM@6P;6CyB;BBHMMb@Mb@Mb@III I)IYMv/?~jt?~jtx?yMxI?M=M;MA MA)M^AIMwBIyMAIe IeØ6٢mS> u@=9u#Xyy }G٣}?Gyû > Nusing accuracyPremultiplier from configR494?R4Y i@BI?:2?B(;e&;R4 TAEllllzlV GI ɚ!i!I%>i!))uWill construct direction to contact in vehicle frame from tetrahedron phase data.zKJK9KKKEuZ=GIBQO>- Will construct direction to contact in vehicle frame from tetrahedron phase data. w,@LnA6M@Y6[@65߾96=y6H??п? ?i޷?b?ɨ6M@6;6}CyBIZڍC IZHIZ=BIZ =&IX.IZ^D6IZA<:IZBF٢f> fU=9jqhh nG٣lynN n> vNusing accuracyPremultiplier from configpvR49rI?zR4Yr ir ABxz3z?rBr:r.:r- R4]]B ]TA]Elqlqlqlqzl 9$?I%f%"U !-?I) )ɚ1i1I5*>iY)YEaEa*Ea"EaWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO%n>&!w,-A2H[M@Y2y[@26fܾ92=y2H ?.?`!п ?@? ?@?ɨ2H[M@2;2Cy:HnWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YS㥛?x&?Mb?yD?7=<A  A)AIDByQAI5 I56JJQJJJJ-.9JJJJK:J4:J4:٢U> B=9EM G٣y > Nusing accuracyPremultiplier from configR49v?R4Y iABE?:0?CBg;;{/R4! -WA-ElYlalalazlaGbF _/=7I ɚiI>i)GBO= 8$?I Will construct direction to contact in vehicle frame from tetrahedron phase data.zK~KKKKK3JC. [(w, A>M@Y>#[@>}Eپ9> =y>H`Gd?@HL?_Aп@-}?@Y?s?F?ɨ>M@>eB;>~Cy^=BbHIn InS6٢zB> zP=9! -G٣-?Gy- c -> =Nusing accuracyPremultiplier from config1=R495?ER4Y5 i5$BBAE0E?5B5;5:5i)G BO5=Will construct direction to contact in vehicle frame from tetrahedron phase data.JJ@AH>IٍC IHI>BI =&I.I]D6Ik<:IVF I Will construct direction to contact in vehicle frame from tetrahedron phase data.F.w,ỤA6L@Y6aZ@6v$־96=y6Hm'?P?`п`6 ;????ɨ6L@6;6Cy=B 8HI IŖ6٢-> -G=9-t11 5G٣1y=s => MNusing accuracyPremultiplier from configAUR49Ec܆?UR4YEI iEBBQ]11]?E]BEB;E:,;EJR4a e7AeıElylylylyzl88 隭&I8 ɚiIY>i)GGtAGBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.Jc3K3 K.KK"KJbJVJJJ:JB9JJJV ;JY ;JX:JX: 7$?I .5w,դA2vlL@Y2Z@2~Ҿ92=y2H= ??ϿFw??@Ҹ? )?ɨ2vlL@2ˉ;2CyR>BRHeMb@Mb@Mb@aaa a)aYe%C?l?:v?yeZD?e=eT D=9 G٣y0] > Nusing accuracyPremultiplier from configR49ņ?R4Y i6CBJE?:0?B3;;YR4 9ADZEllllzl  y-   I 8 ɚiI>i)]Will construct direction to contact in vehicle frame from tetrahedron phase data.zKsLKH9KKKE]:=GYBaO{> Will construct direction to contact in vehicle frame from tetrahedron phase data.*J "J %=[;w,'鷺AH*>I*؍C I*THI*&@BI* =&I(.I(6I*u<:I*XFBI ڍCJI ڍCRI ZI =bI =jI 6^K@Y^Y@^w̾9^=y^Htx`$?c?Sο@ `?@O??S?ɨ^K@^|z;^Cyf>BjHIrr Ir6٢zY> zT=9z^ =Q ~>|| ~G٣~?Gyü  > Nusing accuracyPremultiplier from configR49J?R4Y iCB%1%?|B;;fR4) -A)lAlAlAlAzlA }6$?Iy-% 15I59 1ɚ1i1I54>i9)9EM=G!B)OM>]Will construct direction to contact in vehicle frame from tetrahedron phase data.`CBw,~ ABMrK@YBY@B#WȾ9B=yBH@l ^? V?,-ο!o?h?6?@i?ɨBMrK@B;@^Will construct direction to contact in vehicle frame from tetrahedron phase data.yf.?Bf#HJ`JTJJJ:J:9JJJ:J:J_J:JbJ:Mb@Mb@Mb@ )Y5^I ?i|?5? rh?y8?q=C<A A)ƕAIAyAI]L I]6٢ea> 5=9F G٣y[Z > Nusing accuracyPremultiplier from configR49?R4YU i=DB8?:3?Bw;;vR4 AʱEllllzle=O ae II9 ɚiI>i)EE*E"E m5$?IiG=>G=>G BOM>mWill construct direction to contact in vehicle frame from tetrahedron phase data.zK UKK 9K K K 9{zes0% jHw,J#A:9K@Y:CXY@:ľ9:%=y:H@x?Le?YͿ Gz??0??ɨ:9K@:0;:CyJ?BJHIj2 Ij6٢r)> rh=9r(i)GBO=Will construct direction to contact in vehicle frame from tetrahedron phase data.HEپ>IE֍C IEHIEaABIE =&IA.IE\D6IEɶ<:IEF YIY Will construct direction to contact in vehicle frame from tetrahedron phase data.yNw, '=A2qJ@Y2X@2ۭ92=y2H'V?@O?OͿر?9?`I?ࡗ?ɨ2qJ@2Ո;2CyB.@BB^HIJ IJ6٢f> fL=9fhh jG٣j?Gyne n> rNusing accuracyPremultiplier from configpvR49r q?vR4Yr irEBxz3z?rBr :r:rR4y }AyllllzlB*** querying acoustic contact ***jjO1 1I49 ɚi I >i )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. U 4$?IY |Uw,WA69J@Y6X@696=y6H9?@?Ϳ@0V??MS??ɨ69J@6DF;4yR@BRH5Mb@Mb@Mb@111 1)1Y5'1Z?X9v?~jt?y5B?5<5=5A 5A)5ΔAI5A1y5=AIM IM6٢> ;=9[ G٣yzϻ >) ƐC  Nusing accuracyPremultiplier from config=Will construct direction to contact in vehicle frame from tetrahedron phase data.E,DAT read: user:1601> EBDAT read: Tx time:21:13:56.6671 M$Ping request sent.Mi)GIGMsAGB!O=r> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:13:56.6664  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251346J J YJ J J J [O9J J a @a @a @a @[w,pA2hJ@Y2PX@2wθ92W=y2Hgŏ? 1?̿Z\?:?@r?`?ɨ2hJ@2;2CyNDABNHH}Ѿ>Iy I}NHI}BBI} =&Iy.I}[D6I}<:I}UFIZ IZP6 r3$?Ip٢=1> ES=9EII MG٣IyM8 M> ]Nusing accuracyPremultiplier from configQeR49UB?eR4YU iU FBae#7e?U9BU:U:UR4q AӱEllllzle ae|׿IeD9 aɚaiiIm>ii)GBO=EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502320\bw,ъAF*J@YFpIX@JWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754310FԴ9F,=yFH-`?~'?=M̿`E?"?Kg?`?ɨF*J@F;FCyVABVRHEMb@Mb@Mb@AAA A)AYEGz?Mbp+?yEp=?EE=EA EA)AIEMAAyE·AIel Ie6٢}> }F=9  G٣?Gy > Nusing accuracyPremultiplier from configR49+?R4Y iFB=?::?Bp;S;VR4 AֱElilililizliڽ 隵aǿI-e9 ɚiI>i) 1$?IGBO>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007115zK +PK K K K  Z!^)$IaieS3uAX m+Y.wiYA*hw,A2J@Y2m2X@2㰾92린=y2HfE?b?z7̿d??@>? G?ɨ2J@2qk;2CybVBBfHrApIz= Iz6٢b>  S=9  G٣ym > %Nusing accuracyPremultiplier from config!-R49%?-R4Y% i% GB)-:-?%QB%;:%;:%R4=^B =A=ױElQlQlQlQzlQ*Bս 隍:I5j9 ɚiIg>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258393JbJVJJJ:JB9JJH¾>IԍC IHICBI =&IAD.IZD6Iv<:I>FE$ӿ= 0$?IGBO-p>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511311nw,HoA6I@Y6ZW@6xά96lq=y6H`Tcx?  bO=9fBdd fG٣dyjG j> nNusing accuracyPremultiplier from configlrR49n?rR4Yn inGBtv:v?nBn:n:nR4x zAzڱEllllzlO I9 ɚiIԏ>i)E"=GaBqO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766412 I quw,IإA2>XI@Y2vW@2V92|=y2H ??H˿``?I?@?2&?ɨ2>XI@2;2CyR?CBR$H5Mb@Mb@Mb@111 1)1Y5l?V-Mb?y57?5m5=5ĸA 5ȦA)5XAI5A1y5GAIM9 IMƂ6٢> A=9 G٣?Gy(x > Nusing accuracyPremultiplier from configR49慜?R4Y iGBU8?:r@?rBr;;R4 AޱEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014472l!l)l)l)zl)U3 QUI]9 YɚYiYI]>ia)aEiEi*Ei"EizK"PKH9KKK~zupmjf`[]ZWVQOMKFBB??=:876420//-+**+*)+'%$#'''GBOj> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267657J aJ YJ J J :J [O9J J ZH RH H >I ӍC I  O=9 !! %G٣!y-0 -> 5Nusing accuracyPremultiplier from config1=R495iх?=R4Y5 i5THB9E@E?5B5 ;5 ;5JR4I MAIlilililizli 隝DIr9 ɚiI>i)5Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.522282D8GrAGGBOn>w,= A>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770413 ̤H@Y lV@ K9 @=y H@`?-?;ɿ@PVE?ܑ? U?aM?ɨ ̤H@ ; Cy >=9 G٣y > Nusing accuracyPremultiplier from configS49X? S4Y< iHB :? : C?B|;;^S4 AEllllzl`~ pI š9 ɚ i I > >i) E.$?IAD%8GB O%,>-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022314zK= /NK= ػ9K9 K= K= &&(,..+,,(##! ""   BKE rA:KA sw,%AyDB HII>|6٢%> -X=9-Q 5>99 EG٣AyM M> ]Nusing accuracyPremultiplier from configYeS49]!?eS4Y] i]IBiim?]B]:]T:]S4q u)A}Ellllzl^z UIћ9 ɚiI(J>i)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274500JiJmWJiJiJiJmG9JiJiH>IҍC IHIFBI =&I.I6IC<:I FBIMԍCJIMԍCRIIZIM =bIM =jIMMY6 E-$?IAD8GBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.52667031w,|?AJH@YJHV@Jt9J=yJH? ?,l?@ʿK@B?j?a?w?ɨJH@J;J~CyVEBVkHI^I^%x6٢f͏> fP=9fE=Q j>hh jG٣j?Gyn: n> rNusing accuracyPremultiplier from configpvS49rh?vS4Yrq irfIBxzCz?rBrX:r:rPS4 HAEll!l!l!zl!MS IM9IM_9 IɚQiQIU>iQ)DGU>GU>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:13:59.8663 TRx dataTimestamp_ set to:1736370841.216438checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784691G9BAOew> 5 ,$?I1 w,YA6/H@Y6V@6Il96q=y6H`4 <??1]ʿm`w9?~?8κ?`Z?ɨ6/H@6;6Cy^EB^HMMb@Mb@Mb@III I)IYM> ףp=?i|?5Mb`yM1?MMMٳA M9A)MAIM1AIyMAImImAx6٢}v> }?=9 G٣y1S; > Nusing accuracyPremultiplier from configS49r?S4Y iIBw4?:FF?6B7;;7-S4 uAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030353lilililizli'( QI̭9 ɚiI >i)DIzK]hMK] 9KYK]K]    RK ?JK>GyBO<> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:13:59.8663 LVL= 12464, 17969, 12066, 14403, AGC= 71, IDX= 89,-0.18, 2.598, 1.296, 0.719, 1.594, PHS= 1.092,-0.251,-0.878, RAW= 71.9, 0.4, CAL= 76.5, -3.4, ROT= 73.5, 3.4  Ygot valid direction response: 21:13:59.8663 LVL= 12464, 17969, 12066, 14403, AGC= 71, IDX= 89,-0.18, 2.598, 1.296, 0.719, 1.594, PHS= 1.092,-0.251,-0.878, RAW= 71.9, 0.4, CAL= 76.5, -3.4, ROT= 73.5, 3.4  PDAT read: Bearing 73.5, 3.4 (Local)  ~Local bearing/azimuth received: Bearing 73.5, 3.4 (Local)  DAT read: Range 10 to 50 : 596.2 m (Round-trip 795.0 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.060789,0.405922,0.911884] Fpublishing direction and range infoر 9ص r=x?k+'.?yص Dر ص 0ص 1F ٵ "/)ٵ C8Iٵ Giٵ Ƌ?ٵ ٵ `ٵ K?ٵ ; ڵ ?)ڵ sIڵ Y3?iڵ s=ڱ ڱ ۵ ŜY?-֚y~?)۵ !WI۵ di۵ ?۵ 쒿۱ ۱ H I ӍC I HI GBI =&I .I 6I s<:I 0F ! I! `Fw,|sArH@YrW@r9r=yrH@?@hP?7d?ʿ,;?=?K8??ɨrH@r%;py5EBUkHIeIev6٢|> H=9c G٣y3; > Nusing accuracyPremultiplier from configS49g[?S4Y iIBF?B+;+;;S4 AEllllzlkkΜ?k k kmA:k DBk"DZk@"AB+V@n@TR@r=x?k+'.?Jk?Rk쒿*4k@I`(tU€@ ?1\Ϳma?"k~*k\^Ck*RTΜ?k 2ksDk*RTΜ?k ksDk1CkΌ@=6 AEIEn9 AɚAiAIM >iI)QDIG!B)OU>Will construct direction to contact in vehicle frame from tetrahedron phase data.-w,VA6Will construct direction to contact in vehicle frame from tetrahedron phase data.vhH@YvW@vj9vm=yvH) .K? ?xʿZI>?@?Lһ? [?ɨvhH@vh;vCy?FBHJ9J=[J9J9J9J=W9J9J9J=;aMJ=;aMJ=|:aMJ=|:aM5Mb@Mb@Mb@111 1)1Y5i|?5?X9v~jty51?55ļ5dA 5ƝA)5AI5A1y53AIMIMt6٢]H> ]?=9]aa eG٣e?Gymr: m> uNusing accuracyPremultiplier from configq}S49uB?}S4Yu iui)vA)D=^8 ]zY]vAy]BGmsAGiWill construct direction to contact in vehicle frame from tetrahedron phase data.GIBQOm>zK sLK 9K K K     Vw,+AZI@YZ:W@Z1΁9Zo=yZH@87v?/?q4˿?@k ?*?]?ɨZI@ZO;ZCyfFBfBHInIn~s6٢vw> ve=9vbxx ~G٣|yM; > Nusing accuracyPremultiplier from config S49 -?S4Y  i oJB!%E%? B oR; (S; VS41 5KA=ElYlYlYlazlaԼ 隭ϳIo9 ɚiIe >i)}Will construct direction to contact in vehicle frame from tetrahedron phase data.JAJEBAH->I-ЍC I-HI-GBI- =&I).I-WD6I-p<:I- F ID8GyBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.F vK=9v xx zG٣xyz>J: ~> Nusing accuracyPremultiplier from config S49S? S4YA iJB  E?iB*::eS4 Al1l1l1l1zl1]X aeIef9 iɚiiiIm >iq)qD8GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.JucJuYJqJqJu:Ju[O9JqJqJu;Ju;Ju2n:Ju4n: ($?I%gw,ڦA6{8I@Y6WW@6:o96( =y6HZjz?@V?׋˿`?@и?{??ɨ6{8I@6";6Cy^5GBbH}Mb@Mb@Mb@yyy y)yY}ʡE?Cl绿ˡEy}/?};߽}'}A }A)}AI}Ayy}QAIIbr6٢P4> ?=9m G٣?GyZ; > Nusing accuracyPremultiplier from configS49?S4Y iJB 2?:uD?Will construct direction to contact in vehicle frame from tetrahedron phase data.BG;>;sS4 AEllllzl- Z )-JI-9 1ɚ1i1I5 >i9)9DUҜ8Ge>Ge>G)B1OM>zKeLKe9KaKeKe Will construct direction to contact in vehicle frame from tetrahedron phase data.H! I!  I% HI% HBI% =&I! .I% XD6I% <:I% 2F I fBw,vA2E:I@Y2XW@2/)f92==y2Hk%b?+T?@ ˿9 ?@J?(?`?ɨ2E:I@2/;2Cy^xGB^VHI5xI5+p6٢U*> UM=9UYY ]G٣Yye܏9 e> mNusing accuracyPremultiplier from configiuS49m愜?S4YmU imJBnD?mBm'ia)aD5b8GBO5 >Will construct direction to contact in vehicle frame from tetrahedron phase data. éw,AWill construct direction to contact in vehicle frame from tetrahedron phase data.J~bJ~WJ|J|J~:J~G9J|J|J~S ;J~V ;J~_:J~_:AI@YV`W@i\9!W=yH`{@Q? &?K˿?V? .H? ?ɨAI@;騁y޵GB޽H '$?ImMb@Mb@Mb@iii i)iYm/$?333333:vym&1?mmTm A mߘA)iImAiymAI{Ip6٢> 7=9 G٣y…: > Nusing accuracyPremultiplier from configS49̄?S4YX i&KB2?:A?*B;;yS4 AEllllzl I*9 ɚiI*l>i)!BD-%?:D-l?D%8GB O%,>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK JK 9K K K Oymc]Xɩw,"(AJ;I@YJ^ZW@JBS9Jn=yJH3(?e ?}˿4x?8??p?ɨJ;I@J#x;JCyjGBnHI~I~ r6٢4> g=9!! %G٣-?Gy-j -> ENusing accuracyPremultiplier from configAMS49E?US4YE' iEDKBQUAU?EBE`;E-i;ES4i mAillllzlw*j 隭EI9 ɚiI>i)De8GrAG5Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO >H>I IvHI3IBI =&I.IWD6I<:IF &$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. i |Щw,BA2:I@Y2qYW@29J923=y2H`p? ?˿`?? 6?`?@(?ɨ2:I@2@;2~CyB HBB$HIJIJcq6٢f= fO=9fPhh jG٣hyn n> rNusing accuracyPremultiplier from configpvS49r\?vS4Yr irbKBxzAz?r4Bre:rC:rS4| ~>A~EllqQlzlNCompleted lineCaptureHoming:InitialDiveP jAggregate::uninitialize lineCaptureHoming:InitialDiveP%Uninitialize.1Q% %Uninitialize.qR%%dAggregate::initialize lineCaptureHoming:RepeatHackR%U; QU8=IU9 ɚiI->i)DGBO=MWill construct direction to contact in vehicle frame from tetrahedron phase data.J1J1J1J1J1J1J1J1J5T ;J5W ;J5_:J5_: %$?I֩w,g\A:A5I@Y:SW@:A9:=y:H?@N?H˿D? ? Y? g6?ɨ:A5I@:;:CyROHBR^H-Mb@Mb@Mb@))) )))Y-tV?{Gzi|?5y-2?-ף-q-תA -A)- AI-ԳA)y-̠AIEIEs6٢U= ]B=9]aa eG٣ayeR e> uNusing accuracyPremultiplier from configi}S49m?}S4Ym imKB}e3?}:};?mBm;m,;mbS4 ߼AEWill construct direction to contact in vehicle frame from tetrahedron phase data.l@RLCompleted lineCaptureHoming:RepeatHackqRhAggregate::uninitialize lineCaptureHoming:RepeatHackRVAggregate::initialize lineCaptureHoming:Lap1SIus: }ɚ}iyI}i)DM8G!B1OM>zKMMKKKKRND;471# "$!   M Will construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH <H >I ͍C I HI IBI =&I .I UD6I <:I FBImЍCJImЍCRImʕCZIm =bIm =jIm/l6 $$?I }ܩw,2=vA24I@Y2;W@2892Y=y2H.??Ϩ˿: ?@%?@?B?ɨ24I@2蛉;0yNHBRHIVIV u6٢~-> ~Q=9~2 G٣?Gy qu  > Nusing accuracyPremultiplier from configS49r?S4Y iKB!%<%?WB ; ;S4) -WA)lEX1SEqSEMZAggregate::initialize lineCaptureHoming:Lap:BIi qɚqiqIqiy)yD 8GGGGWill construct direction to contact in vehicle frame from tetrahedron phase data.G]BiOZ>e Will construct direction to contact in vehicle frame from tetrahedron phase data.w,`A YIam I@Ym5W@m 09mI=ymH e?`l?`˿`Hɇ?`?@н? N?ɨm I@m0;mCyޅHBޅH]Mb@Mb@Mb@YYY Y)YY]d;O?~jtx?S㥫y]4?];]/]]3A ]A)YI]AYy]AIIs6٢= ,=9  G٣yL > %Nusing accuracyPremultiplier from config%S49W?-S4Y( iKB-E5?5:595?B;;>;S4A EAEE17] n]fAggregate::initialize lineCaptureHoming:LineCapture7]o]Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes18] p]JInitialize AltitudeEnvelopeComponent.q8epeDInitialize DepthEnvelopeComponent.8e qeJInitialize OffshoreEnvelopeComponent.9e9e1:e texAggregate::initialize lineCaptureHoming:LineCapture:HoldMassq:e:e umInitialize.:mumAggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy1;m vmzK= Z>MK= 9K9 K= K= BKI :KI ww,^󩧺ANH@YNeW@N(9N=yNH 5+??|˿k?W?@?S?ɨNH@NI;NCy^HBbHIrIru6٢ =  t=9ƩI]̍C I]|HI]JBI] =&I]BD.I]TD6I]<:I]FD58BQOmx> Will construct direction to contact in vehicle frame from tetrahedron phase data.&w,çA:TH@Y:W@:ĩ!9:>y:H? Կ?\x˿] Z??4?@^W?ɨ:TH@:G9;:CyR IBRGHIZIZs6٢b= bO=9f5dh jG٣hyj j> rNusing accuracyPremultiplier from configlrS49n,?vS4YnX inKBtv9v?n Bn :n.:n4S4z`B ~fA~EZl@qNN%B*** querying acoustic contact ***j!j!f!f!f)rf)bf- υ@Jf-@8-195]I]I]I]M?X@Ia aɚaiaIaii)iDU8BiO=-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. I)I M C G `wA M YU `wAyU LA4w, ݧA:FH@Y:V@:kE9:_>y:Hش?ঽ? M*˿@C?@b?@m?\?ɨ:FH@:(;8yN8IBN|HWill construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:1602> BDAT read: Tx time:21:14:06.7172 $Ping request sent.)) -G٣)y5{Ȼ 5> =Nusing accuracyPremultiplier from config9ET49=?ET4Y= i= LBE,2?M:M^6M?=B=;=);=T4Q UAQblm@NmNmfqfqfyrfybf}`q@Rf}R@19q9],2?],2?]t=][@I ɚiIi)D#8B1OM1>zK]uJK] 9KYK]K]RKm?JKm>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249101J bJ J J J :J J J HE >IA  IE HIE ZJBIE =&IA .IE UD6IE r<:IE F !$?I y2Hx? f?= ˿`? ?f? ya?ɨ2ɳH@2%T;2CyBnIBBHIJ]IJ-m6٢f> fd=9f!hl nG٣lyrn r> vNusing accuracyPremultiplier from configtzT49v?zT4Yv ivLBxzq6z?v)BvC:v:v|T4 A EjlNrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalMAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminalf!f!f)rf)bf-@@Zf)q9-q;-v5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence;5 w5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock;5w5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide1<5 x5Initialize. x5dInitializing internal variables to default values.q==z=Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance== {=Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide>=}=Initialize.1?= ~EInitialize.=EqBEEAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceBE MAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideCMMAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl1DMMInitialize.qDMMAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlDM MInitialize.DM1EUBU]]]][@I! !ɚ!i!I)i))1Dl8B O%=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501308E Will construct direction to contact in vehicle frame from tetrahedron phase data.&w,IiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.755387 5 $?I9܍H@Y{V@^ 9fy>yH#'?`J?ʿ`( ? 4?24? a?ɨ܍H@;y IB HMb@Mb@Mb@ )YMbX?sh|??V-y*?=;A dA)I;Ay(AIIcq6٢= .=9b G٣y > Nusing accuracyPremultiplier from configT49惜?T4Y^ iBLB:,?:+3?B;;T4 XAEqB%%Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceB% %Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideB%C%%Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl1D% %Uninitialize.qD%-Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlD-D-1E-q=-z-Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance=- {-Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide=->-}5Uninitialize.1?5;5 x5Initialize. x5dInitializing internal variables to default values.x=PDetached from dock at depth 50.394650 m.gEjgArgAbgEfAfIfYrfabfuԫ@]:,?]:,?]=]^@I! E aɚaiaIaii)iDM8#U ResumeBO=>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005238zK iJK 9K K K -<@B@=>;95100-+%&!   N w,<+A6nH@Y6kV@6296>y6H B?IN?`ʿs`A?e??g?ɨ6nH@6!;6CyNIBR!HIZIZRb6٢;= m=9 I΍C I8HIJBI =&IAD.IVD6IF<:IF 5$?I5f Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5091747w,qEA2SH@Y2DrV@292s>y2H@Dcr?@3?dʿ``??@?@s?n?ɨ2SH@2j;0y>IB>NHIFIFT_6٢f= fN=9f\hh jG٣hyj눻 n> rNusing accuracyPremultiplier from configpvT49r8?vT4Yr irsLBtzg3z?rBrz@;rvA;r8T4 AE%B*** querying acoustic contact ***j!j!Zg)g)jg)rg)bg)f)f1f1rf1bf5›@]]]]j^@I1 1 9ɚ9i9I9i9)ADMo8#U Start #U4Initializing EZServoServo.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761044 1I9 #8Initializing DockingStepper.BQOm>_w,F^A6-H@Y6LV@6ڽ962v>y6H #p?@? 2#ʿ,nX? 5?`=?`|w?ɨ6-H@6~v;6CyB JBBHMb@Mb@Mb@ )Yp= ף?RQ?AA EG٣AyM M> UNusing accuracyPremultiplier from configQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021190T49Uө?T4YU3 iULB&?:`2?USBU]5$_@IA A AɚAiIIIiQ)QD8zKMK+9KKK    * E=#StartingBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280933H >I  I HI JBI =&I .I 6I M<:I FJ aJ TJ J J : - $?I1 J :9J J J ;a5 J ;a= J ]J:a= J _J:a= vw,dxA:G@Y:"V@:{Ľ9:>y:H`1`l?ۯ?ɿ`}Z?Ѕ?5?}?ɨ:G@:lJ;:~Cy^;JBbHIjIj`6٢r= rP=9rtt vG٣tyz z> ~Nusing accuracyPremultiplier from config|T49~?T4Y~ i~LB 2 ?~B~;~Y;~&UT4  AZg1g1jg9rgAbgAfAfAfArfIbfMl @]i]i]i]m_@Iy y yɚyiyIyi)D8EU=#]StartingBiO=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529754%v$w,A&Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=2.788317 j$?Ily bJB HMb@Mb@Mb@ )Y\(\?+?I +?y?=94<ߦA A)pAIAyAIIb6٢= #=9Q > G٣y > Nusing accuracyPremultiplier from configeT49}?eT4Y iLBe/?m:m4m?pB<Y<fT4q uAuEZggjgrgbgfffrfbf t!@]/?]/?]K>]}^@I  ɚiIi)D*8ErAEsAE<#StartingWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037662# BInit string: /1z16368aE13561N3m50BQ O >zK- LK- s9K) K- K-   *w,QAynJBr>HIz Izc6٢MP> M~=9IQ U ?QQ UG٣QyY ] ? eNusing accuracyPremultiplier from configamT49e n?mT4Ye ieLBqqu?eBe.:e;:eqT4aB 7AEZggjgrgbgfffrfbf`e"@]!]!]!]!I9 A AɚAiAIAiI)ID58eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.291154H>IЍC IHICKBI =&I.IWD6I<:IFBIU΍CJIU͍CRIUÔCZIU =bIU =jIUw6 $?IE-qZ;#5StartingBQO>JJUJJJJ>9JJJ;J;JQ:JQ: Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541316Ȅ1w,^ƨA:oG@Y:U@:A79:p >y:HS?C?`ȿ@!? :?? ͋?ɨ:oG@:X;:CybJBbyHIjIj7a6٢ro= rQ=9v=Q v>tx zG٣xyz z> Nusing accuracyPremultiplier from config|T49~ [? T4Y~ i~ MB  4 ?~MB~:~e:~T4 طA5B*** querying acoustic contact ***j1j1ZgAgAjgArgAbgAfAfAfIrfIbfMx"@]]]]T]@I  ɚiIi)D8]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:21:14:09.9136 mTRx dataTimestamp_ set to:1736370851.308726mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.794283 I E#5StartingBO- >f7w,;਺A:FvG@Y:U@:#G9: >y:HBZF??ȿ`?? ?`z?ɨ:FvG@:~;8yBKBBH}Mb@Mb@Mb@yyy y)yY}I +?Mb?~jt?y}9?}@=}<}ۦA }KA)}vAI}Ayy} AII7`6٢> ?=9=Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.048675  G٣ yU > =Nusing accuracyPremultiplier from config1]T4957F?]T4Y5 i5%MBe?m:m7}?5B5!<5<5 T4 [AEZggjgrgbgfffrfbf`{#@] ?] ?] =] NZ@I ! !ɚ!i!I!iQ)QBD]'?:D]R?De-8EmEm*Ei"EizK]"TLK]9KYK]K] 2(pj&iQD<+w*"X 6F!H+# StartingB O] >m Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH AAH >I ΍C I pHI KBI =&I .I VD6I N<:I F DAT read: 21:14:09.9136 LVL= 17392, 27569, 22690, 31475, AGC= 68, IDX= 463, 0.22,-2.330, 2.612, 1.774, 2.184, PHS= 1.857, 0.475,-0.413, RAW= 67.2, -18.9, CAL= 80.4, -27.0, ROT= 69.6, 27.0  Ygot valid direction response: 21:14:09.9136 LVL= 17392, 27569, 22690, 31475, AGC= 68, IDX= 463, 0.22,-2.330, 2.612, 1.774, 2.184, PHS= 1.857, 0.475,-0.413, RAW= 67.2, -18.9, CAL= 80.4, -27.0, ROT= 69.6, 27.0 $?I  PDAT read: Bearing 69.6, 27.0 (Local)  ~Local bearing/azimuth received: Bearing 69.6, 27.0 (Local)  DAT read: Range 10 to 50 : 594.1 m (Round-trip 792.2 ms) speed 0.1 m/s  R#Rx 1: Read range and direction messages. \direction in FSK: [0.304537,0.429474,0.850182] Fpublishing direction and range infoi 9m 8}?ѯ|?ʩ4?ym Di m Cm k m X)m zIm Dim -?m 33>m tӾm Q ?m [䨾 m ?)m :FIm |?im :F>i i m g I?dM2n :wϻԿ)m lIm >im 8t?m i i 5 T****** received valid address query ******5 R****** received valid ping request ******5 Querying Benthos address 50 with one ping in standard two-way mode.=w,%ARLG@YR+kU@Rp9R9!>yRH c@?S?ȿC?`?\?`ߕ?ɨRLG@R‰;RCyuRKBuHII9^6٢U0> U?=9U=Q U>YY ]G٣Yye;ɻ e> mNusing accuracyPremultiplier from configiuT49m2?uT4Ym* im:MBq}7}?mKBm;:m:mqT4 Ak󓖒Y?k* k kA:kDBkDZk$@"3zƞf@ g,o@8@}@8}?ѯ|?ʩ4?Jk8t?Rk *ƅ_ZZi@>Aj˿' տyT?"kH*k}k&0PY?kt# 2kDZgAgAjgArgIbgIfIfIfIrfU̐@bfUS:?]]]]["Z@I  ɚiI i )Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:1603> BDAT read: Tx time:21:14:11.3172 $Ping request sent.Dw,?AWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:14:11.3165 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254922 HILJbcJb]J`J`Jb:Jb_9J`J`ar@ar@ar@ar@NBG@Y`U@];9 #>yHh? F{ȿ@? kcK?]?ɨNBG@>;騍}CyޭKBޭUH vG!Mb@Mb@Mb@9 )Y/$?~jth?:v?y ? mYiymFBD;<A A)1AIAyII8_6٢= *=9i=Q > G٣y > Nusing accuracyPremultiplier from config5T49 ?5T4Yy iFMB51 ?5:5<=?Bp<A</T4A EtAE!EZgagajgargabgafififirfqbfu?]1 ?]1 ?]D;]/>U@I  ɚiIi)D8#StartingBOn>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501894Jw,-AzK6#QK6s9K4K6K6%$  BK8:K8RkG@YRtU@R <9R@$>yRH#c?ԩ@ȿ!?@qp?3?ɨRkG@R#q;RCyZKBZHIfIfY6٢jH> n=9n==Q n?pp rG٣pyv< v? zNusing accuracyPremultiplier from configx~T49zy?~T4Yz> izJMB<?zBz ;z_;zT4  ڵA Zg)g)jg1rg1bg1f1f1f1rf9bf=P1?]Q]Q]Q]UfU@Ii i iɚiiiIiiq)q2D}sA*D}sAD8#&Changing to mode: 3#Detach mode.5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754020HE>IA IEHIEKBIE =&IA.IA6IE<:IEF $?I#2Commanding negative:54593*F2F:FBF'5JFBOC> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006527BQw,˼GAB@mG@YBދU@B=9B.%>yBH^I? w`ȿ:?ڝ?൏?ɨB@mG@BS;BCynKBnHIzIz"W6٢= G=9 ?5=Q  >  G٣y\9 > %Nusing accuracyPremultiplier from config%T49?-T4Ya iMMB))-?B;;RT49 EAE$E]B*** querying acoustic contact ***jYjYZgagajgargibgifififqrfqbfu:?]]]]gU@I  ɚiIi)Dy8*F}=2Fy:FyBF}l1JFyBO>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.259831 $?IJbJSJJJ:Jy69JJZWw,ԂaA6G@Y6U@6l=96 &>y6H@6S.?c`ɿ ?~? ?ɨ6G@6;6CyR.LBV!HeMb@Mb@Mb@aaa a)aYePn?/$ C=9]<=Q >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510037 G٣y; > Nusing accuracyPremultiplier from configT49난?T4Y iDMB?:A?B@;;T4 )A'EZggjgrgbgfffrfbfFp?]%?]%?]%v@]%*8P@I9 9 9ɚAiAIAiA)IDm8*F;2F:FBF0JFBO5->zKRMK}9KKKRK>JK?H5 >I1  I5 8HI5 ALBI5 =&I1 .I1 6I5 <:I1 M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761869 I (^w,b{A2G@Y2;U@2=92B(>y2HEa?'?ɿ`0 ?@ #?x?ɨ2G@2;0yNALBN8HIV7IVh6٢^B= ^X=9b\=Q b>`` fG٣dyf; f> jNusing accuracyPremultiplier from confighnT49jKۂ?rT4Yj ij9MBprAr?jfBjo;j;j1T4t zAxZggjgrg!bg!f!f!f!rf)bf-:@]A]A]A]EOP@IQ Y YɚYiYIYia)aDU8*F092F:FBF0JFBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017161New,8A $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271500J^cJ^TJ\J\J^:J^:9J\J\y{LBHmMb@Mb@Mb@iii i)iYmI +?Zd;Oym9>mjmi mA)mdAImAiymfAIBI0j6٢= $=9Q > G٣y > Nusing accuracyPremultiplier from configT49ǂ?T4Y iMB>:iH?B;;T4 A*EZggjgrgbgfffrfbf3@]>]>]@]I@I  ɚiIi)D|8*F"62F:FBF5JFBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5218958kw,A6mH@Y6 'V@6=96),>y6H0?`y¿ɿ  C?˽ F?`U?ɨ6mH@6p%;6CzKNKKNŷ9KLKNKNyVLBZHIb_Ibfm6٢j!= j=9j=Q n?ll rG٣pyr< r? vNusing accuracyPremultiplier from configtzT49v^?zT4Yv ivMB|~H~?v.Bv ;v6;vT4 CA Zg)g)jg)rg)bg)f)f)f1rf1bf52@]Q]Q]Q]UHJ@I  ɚiIi ) H>I̍C IHI~LBI =&I.IUD6I8<:IF $?I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773965D=8JJ*F42F:FBFp5JFBO(> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029346 rw,BȩA:2H@Y:QV@:n >9:q->y:H@?`4ſ@ʿI? ` l?`??ɨ:2H@:~F;:Cy^LBbHIjpIjHo6٢r< rI=9rD=Q r>tt vG٣tyv; z> ~Nusing accuracyPremultiplier from configxU49z?U4Yz izLBG ?zBzh;z;z U4 4A-E5B*** querying acoustic contact ***j1j1ZgAgAjgArgAbgAfAfAfIrfIbfM@ @]i]i]i]m"J@Iy y ɚiIi)D8*F-12F):F)BF-5JF)BAO]> I EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.279050JJWJJJJG9JJNxw,⩺A2;pH@Y2َV@2">9208/>y2H@8?@ǿ`;xʿ9?ÿu?'?ɨ2;pH@2ʌ;0y>LB>H=Mb@Mb@Mb@999 9)9Y=S?!rhI +y=/>=l罹=9=A =A)=3AI=^A9y=QAIUjIUn6٢er= eB=9e:=Q m>ii mG٣iyu>< u> }Nusing accuracyPremultiplier from configyU49}?U4Y} i}LB>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530212:F@?}B}M;}{;}oU4 AZggjgrgbgfffrfbfW@]>]>]@]F@I   ɚiIi)D8ErAErA*F//2F:FBF5JFBO>zKKK9KKK $?IHz>IˍC IHILBI =&IBD.ISD6I<:IFBIJIRIZI =bI =jIC6M Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:21:14:14.5129 ] TRx dataTimestamp_ set to:1736370855.850167] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784499w~w,%A6H@Y6V@6S2>96h1>y6H ?ʿ ʿ`?@ƿ?{ ?ɨ6H@6h;6Cy^LB^ HIfIf*q6٢n&= nS=9rL=Q r>tt vG٣tyz; z> MNusing accuracyPremultiplier from configAMU49E$?UU4YEr iELBQUF@]?EGBEB;E;EO)U4ebB eAe0EZggjgrgbgfffrfbf~@]]]]bF@I  ɚiIi)D 8*F,2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034993BO"> I U Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:14:14.5130 LVL= 14480, 26849, 13042, 24051, AGC= 64, IDX= 438, 0.00,-1.643,-2.959, 2.671,-2.488, PHS= 0.933,-0.424,-1.127, RAW= 70.4, 6.9, CAL= 72.3, 8.9, ROT= 77.7, -8.9 w,]OA2Ygot valid direction response: 21:14:14.5130 LVL= 14480, 26849, 13042, 24051, AGC= 64, IDX= 438, 0.00,-1.643,-2.959, 2.671,-2.488, PHS= 0.933,-0.424,-1.127, RAW= 70.4, 6.9, CAL= 72.3, 8.9, ROT= 77.7, -8.9 >PDAT read: Bearing 77.7, -8.9 (Local) B~Local bearing/azimuth received: Bearing 77.7, -8.9 (Local) bDAT read: Range 10 to 50 : 593.7 m (Round-trip 791.6 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.177515,0.430543,0.884941]%Fpublishing direction and range info!9%[I̸ƿ)?,pQ?y%lD!%8%h %2)%]I%@i%n?%پ%A%nF?%Ϣ= %?)%>I%^?i%!!%Jګٕ?Nj2I?)%]I%Ȉi%\?%!!T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.EH@YEV@EbE>9Em1>yEH 4?c̿SʿrZ?ౕȿ $??ɨEH@E;ECyLBHMb@Mb@Mb@ )YHzG?rh|ˡEy=>'SA A)AIAyzAIE|IEp6٢UE< U=9U=Q U>y G٣y; > Nusing accuracyPremultiplier from configU49y?U4Y i: D@?B;);@Wygc9#ہ@%9Р?[MѿTiC?"k%f*k%1Ak%ap?k%-O 2k%DZgIgQjgQrgQbgQfqfqfyrf}@bf}?]>]>]f@] D@I  ɚiIi)UWill construct direction to contact in vehicle frame from tetrahedron phase data.],DAT read: user:1604> eBDAT read: Tx time:21:14:15.9173 e$Ping request sent.ew,1A:%I@Y:-W@:xX>9:!0>y:H?@οa˿C W?ʿ@ڀ??ɨ:%I@:GÍ;8zKBJKB@9K@KBKBy^LB^HIfIfq6٢n>r r=9r=Q r-?tt vG٣tyv< v0? ~Nusing accuracyPremultiplier from configx~U49zq?U4Yz izLB0D@?zBzT ;z ;zEU4  AZg1g1jg1rg1bg1f1f9f9rf9bf=0?]Y]Y]Y]]0D@Ii i qɚqiqIqiy)y %$?I!H5v>I5ʍC I1I1I5 =&I1.I16I5<:I5FWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:14:15.9166 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251942DJ=aJ=VJ9J9J=:J=B9J9J9J=;aEJ=;aEJ=X:aMJ=X:aM*FI'2F:FBF0JFBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.a ie Am checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502630$w,JA67I@Y6mVW@6`i>96 1>y6Hvf?`Uп>˿ {?@̿ ?p?ɨ67I@6;6Cy^LB^ HIj>Iji6٢ ;<  H=9 "%=Q  > G٣yE; E> MNusing accuracyPremultiplier from configIUU49Mc?UU4YM{ iMKBQe=D@e?M G٣y > Nusing accuracyPremultiplier from configU49lV?U4Y) iKB?B;;bU4 AZggjgrgbgfffrfbf` ?] ] ] ] I! ) )ɚ)i)I)i9)ADm8Ey*F!2F:FBF5JFBO5.>zKU.JKU 9KQKUKU  "#/021/*+()'&%$"       IjHbH4<Hr>I I^HI`LBI =&I.IRD6I<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258502JK KKK"KJe bJe XJa Ja Je :Je 5K9Ja Ja Je R ;Je U ;Je g:Je g:w,~AFI@YF$W@FԄ>9F13>yFH0?Lҿ`7̿@q?kпއ? u?ɨFI@F1N;FCyZLBZHIfTIf.l6٢jvQ nV=9n=Q n>pp rG٣pyv< v> zNusing accuracyPremultiplier from configxU49z(J?U4Yz izYKBD@?zBz:;z+;;zoU4  ޳A6EZg1g1jg1rg1bg1f1f9f9rf9bfE'?]]]]D@I  ɚiIi)DC95Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511581*F2F:FBFe5JFBO'>PExceeded connect timeout, disconnecting. $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762661 ᥪw,A% J@Y%3)X@%}>9%R5>y%H`'x? Yӿ@̿@ƻ?@Vvѿ?M?ɨ% J@%k;%CyuLB}H @ @ @  @ II~s6٢@ !=9=Q > G٣yY; >  bBottom track data is 0.5 s old, using for 20.0 s.  Nusing accuracyPremultiplier from configU499?U4Y iKB+::D@?w,dA6NJ@Y6mX@6>966>y6H Ȟ?`DԿ'Ϳ?`ҿ@?~*?ɨ6NJ@6;6CyfLBfHInyInGp6٢vŽ v=9zH=Q z?xx zG٣|y~`< ?  bBottom track data is 0.8 s old, using for 20.0 s.  Nusing accuracyPremultiplier from configU49F0?U4YZ iJB ::D@?wB8;NP?;U4! %?A)xUZDetected possible detachment. Starting timer.gQjgQrgQbgQfQzK]MK]۵9KYK]K]       fifirfibfu@ $?II  ɚiIi)Ho>IɍC IHILBI =&I.I6Iҵ<:I|FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266650D9EqAEqAJcJTJJJ:J:9JJJ;J;J\J:J_J:*FM2FQ:FQBFU5JFQBaO}>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518483  nManaging dock network, ignoring radio surface power off벪w,?̪A6rJ@Y6KX@6>96I6>y6H? տHͿ`~?`KCӿ ?"?ɨ6rJ@6);4yBLBFHIVIVq6٢^ ^N=9b=Q b>`` fG٣dyf; f> nbBottom track data is 1.2 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighrU49j#?rU4Yj ijJBr9pv:vD@v?jBjZ4;j?jU4x zAz9EB*** querying acoustic contact ***jjgjgrgbgfffrfbf@r6@IQ Q QɚYiYIYiY)aD5|9 qIq*F2F:FBF0JFBO)>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770985!w,~檺A6xJ@Y6X@6>96g5>y6H y@u?տͿ ?|Կl??ɨ6xJ@6V;6CyBbLBBaHWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023204 % - -- --  - - -Mb@Mb@Mb@))) )))Y-x&1?)\({Gzy-A>-Ga-ף-ҷA -A)-AI-A)y-AIEmIEn6٢U7 UA=9U G٣y <  > Nusing accuracyPremultiplier from config%U49?%U4Yh i1JB-T:-ɧ>-!;-B-?BxL;;,U4a eĴAagjgrgbgfffrfbfM @]-ɧ>]-ɧ>]-~@]-ebO@IY Y aɚaiaIaia)De9*F2F:FBF0JFBOER> YIaHe>IȍC IHIKBI =&I.IQD6I<:IFzKMK9KKK  RK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274481*J) "J- p=J5 bJ5 XJ1 J1 J5 :J5 5K9J1 J1 J5 R ;J5 U ;J5 g:J5 g:/@w,UA6J@Y6X@6>96t6>y6H_XP?`ֿͿ ?@LԿ>v??ɨ6J@6;6CyNHLBRAHIf$Iff6٢vㄽ zQ=9~    G٣ y; > %Nusing accuracyPremultiplier from config%U49?%U4Y iIB)-B-?5B:z:.U41 5A1gYjgYrgYbgYfafafarfibfm`7 @]]]]tO@I  ɚiIi)Du9*F2F:FBF0JFB Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526580O- > I II  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:14:19.1120  TRx dataTimestamp_ set to:1736370860.384666 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779617(ƪw,kAF K@YFy,Y@F;>9FQu6>yFH6 ?/׿Rο "?f\տb??ɨF K@F1;F}CyN(LBRHIZ?IZi6٢ %8=9- G٣y; > Nusing accuracyPremultiplier from configU49?U4Y iIB!%B%?uB::U4I M8AUWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030693rU̪w,I3AN,K@YNzKY@N >9N7>yNH d? +׿,οk?@%տ@c??ɨN,K@N1{;N~CyZLBZH n$?IpMMb@Mb@Mb@H]\>IY I]HI]CKBI] =&IY.I]PD6I]<:I]FBIɍCJIɍCRIZI =bI =jI5zKLK9KKK III I)IYM~jt?Mb ףp= yM>MMQMA MA)MAIMAAIyMAI:IMi6٢ K=9V G٣y%; %> MNusing accuracyPremultiplier from config)UU49-?UU4Y- UtIi-GIB]>]';]8]?-B-;- ;-U4a eAauWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:14:19.1120 LVL= 15552, 28081, 17698, 25075, AGC= 67, IDX= 427,-0.23, 1.126,-0.345,-0.791, 0.279, PHS= 0.935,-0.577,-1.073, RAW= 76.3, 7.9, CAL= 79.9, 10.8, ROT= 70.1, -10.8 Ygot valid direction response: 21:14:19.1120 LVL= 15552, 28081, 17698, 25075, AGC= 67, IDX= 427,-0.23, 1.126,-0.345,-0.791, 0.279, PHS= 0.935,-0.577,-1.073, RAW= 76.3, 7.9, CAL= 79.9, 10.8, ROT= 70.1, -10.8 PDAT read: Bearing 70.1, -10.8 (Local) ~Local bearing/azimuth received: Bearing 70.1, -10.8 (Local) DAT read: Range 10 to 50 : 592.8 m (Round-trip 790.5 ms) speed 0.1 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.208832,0.339625,0.917085]Fpublishing direction and range infoq9u躟ʿ,k?ǓX?yu3Dqu<um u"E)uaIuCiu)\o?uFuXut?u0 > u?)uA>Iuۚ?iuAqqu^H1?˕s:忊il?)uRCIu iu[@uqqJ@AJAAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ku2>:q?kum kq ku8A:ku3DBkuCDZku@"uVr^V*i@"v.@u躟ʿ,k?ǓX?Jku[@Rku*u -I#]C@uL:O#~ɿ DkuyCkum@gjgrgbgfffrf`f@bf`e?]5>]5>]5a@]5q\Y@IY Y aɚaiaIaii)iDi*F2F:FBF0JFBOm>% Will construct direction to contact in vehicle frame from tetrahedron phase data.% ,DAT read: user:1605> - BDAT read: Tx time:21:14:20.3673 - $Ping request sent.- 92<6>y2H &#_?5ؿcο4d?`hֿ 9?`V?ɨ2fK@2h;2CyBKBBHIJZIJl6٢  ]=9 x G٣yj< > %Nusing accuracyPremultiplier from config!-U49%/?-U4Y%E i%HB)-8-?%B%7:%:%U49 =׵A9UB*** querying acoustic contact ***jQjQgajgargabgafafafirfibfm ?]]]]Y@I  ɚiIi)Dc 9 I*Fa2Fa:FiBFm0JFiByO>Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:14:20.3666 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255712JcJVJJJ:JB9JJa-@a-@a-@a-@c٪w,cgA6{K@Y6Y@6W>965>y6HUx?`)ؿο]´?`4ֿ!?n?ɨ6{K@6;6CyBKBBHWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507646Mb@Mb@Mb@ )Y> ףp=?X9v?Ky><^A $A)lAIAyAI!If6٢- -9=9-i1Q ]G٣Yy]v; ]> mNusing accuracyPremultiplier from configaU49e?U4Ye ieHB>0; ,?e Be;e;eU4 A?Egjgrgbgfffrfbf?]U>]U>]Ut=]U6f@Ia a iɚiiqIqi)Dm 9*F2F:FBFe5JFBO-O> IjH]<bH]<HeW>IeǍC IejHIeJBIe =&Ia.Ia6Ie]<:IeFzKm!LKm`9KiKmKmWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758815(Lw,l?A>K@Y>Y@>I¼>9>H7>y>H+@?ؿ -ο`l?a׿@y;?_?ɨ>K@>;>CyRKBR\HIZ#IZf6٢vhܽ va=9vTxx zG٣xyz< ~> Nusing accuracyPremultiplier from config U49聜? U4Y ijHB+?9B$P;`e;U4) 5mA1gjgrgbgfffrfbfd(?]y]y]y]}:_f@I  ɚiIi) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010808DE 9*F2F:FBF5JFBOG> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262799J9 J= XJ9 J9 J9 J= 5K9J9 J9 vw,AGvAA YvAyBL@Y,/Z@>9-4>yHp?RٿϿ@+?D׿@?Y?ɨL@9;騍}CymtKBm G٣y*< > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configU49߁?U4Y i HB +:  ; o+ ?vBI;?U4 AgAjgArgAbgAfIfIfIrfIbfU.?Iq y yɚyiyIyi)D9EsAEsA*F2F:FBFn1JFB9O]v>eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.524758Aw,rA I :KL@Y: jZ@:J>9: 54>y:H 0?KٿϿd?@׿?M?ɨ:KL@: ;8yJSKBJHIR[IRl6٢Zܽ Z=9zmX<HT>I IHIZJBI&I.IOD6I$<:IFQ ?!! %G٣!y-;< -? =bBottom track data is 0.8 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1=V495ف?EV4Y5 i5GBE :AE:E-+E?5B58;5EQ?5V4Q UAQgqjgqrgybgyfyfyfyrfbf ?I  ɚiIi)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774730zKKK9KKK4N]`\\WSOGC>:431*+,'#   D*FI2FI:FIBFM$5JFIBqO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026835^w,cΫARvL@YR^Z@RW >9R6>yRHĞ@M?nٿ`п``‘?`E׿E?*A?ɨRvL@R;RCy^5KBbHIjaIjm6٢r rG=9v;Q v>tt zG٣xyz; z> bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config| V49~ҁ? V4Y~ i~GB 9 :*?~B~);~r?~f V4y }AyB*** querying acoustic contact ***jjgjgrgbgfffrfbf7@I1 1 1ɚ9i9I9i9)A 1I1D=%9*F2F:FBF0JFBO%>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278890JJUJJJJ>9JJw,2諺A:_~L@Y:Z@:>9:9>y:Hr ?zٿrп `,?׿ ?v?8?ɨ:_~L@:;:CybKBbH%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531614            Mb@Mb@Mb@    ) Y Mb?J +?(\µy > =  A ĘA) AI lA y =AI%bI%m6٢- 57=95Z;Q 5>99 =G٣9yE: E> MNusing accuracyPremultiplier from configI]V49M/́?]V4YM iM@GB]T:]>e8;ee?MBMU;M:;MV4i mYAmBEgjgrgbgfffrfbfƨ@]>]>]=0>]y@I  ɚiIi)BD?:D ?D9*Fy2F:FBF0JFBO>> !I!ZHRHHR>IƍC IpHIIBI&I.I6I <:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782815zK6MK9KKK     ˚w,@Ay~JB~HI kI n6٢ ^=9%Q %>!! -G٣)y- -> 5Nusing accuracyPremultiplier from config1=V495Ɓ?=V4Y5~ i5GBAAE?51B5 ;5e ;5(V4I MAIgijgqrgqbgfffrfbf @]Q]Q]Q]QI  ɚiIi)Dm9-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035355*F2F:FBFJFBiO9>  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287313J gJ gJ 1J J %:J 9J 3J w,,cA6fL@Y6Z@6k`>96n3>y6H@?` ٿaIп \? ׿K?C?ɨ6fL@6;4yJBHI-wI-p6٢e eF=9eDQ e>ii mG٣iyu< u> Nusing accuracyPremultiplier from configV49?V4YK iFB|?dB;;V7V4 Agjgrgbgf!f!fIrfQbf] PR @] ] ] ] y@I  !ɚ!i!I!iI)ID%9*F2F:FBF5JFBOj>=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:21:14:23.5618 MTRx dataTimestamp_ set to:1736370864.681372Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.540644  $?I w,=6A2L@Y2Z@29>920>y2H`?Q\ٿeпᚰ?{׿ ?j?N?ɨ2L@2A[;2~CHRQ>IP IRHIRIBIP&IP.IP6IR:<:IRFy^JB^HMb@Mb@Mb@ )YX9v?Q?lys>=A A)AIAy׭AImIn6٢G D=9ưQ > G٣y; > Nusing accuracyPremultiplier from configV49?V4YI iFB>?;b?BC;B;EV4 Ag!jg!rg!bg!f)f)f)rf)bf-D@]U>]U>]U >]U)@Ia a aɚaiiIiii)q2DrA*DWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.792151zK5LK9KD1KK *F2F:FBFw5JFBO&>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042835w,:@PAyEJBMHI]I]cq6٢} N=9Q > G٣y > Nusing accuracyPremultiplier from configV49յ?V4Y/ iQFB?By;;SV4cB ÷ACEB*** querying acoustic contact ***jjgjgrgbgfffrfbf@t@]]]]I  ɚiIi!)! IfD9*F2F:FBF5JFB!O=/>Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:14:23.5618 LVL= 13808, 26097, 17906, 26195, AGC= 68, IDX= 441,-0.02,-1.379,-3.072, 2.910,-2.338, PHS= 1.047,-0.687,-1.038, RAW= 81.0, 7.1, CAL= 86.0, 8.3, ROT= 64.0, -8.3 Ygot valid direction response: 21:14:23.5618 LVL= 13808, 26097, 17906, 26195, AGC= 68, IDX= 441,-0.02,-1.379,-3.072, 2.910,-2.338, PHS= 1.047,-0.687,-1.038, RAW= 81.0, 7.1, CAL= 86.0, 8.3, ROT= 64.0, -8.3 PDAT read: Bearing 64.0, -8.3 (Local) ~Local bearing/azimuth received: Bearing 64.0, -8.3 (Local) DAT read: Range 10 to 50 : 592.7 m (Round-trip 790.3 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.201678,0.264656,0.943018]Fpublishing direction and range infoؑ9ؕ ;UɿkX ?z!4-?yؕ,Dؑؕ5ؕe ٕE)ٕSfIٕDiٕ?ٕ;/ٕ/݄ٕ?ٕ= ڕ7 ?)ڕV>Iڕ5?iڕVڑڑە5p?@1俠'$ ?)ە}t.Iە#iە4@ەۑۑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^w,'iAJL@YJ|[@JK>9J05>yJH`@ ?bٿ Ɛп@~3%?o ׿ ^?`v^?ɨJL@Jm;HynJBnH~Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:1606>  BDAT read: Tx time:21:14:24.9173  $Ping request sent. =A )AIlAy=AIIbr6٢% -3=9-Q 5>19 =G٣9yE; E> MNusing accuracyPremultiplier from configIUV49M|?UV4YMX iMFBU>]A;]]?MCMJ;M8;McV4a eʷAeFEk2'h?k& P k k2[A:k,DBk<DZkU|@"WW:]c@$jw@ ;UɿkX ?z!4-?Jk4@Rk* SŲ,@#T]/@*AH6\JOTeKxk?"k*kkg?k] 2k-Dk[q?k kDkeCk =@gjgrgbgfffrf@bf?]>]>]=>]G ~@I  ɚiIi)D%9 I*F2F:FBF0JFBOc>jHbH<HP>I IHIIBI&I.I6I<:IFBIeƍCJIeƍCRIeƓCZIabIajIeƷI4Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:14:24.9166 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251658JeJWJJJ\:JG9JJJ;aJ;a J_:a J_:a zKM LKI KI KM KM  w,IՃABL@YB_[@BϺ>9BH5>yBHU 8I?ؿ`п@kSR?`6ֿ?m?ɨBL@Bn;B}CyNJBNHIVMIVhk6٢zD< ~v=9 oQ ?  G٣ y k:  ? %Nusing accuracyPremultiplier from config%V49ت?%V4Y iEB)-$-?C::`oV41 =A9gYjgYrgYbgYfYfafarfabfe@j?]]]]P}@I  ɚiI!i))QBD]?:D]?D-L9E1E1Will construct direction to contact in vehicle frame from tetrahedron phase data.AiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.504506*F2F:FBF1JFB)OM0> qIq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755489'w,Ay]JBeHI}kI}n6٢< A=9Q > G٣y > Nusing accuracyPremultiplier from configV49?V4Y iEB?0C~ ;G;~V4 Agjgrgbgf f1f9rfAbfE&?]]]]I1 I QɚQiQIQia)iD9Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007482*FU2FQ:FQBFU0JFYBiO{> a Ia h<-w,AH6O>I4 I4I4I4&I4.I46I6<:I6FF M@YFR([@F>9F.>yFH@A?@$׿п`@k?տ\h?՝?ɨF M@F‹;FCyRJBRHMb@Mb@Mb@ )Yrh|?B`"۹?A`"y{>=YCA )MAIʆAyAI.Ig6٢{; I=9Q > G٣y:; > Nusing accuracyPremultiplier from configV49̞?V4Y iEBՊ>C;?ICv;W-;VV4 Ag)jg)rg)bg)f1f1f1rf1bf=?}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259060JAAJBAJJ[J2JJJW9Jc3JJJJ|:J|:]Պ>]Պ>]w>]Ix@I zKQJK#9KKKBK:K ɚiIi)D*Fa2Fa:FaBFaJFaBO=>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5108352$4w,^ѬA2mL@Y2 [@2į>92x62>y2H`?v׿п ?տ@?w?ɨ2mL@2o;2CyRKBRHI^pI^Ho6٢fr;= fZ=9fdQ j>hh jG٣hyn,8 n> rNusing accuracyPremultiplier from configpvV49r?vV4YrT irVEBxzz?raCr@:r:ruV4| ~A|g!jg!rg!bg!f!f!f)rf)bf-`?]I]I]I]Mtx@  $?II   ɚ i I i)1D9*F2F:FBF0JFBO">)Q UCWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762803G`wAA =Y=`wAy=BN:w,O;묺A>'L@Y>[@>镬>9><4>y>H Q?"׿xп@@ݳ?*տ&??ɨ>'L@>m;5=5'5A 5A)5AI5jA1y1IMOIMk6٢]= eA=9epQ e>ai uG٣qy : > Nusing accuracyPremultiplier from configV49t?V4Y i(EB{>W;{"?yCI;;kV4q u`AyB*** querying acoustic contact ***jjgjgrgbgfffrfbf @]5{>]5{>]5>]5o@IA A AɚIiIIIiQ)QD-!9 I*F2F:FBFp5JFBO J>ZHYRH]@AHeN>Ia Ie%HIeIBIa&Ia.Ia6IeE<:IeFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267019JfJJJJ|":JJJJ;J;J|:JzK JK 9K K K $6Aw,A2M@Y2(7[@2?>92)6>y2H`25?ֿп` `?Կ`im?@X?ɨ2M@2;0yj.KBjHIvHIvj6٢~y= ~Q=9~Q > G٣y 9;  > Nusing accuracyPremultiplier from configV49z?V4Y  iEB%m"%?CT;u;V4Q U/AUIEgjgrgbgfffrfbf@@]]]]oo@I  ɚiIi)D"9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519249*F-2F):F)BF-`5JF)B9OU> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770859o`Gw,A63M@Y6VR[@6>96d7>y6H@ ߄?@Yֿѿ5 OM?EԿଠ??ɨ63M@6;6CyR[KBRHIZIIZj6٢b= bN=9bLQ f>dd fG٣dyj; j> ]Nusing accuracyPremultiplier from configteV49vE?eV4Yva ivDBimb"m?vCv|Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022931 I Mw,8AH$I$ I&|HI&JBI$&I$.I$6I&<:I&Fb0M@Ybέ[@b>9b?3>ybH; ?aտѿW?iDӿXT? ?ɨb0M@bNƌ;bCyjdKBj)HmMb@Mb@Mb@iii i)iYm1Zd? rh?X9vym"[>mC G٣y M<  > Nusing accuracyPremultiplier from config V49 ?V4Y G i DB%^>%t;%;/%? C ; 3; JV4) -öA)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274900gajgargabgafififirfibfu@ @JK<3 K.-KK"KJJZJJJJS9JJJJJ[u:J^u:]^>]^>]Y=]b@I  ɚiIi)zKyJK9KKKDt$9*FA2FA:FABFE1JFABiO;> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526778YrTw,RANM@YN![@N]>9N=5>yNHH`j%?Կѿ<? ҿϋ??ɨNM@N;LyZKBZSHIbGIbj6٢j= j_=9nQ n>ll rG٣pyrq; r> vNusing accuracyPremultiplier from configtzV49vy?zV4Yv ivDB|~/~?vCv>;v;vV4 ~A g)jg)rg)bg1f1f1f1rf1bf=(@ e $?Ia]i]i]i]m c@Iy y yɚyiyIi)DU&9*F2F:FBF1JFBO>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:21:14:28.1177 mTRx dataTimestamp_ set to:1736370869.468673uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779878Zw,$lABN@YBm!\@B`ۓ>9B4>yBH R@?9tԿ@ҿ?9ҿ z?2?ɨBN@Brٌ;BCZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030816y KBzHMb@Mb@Mb@ )Y r?~jty&1yC>` A)7AI݊AyAI&Ig6٢Q= ;=9़Q > G٣y < > Nusing accuracyPremultiplier from config%V49ps?V4YC idDBwI>;A?C9==oV4  >AB*** querying acoustic contact ***jjgjgrgbgfffrfbf`@ AIA]MwI>]MwI>]M @]MEP@I  ɚiIi)2DsA*DD(9ErAErAjH5<bH1HAIA IEHIEdJBIA&IA.IA6IE<:IEOF*F-2F):F)BF-0JF)BAO]w>eWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:14:28.1177 LVL= 11856, 28049, 16754, 25043, AGC= 67, IDX= 501,-0.40, 2.219, 0.683, 0.531, 1.088, PHS= 1.219,-0.358,-0.560, RAW= 84.1, -3.6, CAL= 92.3, -10.1, ROT= 57.7, 10.1 Ygot valid direction response: 21:14:28.1177 LVL= 11856, 28049, 16754, 25043, AGC= 67, IDX= 501,-0.40, 2.219, 0.683, 0.531, 1.088, PHS= 1.219,-0.358,-0.560, RAW= 84.1, -3.6, CAL= 92.3, -10.1, ROT= 57.7, 10.1 PDAT read: Bearing 57.7, 10.1 (Local) ~Local bearing/azimuth received: Bearing 57.7, 10.1 (Local) DAT read: Range 10 to 50 : 597.0 m (Round-trip 796.1 ms) speed 0.2 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.006579,0.205134,0.978712] Fpublishing direction and range infoa9esԧzA?>/Q?ye@DaeP.em erA)eaIeCie1?eKe)\e?e e?3?)eJ4Ie.?ieJ4>aae8]?[_5,Il)eS Ie=ieW*?ekaa T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.zK >`JK k9K K K ^aw,ReA2)N@Y2"H\@2>92{3>y2H_/b?#ӿZ1ҿj? Eѿ`r?`lG?ɨ2)N@2-;2~Cy>KB>HIFIFd6٢n= r\=9r1Q r>tt zG٣xy~; > =Nusing accuracyPremultiplier from configEV49m?EV4Yv iCDBAEAM?C;;:V4Q UAULEkP?kC_ k k3~A:k@DBkMDZkec@"a1AkƝ^@>KSB@sԧzA?>/Q?JkW*?Rkk*|?qbF$fPd&@=Ͽ6 ?"k1*kk P?kR 2kZDkg?k ( kZDk Ck@gjgrgbgfffrf@bf"1?]Y]Y]Y]]tP@Ii i ɚiIi)Dm(9Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:1607> BDAT read: Tx time:21:14:29.4674 $Ping request sent. 9I9} Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:14:29.4666  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252276J eJ \J 1J J \:J [9J 3J a @a @a @a @gw,}920>y2Hch&?kӿ`_ҿ'F?&ѿ@2? ^?ɨ2tN@2Ό;2Cy=KB=HIUIUf6٢e.= eB=9mgQ m>iq uG٣qy2< > Nusing accuracyPremultiplier from configW49g?W4Y iDBZA?CK;W;J W4 Ag9jgArgAbgAfAfIfIrfIbfM@Yj?]9]9]9]=P@I  ɚiIi!)1D}*9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503248*F2F:FBF 5JFB)Omx> ) I) HA IA  IE ]HIE JBIA &IA .IA 6IE <:IE Fmw,ABI1JI1RI1ZI1bI1jI54:bN@Y:\@:kۅ>9:<>y:H`Vs`:?>ӿҿ.n8?@̊пf?fc?ɨ:bN@:;:CyBKBBHuMb@Mb@Mb@qqq q)qYu'1Z?ʡEL7A`堿yu">u-u+uA uzA)uAIqqyuAIIb6٢< G=9MļQ > G٣y0< > Nusing accuracyPremultiplier from configW49(b?W4YY iCB<>;;@?C;;W4 еAgjgrgbgff f rf bf  ?=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754954]E<>]E<>]Eb @]EL;@IQ Q QɚYiYIYiY)aBDm?:DmEu>zKyJK9KKK*F2F:FBF1JFBO)> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006659tw,ӭA2m!O@Y2 @]@2>92 =>y2Hs`?pҿ9ӿ@\`5!? п??vt?ɨ2m!O@2;0yNKBRHIVIVT_6 `I`٢f= fY=9jpQ j>hh jG٣lyn< n> rNusing accuracyPremultiplier from configpvW49r]?vW4Yr irCBxz<@z?r(Cr7:r:r&W4 Ag!jg)rg)bg)f)f)f)rf1bf5 j ?]I]I]I]MJ<@I  ɚiIi)DS-9*Fm2Fi:FiBFm4JFiByO>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258735JJJ2JJJJc3Jzw,ARWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510973y~LB~HMb@Mb@Mb@ )YL7A`?PnZd;Oy+>j<(A A)AIAy AII]6٢< <=9Q > G٣y > Nusing accuracyPremultiplier from configW49W?W4Y$ iCBB>;(@?:C<V<5W4 |Agjgrgbgfffrfbf^?]B>]B>]L@]+(@I  ɚ i I i)  $?ID-p/9*F2F:FBF5JFBHI IHIKBI&I.I6IA<:IFOK>UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762663*J"JzK% BoJK% #9K! K% K%   RK5 ?JK5 ?(Ձw,ɯAB O@YB^@Bist>9B5>yBHm@?ѿ Կ4>㐷? WDο5??ɨB O@B;B}Cy^LB^HIfIfd6٢n< nY=9r0Q r>pp vG٣tyv= v> ~Nusing accuracyPremultiplier from configx~W49zUS?W4Yzc izCB)@?zICz":zX:zBW4  hA-B*** querying acoustic contact ***j)j)g1jg1rg1bg9f9f9f9rf9bfE@]y]y]y]})@I  ɚiIi)D/9EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017078*Fm2Fi:FiBFiJFqBO> I vA  Y vAy fB] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266733J hJ J J J (:J J J w,!Ay-LB-HIEIEQc6٢U՘ UC=9]Q ]>aa eG٣aye m> uNusing accuracyPremultiplier from configiuW49m;N?}W4Ym im]CByy}?m[Cm ;m ;mQW4 mAOEgjgrgbgfffrfbf @]]]]I  ɚiIi)D19*F2F:FBF-2JFBO (>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519751 I H I  I HI XKBI =&I .I 6I ٵ<:I oF'w,^;ANP@YN^@N\f>9N`_4>yNHj Ô?aѿZԿA! i? 9̿?\?ɨNP@N؋;NCynLBn HMb@Mb@Mb@ )YzG?M¿Mby =nXA ٓA)AI~AyAIIc6٢< A=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=2.771146 %W49 I?-W4Y | i .CB- A>-;-@-? kC I; @; o`W49 =XA9JQJU@Agijgirgibgifififqrfqbfu I@] A>] A>]U@]@I  ɚiIi)D39zK-+LK-9K)K-K-,8 l d : ~  7 : 53fKRd@uV7|*Fa2Fa:FaBFe0JFaBqO9> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030387w,6UA IyLBHIIc6٢U eU=9eQ m>qq uG٣yy > Nusing accuracyPremultiplier from configW49E?W4Y iCB?{C{;u;nW4 iAgijgirgibgifififrfbf 4 @]]]]I  ɚiIi)D39-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276085JmfJm[JiJiJm|":JmW9JiJi*F2F:FBF0JFBO?>9w,oABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526782y% LB%HMb@Mb@Mb@ )Y ףp= ?V-¿bX9ȶyQ=hEA A)|AIMAyAIId6٢* A=9Q > G٣y >  Nusing accuracyPremultiplier from config W49gB? W4Yt iBBB>;@?C%;";|W4! %zA!gjgrgbgfffrfbf @ I]=B>]=B>]=ߨ@]= @IA I QɚQiYIYii)qDM269jH<bHHM>I I>HIvKBI =&I.I6I<:ILF*F2F:FBF0JFBOK>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:21:14:32.6605 =TRx dataTimestamp_ set to:1736370874.004662=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779835zK PK -9K K K mbTG/D8`~ycG)q8M&wcI2  w,눮AJBqQ@YJ_@J/S>9J/0>yJH f?rϿտM?Lʿ@r?@?ɨJBqQ@J`;HyVKBVHIj*Ijg6٢r( r]=9vKQ v>tt zG٣xyz = z> UNusing accuracyPremultiplier from configIUW49M??]W4YM iMBBY]@]?MCM;M;MW4i mAiB*** querying acoustic contact ***jjgjgrgbgfffrfbf @]]]]r@I  ɚiIi)Dz69Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032211*F2F:FBFJFBO> !I!E Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:14:32.6605 LVL= 11696, 32753, 19858, 32755, AGC= 66, IDX= 363, 0.24, 2.942, 1.155, 1.059, 1.891, PHS= 1.139,-0.689,-0.835, RAW= 86.2, 4.1, CAL= 92.4, 2.4, ROT= 57.6, -2.4  Ygot valid direction response: 21:14:32.6605 LVL= 11696, 32753, 19858, 32755, AGC= 66, IDX= 363, 0.24, 2.942, 1.155, 1.059, 1.891, PHS= 1.139,-0.689,-0.835, RAW= 86.2, 4.1, CAL= 92.4, 2.4, ROT= 57.6, -2.4  PDAT read: Bearing 57.6, -2.4 (Local)  ~Local bearing/azimuth received: Bearing 57.6, -2.4 (Local)  DAT read: Range 10 to 50 : 591.6 m (Round-trip 788.9 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.155880,0.176158,0.971941] Fpublishing direction and range infoA 9E KG?ÿZU??$?yE DA E -E  E M)E IE BiE ʑ?E Nb0E UE ?E C= E pl?)E +=IE ?iE +A A E W?. 5ϙY>?)E  IE iE @E %A A  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.J= eJ= XJ9 J9 J= \:J= 5K9J9 J9 Kw,GˢAVtQ@YV_@VN>9V}/>yVH` fO?HϿ@տ0h?೥ɿ@ f?`)?ɨVtQ@Vme;VCy=KB=HIM7IMh6٢}b }A=9/IQ > G٣y; > -Nusing accuracyPremultiplier from config)UW49->;?UW4Y-n i-`BBY]H@]?-C-;-;-W4a eAiku/Ky?ku{ kq kuA:kuDBkuDZkuj@"uYZV W Z@@uKG?ÿZU??$?Jku@Rku%*u%l >|7GP%+H<}w@uPKSܰ8G~"bb?"ku*Y*kuku/y?ku~ 2ku} Dku[q?ku] kujDku-BkuyJ@gjg rgbgffIfQrf]|@bfe?]I]I]I]M0H@IY y ɚiIi)2D*DD}s89El>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:1608> BDAT read: Tx time:21:14:34.0174 $Ping request sent.  I H L>I  I JHI KBI &I .I 6I <:I Fuw,3A2gQ@Y2`@2nSI>920>y2H ``O*?ο9ֿf`з?ɿ Q?@?ɨ2gQ@2y;2Cy^KB^HMMb@Mb@Mb@III I)IYM/$?!rhS㥻yM=Ml罹M/ݽM߲A M3A)MhAIIIyMAIe<Iei6٢}ӽ J=9OQ > G٣y1<< > Nusing accuracyPremultiplier from configW49m8?W4Y i)BB5>;1@?C ;;W4 Agjgrgbgfffrfbf@?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:14:34.0166  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250246]5>]5>]@@]]1@I  ɚiIi)D :9zK PK9KK K{wric^VQLJHIEB=;;9532.,)*('%%#$'+--,))+)$"!*Fe2Fa:FaBFmQ5JFiByO:> Will construct direction to contact in vehicle frame from tetrahedron phase data.խ Aiխ A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500880 I \w,~֮A6R@Y6~%`@6B>96-Q2>y6H`fcI?ο`R.ֿ?`+ȿ;??ɨ6R@6;6CyNKBRHIZ6IZh6٢bA bW=9fjQ j>hl nG٣ly-[; -> 5Nusing accuracyPremultiplier from config1=W4955?EW4Y5 i5ABAE@E?5C5 ;5 ;53W4Q U AYgyjgyrgybgyfyffrfbf ?]]]]@I  ɚiIi)DD;9*F-2F):F)BF-05JF)B9OU>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752682w, \A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004663>8+R@Y>I`@>/>>9>#|4>y>Hfn?@ݵͿfTֿ s? ǿ?@?ɨ>8+R@>2ڋ;>~CyRKBRdHMb@Mb@Mb@ )YʡE?i|?5rh|y-=q=A A)AIAy¡AI4Ih6٢ :=9!Q > G٣y۩; > Nusing accuracyPremultiplier from configW493?W4Y iAB%>;=@?C;u;'W4  dA g)jg)rg)bg)f)f1f9rf9bf= ?]]%>]]%>]]@]]=@Ii i qɚqiqIqiy)yBD?:D>  $?ID<9E*F%2F!:F!BF%5JF!ZH)RH-AAH1I1 I5%HI5bKBI1&I1.I16I5<:I5CFBIJIRIZI =bI =jI5BiO8>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256881JegJe[Je1JaJe%:JeW9Je3JaJeR$;amJeT$;amJe|:auJe|:auzK] mNK] 9KY K] K]    *163/.++)(($$$ "-k5/mzujGAx«w,^ AyzKBDHI5AI5j6٢E) ES=9EQ M>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYeW49]0?eW4Y] i]xABiim?]C] ;];]W4q uAqB*** querying acoustic contact ***jjg jg rg bg f ffrf!bf%?]Q]Q]Q]QIa a iɚiiiIiiq)q]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508730Dy*F2F:FBF5JFBO(> qIq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7605490ȫw,s$A:'~R@Y:Ŝ`@:7>9:b1>y:H `6?ֿ̿?`ƿ??ɨ:'~R@:;:Cy^]KBbHIjIjbr6٢r rR=9r}Q r>tt vG٣tyzT< ~>  Nusing accuracyPremultiplier from config W49_.? W4Y i>ABX>@?C:7:XW4! %ԶA%REgAjgArgAbgAfIfIfIrfIbfM+@]i]i]i]mX>@I  ɚiIi)D]Y?9*F2F:FBFJFBQO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013829 qIqH5 K>I1  I5 HI5 /KBI5 =&I1 .I1 6I5 <:I5 .FΫw,`=A6KR@Y6`@65>96/>y6HZ@?A̿`pֿt? ƿ@P??ɨ6KR@6~;6CyBLKBB HEMb@Mb@Mb@AAA A)AYE1Zd?~jt?p= ףyE"=EDyy G٣y; > Nusing accuracyPremultiplier from configW49,?W4Y_ iAB,>;m?C;;W4 AgjgrgbgfffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265961bf -@] ,>] ,>] =]  y@I! ! !ɚ!i!I!i)))J=dJ=cJ=2J9J=<:J=x9J=c3J9J=;J=";J=:J=:2DUrA*DQDMvA9EQEUsA*F2F:FBF0JFBO+>zKE@xOKE9KAKE KECm{In8^bn&Q>EV)nQ3skie^[W Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516843 a Ia Ҫիw,.WA6nR@Y6 `@6ز3>96/>y6HiZE$?wֿ̿`#@ĸ?Xƿf?`j ?ɨ6nR@6Q;6CyN"KBRHIZIZu6٢f۽ fV=9f\Q f>hh jG٣hynu3; n> rNusing accuracyPremultiplier from configpvW49r)?vW4Yr ir@Btznz?rCr:r:rkW4| ~IA|gjg!rg!bg!f!f!f!rf)bf-`4@]]]]y@I  ɚiIi ) )= CGDNB99Y Yy(A*F2F:FBF0JFBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768699۫w,KqA"Will construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020780>tR@Y>`@>u1>9>/>y>H HXC?<̿@׿``@?Oƿ]? q?ɨ>tR@>f;>}Cy^KB^HUMb@Mb@Mb@QQQ Q)QYUPn?ʡE?X9vyU>U-=UUA UA)U AIUAQyUAImImw6٢}q( }?=9Q > G٣y; > I 5Nusing accuracyPremultiplier from config1=X495'?=X4Y5 i5@BEK>E;EE?5C5;5;5 X4I UmAQgjgrgbgfffrfbf @] K>] K>] ?] a@I! I QɚQiYIYia)DC9HI>I IHIJBI&I.I6I<:I>F*F2F:FBF0JFB9OUS>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272590*Ji"Jm=JufJuZJu1JqJu|":JuS9Ju3JqJu;Ju;Ju\u:Ju^u:zK PPK -9K K K UPMGFG=::6556;EQ[_dglt{      yRK ?JK ?ow,~A2vR@Y2`@2/>921>y2H [=?!̿׿̰u?`ſ? ?ɨ2vR@2ڛ;2Cy:KB:HIbIb\z6٢jɼ jV=9nԃQ n>pp rG٣pyr' r> zNusing accuracyPremultiplier from configt~X49v%?X4Yv iv_@B   ?vCv:;vh;vX4! %A)gajgargabgafififirfibfm@+ @]]]]]@I  ɚiIi)DE9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525432*FI2FI:FIBFM0JFIBYOu> I Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:14:37.2107  TRx dataTimestamp_ set to:1736370878.540550 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777620w,.YAyJB%HI5I5y6٢M; MC=9MQ M>QQ UG٣Qy] e> mNusing accuracyPremultiplier from configiuX49m#?uX4Ym im(@Byy}?mCm;ml;me%X4 AB*** querying acoustic contact ***jjgjgrgbgfffrfbf@]]]]I  ɚiIi ) DuE9*F 2F :F BF0JFBIO>>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.028689 IH I  I ]HI JBI &I .I ND6I ҵ<:I hFw,z4A6źR@Y6c`@6->96aK4>y6Hb`-?˿`ֿ@IJ2M?`ſ ?7 ?ɨ6źR@6;4yBKBBHMb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:14:37.2107 LVL= 14176, 28865, 20018, 26163, AGC= 67, IDX= 429,-0.37,-0.309,-2.089,-2.139,-1.351, PHS= 1.130,-0.690,-0.791, RAW= 87.3, 3.8, CAL= 93.8, 1.9, ROT= 56.2, -1.9 Ygot valid direction response: 21:14:37.2107 LVL= 14176, 28865, 20018, 26163, AGC= 67, IDX= 429,-0.37,-0.309,-2.089,-2.139,-1.351, PHS= 1.130,-0.690,-0.791, RAW= 87.3, 3.8, CAL= 93.8, 1.9, ROT= 56.2, -1.9 PDAT read: Bearing 56.2, -1.9 (Local) ~Local bearing/azimuth received: Bearing 56.2, -1.9 (Local) DAT read: Range 10 to 50 : 591.8 m (Round-trip 789.1 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.152315,0.156829,0.975810]Fpublishing direction and range infoع9ؽZn ÿ\՛ ?#%z9?yؽDعؽ`7ؽp ٽ2N)ٽ3fIٽCiٽף?ٽף0ٽ~Jٽ?ٽԇ= ڽ?)ڽ=Iڽ{?iڽڹڹ۽gP?+B2== ?J1J5AAJEeJE]JE2JAJE\:JE_9JEc3JAJE;JE;JEm:JEn: )YS?l?:vy>>Խ A)AI3AyA)۽I۽ↇi۽@۽٬۹۹uT****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.ImImyz6٢H< 7=9AQ > G٣y! > Nusing accuracyPremultiplier from configX49!?X4Y i?BHq>a;?.CH;KG;4X4 Ak{%|?ku k k¯A:kDBkDZks/@"d롻VKY3W@K @Zn ÿ\՛ ?#%z9?Jk@Rk٬*`<,+!)8'@jRa}@xUۢt?ƹ?"k@*kNkY;|?k{h 2k DkkR k-DkiBk^e@xDetached at range: 591.80 m. Transitioning docking module to standby.gjgrgbgfffrf`f~@bfi8?]]Hq>]]Hq>]]S~F?]]d@I  ɚiIi)DH9zK%AOK%9K!K% K%qnhfge_^``^[[[XSRTSSTW\gpqlhjkeffb^\XVUTRRRRMJIJGDEAAC>>;877*F2F:FBF5JFB)OEs>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u ,DAT read: user:1609>  BDAT read: Tx time:21:14:38.5174  $Ping request sent. 96eb1>y6Htf?k˿^ֿ{?@_ſ :??ɨ6R@6=;4yRJBRHIZIZ|6٢~p ~h=9Q >  G٣ y 38  > Nusing accuracyPremultiplier from config%X49?%X4Y i?B)-I-?AC-N;=N;=AX41 5A1Zg]gYjgYrgYbgYfYfafarfabfe`!?]]]]`}@I  ɚiIi)D]H9#&Changing to mode: 1#Standby mode.#2Commanding positive:54586Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:14:38.5166 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250314*Fm2Fi:FiBFu3JFqBO<>&w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503102NNjR@YNe`@N->9N.>yNHTl?@W˿`^ֿoF? ſ$p??ɨNNjR@Nw;N~CyVJBVH YIYMb@Mb@Mb@ )Y(\?Gz?㥛 y.>p=>ݬA A)AIy3AII^x6٢-= ==9=8Q > G٣y& > Nusing accuracyPremultiplier from configX49?X4Y}# i?B>J;3 ?]C0;&;dPX4 AZg9g9jg9rg9bg9f9f9fArfAbfEn?]e>]e>]eWS?]e@I  ɚiIi)DJ9ZHqRHqHyIy I}8HI}JBI} =&Iy.Iy6I}Ƶ<:I}_F*F] 2FY:FYBF]`5JFYBiO:>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752628 w,L AzK2qNK29K0K2K26667334444544433552335798854.+'('" :-jR@Y:ˈ`@:,>9: />y:Hru?ݕ˿ֿ !v?ſ pw??ɨ:-jR@:Z;:CyB!KBBHIN, IN6٢V^= Va=9VQ V>XX ZG٣XyZ ^> bNusing accuracyPremultiplier from config`fX49b?fX4Yb% ib?Bdfwf?btCb:b:b]X4l nKAlZg|g|jg|rg|bgfffrfbf ?]!]!]!]%q@I1 1 ɚiIi)D-L9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009424 YIa*F"2F:FBF_5JFBO*> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256597*J] 4="J] p=JK3 K.KK"KJe gJe \Ja Ja Je %:Je [9Ja Ja au @a} @a} @a} @A w,&AroR@Yrn`@rn+>9rS/>yrHGs =?q˿-ֿ`?@Tſ?[?ɨroR@rb@;r~Cy%1KB%HIe Ied6٢u_= }==9}KQ > G٣yM: > Nusing accuracyPremultiplier from configX49?X4Y( i?Bu?C9;F;tlX4 *AB*** querying acoustic contact ***jjZg)g)jg)rg)bg1f1f1f1rf1bf=+?]Y]Y]Y]]xr@Ii q qɚqiqIqiy)BD:D?Dq*F5@%2F1:F9BF=o5JF9ByO?>%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508680 !I!H] H>IY  I] DHI] JBI] =&IY .IY 6I] ~<:I] )FBIJIRIZI =bI =jIʳ4bw,>{@A2`SR@Y2q`@2,>921{0>y2Hv`?˿ֿ?@vſ?^?ɨ2`SR@2";2}CyBVKBBHEMb@Mb@Mb@AAA A)AYEK?-?ˡEyE^:>E?5>E'EA A)EAIEAAyEAIU> IU 6٢e= eM=9m.;Q m>ii uG٣qyuy u> Nusing accuracyPremultiplier from configyX49}N?X4Y}* i}o?B>N;?}C};} ;}1zX4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761439 AZggjgrgbgfffrfbf1@]>]>]'E?]@I   ɚ iIi)D5N9*F'2F:FBFJFBO">zKMK9KKKM Will construct direction to contact in vehicle frame from tetrahedron phase data.I iI U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012819 - $?I) Gw,WZA2i=R@Y2\`@2->921>y2H?y ?˿@uֿ 0Z*?ſ`[??ɨ2i=R@2:B;2CyNKBNTHIZ% IZ6٢b> bU=9bN;Q b>dd fG٣dyfoe j> nNusing accuracyPremultiplier from confighrX49j ?rX4YjP- ij_?Bprr?jCj ;j\ ;jX4x z~AxZggjgrgbgfffrfbf b@]]]]3@I  ɚiIi)D*Fe *2Fi:FiBFiJFiByO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264729J!J%@AJ-dJ-ZJ-1J)J-<:J-S9J-3J)e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5188607w,МtA HIHRR@YRO/`@R}/>9Rɪ4>yRH@~@z?`] ̿Jֿ@ֺ?`Aſ%#? ?ɨRR@R ;Py^KB^HMb@Mb@Mb@ )YbX9?7A`?y&1|yE6>>`ݬA )AIy AI Iր6٢^= 7=9w;Q > G٣yǻ > Nusing accuracyPremultiplier from configX49 ?X4Y/ iY?B l> e;  ?C<;;5X4 ,AUEZg9gAjgArgAbgAfAfAfIrfIbfMw@]ml>]ml>]m0?]m@Iy y yɚyiIi)DI IHIJBI&I.I6I^<:IF*F,2F:FBF1JFB!OE0>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768518Ij#w,SAzKKKu9KKK BQ@YB.`@Bň0>9B_5>yBH H@DV?h+̿`+ֿ?'ſ`` bG٣`yb< f> jNusing accuracyPremultiplier from configdjX49f!?nX4Yf1 ifU?Bln:n?fCf ;f~ ;fX4t vصAvVEZg g jg rg bg fffrfbf @]1]1]1]5@IA A IɚIiIIIiI)QDUS9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021281 I*F l/2F :F BF B3JF BO5 >GvA 3SYvAy KB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272562JE fJE VJE 2JA JE |":JE B9JE c3JA =)w,1AJoQ@YJ _@JB2>9Jq5>yJH d?L̿`տ@`?+ƿ*?x?ɨJoQ@J ;JCy^LBbHInInz6٢z!> zF=9~;Q ~> G٣y   > %Nusing accuracyPremultiplier from config-X49?-X4Y3 iP?B)5r5? C^R;h;cX4A ElAAZgygyjgyrgybgfffrfbf? @]]]]օ@I  ɚiIi)D*Fm22Fi:FqBFu;1JFqBO&> Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:21:14:41.7105 -TRx dataTimestamp_ set to:1736370882.828972=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531560 yI}fH I  I HI NKBI &I .I 6I <:I XFQ{0w,:°A6Q@Y6B_@6N13>962>y6H`k?C̿ տ@4@M?@Hƿ?`O ?ɨ6Q@60N;6CyRULBRQH]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.776771uMb@Mb@Mb@qqq q)qYujt?+?Q?yu >u=uu @=9c ;Q > G٣y$j > Nusing accuracyPremultiplier from configX49?X4Y$5 i+4>;?C;#;&X4 AB*** querying acoustic contact ***jjZggjgrgbgfffrf bf  7@]-+4>]-+4>]->]-{@I9 9 9ɚ9iAIAiA)IDU9*Fp42F:FBF0JFBO>>zKVLK9KKK   Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029507 i Iq s6w,e۰A6rQ@Y6_@6-4>96?0>y6H .?`V̿ տ`I?jyƿ?` ?ɨ6rQ@6;6Cy>LBBHIJIJq6٢f8> fX=9j8;Q j>hl nG٣lynܻ r> vNusing accuracyPremultiplier from configpvX49r?zX4Yrb6 ipxzz?r0Cr:r":r_X4 XAZggjgrgbgfffrfbf@]]]]v{@I  ɚiIi)DW9mWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:14:41.7105 LVL= 18016, 25825, 15122, 25459, AGC= 67, IDX= 431, 0.01, 3.015, 1.197, 1.184, 1.964, PHS= 1.140,-0.719,-0.782, RAW= 88.3, 3.9, CAL= 95.1, 2.1, ROT= 54.9, -2.1 Ygot valid direction response: 21:14:41.7105 LVL= 18016, 25825, 15122, 25459, AGC= 67, IDX= 431, 0.01, 3.015, 1.197, 1.184, 1.964, PHS= 1.140,-0.719,-0.782, RAW= 88.3, 3.9, CAL= 95.1, 2.1, ROT= 54.9, -2.1 PDAT read: Bearing 54.9, -2.1 (Local) ~Local bearing/azimuth received: Bearing 54.9, -2.1 (Local) DAT read: Range 10 to 50 : 591.6 m (Round-trip 788.8 ms) speed 0.0 m/s R#Rx 1: Read range and direction messages.^direction in FSK: [-0.155370,0.139434,0.977966]Fpublishing direction and range infoi9me'ÿ<6?W\K?ymDim`Fmd m;)mscIiim?mb8m'1HmC?m'g= mt?)mQ =ImKu?imQ iiJgJZJ1JJ%:JS9J3JmDC-?mJ<3>=Querying Benthos address 50 with one ping in standard two-way mode.% Will construct direction to contact in vehicle frame from tetrahedron phase data.5 ,DAT read: user:1610> M BDAT read: Tx time:21:14:43.0675 U $Ping request sent. q Iq N %G٣!y% -> 5Nusing accuracyPremultiplier from config)5X49-?=X4Y-6 i)=>=;=-9=?-?C- ;-j;-IX4I MAIHiImōC ImHImKBIi&Ii.Ii6Im<:Im:Fku?{?kuFk kq ku!尺A:kuDBkuDZku!'!@"ueVv%MT@0@ue'ÿ<6?W\K?Jku@@Rkut$*uX_y1 #)@!2sy@u]??0?L?"kuIA*kűku)6{?ku 2ku Dku/y?ku~ ku} DkuAkuw#i@Zggjgrgbgfffrf=|@bf=?]]>]]>]]@]]9X@Ii q qɚqiqIqiy)Dy*F 92F :F BF 0JF B!O=s>MWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:21:14:43.0667 ]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246856Cw,A2NQ@Y2m_@26>921>y2Hp s?@࣐̿տ@B?@vƿ ?B?ɨ2NQ@2Q;2~CzKN}KKN`9KLKNKN   RKV>JKV>yZMBZ=HIbIbc6٢jS> jy=9jW;Q n?pp rG٣pyvڻ v? zNusing accuracyPremultiplier from configx~X49zX?mX4Yz 7 ixiuV9u?zJCzće Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749811AIw,)Aj OQ@Yjm_@j6>9j^'>yjH QO?9̿`Đտ#Է?@ƿ ??ɨj OQ@j;jCyvIMBv~HI~!I~f6٢ !>  F=9#9Q > G٣y%8 %> -Nusing accuracyPremultiplier from config)5X49-?5X4Y-`7 i)1=89=?-WC-K ;- ;-.X4EdB EAEYEZggjgrg bg f fAfArfAbfM@V?]i]i]i]mX@Iy y yɚyiIi)Dm_[9*FA>2F:F BF 0JFBQO;>Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004052Hq Iq  Iu wHIu tLBIq &Iq .Iq 6Iu `<:Iu FPw,ΉCA> Q@Y>a(_@>7>9>@,>y>H`ա ?`\̿PտO%?ƿ?` ?ɨ> Q@>dI;>}CyFpMBFH5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257380UMb@Mb@Mb@QQQ Q)QYU(\µ?+ηI +?yU=UvU94 G٣y& > Nusing accuracyPremultiplier from configJfJ[J2JJ|":JW9Jc3JJ;aJ;aJ|:aJ|:aUY49E뀜?]Y4Y6 iH?B]>];])@]?dCW<+<Y4a mAiB*** querying acoustic contact ***jjZggjgrgbgfffrfbf ?]>]>]}@]X)@I) 1 1ɚ1i1I1iA)AD-\9*F?2F:FBF0JFBOC>zK)LKk9KKKBK%qA:K%qAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506763 I Ww,/m]AJP@YJ^@J1^6>9JL1>yJH A?m̿'տ@z?@ƿ@??ɨJP@J;JCyVMBVHI^I^T6٢va> zS=9zѺQ ~>|| G٣y) > Nusing accuracyPremultiplier from config Y49 瀜?Y4Y 6 i @?B!%(@%? qC S; ; JY4) -JA)xM4Docking module at standby.gQjgQrgQbgQfQfYfYrfYbf]?]y]y]y]}ݺ(@I  ɚiIi)D^9-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758427*FE?2FI:FIBFM0JFIBYOu> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017718F2]w,YwAy MB  HMb@Mb@Mb@ )YJ +?{GzĿMbyH=#A )KAI/AyAIhI R6٢,b= /=9Q > G٣y > Nusing accuracyPremultiplier from configY49*䀜?Y4Yz4 i'?B!,>; @?C,3;0;%Y4jH bH HIƍC IHILBI =&I.IOD6Ih<:IFBIJIRIZIbIjI_41 5A1=xU8Undocking sequence complete.1]!,>]eN@] @I ɚiIi)D*F?2F:FBFk4JFB!OEQ>MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265788JJYJJJJ[O9JJJJJ1n:J4n:dw,uAJ5P@YJ^@J9>9J1!9>yJH?Ϳտo8+?/ǿ M? S?ɨJ5P@JB;J~CyRMBROHI^~I^yT6٢f5$> fs=9fe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769760*J C="J =Njw,;A:P@Y:^@:9>9:8>y:H*?Ϳ տ5@?@6ǿ@y?@?ɨ:P@:=;:}CyFNBJoHIRxIRS6٢Z4= ZI=9^uQ ^>`` bG٣`yb: f> jNusing accuracyPremultiplier from configdjY49fހ?nY4Yf1 if>Bxz @z?fCf ;f+;f~?Y4| sAg-@1=-w-Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide;-w-Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guidew-Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDockf)f1f1rf1bf5 R @]Q]Q]Q]U @Ia aɚiiiIiii)qDb9BO= yIyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024408HIōC IHIhMBI =&I.I6Iz<:I#F)7qw,űA2P@Y2A_@2M9>92M7>y2H J?@Ϳ7տ@#?m ǿ`&k?x?ɨ2P@26;2CyR2NBRHWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273968MMb@Mb@Mb@III I)IJeeJe\Je1JaJe\:Je[9Je3JaJe;Je;Je؁:Jeف:YMQ?Gzǿ)\(yMu G٣y; > Nusing accuracyPremultiplier from configY49z܀?Y4Y 0 i>B;F>;`??C;-;NY4 *AB*** querying acoustic contact ***jjq=zAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance= {Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide>}Initialize.1? ~Initialize.=q=1?gg>g1> |Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeq>| rTransitioning to terminal guidance at range 591.599976 m q> > {Navigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg )=q?~:Initialize WaypointComponent.~ZNavigating to waypoint: 36.903300,-122.119000fffrfbf @]%;F>]%;F>]%b@]%`?ɛUHBU_N= ]ws<]\?IY ]ɚ]iYI]9ia)eADefc9BO >zKu]JKu`9KqKuKu  +D/4o qIufWill construct direction to contact in vehicle frame from tetrahedron phase data.ձiձBDAT read: Rx Time:21:14:46.2596 TRx dataTimestamp_ set to:1736370887.365109checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527306) ) E `wAWcww,ޱAV4Q@`YV/_@Vh8>9VYd6>yVH`n?̿` Vտ`a?;ƿO??ɨV4Q@V ;VC x^Y`wAyVByE7NBEHI][I]l6٢mVP< mM=9uQ u>qy }G٣yy}; }> Nusing accuracyPremultiplier from configY49ڀ?Y4YU. i>B??C. ; ;\Y4cB AXE~ZNavigating to waypoint: 36.903300,-122.119000hhR"h|Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange1> |Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangefffrfbf@] ] ] ] ?ɛ= !% ?I! %f:ɚ!i!I-\:5v<=5ɠ5BI5?i1i5 >)5?ܿ5?ܿ)9DMe9BO= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777962JaJe?A I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032424͌}w,4Au3Q@YuvR_@u}J7>9u6>yuHj@&?C̿@.wտ6{? ƿ[b??ɨu3Q@uÉ;u}Cyޅ=NBޅHZHRH?AHIƍC IHIMBI =&I.I6I8<:IFMb@Mb@Mb@ )Y{GztktƿMbyף 01A 5A)EAI+AyAIfI-n6٢:< *=9Q > G٣y ; > Nusing accuracyPremultiplier from configY49tـ?Y4Yf, iy>BH>;L??C;;`mY4 AI~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalIqB%%Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceB% %Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideC%%Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl1D--Initialize.qD--Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlD- -Initialize.D-1E-B-qB-1E5h5h7D5h5h7qD55Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlD=C=1D=h9h=BM$Terminal guidance.BMqEMMInitialize.UdInitializing internal variables to default values.UZTransitioning guidance mode to: UNINITIALIZED*jQ]DRollout timeout set to 300.00 sec.mVIIR filter is initialized with decay: 0.00.ubTransitioning guidance mode to: TERMINAL_GUIDANCE*ju?q=uz}Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance=} {}Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide>}}}Uninitialize.1?q?~>Uninitialize WaypointComponent.fffrfbf@]eH>]eH>]eݕ@]e+L?ɛu=NBu}J7> }}Iy d:ɚi?yD-n rE)siIiA?md;??9= ?3?)I.?i;!֏?N*4*?)yI47i @O+T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.O>rw,A:QQ@Y:np_@:5>9:o8>y:H|S?@̿oտ`Ż? ƿ`†?`o?ɨ:QQ@:~;:|CyR2NBRHIZqIZeo6٢5 5=9]Q ] ?aa eG٣ayea; e ? uNusing accuracyPremultiplier from configiuY4zK}3NK}89KyK}K}cE) |X.~jXG6&ymca]YVOMIFEA9m؀?Y4Ym+ imQ>B??mCmB;m};mxY4 )AkMw?kMu  IkI kMA:kMDBkMDZkM \@"M.$y3R2iI-Y@h@Mє%RbK]?WSD>?JkM @RkMO+*Mn%G+ BDAT read: Tx time:21:14:47.6175 $Ping request sent.)ӟ`@) ADg9EM 9#M Resume- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 JDAT read: TxSync time:21:14:47.6167 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251968B O >#w,,A2[Q@Y2 z_@2J3>928>y2H૘\?̿uտw?TƿM?R?ɨ2[Q@2;2~Cy:,NB>HIIob6٢&n  >=9 WQ  > =G٣9yU^: ]> eNusing accuracyPremultiplier from configYeY49]׀?mY4Y]\) i]>Bim?m?]C]:];]Y4 6AZjFNOT Ignoring new targets: 590.90 m.Bj;Jj ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.931631 m, bearing: 201.252240 deg, approach rate: 0.030395 m/s, LOS rate: nan deg/s, cmd heading: 201.094143 deg, new cmd heading: 201.252240 deg. %HeadingCmd: 3.512514 target range: 590.900024 and range: 590.90 m. j%`@j!j!j!i!h)h)hIhIfQfQfQrfQbf]@?]]]]M?ɛ>NB\ݸ 隽`I ԓ:ɚiI: )I)I5V?i9i9)e`@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506936Dj9Ea<#ResumingHIōC I HIMBI =&I.I6I9<:IG 5;G AB O% >쑬w,HA Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755542>jDQ@Y>c_@>$0>9>24>y>H? ̿տ`l?ſ!?`?ɨ>jDQ@>b;>CyRNBRxHMMb@Mb@Mb@III I)IYM~jthp= ףrh|yMDMMI M+A)M;AIM|AIyMAI]I]7`6٢mP m8=9uĻQ u>uL?}L? }G٣yyS > Nusing accuracyPremultiplier from configY49T׀?Y4Y( i=BI7>;!??C(O;M;Y4 dAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 590.90 m.Bjޒ;Jj ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.944765 m, bearing: 201.362562 deg, approach rate: 0.030589 m/s, LOS rate: nan deg/s, cmd heading: 201.252234 deg, new cmd heading: 201.362562 deg. HeadingCmd: 3.514440 target range: 590.900024 and range: 590.90 m. j`@jjjihhhhfff rf bf @ԯ?ɛ,ܺ 隽L&I ::ɚiI^ ;IX?ii)`@)D)j9PExceeded connect timeout, disconnecting.Ee *=# Start #4Initializing EZServoServo.zKsOK-9KKK@@<931.-+'&(&&##$$##" !  IIIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006722 #E 8Initializing DockingStepper.GU <G) B9 O] >w,aANEQ@YNXd_@NA->9N6>yNHz9?K˿@:տ@k ?ҍſ`Q? ?ɨNEQ@NZۉ;LyZNBZfHI`I`٢nH$ ni=9nU#Q n>pp rG٣pyvo9 v> ~Nusing accuracyPremultiplier from configxY49z׀?Y4Yz' iz=B? ?zCz';z;zYY4 AZj9=FNOT Ignoring new targets: 590.90 m.BjEN;JjAU ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.955210 m, bearing: 201.450917 deg, approach rate: 0.029841 m/s, LOS rate: nan deg/s, cmd heading: 201.362569 deg, new cmd heading: 201.450917 deg. ]HeadingCmd: 3.515982 target range: 590.900024 and range: 590.90 m. j]a@jYjYjYiYhahahahafififirfibfuG?ɛ?NBO 隥,bI Z:ɚiI(+;IN?ii)a@)DFl9ErAErA5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260256JeJ^J1JJ\:Jd9J3Ja@a@a@a@E8=#StartingG_=GBO> Y IY  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513222Kw,U{A aQ@Y _@  6+>9 4>y HJ}?j˿2տ>8ѻ?CMſ@*?@7?ɨ aQ@ d; y%MB%THH]F>IY IYIYIY&IY.IY6I]<:I]FMb@Mb@Mb@ )Y rh?v/DlyC<xiO A |A)AIΊAyQAI5I5d6٢M9 M4=9UQ U>QQ UG٣]?Gy]8w; ]> mNusing accuracyPremultiplier from configamY49eր?mY4Ye& iee=Bu>u;uQ?u?eCe;e;eGY4y }AZjFNOT Ignoring new targets: 590.90 m.Bjۭ:Jj ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.958982 m, bearing: 201.485461 deg, approach rate: 0.008301 m/s, LOS rate: nan deg/s, cmd heading: 201.450911 deg, new cmd heading: 201.485461 deg. HeadingCmd: 3.516585 target range: 590.900024 and range: 590.90 m. ja@jjjihhhhfffrfbf?ɛ@NB(o 隍؏I B}:ɚiIT;IEt@ii)a@)DBm9EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762703#MStartingG m=G B O5 >  nManaging dock network, ignoring radio surface power offEw,wA6`WQ@Y6u_@6c*>96X1>y6H?/˿ 3տM+(?@[3ſ??ɨ6`WQ@68ډ;6CyRMBR+HIZ8IZi6٢b bj=9jQ j>hh nG٣l IzK MK K K K      yeF m> uNusing accuracyPremultiplier from configi}Y49mր?}Y4Ymc& im.=By}'?}?mCm ;mT ;mY4 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014791ZjFNOT Ignoring new targets: 590.90 m.Bj:Jj ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.961992 m, bearing: 201.513696 deg, approach rate: 0.008143 m/s, LOS rate: nan deg/s, cmd heading: 201.485458 deg, new cmd heading: 201.513696 deg. HeadingCmd: 3.517077 target range: 590.900024 and range: 590.90 m. ja@jjjihhhhfffrfbf@<@ɛANB/5ۻ !%ԽI! %Fli:ɚ!i!I-Hv;I--@i)i1)5a@)1BD=#?:D=>D5n9#=Starting#BInit string: /1z16352aE13561N3m50G">GyBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266760J fJ aJ 2J J |":J p9J c3J LHw,eRA2QQ@Y2p_@2(>92*>y2H٧?Bʿտ?ſ? ?ɨ2QQ@2<;2{CyRMBRHIZRIZk6٢f fJ=9f"kQ f>hh jG٣hyn_ n> rNusing accuracyPremultiplier from configpvY49rր?vY4Yr & ir IGqBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521931O )>HG>I IHIMBI =&I.I6IH<:IFBIUōCJIUōCRIQZIQbIQjIU(5] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771407:w,VɲAy MB HMb@Mb@Mb@ )YA`"?/$?x&yY=<7 &A ΊA)&AIyAI qI eo6٢w\ 6=9%Q %>!) -G٣-?Gy- -> =Nusing accuracyPremultiplier from config1=Y495ր?EY4Y5& i5E;E쿑M?5C5!;5b;5SY4Q UXAQmB*** querying acoustic contact ***jijiZjyFNOT Ignoring new targets: 590.90 m.BjJj ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.950562 m, bearing: 201.498880 deg, approach rate: -0.032526 m/s, LOS rate: nan deg/s, cmd heading: 201.544225 deg, new cmd heading: 201.498880 deg. HeadingCmd: 3.516819 target range: 590.900024 and range: 590.90 m. ja@jjjihhhhfffrfbf@ɛCNBH( (I &z&:ɚiIQ;Isa@ii)a@)DuWq9#}StartingGUETn>G B!O=P> IzKeLKe#9KaKeKe .zBKi:KiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022750[w, 㲺ARQ@YRd5_@R͗%>9RT>yRH@۵B?ɿlտJ?Ŀ? G8?ɨRQ@RO;RCyrMBrHIUIU s6٢e1 eX=9m7 Q u> G٣y > Nusing accuracyPremultiplier from configY49Հ?Y4Y$' iGaBiO:> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526773Šw,aAHF>I IHIrMBI&I.IND6I`<:IFeP@Ye$_@e">9e8>yeH@?@G(ɿDտ`@~?`IĿ@Z?@B?ɨeP@e;e}Cy}MB}HMb@Mb@Mb@ )YQ?I +?i|?5y=9=A )ʪAI AyAI-I-bs6٢=> ===9EQ E>II MG٣IyUtѻ ]> eNusing accuracyPremultiplier from configYmY49]NӀ?mY4Y]( i]Km;m$u?]4C];];]Y4y }AyZj%FNOT Ignoring new targets: 590.90 m.Bj-ąJj)= ProNav pure pursuit: ac range: 590.900024 m, nav range: 23.892717 m, bearing: 201.357797 deg, approach rate: -0.101369 m/s, LOS rate: nan deg/s, cmd heading: 201.462413 deg, new cmd heading: 201.357797 deg. =HeadingCmd: 3.514357 target range: 590.900024 and range: 590.90 m. j=8`@jajajaiahihihihifqfqfqrfqbf}@ڑ@ɛGNB+L IGI #@9ɚiI(.;I@ii)8`@)DIu9#%Starting#LSent speed cmd:/1V10000 Response:/0@ Will construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:21:14:50.8103 %TRx dataTimestamp_ set to:1736370892.153786-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780934G >G rAG rAG B O >PlŬw,A 0I4>P@Y>X^@>k >9>>y>H{?ةȿ`Կz!?`Ŀ?@mJ?ɨ>P@>V;>~CyJ]MBJHIVIVr6٢b^Ľ bg=9f̻Q f>dh jG٣j?Gyj) j> rNusing accuracyPremultiplier from configpvZ49rtр?vZ4Yr) ir Ygot valid direction response: 21:14:50.8103 LVL= 14816, 29425, 20898, 27443, AGC= 67, IDX= 436,-0.24, 3.022, 1.338, 1.210, 2.023, PHS= 1.087,-0.639,-0.816, RAW= 85.2, 4.1, CAL= 91.0, 2.4, ROT= 59.0, -2.4  PDAT read: Bearing 59.0, -2.4 (Local)  ~Local bearing/azimuth received: Bearing 59.0, -2.4 (Local)  DAT read: Range 10 to 50 : 591.4 m (Round-trip 788.6 ms) speed 0.0 m/s  R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.154080,0.193410,0.968944] Fpublishing direction and range info1 95 MÿuPͨ?Ot?y5 D1 5 95 r 5 Q)5 3kI1 i5 "?5 #5 `P5 V?5 C= 5 K?)5 +=I5 ΃?i5 +1 1 5 fg3?:d V>?)5 ٝI5 i5 `@5 1 1  T****** received valid address query ******G B O > R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.-ˬw,50AyzSMBzHII(t6٢%{ %D=9%Q %>)) -G٣1yU U> ]Nusing accuracyPremultiplier from configYeZ49]@π?eZ4Y]V+ i];Baae?]PC] :]n:]Z4q uAu[Ek]م?k] V kY k]*A:k]DBk]DZk]g@"]^\V;z}\@51D@]MÿuPͨ?Ot?Jk]`@Rk]*]D0#@h>Xppt@]U3;?0 EԪX?"k]*k]Ak]?k]\5[ 2k]u Dk])6{?kYkYk]tAk]Xg@ addTargetRange:: Added new target pos. range: 591.400024 m, deltaT: 4.536664 s, deltaX: 0.500000 m, approachRate: 0.110213 m/s, rangeRepo size: 2  Added new target pos. range: 591.400024 m, bearing: 287.203322 deg, lat: 36.904310 deg, lon: -122.112532 deg, deltaT: 4.536664 s, deltaX: 0.500000 m, approachRate: 0.110213 m/s, posRepo size: 2 ZjFNOT Ignoring new targets: 591.40 m.BjJjProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 287.203322 deg.HeadingCmd: 5.012644 target range: 591.400024 and range: 591.40 m. jg@jjjihhh h f ffrf@3{@bf@5^? IIIɛKNBĂ 1wI X}ɚiI;Ii)@ii)g@)Will construct direction to contact in vehicle frame from tetrahedron phase data.,DAT read: user:1612> BDAT read: Tx time:21:14:52.1675 $Ping request sent.- Will construct direction to contact in vehicle frame from tetrahedron phase data.= JDAT read: TxSync time:21:14:52.1667 E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249089GI B O >&Ҭw, LAJO@YJ]@Jg>9Jd>yJH+?@ǿ@{ԿIY?yÿz?`[?ɨJO@JC;JCyVFMBVzHuMb@Mb@Mb@qqq q)qYu|?5^?/$?KyuR>u1>u^uA u A)udAIuĈAqyu—AIIbr6٢ 9=9Q > G٣y > Nusing accuracyPremultiplier from configZ492ʀ?Z4Y- i;B>J;S ?kCjv;u;$Z4 AB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 591.40 m.Bj ѻJj ѻ ProNav: ac range: 591.400024 m, nav range: 18.964468 m, bearing: 206.672705 deg, approach rate: -0.222707 m/s, LOS rate: -0.366494 deg/s, cmd heading: 287.203335 deg, new cmd heading: 286.746810 deg. 2j{%HeadingCmd: 5.004676 target range: 591.400024 and range: 591.40 m. j%N&@j!j)j)i)h)h)h1h1f1f9f9rfAbfE ]?ɛMNB BI tɚiIR";IA.@ii)N&@) Dx9 $?I*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500499zK'PKKKKtpmkkea_]]YYWVVRRQQNLLahT%]nDsH~];yG >G B O >g٬w,eAZ0O@YZXO]@ZR>9Zj=yZH.?@dǿ@ӿ@Y]@?7ÿ$?e?ɨZ0O@Z;Z~Cyj7MBjgHIvIvq6٢5" T=9PQ >    G٣ ?GyX > %Nusing accuracyPremultiplier from config-Z49ŀ?-Z4Y/ i;B)- -?C::1Z49 =!A9ZjamFNOT Ignoring new targets: 591.40 m.BjmŻJjmŻ} ProNav: ac range: 591.400024 m, nav range: 18.882883 m, bearing: 206.540510 deg, approach rate: -0.212568 m/s, LOS rate: -0.345919 deg/s, cmd heading: 286.746805 deg, new cmd heading: 286.348513 deg. 2j}fmHeadingCmd: 4.997725 target range: 591.400024 and range: 591.40 m. j\@jjjihhhhfffrfbf ?ɛONB 1I ]ɚiI5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003270G! BA O >jHe <bHe 4<H} D>Iy  I} KHI} !MBI} =&Iy .Iy 6I} C<:I} F5*w,A6^lN@Y6\@6?>96w=y6H@01?sƿLҿz ?`¿@e?@k?ɨ6^lN@6c;6}CyB;MBBkHuMb@Mb@Mb@qqq q)qYu|?5^?MbX9?Qyuҍ>u!>uuuA u|A)uAIqqyu AIVIgl6٢i< :=9Q > G٣y߼ > Nusing accuracyPremultiplier from configZ49 ?Z4YY2 in;B#>#;j?C;j;@Z4dB A\EZjFNOT Ignoring new targets: 591.40 m.BjһJjһ% ProNav: ac range: 591.400024 m, nav range: 18.755272 m, bearing: 206.379894 deg, approach rate: -0.290675 m/s, LOS rate: -0.368344 deg/s, cmd heading: 286.348523 deg, new cmd heading: 285.863407 deg. 2j%|-HeadingCmd: 4.989258 target range: 591.400024 and range: 591.40 m. j-@j)j)j1i1h1h1h9h9f9f9fArfAbfE?ɛ RNBK\ I n<ɚi!I%5Gi Bq O > I fHw,>\A"Will construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506971BM@YB,[@BE=>9BO =yBH`S-?@ƿ'ҿ@@?m¿@?`cp?ɨBM@BF;B~CzKNҚOKN9KLKNKNqgbZRKEA>=8431-+)('$"     yVDMBVwHI\I\٢fQ< f[=9jYQ j>hh nG٣lyn n> vNusing accuracyPremultiplier from configpvZ49ru?zZ4Yr4 irO;BxzPz?rCr:r;rMZ4| AZj!-FNOT Ignoring new targets: 591.40 m.Bj-ͻJj-ͻE ProNav: ac range: 591.400024 m, nav range: 18.646431 m, bearing: 206.246492 deg, approach rate: -0.291898 m/s, LOS rate: -0.359855 deg/s, cmd heading: 285.863416 deg, new cmd heading: 285.460881 deg. 2jEvMHeadingCmd: 4.982232 target range: 591.400024 and range: 591.40 m. jMrn@jIjIjIiIhQhQhYhYfYfafarfabfe@?ɛTNBr 隕5I lnɚiI@ii)rn@)D*F-?2F):F1BF50JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759808Gmɯ>G}qAG}pAGA BQ Om >rw,?6AF.L@YFZ@Fa>9Fb=yFHqj?@ſ \ѿHı?¿ ? t?ɨF.L@Fk;FCyZIMBZ~HI~I~q6٢ Y<  F=9^Q > G٣?Gy %> -Nusing accuracyPremultiplier from config!-Z49%?5Z4Y%(7 i%-;B15+=?%C% ;%~ ;%_\Z4A EAAZjq}FNOT Ignoring new targets: 591.40 m.Bj}ȻJj}Ȼ ProNav: ac range: 591.400024 m, nav range: 18.525684 m, bearing: 206.102295 deg, approach rate: -0.291926 m/s, LOS rate: -0.350894 deg/s, cmd heading: 285.460872 deg, new cmd heading: 285.025469 deg. 2jp IHeadingCmd: 4.974633 target range: 591.400024 and range: 591.40 m. j10@jjjihhhhfffrfbf`@ɛWNBm ↾I ɚiI!I I?HIMBI =&I.I6I+<:IFGa GA BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262910Je cJe WJa Ja Je :Je G9Ja Ja Je ;am Je ;am Je _:au Je _:au LYw, γAy gMB HMb@Mb@Mb@ )Y"~j?/$?QyS>>A +A)XAIyAIlIn6٢ɇ= >=9Q > G٣y > Nusing accuracyPremultiplier from configZ49?Z4Y9 i;Bʵ>;? C;;bkZ4  ²A_E-B*** querying acoustic contact ***j)j)Zj9EFNOT Ignoring new targets: 591.40 m.BjMJjMe ProNav: ac range: 591.400024 m, nav range: 18.381245 m, bearing: 205.971768 deg, approach rate: -0.335975 m/s, LOS rate: -0.305999 deg/s, cmd heading: 285.025461 deg, new cmd heading: 284.630809 deg. 2jmRmHeadingCmd: 4.967745 target range: 591.400024 and range: 591.40 m. jm@jqjqjqiqhyhyhyhyfffrfbf@k)@ɛu[NBu?Ӌ y}sIy }{ͯɚyiyIi+)@)BD)?:D? $?IDX9E{>E >*F=?2F9:F9BF=5JFAmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516559zK5 MK5ж9K1K5K5' SmNT . N Q , {9 )8%Ge >G9 BQ Ou >w,糺AjyJ@YjX@j3~>9j=yjH)#a?Fſ_!Ͽ@`$?̞¿`Eʺ?d{?ɨjyJ@jS;j}CyzwMBzHI]`I]m6٢}"= }P=9F|Q > G٣y= >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767580 Nusing accuracyPremultiplier from configZ49?Z4Y7< i:B?0C1;;TyZ4 AZjFNOT Ignoring new targets: 591.40 m.Bj6Jj6- ProNav: ac range: 591.400024 m, nav range: 18.246143 m, bearing: 205.861197 deg, approach rate: -0.339774 m/s, LOS rate: -0.280140 deg/s, cmd heading: 284.630812 deg, new cmd heading: 284.296647 deg. 2j-A@5HeadingCmd: 4.961913 target range: 591.400024 and range: 591.40 m. j5Ǟ@j1j9j9i9h9h9hAhAfAfAfIrfIbfM`:X@ɛu^NBuW y}fIy }DƺɚyiyI}=3GBOm> qIqe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019852H F>I  I dHI 5MBI =&I .I 6I 9<:I FBIqJIqRIqZIu =bIu =jIu˴5pw,EAvI@YvW@vW>9vq2=yvH c?Ŀ`aͿ@H@i?¿ ?`?ɨvI@v+;ty MB HMb@Mb@Mb@ )YQ?Zd;?~jthyµ>=DٝA ׌A)AIAyAIZIl6٢= E=9ŸQ > G٣?Gy' > Nusing accuracyPremultiplier from configZ49璀?Z4Y\> i:B3> ;$?WC;;Z4 ZAZjFNOT Ignoring new targets: 591.40 m.BjJj ProNav: ac range: 591.400024 m, nav range: 18.094873 m, bearing: 205.807107 deg, approach rate: -0.355301 m/s, LOS rate: -0.128106 deg/s, cmd heading: 284.296652 deg, new cmd heading: 284.133028 deg. 2j֯HeadingCmd: 4.959057 target range: 591.400024 and range: 591.40 m. j@jjjihhhhfffrf bf  @ɛUaNBUT]q Y]FIY ]|ܺɚYiYI]<GiBqO~> Y Ia w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522870>H@Y>%V@>>9>=y>HSM? 2Ŀ`!˿ 6@?7¿?`n?ɨ>H@>;\\ bG٣`yb- b> fNusing accuracyPremultiplier from configdjZ49f ?jZ4Yf=@ if:Bln%n?fzCfd;f;fnZ4t z@AzbEzKDPK9KKK!]-mH"zme[YURQKIHDCABCA=;=<::<::563343232130,+*+Zj)-FNOT Ignoring new targets: 591.40 m.Bj5 Jj5  ProNav: ac range: 591.400024 m, nav range: 17.958561 m, bearing: 205.764314 deg, approach rate: -0.385725 m/s, LOS rate: -0.122012 deg/s, cmd heading: 284.133028 deg, new cmd heading: 284.003674 deg. 2jxHeadingCmd: 4.956799 target range: 591.400024 and range: 591.40 m. j@jjjihhhhfffrfbf 5@ɛEdNBMliy IM7G B O5 >d w,w5A6HG@Y6U@6\>96=y6H ?@TMĿ` ɿVT@P?i¿\?` ?ɨ6HG@6[;4yRMBR!HIZCIZLj6٢f= fI=9jm^Q j>ll nG٣lyr}) r> vNusing accuracyPremultiplier from configtzZ49v~?zZ4YvEB iv:Bxz'z?vCve: $?Iv:vZ4  AZjY]FNOT Ignoring new targets: 591.40 m.BjeJjeẝu ProNav: ac range: 591.400024 m, nav range: 17.807169 m, bearing: 205.724190 deg, approach rate: -0.369173 m/s, LOS rate: -0.098674 deg/s, cmd heading: 284.003664 deg, new cmd heading: 283.882271 deg. 2jup}HeadingCmd: 4.954680 target range: 591.400024 and range: 591.40 m. j}@jyjyjihhhhfffrfbf@&@ɛhNBQN I w ɚiILIy I}HI}hMBIy&Iy.Iy6I}F<:I}FG H>G rAG rAG)BIOuy> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:14:55.3665 LVL= 11104, 30065, 19490, 26739, AGC= 68, IDX= 502, 0.47,-2.231, 2.654, 2.180,-3.054, PHS= 0.911,-0.528,-1.052, RAW= 75.0, 7.6, CAL= 78.3, 10.3, ROT= 71.7, -10.3 % Ygot valid direction response: 21:14:55.3665 LVL= 11104, 30065, 19490, 26739, AGC= 68, IDX= 502, 0.47,-2.231, 2.654, 2.180,-3.054, PHS= 0.911,-0.528,-1.052, RAW= 75.0, 7.6, CAL= 78.3, 10.3, ROT= 71.7, -10.3 - PDAT read: Bearing 71.7, -10.3 (Local) - ~Local bearing/azimuth received: Bearing 71.7, -10.3 (Local) 5 DAT read: Range 10 to 50 : 596.0 m (Round-trip 794.7 ms) speed 0.0 m/s JE cJE \JA JA JE :JE [9JA JA JE ;JE ;JE ؁:JE ف:] R#Rx 1: Read range and direction messages. ^direction in FSK: [-0.201117,0.358802,0.911489] Fpublishing direction and range info 9 ]4ɿ7+?v*?y D `+ qu "L) shI Di L7i? + 𧆿 6? > ?) X8>I -?i X8 'RHs?,$.f2E ?) HI (i M:@ P͒  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.9w,VOA6ɛF@Y6gT@6(>96z\=y6H}#?Ŀƿm?q¿K??ɨ6ɛF@6E;6~CyRMBV?HMb@Mb@Mb@ )BYZd;O?Q? rh?yj>u=C<|A A)AInAyfAI}&I}g6٢O= 1=9Q > G٣?Gy > Nusing accuracyPremultiplier from configZ49p?Z4YC i:B>;O3?C;;%Z4 ıAk{{?k =g k ktFLA:kDBk DZke@"CKi]j@5C@]4ɿ7+?v*?JkM:@RkP͒*G^P@k9cgmց@5[?rrпW;?"k*k͆Bk#Ο?k_ 2kDkY;|?kku DkTAkp@ addTargetRange:: Added new target pos. range: 596.000000 m, deltaT: 4.535207 s, deltaX: 4.599976 m, approachRate: 1.014281 m/s, rangeRepo size: 3  Added new target pos. range: 596.000000 m, bearing: 293.126078 deg, lat: 36.904356 deg, lon: -122.112532 deg, deltaT: 4.535207 s, deltaX: 4.599976 m, approachRate: 1.014281 m/s, posRepo size: 3 ZjFNOT Ignoring new targets: 596.00 m.BjJj I ProNav: ac range: 596.000000 m, nav range: 13.254190 m, bearing: 215.361124 deg, approach rate: 0.000000 m/s, LOS rate: -0.098674 deg/s, cmd heading: 283.882278 deg, new cmd heading: 283.740577 deg. 2jHeadingCmd: 4.952207 target range: 596.000000 and range: 596.00 m. j{x@j!j!j!i!h!h1h9h9fAfAfrf@bf?ɛmNB|' I tNɚiIV UBDAT read: Tx time:21:14:56.7176 U$Ping request sent.UG>vA 5oQY=vAy=XIBGm >G) B9 O] >Zw,X:iARE@YRMS@R>9RE=yRH9 ̬??ÿsĿ:s?C¿Lk?D?ɨRE@Rw6;RCyNBfHWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:14:56.7168 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254289IIb6٢?= MS=9U9Q U>QQ ]G٣Yy]& ]> Nusing accuracyPremultiplier from configZ49Vd?Z4Y E i:BN4?C::Z4 AeEB*** querying acoustic contact ***jjZj15FNOT Ignoring new targets: 596.00 m.Bj= <JjM E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501625H] F>IY  I] HI] MBI] =&IY .IY 6I] <:I] F& w, iA-D@Y--R@-P(>9-=y-HMd?bÿ¿%?-¿`?G?ɨ-D@-JC;)yE-NBMH5Mb@Mb@Mb@111 1)5AY5 r?y&1V-?y5>5`e5<5ΛA 5A)1I5A1y5AIUIUT`6٢e= eB=9e5V:Q m>ii mG٣iyu} u> }Nusing accuracyPremultiplier from configyZ49}tW?Z4Y}{E i}:BG> ;'B?}C};};}Z4 6AZjFNOT Ignoring new targets: 596.00 m.Bjs<Jjs< ProNav: ac range: 596.000000 m, nav range: 12.979579 m, bearing: 215.879577 deg, approach rate: -0.339146 m/s, LOS rate: 0.852423 deg/s, cmd heading: 284.303400 deg, new cmd heading: 285.312072 deg. 2j@=HeadingCmd: 4.979635 target range: 596.000000 and range: 596.00 m. j,Y@jjjihhhhfffrfbfF?ɛuNBM I ɚi!I%f $?I - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005640&w,5*A6C@Y6WQ@6?>96ɳ=y6H S\@%̿?lÿ dp%?¿4??ɨ6C@6;6}Cy>ANBrHI~I~X[6٢ Z=  d=9 B9Q  > G٣y > %Nusing accuracyPremultiplier from config!-Z49%K?5Z4Y%E i%:B1=C=?%>C%uE;%.F;%Z4A EAEhEZjimFNOT Ignoring new targets: 596.00 m.Bjux<Jjux< ProNav: ac range: 596.000000 m, nav range: 12.861643 m, bearing: 216.189007 deg, approach rate: -0.328615 m/s, LOS rate: 0.870089 deg/s, cmd heading: 285.312083 deg, new cmd heading: 286.248796 deg. 2jH=HeadingCmd: 4.995984 target range: 596.000000 and range: 596.00 m. jߟ@jjjihhhhfffrfbfI?ɛyNBXл _I )ɚiI3fmWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259404*J"J=-w,`A $I$:<8C@Y:VQ@:D.>9:c۾=y:Heq?@ÿ`lUٲ? ¿? ?ɨ:<8C@:Q;:~CyFVNBFHIRIRX6٢V%X= ZP=9Z2Q Z>\\ ^G٣^?GybZ b> fNusing accuracyPremultiplier from configdjZ49f^??jZ4Yf)F if:BhjCj?fdCfe:f:fCZ4p rApZj  FNOT Ignoring new targets: 596.00 m.Bj1<Jj1< ProNav: ac range: 596.000000 m, nav range: 12.733709 m, bearing: 216.539284 deg, approach rate: -0.326739 m/s, LOS rate: 0.903581 deg/s, cmd heading: 286.248802 deg, new cmd heading: 287.310062 deg. 2j=HeadingCmd: 5.014506 target range: 596.000000 and range: 596.00 m. jv@jjjihhhhfffrfbf?ɛU}NBUTE Y]IY ]{ɚYiYI]hu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7616484w, дA2B@Y2P@2I>921=y2Hj@[?s Ŀ"-+?¿ ?@q~?ɨ2B@2 ;2|Cy>iNB>H}Mb@Mb@Mb@yyy y)yY}x&?bX9ȶS㥛?y}7>}E}/<}+A y)}^AI}nAyy}—AII]6٢C2= :=9;Q > G٣yVi > Nusing accuracyPremultiplier from config Z49p0? Z4YE iw:B>;EB@?C;jv;Z4) -A1ZjYeFNOT Ignoring new targets: 596.00 m.Bje<Jje3:w,m괺AF{B@YFP@F>9F =yFH`=n '?OĿĽ` ?F¿X?~s?ɨF{B@F;F~Cy{NBHII]6٢%c;= %U=9-p;Q ->)1 5G٣1y5^ => ENusing accuracyPremultiplier from config9E[49=#?M[4Y=7E i=g:BIMA@M?=C=7:=:=[4Y ]A]kEuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269829ZjFNOT Ignoring new targets: 596.00 m.Bj6<Jj6<JJJdJ\J1JJ<:J[9J3Ja@a@a@a@ ProNav: ac range: 596.000000 m, nav range: 12.492634 m, bearing: 217.570693 deg, approach rate: -0.292304 m/s, LOS rate: 1.288408 deg/s, cmd heading: 288.971835 deg, new cmd heading: 290.433314 deg. 2j]= HeadingCmd: 5.069017 target range: 596.000000 and range: 596.00 m. jd5@jjjihhhhfff!rf!bf%^@ɛNBK `\=@:I ɚiI% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521676H E>I  I HI >NBI &I .I ND6I д<:I FvAw,AyvNBH}Mb@Mb@Mb@yyy y)yY}@5^I ?~jtÿMb?y}b>}}<}A }A)}AI}ʊAyy}AII[6٢5 2=9Q > G٣?Gy > Nusing accuracyPremultiplier from config[49?[4YC iF:Bz>:o9@?C ;i ;[4  A -B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 596.00 m.BjE<JjE $?I 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025731cAGw,rnAFB@YFP@Fq>9F>yFH@j? ĿԾ@̏`ڼ? ¿ ϣ?`?ɨFB@F쁋;F}CyVxNBVHI^I^\6٢fq; fs=9fQ j?hh jG٣hynuM< n? rNusing accuracyPremultiplier from configpv[49r?v[4YrC ir.:Bxz9@z?rCrQ;rr;r![4 AoEZjFNOT Ignoring new targets: 596.00 m.Bj G<Jj G<% ProNav: ac range: 596.000000 m, nav range: 12.283005 m, bearing: 218.815129 deg, approach rate: -0.242888 m/s, LOS rate: 1.470712 deg/s, cmd heading: 292.597736 deg, new cmd heading: 294.197553 deg. 2j%U|=-HeadingCmd: 5.134716 target range: 596.000000 and range: 596.00 m. j-O@j)j)j)i)h1h1h9h9f9f9f9rfAbfEJ @ɛmNBm imǼIi u ɚqiqIuيWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277635JJVJJJJB9JJ  I nMw,V8AB~KC@YBjQ@B([>9B+>yBHd ǻ?8Ŀ{ ~?`w¿`?W?ɨB~KC@B];B~CyNjNBNHIVIV9^6٢^  bK=9b=Q b>dd fG٣dyf< f> nNusing accuracyPremultiplier from configlr[49n?r[4YnB in:BprC:@r?n=Cn;n;n/[4| ~A|Zj!%FNOT Ignoring new targets: 596.00 m.Bj-<Jj-<= ProNav: ac range: 596.000000 m, nav range: 12.177535 m, bearing: 219.456305 deg, approach rate: -0.280440 m/s, LOS rate: 1.719597 deg/s, cmd heading: 294.197558 deg, new cmd heading: 296.136965 deg. 2j==EHeadingCmd: 5.168565 target range: 596.000000 and range: 596.00 m. jEd@jAjAjAiAhIhIhIhIfQffrfbf @ɛNB: !%0I! %H2ɚ!i!I%xĎIi ImHIm\NBIi&Ii.ImOD6Im-<:ImFBI1JI1RI1ZI1bI1jI54E5C;=EEqAEEqA*F?2F:FBF5JFGrA GrAG 1H Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:14:59.9087  TRx dataTimestamp_ set to:1736370901.229725 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783838G B O >*TTw,'RA6' D@Y6'R@6*6>962">y6HY?ĿP$b%l?V¿^?`E?ɨ6' D@66W;6|CyB\NBBHEMb@Mb@Mb@AAA A)AYE7A`?+ǿMbyE>Ev>EEA E3A)EAIEzAAyE™AI]I]V]6٢m m@=9u@Q u>yy }G٣}?Gy}< > Nusing accuracyPremultiplier from config[499?[4Y@ i9BI>:7@?mC;|;>[4 ڰArEZjFNOT Ignoring new targets: 596.00 m.Bj}<Jj}< ProNav: ac range: 596.000000 m, nav range: 12.070365 m, bearing: 220.191379 deg, approach rate: -0.252176 m/s, LOS rate: 1.744972 deg/s, cmd heading: 296.136976 deg, new cmd heading: 298.360600 deg. 2j=HeadingCmd: 5.207375 target range: 596.000000 and range: 596.00 m. jѢ@jjjihhhh f f f rf bf@ɛENBETܻ AE8IA MIɚIiIIM>ȒzK- KK- 9K) K- #K-   )'%&% !BKe rA:Ke rA0}Zw,~kAFK E@YF(S@FN>9FEZ7>yFH@J"?Ŀÿ8ž??-?ɨFK E@Fe;F{CynQNBnHttIzIz]6٢ݼ R=9 Q >! %G٣!y-n#= 5> =Nusing accuracyPremultiplier from config1M[495?M[4Y5? i59BIU8@U?5C5X_;5_;5L[4]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:14:59.9087 LVL= 13024, 24289, 17490, 22515, AGC= 69, IDX= 430, 0.08, 1.658, 0.745,-0.228, 0.484, PHS= 1.262, 0.308,-0.716, RAW= 58.8, -10.0, CAL= 68.2, -17.5, ROT= 81.8, 17.5 JcJWJ2JJ:JG9Jc3JYgot valid direction response: 21:14:59.9087 LVL= 13024, 24289, 17490, 22515, AGC= 69, IDX= 430, 0.08, 1.658, 0.745,-0.228, 0.484, PHS= 1.262, 0.308,-0.716, RAW= 58.8, -10.0, CAL= 68.2, -17.5, ROT= 81.8, 17.5 PDAT read: Bearing 81.8, 17.5 (Local) ~Local bearing/azimuth received: Bearing 81.8, 17.5 (Local) DAT read: Range 10 to 50 : 590.2 m (Round-trip 787.0 ms) speed -0.1 m/s R#Rx 1: Read range and direction messages.\direction in FSK: [0.158519,0.572831,0.804199]Fpublishing direction and range infoa9e2 r\J?#T?p?yeD Aae2e^ eRD)eWIeEie7?e->eK7eG\?e¸2 e:\?)eaIe3?iea>aaed6d?D\,ě(C6ƿ)eIe2>ie]?e0oaaT****** received valid address query ******keFV?kePN ka ke0nA:keDBkeDR****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Zke@"e4.cW@s!\!u@J6}@e2 r\J?#T?p?Jke]?Rke0o*e}+ U_ɠYpê@eL7.˿?phݿQ{И?"ke*keketV?ke^( 2ke$ Dke)6{?ke\5[ kem DkeqBkeψ@M addTargetRange:: Added new target pos. range: 590.200012 m, deltaT: 4.540206 s, deltaX: -5.799988 m, approachRate: -1.277472 m/s, rangeRepo size: 4  Added new target pos. range: 590.200012 m, bearing: 245.196130 deg, lat: 36.904310 deg, lon: -122.112784 deg, deltaT: 4.540206 s, deltaX: -5.799988 m, approachRate: -1.277472 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 590.20 m.BjJj ProNav: ac range: 590.200012 m, nav range: 33.360523 m, bearing: 244.960095 deg, approach rate: 0.000000 m/s, LOS rate: 1.744972 deg/s, cmd heading: 298.360613 deg, new cmd heading: 300.721041 deg. 2jHeadingCmd: 5.248572 target range: 590.200012 and range: 590.20 m. jN@jjj i h h hhfffrfq@bf?ɛNBN I #ɚiIu  BDAT read: Tx time:21:15:01.2676  $Ping request sent. 9BK>yBHj6j?`6ſ0:ƿ?{c ??ɨB7F@BO;B}CyR2NBRH=Mb@Mb@Mb@999 9)9Y=ףp= ?gfffffƿL7A`尿y=>=33=+=jA =׌A)=AI=(A9y=AIMIMV]6٢]e ]=9=JQ e>aa eG٣e?Gym$= m> uNusing accuracyPremultiplier from configq}[49u?}[4YuB> iuL9Bo>:=@?uCuq ;u2 ;u`[4eB /AuEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 590.20 m.Bj%=i<Jj%=i<5 ProNav: ac range: 590.200012 m, nav range: 33.297375 m, bearing: 245.391372 deg, approach rate: -0.119204 m/s, LOS rate: 0.815649 deg/s, cmd heading: 300.721044 deg, new cmd heading: 302.017093 deg. 2jU =]HeadingCmd: 5.271193 target range: 590.200012 and range: 590.20 m. j]@jYjYjaiahahahihifififirfqbfui?ɛNB%! )-tI) -+ɚ)i)I-nkDm9*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502904G%5tAA nJY5tAyABG zK 7MK ŷ9K K $K     G B O >ƒiw,J'A2G@Y2^U@2s>92md>y2H`>J?bſȿ`S?@]A?@?ɨ2G@22ы;2Cy:MB:BHIJIJ8_6٢VC@ ZX=9ZAQ ^>`` bG٣`yfr= f? ]Nusing accuracyPremultiplier from configlm[49n?m[4Yn= in9Bqu>@u?nCnIa  Ie wHIe NBIa &Ia .Ia 6Ie 2<:Ie FGq B O >pw,ԘµA65H@Y6W@6e=96s>y6H``m?@+ſ˿Ӎ#? ??ɨ65H@6e;6Cy>MB>HIFIF^6٢~w ~A=9~lQ ~> G٣y G[=  > Nusing accuracyPremultiplier from config[49?[4Y< i8B%z@@%?4C3;4;{[41 5A5xEZjyFNOT Ignoring new targets: 590.20 m.BjHg<JjHg< ProNav: ac range: 590.200012 m, nav range: 33.203072 m, bearing: 245.959811 deg, approach rate: -0.138817 m/s, LOS rate: 0.808815 deg/s, cmd heading: 302.792968 deg, new cmd heading: 303.724726 deg. 2j =HeadingCmd: 5.300996 target range: 590.200012 and range: 590.20 m. já@jjjihhhhfffrfbf@r?ɛNB灩 pI %Cg@ɚ)iIЅG B O >vw,`ܵA6J@Y6&X@6Rs=96<>y6H ?@.ſ`ο xM4? ܽr?@3?ɨ6J@6ō;6~Cy>MB>HEMb@Mb@Mb@AAA A)AYE?PnRQyEf>EE½EA EȊA)EªAIE/AAyE\AI]I]]6٢m $ mD=9mDžQ m>qq uG٣qy}0}= }> Nusing accuracyPremultiplier from config[49_?[4Y= i8BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511182>: H?cCݯ;;I[4 AZjFNOT Ignoring new targets: 590.20 m.BjH<JjH< ProNav: ac range: 590.200012 m, nav range: 33.125519 m, bearing: 246.250681 deg, approach rate: -0.186876 m/s, LOS rate: 0.702538 deg/s, cmd heading: 303.724715 deg, new cmd heading: 304.599299 deg. 2j<HeadingCmd: 5.316261 target range: 590.200012 and range: 590.20 m. j@jjjihhh h fffrfbf`{?ɛENBMcǼ IMϝII M0QɚIiIIU^|w,$FA2TL@Y2SsZ@2=921A>y2H!?ſѿ @?bL??@?ɨ2TL@2Xp;2}C PIPyR\MBRHI^&I^g6٢b fU=9fhh jG٣j?Gyn= n> rNusing accuracyPremultiplier from configpv[49r?z[4Yr6= ir@8Bxz?Fz?rCr*C;rC;r[4 ܲA{EZj!-FNOT Ignoring new targets: 590.20 m.Bj-G<Jj5GI IHIMBI&I.I6I<:IFG3G B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266701܃w,0AJ J"YJ"2J J J"[O9J"c3J J a&J a*J"1n:a*J"4n:a*FN@YFD"\@F*=9F>yFH`lu?0ƿҿZB?`zú@g? ?ɨFN@F;FzCyRMBRAHMb@Mb@Mb@ )Yoʡ?L7A`尿zGếy>+ ׽A A)IAy AICILj6٢y 8=9^Q > G٣ys= >  Nusing accuracyPremultiplier from config [49 {?[4Y X> i 7Bi>:%;? C ; ; 3[4! %dA)EB*** querying acoustic contact ***jAjAZjQ]FNOT Ignoring new targets: 590.20 m.Bj]5<Jj]5G}>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519060G :G qAG Gq B O >zK LK K K &K w,)AJͤO@YJk]@J=9J>yJH@1&?@Jƿ>ԿK ?@??ɨJͤO@J;J~CyZLBZHI SI l6٢ %Z=9%Q %>)) -G٣)y5= => UNusing accuracyPremultiplier from configIm[49Mm?m[4YMm? iM7By}m9?MCMV;M;Mf[4 ӳA~EZjFNOT Ignoring new targets: 590.20 m.Bj0<Jj0< ProNav: ac range: 590.200012 m, nav range: 32.831081 m, bearing: 247.033542 deg, approach rate: -0.267322 m/s, LOS rate: 0.618225 deg/s, cmd heading: 306.242870 deg, new cmd heading: 306.954723 deg. 2j$<HeadingCmd: 5.357370 target range: 590.200012 and range: 590.20 m. jo@jjjihhhhfffrf bf `@ɛ5NB5! 9=,I9 =̉ɚ9i9I=6JD 9*F?2F:FBF%0JF! IGA  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023275G9 BI Oe >H J>I ƍC I qHI ?MBI &I .I 6I <:I F萭w,CAy%LB%HI5YI5l6٢E EH=9MQ M>II MG٣U?GyU U> ]Nusing accuracyPremultiplier from configYe[49]^?e[4Y]@ i]q7Biim?] C]:]&:][4q uIAqZjFNOT Ignoring new targets: 590.20 m.Bj7<Jj7< ProNav: ac range: 590.200012 m, nav range: 32.721325 m, bearing: 247.289692 deg, approach rate: -0.274123 m/s, LOS rate: 0.641891 deg/s, cmd heading: 306.954712 deg, new cmd heading: 307.725689 deg. 2jC<HeadingCmd: 5.370826 target range: 590.200012 and range: 590.20 m. jݫ@jjjihhhhfffrfbf`% @ɛ5NB=/ AE II UVɚYiaIe5w,P]A:GR@Y:`@:=9:Uv>y:Hɼ V?qJƿL׿?ʵ`F? ?ɨ:GR@:;:Cy^mLBboH)d dUMb@Mb@Mb@QQQ Q)QYUx&1? G٣y= > Nusing accuracyPremultiplier from config[49?O?[4YB i<7Bo?:+?P C;; [4 AEZjFNOT Ignoring new targets: 590.20 m.Bj%<Jj%< ProNav: ac range: 590.200012 m, nav range: 32.568165 m, bearing: 247.526593 deg, approach rate: -0.371500 m/s, LOS rate: 0.577321 deg/s, cmd heading: 307.725676 deg, new cmd heading: 308.439684 deg. 2j<HeadingCmd: 5.383288 target range: 590.200012 and range: 590.20 m. jC@jjjihhhhfffrf!bf%@@ɛNB%; 隥I k%ɚiIչbS@Y>b@>1=9>`e>y>H@|@$9?Dƿ Tؿ $@N?VF??ɨ>S@>;>{CyF.LBF!HIR`IRm6٢VH) ZZ=9ZxQ Z>\\ ^G٣\ybr= b> fNusing accuracyPremultiplier from configdj[49fSA?n[4Yf2E if 7Bln*r?f CfE;fF;f-[4t v9AtZjFNOT Ignoring new targets: 590.20 m.Bj<<Jj<< ProNav: ac range: 590.200012 m, nav range: 32.426521 m, bearing: 247.738728 deg, approach rate: -0.360899 m/s, LOS rate: 0.542867 deg/s, cmd heading: 308.439677 deg, new cmd heading: 309.078834 deg. 2jH<HeadingCmd: 5.394444 target range: 590.200012 and range: 590.20 m. jH@jjjihhhhfffrfbf@@ɛMNBM*b QE.I ɚiIAIq IuHIuLBIu =&Iq.Iq6Iuߴ<:IuFBI1JI5ƍCRI1ZI1bI1jI5{4*F2F:FBF0JFG G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.J$w,-_AJJWJJJJG9JJJJJ_:J_:.DAT read: 21:15:04.4587 LVL= 18128, 32497, 19650, 27443, AGC= 67, IDX= 423,-0.24,-0.427,-2.007,-2.164,-1.497, PHS= 1.158,-0.463,-0.669, RAW= 84.1, -0.3, CAL= 90.8, -4.9, ROT= 59.2, 4.9 2Ygot valid direction response: 21:15:04.4587 LVL= 18128, 32497, 19650, 27443, AGC= 67, IDX= 423,-0.24,-0.427,-2.007,-2.164,-1.497, PHS= 1.158,-0.463,-0.669, RAW= 84.1, -0.3, CAL= 90.8, -4.9, ROT= 59.2, 4.9 6PDAT read: Bearing 59.2, 4.9 (Local) 6~Local bearing/azimuth received: Bearing 59.2, 4.9 (Local) >DAT read: Range 10 to 50 : 590.2 m (Round-trip 787.0 ms) speed 0.2 m/s ^R#Rx 1: Read range and direction messages.b^direction in FSK: [-0.069458,0.208003,0.975659]fFpublishing direction and range infoi9mD10DZ蔧؟?3 8?yiimFm~ mL)m3kImCimX9?mVmC+m?m mb?)m%Im A?im%=iim?Y/Ѹkkɩ>u)m?p Im*ʭ;imzP?m*ìiirT****** received valid address query ******rR****** received valid ping request ******rQuerying Benthos address 50 with one ping in standard two-way mode.]kU@Y]y]H}8`Z?$ƿǨٿ`z?ڲ '??ɨ]kU@]n:;]~CyuLBuH $?I-Mb@Mb@Mb@))) )))Y-q= ףp?sh|??Zd;y- ?-=-y-rA -A)-AI-A)y-AIuoIu,o6٢}q %=9<@Q > G٣?Gy5= > Nusing accuracyPremultiplier from config [49-? [4YDI i6B  ?:M#? C;4;[4 %uAUEkmq/y?km\ ki km$A:kiBkmDZkmS1@"mʐ;DJmIܰ^@8ԫ@mD10DZ蔧؟?3 8?JkmzP?Rkm*ì*m/0 [?y=@@h@mFz>.?+:?"kmB*kmkmscy?km[u 2km Dkmscy?kikm Dkm, BkmU@ addTargetRange:: Added new target pos. range: 590.200012 m, deltaT: 4.535874 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 U Added new target pos. range: 590.200012 m, bearing: 117.449787 deg, lat: 36.904267 deg, lon: -122.112784 deg, deltaT: 4.535874 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ZjY]FNOT Ignoring new targets: 590.20 m.BjJj ProNav: ac range: 590.200012 m, nav range: 34.293743 m, bearing: 240.525432 deg, approach rate: 0.000000 m/s, LOS rate: 0.542867 deg/s, cmd heading: 309.078846 deg, new cmd heading: 309.923603 deg. 2jHeadingCmd: 5.409187 target range: 590.200012 and range: 590.20 m. j@jjjihhhhfffrfbfc?ɛMNBUM 隥O8I fӻɚiIZk BDAT read: Tx time:21:15:05.7676 $Ping request sent.Qw,WwAvWill construct direction to contact in vehicle frame from tetrahedron phase data.zJDAT read: TxSync time:21:15:05.7668 ~checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249574V@YOd@'=9>yH@ ? ƿGڿ4Y?d??ɨV@|>;}CyuKB}HILIKk6٢  A=9,MQ > G٣y%<[= E> MNusing accuracyPremultiplier from configIU[49M?U[4YML iM6BQ]!]?M CM;M0;Ms[4 ޵AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 590.20 m.Bj<;Jj<; ProNav: ac range: 590.200012 m, nav range: 34.086258 m, bearing: 240.691653 deg, approach rate: -0.523337 m/s, LOS rate: 0.421809 deg/s, cmd heading: 309.923604 deg, new cmd heading: 310.425289 deg. 2j<HeadingCmd: 5.417943 target range: 590.200012 and range: 590.20 m. j_@jj $?Ijihh h h f ffrfbfUl?ɛNB3y 隅hGI ɚiIeIa  Ie EHIe LLBIa &Ia .Ia 6Ie <:Ie FG :G B O >dw,) ʶAy]KB]HMb@Mb@Mb@ )YQ?Zd;?/$y?=fA A)AIMAyQAI6Ih6٢%ɘ %5=9%Q ->)1 5G٣1y= => MNusing accuracyPremultiplier from configIU\49M ?U\4YMP iM6BU?U:]]?MF CM;Mw;M\4a e$AeEZjFNOT Ignoring new targets: 590.20 m.Bj;Jj;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752838 ProNav: ac range: 590.200012 m, nav range: 33.841694 m, bearing: 240.874541 deg, approach rate: -0.556689 m/s, LOS rate: 0.419307 deg/s, cmd heading: 310.425295 deg, new cmd heading: 310.977907 deg. 2j<HeadingCmd: 5.427588 target range: 590.200012 and range: 590.20 m. jή@jjjihhhhfffrfJaJ_JJJ:J=h9JJJ;J;J:J:bf]=?ɛOBI $RI ɚiIiii mG٣m?Gyq u> }Nusing accuracyPremultiplier from configy\49}~?\4Y}NT i}6B?}| C}:}y);}n\4 VAZjFNOT Ignoring new targets: 590.20 m.BjM;JjM; ProNav: ac range: 590.200012 m, nav range: 33.649303 m, bearing: 241.020466 deg, approach rate: -0.543946 m/s, LOS rate: 0.414932 deg/s, cmd heading: 310.977912 deg, new cmd heading: 311.418180 deg. 2ja<HeadingCmd: 5.435273 target range: 590.200012 and range: 590.20 m. j@jjjihhhhfffrf bf X?ɛ5 OB=풽 9="ZI9 e ɚiiiIm g KOu=NiM*n]VI3 uh\QG>4(D9ErAE*F12F1:F1BF5q5JF1G=qA G=mAuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256604 Q IY Gy GQ BY O >ؾw,tFAy5KB5iHIEIEPe6٢U UK=9YQ ]>YY eG٣aya e> uNusing accuracyPremultiplier from configiu\49m~?u\4YmX im6Byy}?m Cmi:m:m(\4 eAEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509082HuO>Iq IuHIuKBIq&Iq.Iq6IuA<:IuFZjFNOT Ignoring new targets: 590.20 m.Bj.;Jj.; ProNav: ac range: 590.200012 m, nav range: 33.430050 m, bearing: 241.189020 deg, approach rate: -0.497533 m/s, LOS rate: 0.384994 deg/s, cmd heading: 311.418186 deg, new cmd heading: 311.927151 deg. 2j<HeadingCmd: 5.444156 target range: 590.200012 and range: 590.20 m. j6@jjjih h h h fffrfbf?ɛ}OB +^I }ɚiIm U $?IU fŭw,4-AZ̿]@YZjk@Z==9Z邃>yZHZb?AſU?=?@?ɨZ̿]@Zۭ;Z|CybKBbYHmMb@Mb@Mb@iii i)iYmrh|?L7A`?I +?ym?m+>m94 G٣y> > Nusing accuracyPremultiplier from config\49~?\4Y\ i6B?:W? CF;E;6\4 AZjFNOT Ignoring new targets: 590.20 m.BjM;Jj M; ProNav: ac range: 590.200012 m, nav range: 33.185638 m, bearing: 241.329993 deg, approach rate: -0.650924 m/s, LOS rate: 0.378209 deg/s, cmd heading: 311.927144 deg, new cmd heading: 312.353170 deg. 2jǁ<HeadingCmd: 5.451591 target range: 590.200012 and range: 590.20 m. jos@jjjihhhhfffrfbf@ɛeOBeS amcIi m-!ɚiiiIm 7˭w,V1AWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264563J>dJ>XJ>2J<J><:J>5K9J>c3JyH`D?ƿL?r?6?ɨ`_@]P;yQUXHIeOIek6٢uB uN=9uQ }>yy }G٣}?Gy\= > Nusing accuracyPremultiplier from config\49~?\4Y=a i6B?; Cq ; ;D\4fB AEB*** querying acoustic contact ***jjZj)5FNOT Ignoring new targets: 590.20 m.Bj5 ;Jj5 ;E ProNav: ac range: 590.200012 m, nav range: 32.949501 m, bearing: 241.458665 deg, approach rate: -0.576838 m/s, LOS rate: 0.316573 deg/s, cmd heading: 312.353157 deg, new cmd heading: 312.741933 deg. 2jEBYG%>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516513HmQ>ImǍC ImHImKBIi&Ii.Ii6Ii:ImFG G pAG qAG B O >ҭw,KAe`@Yen@eI =9e4>yeHKK?Vyƿ?(??ɨe`@eW;eCyޭKB޽cHI I e6٢EG< M>=9Q > G٣yV= > Nusing accuracyPremultiplier from config\49Q~?\4Yaf i6B? Cn:L:@T\4 oAZjFNOT Ignoring new targets: 590.20 m.Bjy;Jjy; ProNav: ac range: 590.200012 m, nav range: 32.685955 m, bearing: 241.592992 deg, approach rate: -0.614176 m/s, LOS rate: 0.315564 deg/s, cmd heading: 312.741931 deg, new cmd heading: 313.148155 deg. 2jX<HeadingCmd: 5.465466 target range: 590.200012 and range: 590.20 m. j@jjjih!h!h!h!f)f)f)rf)bf5 (@UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768682ɛu+OBu y}eIy }9ɚyiyI}حw,eA6"b@Y65Ap@6=96>y6H+%?ǿa`m@?5v??ɨ6"b@66;6}CyBKBBhH%Mb@Mb@Mb@!!! !)!Y%Zd;?X9v?ˡE?y%?%=%'=! !)%AI%A!y!IIc6٢|&< U=9 Q > G٣y9= > Nusing accuracyPremultiplier from config\49~?\4Yj i6B5"?:I? C ߭w,rAy KB HI%I%oa6٢5R= 5R=95Q =>99 EG٣E?GyE E> MNusing accuracyPremultiplier from configIU\49Mh~?U\4YMGo iM6BYY]?M CM;M;Mn\4a e-AmEZjFNOT Ignoring new targets: 590.20 m.Bj;Jj; ProNav: ac range: 590.200012 m, nav range: 32.225864 m, bearing: 241.843777 deg, approach rate: -0.615260 m/s, LOS rate: 0.340265 deg/s, cmd heading: 313.518387 deg, new cmd heading: 313.905866 deg. 2ji<HeadingCmd: 5.478691 target range: 590.200012 and range: 590.20 m. jpQ@jHbHH=S>I9 I9I9I= =&I9.I=PD6I=B<:I=FUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:21:15:08.9569 eTRx dataTimestamp_ set to:1736370910.068564echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.545543jjqjqiqhqhyhyhyfyffrfbfr@ɛ=OB aI PɚiIbyG B) Om > I (w,jA2Le@Y2js@2<92>y2H ;?$ȿ`2z7?@@)??ɨ2Le@2;2|Cy>KB>H%Mb@Mb@Mb@!!! !)!Y%Zd;O?QQ ]G٣Yy]= ]> eNusing accuracyPremultiplier from configam\49e~?u\4Yes ie6B}&?}:} }?e= Ce?F;e!E;e+}\4 AEZjimFNOT Ignoring new targets: 590.20 m.BjuH;JjuH; ProNav: ac range: 590.200012 m, nav range: 31.987982 m, bearing: 241.989387 deg, approach rate: -0.548045 m/s, LOS rate: 0.337958 deg/s, cmd heading: 313.905877 deg, new cmd heading: 314.345948 deg. 2jg<HeadingCmd: 5.486372 target range: 590.200012 and range: 590.20 m. j\@jjjihhhhfffrfbf@v@ɛ]GOB]̔ Y]^I .\ɚiIR6w,r7AJ:dJ:ZJ:2J8J:<:J:S9J:c3J8Vf@YV*u@V<9V>^Will construct direction to contact in vehicle frame from tetrahedron phase data.vDAT read: 21:15:08.9569 LVL= 17088, 32753, 29170, 32755, AGC= 67, IDX= 419, 0.01,-1.239,-2.808,-2.483,-1.975, PHS= 0.825,-0.785,-0.510, RAW= 99.2, 6.4, CAL= 108.8, 5.1, ROT= 41.2, -5.1 Ygot valid direction response: 21:15:08.9569 LVL= 17088, 32753, 29170, 32755, AGC= 67, IDX= 419, 0.01,-1.239,-2.808,-2.483,-1.975, PHS= 0.825,-0.785,-0.510, RAW= 99.2, 6.4, CAL= 108.8, 5.1, ROT= 41.2, -5.1  PDAT read: Bearing 41.2, -5.1 (Local)  ~Local bearing/azimuth received: Bearing 41.2, -5.1 (Local) DAT read: Range 10 to 50 : 588.7 m (Round-trip 785.0 ms) speed 0.3 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.219301,-0.045942,0.974575]Fpublishing direction and range info\9^=̿v /?y^,D\^B^ ^q)^I\i^33S?^H^\^k?^= ^?)^K=I^X8?i^K\\^^?b4=ֿEW?)^I^6i^v;^"\yVHb?dȿM%`J?| ?%?ɨVf@Vҍ;V}CyKBH YIY\uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.II]6٢BW= 7=9Q > G٣ym= > Nusing accuracyPremultiplier from config\49F~?\4Yx i7Bc? C::\4 ҵA-Ek^t]v?k^) k\ k^ܻA:k^,DBk^>DZk^ֿ?"^=ݻI#` ;N@^=̿v /?Jk^v;Rk^"*^ gn9Mubj@,'@^P=?@Dz?"k^SC*k^k^ifu?k^NO 2k^Dk\k\k^Dk^Ak^<@M addTargetRange:: Added new target pos. range: 588.700012 m, deltaT: 4.556086 s, deltaX: -1.500000 m, approachRate: -0.329230 m/s, rangeRepo size: 4  Added new target pos. range: 588.700012 m, bearing: 97.022057 deg, lat: 36.904267 deg, lon: -122.112784 deg, deltaT: 4.556086 s, deltaX: -1.500000 m, approachRate: -0.329230 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 588.70 m.BjJj- ProNav: ac range: 588.700012 m, nav range: 31.724403 m, bearing: 242.139711 deg, approach rate: 0.000000 m/s, LOS rate: 0.337958 deg/s, cmd heading: 314.345960 deg, new cmd heading: 314.816598 deg. 2j)-HeadingCmd: 5.494586 target range: 588.700012 and range: 588.70 m. j5ӯ@j1j1j1i1h1h1hYhYfafafarfee@bfeލ?ɛROB y [I QiɚiI_I! I%HI%KBI% =&I!.I!6I%<:I%FBIǍCJIǍCRIZI =bI =jIǻ4uWill construct direction to contact in vehicle frame from tetrahedron phase data.},DAT read: user:1616> BDAT read: Tx time:21:15:10.3677 $Ping request sent.7w,ձѷAjh@Yjv@jb<9j>yjH+U ?ȿ@r?@ ` ?+?ɨjh@jʍ;j|CyvLBvHMb@Mb@Mb@ )YQ?I +?V-?y?9<m=A )Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:15:10.3669 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249543IAyAIIZ6٢= 6=9Q > G٣?Gyr= > Nusing accuracyPremultiplier from config\49p~?\4Yt} i(7B?:? C/;;m\4 AB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 588.70 m. $?IBjM;JjM;] ProNav: ac range: 588.700012 m, nav range: 31.480412 m, bearing: 242.307188 deg, approach rate: -0.600397 m/s, LOS rate: 0.415307 deg/s, cmd heading: 314.816587 deg, new cmd heading: 315.322896 deg. 2j]^w,~뷺AB0Dj@YBbx@B{4<9B>yBH ?@xȿ2`/?X? W?ɨB0Dj@BE1;B~CyJ)LBNHIV^IVP6٢^= ^]=9b2ڻQ b>`` fG٣dyfV= j> vNusing accuracyPremultiplier from configp~\49r_c~?\4Yr] ir;7B  ?r Crį;r;ri\4! %FA-EZji}FNOT Ignoring new targets: 588.70 m.Bj;Jj; ProNav: ac range: 588.700012 m, nav range: 31.274942 m, bearing: 242.439381 deg, approach rate: -0.541656 m/s, LOS rate: 0.350777 deg/s, cmd heading: 315.322896 deg, new cmd heading: 315.722076 deg. 2jp<HeadingCmd: 5.510390 target range: 588.700012 and range: 588.70 m. jU@jjjihhhzK5LK559K1K5-K5hfQfqfqrfqbf}-?ɛeOBᙽ 隥NI ~ɚiIW]9JYJYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753852*FA2FA:FABFE0JFA $?I Ge 3GA BI Om >H Y>I ȍC I ,HI 7LBI =&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=1.0041635Lw,aqA6k@Y6Ly@6-<960>y6HEG?yȿ!u??]`PV??ɨ6k@6m~;6}Cy>4LB>)HIJMIJ O6٢R< RK=9RQ V>TT VG٣XyZky= Z> ^Nusing accuracyPremultiplier from config\b\49^qw,8A*G4@ ^+WY`ybUNBzwm@Yz{@zs<9z>yzH@Q? .ɿ ??`?ɨzwm@zT#;z~Cy WLB THMb@Mb@Mb@ )YuV?I + ףp= ?yr?9Q8=ĻA A)AIdAyAI<I)M6٢-e= -4=95ĻQ 5>19 =G٣=?GyEe= E> UNusing accuracyPremultiplier from configI]\49ME~?]\4YM iM\7B] ?]:]{]?My CM&;M7%;MF\4i mAmEZjFNOT Ignoring new targets: 588.70 m.Bj';Jj'; ProNav: ac range: 588.700012 m, nav range: 30.825140 m, bearing: 242.734254 deg, approach rate: -0.499652 m/s, LOS rate: 0.356968 deg/s, cmd heading: 316.127437 deg, new cmd heading: 316.613128 deg. 2jt<HeadingCmd: 5.525941 target range: 588.700012 and range: 588.70 m. j԰@jjjihhhhfffrfbf?ɛyOB: }HI  ɚiI> $?I  w, 9A6)o@Y6H}@6<96->y6Hba?`|ʿ MB?V.??ɨ6)o@6^+;6CyJ{LBJHIVdIVQ6٢^= ^e=9b@*Q b>`` fG٣dyf= f> jNusing accuracyPremultiplier from confighn\49jK:~?r\4Yj_ ijf7Bprr?j Cj ;j" ;j\4t vAxZjFNOT Ignoring new targets: 588.70 m.Bj;Jj;- ProNav: ac range: 588.700012 m, nav range: 30.646080 m, bearing: 242.853050 deg, approach rate: -0.504603 m/s, LOS rate: 0.336731 deg/s, cmd heading: 316.613118 deg, new cmd heading: 316.971584 deg. 2j-g<5HeadingCmd: 5.532198 target range: 588.700012 and range: 588.70 m. j5@j1j1j9i9h9h9hAhAfAfAfArfIbfM@ɛ OB 15AI1 =碎ɚ9i9I=sI IHILBI =&I.IQD6I<:IF%Will construct direction to contact in vehicle frame from tetrahedron phase data.%Ai%A-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012491G3G B O >w,SAZq@Y&@<9m>yH;?ʿ_``?@aO?D?ɨZq@IC;JcJYJJJ:J[O9JJJ;a%J;a%J2n:a%J4n:a-}Cy5LB5HuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265161Mb@Mb@Mb@ )YbX9?DlV-?yE>O<rA A)IAy=AI`I&Q6٢+= 6=9 Q  > G٣yt= > %Nusing accuracyPremultiplier from config-\49$,~?-\4Y ig7B-<>-:55? C;;[\4=gB =~A=E qIufB*** querying acoustic contact ***jjZjAEFNOT Ignoring new targets: 588.70 m.BjM;JjM;] ProNav: ac range: 588.700012 m, nav range: 30.445711 m, bearing: 243.014770 deg, approach rate: -0.419884 m/s, LOS rate: 0.341123 deg/s, cmd heading: 316.971594 deg, new cmd heading: 317.459935 deg. 2j]j<HeadingCmd: 5.540721 target range: 588.700012 and range: 588.70 m. jM@jjjihhhhfffrfbf@ɛ OB ވ  8@I ]ɚiI9i9iA)EM@)ADÞ9*F2F:FBF0JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516410G :G B O >!w,alAyLBHI-KI-N6٢=g= EY=9EQ E>II MG٣M?GyM U> ]Nusing accuracyPremultiplier from configQe\49U? ~?m\4YU iQiim?UCU@;UeA;U\4q uAAyZjFNOT Ignoring new targets: 588.70 m.Bj;Jj; ProNav: ac range: 588.700012 m, nav range: 30.277531 m, bearing: 243.152319 deg, approach rate: -0.482228 m/s, LOS rate: 0.396587 deg/s, cmd heading: 317.459925 deg, new cmd heading: 317.874856 deg. 2j<HeadingCmd: 5.547963 target range: 588.700012 and range: 588.70 m. j鈱@jjjihhhhfffzKua3JKu9KqKu/KuBKpA:Krfbf@e@ɛOB :I ﵘɚiIQ"jHy bHy H I  I HI LBI =&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=3.020295/!w,EA6)t@Y6䁁@6I|<96>y6H ,$?`y̿`9,>? wf?]?ɨ6)t@6z;6|Cy>LBBHIJAIJM6٢RL3= RU=9RӄQ R>TT VG٣TyZ!> Z> ^Nusing accuracyPremultiplier from config\b\49^~?b\4Y^| i^h7Bdff?^@C^u*;^*;^\4h jAhZjFNOT Ignoring new targets: 588.70 m.BjG;JjG; ProNav: ac range: 588.700012 m, nav range: 30.102095 m, bearing: 243.274220 deg, approach rate: -0.438525 m/s, LOS rate: 0.306484 deg/s, cmd heading: 317.874846 deg, new cmd heading: 318.242676 deg. 2jVR<HeadingCmd: 5.554382 target range: 588.700012 and range: 588.70 m. j@jjjihhhhfffrfbf@( @ɛMOBM/a QU=9Ia eUɚaiaIeT9J9J9J9J9J=Q:J=Q:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272092 QIYG) G B O- >%'w,yAy~LB~HMb@Mb@Mb@ )Yjt?kt~jtx?y> ;ٿA VA)tAIAypAI:IL6٢f; 9=9Q > G٣y > Nusing accuracyPremultiplier from config]49+~?]4Y i]7B>:E?sCl;;h ]4 AEZj15FNOT Ignoring new targets: 588.70 m.Bj=;Jj=;M ProNav: ac range: 588.700012 m, nav range: 29.919115 m, bearing: 243.417874 deg, approach rate: -0.429077 m/s, LOS rate: 0.338921 deg/s, cmd heading: 318.242665 deg, new cmd heading: 318.676255 deg. 2jMh`JKs9KK0KRK?JK?GM 3G! B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:15:13.5614  TRx dataTimestamp_ set to:1736370914.856647 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777305 A II u-w,UAr x@Yr}@rժ]<9rj]>yrHD'MI?@ͿTYl?@#r??ɨr x@rU;pyLBHI/IK6٢-R< -U=95Q 5>11 uG٣u?Gy}o"> }> Nusing accuracyPremultiplier from config]49}?]4Y" iS7BM?C::]4  AZjFNOT Ignoring new targets: 588.70 m.Bjr;Jjr; ProNav: ac range: 588.700012 m, nav range: 29.753899 m, bearing: 243.526649 deg, approach rate: -0.423768 m/s, LOS rate: 0.280546 deg/s, cmd heading: 318.676245 deg, new cmd heading: 319.004376 deg. 2j@<HeadingCmd: 5.567677 target range: 588.700012 and range: 588.70 m. j h*@j j j ihh!h)h)f1f9f9rf9bfE`@ɛmOBm{ iml4w, DԸAJbJVJ1JJ:JB9J3JJT ;JV ;JX:JX:UWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:15:13.5614 LVL= 24496, 32753, 29378, 32755, AGC= 69, IDX= 411,-0.22,-0.504,-1.958,-1.206,-0.979, PHS= 0.563,-0.932,-0.230, RAW= 118.0, 9.3, CAL= 126.7, 5.6, ROT= 23.3, -5.6 Ygot valid direction response: 21:15:13.5614 LVL= 24496, 32753, 29378, 32755, AGC= 69, IDX= 411,-0.22,-0.504,-1.958,-1.206,-0.979, PHS= 0.563,-0.932,-0.230, RAW= 118.0, 9.3, CAL= 126.7, 5.6, ROT= 23.3, -5.6 PDAT read: Bearing 23.3, -5.6 (Local) ~Local bearing/azimuth received: Bearing 23.3, -5.6 (Local) DAT read: Range 10 to 50 : 592.1 m (Round-trip 789.5 ms) speed 0.4 m/s R#Rx 1: Read range and direction messages.`direction in FSK: [-0.295177,-0.362552,0.883983]Fpublishing direction and range infoQ9U#ԝ/ҿR4׿);I?yUDQU_Q Ur)QIUEiU ?UnUkU@U6&> Uw @)U+=IU5>iU+ȽQQU_|?#-p 4qv? $?I)UIUZ%iUkCUʊQQUT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.yLBHMb@Mb@Mb@ )Y(\? ףp= rhyz>QC`A "A)AIAy̠AIIeI6٢eD; e=9mQ m>q G٣y > Nusing accuracyPremultiplier from config]49}?]4YU i:7B>:?C;;-]4 AEkUņ/??kUb|) kQ kU׸A:kUDBkUDZkUE@"UǠeZj<@[@U#ԝ/ҿR4׿);I?JkUkCRkUʊ*Uc8K g+Lu@0#-{@UQԿԚ7?*T-?"kUC*kU?kU+>?kUh 2kUJCkUifu?kU[u kUDkU9-BkU @ addTargetRange:: Added new target pos. range: 592.099976 m, deltaT: 4.535954 s, deltaX: 3.399963 m, approachRate: 0.749559 m/s, rangeRepo size: 4  Added new target pos. range: 592.099976 m, bearing: 119.645749 deg, lat: 36.904166 deg, lon: -122.112083 deg, deltaT: 4.535954 s, deltaX: 3.399963 m, approachRate: 0.749559 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 592.10 m.BjJj ProNav: ac range: 592.099976 m, nav range: 43.306164 m, bearing: 124.089319 deg, approach rate: 0.000000 m/s, LOS rate: 0.280546 deg/s, cmd heading: 319.004368 deg, new cmd heading: 319.478049 deg. 2j HeadingCmd: 5.575944 target range: 592.099976 and range: 592.10 m. j"n@jjjihhhhfff!rf%̀@bf% dY?ɛOBr 隕?I hɚiI  BDAT read: Tx time:21:15:14.8677  $Ping request sent. yFHjvV?Tο@p0߿ W?@:͂??ɨF|@F;F}CyVLBVHI^&I^J6٢f ji=9jQ j>ll nG٣lyn:> n? vNusing accuracyPremultiplier from configpv]49r}?z]4Yr. ir)7Bxzz?rCr ;r ;r:]4| HA%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 592.10 m.Bj=$Jj=$M ProNav: ac range: 592.099976 m, nav range: 43.341087 m, bearing: 123.902142 deg, approach rate: 0.107557 m/s, LOS rate: -0.576000 deg/s, cmd heading: 319.478055 deg, new cmd heading: 318.916995 deg. 2jMżUHeadingCmd: 5.566152 target range: 592.099976 and range: 592.10 m. jU@jQjYjYiYhYhYhahafafafamWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:21:15:14.8669 }checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251242rfibf}0?ɛOBYϬ 隭.JI !ɚiIBe=I7ii)@) IDE39*F?2F:FBFP5JFZHRHH[>I IXHI+MBI&I.I6I<:IFBIȍCJIȍCRIZI =bI =jIǗ5% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502418G} :GQ Ba O} >[Cw,Ar~@Yrt@rΉ*<9rw>yrHH߿?@ ϿE@޿`? Qz?@?ɨr~@r.;pyLBHI-I-E6٢= =D=9=v_Q E>II MG٣M?GyMʑ= M> mNusing accuracyPremultiplier from configY]49]}?]4Y] i]7B?],C]g;];]H]4 dAZj FNOT Ignoring new targets: 592.10 m.BjJju ProNav: ac range: 592.099976 m, nav range: 43.389107 m, bearing: 123.677451 deg, approach rate: 0.112114 m/s, LOS rate: -0.524021 deg/s, cmd heading: 318.916996 deg, new cmd heading: 318.243701 deg. 2juг-HeadingCmd: 5.554400 target range: 592.099976 and range: 592.10 m. j5@j1j1j9i9hAhihyhfffrfbf%s?J)J-[J)J)J)J-W9J)J)J-S ;J)J-|:J-|:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754379ɛOBZ 隭1QI ǸɚiIY=I:ii)@) IDA9*FU?2FQ:FQBFU2JFQGq G} rAGy = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007091GQ BY O >Iw,~(Af4a@Yfp@f{<9f>yfH+ݿ:?Z п@fbŀܿ`Y6?D??ɨf4a@fW;f|Cy}LBHMb@Mb@Mb@ )Y:v?㥛 /$y>,A )IAypAI!I!٢5} 58=9=Q =>9A EG٣AyE= E> UNusing accuracyPremultiplier from configQ]]49U}?]]4YU iU6B]P>]:]. e?U\CU;UK;U&X]4q uAqZjFNOT Ignoring new targets: 592.10 m.Bj+Jj+ ProNav: ac range: 592.099976 m, nav range: 43.455643 m, bearing: 123.448012 deg, approach rate: 0.153542 m/s, LOS rate: -0.528656 deg/s, cmd heading: 318.243703 deg, new cmd heading: 317.556475 deg. 2jgHeadingCmd: 5.542406 target range: 592.099976 and range: 592.10 m. jd[@jjjihhhhfffrfbf?ɛOBz 隥[I U⽼ɚiI=I=ii)d[@)BD/?:Dm?De9zKLK9KK2K*FQ2FQ:FQBFU4JFQUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258550 u$?IqG Gq B O >JPw,DBA6n@Y6~@6;96f>y6H@0ۿϺ?@ϿSڿc?r_w`n?R?ɨ6n@6;4y>oLB>pHIJIJF6٢N( Ri=9RȻQ R>TT VG٣TyV= Z> ^Nusing accuracyPremultiplier from configXb]49Z}?b]4YZ iZ6B`b f?ZCZ@;Zz@;Zcd]4h nAnEZjFNOT Ignoring new targets: 592.10 m.Bj Jj  ProNav: ac range: 592.099976 m, nav range: 43.513073 m, bearing: 123.269660 deg, approach rate: 0.155731 m/s, LOS rate: -0.482989 deg/s, cmd heading: 317.556477 deg, new cmd heading: 317.022144 deg. 2jHeadingCmd: 5.533080 target range: 592.099976 and range: 592.10 m. j@j!j!j!i!h!h!h)h)f)f)f1rf1HEZ>IA IEKHIE!MBIA&IA.IA6IE<:IEFbf.&?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510378ɛOBU :bI üɚiIi=I@ii)@)D9*F2F:FBF5JFG I f Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774588J eJ VJ 2J J \:J B9J c3J J ;J ;J X:J X:G B O >2Vw,p"\A69@Y6@6A ;96w >y6Hٿ`{2?JпQ ?ؿ@º?`"th??ɨ69@62،;4yjILBjBH)mſ= mCMb@Mb@Mb@G )vAYS㥛?I +Zd;Ay>94y mYYmvAym2QB QA)ΠAIAy3AI}9I}L6٢ /=9Q > G٣?Gy= > Nusing accuracyPremultiplier from config]49}?]4Y۴ i6B>:?C0;p/;t]4  AEZjFNOT Ignoring new targets: 592.10 m.BjJj ProNav: ac range: 592.099976 m, nav range: 43.617508 m, bearing: 123.031146 deg, approach rate: 0.232931 m/s, LOS rate: -0.530704 deg/s, cmd heading: 317.022137 deg, new cmd heading: 316.308348 deg. 2j HeadingCmd: 5.520622 target range: 592.099976 and range: 592.10 m. j@jjjihhhhff!f!rf!bf%;u@ɛUPB]Ҵ Y]nIY ]ʼɚaiaIe]=IeW7Ciiii)m@)qDm9*F2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024305G! G- ?G- \w,vAzK2VBJK29K0K23K2j`@Yj@j!);9j>yjHտ ?@xп` X տ@ڙ?@s!i??ɨj`@j໌;hyv&LBvHI~DI~ N6٢ 8Ľ  f=9 ]HQ > !I! %G٣!y-_:> -> 5Nusing accuracyPremultiplier from config1=]495}?=]4Y5 i56B9EE?5C5 ;5 ;50]4I MQAImB*** querying acoustic contact ***jiji}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278401ZjFNOT Ignoring new targets: 592.10 m.Bj6 Jj6  ProNav: ac range: 592.099976 m, nav range: 43.706314 m, bearing: 122.857442 deg, approach rate: 0.249402 m/s, LOS rate: -0.486835 deg/s, cmd heading: 316.308355 deg, new cmd heading: 315.788317 deg. 2jHeadingCmd: 5.511546 target range: 592.099976 and range: 592.10 m. j^@jjjihhhhfffrfbf@Q@ɛPBŽ 隭zI мɚiIߚ=I,Eii)^@)2D*DqAD*Fe?2Fa:FaBFe5JFiH=Y>I9 I=HI=LBI= =&I9.I=PD6I=<:I=F- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530791G G B O >cw,돹ANc@YN@N]`p;9Nxc>yNH`ӿD>?@п@gAӿ?@ n s?`?ɨNc@N;ߋ;N{CyVKBZHIb;Ib M6٢ Ž  J=91Q > G٣y= > %Nusing accuracyPremultiplier from config!-]49%-}?5]4Y%$ i%6B155?%C% ;%\ ;%I]49 =AAZjFNOT Ignoring new targets: 592.10 m.Bj?Jj? ProNav: ac range: 592.099976 m, nav range: 43.811852 m, bearing: 122.665705 deg, approach rate: 0.259038 m/s, LOS rate: -0.469478 deg/s, cmd heading: 315.788305 deg, new cmd heading: 315.214500 deg. 2jHeadingCmd: 5.501531 target range: 592.099976 and range: 592.10 m. j @jjjihhhhfffrfbfg@ɛPBj˽ ÃI %ּɚ)i)I5r=IEHiIiQ)U @)aJJAA IDEƧ9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782388*F?2F:FBF 2JFG G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035605iw,A@Y䘍@^F;9Z >yH`_%ҿ]? п@ɯѿ ?h k?@?ɨ@1;}Cy-KB-HMb@Mb@Mb@ )YZd;?y&1~jty>`e )AIAyI9IL6٢ 볽 ;=9Q > G٣?Gy%= %> -Nusing accuracyPremultiplier from config!5]49%?}?5]4Y% i%d6B5?=:=쿑=?%FC%{;%;%]4A EAAZjiuFNOT Ignoring new targets: 592.10 m.Bj}E Jj}E  ProNav: ac range: 592.099976 m, nav range: 43.956470 m, bearing: 122.454517 deg, approach rate: 0.334621 m/s, LOS rate: -0.487040 deg/s, cmd heading: 315.214487 deg, new cmd heading: 314.583033 deg. 2j HeadingCmd: 5.490510 target range: 592.099976 and range: 592.10 m. jA@jjjihhhhfffrfbf @ɛ*PB̽ _I "H޼ɚiI` =IJii)A@)Dm9*F?2F:FBFo1JF"G >G >zKBoJK9KK4KJgJJJJ%:JJJa@a@a@a@ $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286216G G qAG rAG B O >ppw,΋ùA6z@Y62@6 :96h>y6H@Tп ?п7Ͽ>KB>HIFVIF P6٢Nν ne=9nIQ r>pp rG٣pyv= v> zNusing accuracyPremultiplier from configx~]49z}?~]4YzI izG6BC近?ztCz2 ;z ;z@]4  9A Zj9=FNOT Ignoring new targets: 592.10 m.BjEJjEU ProNav: ac range: 592.099976 m, nav range: 44.081718 m, bearing: 122.283712 deg, approach rate: 0.343713 m/s, LOS rate: -0.467401 deg/s, cmd heading: 314.583022 deg, new cmd heading: 314.072077 deg. 2jUb]HeadingCmd: 5.481592 target range: 592.099976 and range: 592.10 m. j]3i@jYjYjYiahahahahifififirfibfu@ @ɛ5PBV 隝lI ɚiI =I;5Mii)3i@)BD%?:D>HV>IǍC IHILBI =&I.I6I<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538400Dը9*F?2F:FBF5JFG I *J- C="J) G Bi  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.793295O% >ww,4gݹA>a@Y>q@>Q:9>>y>H@(Ϳ?`п(@f̿.?`^ JOI?@?ɨ>a@>;>}CyJKBJQH%Mb@Mb@Mb@!!! !)!Y%M?{Gz?#~jy%n?%ף<%㥽%`A %A)%\AI!!y%(AI=^I=P6٢Mѽ M?=9U-Q U>QQ ]G٣Yy]Ӊ= e> mNusing accuracyPremultiplier from configam]49e_}?u]4Ye ie(6Bu?u:uJݿu?eCe5;e;e]4 AEZj5FNOT Ignoring new targets: 592.10 m.Bj=g Jj=g M ProNav: ac range: 592.099976 m, nav range: 44.262344 m, bearing: 122.078343 deg, approach rate: 0.430524 m/s, LOS rate: -0.487500 deg/s, cmd heading: 314.072070 deg, new cmd heading: 313.458502 deg. 2jMHuHeadingCmd: 5.470883 target range: 592.099976 and range: 592.10 m. juy@jqjqjqiqhyhyhyhyfffrfbfI@ɛCPBܽ җI %(ɚ!i!I%EL =I-Oi)i)y@)Dm9Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042862*F!2F!:F!BF%0JF)G G B O >,}w,RCA2N@Y2^@292U>y2H=ɿ /?9п`8[tȿ?@?R?@5?ɨ2N@2.;0zK>JK>+9K<K>5K>BKD:KFpAyJbKBJ&H PITIZnIZR6JbeJbYJb1J`Jb\:Jb[O9Jb3J`٢j nR=9nQ n>pp rG٣r?GyvD= v> zNusing accuracyPremultiplier from configx~]49z}?~]4Yz] iz 6B|ٿ?zCz` ;z ;z{]4  ڶA E-B*** querying acoustic contact ***j)j)Zj15FNOT Ignoring new targets: 592.10 m.}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.298138BjFJjF ProNav: ac range: 592.099976 m, nav range: 44.434761 m, bearing: 121.895496 deg, approach rate: 0.444513 m/s, LOS rate: -0.469573 deg/s, cmd heading: 313.458500 deg, new cmd heading: 312.912106 deg. 2j!HeadingCmd: 5.461347 target range: 592.099976 and range: 592.10 m. jZî@jjjihhhhfffrfbf@oC@ɛPPBj JԂ=隥I uɚiI =IdRii)Zî@)D9*Fe?2Fa:FaBFe/1JFaZHRH?AHU>I I8HIALBI&I.I6I<:IF- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.550382G 3G ?G >G! B1 OE >w,A6.@Y6=@6w96X>y6Hƿn\?`Tп ?ſGn?NV?64?w?ɨ6.@6v;6|CyJAKBNHIVIVT6٢Z ^L=9^^RQ b>`` bG٣`yf= f> nNusing accuracyPremultiplier from confighr]49j}?r]4Yjb ij5Bpvֿv?j&Cj&;j&;jz]4x zAxZjFNOT Ignoring new targets: 592.10 m.BjUJjU ProNav: ac range: 592.099976 m, nav range: 44.616631 m, bearing: 121.714963 deg, approach rate: 0.453959 m/s, LOS rate: -0.448786 deg/s, cmd heading: 312.912112 deg, new cmd heading: 312.372736 deg. 2jHeadingCmd: 5.451933 target range: 592.099976 and range: 592.10 m. j^w,+A2@Y2@292:>y2H˞¿@?@sпըR$?c?0?@?ɨ2@2b;2}CyBKBBHMb@Mb@Mb@ )Y(\?/$?ʡEy'?,=A )IAyŸAIxIS6٢쒽 3=9J Q >!! -G٣)y=v= => UNusing accuracyPremultiplier from configQm]49U}?m]4YU] iU5Bm-)?:Ͽ?UsCUJK >*FU?2FQ:FQBFU0JFQ}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.310912G Gq By O >qw,FA2i@Y2@2a92h>y2H`?`п .`? 0l?`??ɨ2i@2;2{Cy: KB:HIFmIFR6٢N^ N_=9RFQ R>TT VG٣V?GyV= V> ^Nusing accuracyPremultiplier from configX^]49Z}?b]4YZ iZ5B`bx̿b?ZCZ ;Z ;Z?]4d jAhHvS>It IvHIvKBIt&It.It6Iv<:IvFBIǍCJIRIZI =bIjI5Zj!%FNOT Ignoring new targets: 592.10 m.Bj-Jj-= ProNav: ac range: 592.099976 m, nav range: 45.066246 m, bearing: 121.329038 deg, approach rate: 0.572845 m/s, LOS rate: -0.470775 deg/s, cmd heading: 311.714152 deg, new cmd heading: 311.220901 deg. 2j=EHeadingCmd: 5.431829 target range: 592.099976 and range: 592.10 m. jEѭ@jAjAjIiIhIhIhIhQfQfQfQrfQbf] @ɛ yPB p I һɚiIk=I=tYi9i9)Eѭ@)A}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.562340DE|^=E)*F2F:FBF0JF  I "G= >G= >= Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=5.817587  nManaging dock network, ignoring radio surface power offGU 3G] rAGY G1BAO]>tw,3dAy-KB-HMb@Mb@Mb@ )Yx?A`"?y&1yK7?Y=`eA A)AIAyAI~IyT6٢L =9Q > G٣y >  Nusing accuracyPremultiplier from config ^49<}?^4Y` i5B[8?:̿?C;j;6^4 %A%EZjAMFNOT Ignoring new targets: 592.10 m.BjM JjU  ProNav: ac range: 592.099976 m, nav range: 45.377037 m, bearing: 121.075444 deg, approach rate: 0.611421 m/s, LOS rate: -0.495480 deg/s, cmd heading: 311.220903 deg, new cmd heading: 310.465375 deg. 2jHeadingCmd: 5.418643 target range: 592.099976 and range: 592.10 m. je@jjjihh!h)h)f)f1f1rf1bf=@6>@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.067077ɛPB 隵I w ɚiI=IR]ii)e@)BD.?:DC?Di9E=  I Je bJe WJa Ja Je :Je G9Ja Ja *F 2F :F BF D5JF zK )MK 9K K 7K BK :K qA5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=6.319112G:GBO?:w,R'AV^@YV@Vf9V.>yVHM>?qпB<[?`$pw? V?`?ɨV^@Vj;V~CybJBbHIj^IjP6٢rԼ r*=9v]Q v>xx zG٣|y~[= ~> Nusing accuracyPremultiplier from config ^49}? ^4Y i5BH}Q>Iy I}pHI}KBIy&Iy.Iy6I}Ǵ<:I}Fſ?hC<< ^4 A B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 592.10 m.Bj%,Jj%,𻝊5 ProNav: ac range: 592.099976 m, nav range: 45.678406 m, bearing: 120.860266 deg, approach rate: 0.592071 m/s, LOS rate: -0.419949 deg/s, cmd heading: 310.465374 deg, new cmd heading: 309.824129 deg. 2j5=HeadingCmd: 5.407451 target range: 592.099976 and range: 592.10 m. j= @j9j9j9i9hAhAhAhAfIfIfIrfIbfU/@ɛ}PBpp 隅1I VɚiI\=I0`ii) @)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.571136Dw9EE*E"E*F 2F :F BF 5JF I f Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.825596 G  m u>Yi ym 7BG GBO>䠨w,0A:f@Y:v@:9:ݼ>y:HZ? Eп`4? s|?? )?ɨ:f@:e;8yBKBBHuMb@Mb@Mb@qqq q)qYuMbX9?Mb? G٣?GyN= > Nusing accuracyPremultiplier from config^49}?^4Y i8B?:ſ?C%;;&^4 AZj  FNOT Ignoring new targets: 592.10 m.Bj Jj % ProNav: ac range: 592.099976 m, nav range: 46.015182 m, bearing: 120.623630 deg, approach rate: 0.697367 m/s, LOS rate: -0.486418 deg/s, cmd heading: 309.824129 deg, new cmd heading: 309.119452 deg. 2j%馼-HeadingCmd: 5.395152 target range: 592.099976 and range: 592.10 m. j-@j)j)j)i)h1h1h1h1f9f9f9rf9bf=[@ɛePBe3? imOIq uCAɚqiqIuMz=I#Vcii)@)2D*DWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.076233D9*F 2F:FBF{5JFG GqA ! I! G5 3G= ?G= ?G B) OE >m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=7.326233zK JQJK 9K K 8K ;v; [îw,뽺A6R5@Y6D@6h$96z>y6H 萿 ?eѿ@wË`}?}$?`! ??ɨ6R5@6tt;4yVKBZHIr<Ir)M6٢n= U=9%Q ->11 5G٣1y= > Nusing accuracyPremultiplier from config^49}?^4Y i5B¿?C::4^4 iAZjFNOT Ignoring new targets: 592.10 m.BjJj ProNav: ac range: 592.099976 m, nav range: 46.284164 m, bearing: 120.448331 deg, approach rate: 0.671490 m/s, LOS rate: -0.435072 deg/s, cmd heading: 309.119445 deg, new cmd heading: 308.596622 deg. 2jKHeadingCmd: 5.386027 target range: 592.099976 and range: 592.10 m. jVZ@j!j!j!i!h!h!h)h)f)f)f1rf1bf5 @ɛ]PB] ae#Ia enɚaiiIm=I}(eii)VZ@)D9H I  I JHI KBI  =&I .I OD6I <:I F*FA2FA:FABFEp5JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.578381G) G B O- >ުw,a׺A dIff*Je4="Je=JJUJJJJ>9JJJS ;aJV ;aJQ:aJQ:ay8KBHWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.842815I5I5-I6٢Uw= ]+=9]Q ]>aa eG٣aye m> Nusing accuracyPremultiplier from config^49}?^4Y  i?tC:~:cE^4hB /AEZj1=FNOT Ignoring new targets: 592.10 m.Bj=Jj=󻝊u ProNav: ac range: 592.099976 m, nav range: 46.602852 m, bearing: 120.243614 deg, approach rate: 0.668590 m/s, LOS rate: -0.426549 deg/s, cmd heading: 308.596635 deg, new cmd heading: 307.986706 deg. 2ju^}HeadingCmd: 5.375382 target range: 592.099976 and range: 592.10 m. j}!@jyjyjyihhhhfffrfbf@`T @ɛPB8 I )#ɚ!iI=Iehii)!@)D}9*F?2F:FBF0JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=8.090251Ga Gy Gy GQ BY O >kw,aA2@Y2 @2>z92U>y2H* ??i.ѿ ?izP`]?G'?`G?ɨ2@2~;2}CyBjKBB0HUMb@Mb@Mb@QQQ Q)QYUMb??{Gz?yUC?U U=9Q > G٣?Gy+I> > Nusing accuracyPremultiplier from config^49|}?^4Y i5B>C?:e?C1;)0;QR^4 ˶AZjFNOT Ignoring new targets: 592.10 m.BjJj廝  ProNav: ac range: 592.099976 m, nav range: 46.857414 m, bearing: 120.095436 deg, approach rate: 0.694217 m/s, LOS rate: -0.401899 deg/s, cmd heading: 307.986699 deg, new cmd heading: 307.544591 deg. 2j 艼HeadingCmd: 5.367666 target range: 592.099976 and range: 592.10 m. jë@jjjihhh!h!f!f!f)rf)bf- !@ɛUPBU2 Y]IY ] ' IɚYiIy=I z_ji i ) ë@)D9zKLK@9KK9K#*  (Kev!_xbO>*]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.342445*F?2F:FBF2JF"G>G>H S>I  I pHI KBI &I .I PD6I <:I xFG G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.594203Iîw, AyKB]HIIkB6٢%P= %R=9-Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E^49=}?E^4Y=N% i=5BIIM?=C=z:=:=_^4UgB UAUE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 592.10 m.BjJjໝ ProNav: ac range: 592.099976 m, nav range: 47.125553 m, bearing: 119.941278 deg, approach rate: 0.687925 m/s, LOS rate: -0.393251 deg/s, cmd heading: 307.544594 deg, new cmd heading: 307.084761 deg. 2j񆼝HeadingCmd: 5.359640 target range: 592.099976 and range: 592.10 m. j,@jjjihhhhfffrfbf :!@ɛPBF NI z`+ɚiI=Iwmlii) ,@) Dر9*Fe?2Fa:FiBFmy5JFi IJJWJJJJG9JJJJJ_:J_:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.849252G:G B O >uɮw,ެ'A:B@Y:Q@:n9:>y:H= ??`|Bѿu?ygm?9??ɨ:B@:;:|CyFKBFH]Mb@Mb@Mb@YYY Y)YY]5^I ?{Gz?)\(?y]8?]#<]Ga=Y ]A)]"AI]ƛAYy]AII@6٢= C=94Q > G٣y= > ]Nusing accuracyPremultiplier from config]^491}?e^4YB- i5Be8?e:e仿e?VC%<;n^4q u1AqZjFNOT Ignoring new targets: 592.10 m.Bj4Jj4 ProNav: ac range: 592.099976 m, nav range: 47.402748 m, bearing: 119.791873 deg, approach rate: 0.630467 m/s, LOS rate: -0.337828 deg/s, cmd heading: 307.084759 deg, new cmd heading: 306.639174 deg. 2jgHeadingCmd: 5.351863 target range: 592.099976 and range: 592.10 m. jwB@jjjihWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.099182hhhfffrfbf8"@ɛPBț eI %'0ɚ!i!I%Ƞ =I-kni)i))-wB@)1D%9*F2F:FBFn1JF qIufG 3G ?G ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.351339G B zK GOK 9K K :K {vmgc^[XTRa[LEA><;<7510,)('%$#%" 1i(B]wRK ?JK ?O >l[Юw,sAAN@YNP-@N9N5>yNH v?`?36ѿ@g?U k?@.?&?ɨN@N;N{Cy^KBbHlnAAIrIrT;6٢vU> zV=9z4Q z>|| EG٣E?GyE܌= M> UNusing accuracyPremultiplier from configIU^49M9}?]^4YM4 iM5BY]te?MCM ;M ;M<|^4mhB mAmEZjFNOT Ignoring new targets: 592.10 m.BjĻJjĻ ProNav: ac range: 592.099976 m, nav range: 47.660118 m, bearing: 119.664663 deg, approach rate: 0.697546 m/s, LOS rate: -0.342914 deg/s, cmd heading: 306.639184 deg, new cmd heading: 306.259621 deg. 2jVkHeadingCmd: 5.345239 target range: 592.099976 and range: 592.10 m. j2 @jjjihhhhfffrfbf@Ts#@ɛQB I 4ɚiI"=I%Api!i!)%2 @))DU9EYHR>I IHIKBI =&I.I6IǴ<:IF*F?2F:FBF 3JF G GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.602697G- :G B OM > i Ii V֮w,Y[AJK KKK"KJdJTJ1JJ<:J:9J3JJ ;J";J^J:J`J:MWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.857423F@Y@}3ȼ9{[>yH?@\?@+Wѿ @?;2`?R??ɨF@;騥yCy5LB5HMb@Mb@Mb@ )Y"~j?~jth/$?yS#?D=A A)tAIy AII:6٢= "=9럻Q >YY ]G٣YyeR= e> uNusing accuracyPremultiplier from configiu^49m}?}^4Ym< im 6B}$?}:}]}?mCm;m;m^4 mAZjFNOT Ignoring new targets: 592.10 m.BjݥJjݥ ProNav: ac range: 592.099976 m, nav range: 47.957542 m, bearing: 119.516551 deg, approach rate: 0.586030 m/s, LOS rate: -0.290021 deg/s, cmd heading: 306.259617 deg, new cmd heading: 305.818049 deg. 2j GHeadingCmd: 5.337532 target range: 592.099976 and range: 592.10 m. jͪ@jjjihhhhfffrfbf@Hu$@ɛ-QB-u )-GI) 5*9ɚ1i1I5w#=I=Vri9i9)=ͪ@)9DE+9*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ݮw,vA:ԕ@Y:@:׼9:>y:H j8?1?Nfѿ@iM7?`:?f?n?ɨ:ԕ@:;:{CyB]LBBZHINxINs76٢R:V> V=9VeƻQ V ?XX ZG٣Xy^Z= ^? fNusing accuracyPremultiplier from configdn^49f}?n^4YfB if>6Blnݵn?f"CfB.;f!.;f^4t vAt ]$?IYZjFNOT Ignoring new targets: 592.10 m.Bj\Jj\ ProNav: ac range: 592.099976 m, nav range: 48.139416 m, bearing: 119.433810 deg, approach rate: 0.595531 m/s, LOS rate: -0.269908 deg/s, cmd heading: 305.818059 deg, new cmd heading: 305.570774 deg. 2j<9HeadingCmd: 5.333216 target range: 592.099976 and range: 592.10 m. j@jjjihhhhfffrfbf@%@ɛ)QB 隝I <ɚi!I%G$=I-+1si)i))-@)1Will construct direction to contact in vehicle frame from tetrahedron phase data. xsokib^YSTNJIEB=;8631/,+*$# BK :K rADa9*F2F:FBF0JFjHbHH O>I  I jHI jLBI =&I .I OD6I n<:I dFBIJIǍCRIZI =bI =jI4G :Gq B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.U y6H?@?ѿ\;?ږ3?`)?`Q?ɨ6@6C;4yNLBRHIZZIZ 46٢~ = F=9Q >    G٣ ?Gy  = > Nusing accuracyPremultiplier from config%^49}?%^4YH ih6B!%h%?eCK ;m ;^41 5A9UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 592.10 m.BjmLJjmL} ProNav: ac range: 592.099976 m, nav range: 48.387169 m, bearing: 119.331143 deg, approach rate: 0.599281 m/s, LOS rate: -0.247067 deg/s, cmd heading: 305.570779 deg, new cmd heading: 305.264357 deg. 2j})HeadingCmd: 5.327868 target range: 592.099976 and range: 592.10 m. j}@jjjihhhhfffrfbf&%@ɛ7QBz ֕I B$@ɚiIw'&=Itii)}@)D599 YIY*F?2F:FBF/1JFJbJXJJJ:J5K9JJJS ;JV ;Jg:J g:Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1618>  BDAT read: Tx time:21:15:25.8178 $Ping request sent.Yw,FAJЛ@YJ@J 9J>yJH4(?h?Ǔѿ``??`? ?ɨJЛ@JP;JyCyVLBVHEMb@Mb@Mb@AAA A)AYEoʡ?MbP?bX9ȶ?yE ?E:EE=E$A E^A)AIE~AAyEfAI]3I]/6٢mF= mC=9ukQ u>yy }G٣yy}= > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:15:25.8170 %checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242920m^49}?m^4YN i6Bu?u:uu?C/<K<^4y }:AyZjFNOT Ignoring new targets: 592.10 m.BjPJjP ProNav: ac range: 592.099976 m, nav range: 48.606468 m, bearing: 119.248658 deg, approach rate: 0.487009 m/s, LOS rate: -0.182352 deg/s, cmd heading: 305.264349 deg, new cmd heading: 305.018013 deg. 2jKMHeadingCmd: 5.323569 target range: 592.099976 and range: 592.10 m. jMZ@jIjIjIiIhIhQhQhQfQfYfYrfYbf]&@ɛJQB I DɚiIg'=Imuii)Z@)2D*DqAD]Z9*F?2F:FBF0JF 1I1 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493480zK] NKY KY K] <K]     G 3G B O >w,/ĻA^$r@Y^s@^m9^>y^H1?Z?ѿ  }?X ?)? ?ɨ^$r@^>;\yfLBjHIrIr&6٢zV= zS=9zQ z>|| ~G٣|y]= >  Nusing accuracyPremultiplier from config ^49 }?^4Y 5T i 6B? C  ; K ; :^4! %A%EZjIUFNOT Ignoring new targets: 592.10 m.Bj]^Jj]^e ProNav: ac range: 592.099976 m, nav range: 48.810493 m, bearing: 119.179400 deg, approach rate: 0.574218 m/s, LOS rate: -0.194108 deg/s, cmd heading: 305.018025 deg, new cmd heading: 304.811121 deg. 2jm6mHeadingCmd: 5.319958 target range: 592.099976 and range: 592.10 m. ju=@jqjqjqiqhqhyhyhyfyffrfbf@['@ɛXQB I GɚiIį(=Ivi ;iЄ)=@)HN>I I HILBI =&I.I6I<:I}FD*FI2FI:FIBFM1JFI%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745804Gm:GA BQ O} > ) I- f=(w,޻ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.000092)nE= lG|uAA E>YM|uAyM7B0V@Ye@9>yH ?@O? Pbѿ (?╨}O?,?/?ɨ0V@"K;yLBHMb@Mb@Mb@ )CYoʡ?/$?~jt?y><=A QA)AIAy3AIIH%6٢W= $=9ҡQ > G٣?Gy*d= > Nusing accuracyPremultiplier from config^49}?^4YY i6Bx>:Ԣ?C;l;^4 A Zj)5FNOT Ignoring new targets: 592.10 m.Bj5Jj5M ProNav: ac range: 592.099976 m, nav range: 49.035278 m, bearing: 119.123261 deg, approach rate: 0.450079 m/s, LOS rate: -0.111890 deg/s, cmd heading: 304.811125 deg, new cmd heading: 304.643481 deg. 2jMMHeadingCmd: 5.317032 target range: 592.099976 and range: 592.10 m. jU %@jQjQjQiQhYhYhahafafifirfibfm ف(@ɛlQBT0 隥2I /LɚiI *=IUwiO;i q) %@)D9*FM?2FI:FIBFM0JFI-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249911Gm 3GI BQ O >kw,GA2B6@Y2E@2922>y2H` ?`? aѿ'Gn?Rգ?@?*?ɨ2B6@2;2{C @IDyF!MBFKHIRIR!6٢V= Z=9ZQ Z?\\ ^G٣\yb&= b? fNusing accuracyPremultiplier from configdj^49f_}?j^4Yf] if 7BhjVj?f5Cf@:f:fp^4p r]ArEZjFNOT Ignoring new targets: 592.10 m.BjܺJjܺ- ProNav: ac range: 592.099976 m, nav range: 49.174282 m, bearing: 119.093398 deg, approach rate: 0.450736 m/s, LOS rate: -0.096561 deg/s, cmd heading: 304.643485 deg, new cmd heading: 304.554149 deg. 2j-5HeadingCmd: 5.315473 target range: 592.099976 and range: 592.10 m. j5Z@j1j1j1i1h9hAhAhAfAfIfIrfIbfM)@ɛuxQBk I ?NɚiI +=I wi q;i LX)Z@JEcJEVJAJAJE:JEB9JAJAaM@aM@aM@aM@)IBD-?:D%?]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502104Du9zKM,~LKM9KIKM=KM*F2F :F BF 0JF GGBOf>H]Q>IY I]HI]hMBI] =&IY.I]PD6I]j<:I]`F Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7535950Sw,#A2>/@Y2>@2#928>y2Hd?`?/0ѿ7M7?`a`w?@xj? ?ɨ2>/@2ʶ;2}CyNAMBRtHIZIZ'6٢b= bI=9bFQ b>dd fG٣dyjM= j> rNusing accuracyPremultiplier from configpv^49r}?v^4Yr$b ir57Btvhv?reCr~:r:r^4| ~A|B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 592.10 m.Bj?Jj? ProNav: ac range: 592.099976 m, nav range: 49.359188 m, bearing: 119.060718 deg, approach rate: 0.437556 m/s, LOS rate: -0.077044 deg/s, cmd heading: 304.554146 deg, new cmd heading: 304.456473 deg. 2jSHeadingCmd: 5.313768 target range: 592.099976 and range: 592.10 m. jc @jjjihhhhfffrfbf*)@ɛUQBU QU&IQ ]+RɚYiYI]o=,= qIyI}+xi}]l;i@?)c @)D9JAJEBA*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=2.009231G% 9rG- pAG- pAG B! OE >} w,,Ay~IMB~}HMb@Mb@Mb@ )AY㥛 ?v/?~jt?y>xi=D= )AIΠAyII'6Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258525٢< :=9Q > G٣?Gy > Nusing accuracyPremultiplier from config^49}?^4Ytf iX7B>:g?C;O;^4  AZj)-FNOT Ignoring new targets: 592.10 m.Bj5߹Jj5߹ ProNav: ac range: 592.099976 m, nav range: 49.541466 m, bearing: 119.050390 deg, approach rate: 0.432123 m/s, LOS rate: -0.024393 deg/s, cmd heading: 304.456475 deg, new cmd heading: 304.425606 deg. 2j 셺-HeadingCmd: 5.313229 target range: 592.099976 and range: 592.10 m. j5@j1j1j1i1h1h1h9h9f9fAfIrfQbf]@*@ɛQBb I VɚiIw-=IOxiQ;i(C)@)DE9 iIi*F2F:FBF0JFGsiJ]bJ]XJ]2JYJ]:J]5K9J]c3JYGBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509840zK BJK +9K K >K  +//"  #,.,+('&#!ew,EAy=YMB=HIMIM&6٢]g$= ]R=9aQ e>ai mG٣iyi m> }Nusing accuracyPremultiplier from configq}_49u}?_4YuFj iuw7B?uCu ;u;u _4 AZjFNOT Ignoring new targets: 592.10 m.BjӹJjӹ ProNav: ac range: 592.099976 m, nav range: 49.703068 m, bearing: 119.041298 deg, approach rate: 0.412391 m/s, LOS rate: -0.023128 deg/s, cmd heading: 304.425602 deg, new cmd heading: 304.398413 deg. 2j}HI IHIMBI =&I.I6I<:IFHeadingCmd: 5.312755 target range: 592.099976 and range: 592.10 m. j@jjjih!h!h!h!f)f)f)rf)bf5@+@ɛ]QB]ks Y]gIa eYɚaiaIeю.=Im#nxi}*;;i}C)}@)2DpA*DrAD ͹9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762339*F2F:FBF0JFGdIGQBaO}z> U $?IQ ~w,_AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015754M@YM)@M#/9M>yMH?ޘ?п] i? ?pD?n?ɨM@M ;M|CyeSMBeHMb@Mb@Mb@ )YHzG?MbX9?~jt?y=>ʡ=D<1A )AIy̠AI I '6٢] 1=9%ĻQ %>)) -G٣)y-I> -> =Nusing accuracyPremultiplier from config1=_495}?E_4Y55n i57BEV>E;MNpM?5C5";5 ;5_4Q UAQZjy}FNOT Ignoring new targets: 592.10 m.Bj:Jj: ProNav: ac range: 592.099976 m, nav range: 49.886620 m, bearing: 119.067834 deg, approach rate: 0.399296 m/s, LOS rate: 0.057515 deg/s, cmd heading: 304.398418 deg, new cmd heading: 304.477735 deg. 2j;HeadingCmd: 5.314139 target range: 592.099976 and range: 592.10 m. jm @jjjihhhhfffrfbf@,@ɛQBD 隍I )^ɚiI/=IpxiD(;i')m @)Dۺ9*Fm?2Fi:FiBFu0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267106G 3C 9 I9 Gi By O >w,)zA6@Y6H @6a296(>y6H!W?w7?Bп g@k?B oJ?`5*?@?ɨ6@6m;6}Cy>IMB>}HIDID٢R Rw=9RQ V?TT VG٣V?GyZ= Z? ^Nusing accuracyPremultiplier from config\b_49^}?b_4Y^p i^7Bdf)if?^C^3:^:^M&_4jgB j AjEZjY]FNOT Ignoring new targets: 592.10 m.Bje:Jje: ProNav: ac range: 592.099976 m, nav range: 50.017464 m, bearing: 119.090895 deg, approach rate: 0.381772 m/s, LOS rate: 0.067111 deg/s, cmd heading: 304.477730 deg, new cmd heading: 304.546732 deg. 2j:8;HeadingCmd: 5.315343 target range: 592.099976 and range: 592.10 m. jK@jjjiJcJUJJJ:J>9JJhhhhfffrfbf 9-@ɛ]QBeBs ae֐Ia `aɚiIn0=I}wi\`;i)K@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519477D9zK}^mMK}59KyK}?K} BK:KqA*F]?2FY:FYBF]0JFYG5<G BO5q>jH<bH<HR>I I^HINBI =&I.I6I<:IzF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769339F$w,񓼺A2ٟ@Y2E@2492 ,>y2H?@?0Bп (m?(e? ??ɨ2ٟ@2ȍ;2{Cy^3MBbbHIjIjF'6٢r@R rG=9rúQ r>tt vG٣tyzЅ= z> ~Nusing accuracyPremultiplier from config| _49~}? _4Y~Ot i~7B  ?b ?~8C~/;~/;~4_4 8A5B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 592.10 m.BjM:JjM:] ProNav: ac range: 592.099976 m, nav range: 50.179146 m, bearing: 119.124351 deg, approach rate: 0.404064 m/s, LOS rate: 0.083339 deg/s, cmd heading: 304.546742 deg, new cmd heading: 304.646784 deg. 2j]d;eHeadingCmd: 5.317090 target range: 592.099976 and range: 592.10 m. je%@jajijiiihihihqhqfqfqfyrfybf}-@ɛQB. 隵I eɚiI 2=I Rwi;iᚽ)%@)BD*?:D? IfD9*Fi2Fi:FiBFm0JFiGEݘGB)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.040914O_>*w,έA2@Y2@26922Z>y2H!?z?Ͽ t ^?_<@ ئ?༴??ɨ2@2;0yB/MBB^H=Mb@Mb@Mb@999 9)9Y=$C?RQ?I +y=>===99 9)=GAI=A9y=AIUIU)6٢m mB=9m-Q m>qq uG٣qy}Ev= }> Nusing accuracyPremultiplier from config_49(~?_4Yw i7B>:Q?gCo;0;eC_4 @AZjFNOT Ignoring new targets: 592.10 m.Bj ;Jj ;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289566 ProNav: ac range: 592.099976 m, nav range: 50.357605 m, bearing: 119.175285 deg, approach rate: 0.424352 m/s, LOS rate: 0.120685 deg/s, cmd heading: 304.646791 deg, new cmd heading: 304.799051 deg. 2j;HeadingCmd: 5.319747 target range: 592.099976 and range: 592.10 m. j^;@jjji h h h hfffrfbfU.@ɛEQBE*7 IM`II M%iɚIiIIk3=Ivi| ;iFm)^;@)D9 $?I*F?2F:FBF0JFG}GQBYO}z>JbJWJJJ:JG9JJ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.541994zK ĂKK }9K K @K RK >JK >v1w,{ǼARi@YRix@Ru79R*>yRH?$?dο7?;ަ? d]?5?ɨRi@RW;RyCy^ MB^.HIjIj+6٢zǽ zR=9~Q ~> G٣?Gy#v=  > Nusing accuracyPremultiplier from config _49 0~?_4Y { i 7BK? C u ;  ; P_4) -A-EZjIUFNOT Ignoring new targets: 592.10 m.BjU;HeP>Ia IaIaIa&Ia.Ia6Iet<:IehFBI!JI!RI!ZI% =bI!jI%~5JjU; ProNav: ac range: 592.099976 m, nav range: 50.521275 m, bearing: 119.226311 deg, approach rate: 0.421230 m/s, LOS rate: 0.130899 deg/s, cmd heading: 304.799050 deg, new cmd heading: 304.951632 deg. 2j;HeadingCmd: 5.322410 target range: 592.099976 and range: 592.10 m. j/Q@jjjihhhhfffrfbf@/@ɛRBm aI `mɚiI4=I \ui ;i f*)/Q@)Du.9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.794277*F?2F:FBF JF  qIqGU G! B1 OM >U8w,ἺA"Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047630e @Ye@e659e}>yeH@O?[?cͿ`? ̸臘?0d??ɨe @e/ь;e~CyuLBuHMb@Mb@Mb@ )YZd;?+η?A`"y>v=YA A)AIyAI-I-,6٢=^ =*=9=n:Q E>AA MG٣IyMt)= M> UNusing accuracyPremultiplier from configQ]_49Uf~?]_4YU iU7Be>e:efJe?UCUD";U ;Ua_4q uAqZjFNOT Ignoring new targets: 592.10 m.Bj0+;Jj0+;e ProNav: ac range: 592.099976 m, nav range: 50.752388 m, bearing: 119.298530 deg, approach rate: 0.481149 m/s, LOS rate: 0.149665 deg/s, cmd heading: 304.951636 deg, new cmd heading: 305.167304 deg. 2jem;HeadingCmd: 5.326174 target range: 592.099976 and range: 592.10 m. jp@jjjihhhhfffrfbfOS0@ɛRB] 9=eI9 =irɚ9i9IEL6=IEtiE܅:iM= )Mp@)I2DurA*DqDu=9*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.302249G53ýG B OI Y IY m(>w,aA2@Y2 @2392fr>y2H@?`?!̿`" `?8I =u?@??ɨ2@2h;2yCy:LB:HIJ-IJ$/6٢R'& R=9R4:Q V ?TT VG٣TyZV= Z ? ^Nusing accuracyPremultiplier from config\b_49^(~?b_4Y^r i^7B`fQFf?^C^j:^:^l_4h jAhZj|~FNOT Ignoring new targets: 592.10 m.Bj F4;Jj F4; ProNav: ac range: 592.099976 m, nav range: 50.904762 m, bearing: 119.348725 deg, approach rate: 0.479866 m/s, LOS rate: 0.157607 deg/s, cmd heading: 305.167306 deg, new cmd heading: 305.317443 deg. 2jT;HeadingCmd: 5.328794 target range: 592.099976 and range: 592.10 m. j|@jjjihhhhfffrfbf0@ɛ)RB + =¬ImWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.553391 u0uɚyiyI}47=I}Rtiņ:ia)|@)D]9zKrKK9KKAKBKrA:KrA*F2F:FBF0JFGljZHQRHU@AHYIY I],HI]MBI] =&IY.IY6I]{<:I]mFGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=5.805390Ew,]7A6i @Y6@6|:1967k>y6H@(#?`dz?`˿ S??%?(+? ?ɨ6i @6#;6{CyNLBRHIZQIZ!36٢fߌ fH=9f:Q j>hh jG٣j?Gyn= n> vNusing accuracyPremultiplier from configpz_49rn5~?z_4Yr' ir7Bx~B~?r-Cr#;r;r({_4 RAE%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 592.10 m.Bj5:;Jj5:;M ProNav: ac range: 592.099976 m, nav range: 51.100079 m, bearing: 119.415969 deg, approach rate: 0.476233 m/s, LOS rate: 0.163331 deg/s, cmd heading: 305.317434 deg, new cmd heading: 305.518392 deg. 2jM/;MHeadingCmd: 5.332302 target range: 592.099976 and range: 592.10 m. jU8@jQjQjQiQhQhQhYhYfYfafarfabfeR1@ɛ:RB% 隝I KzɚiI9=Imsip:i/')8@) $?IDo9*F2F:FBF0JFJcJZJ1JJ:JS9J3JJ;aJ;aJ\u:aJ^u:aGm;+GvA A U(GaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.061260BYUvAym"BO%o>9Kw,/A2a@Y2p@23.92[Fg>y2H`j?.Q?R~ʿ3" 7?Tuҥ? ^?(?ɨ2a@2;2yCyBLBBH-Vonly read 0 of 1 data item for BIT error. Device response is::TS,250108135.0, +11.4, 0.0,1495.1, 0  Z@Z Z@Z Z@Z  Z@Z I^dI^<56٢  F=9 :Q  > G٣yr< > %bBottom track data is 0.4 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config!-_49%B~?-_4Y%ى i%7B5+:15:5@5?%bC%&;%>%І_4 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.309444Zj  FNOT Ignoring new targets: 592.10 m.Bj5#7;Jj5#7;E ProNav: ac range: 592.099976 m, nav range: 51.296215 m, bearing: 119.485446 deg, approach rate: 0.453738 m/s, LOS rate: 0.160113 deg/s, cmd heading: 305.518405 deg, new cmd heading: 305.726039 deg. 2jE;MHeadingCmd: 5.335926 target range: 592.099976 and range: 592.10 m. ju迪@jqjqjyiyhyhyhhfffrfbfWu1@ɛNRB&" I ɚiI:=I%ri%<:i%\)%迪@))BD5.?:D5T?D-}9 I*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.561435G +G B O >zK} ]JK} 59Ky K} BK}    #Rw,HAH O>I  I HI MBI  =&I .I 6I 1<:I 6F5@Y5^@5)95%`>y5HM?Q7?ɿ` m?` '2? ?[4?ɨ5@5Ċ;5{Cy]dLB]cHImzIm76٢}Υ C=9?;Q > G٣y%< > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config_49!O~?_4Y i7B ::>?C$;YU?p_4 ִAZjFNOT Ignoring new targets: 592.10 m.BjM;JjM;u ProNav: ac range: 592.099976 m, nav range: 51.495724 m, bearing: 119.557410 deg, approach rate: 0.500363 m/s, LOS rate: 0.179784 deg/s, cmd heading: 305.726043 deg, new cmd heading: 305.941096 deg. 2ju;}HeadingCmd: 5.339679 target range: 592.099976 and range: 592.10 m. j}ު@jyjyjihhhhfffrfbf`N1@ɛaRB-p/+ )-I) -aKɚ1i1I5g<=IEqiE^:iE)Eު@)D9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.813440 $?IE>=*F! 2F! :F! BF% 0JF! J fJ UJ 2J J |":J >9J c3J J ;J ;J Q:J Q:G nG B O5 >?Xw,bA6Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=7.068352%iģ@Y%Ӫ@%&9%X>y%H`?`2?`Գȿ`^[?1??C?ɨ%iģ@%ˊ;%}Cy2LB&H        Mb@Mb@Mb@ )Ysh|??X9v?~jty)?<A  A)AI"AyAII;6٢eϽ  )=9 :Q > G٣?Gy% < %> =Nusing accuracyPremultiplier from config1M_495`~?M_4Y5$ i57BMT:MG+?M:M$`U?5C5p;5U;5g_4Y ]:A]EZjAEFNOT Ignoring new targets: 592.10 m.BjM$;JjM$; ProNav: ac range: 592.099976 m, nav range: 51.814701 m, bearing: 119.621356 deg, approach rate: 0.623732 m/s, LOS rate: 0.124271 deg/s, cmd heading: 305.941084 deg, new cmd heading: 306.131741 deg. 2j;HeadingCmd: 5.343007 target range: 592.099976 and range: 592.10 m. j@jjjihhhhfffrfbfI^2@ɛyRB' 隵ȿI e}ɚiI>i>=Ipi:i[)@)D9 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.317400E=*F ?2F :F BF 2JF I GGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570288BO?`w,A>@ڣ@Y>@>59>GB>y>H ?`H? aƿ ?lzţ?@ ? g?ɨ>@ڣ@>;A;>yCyF&LBFHNANAIRIR?6٢Z+ ZE=9^];Q ^>\\ ^G٣\ybt; b> fNusing accuracyPremultiplier from configdj_49fo~?j_4Yf if7Bln`n?f1Cf;f;fϯ_4p rRAtZjyFNOT Ignoring new targets: 592.10 m.Bj5;Jj5;zK.SLK9KKCK  >dhBiAtR.qT6vhVA ProNav: ac range: 592.099976 m, nav range: 52.085594 m, bearing: 119.675189 deg, approach rate: 0.677538 m/s, LOS rate: 0.133944 deg/s, cmd heading: 306.131729 deg, new cmd heading: 306.292389 deg. 2jٷ;HeadingCmd: 5.345811 target range: 592.099976 and range: 592.10 m. j@jjjihhhhfffrfbf(2@ɛ]RB]D5 Y]̿IY ey&ɚaiaIeB@=Imoim:im,)@)HuQ>Iq IuqHIu?MBIq&Iq.Iq6Iu<:IuFD9EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.827530*F 2F :F BF o5JF - $?I- fG- pJu bJq Jq Jq Ju :Jq Jq Jq Ju S ;Ju V ;Jq Jq G)B9Om>6hw,pARͣ@YRݪ@RK9R66>Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=8.088883yRH ?k_?8ſ t?FԲ Π??!x?ɨRͣ@RHs;R}CyޥLBޭHIIB6٢mUh u=9 :Q > G٣y : > Nusing accuracyPremultiplier from config_49Ă~?_4Y iv7B`?CF;;_4 AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 592.10 m.Bj" ;Jj" ;  ProNav: ac range: 592.099976 m, nav range: 52.438118 m, bearing: 119.743328 deg, approach rate: 0.642698 m/s, LOS rate: 0.123390 deg/s, cmd heading: 306.292402 deg, new cmd heading: 306.495441 deg. 2j \;=HeadingCmd: 5.349355 target range: 592.099976 and range: 592.10 m. j=-@jQjQjQiYhYhYhahafafafarfibfm R3@ɛRBb+ 隽ӿI J܋ɚiIB=Ioi_:iֻ)-@)BD?:D?D9*Fa2Fa:FaBFep5JFaGi GiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.337335 I G- b(G B O- >Unw,A6泣@Y66ê@6M96Z)>y6Hx?2?ÿz G٣?Gy > Nusing accuracyPremultiplier from config_49~?_4Yæ ij7B=?:s?C;-;K_4 AZjFNOT Ignoring new targets: 592.10 m.Bj:Jj: ProNav: ac range: 592.099976 m, nav range: 52.706955 m, bearing: 119.772438 deg, approach rate: 0.790848 m/s, LOS rate: 0.085200 deg/s, cmd heading: 306.495450 deg, new cmd heading: 306.582337 deg. 2ji;HeadingCmd: 5.350871 target range: 592.099976 and range: 592.10 m. jV:@jjjih h h h fffrfbf@3@ɛMRBUL U=U׿I ɚiILD=I)nim:i.,)V:@)D9-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=8.589597*F?2F:FBF5JFzK)OK+9KKDK1xspogdc`[YUOJGCCA<854672200/1--,*')G}4λGQHeO>Ia Ie HIeLBIa&Ia.IeOD6IeQ<:IeNFBO~> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.842773q=uw,jսAbj@Yb@b $9b&>ybHj?@? ¿@K?۬?L?ङ?ɨbj@bʉ;b~CyjKBjHIvIvE6٢ R=9QQ >  G٣y5 %> -Nusing accuracyPremultiplier from config!-_49%~?5_4Y% i%]7B9E,uE?%C%X;%;%_4Y ]ǵAeE $?IfZjFNOT Ignoring new targets: 592.10 m.Bj:Jj:} ProNav: ac range: 592.099976 m, nav range: 52.994728 m, bearing: 119.801597 deg, approach rate: 0.716089 m/s, LOS rate: 0.072164 deg/s, cmd heading: 306.582330 deg, new cmd heading: 306.669331 deg. 2j}F;HeadingCmd: 5.352389 target range: 592.099976 and range: 592.10 m. jF@jjjihhhhfffrfbfj4@ɛRB? ۿI ɚiI [F=I-Hni5T :i5z)5F@)1D 9J5cJ5dJ1J1J5:J5|9J1J1J5;J5;J5:J5:*F?2F:F!BF%K5JF!=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=9.093782G! G B O% >g{w,コAybKBbHeMb@Mb@Mb@aaa a)aYe rh?~jtS㥛yeCK?ee/ݼeA ehA)eAIeAayeAIID6٢յ< A=9Q > G٣y > Nusing accuracyPremultiplier from config_49d~?_4Yb iK?:D~?rC;c;_4 AEZjFNOT Ignoring new targets: 592.10 m.BjEf:JjEf: ProNav: ac range: 592.099976 m, nav range: 53.329132 m, bearing: 119.822248 deg, approach rate: 0.820148 m/s, LOS rate: 0.050330 deg/s, cmd heading: 306.669319 deg, new cmd heading: 306.730883 deg. 2j) ;HeadingCmd: 5.353464 target range: 592.099976 and range: 592.10 m. jO@jjji!h!h!h!h)f)f)f)rf)bf5uu4@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.345480ɛRB D BݿI %ɚ!i!I%cH=I-;ni-rt:i-v)-O@)q ID-9*F2F:FBFo5JFGZsGqByO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=9.597424Ow, AzK2NK29K0K2EK2((&$*?`TR(suXA. t\\bT5qcXM:: E@Y:[T@: 49: >y:H"S? ?'2`S? _`?@b??ɨ: E@:.Ј;:{CyzKBzHHP>I IHILBI&I.I6I<:ItFBIJIRIZIbIjI4I-I-F6٢=N; =P=9="Q E>AA EG٣E?GyM M> UNusing accuracyPremultiplier from configQ]_49U~?]_4YUQ iU^7Baede?UCU ;U. ;U]_4i mصAmEZjFNOT Ignoring new targets: 592.10 m.Bj|6:Jj|6: ProNav: ac range: 592.099976 m, nav range: 53.640953 m, bearing: 119.837990 deg, approach rate: 0.794691 m/s, LOS rate: 0.039885 deg/s, cmd heading: 306.730873 deg, new cmd heading: 306.777824 deg. 2j:HeadingCmd: 5.354283 target range: 592.099976 and range: 592.10 m. jJV@jjjihhhhfffrfbf`4@ɛ5RB=DN 9=I9 =ೖɚAiAIEPJ=IEmiMC:iMG3˼)MJV@)IDWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.850977 $?IE=*F 2F :F BF 1JF JaKa KaKaKa"KaJU `JU hJU 1JQ JU :JU Ȇ9JU 3JQ JU :JU :JU ׬:JU ج:G= se Will construct direction to contact in vehicle frame from tetrahedron phase data.m ȉw,_ )A&@Y*6@YE=9| >yH 9?,? @B>?(`?B?@Z?ɨ&@ ;騅zCy޽ LB޽H}Mb@Mb@Mb@yyy y)yY}ʡE?S㥫{Gz?y}O?}/]}#<}A }A)}?AI}`Ayy}(AIIC6٢= =9Q > G٣y > Nusing accuracyPremultiplier from config`49o~?`4Y2 it7BP?:?1C;;+ `4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 592.10 m.Bjގ9Jjގ9= ProNav: ac range: 592.099976 m, nav range: 54.077736 m, bearing: 119.846472 deg, approach rate: 0.810510 m/s, LOS rate: 0.015613 deg/s, cmd heading: 306.777837 deg, new cmd heading: 306.803079 deg. 2j=q+:EHeadingCmd: 5.354724 target range: 592.099976 and range: 592.10 m. jEY@jAjAjAiIhIhIhIhQfQfQfQrfQbf]c5@ɛ SB : 隅fI LɚiIL=ImiR:i1߼)Y@)DR9El=Will construct direction to contact in vehicle frame from tetrahedron phase data.w,&BA6@Y6!@6G96 >y6H?M? T`^&? N袿0?N??ɨ6@6(;6{CyB&LBBHININ?6٢V= Vs=9ZQ Z?XX ^G٣\y > ? %Nusing accuracyPremultiplier from config%`49~?%`4Y i7B)--?yC::L`41 5PA5EZjaeFNOT Ignoring new targets: 592.10 m.BjmZ^9JjmZ^9}Will construct direction to contact in vehicle frame from tetrahedron phase data.Iq IqIqIq&Iq.IuPD6Iu<:IuF*F=?2F9:F9BFE0JFAe Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Response Not Received u *response not received} ,DAT read: user:1619> - dWw,^A2@Y2@2ՕU92* >y2H ?]?)7¿`?-ѡ? x??ɨ2@2;2zCyBALBB8H)h jCIRIR6=6UG}vA٢ef= 0=94 |$YvAyBQ > G٣?GyĻ > Nusing accuracyPremultiplier from config`49~?`4Y i7B섿?C::i(`4 AEZj!-FNOT Ignoring new targets: 592.10 m.Bj-g.9Jj-g.9= ProNav: ac range: 592.099976 m, nav range: 54.733688 m, bearing: 119.855145 deg, approach rate: 0.808980 m/s, LOS rate: 0.009530 deg/s, cmd heading: 306.815731 deg, new cmd heading: 306.828955 deg. 2j=H9EHeadingCmd: 5.355175 target range: 592.099976 and range: 592.10 m. j]@jjjihhhhfffrfbf 66@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:21:15:36.7680 $Ping request sent.U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251373{w,xA 0I6fy}oLB}qHMb@Mb@Mb@ )Y!rh?v/?ylG?xiL= )AIAyI5VI536٢E= E?=9EQ M>II MG٣IyU U> eNusing accuracyPremultiplier from configam`49e;~?m`4Ye ie7Bu]H?u:uu?e-Ce;eo;e7`4y }AEZjFNOT Ignoring new targets: 592.10 m.BjFJjF ProNav: ac range: 592.099976 m, nav range: 55.061260 m, bearing: 119.854280 deg, approach rate: 0.781490 m/s, LOS rate: -0.002053 deg/s, cmd heading: 306.828954 deg, new cmd heading: 306.826373 deg. 2jTHeadingCmd: 5.355131 target range: 592.099976 and range: 592.10 m. j;]@jjjihhhhfffrfbf V6@ɛJSBL gۿI! 5M?ɚ9i9IER=IMmiUO7:iUs)U;]@)QDE9JcJWJJJ:JG9JJa@a@a@a@*F2F:FBFB1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503460zKe OKe 9Ka Ke GKe FEBB@>7630+$       jHu <bHu <H} N>Iy  I} HI} LBIy &Iy .I} OD6I} .<:I} 4FBK qA:K G nG B OM >hw,9ABP֢@YB@Bz9Bw>yBH?@9?Q.Ŀ j?b`X?0? ”?ɨBP֢@B;B{CyRLBVHI^eI^X56٢f= fe=9jмQ j>hh nG٣lync n> rNusing accuracyPremultiplier from configpv`49r?z`4Yr ir7Bxz-z?rtCr ;r<;rC`4  uAZjQUFNOT Ignoring new targets: 592.10 m.Bj]NJj]Nm ProNav: ac range: 592.099976 m, nav range: 55.338417 m, bearing: 119.852458 deg, approach rate: 0.765910 m/s, LOS rate: -0.005008 deg/s, cmd heading: 306.826386 deg, new cmd heading: 306.820950 deg. 2jm[uHeadingCmd: 5.355036 target range: 592.099976 and range: 592.10 m. jut\@jqjqjqiqhqhyhyhyfyffrfbf6@Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757382ɛ^SBC)N 隥_ٿI ɚiIaT=I 1mi y:iI)t\@) M$?IID9*Fq2Fq:FqBF}1JFyG GG ?G ,? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009033G B O} >w,>AA6ʢ@Y6ک@6996*>y6H ?@?@Ŀn?ߝ?G??ɨ6ʢ@6ݎ;6yCy>LBBH%Mb@Mb@Mb@!!! !)!Y%A`"?/$l?y%9?%,%=%A %hA)%?AI%jA!y%AI5'I5z.6٢M= MC=9MMQ U>QQ UG٣U?Gy]\ ]> mNusing accuracyPremultiplier from configam`49ed?u`4Ye utIie8Bu]:?u:u5u?eCew,ɯƾAWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511767^@Y^ʩ@^9^Ui>y^HL? ? Ŀt?,?`U??ɨ^@^3;^{CyjLBjHIr#Ir.6٢:= K=9pzQ >!! %G٣!y% -> UNusing accuracyPremultiplier from config)]`49-?]`4Y-x i-?8Baeqe?- C-/;-;-h``4i mڳAiZjFNOT Ignoring new targets: 592.10 m.BjJj% ProNav: ac range: 592.099976 m, nav range: 55.931179 m, bearing: 119.852678 deg, approach rate: 0.783294 m/s, LOS rate: -0.000468 deg/s, cmd heading: 306.822124 deg, new cmd heading: 306.821602 deg. 2j-[UHeadingCmd: 5.355047 target range: 592.099976 and range: 592.10 m. jU\@jQjQjQiQhQhYhYhYfYfafarfabfe@7@HP>I I}HIJMBI&I.IPD6I:I5FzK[MK+9KKHKɛ SB &T տI ɚiIW=Ismi:i%)%\@)D9*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763358 IG r7G B O >$w,yྺA>Ԣ@Y>@>)9>}>y>Hb??{ſ@d@?--??]?ɨ>Ԣ@>눈;>zCyFMBF8HIRIR_,6٢Z= ZO=9^`` bG٣`yf; f> jNusing accuracyPremultiplier from confighn`49jm(?n`4Yj ijp8Bpr r?jTCj;j;jn`4t vyAvEZjFNOT Ignoring new targets: 592.10 m.*JC="JBj- 8Jj- 8E ProNav: ac range: 592.099976 m, nav range: 56.211773 m, bearing: 119.853392 deg, approach rate: 0.742542 m/s, LOS rate: 0.001879 deg/s, cmd heading: 306.821605 deg, new cmd heading: 306.823736 deg. 2jE8MHeadingCmd: 5.355084 target range: 592.099976 and range: 592.10 m. jM\@jIjIjIiIhQhQhQhQfafafarfabfei18@ɛUSB]sN Y]ѿIY ]y+ɚYiaIednY=Iemimj:imv)m\@)iUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016458D9*F12F9:F9BFE#2JFAG BG pAG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267420 $?I f꽯w,J^A^@Y^ @^Rv9^>y^H ?^?@{ſ@R`0?һ? m? ?ɨ^@^ 2;^{Cyj?MBjpHmMb@Mb@Mb@iii i)iYm(\?~jt~jt?ym'?mDm=mA mA)mAImƛAiym\AII}*6٢= :=9;Q > G٣?Gy; > ]Nusing accuracyPremultiplier from configYe`49]5?e`4Y]l i]8Be(?e:mـm?]C];]#;]}`4q uAuEZjFNOT Ignoring new targets: 592.10 m.Bj:Jj: ProNav: ac range: 592.099976 m, nav range: 56.505783 m, bearing: 119.866258 deg, approach rate: 0.645179 m/s, LOS rate: 0.028085 deg/s, cmd heading: 306.823736 deg, new cmd heading: 306.862132 deg. 2j2:HeadingCmd: 5.355754 target range: 592.099976 and range: 592.10 m. jWb@jjjihhhhfffrfbf/8@ɛ SB G οI ɚiI[=IlmiR3:i6 )%Wb@)!2D-qA*D)J)J-VJ)J)J)J-B9J)J)D=9*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=2.519470ZHRHHO>I IHIMBI =&I.I6I <:IFzKe ^ LKe 9Ka Ke IKe $W}xrkc^WRONJD=5-*'$!   G] W G9 BQ O > įw,/A:@Y:7!@:$9:>y:H ? ?=ſ<uQ?luYY?? ?ɨ:@:;8yRmMBVHI^I^ ,6٢f= f\=9fbQ f>hh jG٣hyn<< n> rNusing accuracyPremultiplier from configpv`49r@?v`4Yr ir8BtzPz?rCr:rz:rb`4Y ]AYZjFNOT Ignoring new targets: 592.10 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.չiչchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771777Bj:Jj: ProNav: ac range: 592.099976 m, nav range: 56.735313 m, bearing: 119.877173 deg, approach rate: 0.616114 m/s, LOS rate: 0.029181 deg/s, cmd heading: 306.862122 deg, new cmd heading: 306.894736 deg. 2j6:HeadingCmd: 5.356324 target range: 592.099976 and range: 592.10 m. jg@jjjihhhhf!f!f!rf!bf%@9@ IɛSBK ˿I %ɚ!i!I%c\=I-Fmi-w:i-)Mg@)QD-9*F2F:FBFo1JFJ1J5@A} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026667G) GI B O >ʯw,.ABw,@YB;@B#9BE>yBH)/?¹?uƿ l)l?@۷?`??ɨBw,@B&;ByCyJMBJH]Mb@Mb@Mb@YYY Y)YY]~jt?~jt?T㥛 ?y]?]<]=]KA ]ĊA)]AI]НAYy]AIuIu))6٢= ?=9gbQ > G٣y; > Nusing accuracyPremultiplier from config%`496M?%`4Y: i9B-?-:-r-?C;;`41 5fA9}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 592.10 m.Bj :Jj : ProNav: ac range: 592.099976 m, nav range: 57.000404 m, bearing: 119.904329 deg, approach rate: 0.613284 m/s, LOS rate: 0.062532 deg/s, cmd heading: 306.894743 deg, new cmd heading: 306.975830 deg. 2j+;HeadingCmd: 5.357739 target range: 592.099976 and range: 592.10 m. jr@jjjihhhhfffrf bfMu9@ɛSBH "=隥ȿI bɚiI]=Ilif:i$)r@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276655 $?I*F?2F:FBF^1JFG G ?G ?G B O >J aJ XJ J J :J 5K9J J ѯw,GAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:15:39.9503 TRx dataTimestamp_ set to:1736370941.129408checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529254FX@YF"h@FIʽ9F>yFH@P?? ǿ ?~ 8?@N?y?ɨFX@FR;F}CyfMBf HInIn'6٢M= MN=9M~]Q M>QQ UG٣U?Gy[< > Nusing accuracyPremultiplier from config`49X?`4Y0 iD9BKq?ZC#;;`4 "AEZj9EFNOT Ignoring new targets: 592.10 m.BjE:JjE:H}K>I}ƍC I}HI}>NBI} =&Iy.I}OD6I}h<:I}[FBIAJIARIAZIAbIAjIE5 ProNav: ac range: 592.099976 m, nav range: 57.231773 m, bearing: 119.929046 deg, approach rate: 0.587925 m/s, LOS rate: 0.062554 deg/s, cmd heading: 306.975831 deg, new cmd heading: 307.049682 deg. 2j+;HeadingCmd: 5.359028 target range: 592.099976 and range: 592.10 m. j(}@jjjihhhhfffrfbfi9@zKMrNKMh9KIKMJKMO xpia[WOJHEB?<99664420-/6DZɛuSBu"M quOǿIq u3丽ɚyiyI};_=Ili"X:ipҼ)(}@)*F2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779686 qIyG G B O >qدw,aAZע@YZ'@Zr9Zw>yZHU?`b?@C!ȿ@"?Y?)? m?ɨZע@Z;;ZzCyfMBf6Hln@AInInc'6٢v= vP=9ztQ >   G٣y־< > %Nusing accuracyPremultiplier from config%`49Vd?-`4Y ix9B)- o-?C":C: `4=fB =ܱA=EZjYeFNOT Ignoring new targets: 592.10 m.Bje:Jjm:} ProNav: ac range: 592.099976 m, nav range: 57.461739 m, bearing: 119.955454 deg, approach rate: 0.610342 m/s, LOS rate: 0.069809 deg/s, cmd heading: 307.049679 deg, new cmd heading: 307.128587 deg. 2j}?;HeadingCmd: 5.360405 target range: 592.099976 and range: 592.10 m. jp@jjjihhhhfffrfbf8:@ɛ} TBdR 隵ZſI #ɚiITY`==Will construct direction to contact in vehicle frame from tetrahedron phase data.IY;li-"M:i-朼)5p@)1UDAT read: 21:15:39.9503 LVL= 27840, 27441, 14146, 32755, AGC= 71, IDX= 269, 0.08, 1.053, 0.408, 2.417, 1.411, PHS=-0.270,-0.955, 1.003, RAW= 189.8, 2.6, CAL= 189.8, -5.4, ROT= 320.2, 5.4 Ygot valid direction response: 21:15:39.9503 LVL= 27840, 27441, 14146, 32755, AGC= 71, IDX= 269, 0.08, 1.053, 0.408, 2.417, 1.411, PHS=-0.270,-0.955, 1.003, RAW= 189.8, 2.6, CAL= 189.8, -5.4, ROT= 320.2, 5.4 PDAT read: Bearing 320.2, 5.4 (Local) -~Local bearing/azimuth received: Bearing 320.2, 5.4 (Local) DAT read: Range 10 to 50 : 583.6 m (Round-trip 778.2 ms) speed 0.2 m/s ,DAT read: user:1620> BDAT read: Tx time:21:15:41.0680 %$Ping request sent.%99:publishing transmit ping time!Fpublishing direction and range info99=Kþ%lSр*s5`y9999 9)9I9i99999 9)9I9i999=X % ?VZ? 98S?)9I9i9999G} ϼ Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:15:41.0672 G9 BA Y IY Om >,7ޯw,˟{Az@YzЪ@zy9zQ>yzH@?HK?lȿS? c?f?@?`g?ɨz@z;xy-MB-\HMb@Mb@Mb@ )YV-??Q?yh?L=\=A A)AI-AyII%6٢= ,=9CLQ > %G٣!y%< %> 5Nusing accuracyPremultiplier from config)=`49-r?=`4Y-d i-9B=>?=:=]=?-C-;-;-`4I MAmEku@?kuP, kq ku1hA:kuDBkuDZkuCk@"uNQ8PƱwRuKþ%lSр*s5`JkuؿRku]>*uQr ~(Ɓ qØ&.euZe1߿pGҿ"ku8*kuLkuC;??ku*\ 2kukutV?kqku$ DkuCku0@ addTargetRange:: Added new target pos. range: 583.599976 m, deltaT: 26.274308 s, deltaX: -8.500000 m, approachRate: -0.323510 m/s, rangeRepo size: 4  Added new target pos. range: 583.599976 m, bearing: 210.619219 deg, lat: 36.903310 deg, lon: -122.112083 deg, deltaT: 26.274308 s, deltaX: -8.500000 m, approachRate: -0.323510 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 583.60 m.BjJj ProNav: ac range: 583.599976 m, nav range: 133.779236 m, bearing: 158.058684 deg, approach rate: 0.000000 m/s, LOS rate: 0.069809 deg/s, cmd heading: 307.128581 deg, new cmd heading: 307.232644 deg. 2jHeadingCmd: 5.362221 target range: 583.599976 and range: 583.60 m. jQ@jjjihhhhfffrf<@bfH.?ɛM'TBMH@ IMſII UfɚQiQIUa=I]Nki]A:i])]Q@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.jHu<bHu<HyIy I}3HI}NBIy&Iy.Iy6I}^<:I}SFzK NK +9K K KK m!${{vusmfE *F] ?2FY :FY BF] 0JFY Gi  Gi  Will construct direction to contact in vehicle frame from tetrahedron phase data. U$?IUfGM`6GUrAGQG9BIOe ?>&w,A6@Y6Ϫ@696i>y6H?E?(ɿ?yV?}? C? _?ɨ6@6;6yCy>NBBvHIJIJL 6٢R9= R3=9RQ R>TT VG٣V?GyV Z> ^Nusing accuracyPremultiplier from config\b`49^?b`4Y^ i^9B`b]f?^C^M7;^8r;^r`4l rsApvG5tAA 6Y 5tAy w.BZj9EFNOT Ignoring new targets: 583.60 m.BjE*JjE*} ProNav: ac range: 583.599976 m, nav range: 134.005539 m, bearing: 158.007856 deg, approach rate: 0.479920 m/s, LOS rate: -0.107608 deg/s, cmd heading: 307.232646 deg, new cmd heading: 307.080421 deg. 2j}HeadingCmd: 5.359564 target range: 583.599976 and range: 583.60 m. j@jjjihhhhfffrfbf?J dJ WJ J J <:J G9J J J  ;aJ ";aJ _:aJ _:a%ɛ%ATB- G )-ſI) -Sɚ)i)I5wb=I5krli=_%7:i=8)=@)92DE*DEBDe:DeE=EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG G B O >PRw,߷AJWill construct direction to contact in vehicle frame from tetrahedron phase data. lIlyzNBzHMb@Mb@Mb@ )YS?x&? G٣y  > Nusing accuracyPremultiplier from config`49?`4Y^ i :B%?:T%?ZC<;;`4) 5fA1UB*** querying acoustic contact ***jQjQZjamFNOT Ignoring new targets: 583.60 m.BjmJjm} ProNav: ac range: 583.599976 m, nav range: 134.230759 m, bearing: 157.962054 deg, approach rate: 0.550288 m/s, LOS rate: -0.111722 deg/s, cmd heading: 307.080415 deg, new cmd heading: 306.943239 deg. 2j}YHeadingCmd: 5.357170 target range: 583.599976 and range: 583.60 m. jm@jjjihhhhfffrfbfT.?ɛWTBQ ǿI ýɚiI{c=IXmi,/:iqm)m@)EE*E"E*F%?2F!:F!BF%0JF!UWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.He M>Ia  Ie HIe OBIa &Ia .Ia 6Ie <:Ie oFG ՒzK 4OK 9K K LK `UOLPVXVXfhdcb`^\VUQRPOJJGECCA?<;898844J RK! JK% ?G B O- >dw,ӿAF@YFN@F2m 9F>yFHh?'?ɿ3 .??+@?S?tV?ɨF@FP;FxCyN;NBNHIVIV6٢j== nO=9rWQ v>xx zG٣xy~-Z< > Nusing accuracyPremultiplier from config`49?`4Y$ i/:B!%R%?C:3:`4 %AEZjFNOT Ignoring new targets: 583.60 m.BjۺJjۺE ProNav: ac range: 583.599976 m, nav range: 134.431732 m, bearing: 157.921914 deg, approach rate: 0.481270 m/s, LOS rate: -0.095980 deg/s, cmd heading: 306.943237 deg, new cmd heading: 306.822996 deg. 2jE]HeadingCmd: 5.355072 target range: 583.599976 and range: 583.60 m. je\@jajijiiihihqhyhyfyffrfbf@ ?ɛpTBZN 隵ƿI ƽɚiI)d=Iݘmi):iZWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.667288 $?I)\@)a*F2F:FBF0JFJMcJM[JIJIJM:JMW9JIJIJM;JM;JM|:JM|:G= k}GE ?GE >G B! O= >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.920072Kw,RA b@b@5@Y*@9k>yH ?6 ?Xɿ [| W?u?౱? ?@T?ɨ5@ω;騥yCyKNBHMb@Mb@Mb@ )Y|?5^?ˡE?Mb`y?=A dA)AIAyAII."6٢= .=98Q > G٣?GyJ< > Nusing accuracyPremultiplier from configa49g?a4Y) iZ:B o? : J ?C5;;[a4 AZjIMFNOT Ignoring new targets: 583.60 m.BjUJjU庝e ProNav: ac range: 583.599976 m, nav range: 134.676712 m, bearing: 157.877068 deg, approach rate: 0.547846 m/s, LOS rate: -0.100107 deg/s, cmd heading: 306.822998 deg, new cmd heading: 306.688705 deg. 2jegmHeadingCmd: 5.352728 target range: 583.599976 and range: 583.60 m. jmI@jijijiiihqhqhqhqfyfyfyrfybf=@ɛmTBuM quǿIq uIɽɚyiyI}.e=Ir2niP(:iƺ)I@) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.174683*F2F:FBF0JFG JG B O >Bw,)Ay~TNB~HIIJ#6٢%%< %l=9-Q -?)1 5G٣1y5 =? ENusing accuracyPremultiplier from config9Ea49=+?Ma4Y=`- i=z:BIIM?= C=U:=:=za4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.435335 AEZjimFNOT Ignoring new targets: 583.60 m.BjuʺJjuʺ ProNav: ac range: 583.599976 m, nav range: 134.859314 m, bearing: 157.843757 deg, approach rate: 0.486962 m/s, LOS rate: -0.088713 deg/s, cmd heading: 306.688717 deg, new cmd heading: 306.588919 deg. 2jsHeadingCmd: 5.350986 target range: 583.599976 and range: 583.60 m. jG;@jjjihhhhfffrfbfЅ@ɛTB ^ JɿI ˽ɚiI |f=H5Q>I5ǍC I5HI5dOBI5 =&I1.I5PD6I5w<:I5iFIEniEB':iMD)MG;@)IzK}NK}]9KyK}MK}|okha\ZZVTQI9+$ &)**&!#&0?d&BK:K*F2F:FBFJFGV'SGBO> $?IM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.687725w, A:O@Y:^@:89:>c>y:H?`?4ʿU[?H?? ?DO?ɨ:O@:n;:{Cy^`NB^HIfIf"6٢nu< rO=9vQ z>xx zG٣xy~< ~> Nusing accuracyPremultiplier from config a49? a4Y1 i:BH?D C::Ra4 ٰA%EZjAMFNOT Ignoring new targets: 583.60 m.BjMJjM躝] ProNav: ac range: 583.599976 m, nav range: 135.068207 m, bearing: 157.806462 deg, approach rate: 0.570532 m/s, LOS rate: -0.101702 deg/s, cmd heading: 306.588914 deg, new cmd heading: 306.477204 deg. 2j]uHeadingCmd: 5.349036 target range: 583.599976 and range: 583.60 m. juN+@jqjqjqiqhyhyhyhfffrfbf@r@ɛTB|] 隽cʿI *νɚiIQg=Id$oi4):i-;)N+@)JJWJJJJG9JJJ;JJ_:J_:*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.940858GݻGGsAGBO> I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191169w,^:AyMpNBMHMb@Mb@Mb@ )YK?/$?{Gzty^?=ףGA )AIAyI I #6٢= 7=9Q >!! %G٣%?Gy- -> 5Nusing accuracyPremultiplier from config1Ea495?Ea4Y56 i5:BM?M:MIM?5 C5_;5r];5,a4Q UA]EuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 583.60 m.BjJjẝ ProNav: ac range: 583.599976 m, nav range: 135.314316 m, bearing: 157.762330 deg, approach rate: 0.551657 m/s, LOS rate: -0.098744 deg/s, cmd heading: 306.477200 deg, new cmd heading: 306.345043 deg. 2jHeadingCmd: 5.346730 target range: 583.599976 and range: 583.60 m. ji@jjjihhhhfffrfbf @ɛTB΀T ˿I ѽɚiI3h=Ioi-:i|;)i@)*F?2F:FBF0JFG;GQBYOuX>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.443441H% M>I% ƍC I% _HI% OBI! &I! .I! 6I% o<:I% `FzK NK 9K K NK xeVN8fK2zsmjda]YWWSNMIGHDBA?;;73w,_TAyzNBzHI I #6٢mg= uW=9yQ }> G٣y > Nusing accuracyPremultiplier from configa496?a4Y: i:B? C::5:a4 AZjFNOT Ignoring new targets: 583.60 m.BjJjຝ  ProNav: ac range: 583.599976 m, nav range: 135.525986 m, bearing: 157.724510 deg, approach rate: 0.550828 m/s, LOS rate: -0.098263 deg/s, cmd heading: 306.345049 deg, new cmd heading: 306.231769 deg. 2j ߆HeadingCmd: 5.344753 target range: 583.599976 and range: 583.60 m. j7@jjjihhh!h!f!f!f)rf)bf-@@ɛUTBUVo^ Y]˿IY ]yӽɚYiYI] i=Ie=pie1:im<)m7@)i }$?I}fWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:15:44.2478 TRx dataTimestamp_ set to:1736370945.424678%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.696319*F?2F:FBF0JF*J1"J5R=J=fJ=UJ=1J9J=|":J=>9J=3J9J=;J=;J=Q:J=Q:G O;G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.948424B O >xw,nAyMNBUHMb@Mb@Mb@ )YPn?ˡE?y$?==A )dAIGAy̖AI%I%,$6٢53 50=99Q =>9A EG٣AyA M> UNusing accuracyPremultiplier from configIUa49Mw?]a4YMp@ iM#;B]n%?]:]L]?M!CM;M;MRJa4i mAm~EZjFNOT Ignoring new targets: 583.60 m.BjJj ProNav: ac range: 583.599976 m, nav range: 135.795471 m, bearing: 157.674894 deg, approach rate: 0.587315 m/s, LOS rate: -0.107919 deg/s, cmd heading: 306.231777 deg, new cmd heading: 306.083224 deg. 2j HeadingCmd: 5.342160 target range: 583.599976 and range: 583.60 m. j@jjjihhhhfffrfbf @ɛTBW ϿI ֽɚ i I  j=IpiEG8:iO<<)@)! yI*F?2F:FBF0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.202906G jx<G B O >"w,wjA6l`@Y6o@68'96<>y6H/??aʿ:4????@A?ɨ6l`@6<^;6yCynNBnHIIK!6٢%$5= %t=9-KQ -?)1 5G٣5?Gy5; 5? ENusing accuracyPremultiplier from config9Ea49=?Ma4Y=vD i=K;BIM9LM?=E!C=:=:=Va4Q ]xAY}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:15:44.2478 LVL= 28560, 32753, 15858, 32755, AGC= 72, IDX= 419,-0.17, 0.214,-0.311, 1.655, 0.529, PHS=-0.227,-0.793, 1.123, RAW= 193.3, -1.2, CAL= 192.9, -8.4, ROT= 317.1, 8.4 Ygot valid direction response: 21:15:44.2478 LVL= 28560, 32753, 15858, 32755, AGC= 72, IDX= 419,-0.17, 0.214,-0.311, 1.655, 0.529, PHS=-0.227,-0.793, 1.123, RAW= 193.3, -1.2, CAL= 192.9, -8.4, ROT= 317.1, 8.4 PDAT read: Bearing 317.1, 8.4 (Local) ~Local bearing/azimuth received: Bearing 317.1, 8.4 (Local) DAT read: Range 10 to 50 : 581.7 m (Round-trip 775.6 ms) speed 0.4 m/s ,DAT read: user:1621> BDAT read: Tx time:21:15:45.3680 $Ping request sent.I IHIOBI =&I.IOD6Ii<:IYFBIƍCJIƍCRIZI =bIjI+5i}Q >yy}ԕ7e?}8]?XGݕ)}l?I}ryy :publishing transmit ping time Fpublishing direction and range infoy9}Z,gsapzf648ǿjjihh!h!h!f!f)f)yyyyy y)yIyiyyyyy y)yIyiyyy}ԕ7e?}8]?XGݕ)yIyiyyyyrfe-@bfe?ɛUB.Xb @=隽пI 8BٽɚiIj=IPaqi<_?:i2t<)@)*F?2F:FBF0JFzKOK9KKOK10/,))'$!!#-O9   u$?IyE Will construct direction to contact in vehicle frame from tetrahedron phase data.A iA GU (<G! B1 OM >],(w,HA6Q@Y6Ia@6+96k >y6H? ?@ʿ?`U?E?`X?tl???ɨ6Q@6ﲉ;6zCy<@IJIJ69j Q j>hh jG٣ly~ ~>  Nusing accuracyPremultiplier from config a49? a4Y9I i{;BL?!C*:n:ca49 9Akz?k4 k kDŽA:klDBkDZk r@" Q8w=܁NaZZ,gsapzf648ǿJkIοRkz:>*U{ҹu gna-B|tPВ!XԿ"k*kkf?k 2kDk+>?kkJCkLCk=8@ addTargetRange:: Added new target pos. range: 581.700012 m, deltaT: 4.545751 s, deltaX: -1.899963 m, approachRate: -0.417965 m/s, rangeRepo size: 4  Added new target pos. range: 581.700012 m, bearing: 217.541585 deg, lat: 36.902659 deg, lon: -122.112083 deg, deltaT: 4.545751 s, deltaX: -1.899963 m, approachRate: -0.417965 m/s, posRepo size: 4 Zj15FNOT Ignoring new targets: 581.70 m.Bj=Jj9M ProNav: ac range: 581.700012 m, nav range: 204.971863 m, bearing: 165.327688 deg, approach rate: 0.000000 m/s, LOS rate: -0.101224 deg/s, cmd heading: 305.976328 deg, new cmd heading: 305.855738 deg. 2jIeHeadingCmd: 5.338190 target range: 581.700012 and range: 581.70 m. jesҪ@jajajaiahahihihifffrfbfs?ɛ-UBg ӿI) 5۽ɚ1i1I5k=I==qi=lcF:i=q<)=sҪ@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG l o<G B O > a Ia = Will construct direction to contact in vehicle frame from tetrahedron phase data.U.w,. A62@Y6VA@6s>/96xh>y6H@v? ?`$ʿM l?@\?y?C?D?ɨ62@67;6{CyRNBR"HMb@Mb@Mb@ )Yq= ףp?Q?~jth?y+?\=D;A )AIAyוAIIJ"6٢< <9 Q > G٣y > Nusing accuracyPremultiplier from configa49?a4YN i;Bt,?:S?!CB;;ra4 ZA{EB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 581.70 m.BjJj% ProNav: ac range: 581.700012 m, nav range: 205.210678 m, bearing: 165.284877 deg, approach rate: 0.580932 m/s, LOS rate: -0.104019 deg/s, cmd heading: 305.855734 deg, new cmd heading: 305.727451 deg. 2j%Ǝ5HeadingCmd: 5.335951 target range: 581.700012 and range: 581.70 m. j5@j9j9j9i9h9h9hAhAfAfAfIrfIbfM ?ɛuEUB}h y}ԿIy }v޽ɚyiIy8l=I}ri$L:iX<)@)*F?2F:FBF0JFJdJYJ2JJ<:J[O9Jc3Ja-@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.HJ>I IHIOBI&I.I6Iϳ<:IFGmo<G B O >zKU MKU 9KQ KU PKU  8C5w,A6'@Y6B7@6*396f>y6H@E?Z ?ʿ O c{?nB?@H?\j? 9>?ɨ6'@6;6yCy>NB>1HIFIF6٢N0= N\=9R(Q R>PP VG٣V?GyVY V> ^Nusing accuracyPremultiplier from configX^a49Z,?ba4YZ{S iZ;B`bTb?Z "CZ:Z:Za4d jBAj|EZjquFNOT Ignoring new targets: 581.70 m.Bj}ںJj}ں ProNav: ac range: 581.700012 m, nav range: 205.416763 m, bearing: 165.247931 deg, approach rate: 0.533967 m/s, LOS rate: -0.095632 deg/s, cmd heading: 305.727463 deg, new cmd heading: 305.616736 deg. 2jCHeadingCmd: 5.334018 target range: 581.700012 and range: 581.70 m. jG@jjjih $?Ifh)h1h1f1f9f9rf9bf=?ɛ^UBg 隭WֿI AɚiIUl=IriS:igUf<)G@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247222)) -CGvAA (Y vAy "BE]=*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499022G- 3Z<G BiO>yBH`D??ʿ`Z`@i? h?b?c?8?ɨB @BRh;BxCyNNBNMHMb@Mb@Mb@ )Y"~?y&1?Mb?y3?`e=< A)AIAyGAII 6٢/= =9Q > G٣yZһ > Nusing accuracyPremultiplier from configa49@?a4YZ i19JJG hm<G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003551qzCw,ȖAZHRH?AHI>I IHIPBI =&I.I6I<:IFJ@YJT@J&99JȌ>yJH3?j$?ʿ^ha?Rb??`!? 8?ɨJ@J87;JyCynNBnhHIvIv6٢~Mn= ~Y=9 BQ  > G٣y}Y }> Nusing accuracyPremultiplier from configa49~O?a4Y_ im.Jw,=*AZã@YZQҪ@Z9c=9Zr=yZH~l?`?S? IJʿi~@!/??`?̒?8?ɨZã@ZA;Z{CyfNBfHInIn6٢vL= v>=9zQ z>x| ~G٣~?Gy~h ~>  Nusing accuracyPremultiplier from configa49 _?a4Ye iPw,CA6@Y6@6>96/K=y6HGR?@Ij?c ʿȎ`^?W?? н?9?ɨ6@6U;4yROBRH-Mb@Mb@Mb@))) )))Y-v?kt?Zd;O?y-8?- 0=-j<-(A -A)-OAI-A)y-AIIj6٢1= A=9OQ > G٣y > Nusing accuracyPremultiplier from configa49n?a4Yk iImōC ImIImNPBIm =&Ii.Ii6Im<:ImFGM&<G) B9 Oe >zKm MKm h9Ki Km RKm -17996-*'# RKq JKu ? $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263091UWw,]A:n@Y:@:s@9:=y:H)8?}?ɿ?E8??೉?8?ɨ:n@:#;8y~%OB~HI I 6٢=m= =Q=9M^Q M>QY ]G٣YyeK m> uNusing accuracyPremultiplier from configi}a49m}?}a4Ymq im5=BYe?m#Cm*C;m~C;ma4 LAtEZjFNOT Ignoring new targets: 581.70 m.BjJj  ProNav: ac range: 581.700012 m, nav range: 206.633911 m, bearing: 165.009070 deg, approach rate: 0.572634 m/s, LOS rate: -0.116842 deg/s, cmd heading: 305.037915 deg, new cmd heading: 304.901014 deg. 2j `=HeadingCmd: 5.321527 target range: 581.700012 and range: 581.70 m. j=I@j9j9j9i9hAhAhqhqfyffrfbf@R @ɛUUB]`l Y]׿IY ]lɚYiaIei p=IeH/vim p:im<)mI@)*FE?2FA:FABFE0JFA}Will construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:21:15:48.5455 TRx dataTimestamp_ set to:1736370949.708649checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516194G jx<Gi B O >q<]w,'wAy~AOB~H AIEfMb@Mb@Mb@ )Y1Zd?:v?V-?y";?<<̝A )AIypAII6٢= @=9Q > G٣?Gy > Nusing accuracyPremultiplier from configa49ӌ?a4Yw i}=Bf;?:k?#C;;ka4  A Zj1=FNOT Ignoring new targets: 581.70 m.Bj=G JjEG M ProNav: ac range: 581.700012 m, nav range: 206.870972 m, bearing: 164.958175 deg, approach rate: 0.563747 m/s, LOS rate: -0.120892 deg/s, cmd heading: 304.901011 deg, new cmd heading: 304.748503 deg. 2jU糧]HeadingCmd: 5.318865 target range: 581.700012 and range: 581.70 m. j]$4@jajajaiahahahihifififqrfqbfuS$@ɛUBt 隥M׿I kɚiIp=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767160Iuviuhu:iux-<)u$4@)y*F 2F :F BF JF JcJWJJJ:JG9JJGM 4<GU ?GU ?GI Bq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021662O >jHm <bHm 4<H E>I  I ?II PBI &I .I 6I <:I Fk$dw,_Ayv]OBv HI~I~6٢ =  Y=9Q > G٣y > %Nusing accuracyPremultiplier from config!-a49%?-a4Y%} i%=B115?%$C%:%;%a4A EܮAEqEZjiuFNOT Ignoring new targets: 581.70 m.Bju Jju  ProNav: ac range: 581.700012 m, nav range: 207.083893 m, bearing: 164.912594 deg, approach rate: 0.562929 m/s, LOS rate: -0.120386 deg/s, cmd heading: 304.748506 deg, new cmd heading: 304.611903 deg. 2j=HeadingCmd: 5.316481 target range: 581.700012 and range: 581.70 m. j @jjjihhhhfffrfbf E@ɛVBqv ֿI KɚiI Vq=IywiCz:ihM<) @)*FQ2FQ:FQBFU0JFYzKa MK9KKSK 5$?I1Will construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 21:15:48.5455 LVL= 23536, 28209, 14562, 30355, AGC= 62, IDX= 409, 0.39,-3.029, 2.758,-1.618,-2.771, PHS=-0.170,-0.707, 1.150, RAW= 193.7, -3.3, CAL= 193.1, -10.1, ROT= 316.9, 10.1 =Ygot valid direction response: 21:15:48.5455 LVL= 23536, 28209, 14562, 30355, AGC= 62, IDX= 409, 0.39,-3.029, 2.758,-1.618,-2.771, PHS=-0.170,-0.707, 1.150, RAW= 193.7, -3.3, CAL= 193.1, -10.1, ROT= 316.9, 10.1 E8DAT read: $Error in header E*Received a bad headerX#Rx 1: Read direction message, but no range.bdirection in FSK: [-0.001200,-0.982721,-0.185092]9j/SpZrrԪǿ[1n 8)vI>i{.433?o]X@k ݱW@)J4I@iJ4>_M̜?fة?֣aέ)\?In=i7ɿ >>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseGUX.<G1BIOu>J J AAPjw,CA:3@Y:B@:fCB9:v=y:H`]?DZ?ٳɿ?@'? 4#?`,?\8?ɨ:3@:{;:xCy^OB^CHIfIf6٢n= nM=9nEQ r>pp rG٣pyv˼ v> zNusing accuracyPremultiplier from configx~a49zϨ?~a4Yz iz>BOn?zd$Cz;z;za4  A =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 elapseZjFNOT Ignoring new targets: 581.70 m.BjJj ProNav: ac range: 581.700012 m, nav range: 207.306610 m, bearing: 164.864082 deg, approach rate: 0.538072 m/s, LOS rate: -0.117076 deg/s, cmd heading: 304.611902 deg, new cmd heading: 304.466523 deg. 2jHeadingCmd: 5.313943 target range: 581.700012 and range: 581.70 m. j @jjjihhhhfffrfbf<@ɛ/VB%o ԿI /ɚiIq=I? xi}:iݰ;) @)*FQ2FY:FYBF]0JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG F<G B O >6qw,YA6@Y6 '@6B96;=y6H@c??;ɿm??`5??@7?ɨ6@6d;6zCyFOBFcH-only read 0 of 1 data item for altitude. Device response is::BD, +30.75, 0.00  @ @ @  @ II6٢-'= -E=95ŶQ 5>11 =G٣=?Gy=i E> MbBottom track data is 0.4 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAUb49E?Ub4YEÉ iEJ>B]+:Y]j:]-o]?E$CE8;E>ECb4a eNAmnEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 581.70 m.BjJj ProNav: ac range: 581.700012 m, nav range: 207.537994 m, bearing: 164.813478 deg, approach rate: 0.578597 m/s, LOS rate: -0.126397 deg/s, cmd heading: 304.466529 deg, new cmd heading: 304.314888 deg. 2j}HeadingCmd: 5.311297 target range: 581.700012 and range: 581.70 m. j%@jjjihhhhfffrfbf O@ɛIVBEQs 隥ԿI ɚiI/r=Ixiu2:i ;)%@)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 elapse*F2F:FBF0JFHF>I IkIIPBI&I.I6Iس<:IFBIōCJIRIZI =bI =jIĀ05G4<GGGyBO^> ) I) zK KK h9K K TK  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 elapsebww,AJD@YJ@JB9J{p=yJH??^ɿ@?"?@6? W?7?ɨJD@Jh;JyCyvOBvHII 6٢->= -J=9-7Q 5>QQ ]G٣Yy] ]> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from configab49eƀ?b4Ye ie>B :>:o?e$CeD9JqJqJu;aJu";aJqaJuQ:aUWill construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapseG ~q;G B O >N}w,RAFg@YF@F.C9F=yFH?`?ɿ:`5?W? @? ?G7?ɨFg@F;FzCyNOBRH `I` E E EE EM  M M MMb@Mb@Mb@III I)IYMCl?Mbp?Q?yMd;?M;Myy G٣yJ > Nusing accuracyPremultiplier from configb49Ӏ?b4YF i>BT:;?:x?E%C$;";b4eB ĭAlEZjFNOT Ignoring new targets: 581.70 m.BjXJjX ProNav: ac range: 581.700012 m, nav range: 207.987961 m, bearing: 164.711518 deg, approach rate: 0.561740 m/s, LOS rate: -0.131441 deg/s, cmd heading: 304.165372 deg, new cmd heading: 304.009342 deg. 2jiHeadingCmd: 5.305964 target range: 581.700012 and range: 581.70 m. juʩ@jjjihhhhfffrfWill 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 elapsebf.@ɛVB8s ҿI ,EɚiIs=I%.+ziM:iMR;)Muʩ@)I*F?2F:FBFJFGE ;G B) OE >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 elapseZH RH @AH E>I  I II .QBI =&I .I 6I <:I Frw,YºAbeע@Yb@bM7C9b=ybH ??ɿ %r?@?@$A??@5?ɨbeע@b&;bwCy-$PB-II=I=6٢M> MM=9U머Q U>QQ UG٣]?Gy] e> mNusing accuracyPremultiplier from configaub49ewလ?ub4Yew ie?Bquyu?e%Ce;eW;e%b4 NAZjFNOT Ignoring new targets: 581.70 m.BjJj ProNav: ac range: 581.700012 m, nav range: 208.204285 m, bearing: 164.660756 deg, approach rate: 0.543413 m/s, LOS rate: -0.127384 deg/s, cmd heading: 304.009343 deg, new cmd heading: 303.857215 deg. 2jخHeadingCmd: 5.303309 target range: 581.700012 and range: 581.70 m. j@jjjihhhhfffrfbf @ɛVBy lοI %Q~ɚ!i!I%t=I-+zi-:i-;)5@)1 $?If*F2F:FBF0JFzKEKKE9KAKEUKEWill construct direction to contact in vehicle frame from tetrahedron phase data.iAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsemGvAG~q;GG> -WY-vAy-AGBO>  nManaging dock network, ignoring radio surface power offJ cJ ZJ 2J J :J S9J c3J J ;J ;J \u:J ^u:w,,ºAWill 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 elapsey-GPB-II=I=6٢M\= MJ=9UQ U>QQ UG٣Yy] ]> eNusing accuracyPremultiplier from configamb49e?mb4Ye ieb?Bqqu?e%Ce^;e;e3b4y  AZjFNOT Ignoring new targets: 581.70 m.Bj4Jj4e ProNav: ac range: 581.700012 m, nav range: 208.423523 m, bearing: 164.609459 deg, approach rate: 0.543141 m/s, LOS rate: -0.126949 deg/s, cmd heading: 303.857221 deg, new cmd heading: 303.703493 deg. 2je?mHeadingCmd: 5.300626 target range: 581.700012 and range: 581.70 m. jm@jijijiiihihhhfffrfbffg@ɛVBq ͿI -uɚ1i1I5+u=I={i=:i={<)=@)9*F12F1:F9BF=0JF 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 ;G B O >Sw,\FºA:c@Y:Ʃ@:B9:=y:Hj?@? ɿuY?`?`/?f?75?ɨ:c@:E;:vCyRZPBR!I-Mb@Mb@Mb@))) )))Y-^I +?:v?y-X9?--<) -A)-;AI-A)y-fAIEIE6٢U9= UJ=9]:Q ]>Ya eG٣iym m> }Nusing accuracyPremultiplier from configq}b49u?b4Yu iu?Bv9?:c{?u!&Cux;u;u&Bb4 AiEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 581.70 m.BjJj ProNav: ac range: 581.700012 m, nav range: 208.640350 m, bearing: 164.557948 deg, approach rate: 0.534034 m/s, LOS rate: -0.126737 deg/s, cmd heading: 303.703487 deg, new cmd heading: 303.549115 deg. 2ju}HeadingCmd: 5.297932 target range: 581.700012 and range: 581.70 m. j}@jyjyjyihhhhfffrfbf@ɛVB w οI BɚiI Uu=I59|i5:i5z;)5@)9EEG>EE>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 elapseHI IIIQBI&I.I6I<:IF*F2F:FBF0JF"G=GGMh < $?I 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 elapsezK KK 9K K VK %7b4ERaw,?8`ºA2y@Y2ʴ@2B92A=y2H`?@.? ɿf K?.?,?yl?I5?ɨ2y@2ɲ;2yCyNPBRDIVAVAIZIZ6٢g > G=9{9Q > G٣?Gy > Nusing accuracyPremultiplier from configb49= ?b4Yv i?B{?l&CG:~:Pb4  pAZjq}FNOT Ignoring new targets: 581.70 m.Bj}& Jj}&  ProNav: ac range: 581.700012 m, nav range: 208.862427 m, bearing: 164.505110 deg, approach rate: 0.519210 m/s, LOS rate: -0.123403 deg/s, cmd heading: 303.549125 deg, new cmd heading: 303.390780 deg. 2jaHeadingCmd: 5.295168 target range: 581.700012 and range: 581.70 m. jr@jjjihhhhfffrfbfI@ɛUVBUPu Q]˿IY ]ɚYiYI]v=Iu|iS:i=;)r@)JQJU`JQJQJQJUbl9JQJQJQJQJU-:JU.:*F2F: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 B O5 >۝w,zºA $I$r֓@Yr'@r~B9rn=yrHs??@ɿ"q=?q?@*??`4?ɨr֓@ro;rxCyzPBz_IMb@Mb@Mb@ )YZd;?y&1Zd;O?y9?`ej< A)AIןAyAIqIP6٢h= D=9!9Q > G٣y > Nusing accuracyPremultiplier from configb49]?b4Y i-@B 9? :  ?&C;d;_b4 AgEZjIMFNOT Ignoring new targets: 581.70 m.BjUJjUe ProNav: ac range: 581.700012 m, nav range: 209.078156 m, bearing: 164.451689 deg, approach rate: 0.540663 m/s, LOS rate: -0.133747 deg/s, cmd heading: 303.390774 deg, new cmd heading: 303.230676 deg. 2jemHeadingCmd: 5.292374 target range: 581.700012 and range: 581.70 m. jm [@jijijiiihqhqhqhqfyfyfyrfybf=@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=WBEZ#w AEɿIA mXɚiiiImA4w=Iuץ}iu1:iu<)u [@)y*FM?2FI:FIBFIJFIGe ^n;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 elapseGQ BY O} >jH bH <H C>I  I II QBI =&I .I 6I <:I F!äw,fºA2@Y2n@2=aB92fE=y2Hf? ?ɿ*81?e?&??3?ɨ2@2?;2zCybQBbIIj~Ij6٢r&D> r\=9v9Q v>tt vG٣tyz z>  Nusing accuracyPremultiplier from config b49=#? b4Yλ ii@B򀿑?&Cj!;!;lb4! %A!ZjIMFNOT Ignoring new targets: 581.70 m.BjUYJjUYe ProNav: ac range: 581.700012 m, nav range: 209.273788 m, bearing: 164.403187 deg, approach rate: 0.527159 m/s, LOS rate: -0.130572 deg/s, cmd heading: 303.230674 deg, new cmd heading: 303.085305 deg. 2je8mHeadingCmd: 5.289836 target range: 581.700012 and range: 581.70 m. jmWF@jijijiiihihqhqhqfyfyfrfbf@,] @ɛWB7| 隽¿I bɚiIw=IL~i::i<)WF@)E = $?I=f*FM?2FI:FQBFU0JFQG]sA GYWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsezK%NK9KKWKjlwdVG8% qgaXQNKGD>976741/.,('%$"! GUMh <G)BIOe>Ji Jm [Jm 1Ji Ji Jm W9Jm 3Ji Ji Ji Jm |:Jm |:w,ºA6xn@Y6}@6cYB96=y6H U??ʿ@6@ ?? %?Y?@3?ɨ6xn@6;6yCy>1QBBIIFiIFn6٢N= RL=9R8Q R>TT VG٣TyVػ Z> bNusing accuracyPremultiplier from config\fb49^/?fb4Y^ i^@BdfIj?nWill 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 elapse^C'C^N;^Ԗ;^yb4t v3AtZjFNOT Ignoring new targets: 581.70 m.Bj3Jj3- ProNav: ac range: 581.700012 m, nav range: 209.483429 m, bearing: 164.351075 deg, approach rate: 0.521753 m/s, LOS rate: -0.129566 deg/s, cmd heading: 303.085300 deg, new cmd heading: 302.929122 deg. 2j-ֱ5HeadingCmd: 5.287111 target range: 581.700012 and range: 581.70 m. j50@j1j1j9i9h9hAhIhIfIfIfQrfQbfU*!@ɛ;WB 2s CI K ɚiIx=I-~i-P:i-?<)-0@)1*F2F:FBF0JF IG%f6<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- >ұw,ºAy~oQB~IMb@Mb@Mb@ )Y5^I ?V-~jt?y8?<\A A)}AI(AyzAII٢ > ;=9Q > G٣?Gy > Nusing accuracyPremultiplier from configb49==?b4Y i@BP8?: ?'C;;Fb4 A dE-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 581.70 m.Bj=|JjE|] ProNav: ac range: 581.700012 m, nav range: 209.706848 m, bearing: 164.293259 deg, approach rate: 0.512327 m/s, LOS rate: -0.132439 deg/s, cmd heading: 302.929135 deg, new cmd heading: 302.755870 deg. 2j]ȵ]HeadingCmd: 5.284087 target range: 581.700012 and range: 581.70 m. je=@jajajaiahahahihifififqrfqbfu "@ɛXWBtq 隥-I | ɚiI&y=Ii俑:i1<<)=@)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 elapseHUB>IQ IU^IIU^RBIU =&IQ.IQ6IU<:IUF*Fi2Fi:FiBFu0JFqGh< = $?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 elapsezK5 NK5 ]9K1 K5 XK5    w,EºA~L@Y~7\@~B9~Ca=y~H9?T.? ɿ I?Z? x? ? 4?ɨ~L@~V;|y QBII%^I%66٢5T= 5U=95:Q 5>99 =G٣9yE/ E> MNusing accuracyPremultiplier from configIUb49MH?Ub4YM0 iM,ABQ]]?M'CM;Md;Mb4a eWAaZjFNOT Ignoring new targets: 581.70 m.BjJj ProNav: ac range: 581.700012 m, nav range: 209.902008 m, bearing: 164.242485 deg, approach rate: 0.510906 m/s, LOS rate: -0.132797 deg/s, cmd heading: 302.755867 deg, new cmd heading: 302.603687 deg. 2jFHeadingCmd: 5.281431 target range: 581.700012 and range: 581.70 m. j{@jjjihhhhfffrfqbfu"@ɛtWBHs I h ɚiIy=I~9i":i9 <){@)EsAEsA*F2F:FBF0JF"G=GJbJVJJJ:JB9JJJS ;JV ;JX:JX: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 elapseGY=<G B O 8w,HºA $I$y]QB] IMb@Mb@Mb@ )Yd;O?{GzZd;O?y4?ףj<A A)IAypAIhIQ6٢%= %:=9-Q ->)) 5G٣1y5 5> =Nusing accuracyPremultiplier from config9Eb49=V?Eb4Y= i=qABM4?M:MM?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 elapse=$(C=3w;=u;= b4a eAebEZjiuFNOT Ignoring new targets: 581.70 m.Bj}Jj} ProNav: ac range: 581.700012 m, nav range: 210.124374 m, bearing: 164.186202 deg, approach rate: 0.472968 m/s, LOS rate: -0.119585 deg/s, cmd heading: 302.603690 deg, new cmd heading: 302.435021 deg. 2j$HeadingCmd: 5.278487 target range: 581.700012 and range: 581.70 m. j]@jjjihhhhfffrfbf#@ɛ=WB=.m 9=2I9 eT! ɚaiaIemz=Imimہ:im`O<)u]@)y*FY2FY:FYBF]0JFY Will construct direction to contact in vehicle frame from tetrahedron phase data. I)  I- II- RBI- =&I) .I) 6I- <:I- FBIJIōCRIZI =bI =jI5G <Gq B O >Űw,xzúA60@Y6U?@6:A96=y6H"???`ɿY[?h?? ׽?5?ɨ60@65;6xCyN RBN+IIZYIZ6٢b> bd=9fw;Q f>hh jG٣j?Gyj n> rNusing accuracyPremultiplier from configpvb49r`?vb4Yr irABtvrz?rc(Cr;:r:rb4| ~A|Zj!%FNOT Ignoring new targets: 581.70 m.Bj- Jj- = ProNav: ac range: 581.700012 m, nav range: 210.305573 m, bearing: 164.140138 deg, approach rate: 0.551049 m/s, LOS rate: -0.139965 deg/s, cmd heading: 302.435012 deg, new cmd heading: 302.296941 deg. 2j=EHeadingCmd: 5.276077 target range: 581.700012 and range: 581.70 m. jEը@jIjIjIiIhQhQhhfffrfbfn$@ɛ WB |  @I  Eɚi1I5{=I=耿i=::i=0C:<)=ը@)A E $?IA*F 2F :F BF 0JF GiG<eWill construct direction to contact in vehicle frame from tetrahedron phase data.mQH˰w,zR/úA6Q)@Y68@6T@96=y6H ?B?@nɿ`^ ?=@?B??#6?ɨ6Q)@6H;6yCyNERBROIIZVbWill construct direction to contact in vehicle frame from tetrahedron phase data.b ?=9&:Q > G٣y > Nusing accuracyPremultiplier from configb49m?b4YA iAB?(C%;4;b4  AZjFNOT Ignoring new targets: 581.70 m.Bj5Jj5 ProNav: ac range: 581.700012 m, nav range: 210.521378 m, bearing: 164.085340 deg, approach rate: 0.503904 m/s, LOS rate: -0.127824 deg/s, cmd heading: 302.296933 deg, new cmd heading: 302.132705 deg. 2jr HeadingCmd: 5.273211 target range: 581.700012 and range: 581.70 m. j $@jjjihhh)h)f1f9fArfAbfM@D%@ɛ5WB5m 9=I9 =Rɚ9i9IEc{=IEFiMd/:iMSn[<)M$@)E>E>*Fy2F:FBF0JFG GsA IIIuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Response Not Received }*response not received},DAT read: user:1623> BDAT read: Tx time:21:15:56.3181 $Ping request sent.0Ұw,Z/IúAyzRBpIMb@Mb@Mb@ )Ykt?y&1y&1?y 0?`e`< ;A){AI›AyAIII6٢= E=JJXJJJJ5K9JJa@a@a@a@9Q > G٣y > Nusing accuracyPremultiplier from config b49z?b4Y i.BBO0?:?(C5L;I; b4! %A-_EEB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 581.70 m.Bj] Jj] m ProNav: ac range: 581.700012 m, nav range: 210.727875 m, bearing: 164.033789 deg, approach rate: 0.493981 m/s, LOS rate: -0.123198 deg/s, cmd heading: 302.132708 deg, new cmd heading: 301.978208 deg. 2jmHeadingCmd: 5.270514 target range: 581.700012 and range: 581.70 m. j @jjjihhhhfffrfbf&@ɛuWBuTp quIq }xɚyiyI}jS|=I6i:iRi<) @)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:15:56.3173 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253606HB>I IIIgSBI&I.I6I<:IF*FE?2FA:FABFE0JFI 9 I9 G 2HZ<G B O } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502052) = C G |uA) ] yYe |uAye !Aaذw,'cúAzK}KK9KKZK9BE'x'V(n/@Yn#@n?9nd=ynH ?|P?Uɿgj?S??-ý?F8?ɨn/@nT;lyvRB III<6٢M6> UR=9U;Q U>YY ]G٣]?Gy]Hۻ ]> Nusing accuracyPremultiplier from configab49ez?b4Ye^ iekBB?e9)Ceh;e;eb4 AZj FNOT Ignoring new targets: 581.70 m.Bj Jj% ] ProNav: ac range: 581.700012 m, nav range: 210.918259 m, bearing: 163.986148 deg, approach rate: 0.479237 m/s, LOS rate: -0.119815 deg/s, cmd heading: 301.978209 deg, new cmd heading: 301.835414 deg. 2j]teHeadingCmd: 5.268022 target range: 581.700012 and range: 581.70 m. je@jjjihhhhfffrfbf&@ɛ%XB%n !%I! -ɚ)i)I-k|=I5i5$:i5z<)5@)a*Ja="Ja=*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754133G T<G B O% > 5 $?I5 fްw,|úA=@Y @KB@9`=yH)?@`?@sɿw^?@輷?`4?@b?n8?ɨ=@e;騝xCy޵SB޵I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006401]Mb@Mb@Mb@YYY Y)YY]x&?Mb` rh?y]7)?]]C =]A Y)YIYYy]AIuIu" 6٢> 9=9٘Q > G٣yG > Nusing accuracyPremultiplier from configb49>?b4Y iBBp)?:I?)C;;b4 A]EZjFNOT Ignoring new targets: 581.70 m.BjJj ProNav: ac range: 581.700012 m, nav range: 211.130539 m, bearing: 163.934554 deg, approach rate: 0.491772 m/s, LOS rate: -0.119402 deg/s, cmd heading: 301.835403 deg, new cmd heading: 301.680779 deg. 2j㣻 HeadingCmd: 5.265323 target range: 581.700012 and range: 581.70 m. j }@jjjihhhhfff!rf!bf%ȿ'@ɛ#XB%k )-I) -ɚ)i)I-}=I5TIi5J:i5st<)5}@)9*F2F:FBF0JFJJJJJJJJG z<G G nA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260739H A>I  I XII SBI &I .I 6I <:I FG B O >0mw,–úA @y@SBII)I)٢E(> Ea=9MQ M>IQ UG٣QyU ]> eNusing accuracyPremultiplier from configYeb49]?mb4Y] i]BBiim?])C];] ;]b4y }AyZjFNOT Ignoring new targets: 581.70 m.BjFJjF ProNav: ac range: 581.700012 m, nav range: 211.304352 m, bearing: 163.892416 deg, approach rate: 0.481014 m/s, LOS rate: -0.116517 deg/s, cmd heading: 301.680768 deg, new cmd heading: 301.554459 deg. 2jퟻHeadingCmd: 5.263118 target range: 581.700012 and range: 581.70 m. jwk@jjjihhhhfffrfbfzy(@ɛ 4..-(&!   Gy<Gi By O >nw,úA6@Y6@6v @96Z=y6H?e?h?ɿ@(z 6??`?`v?Z:?ɨ6@6X;6zCy>}SB>IIJIJX6RWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762314٢Z> ZT=9^, :Q ^>\` bG٣b?Gyb b> jNusing accuracyPremultiplier from configdjc49fȧ?jc4Yft if)CBlrXr?f)Cf2;f,3;f4c4t vAtZjFNOT Ignoring new targets: 581.70 m.Bj%zJj%z5 ProNav: ac range: 581.700012 m, nav range: 211.489120 m, bearing: 163.847690 deg, approach rate: 0.478885 m/s, LOS rate: -0.115821 deg/s, cmd heading: 301.554464 deg, new cmd heading: 301.420402 deg. 2j5HeadingCmd: 5.260778 target range: 581.700012 and range: 581.70 m. jLX@jjjihhhhff f rf bf J)@ɛ=ZXB=j 9=IA EɚAiAIE~=IM:ނiMx:iM<)MLX@)*F-?2F):F)BF-/1JF) $?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014817Gjq<Gi By O >~w,vúA2,@Y2}@2j>92=y2HF?ef?@ ɿ@{3?4?5?`"? <=9 q;Q > G٣J3Kş3 KKK"KJdJWJJJ<:JG9JJy8 > Nusing accuracyPremultiplier from configc49B?c4Y iqCB)?:Ew?E*C;j;c4 AZEB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 581.70 m.Bj-Jj-= ProNav: ac range: 581.700012 m, nav range: 211.707123 m, bearing: 163.799603 deg, approach rate: 0.497100 m/s, LOS rate: -0.109537 deg/s, cmd heading: 301.420401 deg, new cmd heading: 301.276290 deg. 2jEYEHeadingCmd: 5.258263 target range: 581.700012 and range: 581.70 m. jEC@jIjIjIiIhIhIhYhYfYfYfarfabfe@Y*@ɛ5yXB5Wg 15I1 =ɚ9i9I=o8=IE0iEUߵ:iE{Ш<)EC@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266232H<>IčC IIITBI&I.IND6I<:IF*F?2F:FBF0JFGrA GqA IG<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=2.518114Bw,OúAzK2NK29K0K2\K2B@YBh@Bf<9B6=yBH`!?@e?@ɿ| B?@?? `` fG٣dyfy: f> jNusing accuracyPremultiplier from confighnc49j?nc4Yj ijCBpr.wr?j*Cj ;j ;jx#c4t vAtZjFNOT Ignoring new targets: 581.70 m.Bj%Jj%5 ProNav: ac range: 581.700012 m, nav range: 211.891205 m, bearing: 163.759130 deg, approach rate: 0.499192 m/s, LOS rate: -0.109660 deg/s, cmd heading: 301.276284 deg, new cmd heading: 301.154970 deg. 2j5=HeadingCmd: 5.256146 target range: 581.700012 and range: 581.70 m. j=Y2@j9j9j9i9hAhAhAhAfIfIfIrfIbfM*@ɛXB=m I 8{ɚiI=I%vi%:i-ɭ<)-Y2@))*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=2.770179GM<G1 B9 OU > I 6w,yúAJ@Y@X;9"=yHX?m?@ȿ}(?`9#?`I??`A?ɨJ@5,;騉yޭ)TBޭyIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022364MMb@Mb@Mb@III I)IYMS㥛?&1?{Gz?yM$?MP=M#=MGA MA)MwAIMAIyMfAIeIe6٢u= u0=9u-;Q }>yy }G٣}?GyK > Nusing accuracyPremultiplier from configc49Tρ?c4Y iCB%?:m?*COJ;U9;3c4dB @A[EZjFNOT Ignoring new targets: 581.70 m.BjJj纝 ProNav: ac range: 581.700012 m, nav range: 212.123962 m, bearing: 163.711813 deg, approach rate: 0.499204 m/s, LOS rate: -0.101371 deg/s, cmd heading: 301.154980 deg, new cmd heading: 301.013185 deg. 2j#HeadingCmd: 5.253671 target range: 581.700012 and range: 581.70 m. j@jjjihhhhfffrfbf@S+@ɛXBt}b I ɚiIE1=IMǃiMƺ:iM7<)M@)Q*F2F:FBF0JFJeJ[JJJ\:JW9JJZH RH AA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275525H 8>I  I II &UBI &I .I 6I <:I FG b<G B O >w,ĺA:@Y:@:99:Z=y:HB? ;t?@ȿ;?@r ?@?$?D?ɨ:@:׍;:xCy^tTB^IIjIj 6٢rU> rk=9r;Q r?tt vG٣tyzd, z? ~Nusing accuracyPremultiplier from config|c49~Sځ?c4Y~q i~4DB m ?~+C~~ ;~:~?c4 AXEZjAEFNOT Ignoring new targets: 581.70 m.BjMJjM躝e ProNav: ac range: 581.700012 m, nav range: 212.298309 m, bearing: 163.676393 deg, approach rate: 0.501047 m/s, LOS rate: -0.101709 deg/s, cmd heading: 301.013185 deg, new cmd heading: 300.907012 deg. 2jemHeadingCmd: 5.251818 target range: 581.700012 and range: 581.70 m. jm@jijijiiihihqhqhqfyfyfyrfybf`|,@ɛXB@o 隵nI OɚiI)x=Iib:i<)@) =$?I=f*F?2F:FBFp5JF"G=G=%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526839zK5MKK1K1K5]K5    ")G~<GGsAGBO>% w,2ĺA:Will construct direction to contact in vehicle frame from tetrahedron phase data.>BDAT read: Rx Time:21:15:59.4881 BTRx dataTimestamp_ set to:1736370960.797024Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779574Zӡ@YZ$@Z89Z^=yZH@?Ӏ?ueȿ`۔@b?b)?u?!S?G?ɨZӡ@Z|Ç;XybTBbIIjIj 6٢r= vI=9z`;Q z>x| ~G٣|y~U ~>  Nusing accuracyPremultiplier from configc49+灜?c4Y iwDBn?E+C;;Nc4 %GA!ZjAMFNOT Ignoring new targets: 581.70 m.BjMJjU麝] ProNav: ac range: 581.700012 m, nav range: 212.502289 m, bearing: 163.634867 deg, approach rate: 0.502180 m/s, LOS rate: -0.102136 deg/s, cmd heading: 300.907016 deg, new cmd heading: 300.782557 deg. 2je0eHeadingCmd: 5.249646 target range: 581.700012 and range: 581.70 m. je@jqjqjqiqhyhyhyhyfffrfbfEJM-@ɛmXBu-Pc y}2Iy }AɚyiyI€=IKi:i<)@)*F92F9:F9BF=q5JF9 I5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.033401GeE<G B) OE >w,KĺAJ%š@YJvԨ@Jyy79JM=yJH?È?Uȿ_`~?޶??v?@;I?ɨJ%š@J.!;JwCyRTBRImMb@Mb@Mb@iii i)iYmx&1?/$?ˡE?ymA ?m=m'=mA mb~A)m9vAIm AiymAII6٢C= ?=9h^;Q > G٣?Gy > Nusing accuracyPremultiplier from configc498?c4Y# iDB"?:`?+C;;]c4eB ߣAUEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 581.70 m.Bj ѺJj Ѻ ProNav: ac range: 581.700012 m, nav range: 212.718933 m, bearing: 163.595593 deg, approach rate: 0.506148 m/s, LOS rate: -0.091663 deg/s, cmd heading: 300.782570 deg, new cmd heading: 300.664868 deg. 2j{%HeadingCmd: 5.247592 target range: 581.700012 and range: 581.70 m. j%F@j)j)j)i)h)h)h1h1f1f1f9rf9bf='.@ɛYBHIIMÍC IMkIIMUBIM =&II.II6IM8<:IM FBIčCJIčCRIZI =bIjImi5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:15:59.4881 LVL= 24480, 28737, 14178, 32291, AGC= 67, IDX= 305, 0.02,-1.610,-2.492,-0.454,-1.326, PHS=-0.196,-1.119, 0.869, RAW= 182.3, 5.2, CAL= 182.3, -3.6, ROT= 327.7, 3.6 Ygot valid direction response: 21:15:59.4881 LVL= 24480, 28737, 14178, 32291, AGC= 67, IDX= 305, 0.02,-1.610,-2.492,-0.454,-1.326, PHS=-0.196,-1.119, 0.869, RAW= 182.3, 5.2, CAL= 182.3, -3.6, ROT= 327.7, 3.6 PDAT read: Bearing 327.7, 3.6 (Local) ~Local bearing/azimuth received: Bearing 327.7, 3.6 (Local) DAT read: Range 10 to 50 : 574.4 m (Round-trip 765.9 ms) speed 0.3 m/s ,DAT read: user:1624> BDAT read: Tx time:21:16:00.5681 $Ping request sent.w,ReĺA6@Y6@6;696)=y6H` ?ۘ?\ ȿr??`s?`?@ L?ɨ6@6{;6vCyNUBRIIZ IZ6٢b0> fZ=9f ;Q f>hh jG٣hyj n>zK~[LK~9K|K~^K~,,('$     }Nusing accuracyPremultiplier from configc49?c4Y$ iDBa?+C;:_jc4 [Ak֛?koD k k{2SĺA:kDBkDZkb@" F(ZKDGo(D㸓@Qǿ'c v)VnJkRk Hv;*&;^&bkv<nTC | .ꀨؿ`¿"k\*kk%g՛?ksN 2ktkf?ksN ktkCk f@m addTargetRange:: Added new target pos. range: 574.400024 m, deltaT: 15.119977 s, deltaX: -7.299988 m, approachRate: -0.482804 m/s, rangeRepo size: 4  Added new target pos. range: 574.400024 m, bearing: 202.866020 deg, lat: 36.900510 deg, lon: -122.115245 deg, deltaT: 15.119977 s, deltaX: -7.299988 m, approachRate: -0.482804 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 574.40 m.Bj%Jj!e ProNav: ac range: 574.400024 m, nav range: 495.226776 m, bearing: 206.490883 deg, approach rate: 0.000000 m/s, LOS rate: -0.091663 deg/s, cmd heading: 300.664873 deg, new cmd heading: 300.550945 deg. 2jHeadingCmd: 5.245604 target range: 574.400024 and range: 574.40 m. jۧ@jjjihhhhfffrf@3@bf?ɛ 0YBa sI ɚiIZ=I{τi%3P:i%}<)%ۧ@)iJcJ\JJJ:J[9JJJ;aJ;aJ؁:aJف:a*F%?2F):F)BF-1JF)GEsA GErAWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge E< I G9 BI Oe >$w,ĺA@Yk@%69O=yH`v? ?@Vǿ@ Z?$? ??L?ɨ@7;wCWill construct direction to contact in vehicle frame from tetrahedron phase data.yBUB&IMb@Mb@Mb@ )YMb?zG?L7A`?y#? =+= }A)wAIAy3AIMIM@ 6٢U= ]'=9]Ɉ:Q ]>aa eG٣aym< m> uNusing accuracyPremultiplier from configq}c49u?}c4Yu* iuIEB}}%?}:}.Z?u,Cu;u;u4{c4 AREZjFNOT Ignoring new targets: 574.40 m.Bj:Jj: ProNav: ac range: 574.400024 m, nav range: 495.303406 m, bearing: 206.457074 deg, approach rate: 0.170665 m/s, LOS rate: -0.075287 deg/s, cmd heading: 300.550945 deg, new cmd heading: 300.449533 deg. 2jNHeadingCmd: 5.243834 target range: 574.400024 and range: 574.40 m. j|ͧ@jjjihhhhfffrfbf@uH?ɛOYBPc !%I! -ɚ)i)I-=I5z i5 :i5p<)5|ͧ@)9*F2F:FBF1JFjHE <bHA HM 7>II  IM IIM 8VBII &II .II 6IM ó<:IM F Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >2 &w,QĺA2o@Y2$@22p592=y2HQ??@wǿN :??@?Z?5Q?ɨ2o@2标;2zCy>gUBB<IIJIJ6٢Ra= R=9V ;Q V ?TT VG٣V?GyZZ Z? Nusing accuracyPremultiplier from config\c49^j?c4Y^. i^{EB1[?^D,C^ ;^ ;^1c4! -ƢA)ZjIUFNOT Ignoring new targets: 574.40 m.BjUJj]m ProNav: ac range: 574.400024 m, nav range: 495.352783 m, bearing: 206.434981 deg, approach rate: 0.152416 m/s, LOS rate: -0.068189 deg/s, cmd heading: 300.449530 deg, new cmd heading: 300.383258 deg. 2jm0;uHeadingCmd: 5.242677 target range: 574.400024 and range: 574.40 m. juħ@jyjyjyiyhh $?Ihhfffrfbfy?ɛiYB*j SI ɚiIF=Ie/i':iğ<)ħ@)}VGvA*FWill construct direction to contact in vehicle frame from tetrahedron phase data.2F:F! -Y5vAy5BBF%o5JF1zKu&MKu 9KqKu_KuG <Ga Bi O >J J [J 2J J J W9J c3J J J J |:J |:<3,w,+ĺA:Will construct direction to contact in vehicle frame from tetrahedron phase data.ZP@YZ@`@Z59ZJ=yZHGr?7?qǿ!?`? ?\ ?P?ɨZP@Z;ZyCyfUBfOIInIn{6٢v= vF=9zQ z>xx ~G٣|y~V >  Nusing accuracyPremultiplier from config c49+?c4Y3 iEB(\?,Cv:@:c4gB ASEZjFNOT Ignoring new targets: 574.40 m.BjJj ProNav: ac range: 574.400024 m, nav range: 495.416931 m, bearing: 206.405889 deg, approach rate: 0.153838 m/s, LOS rate: -0.069759 deg/s, cmd heading: 300.383250 deg, new cmd heading: 300.295985 deg. 2j?%HeadingCmd: 5.241154 target range: 574.400024 and range: 574.40 m. j%@j!j!j!i!h)h)h)h)f1fQfQrfQbf]J7?ɛYBd 隭I {ɚiIc@=ILaiT:iB<)@) If*F?2F:FBFp5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G%<GGqAG B O >3w,ĺA:G@Y:'W@:x39:\=y:H6l?`?7ǿ`BK??`Q?@"?{T?ɨ:G@:R;:xCyBUBFmIMb@Mb@Mb@ )YT㥛 ?K7A?I +?y!? >9<A )tAIQAyAI-I- 6٢== EE=9E;Q M>II MG٣IyU/ U> mNusing accuracyPremultiplier from configYc49]:?c4Y]9 i]EB^$?:R?],C];];](c4 .APE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 574.40 m.BjJj ProNav: ac range: 574.400024 m, nav range: 495.490448 m, bearing: 206.377088 deg, approach rate: 0.170461 m/s, LOS rate: -0.066770 deg/s, cmd heading: 300.295988 deg, new cmd heading: 300.209598 deg. 2jK7H6>I IIIVBI&I.I6I߳<:IF-HeadingCmd: 5.239646 target range: 574.400024 and range: 574.40 m. j-.@j1j1j1i1h1h1h9h9f9f9fArfAbfEG@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.ɛ YBta @}I `ɚiIM=Ii%g:i%<)%.@)!*F?2F:FBFq5JF $?IG <G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254760F9w,BĺA67@Y6_F@6196$=y6H6_?@]?ƿ ??@9!?qp?(X?ɨ67@6;6wCyBUBBIIJIJ!6٢R= RT=9V&;Q V>TT ZG٣Z?GyZ Z> Nusing accuracyPremultiplier from config|c49~H? c4Y~= i~4FB  =S ?~-C~:~j;~ްc41 EAIzKU2KKU]9KQKU`KUZjFNOT Ignoring new targets: 574.40 m.Bj Jj 5 ProNav: ac range: 574.400024 m, nav range: 495.559601 m, bearing: 206.349844 deg, approach rate: 0.182041 m/s, LOS rate: -0.071706 deg/s, cmd heading: 300.209600 deg, new cmd heading: 300.127881 deg. 2j5D=HeadingCmd: 5.238220 target range: 574.400024 and range: 574.40 m. j=@jAjAjAiAhAhAhIhIfIfifqrfqbfu@ɛYB|h 2}I j"ɚiI=IniN:i<)@)*JC="JJeJ^J1JJ\:Jd9J3JJ;J;J:J:*F%?2F!:F!BF%o5JF!}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507084Ge <G9 BI Ou > I 0@w,źAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762948yUBIMb@Mb@Mb@ )Yy&1?1Zd?:v?y`%?"=T<ԎA {A)sAIAyAII=6٢no< !=9Q > G٣y > Nusing accuracyPremultiplier from configc496Z?c4Y'D izFB'?:#\?Z-Cr;;Vc4fB AMEZj)5FNOT Ignoring new targets: 574.40 m.Bj5ܩJj5ܩM ProNav: ac range: 574.400024 m, nav range: 495.639221 m, bearing: 206.313985 deg, approach rate: 0.164890 m/s, LOS rate: -0.074252 deg/s, cmd heading: 300.127883 deg, new cmd heading: 300.020322 deg. 2jMKMHeadingCmd: 5.236342 target range: 574.400024 and range: 574.40 m. jU@jQjQjQiQhQhQhYhYfffrfbf[@ɛ5YB5Ƴb 15WI1 E3# ɚAiAIEG=I]i]M:ie¢<)e@)a*F2F:FBFd2JFZHRHHI IFIIWBI&I.I6I-<:IF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010800G5 "<G= ?G= ?G B O= >NFw,tźA 5$?I1y=UB=IIMIM6٢]= ]=9YQ e ?aa eG٣ayi m ? }Nusing accuracyPremultiplier from configqc49ue?c4YuBH iuFB?u-Cu ;u!;uc4 AZj1=FNOT Ignoring new targets: 574.40 m.Bj=Jj=U ProNav: ac range: 574.400024 m, nav range: 495.690491 m, bearing: 206.290953 deg, approach rate: 0.152387 m/s, LOS rate: -0.068450 deg/s, cmd heading: 300.020321 deg, new cmd heading: 299.951232 deg. 2jU;]HeadingCmd: 5.235137 target range: 574.400024 and range: 574.40 m. j]=@jYjYjYiYhYhahahafififirfibfu@ @ɛZBr =隭 I z ɚiI=Ix&i:i<)=@)*F92FA:FABFE 5JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263528zKJK 9KKaKG}Fթ<GY Bq O >J dJ lJ J J <:J 9J J J ;J !;J +:J ,:qLw,04źA:Will construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518936N@YN@N,9N=yNHY"? ? )eƿ w=?@<?`L?` G٣?Gy > Nusing accuracyPremultiplier from configc49s?c4YM iFB^?-C ;;c4 aAJEZjAMFNOT Ignoring new targets: 574.40 m.BjMݧJjMݧ} ProNav: ac range: 574.400024 m, nav range: 495.754059 m, bearing: 206.261285 deg, approach rate: 0.157248 m/s, LOS rate: -0.073380 deg/s, cmd heading: 299.951227 deg, new cmd heading: 299.862235 deg. 2jpIHeadingCmd: 5.233583 target range: 574.400024 and range: 574.40 m. jy@jjjihhhhfffrfbf @ɛ%(ZB%Ykh )-_I) u!ɚqiqIua=I}[Yi}T:i}]<)}y@) 9I9*FA2FA:FABFEJ5JFAeWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:21:16:03.7358 }TRx dataTimestamp_ set to:1736370965.092046checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781144G <Ga Bq O >[Sw,NźAFzȠ@YFק@F}t,9F=yFH?!? Tƿ -?@5?t?gO?@`?ɨFzȠ@Fۇ;FvCyN(VBRI-Mb@Mb@Mb@))) )))Y-x&?:v?~jth?y-7)?-=-D;-xA ))-$rAI-=A)y-AIM"IM6٢]1< ]J=9]@[:Q e>aa eG٣aym- m> }Nusing accuracyPremultiplier from configqc49uɁ?c4YuR iuGBL+?:na?u.Cu>;u;uc4 IAKE-B*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 574.40 m.BjeJje ProNav: ac range: 574.400024 m, nav range: 495.813599 m, bearing: 206.232175 deg, approach rate: 0.146213 m/s, LOS rate: -0.071477 deg/s, cmd heading: 299.862243 deg, new cmd heading: 299.774924 deg. 2j7DHeadingCmd: 5.232059 target range: 574.400024 and range: 574.40 m. jm@jjjihhhhH5>I IrII_WBI&I.I6I<:IFfffrfbf`@ɛeHZBeXk aeI "ɚiIk=IJiQ;i3E<)m@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026886E*Fa2Fi:FiBFu@5JFqGel o<GGrA %$?I!GQBaO}z>] Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:16:03.7358 LVL= 31792, 32753, 15474, 32755, AGC= 71, IDX= 345,-0.30,-0.887,-1.811, 0.350,-0.632, PHS=-0.167,-1.132, 0.979, RAW= 182.8, 3.5, CAL= 182.9, -5.0, ROT= 327.1, 5.0  Ygot valid direction response: 21:16:03.7358 LVL= 31792, 32753, 15474, 32755, AGC= 71, IDX= 345,-0.30,-0.887,-1.811, 0.350,-0.632, PHS=-0.167,-1.132, 0.979, RAW= 182.8, 3.5, CAL= 182.9, -5.0, ROT= 327.1, 5.0  PDAT read: Bearing 327.1, 5.0 (Local)  ~Local bearing/azimuth received: Bearing 327.1, 5.0 (Local)  DAT read: Range 10 to 50 : 572.5 m (Round-trip 763.4 ms) speed 0.3 m/s  ,DAT read: user:1625>  BDAT read: Tx time:21:16:04.8182  $Ping request sent. VB%I5A1ەZ2*?V+oj?xMw ?)ۑIۑiۑۑۑۑIU&IU6zKJK9KKbK٢=G= ===9= ;Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]c49U?]c4YUX iUGGBYe be?U].CU:U\:Uc4i mAmHEk27כ?k' k kreźA:k DBk6DZkb@"6XYzoU=JVE:M4,ÿs1:eJkNܿRk̏<*G\WSVЙkZx~S0`T^]3H}aؿ6o"k\*kk֛?k 2kRkC;??k kkaDk'd@] addTargetRange:: Added new target pos. range: 572.500000 m, deltaT: 4.291929 s, deltaX: -1.900024 m, approachRate: -0.442697 m/s, rangeRepo size: 4  Added new target pos. range: 572.500000 m, bearing: 202.911990 deg, lat: 36.900104 deg, lon: -122.115266 deg, deltaT: 4.291929 s, deltaX: -1.900024 m, approachRate: -0.442697 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 572.50 m.BjJj- ProNav: ac range: 572.500000 m, nav range: 537.517456 m, bearing: 204.255957 deg, approach rate: 0.000000 m/s, LOS rate: -0.071477 deg/s, cmd heading: 299.774926 deg, new cmd heading: 299.681486 deg. 2j1=HeadingCmd: 5.230429 target range: 572.500000 and range: 572.50 m. j=_@j9j9jAiAhihihqhqfqfqfqrf}@bf}?ɛmZBi ᅿI I#ɚiI7=IEiE;iML@<)M_@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:16:04.8174 E =  I f*F 2F :F BF 0JF uWill construct direction to contact in vehicle frame from tetrahedron phase data.G2HZ<GYBiO ? bw,ݙźA6@Y6ؚ@6G,96L=y6H`? nB? G&ƿ`Kp?1?o?@?``?ɨ6@6;4y>CVB>I}Mb@Mb@Mb@yyy y)yY}&1?~jt?Mbpy}0?}=}}ʌA }xA)}pAI}Ayy}AII[ 6٢#< =9ȺQ > G٣?Gy~ > Nusing accuracyPremultiplier from configd49?d4Y7` iGB1?:/o?.C1;; d4 AZj  FNOT Ignoring new targets: 572.50 m.BjĪJjĪ% ProNav: ac range: 572.500000 m, nav range: 537.593323 m, bearing: 204.218652 deg, approach rate: 0.151835 m/s, LOS rate: -0.074649 deg/s, cmd heading: 299.681489 deg, new cmd heading: 299.569591 deg. 2j%L-HeadingCmd: 5.228476 target range: 572.500000 and range: 572.50 m. j-O@j)j)j1i1h1h1h9h9f9f9f9rfAbfEǷ?ɛuZBul q}ˉIy }M$ɚyiyI}X=Ii;iv<)O@)JaJe`Je2JaJaJebl9Jec3Jaau@au@au@au@E}=jHybHyH4>I IIIWBI&I.I6I<:IFBIEÍCJIEÍCRIAZIE =bIE =jIEq4*F5?2F9:F9BF=X1JF9Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IGU F<G1 B9 O] >}hw,PźA6j@Y6y@6,96/=y6Hj?Q?Jƿ`"[ U?@q?]?`w? _?ɨ6j@6nч;6tCyVXVBVIIbIb 6٢f ^= jZ=9nQ n>pp rG٣pyv/ v> zNusing accuracyPremultiplier from configt~d49v?~d4Will construct direction to contact in vehicle frame from tetrahedron phase data.Yve ivGB 6p ?v.Cv7[;vH[;v:d4 AZj9EFNOT Ignoring new targets: 572.50 m.BjEcJjEc ProNav: ac range: 572.500000 m, nav range: 537.646912 m, bearing: 204.191853 deg, approach rate: 0.142833 m/s, LOS rate: -0.071422 deg/s, cmd heading: 299.569583 deg, new cmd heading: 299.489194 deg. 2jD=HeadingCmd: 5.227073 target range: 572.500000 and range: 572.50 m. jE.D@jAjAjAiAhAhAhIhIfIfQfqrfbf@A?ɛZB4q hI r%ɚiI΅=I-.im7Z;im1;)u.D@)yzK uJK h9K K cK BK!:K%nAEt=ErAErAWill construct direction to contact in vehicle frame from tetrahedron phase data.*F- ?2F) :F) BF- 0JF) I G h<G% ?G% ?G B O>tpw,źA2@@Y2EP@2%-92g =y2H@!?`d?cƿTn`3?^ ?5?@尺?\?ɨ2@@2;;2uCyB^VBBIININ 6٢R_< V3=9Vv Q V>XX ZG٣Xy^6 ^> jNusing accuracyPremultiplier from configdvd49fB?vd4Yf^l ifGBxzqz?fK/CfN;f@;f=(d4 ݠAEEZj)-FNOT Ignoring new targets: 572.50 m.Bj5Jj5E ProNav: ac range: 572.500000 m, nav range: 537.710876 m, bearing: 204.159133 deg, approach rate: 0.138925 m/s, LOS rate: -0.071055 deg/s, cmd heading: 299.489206 deg, new cmd heading: 299.391058 deg. 2jCHeadingCmd: 5.225360 target range: 572.500000 and range: 572.50 m. j&6@jj j i hhWill construct direction to contact in vehicle frame from tetrahedron phase data.hhff frfAbfMf?ɛZBX$o I Փ&ɚiIR=Ifi;i  ;) &6@) E9E9*E9"E9JgJYJ1JJ%:J[O9J3JH3>I IIIWBI&I.I6I<:IF*Fu ?2Fq :Fq BFq JFy 5 Will construct direction to contact in vehicle frame from tetrahedron phase data. ! I- fG *;GqBO>Rww,;źA)T TysVB I *G]vAq  YvAyBMb,@M%BuMb@Mb@Mb@qqq q)qYux??y&1yuK7?uL=u`euA utA)uloAIuAqyuAIIt6٢= =9Q > G٣?Gy > Nusing accuracyPremultiplier from configd49[т?d4Yt i-HB7?:{{?/C;;P;d4 ACEB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 572.50 m.Bj-nJj5n= ProNav: ac range: 572.500000 m, nav range: 537.775269 m, bearing: 204.118475 deg, approach rate: 0.118697 m/s, LOS rate: -0.074939 deg/s, cmd heading: 299.391070 deg, new cmd heading: 299.269109 deg. 2jEMMWill 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.HeadingCmd: 5.223231 target range: 572.500000 and range: 572.50 m. j$@jjjih h h h fffrfbf f@ɛ[Bnp 0I &'ɚiI9܆=I%i-ey;i-Pt;)5$@)1*F2F:FBFJFzKm$JK]9KKdK%?<56FOPNNQRPHDA=6300.)&# RK-?JK- ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264099G ;G B O >}w,\źAb.@Yba=@bO,9bG=ybH3?`4m?{dƿx i#??Ky??`]?ɨb.@bK;bvCyjVBjII2IV6٢2a= k=9b;Q ? %G٣!y%ػ %? -Nusing accuracyPremultiplier from config)5d49-܂?5d4Y-Dz i-THB9=|=?-/C- ;-K ;-{Gd4A EAIZjimFNOT Ignoring new targets: 572.50 m. $?IBjªJjª ProNav: ac range: 572.500000 m, nav range: 537.815918 m, bearing: 204.092522 deg, approach rate: 0.116922 m/s, LOS rate: -0.074645 deg/s, cmd heading: 299.269110 deg, new cmd heading: 299.191256 deg. 2jLHeadingCmd: 5.221872 target range: 572.500000 and range: 572.50 m. j@jjjihhhhfffrfbf`@ɛ[Bw I (ɚiIN=Iهi;i q;)@)*F?2F:FBF0JFG;GGGiBOG>mWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517860J dJ _J J J <:J =h9J J Sфw,4ƺAZHRHH2>I IIIWBI =&I.I6I:IFF @YF/@F,9Fx=yFH`?`9r?(ƿ@I?q? G? G٣y=| > Nusing accuracyPremultiplier from config -d49 邜?-d4Y X i HB-":?-:-텿5? =0C @< < Vd4 bAZj FNOT Ignoring new targets: 572.50 m.BjɤJjɤ% ProNav: ac range: 572.500000 m, nav range: 537.848206 m, bearing: 204.059641 deg, approach rate: 0.070738 m/s, LOS rate: -0.072033 deg/s, cmd heading: 299.191246 deg, new cmd heading: 299.092610 deg. 2j%EuHeadingCmd: 5.220151 target range: 572.500000 and range: 572.50 m. juz @jqjqjqiqhqhqhyhyfyfyfrfbf x@ u$?IqɛE[BAv 隭5I )ɚiI܇=Iie;ii;)z @)*Fy2Fy:FyBF}0JFm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019311G ;G B O >w,4.ƺA6@Y68@6-9699=y6H ?}?@Hƿ@O ?| ? ?S?Z?ɨ6@6'7;4y>VBBIIJIJ6٢R_= R`=9RIQ R>TT VG٣V?GyZ Z> ^Nusing accuracyPremultiplier from config\fd49^?fd4Y^B i^HBhjKj?^0C^_;^H;^2cd4zKMK9KKeK  Y ]9A]@EZjFNOT Ignoring new targets: 572.50 m.BjBJjB ProNav: ac range: 572.500000 m, nav range: 537.874573 m, bearing: 204.032201 deg, approach rate: 0.073619 m/s, LOS rate: -0.076612 deg/s, cmd heading: 299.092618 deg, new cmd heading: 299.010300 deg. 2jPRHeadingCmd: 5.218714 target range: 572.500000 and range: 572.50 m. j@jjjihhhhff!f!rf!bf%`ǔ @JQJQɛb[Bށ 隝WI >z*ɚiIY=I@i^;iG;)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271975*FE?2FI:FIBFM0JFI YIaGm ~q;GA BQ O >呱w,GƺAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:16:07.9832 &TRx dataTimestamp_ set to:1736370969.132606.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529720@Y@7/9=yH`?`?-ǿ@`?@E?:?? #U?ɨ@p;騍uCyVBIMb@Mb@Mb@ )YX9v?~jtMb`y=?ļA pA)iAIAyAIIt6٢,*= =9zQ > G٣y% %> 5Nusing accuracyPremultiplier from config)5d49-f?=d4Y-) i-HB= >?=:=E?-0C-=;-;-Nud4I M AMAEZjquFNOT Ignoring new targets: 572.50 m.Bj}ݹJj}ݹ% ProNav: ac range: 572.500000 m, nav range: 537.894958 m, bearing: 203.991835 deg, approach rate: 0.041034 m/s, LOS rate: -0.081247 deg/s, cmd heading: 299.010300 deg, new cmd heading: 298.889210 deg. 2j% _-HeadingCmd: 5.216601 target range: 572.500000 and range: 572.50 m. j5e@j1j1j1i9h9h9hAhAfAfAfIrfIbfM% @JehJe^Je2JaJe(:Jed9Jec3Jaɛ[Bw ߘI ַ+ɚiI=Iمi;i*;)e@)H-1>I) I-II- XBI- =&I).I)6I-ɳ<:I-F*F2F:FBF0JFGrA GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775383 A IM fGu 2;G} ?G} >GQ Ba O} >c#w,["bƺAyvVBz%II-I-6٢}O= }|=9}Q } ? G٣y  ? Nusing accuracyPremultiplier from configd49} ?d4Y iIB?1C::d4 ӟAZjFNOT Ignoring new targets: 572.50 m.Bj1Jj1 ProNav: ac range: 572.500000 m, nav range: 537.907837 m, bearing: 203.966649 deg, approach rate: 0.039831 m/s, LOS rate: -0.077894 deg/s, cmd heading: 298.889215 deg, new cmd heading: 298.813658 deg. 2jUHeadingCmd: 5.215282 target range: 572.500000 and range: 572.50 m. j@jjjihhh h fffrfbf` @ɛ=[BEe E=EuIA Ms,ɚIiIIMc=IUiU;iUH;)U@)Y Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029524*F2F:FBF1JFzKE rLKE 9KAKEfKEGEl;G BA Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:16:07.9832 LVL= 29680, 32753, 16242, 32755, AGC= 64, IDX= 411,-0.19,-0.505,-1.051, 0.684,-0.290, PHS=-0.126,-0.714, 0.971, RAW= 189.9, -1.8, CAL= 189.7, -8.9, ROT= 320.3, 8.9 % Ygot valid direction response: 21:16:07.9832 LVL= 29680, 32753, 16242, 32755, AGC= 64, IDX= 411,-0.19,-0.505,-1.051, 0.684,-0.290, PHS=-0.126,-0.714, 0.971, RAW= 189.9, -1.8, CAL= 189.7, -8.9, ROT= 320.3, 8.9 - PDAT read: Bearing 320.3, 8.9 (Local) - ~Local bearing/azimuth received: Bearing 320.3, 8.9 (Local) = DAT read: Range 10 to 50 : 570.6 m (Round-trip 760.8 ms) speed 0.6 m/s E ,DAT read: user:1626> E BDAT read: Tx time:21:16:09.0682 M $Ping request sent.M AiAn? ?_A) $?I a=i _Ϳ =  :publishing transmit ping timeI  Fpublishing direction and range info 9 д?"UcMdŪy  ) I i ) I i AiAn? ?_A) I i Ew,{ƺA v$?It}Q@Y}Ǧ@}E#39}=y}H@/? ?Kǿo ?@?6G? y?YO?ɨ}Q@}r;}vCy޵WB޵9IIIY6٢= 4=9%߻Q >! %G٣%?Gy%8L %> UNusing accuracyPremultiplier from configI]d49M<?]d4YM iMVIBaeBe?Ms1CM 3;M2;Md4 A>Ek _[?kAkX k kxƺA:kDBk DZk.Pi@" ,Q05Tm$OQд?"UcMdŪJk_ͿRk=*3_:lU~'E6p'-`7jIb޿P/]oο"kυ*kkV?kG( 2kۣkkG( kۣk Dkh@M addTargetRange:: Added new target pos. range: 570.599976 m, deltaT: 4.293552 s, deltaX: -1.900024 m, approachRate: -0.442530 m/s, rangeRepo size: 4 ] Added new target pos. range: 570.599976 m, bearing: 208.872835 deg, lat: 36.900104 deg, lon: -122.115822 deg, deltaT: 4.293552 s, deltaX: -1.900024 m, approachRate: -0.442530 m/s, posRepo size: 4 ZjaeFNOT Ignoring new targets: 570.60 m.BjJj ProNav: ac range: 570.599976 m, nav range: 559.802734 m, bearing: 208.560826 deg, approach rate: 0.000000 m/s, LOS rate: -0.077894 deg/s, cmd heading: 298.813645 deg, new cmd heading: 298.702136 deg. 2jHeadingCmd: 5.213336 target range: 570.599976 and range: 570.60 m. jӦ@jjjihhhhfffrfԁ@bfk?ɛ[B  y 虿-Will construct direction to contact in vehicle frame from tetrahedron phase data.I U¶-ɚiIl=Ii ;i9)Ӧ@)*Fi 2Fi :Fi BFm 0JFi jH bH <H I  I II >XBI =&I .I 6I Ƴ<:I FG= {/;GA GA  Will construct direction to contact in vehicle frame from tetrahedron phase data.G BO5>{w,衙ƺAF@YF`@F49F:=yFH~?ͮ?@`ƿ=c?rJ??? NR?ɨF@F;";FxCyb*WBbRIMb@Mb@Mb@ )Y}?5^I?{Gz G٣ygɻ > Nusing accuracyPremultiplier from configd4 I9$?md4Y iIBuB?u:upu?1CT<,<Ed4y }BAyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 570.60 m.BjrJjr ProNav: ac range: 570.599976 m, nav range: 559.785278 m, bearing: 208.528852 deg, approach rate: -0.041870 m/s, LOS rate: -0.076694 deg/s, cmd heading: 298.702149 deg, new cmd heading: 298.606225 deg. 2j R HeadingCmd: 5.211662 target range: 570.599976 and range: 570.60 m. jŦ@jjjihhhhfff!rf!bfE?ɛ[B& 隵 I .ɚiIz=I'i;iD8)Ŧ@)*F2F:FBFJFG?:UWill 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.GBO>zK BoJK 9K K gK lBw,kƺAJKY3 K.KK"KJ"gJ"\J"1J J"%:J"[9J"3J J"Q$;a.J"T$;a.J"؁:a2J"ف:a2B@YB@Ba79B6&=yBH? ?*ǿz5? ԡ??B»?K?ɨB@B^@;BwCyR`WBRsIIZIZ% 6٢%Y > %V=9%Q ->)) -G٣)y5) 5> =Nusing accuracyPremultiplier from config9Ud49=.?Ud4Y=ݫ i=IB󐿑?= 2C=(<=)-<=d4 ֞AZj FNOT Ignoring new targets: 570.60 m.Bj=Jj=M ProNav: ac range: 570.599976 m, nav range: 559.768372 m, bearing: 208.499721 deg, approach rate: -0.044079 m/s, LOS rate: -0.075951 deg/s, cmd heading: 298.606226 deg, new cmd heading: 298.518832 deg. 2jMPUHeadingCmd: 5.210136 target range: 570.599976 and range: 570.60 m. jUp@jYjYjaiahahahahifififirfiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989924bfz?ɛ\Bȩ 隥eI /ɚiI=IYi&;iB )p@) $?IE=*F 2F :F BF JF } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245863G 7:G ?G ?GiBqO>NKw,ƺAyWBIHI I'IIXBI&I.I6I<:IFBIaJIaRIaZIe =bIe =jIe?4Mb@Mb@Mb@ )Y r?A`"~jt?yC?Y<A ?mA)gAIxAy(AII6٢= !=9Q >  G٣ ?Gy   > Nusing accuracyPremultiplier from configd49;?d4Y iJB%D?%:%N%?m2Cn$;";Hd45eB 5wA55 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746502GI Ba O >=nw,˿ƺAy=WB=IIMIM# 6٢e> eV=9iQ m>ii mG٣qyq u> }Nusing accuracyPremultiplier from configyd49}E?d4Y} i}OJB?}2C}X:}:}d4 AZjFNOT Ignoring new targets: 570.60 m.BjKJjK ProNav: ac range: 570.599976 m, nav range: 559.717102 m, bearing: 208.431575 deg, approach rate: -0.057509 m/s, LOS rate: -0.076627 deg/s, cmd heading: 298.402441 deg, new cmd heading: 298.314366 deg. 2jZRHeadingCmd: 5.206568 target range: 570.599976 and range: 570.60 m. j4@jjjihhhhfffrfbf?ɛ-\\B-.ڃ )5NI1 5=1ɚ1i1I5=I=Ήi=Ŋ;iE9:)E4@)AEIEI*EI"EIzKJK9KKhK&) RK>JK>J5fJ5YJ1J1J5|":J5[O9J1J1J5;J5;J51n:J53n:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998405*Fu?2Fq:FqBFqJFq IG zQGq B O >yw,+1ǺA2T@Y2ec@2;=92=y2HAt??ǿ@k?@t? ?@9 ?>?ɨ2T@2a;2tCy>WB>IIJIJ 6٢^> ^Q=9bdQ b>`` bG٣dyfm f> nNusing accuracyPremultiplier from confighnd49jO?nd4Yj ijJBpr r?j3Cj":je:jYd4t vAxZj)=FNOT Ignoring new targets: 570.60 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253014BjM_Jj_m ProNav: ac range: 570.599976 m, nav range: 559.693115 m, bearing: 208.401577 deg, approach rate: -0.060948 m/s, LOS rate: -0.076224 deg/s, cmd heading: 298.314359 deg, new cmd heading: 298.224362 deg. 2ju?QHeadingCmd: 5.204997 target range: 570.599976 and range: 570.60 m. jV@jjjihhhhff)f1rf9bfE @ɛ\Bt~ 隕ڐI Z2ɚiIp=Ii;i9)V@)E*Fy2Fy:FyBF}0JFy"G=G=ZHQRHU@AHU0>IQ IUfIIUXBIQ&IQ.IQ6IU<:IUFm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502719G ?:G qAG G B O > y Iy ޞDZw,ǺA6N@Y6Z]@6??96=y6Hf?@?@Cȿ ? ?p?@nh?W:?ɨ6N@6.X;6vCyB9XBBIuG  YyB Mb@Mb@Mb@    ) Y Cl?ktl?y d;?  0 =  (lA) eAI A y I%I%_6٢=> =5=9=׎Q E>AA EG٣E?GyMֺ M> UNusing accuracyPremultiplier from configQ]d49UZ?]d4YU iUJBe;?e:m7m?UU3CU^;;U8;Ud4 #A9EB*** querying acoustic contact ***jjZj9=FNOT Ignoring new targets: 570.60 m.BjEiJjEi ProNav: ac range: 570.599976 m, nav range: 559.669006 m, bearing: 208.368638 deg, approach rate: -0.051320 m/s, LOS rate: -0.070121 deg/s, cmd heading: 298.224364 deg, new cmd heading: 298.125541 deg. 2j~@HeadingCmd: 5.203272 target range: 570.599976 and range: 570.60 m. j5@jjjihhhhfffrfbf@ɛU\BUUF QUIQ ]3ɚYiYI]=Ie:ie*h;iup)}5@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754651*F}?2F:FBF0JFzK 8LK 9K K iK BK J J J J ]J J J J _9J J J J J m:J n::K qAG b(G B O >,ͱw,k9ǺAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005722FE@YFQU@FA9F m=yFH`pU??bȿl?@0?@? R?`i5?ɨFE@F;FxCyXB'III6٢]:J> ]Y=9eٻQ e>ai mG٣iym+ m> }Nusing accuracyPremultiplier from configq}d49uc?d4Yu< iuKBZ?u3Cu ;u:uAd4 A:EZjFNOT Ignoring new targets: 570.60 m.Bj!Jj! $?I] ProNav: ac range: 570.599976 m, nav range: 559.648804 m, bearing: 208.341218 deg, approach rate: -0.056082 m/s, LOS rate: -0.076118 deg/s, cmd heading: 298.125545 deg, new cmd heading: 298.043284 deg. 2j]PeHeadingCmd: 5.201837 target range: 570.599976 and range: 570.60 m. jeru@jajajaiahahahihifififrfbf'@ɛ\B 隵oI %x4ɚiIF=Iii=;i#č)ru@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257940G pG B O >SԱw,SǺA66@Y6WE@6D96"=y6H5?`'?@ȿ:?@ż?`Fq?b?/?ɨ66@6*X;6wCy>XB>TIH/>IC IIIyYBI&I.I6I<:IF5Mb@Mb@Mb@111 1)1Y5㥛 ? %>=9%ۻQ ->)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9Ee49=9n?Ee4Y=[ i=iKBM6?M:MӒM?=3C= ;=;=Je4Y ]AYZjFNOT Ignoring new targets: 570.60 m.BjJj ProNav: ac range: 570.599976 m, nav range: 559.627869 m, bearing: 208.310936 deg, approach rate: -0.049251 m/s, LOS rate: -0.071243 deg/s, cmd heading: 298.043282 deg, new cmd heading: 297.952433 deg. 2jCHeadingCmd: 5.200251 target range: 570.599976 and range: 570.60 m. juh@jjjihhhhfffrfbf @ɛ\B5Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:21:16:12.2292 =TRx dataTimestamp_ set to:1736370973.413026=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511108mև imƒIi uqM5ɚqiqIu =I}i};i}ȿ)}uh@)y If*F}?2F:FBF0JFG GsAGe 'HGi Gm ?GA BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762939ڱw,mǺAV3@YV5C@VHGG9V=yVH3.?M??Eɿ@?@? ?j?)?ɨV3@V;VsCyjYBn}III6٢%6> %\=9-ٻQ ->99 =G٣=?GyE7 E> MNusing accuracyPremultiplier from configIUe49Mw?]e4YM iMKBY]Ⓙ]?M'4CM;M;MQe4a mrAm7EZjFNOT Ignoring new targets: 570.60 m.BjJj ProNav: ac range: 570.599976 m, nav range: 559.609741 m, bearing: 208.284709 deg, approach rate: -0.048559 m/s, LOS rate: -0.070259 deg/s, cmd heading: 297.952441 deg, new cmd heading: 297.873756 deg. 2j@HeadingCmd: 5.198878 target range: 570.599976 and range: 570.60 m. j5]@jjjihhhhfffrfbf@ɛ ]B ~I 6ɚiI=I ʊi ~E;i ι) 5]@)JJ\JJJJ[9JJJJJ؁:Jف:zK iJK  9K K jK *F%?2F!:F!BF-0JF)MWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:16:12.2293 LVL= 28720, 32753, 15730, 32755, AGC= 70, IDX= 403, 0.40,-0.144,-0.760, 1.040, 0.041, PHS=-0.097,-0.753, 0.996, RAW= 188.2, -1.9, CAL= 188.2, -9.1, ROT= 321.8, 9.1 Ygot valid direction response: 21:16:12.2293 LVL= 28720, 32753, 15730, 32755, AGC= 70, IDX= 403, 0.40,-0.144,-0.760, 1.040, 0.041, PHS=-0.097,-0.753, 0.996, RAW= 188.2, -1.9, CAL= 188.2, -9.1, ROT= 321.8, 9.1 PDAT read: Bearing 321.8, 9.1 (Local) ~Local bearing/azimuth received: Bearing 321.8, 9.1 (Local) %DAT read: Range 10 to 50 : 567.6 m (Round-trip 756.9 ms) speed 0.7 m/s -,DAT read: user:1627> UBDAT read: Tx time:21:16:13.3183 ]$Ping request sent.]QQUI4?#ӷI?Ԧ\eB)U"a?IU =iUgͿUc=QQ:publishing transmit ping timeQFpublishing direction and range infoQ9U;zU"fhh9. {OyQQQQ Q)QIQiQ $?I QQQQ Q)QIQiQQQUI4?#ӷI?Ԧ\eB)QIQiQQQQGm˴G) BI Om >w,vkǺAyUYBII5I56٢e$> mF=9uQ }> GWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:16:13.3175 ٣y >  Nusing accuracyPremultiplier from config%e49M?-e4Y iKB99E?r4C<<@!e4a mAqkYBz?ky k kzǺA:k DBk DZkSh@"65- Z(J;zU"fhh9. {OJkgͿRkc=*ڨ~Q>pmL_pd/yNݿg'9V̿"k*kkxц?kA 2kkxц?kA kkt DkTh@- addTargetRange:: Added new target pos. range: 567.599976 m, deltaT: 4.032819 s, deltaX: -3.000000 m, approachRate: -0.743897 m/s, rangeRepo size: 4 = Added new target pos. range: 567.599976 m, bearing: 207.989766 deg, lat: 36.900139 deg, lon: -122.115766 deg, deltaT: 4.032819 s, deltaX: -3.000000 m, approachRate: -0.743897 m/s, posRepo size: 4 Zj9=FNOT Ignoring new targets: 567.60 m.BjeJja} ProNav: ac range: 567.599976 m, nav range: 553.824402 m, bearing: 207.991328 deg, approach rate: 0.000000 m/s, LOS rate: -0.070259 deg/s, cmd heading: 297.873757 deg, new cmd heading: 297.772665 deg. 2jyHeadingCmd: 5.197114 target range: 567.599976 and range: 567.60 m. jN@jjjihhhhfffrf̼@bf?ɛ 9]B u C= xI  L7ɚiIS[=Iii;iQ:)EN@)A*F?2F:FBF0JFjH bH 4<H.>I I!IIZBI&I.I6I<:IFM Will construct direction to contact in vehicle frame from tetrahedron phase data.G zQ I Gy B O >w,FAǺA>!@Y>1@>XM9>>y>H?6?`9 ʿ?`ǽ?%?`(??ɨ>!@>;>wCy^YB^IUMb@Mb@Mb@QQQ Q)QYUDl?y&1?yUO-?UU`e=UA UtcA)U^bAIUAQyUz|AIm7Im5٢@M> I=9nQ > G٣y/ > Nusing accuracyPremultiplier from confige49?e4Y iFLB-?:?4C;;.e4 DAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 567.60 m.Bj Jj  ProNav: ac range: 567.599976 m, nav range: 553.819763 m, bearing: 207.964981 deg, approach rate: -0.012779 m/s, LOS rate: -0.072583 deg/s, cmd heading: 297.772670 deg, new cmd heading: 297.693626 deg. 2j@GHeadingCmd: 5.195734 target range: 567.599976 and range: 567.60 m. jtC@jjjihhhhfffrfbf{>?ɛ W]Bj kI 7ɚiI=I%1i%;i%3Y8)%tC@)!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"G=G=GM }:GM sAGM sAG! BA zKe BJKa Ka Ke kKe O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972308w,4ǺAB@YB%@BKQ9Bw>yBH*??zʿZ?V????ɨB@ByB;@yJYBJIIRtIR5٢Z1> ZW=9^f&Q ^>\` bG٣b?GybI| b> jNusing accuracyPremultiplier from configdje49fo?ne4Yfd ifLBlnn?f4Cf~:f:f'w,GǺA2@Y2;@2U924>y2H ?)?`ʿ`?o?bo??` ?ɨ2@2;2tCHR->IP IRIIRZBIP&IRCD.IP6IR<:IRFJ^iJ^_J\J\J^+:J^=h9J\J\J^/;J^ /;J^:J^:yj!ZBj$IeMb@Mb@Mb@aaa a)aYep= ף?l?)\(?ye%?e=eGa=eA ehA)eVbAIeAaye~AI=Id5٢M= U3=9UQ U>YY ]G٣Yy]W e> mNusing accuracyPremultiplier from configaue49e\?ue4Ye ieLBu%?u:}ۅ}?e;5Ce8;e;eLe4 RAZjFNOT Ignoring new targets: 567.60 m.BjJj ProNav: ac range: 567.599976 m, nav range: 553.825623 m, bearing: 207.910220 deg, approach rate: 0.023239 m/s, LOS rate: -0.063864 deg/s, cmd heading: 297.616914 deg, new cmd heading: 297.529358 deg. 2jQ/HeadingCmd: 5.192867 target range: 567.599976 and range: 567.60 m. j+@jjjihhhhfffrfbf@3?-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480777ɛu]Bu!u qu_Iy } 09ɚyiyI}O=Ii-F;i>)+@) u$?IufEt=*F ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732332G !GaBiO> Gw,~ǺABX@YB@BW9B))>yBH?y?ʿ ?`? ???ɨBX@Bxo;BuCyN~ZBN^IRAPIVUIV5٢bZ> b@=9f:ۻQ f>dd jG٣hyj: j> rNusing accuracyPremultiplier from configlre49n?re4Yn in>MBtvv?n5Cn:n:nZe4| ~A|Zj%FNOT Ignoring new targets: 567.60 m.Bj%ؒJj-ؒ= ProNav: ac range: 567.599976 m, nav range: 553.835938 m, bearing: 207.882958 deg, approach rate: 0.024288 m/s, LOS rate: -0.064190 deg/s, cmd heading: 297.529351 deg, new cmd heading: 297.447569 deg. 2j=60EHeadingCmd: 5.191440 target range: 567.599976 and range: 567.60 m. jEF @jAjAjIiIhIhIhQhQfQfYfYrfYbf] ?ɛ]BBs 隕QI 9ɚiIWH=IQi(;iö:)F @)zK-KK)K)K-lK-   Eا=Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988035*Fi2Fi:FiBFm0JFi )I)GzQGY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236432-w,eR ȺA @Y@vY9>yH?@?zʿ@v?BB??ҿ? ?ɨ @;tCyZBIMb@Mb@Mb@ )Y+? rh? ףp= ?yv?C=Q8=A gA)_AIy|AIbI5٢ 7>  +=9'MQ > G٣?Gy: > -Nusing accuracyPremultiplier from config)5e49-Ÿ?5e4Y-" i-MB=?=:=}=?-5C-;-;-ke4A A2EZjFNOT Ignoring new targets: 567.60 m.Bj%Jj%5 ProNav: ac range: 567.599976 m, nav range: 553.863281 m, bearing: 207.853496 deg, approach rate: 0.055011 m/s, LOS rate: -0.059269 deg/s, cmd heading: 297.447580 deg, new cmd heading: 297.359200 deg. 2j="=HeadingCmd: 5.189897 target range: 567.599976 and range: 567.60 m.ZHaRHe?AHiIi ImIIm[BIm =&Ii.Ii6Im<:ImFJhJJJJ(:JJJJ);J);JJBIECJIECRIAZIAbIAjIE4 j=@jjjihhhhfffrfbf)@ɛm]Bm@El quKIq u:ɚqiqIuyBH`?,?ʿr ?@*?`Sx???ɨB@Bb;BuCyN[BNIIVUIV5٢^a#> b$=9bcQ b>dd fG٣dyf> j> nNusing accuracyPremultiplier from configlre49nyƃ?re4Yn inMBpr4}v?n6Cn:n~:n}e4| ~dA|B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 567.60 m.Bj-UJj-U= ProNav: ac range: 567.599976 m, nav range: 553.891602 m, bearing: 207.823014 deg, approach rate: 0.059027 m/s, LOS rate: -0.063530 deg/s, cmd heading: 297.359198 deg, new cmd heading: 297.267755 deg. 2jEf.EHeadingCmd: 5.188301 target range: 567.599976 and range: 567.60 m. jE@jIjIjIiIhIhQhQhQfYfYfYrfYbf] A@ɛ^Bn 隕AI p;ɚiIא=I+%i;i\"v;)@)EE*Eq"EqzK% ULK%9K!K%mK%Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993478 $?If*Fq2Fq:FqBFu4JFyG5 ~q;G B O5 >w,WKȺA2@Y2+@2:_92>y2H4?=?@˿`o?`Y??z?`?ɨ2@2;>Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2444932vCyFb[BFIINDIN5٢V7;> VN=9VQ Z>Ya eG٣iy`9 > Nusing accuracyPremultiplier from config=e49҃?Ee4Yb iHNBY]6}e?V6Ch<"<Ve4dB ΖA0EZjFNOT Ignoring new targets: 567.60 m.BjJj ProNav: ac range: 567.599976 m, nav range: 553.916626 m, bearing: 207.796186 deg, approach rate: 0.052096 m/s, LOS rate: -0.055848 deg/s, cmd heading: 297.267755 deg, new cmd heading: 297.187275 deg. 2jOHeadingCmd: 5.186896 target range: 567.599976 and range: 567.60 m. j@jjji!h!h!h!h)f)f)f)rf)bf5 2 @ɛ%M^B%j !%:I! -2<ɚ)i)I-_=I=2Si=;iE*;)E@)AH},>Iy I}sII}A\BI} =&Iy.Iy6I}<:I}FJJ`JJJJbl9JJJ);JJ-:J.:*F2F:FBFv0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496453 I) E= CG qi;e Gy G B O >  Y y Bw,TeȺAN @YN[@NLa9N>yNH??@S˿1?` ??@ ? F?ɨN @N[;Lyf[Bf ImMb@Mb@Mb@iii i)iYmZd;?:v?Mb?ym?m=m=m|A mfA)m^AImAiym|AI4Ie5٢> ==9dQ > G٣?Gy/0 > Nusing accuracyPremultiplier from confige490ރ?e4Y4 iNB[?U:Uzl]?6Cӹ<ӽ< e4i m^AqZjFNOT Ignoring new targets: 567.60 m.Bj荺Jj荺 ProNav: ac range: 567.599976 m, nav range: 553.953674 m, bearing: 207.772773 deg, approach rate: 0.098167 m/s, LOS rate: -0.062033 deg/s, cmd heading: 297.187268 deg, new cmd heading: 297.117034 deg. 2jJ*%HeadingCmd: 5.185670 target range: 567.599976 and range: 567.60 m. j%@j!j!j)i)h)h)hQhQfQfQfQrfYbf]2@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:16:16.4768 TRx dataTimestamp_ set to:1736370977.701021checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749837ɛo^Bqwq $5I <ɚiI=I ]{iM_;i)@)*F2F:FBF~0JF*JR="JzK uJK ػ9K K nK      G @;G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=4.000381 I w,e4ȺA2:@Y2@2Fc92>y2H?O?@jG˿ c?`-Z?&?!̿?b?ɨ2:@2|;2wCy:[B:-IIF6IF5٢J> N[=9RQ R>PP VG٣TyV< V> ZNusing accuracyPremultiplier from configX~e49ZA郜?e4YZ iZNBl?Z6CZ.*?ةحة ٭@)٩I٭Hi٭S㽉٭٭+V?٭I@٭= ڭ6J@)ڭ¸Iڭͷ@iڭ¸=کۭMM?%72O?tK?Gm t;)ۭ?Iۭ4iۭۭܿ2ȼ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseGi By O >jHY bH] <Hm +>Ii  Im IIm \BIm =&Ii .Im MD6Im V<:Im gFJ J \J J J J [9J J J );J J ؁:J ف:%w,ȺAyr[BrII}Mb@Mb@Mb@yyy y)yY}^I +?Zd;?/$?y}X?}=}<}A }dA)}[AI}xAyy}=zAI2I5٢ = :=9Q > G٣y > Nusing accuracyPremultiplier from confige49?e4Y iOB?:sd? 7C%;r#;je4 A-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 } $?IyZjFNOT Ignoring new targets: 567.60 m.BjJJjJ ProNav: ac range: 567.599976 m, nav range: 554.038635 m, bearing: 207.724289 deg, approach rate: 0.111651 m/s, LOS rate: -0.058703 deg/s, cmd heading: 297.050255 deg, new cmd heading: 296.971600 deg. 2j&!HeadingCmd: 5.183132 target range: 567.599976 and range: 567.60 m. j8ܥ@jjjihhhhfffrfbf@hH@ɛE^BM-l IM.IQ U =ɚQiQIU;=IΌisQ;i6;)8ܥ@)*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 ****** received new query, but waiting for acoustic response period to elapseG ~q;G B O >%,w,4ȺA6ޞ@Y6@6>\f96 =y6HYj??@˿@/@???`1?9?ɨ6ޞ@6X;6uCyF=\BFqIIR/IRJ5٢Z6/> Z\=9Z Q Z>\\ ^G٣^?Gyb b> fNusing accuracyPremultiplier from configdje49ft?je4Yf# if]OBln en?fC7Cfp;f;fke4p rAp B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 567.60 m.Bj%Jj%5 ProNav: ac range: 567.599976 m, nav range: 554.080444 m, bearing: 207.702077 deg, approach rate: 0.116616 m/s, LOS rate: -0.061950 deg/s, cmd heading: 296.971598 deg, new cmd heading: 296.904968 deg. 2j5*=HeadingCmd: 5.181969 target range: 567.599976 and range: 567.60 m. j=ҥ@j9j9j9iAhAhAhAhIfIfIfIrfIbfUl@ɛ^Bsp 隕&I 4M>ɚiI=Iin;i;)ҥ@)E*F-?2F):F)BF-0JF1"G==G==zKTLK9KKoK     #R<%k8 {n`DycTG:.%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 aIaGGB O5>m 3w,XȺA6Will construct direction to contact in vehicle frame from tetrahedron phase data.6T****** received valid address query ******6R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapse>֞@Y>@>eMg9> =y>HZ[??@ʿ@ o?Z֞@>;>rCy^d\B^I)` `If#If5٢r&= rG=9vQ v>tt zG٣xyzK z> Nusing accuracyPremultiplier from config|e49~(? e4Y~( i~OB Ue?~7C~;~;~e49 =ʔA9ZjimFNOT Ignoring new targets: 567.60 m.BjuXJjuX ProNav: ac range: 567.599976 m, nav range: 554.126404 m, bearing: 207.677582 deg, approach rate: 0.111017 m/s, LOS rate: -0.059164 deg/s, cmd heading: 296.904963 deg, new cmd heading: 296.831483 deg. 2jj"HeadingCmd: 5.180686 target range: 567.599976 and range: 567.60 m. j/ȥ@jjjihhQhahifffrfbf`~@ɛ-_B-Ti 5=5U(I1 59>ɚ1i1I5>=I=i=;iEQ;)E/ȥ@)AHI I;II]BI&I.IND6I<:IF*F?2F:FBF0JFJJ`JJJJbl9JJJJJ-: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 U!$?IQG :G B O >s<9w,8ȺA:Ş@Y:Bե@:Ih9:=y:H;??`wʿ~@U?Ng?q??_?ɨ:Ş@:b;:tCyBw\BFIMb@Mb@Mb@ )YZd;?p= ף?{Gz?y?>#<A dA)XAIAyxAI='I=5٢]2= ]B=9eEQ e>iq uG٣qy} }>  Nusing accuracyPremultiplier from confige49?e4Y- iOBo?%:EIbe?7C;<;<e4i uAu*EZjFNOT Ignoring new targets: 567.60 m.Bj䂺Jj䂺 ProNav: ac range: 567.599976 m, nav range: 554.177246 m, bearing: 207.652176 deg, approach rate: 0.114511 m/s, LOS rate: -0.057217 deg/s, cmd heading: 296.831470 deg, new cmd heading: 296.755258 deg. 2jHeadingCmd: 5.179356 target range: 567.599976 and range: 567.60 m. jI@jjjihhh h f f frfbf'&@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 elapseɛ)_Brp 隍,I |?ɚiI8=IHJi`;iD;)I@)*F?2F:FBFJF*J"J4=G G;zKU ӪOKU S9KQ KU pKU }scI3)'&%&!);." 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 elapse 1 I= f2@w,؂ɺA^@Y^Vʥ@^0{i9^CN=y^H'??@Oʿ C?`?@???ɨ^@^!;\yf\BfII*I.5٢= P=9Q > G٣?Gy% _ %> 5Nusing accuracyPremultiplier from config)=e49-(?Ee4Y-f2 i-*PBIMbU?-7C-;-;-5e4a eDAe+EZjFNOT Ignoring new targets: 567.60 m.BjJj ProNav: ac range: 567.599976 m, nav range: 554.224060 m, bearing: 207.628664 deg, approach rate: 0.127138 m/s, LOS rate: -0.063848 deg/s, cmd heading: 296.755245 deg, new cmd heading: 296.684716 deg. 2jE/HeadingCmd: 5.178125 target range: 567.599976 and range: 567.60 m. j3@jjjihhhhfffrfbfK@ɛK_BDr 4)I ?ɚi I =Iri;i)3@)*F2F: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|;GB Om >ZH RH H *>I  I II ^BI &I .I MD6I <:I FGFw,`XɺA6@Y6k@66j96:O=y6H`(??@^ʿ]@&?+?s?F?@?ɨ6@6;4yR\BRI]Mb@Mb@Mb@YYY Y)YY]jt?i|?5?~jth?y] ?]=]D;]A ]VbA)]^VAI]vAYy]vAIu<Iu+5٢,= C=98Q > G٣y > Nusing accuracyPremultiplier from confige49H6?e4Y7 ioPB#?:j??8CD;;e4 A(E "$?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 elapseZjFNOT Ignoring new targets: 567.60 m.Bj 9Jj 9 ProNav: ac range: 567.599976 m, nav range: 554.269043 m, bearing: 207.602275 deg, approach rate: 0.107473 m/s, LOS rate: -0.063045 deg/s, cmd heading: 296.684703 deg, new cmd heading: 296.605541 deg. 2j%-%HeadingCmd: 5.176744 target range: 567.599976 and range: 567.60 m. j-⧥@j)j)j)i)h)h)h1h1f1f9f9rf9bf=@C@ɛ5u_B=.m AEo(IA M@ɚiiiIm=Iu⟍iu];iuSo;)u⧥@)yEا=*FI 2FI :FI BFM u0JFI  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 @;GiBqO>Mw,8ɺAJ J JjJJJJ.:JJJa@a@a@a@b@Ybq@bk9bG0=ybH?`7?,ʿ`??2?@? ?ɨb@bc~;`yn\BnIIv8IvH5٢~e= ~2=9 Q > G٣ y P  > Nusing accuracyPremultiplier from configf49D?%f4Y= iPB!%vj%?8C:: f41 =A9UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 567.60 m.BjmːJjmː ProNav: ac range: 567.599976 m, nav range: 554.318054 m, bearing: 207.573342 deg, approach rate: 0.107227 m/s, LOS rate: -0.063294 deg/s, cmd heading: 296.605555 deg, new cmd heading: 296.518764 deg. 2j-HeadingCmd: 5.175229 target range: 567.599976 and range: 567.60 m. jy@jjjihhhhfffrfbf @zKdlNK 9KKqK   ɛ_B)Jo ?,I )AɚiI=Iэib#;idFy;)y@) 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 elapseE=*Fm?2Fq:FyBF}0JFyG;Gy 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 elapseuTw,RɺAmf@Ym@ml9m=ymH?@?@ ʿ@@?_%?@T?`B? ?ɨmf@m50;iy޵]B޽IHu)>Iq IuIIup^BIq&Iq.Iq6Iu<:IuFBIIJIIRIIZIM =bIM =jIM4Mb@Mb@Mb@ )Y#~j?I +?Mb`?y%?9=;A (`A)1TAIԋAytAIFIb5٢Z= /=9Q > G٣?Gy >  Nusing accuracyPremultiplier from config f49 R?f4Y 0D i QBi'?:Ux? 8C D; ; >f41 5A5%EZjY]FNOT Ignoring new targets: 567.60 m.BjeJjeu ProNav: ac range: 567.599976 m, nav range: 554.353455 m, bearing: 207.542922 deg, approach rate: 0.075676 m/s, LOS rate: -0.065024 deg/s, cmd heading: 296.518757 deg, new cmd heading: 296.427504 deg. 2ju2HeadingCmd: 5.173636 target range: 567.599976 and range: 567.60 m. jm@j)j)j)i)h)h)h1h1f1f1f9rf9bf= @ɛ_Bn 隍1I ^AɚiI#=IiX;ixU;)m@) #$?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 elapseE> =*F ?2F :F BF 4JF "G =G =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 elapseG;G G rAGBO?v\w,GtɺAB$r@YBv@Bӳm9B[=yBH¡??@ʿ@?@f?Yr?tԽ??ɨB$r@B3!;BvCyN=]BNIIV1IV5٢^= b5=9bQ b>dd fG٣dyf j> rNusing accuracyPremultiplier from configpvf49r`?vf4YrsJ irRQBxz$yz?r9Cr$;r%;r-f4| AZj!-FNOT Ignoring new targets: 567.60 m.Bj-8Jj58= ProNav: ac range: 567.599976 m, nav range: 554.387085 m, bearing: 207.513401 deg, approach rate: 0.074313 m/s, LOS rate: -0.065230 deg/s, cmd heading: 296.427505 deg, new cmd heading: 296.338946 deg. 2jE3EHeadingCmd: 5.172091 target range: 567.599976 and range: 567.60 m. jEā@jIjIjIiIhIhQhQhQfYfYfYrfabfe@ɛ_BHq 隕d.I CuBɚiI~*=I[8iW;i(!:)ā@)EE*E"EJsK{3 K{KsKs"KsJpJcJJJA:Jx9JJ IzKLK+9KKrKWill 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*F2F:FBFh3JFG .A;G B O >Ycw, ɺA6Wd@Y6s@6m96=y6H?d?Lʿࢭ?Bg? \n?@G??ɨ6Wd@6|;6wCy>`]B>$IBWill construct direction to contact in vehicle frame from tetrahedron phase data.FT****** received valid address query ******FR****** received valid ping request ******Freceived new query, but waiting for acoustic response period to elapseIN<IN+5٢H= ==99Q > G٣y > Nusing accuracyPremultiplier from configf49m?f4YfP iQBy?c9C~$;$;#IC III^BI =&I.I6Ix<:I}F)a*F?2F:FBFp0JF If5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseU vG Y y xAG :G B O% >iw,WɺAy%y]B%3IMb@Mb@Mb@ )Y|?5^?x&?y-?7=A ]A)RAI3AyqAI%#I%5٢=m= =A=9EQ E>AA EG٣E?GyM M> ]Nusing accuracyPremultiplier from configQ]f49Uz?ef4YUV iUQBe.?e:ee?U9CU;U;UJf4q uAu#EZjFNOT Ignoring new targets: 567.60 m.BjJj ProNav: ac range: 567.599976 m, nav range: 554.440857 m, bearing: 207.456458 deg, approach rate: 0.055197 m/s, LOS rate: -0.071916 deg/s, cmd heading: 296.254975 deg, new cmd heading: 296.168137 deg. 2jkEHeadingCmd: 5.169109 target range: 567.599976 and range: 567.60 m. jXi@jjjihhhhfffrfbf!@ɛI`BLy  4I  ]CɚiI?=I i m;iO{U;)Xi@)UPExceeded connect timeout, disconnecting.=Will 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:FBF}0JFG G"GGG] ?G]"?JlJeJJJ<5:J9JJG! B1 OU > $$?I zK= .JK= 9K9 K= sK=   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 elapsekpw,HɺA2F@Y2V@2ɽl92F=y2H kW?M-? Hʿp?3?jT?>??ɨ2F@2;2sCy:]B:@IIJ)IJ5٢Zt= Zg=9]a;Q ]>yy G٣yw > Nusing accuracyPremultiplier from configf49??f4YP\ i RB?9Cz::?Xf4 qAB*** querying acoustic contact ***jjZj)5FNOT Ignoring new targets: 567.60 m.BjukJj}k ProNav: ac range: 567.599976 m, nav range: 554.459961 m, bearing: 207.430513 deg, approach rate: 0.049060 m/s, LOS rate: -0.066627 deg/s, cmd heading: 296.168149 deg, new cmd heading: 296.090315 deg. 2j6HeadingCmd: 5.167751 target range: 567.599976 and range: 567.60 m. j7^@jjjihhhhfffrfbfd"@ɛ=q`B=Rw 9E8IA EIDɚAiAIEQ=IMƎiwQ;iq:)7^@)*F!2F!:F!BF-0JF)GB O-N>=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 elapseH &>I  I . II _BI =&I .I 6I e<:I mFvw,ɺAy~]B~VI AIAMb@Mb@Mb@ )Yl?&1?~jtx?y7?P=;r|A [A)NAIAymAI(I5٢Z= :=9Q > G٣y > Nusing accuracyPremultiplier from configf49j?f4Yb ijRB8?:?5:CJ;6H;ff4 +A 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 elapseZjFNOT Ignoring new targets: 567.60 m.BjJj ProNav: ac range: 567.599976 m, nav range: 554.473633 m, bearing: 207.400829 deg, approach rate: 0.032230 m/s, LOS rate: -0.069975 deg/s, cmd heading: 296.090312 deg, new cmd heading: 296.001264 deg. 2j@HeadingCmd: 5.166197 target range: 567.599976 and range: 567.60 m. j-|Q@j1j1j1i1h1h1h9h9f9f9fArfAbfEJ=#@ɛ`Bu C;I DɚiIb=IE{iEb;iM;-;)M|Q@)I*F?2F:FBFt0JFGBO> M nManaging dock network, ignoring radio surface power offE 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|w,-yɺA2@Y2,@2k929=y2H? A?ʿ@&?`z?8?+??ɨ2@2e;2tCyB]BBjIIJ-IJ5٢r= rZ=9r;Q r>tt vG٣v?Gyz[ z> ~Nusing accuracyPremultiplier from config|f49~\?f4Y~h i~RB  ^?~x:C~[;~^;~sf4) -A1ZjFNOT Ignoring new targets: 567.60 m.Bj6Jj6 ProNav: ac range: 567.599976 m, nav range: 554.484863 m, bearing: 207.373887 deg, approach rate: 0.030834 m/s, LOS rate: -0.073969 deg/s, cmd heading: 296.001274 deg, new cmd heading: 295.920451 deg. 2jKHeadingCmd: 5.164786 target range: 567.599976 and range: 567.60 m. jE@jjjihhhhfffrfbf #@*JuC="Jup=J}oJyJ}2JyJ}>:JyJ}c3Jyɛ`B9 隽:I rEɚiIQ}=I'i ;i:b)E@) 5%$?I9*Fm?2Fi:FiBFm0JFizKoKK9KKtKpRK?JK ?GABIOe4>Will construct direction to contact in vehicle frame from tetrahedron phase data.AA EG٣AyE{ M> UNusing accuracyPremultiplier from configIUf49Mw?]f4YMro iMRBY]e?M:CM;M-;M@f4i mAiZjFNOT Ignoring new targets: 567.60 m.Bj Jj  ProNav: ac range: 567.599976 m, nav range: 554.497009 m, bearing: 207.344010 deg, approach rate: 0.030039 m/s, LOS rate: -0.073892 deg/s, cmd heading: 295.920459 deg, new cmd heading: 295.830828 deg. 2jJHeadingCmd: 5.163222 target range: 567.599976 and range: 567.60 m. j9@jjjihhhhfffrfbf`$@ɛU`B]vy ae8Ii  FɚiI]=ZHm?ARHiHu#>Iq IuZ IIuY_BIu =&Iq.Iq6Iu<:IuFIZi$;iR)9@)*F?2F:FBFJF I!Will construct direction to contact in vehicle frame from tetrahedron phase data.Aԉw,9)ʺAR(@YRz@RIJj9RRe=yRH? R?ɿ-!??`?Z?`T?ɨR(@R;RrCyb!^BbIMb@Mb@Mb@ )Y~jt?Mb?~jt?y;?<D<EzA XA)LAIAy\kAII5٢= ?=9S:Q > G٣yۻ > Nusing accuracyPremultiplier from configf49?f4Yv iFSB;?:?;Cr;;!f4 IAEZjAEFNOT Ignoring new targets: 567.60 m.BjMpJjMp] ProNav: ac range: 567.599976 m, nav range: 554.490051 m, bearing: 207.312741 deg, approach rate: -0.016287 m/s, LOS rate: -0.073193 deg/s, cmd heading: 295.830820 deg, new cmd heading: 295.737013 deg. 2j]HeHeadingCmd: 5.161584 target range: 567.599976 and range: 567.60 m. je+@jajajaiahahihqhqfqfqfqrfybf} %@ɛaB>y 隵\;I vFɚiIT=Ii[;i0fɺ)+@) Will construct direction to contact in vehicle frame from tetrahedron phase data.JJBA  I fzKu MKu ػ9Kq Ku uKu '%e0U!Z KeB&yqkjd^YRLGA?<851/-*'BK :K rA Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:1629>  BDAT read: Tx time:21:16:24.2684  $Ping request sent.  L=9:Q > G٣?Gy믻 > Nusing accuracyPremultiplier from configf49>?f4Yn} iSB  6 ?Y;C":e:Ef4q uݐAqB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 567.60 m.BjmJjm ProNav: ac range: 567.599976 m, nav range: 554.483032 m, bearing: 207.283020 deg, approach rate: -0.016665 m/s, LOS rate: -0.070566 deg/s, cmd heading: 295.737000 deg, new cmd heading: 295.647837 deg. 2jA HeadingCmd: 5.160028 target range: 567.599976 and range: 567.60 m. j-@j)j)j1i1h1h1h9h9f9f9f9rfAbfEx&@ɛ:aBx 8I 3RGɚiIɐ=IÏi;iL)@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:21:16:24.2676 %checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249147GE zQG ?G ?H >I C I II _BI =&I .I LD6I <:I FG B O >J J mJ 1J J J &9J 3J J O;a J O;a J :a J :a ▲w,i\ʺA V&$?ITy]{^B]IMb@Mb@Mb@ )Y/$?I +99 =G٣9yE E> MNusing accuracyPremultiplier from configIUf49M}Ȅ?Uf4YM iMSB]8w,HvʺA: @Y:]@:pi9: >y:H`DP?b?/ʿ@lBw??? <ӿ??ɨ: @:zS;:uCyF^BFIININ5٢Z= Zf=9^?:Q ^>`` bG٣`yfb f> jNusing accuracyPremultiplier from confighnf49j.ф?nf4Yj ij TBlrr?j;Cj ;j? ;j+f4t v?AvEZjFNOT Ignoring new targets: 567.60 m.BjJj- ProNav: ac range: 567.599976 m, nav range: 554.453064 m, bearing: 207.226292 deg, approach rate: -0.041798 m/s, LOS rate: -0.074313 deg/s, cmd heading: 295.556410 deg, new cmd heading: 295.477629 deg. 2j-L=HeadingCmd: 5.157057 target range: 567.599976 and range: 567.60 m. jE@jAjAjAiAhAhAhIhIfIfIfQrfQbfU'@ɛaBh~ 隅Y7I gHɚiI=I$i;i»)@)*FU?2FQ:FQBFU1JFQ IzKOK9KKvK#!  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006197G'HGqBO>Kw,ʺA6#@Y6v@63h96=>y6H6?`m?mʿIT?@??`?@P'??ɨ6#@6;6sCyB^BB IININ5٢V!> VK=9Z<:Q Z>XX ^G٣^?Gy^' b> fNusing accuracyPremultiplier from config`ff49bڄ?jf4Yb ibkTBhjᓿj?b/I) I- II-`BI- =&I).I)6I-t<:I-oFBICJICRIZI =bI =jI 5*F2F:FBFH1JFJmJfJJJ\8:J9JJJD;JD;J:J: '$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511708G- :䛻G B O- >;$w,aʺANB@YN@Ng9Nq=yNH?}?@ ʿT@!? i?`??QO??ɨNB@N;NrCyZ!_BZ8 IEMb@Mb@Mb@AAA A)AYErh|?~jt~jt?yE;?EE }==9};Q }> G٣yKԻ > Nusing accuracyPremultiplier from configf49 儜?f4Y iTB:77410//.,++(%$$#!!&,68943/,)&%#! Xw,PʺA2~@Y2ѐ@2f92#=y2H?߄? ɿEYt?9j??.̽??ɨ2~@2!h;2tCy>Y_B>Z IIFIF5٢Ni> NZ=9RQ;Q R>PT VG٣TyVn V> ZNusing accuracyPremultiplier from configXf49Z턜?f4YZz iZUB 啿 ?ZI- C I-  II- `BI) &I) .I) 6I- <:I- FG B O- >J lJ cJ J J <5:J x9J J J P?;J R?;J :J : Y IY 7w,EʺA6Mv@Y6@6Pe96 =y6H` :=9 ;Q > G٣?GyI > Nusing accuracyPremultiplier from configf49?f4Y iYUB:?: ?=Cp;;f4 [AEB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 567.60 m.)9 9MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516618Bj=QJj]Q G!AM ProNav: ac range: 567.599976 m, nav range: 554.370361 m, bearing: 207.105514 deg, approach rate: -0.054595 m/s, LOS rate: -0.075326 deg/s, cmd heading: 295.211513 deg, new cmd heading: 295.115260 deg. 2jMNUHeadingCmd: 5.150733 target range: 567.599976 and range: 567.60 m. jUҤ@jQjQjQiQhQhYhYhY YyBfffrfbfK_+@ɛU1bBUv QUe&IQ }^JɚyiyI=I1i:i)Ҥ@)*F5?2F1:F9BF=0JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768224GY G9 BI Om >[w, ʺA>Iu@Y>@>Hd9>w=y>H`?D?ɿa??@L?=? r?ɨ>Iu@>9;>qCyJ_BJ IIV IV5٢b?> b[=9bs;Q b>dd fG٣dyj j> nNusing accuracyPremultiplier from configlrg49nk?rg4YnV inUBpvv?nT=Cn ;nX;ng4x z̍AxZj!-FNOT Ignoring new targets: 567.60 m.Bj-Jj-E ProNav: ac range: 567.599976 m, nav range: 554.351013 m, bearing: 207.078775 deg, approach rate: -0.052222 m/s, LOS rate: -0.072173 deg/s, cmd heading: 295.115262 deg, new cmd heading: 295.035043 deg. 2jE FMHeadingCmd: 5.149333 target range: 567.599976 and range: 567.60 m. jMVǤ@jIjIjIiIhIhIhQhQfQfQfYrfYbf],@ɛQbB| 隍uI &KɚiI?=I"iR:i)VǤ@) ($?If*F5?2F1:F1BF5`5JF1"G==G==eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020143zK@^NKh9KKxKGRQJIECEA><962//-,(&!&#!!"&''')&$!"" GGBO->CIJw,˺A2$l@Y2w{@2Rc92=y2H?ۊ?ɿ8g??`.? ??ɨ2$l@2Z!;2sCy>"`B> IIFIF5٢NE&> NM=9R4;Q R>PT VG٣TyV7 V> ^Nusing accuracyPremultiplier from configXbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272281fg49Z ?fg4YZ( iZUBhj8j?Z=CZ&z;ZHz;Zg4l nEArEZj  FNOT Ignoring new targets: 567.60 m.BjBJjB% ProNav: ac range: 567.599976 m, nav range: 554.329956 m, bearing: 207.049837 deg, approach rate: -0.052563 m/s, LOS rate: -0.072240 deg/s, cmd heading: 295.035048 deg, new cmd heading: 294.948229 deg. 2j%OF-HeadingCmd: 5.147818 target range: 567.599976 and range: 567.60 m. j-캤@j)j)j1i1h1h1h9h9f9f9fArfAbfE`,@ɛmzbBmd( mI1 I5a II5aBI5 =&I1.I5KD6I5<:I5uF*F?2F:FBFJFJumJueJqJqJu\8:Ju9JqJqJuD;JuD;Ju:Ju: I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527331Gg{G B O >mʲw,8+˺A6yj@Y6y@6k>b96=y6H T?=? ɿif?}?@ ?ɾ?`?ɨ6yj@6;4y>a`BB I=Mb@Mb@Mb@999 9)9Y=Q?:vL7A`?y=5?=T=+==doA =OA)=BAI99y=GaAIUIU5٢e0> e>=9m ;Q m>ii mG٣m?Gyu u> Nusing accuracyPremultiplier from configyg49}N?g4Y}M i}=VB5?:?}=C};}Y;}g4 njAEZjFNOT Ignoring new targets: 567.60 m.BjJj ProNav: ac range: 567.599976 m, nav range: 554.309570 m, bearing: 207.019443 deg, approach rate: -0.047712 m/s, LOS rate: -0.071138 deg/s, cmd heading: 294.948223 deg, new cmd heading: 294.857039 deg. 2jICHeadingCmd: 5.146226 target range: 567.599976 and range: 567.60 m. j⭤@jjjihhhhfffrfbfm-@ɛ-bB-KE 15hI9 9ɚ9i9I='=IE⇑iEa?:iEzE)M⭤@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:16:27.4196 TRx dataTimestamp_ set to:1736370988.808805checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777382*F 2F :F BF Q5JF G-ԑG=rAG9 IG B O5 >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028136XѲw,HE˺AzKNKػ9KKyKc@Yr@Ha9=yH@??` ɿmU?ȵ??Ǿ?`?ɨc@;騵qCy`B/ IIIV5٢->> ->=9f ;Q > G٣y > Nusing accuracyPremultiplier from configg49F?g4Y iVB?5>C :n:*-g4 #AZjFNOT Ignoring new targets: 567.60 m.BjJj ProNav: ac range: 567.599976 m, nav range: 554.288635 m, bearing: 206.988258 deg, approach rate: -0.047565 m/s, LOS rate: -0.070857 deg/s, cmd heading: 294.857026 deg, new cmd heading: 294.763467 deg. 2jBHeadingCmd: 5.144593 target range: 567.599976 and range: 567.60 m. j@jjjihhhhfff rfbf=.@ɛ=bB= 9=II9 AɚAiAIEyӍ=IMeiU:iU3")]@)a*F?2F:FBFa5JFG sA G tAWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:16:27.4196 LVL= 29344, 32753, 14690, 32755, AGC= 67, IDX= 301, 0.40, 2.095, 1.304,-3.126, 2.294, PHS=-0.111,-0.943, 0.861, RAW= 182.6, 2.5, CAL= 182.7, -5.8, ROT= 327.3, 5.8 Ygot valid direction response: 21:16:27.4196 LVL= 29344, 32753, 14690, 32755, AGC= 67, IDX= 301, 0.40, 2.095, 1.304,-3.126, 2.294, PHS=-0.111,-0.943, 0.861, RAW= 182.6, 2.5, CAL= 182.7, -5.8, ROT= 327.3, 5.8 %PDAT read: Bearing 327.3, 5.8 (Local) %~Local bearing/azimuth received: Bearing 327.3, 5.8 (Local) 5DAT read: Range 10 to 50 : 560.2 m (Round-trip 747.0 ms) speed 0.6 m/s =,DAT read: user:1630> EBDAT read: Tx time:21:16:28.5184 E$Ping request sent.EI% C I% II% aBI% =&I! .I! 6I% <:I% FB O- > I 9ײw,u_˺AMe@YM,u@M_9M >yMH?@?ɿsoh?k??J?@H?ɨMe@M;MsCyޕaBޕ` I=Will construct direction to contact in vehicle frame from tetrahedron phase data. Mb@Mb@Mb@    ) Y ʡE?y&1|?Q?y /? `; <  MA) AAI A y _AI5I5?5٢E54> E:=9Me;Q M>qq uG٣qyuJ%: }> Nusing accuracyPremultiplier from configyg49}h'?g4Y} i}VB/?:͑?}~>C}k;} ;}N V-=9Z"9Q Z>X\ ^G٣^?Gy^iJ ^> bNusing accuracyPremultiplier from config`fg49bR2?jg4Yb ib6WBhjj?b>Cb-;b;bLg4p rAvEzK2QKKKKzK &&# RK?JK?B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 560.20 m.Bj Jj  ProNav: ac range: 560.200012 m, nav range: 563.807251 m, bearing: 201.489034 deg, approach rate: 0.035823 m/s, LOS rate: -0.066037 deg/s, cmd heading: 294.667229 deg, new cmd heading: 294.572716 deg. 2jH5%HeadingCmd: 5.141264 target range: 560.200012 and range: 560.20 m. j%<@j!jAjAiAhIhIhIhIfQfQfQrfQbfU`?ɛ7cB0 I ɚiI=I {*i 7:i }Y) <@)E8k=*FU?2FQ:FQBFU0JFYEWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.G u4GY Bi O >jH] <bHY H >I C I " II ?bBI =&I .I JD6I j<:I XFw,˺A PIVfUwD@YUS@U^9U>yUHŤ?Z?ɿz~â?e??`?`?ɨUwD@Uc;UrCymaBm I=Mb@Mb@Mb@999 9)9Y=MbX?/$?Q?y=*?=<9=zpA =|KA)=BAI=\{A9y=^AIUIU5٢eg4> e2=9e7:Q m>iq uG٣qyu u> Nusing accuracyPremultiplier from configyg49}(=?g4Y} i}WB+?:?}?C}[;};}\g4 SAZjFNOT Ignoring new targets: 560.20 m.Bj2Jj2 ProNav: ac range: 560.200012 m, nav range: 563.829285 m, bearing: 201.459033 deg, approach rate: 0.051110 m/s, LOS rate: -0.069589 deg/s, cmd heading: 294.572726 deg, new cmd heading: 294.482726 deg. 2j?HeadingCmd: 5.139693 target range: 560.200012 and range: 560.20 m. j^x@jjjihhhhfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246681ɛecBQ I ɚiIp=I%]i-/:i-c$)-^x@))E T<*F2F:FBF0JF"G=Gp=G 'He Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499596G B O > w,˺Ay aB  II%I%#5٢5T> 5`=9=Q =>AA EG٣AyE M> UNusing accuracyPremultiplier from configIUg49ME?]g4YM iMWBYYe?MV?CM;M;Mwig4i mAiZjFNOT Ignoring new targets: 560.20 m.BjfJjf ProNav: ac range: 560.200012 m, nav range: 563.846924 m, bearing: 201.435213 deg, approach rate: 0.048363 m/s, LOS rate: -0.065307 deg/s, cmd heading: 294.482732 deg, new cmd heading: 294.411275 deg. 2jG3HeadingCmd: 5.138446 target range: 560.200012 and range: 560.20 m. j'n@jjjihhhhfffrfbf`,?ɛcB.{ оI ɚiI=I ͆i Q:i  ) 'n@)EE*E"E +$?IJrJjJJJG:J9JJEEqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751032*F12F1:F9BF9JF9zKMLKM]9KIKM{KMG] pG9 BQ O} >w,˺AFi@YFgx@FT9F>yFH ?|?mɿ~@D??Sm?? ?ɨFi@FӉ;FqCyR.bBR I)T VAIbIb5٢vn1> vM=9~  G٣?Gy}5< %> -Nusing accuracyPremultiplier from config)5g49-eO?g4Y- i-XB?-?C-8<-M<-wg4 *AZjFNOT Ignoring new targets: 560.20 m.BjWJjWWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003233  ProNav: ac range: 560.200012 m, nav range: 563.867676 m, bearing: 201.408777 deg, approach rate: 0.049532 m/s, LOS rate: -0.063097 deg/s, cmd heading: 294.411288 deg, new cmd heading: 294.331983 deg. 2j 5-HeadingCmd: 5.137062 target range: 560.200012 and range: 560.20 m. jb@jjjihhhh!f!f!f!rf!bf--@ɛUcBU1ռ QUþIQ YɚYiYI]QJ=Ie,ie3:ie=;)eb@)i*F2F:FBFo5JFH>I I IIbBI&I.I6IE<:I9FBIľCJIľCRIĔCZI =bI =jIS5 yIyGe*GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2545790w,˽˺AN|m@YN|@NON9N=>yNH??@ɿ #? ^@?@g?gP?Q?ɨN|m@N1q;NtCyVbbBZ8 I}Mb@Mb@Mb@yyy y)yY}y&1?Q??y}`%?}\=}<} kA }9HA)}AAI}/yAyy}[AIIv5٢= ?=9Mg G٣y: > Nusing accuracyPremultiplier from configg49Y?g4Y iTXB%?:ዿ??C;3;Tg4 ÈAEZjFNOT Ignoring new targets: 560.20 m.BjOJj O ProNav: ac range: 560.200012 m, nav range: 563.895325 m, bearing: 201.382005 deg, approach rate: 0.067861 m/s, LOS rate: -0.065705 deg/s, cmd heading: 294.331976 deg, new cmd heading: 294.251664 deg. 2j_4%HeadingCmd: 5.135660 target range: 560.200012 and range: 560.20 m. j%TW@j!j!j!i!h)h)h)h)f1f1f1rf1bf=k@ɛecBm}Լ im:Ii ɚiI%V=IMⒿiU;:i];)]TW@)a Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507089*F!2F!:F!BF%p5JF!G-rA G-rAGE {/; y I J uJ pJ 1J J [Q:J ^9J 3J G! B) OM >8w,!̺A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758530By@YB@B _G9BD>yBH@\#??`v|ɿ`‹Z?R?`?%y??ɨBy@B:;BsCyJbBJv IIRIRx5٢^Ɇ> ^[=9bJ`d fG٣dyf; f> nNusing accuracyPremultiplier from confighrg49jb?rg4Yjm ijXBprv?j@Cj;j;jkg4x zAxZj%FNOT Ignoring new targets: 560.20 m.Bj%:Jj%:zK KK 9KK|K/9<<:510/,,))& ProNav: ac range: 560.200012 m, nav range: 563.920349 m, bearing: 201.358206 deg, approach rate: 0.066754 m/s, LOS rate: -0.063484 deg/s, cmd heading: 294.251653 deg, new cmd heading: 294.180258 deg. 2jE.HeadingCmd: 5.134414 target range: 560.200012 and range: 560.20 m. jM@j!j!j!i!h!h!h)h)f)f)f)rf1bfU,@ɛ} dB}k y隅I ɚiI#=I iճ:i׭<)M@)Ee>E>*Fi2Fi:FqBFud5JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011313Gd;G B O >H >I  I II cBI =&I .I 6I Q<:I @F y Iy ]w,̺A XZ@yޝbBޥ IuG YyBMb@Mb@Mb@ )YMb?Mb??y#?= "GA)@AItAyYA=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262603IEIE5٢M= U%=9UQ ]>YY ]G٣]?Gye e> -Nusing accuracyPremultiplier from configq5g49uo?=g4Yuu iuXB=$?=:==?uh@CuA;u@>;uŤg4EaB MAMEeB*** querying acoustic contact ***jajaZjq}FNOT Ignoring new targets: 560.20 m.Bj}Jj} ProNav: ac range: 560.200012 m, nav range: 563.967651 m, bearing: 201.327221 deg, approach rate: 0.090812 m/s, LOS rate: -0.059480 deg/s, cmd heading: 294.180264 deg, new cmd heading: 294.087318 deg. 2jH#HeadingCmd: 5.132792 target range: 560.200012 and range: 560.20 m. j?@jjjihhhhfffrfbf" @ɛ@dBҢ I ɚiIʑ=I@iY:iK<)?@)*F!2F!:F!BF%:1JF! Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:16:31.6660  TRx dataTimestamp_ set to:1736370992.840779 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515766G] 2<GY B OU >w,:̺Ajm@Yj@j>79j>yjHO? ? ȿ?o??)g?8?ɨjm@j;hyvLcBv II|I|٢ U>  b=972=Q > G٣y?; %> -Nusing accuracyPremultiplier from config!-g49%ry?5g4Y% i%YB155?%@C%:%:%fg4A EAEEZjy}FNOT Ignoring new targets: 560.20 m.BjJj ProNav: ac range: 560.200012 m, nav range: 564.002563 m, bearing: 201.304597 deg, approach rate: 0.103182 m/s, LOS rate: -0.066863 deg/s, cmd heading: 294.087318 deg, new cmd heading: 294.019448 deg. 2j7HeadingCmd: 5.131608 target range: 560.200012 and range: 560.20 m. j!6@jjjihhhhfffrfbfJ @ ,$?IfɛedB3 wI ɚiI=I fi :i p@<) !6@) J9J9JKw3 KS}.KK"KJEzJExJE0JAJE`:JE9JEـ3JA*F2F:FBFp5JF"G=G=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.767312zK]LMK]9KYK]}K]%$  &Q P Q B  j BKa:KaGP <G B O >Dw,bT̺AfWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.023028%$@Y%w@%R.9% e>y%Hx`??`ǿO?@o??@J$?F?ɨ%$@%xy;%rCyUcBU IIiIi٢}= }6=9 G٣yb: > Nusing accuracyPremultiplier from configg49[?g4Y iUYBx?@C ;q ;g4 }AZjFNOT Ignoring new targets: 560.20 m.BjJj ProNav: ac range: 560.200012 m, nav range: 564.046265 m, bearing: 201.276450 deg, approach rate: 0.097547 m/s, LOS rate: -0.062822 deg/s, cmd heading: 294.019454 deg, new cmd heading: 293.935021 deg. 2jt,HeadingCmd: 5.130134 target range: 560.200012 and range: 560.20 m. j*@j j j i h h hhfffrfbf`o@ɛEdBM IUuIQ YɚYiYI]U=Ie/H>IC Ia IIEdBI =&I.I6I<:IgFi%P:i%8-W<)%*@)!E1 I*F2F:FBFo5JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:16:31.6660 LVL= 32752, 32753, 20146, 32755, AGC= 71, IDX= 329,-0.39,-1.717,-2.594,-0.521,-1.500, PHS=-0.129,-1.047, 0.976, RAW= 183.0, 2.3, CAL= 183.2, -5.9, ROT= 326.8, 5.9 Ygot valid direction response: 21:16:31.6660 LVL= 32752, 32753, 20146, 32755, AGC= 71, IDX= 329,-0.39,-1.717,-2.594,-0.521,-1.500, PHS=-0.129,-1.047, 0.976, RAW= 183.0, 2.3, CAL= 183.2, -5.9, ROT= 326.8, 5.9 PDAT read: Bearing 326.8, 5.9 (Local) ~Local bearing/azimuth received: Bearing 326.8, 5.9 (Local) DAT read: Range 10 to 50 : 557.5 m (Round-trip 743.4 ms) speed 0.1 m/s ,DAT read: user:1631> BDAT read: Tx time:21:16:32.7684 $Ping request sent.$iujFٿuD q)qIqiqqquUc)+?0€?iO2Z?)qIqiqqqq w,y6Hc?H?,ǿް?J׷???pT?ɨ6ه@6E;4yrcBr IUMb@Mb@Mb@QQQ Q)QYU"~j?MbX9?{Gz?yUS#?Uʡ=Uף }K=9U G٣?GyႺ > Nusing accuracyPremultiplier from configg49?g4Y iYB$?:k?*AC;#;(g4 A EkeWڛ?kN k k/f̺A:k` DBky DZkv]@"~QJ7{GNy+ u,+Rɽr++ВJkjFٿRkD<*L&Vf{'ULJINԿQ #$ ÿ"k0*kdkٛ?k`< 2kkٛ?kkk Dk`@ addTargetRange:: Added new target pos. range: 557.500000 m, deltaT: 4.284080 s, deltaX: -2.700012 m, approachRate: -0.630243 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data. Added new target pos. range: 557.500000 m, bearing: 198.735854 deg, lat: 36.899902 deg, lon: -122.115266 deg, deltaT: 4.284080 s, deltaX: -2.700012 m, approachRate: -0.630243 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 557.50 m.Bj Jj  ProNav: ac range: 557.500000 m, nav range: 560.212585 m, bearing: 201.405483 deg, approach rate: 0.000000 m/s, LOS rate: -0.062822 deg/s, cmd heading: 293.935033 deg, new cmd heading: 293.854648 deg. 2j%HeadingCmd: 5.128731 target range: 557.500000 and range: 557.50 m. je@jajijiiihihihqhqfqfqfqrf}l@bf}@x{?ɛdBF< I ɚiIz=I&œi%;i%b<)%@)!*F?2F:FBFJF -$?I*J%="J=G H<GY Bi } Will construct direction to contact in vehicle frame from tetrahedron phase data.O >!w,<̺A2qn@Y2}@292N >y2H=?`?Sǿ`?  ?Q? B? WZ?ɨ2qn@2T;2qCyZcB^1 IIfIf&5٢n{> ni=9npp rG٣pyv v> UNusing accuracyPremultiplier from configI]g49M?]g4YM iMYBY]ۂ]?MeACM :M:Mg4a mAizKPK9KK~K2 { O - e  {PGM`;#gTC,yjZG4$Zj FNOT Ignoring new targets: 557.50 m.Bj喺Jj喺% ProNav: ac range: 557.500000 m, nav range: 560.252502 m, bearing: 201.382418 deg, approach rate: 0.114164 m/s, LOS rate: -0.065961 deg/s, cmd heading: 293.854655 deg, new cmd heading: 293.785466 deg. 2j%55HeadingCmd: 5.127524 target range: 557.500000 and range: 557.50 m. j5@j1j1j1i1h1h9h9h9f9fAfArfAbfEc?ɛudBu6◼ qusIq qɚyiyI}ȃ=I}쓿i;izD<)@)a*F2F:FBF05JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GP<H >I  I II dBI =&I .I 6I m<:I OFG B O > I J ~J {J 1J J {m:J -9J 3J J ?;a J @;a J :a J :a ^ (w,̺A6f@Y6Fv@69&96=y6H<8? ?2ƿ6]?״?;?@n??h?ɨ6f@6;6rCy^&dB^N IMb@Mb@Mb@ )Y)\(?Zd;O? rh?yG!?j=C<dA BA)?AIgAySAII_5٢$= ;=9 G٣y > Nusing accuracyPremultiplier from configg49?g4Y iYB #? :  ?AC(;&;g4 7AE5Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjAMFNOT Ignoring new targets: 557.50 m.BjU뒺JjU뒺e ProNav: ac range: 557.500000 m, nav range: 560.304626 m, bearing: 201.355711 deg, approach rate: 0.125359 m/s, LOS rate: -0.064224 deg/s, cmd heading: 293.785479 deg, new cmd heading: 293.705366 deg. 2jeN0uHeadingCmd: 5.126126 target range: 557.500000 and range: 557.50 m. ju9 @jyjyjyiyhyhyhhfffrfbfN?ɛeBބ 隽FqI ɚiI}=Iir;igP<)9 @)*Fe?2Fa:FaBFe53JFaGF<G?G?Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data.F.w,a޻̺A6d@Y6s@6896U=y6H [;??ſ| ~H?`9S??@? {s?ɨ6d@6Nx;6qCyb\dBbo IIrIr5٢z> z[=9z|| ~G٣~?GyAR >  Nusing accuracyPremultiplier from config g49 S?g4Y  i ZB#? AC &; &; g4! -̄A- EEB*** querying acoustic contact ***jAjAZjaeFNOT Ignoring new targets: 557.50 m.Bje@Jjm@} ProNav: ac range: 557.500000 m, nav range: 560.350281 m, bearing: 201.332339 deg, approach rate: 0.122329 m/s, LOS rate: -0.062620 deg/s, cmd heading: 293.705374 deg, new cmd heading: 293.635263 deg. 2j}+HeadingCmd: 5.124902 target range: 557.500000 and range: 557.50 m. j3@jjjihhhhfff .$?IfrfbfSF?ɛ@eB dI ɚiID9|=IBi;i]<)3@)*F?2F:FBFp0JFEWill 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.zKPK]9KKK}wng_VK=5-# }xvtpligfb^][XXVSGE<GBO>-5w,I̺A6Oj@Y6y@6*\96 =y6HN??ZĿ ??@D?w??@?ɨ6Oj@6;6rCyNdBN IRWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751512IvIv5٢^> H=9B! %G٣!y%h: %> =Nusing accuracyPremultiplier from config1Eh495?Eh4Y5 i5JZBAEE?5&BC5 ;5~:5h4Q UaAQZjq}FNOT Ignoring new targets: 557.50 m.BjԐJjԐ ProNav: ac range: 557.500000 m, nav range: 560.400879 m, bearing: 201.306575 deg, approach rate: 0.124349 m/s, LOS rate: -0.063310 deg/s, cmd heading: 293.635269 deg, new cmd heading: 293.557987 deg. 2j-HeadingCmd: 5.123553 target range: 557.500000 and range: 557.50 m. j&@jjjihhhhfffrfbf0?ɛpeBJo ^I ɚiIez=Inim;ip6{<)&@)H]>IY I] II]NeBIY&IY.IY6I]6<:I]&F*FM?2FQ:FQBFQJFQ"G]=G]> IJJJ0JJv:J9Jـ3JJX;JY;J;J;]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003739GmP<GI Ba O >Y;w,0̺A6]l@Y6{@6`96J0=y6H@Y?:?R;Ŀ`L,2? Y?`?`F:??ɨ6]l@6#x;4ybdBb I]Mb@Mb@Mb@YYY Y)YY]+?J +?I +?y]v?]=]94<]?aA ]AA)]@AI]?aAYy]QAIuIu=5٢= C=90 G٣y: > Nusing accuracyPremultiplier from configh49 Ʌ?h4YH# itZBv ?:|?iBC;A;h4  AZjFNOT Ignoring new targets: 557.50 m.BjkJjk ProNav: ac range: 557.500000 m, nav range: 560.455322 m, bearing: 201.280677 deg, approach rate: 0.129970 m/s, LOS rate: -0.061820 deg/s, cmd heading: 293.557979 deg, new cmd heading: 293.480292 deg. 2j) HeadingCmd: 5.122197 target range: 557.500000 and range: 557.50 m. j  @j j j ihhh!h!f!f!f!rf!bf-c@ɛeB%|y %=%aI! !ɚ)i)IM%y=IUEiU;iU2<)U @)YEep>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254785Ea*F?2F:FBFJF yIyG mo<Gy B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506449}?Bw,m ͺAy]dB] IimAAIuIu?5٢ͳ= J=9Q > G٣?Gy > Nusing accuracyPremultiplier from configh49ԅ?h4Y( iZB?BCzK9OK9KKKSTTTRQKIGJHHF?@?:98653//+*,+(+8[}:<"h49 =ÃA=EZjamFNOT Ignoring new targets: 557.50 m.Bjm.Jjm. ProNav: ac range: 557.500000 m, nav range: 560.507996 m, bearing: 201.255690 deg, approach rate: 0.125503 m/s, LOS rate: -0.059530 deg/s, cmd heading: 293.480279 deg, new cmd heading: 293.405324 deg. 2jk#HeadingCmd: 5.120889 target range: 557.500000 and range: 557.50 m. jSޣ@jjjihhhhfffrfbfD@ɛeB iI ɚiIhw=I Ɣi ;i<)Sޣ@)*Fm?2Fq:FqBFqJFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758463G5<H] >IY  I] H II] eBIY &IY .IY 6I] <:I] _FBI5ɼCJI5ɼCRI5ɓCZI5 =bI5 =jI5ɺ5Gy B O > m /$?Ii J J J 1J J :J 59J 3J J ;J ;J ;J ;oHw,_#ͺAydB IMb@Mb@Mb@ )Y'1Z?RQ? G٣y >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011023 %Nusing accuracyPremultiplier from config%h49?-h4Y. iZB-$?-:-~-?BC;;~1h49 =A9ZjamFNOT Ignoring new targets: 557.50 m.Bju Jju  ProNav: ac range: 557.500000 m, nav range: 560.562195 m, bearing: 201.228919 deg, approach rate: 0.133692 m/s, LOS rate: -0.066030 deg/s, cmd heading: 293.405338 deg, new cmd heading: 293.325032 deg. 2jC5 HeadingCmd: 5.119488 target range: 557.500000 and range: 557.50 m. j ң@j jjihhmDReached init depth of 57.239529 m.hihififqfqrfybf}`@ɛeBA !%I! !ɚ!i!I%HAv=I- i- ;i-X<)5ң@)1*F?2F:FBFJFG GsA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263428G 喇<G BA Ou >.Nw,%=ͺA>Z@Y>j@>cǽ9>I=y>HK?? ÿ`$?@ڣ? '?`1q??ɨ>Z@>ᇇ;>pCy^eB^ IIfIf5٢r= r\=9rł=Q r>tt vG٣tyz{ z> I  Nusing accuracyPremultiplier from config| h49~녜? h4Y~3 i~ZB?~)CC~p;~bp;~A>h4`B %UA% EMB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 557.50 m.BjeJjeu ProNav: ac range: 557.500000 m, nav range: 560.608948 m, bearing: 201.205599 deg, approach rate: 0.127144 m/s, LOS rate: -0.063413 deg/s, cmd heading: 293.325042 deg, new cmd heading: 293.255088 deg. 2ju.}HeadingCmd: 5.118267 target range: 557.500000 and range: 557.50 m. j}ȣ@jyjyjihhhhfffrfbf`F @ɛ fBE 脾I ɚiIku=I iu;iu<)uȣ@)y%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514504EE*FM?2FQ:FQBFU4JFQzKUlNKU 9KQKUKUung^XWSRPROKGB?>=820-*%"   Gu p< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766428GQ By OM>xVw,#[ͺANK@YNZ@NG9N_=yNH4??;¿` ?۠? ?J??ɨNK@N[!;NoCyZ/eBZ IIbIb5٢jT= j/=H>IC Iz IIfBI&IDD.I6I}<:IXF9U_qYY ]G٣]?Gye{ e> mNusing accuracyPremultiplier from configiuh49m?uh4Ym: im [Bq}}?mxCCm* ;m ;m#Oh4 $AEZjFNOT Ignoring new targets: 557.50 m.BjJj ProNav: ac range: 557.500000 m, nav range: 560.670349 m, bearing: 201.174708 deg, approach rate: 0.127843 m/s, LOS rate: -0.064311 deg/s, cmd heading: 293.255101 deg, new cmd heading: 293.162439 deg. 2j0HeadingCmd: 5.116650 target range: 557.500000 and range: 557.50 m. j@jjjihhhhfffrfbf @ 0$?IfɛVfB !%{I! )ɚ)i)I-EHt=I5 Qi5.;i=g<)=@)9EK=JmJmJiJiJm}:Jm9JiJiJm;Jm;Jm;Jm;)  CG MiYIyMD B*FY2Fa:FaBFep0JFaEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.019104GA G! B) Oe >q\w,muͺAy%QeB% IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.270531 @ @ @  @ II5٢= <=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configh49?h4Y@ i,[B+::?CC 7;>Zh4 AZj!%FNOT Ignoring new targets: 557.50 m.Bj-Jj-= ProNav: ac range: 557.500000 m, nav range: 560.723694 m, bearing: 201.147944 deg, approach rate: 0.127324 m/s, LOS rate: -0.063874 deg/s, cmd heading: 293.162429 deg, new cmd heading: 293.082145 deg. 2jEX/EHeadingCmd: 5.115248 target range: 557.500000 and range: 557.50 m. jE@jIjIjIiIhIhIhQhQfQfQfYrfYbf];@ɛfB֨ 隕I ɚiISs=I~i'w;iq<)@)E)E)*E)"E) IEEsA*FI2FI:FIBFM@5JFI"Ge=Ge=E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=4.522489Gu oT<zK 0MK 9K K K 8ys8GI BQ Om >dw,/ͺA2i4@Y2C@292&=y2HW?s?@@=^}?~0?፳?߸??ɨ2i4@2;2rCy:ieB: IIBIB5٢zn= ~K=9; =Q >!) -G٣)y-ܻ -> ebBottom track data is 0.8 s old, using for 20.0 s. eNusing accuracyPremultiplier from configQuh49U?}h4YUF iUJ[B} :yX:r?UDCU;UY?Udh4 AEZjFNOT Ignoring new targets: 557.50 m.BjvJjv ProNav: ac range: 557.500000 m, nav range: 560.777039 m, bearing: 201.120856 deg, approach rate: 0.125232 m/s, LOS rate: -0.063587 deg/s, cmd heading: 293.082133 deg, new cmd heading: 293.000876 deg. 2j.HeadingCmd: 5.113830 target range: 557.500000 and range: 557.50 m. j@jjjihhhhfffrfbf`@ɛfBK YA=I ɚiI]r=I%oi%Ơ;i%8<)%@))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779192*F!2F!:F!BF%p0JF!H>I I IIAfBI =&I.IID6I:ISF IG-<J] J] JY JY J] ]:J] 9G B O >JY JY J] =;J] ?;J] !;J] !;U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=5.030407 Ajw,CͺAV,@YV;@V圎9Vǭ=yVH k??|&&c?w|?ϱ?r??ɨV,@VYz;VoCyvweBv I } } }} }}  } } }Mb@Mb@Mb@yyy y)yY})\(?#~j?~jth?y}G!?}=}D;}YA }n>A)}BAI}1TAyy}KAII٢< 5=9    5G٣5?Gy= => ENusing accuracyPremultiplier from configAMh49E?Uh4YEL iEc[BUT:U"?]:]]?EHDCEv=;E;;Esh4a eAaZjFNOT Ignoring new targets: 557.50 m.BjJj ProNav: ac range: 557.500000 m, nav range: 560.825806 m, bearing: 201.093216 deg, approach rate: 0.113185 m/s, LOS rate: -0.064144 deg/s, cmd heading: 293.000881 deg, new cmd heading: 292.917970 deg. 2j0HeadingCmd: 5.112383 target range: 557.500000 and range: 557.50 m. j@jjjihhhh0xBfffrfbf@)@ɛweBU DI -ɚiIΔq=Iܕi ;i F<) @)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.282646G喇<G B 1$?I fO >JY J] AAR'qw,ͺAy-eB-, II=I=5٢M"t= MW=9UQ U>QY ]G٣Yy] ]> mNusing accuracyPremultiplier from configamh49ej(?uh4Ye'R iex[Bqqu?eDCe;em ;eh4y cAEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 557.50 m.Bj@Jj@ ProNav: ac range: 557.500000 m, nav range: 560.868103 m, bearing: 201.069351 deg, approach rate: 0.112542 m/s, LOS rate: -0.063494 deg/s, cmd heading: 292.917963 deg, new cmd heading: 292.846372 deg. 2jM.HeadingCmd: 5.111134 target range: 557.500000 and range: 557.50 m. jh@jjjihhhhfffrfbf`)@Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=5.535295ɛxeB-fL: )-GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.788031H >I C I II tfBI =&I .I HD6I <:I UFfQww,ͺA 0I46Q@Y6@6H]k96=y6H??}?d7?|y? g?"?@?ɨ6Q@6kp;6pCyeB) IIIp5٢%p  %M=9-)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9Eh49=l3?Mh4Y=W i=[BIMM?=DC=X:=:=h4Q ]jA]EZjFNOT Ignoring new targets: 557.50 m.Bj㑺Jj㑺 ProNav: ac range: 557.500000 m, nav range: 560.912292 m, bearing: 201.043941 deg, approach rate: 0.110915 m/s, LOS rate: -0.063773 deg/s, cmd heading: 292.846382 deg, new cmd heading: 292.770159 deg. 2j/HeadingCmd: 5.109803 target range: 557.500000 and range: 557.50 m. j@jjjihhhhfffrfbf`@ɛ k: }w,5}ͺAy]eB]0 IMb@Mb@Mb@ )Y}?5^I?L7A`?~jthyM"?+=DtWA X=A)CAIOAyJAI-I-5٢5< 5.=9=Q =>AA EG٣E?GyM M> UNusing accuracyPremultiplier from configQ]h49U??]h4YU^ iU[B m3$?Iim.#?m:mwm?UECUG~;U{;UTh4y TAZjAEFNOT Ignoring new targets: 557.50 m.BjMUJjMU ProNav: ac range: 557.500000 m, nav range: 560.957886 m, bearing: 201.013789 deg, approach rate: 0.092768 m/s, LOS rate: -0.061345 deg/s, cmd heading: 292.770157 deg, new cmd heading: 292.679709 deg. 2jf(HeadingCmd: 5.108224 target range: 557.500000 and range: 557.50 m. jv@jjjihhhhwB*J54="J54=J=J=J=0J9J=}:J=[9J=ـ3J9aM@aM@aM@aM@fQffrfbf@ɛ%yeB%"Z: !% ow,mκAV@YV;@V{s'9Vo+=yVH͛?p?@t!@$L ?}@?@xP?@?ɨV@V;TybeBb= IInIn5٢rmL= rM=9v*=Q v>tx zG٣xyz6 ~> Nusing accuracyPremultiplier from config|h49~~J? h4Y~d i~[B    ?~SEC~z:~C:~Eh4 +AZjAUFNOT Ignoring new targets: 557.50 m.Bj]ӛJj]ӛ}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.794619 ProNav: ac range: 557.500000 m, nav range: 560.995605 m, bearing: 200.988130 deg, approach rate: 0.100142 m/s, LOS rate: -0.068117 deg/s, cmd heading: 292.679698 deg, new cmd heading: 292.602727 deg. 2j:HeadingCmd: 5.106881 target range: 557.500000 and range: 557.50 m. jk@jjjihhhhfffrfbfq@@ɛzeBr; @=I 8ɚiIpgn=I"i!j ;i<)k@)EE*E"EZHu@ARHu@AHu>Iq Iu IIufBIq&Iq.Iq6Iu<:IumF )I)*F2F:F!BF!JF!- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=7.046944G <G G rAGq By O >Qw,01κA60ߜ@Y6@6"96S=y6H??ϽR9?wO?v??ɨ60ߜ@6(Ј;6rCy>eBBB IMb@Mb@Mb@ )YMbX9?kt?Mby!? 0=YA )EAIzNAyJAII65٢< 6=9 # G٣y{b > %Nusing accuracyPremultiplier from config%h49U?-h4Y&k i[B--"?5:55?EC#;D";h49 =A=EZjquFNOT Ignoring new targets: 557.50 m.Bj}^Jj}^ ProNav: ac range: 557.500000 m, nav range: 561.027832 m, bearing: 200.959267 deg, approach rate: 0.071441 m/s, LOS rate: -0.063982 deg/s, cmd heading: 292.602736 deg, new cmd heading: 292.516151 deg. 2j/HeadingCmd: 5.105370 target range: 557.500000 and range: 557.50 m. j1_@jjjihhhh#xBfffrfbf  @ɛU{eBU#p; Y]\]=IY e]9ɚaiaIe?m=Im–im";im<)u1_@)qMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.299808*F2F:FBFp0JFGT<GB IOh>JJJ1JJ̈́:J9J3J Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.550423w,JκA6Ԝ@Y6@6A96-'=y6H@s?`!? d WS?@ )?@q??ɨ6Ԝ@6d[;4yNeBRD IIZIZ5٢f< fa=9f 3hh jG٣j?Gyn j n> rNusing accuracyPremultiplier from configpvh49rt^?vh4Yrp ir[Bxz܋z?rECr:r7:rh4~_B ~AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 557.50 m.BjwJjw ProNav: ac range: 557.500000 m, nav range: 561.053589 m, bearing: 200.935958 deg, approach rate: 0.067372 m/s, LOS rate: -0.060965 deg/s, cmd heading: 292.516156 deg, new cmd heading: 292.446234 deg. 2j\'HeadingCmd: 5.104150 target range: 557.500000 and range: 557.50 m. j2U@jjjihhhh!f!f!f!rf!bf-}@ɛu|eBm; 隝Lg=I kA9ɚiIYm=IꖿiB$;ic<)2U@)zK 7KK 9K K K   !.& *F2F:FBF0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.802365GHE >IE C IE IIE fBIE =&IA .IA 6IE k<:IE >FBIȺCJIȺCRIȔCZI =bI =jIo5G B O > I fǘw,dκA!Ŝ@Yuԣ@*U9=yHbW?.)?^b?``?@IP?`9?ɨ!Ŝ@+F;yMeBMA II-I-N5٢mC m3=9%;Q > G٣y_ >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.055418 Nusing accuracyPremultiplier from configh49i?h4Yuw i[B?"FCy;5k;h41 =A9ZjyFNOT Ignoring new targets: 557.50 m.BjJj ProNav: ac range: 557.500000 m, nav range: 561.086426 m, bearing: 200.905883 deg, approach rate: 0.071561 m/s, LOS rate: -0.065540 deg/s, cmd heading: 292.446243 deg, new cmd heading: 292.356020 deg. 2j3HeadingCmd: 5.102575 target range: 557.500000 and range: 557.50 m. jLH@jjjihhhhf!fIfIrfIbfM= @ɛ~eB(_; 隝LJ=I >&r9ɚiI0l=I;i7c&;i<)LH@)*FY2FY:FaBFep0JFau Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.308837G ᜆ<G ?G >G B O >w,կ~κA 24$?I4:2@Y:ģ@:qټ9:k=y:H :?`H0?@黼@e`cA? 듿/?[??ɨ:2@:;:pCyFeBFB I%Mb@Mb@Mb@!!! !)!Y%MbX9?/$?Mby!%,=!%tWA !)!I%LA!y%IAI5I55٢E; M_=9M(;Q M>IQ UG٣QyUٰ U> eNusing accuracyPremultiplier from configYmh49]r?mh4Y]| i][Bm)"?m:mm?]\FC];];]oh4 AEZjYeFNOT Ignoring new targets: 557.50 m.BjeJje ProNav: ac range: 557.500000 m, nav range: 561.110718 m, bearing: 200.883000 deg, approach rate: 0.066144 m/s, LOS rate: -0.062304 deg/s, cmd heading: 292.356029 deg, new cmd heading: 292.287384 deg. 2j +HeadingCmd: 5.101377 target range: 557.500000 and range: 557.50 m. j{>@jjjihhhhwBJJJJJ]:J[9JJfffrfbfq @ɛEeBE%; AEL=IA Ms9ɚIiIIM{l=I~Ei(;in~<){>@)*F2F:FBF~0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.559480G =<zKe ?LKe {9Ka Ke Ke G B O% >ܥw,κAR]@YR@Rδż9R4=yRH?8?pl?֕? 3K?i?ɨR]@R֊;RrCy^eB^C IIfIf5٢ṇ; nQ=9n;Q n>pp rG٣r?GyvN v> zNusing accuracyPremultiplier from configx~h49z{?~h4Yz iz[B|~ь?zFCzu ;z ;zh4  A Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.810500ZjAEFNOT Ignoring new targets: 557.50 m.BjM훺JjM훺] ProNav: ac range: 557.500000 m, nav range: 561.137024 m, bearing: 200.857889 deg, approach rate: 0.071409 m/s, LOS rate: -0.068161 deg/s, cmd heading: 292.287372 deg, new cmd heading: 292.212044 deg. 2j];eHeadingCmd: 5.100062 target range: 557.500000 and range: 557.50 m. je3@jijijiiqhqhyhhfffrfbf!@ɛeBș; N=I BО9ɚIiIIM&l=IUpiUq);i]u<)]3@)aH>I III =&I.IGD6IW<:I,F YIa*F?2F:FBF0JF -Y1yESAGT<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.063328GBO >dw,QgκAy~eB~> I 5@5 5@5 5@5  5@5 IEIE5٢M鯼 UC=9UQ U>YY ]G٣Yye e> ubBottom track data is 0.4 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi}h49m$?}h4YmȈ im[B+::?mFCmV;m3>mh4 'AZjFNOT Ignoring new targets: 557.50 m.BjJj ProNav: ac range: 557.500000 m, nav range: 561.165283 m, bearing: 200.830944 deg, approach rate: 0.067643 m/s, LOS rate: -0.064494 deg/s, cmd heading: 292.212049 deg, new cmd heading: 292.131218 deg. 2j 1HeadingCmd: 5.098651 target range: 557.500000 and range: 557.50 m. j'(@jjjihhhhfffrfbf"@ɛeBH; !%L"=I! %9ɚ!i!I%\k=I-Оi-8+;i-|<)-'(@)9*F2F:FBF0JF"G=G=-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=9.314514 e5$?IaGmo<GsAGsAGBO >JI JM JI JI JI JM 9JI JI  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.566355Z첳w,BκA^Z@Y^@^Ц9^S=y^H\?nD? @xL?<ٔ?y?t?ɨ^Z@^9;^oCy~eB~? II I 5٢%͠; %M=9%8)) -G٣)y5 5> =bBottom track data is 0.8 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9Ei49=?Ei4Y= i=[BM :IM[:MIM?= GC=?';=Q?= i4Q ]#AYuB*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 557.50 m.Bj Jj  ProNav: ac range: 557.500000 m, nav range: 561.191345 m, bearing: 200.805361 deg, approach rate: 0.065487 m/s, LOS rate: -0.064281 deg/s, cmd heading: 292.131207 deg, new cmd heading: 292.054462 deg. 2ju0HeadingCmd: 5.097312 target range: 557.500000 and range: 557.50 m. j.@jjjihhhhfffrfbfM#@ɛeBNG; !=I ֥9ɚiItk=Iʗi@,;ig<).@)zKELKE9KAKEKE9],*F%?2F!:F!BF%0JF!=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.818463H>I I IIfBI =&I.I6I|<:IFF Q IQ GU c<G! B) O] >w,4κA:s@Y:@:9:1=y:H`?K? IKhE?@ 7Q?i?`?ɨ:s@:;:pCyfeBj@ III5٢; -;=9=^;Q E>QQ ]G٣]?GWill construct direction to contact in vehicle frame from tetrahedron phase data. bBottom track data is 1.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from configi49?i4Y i[B92:?iGC;;*?i4 AEZjFNOT Ignoring new targets: 557.50 m.BjJj ProNav: ac range: 557.500000 m, nav range: 561.220703 m, bearing: 200.776082 deg, approach rate: 0.062232 m/s, LOS rate: -0.062061 deg/s, cmd heading: 292.054463 deg, new cmd heading: 291.966631 deg. 2j^*HeadingCmd: 5.095779 target range: 557.500000 and range: 557.50 m. j@jjjihhhhfffrfbfLC$@ɛeB-C; 隍!=I 9ɚiI k=Ii6.;i/Ba<)@)*Fi2Fq:FqBFu0JFq= Will construct direction to contact in vehicle frame from tetrahedron phase data.= 1 I5 f/@w,UκA>e@Y>/u@>C9>o=y>H̩?@Q? %<`w?뛿?R??ɨ>e@>Z ;QQ UG٣QyU ]> mNusing accuracyPremultiplier from configaui49e&?ui4Ye% ie[BuT:u%?}:}H}?eGCe&;ez%;e i4 -AZjFNOT Ignoring new targets: 557.50 m.Bj鞺Jj鞺 ProNav: ac range: 557.500000 m, nav range: 561.228638 m, bearing: 200.752367 deg, approach rate: 0.023242 m/s, LOS rate: -0.069465 deg/s, cmd heading: 291.966627 deg, new cmd heading: 291.895483 deg. 2j>HeadingCmd: 5.094537 target range: 557.500000 and range: 557.50 m. js@jjjihhhhwBfffrfbf$@ɛeBH); xG B O >zK rLK 9K K K    )Ƴw,'ϺAWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Response Not Received %*response not received%,DAT read: user:1632> -BDAT read: Tx time:21:16:43.7186 -$Ping request sent.- G٣y > Nusing accuracyPremultiplier from configi49Ҫ?i4Y i[B?GCz;;h,i4 'AZjFNOT Ignoring new targets: 557.50 m.BjJj ProNav: ac range: 557.500000 m, nav range: 561.237915 m, bearing: 200.725198 deg, approach rate: 0.022486 m/s, LOS rate: -0.065852 deg/s, cmd heading: 291.895483 deg, new cmd heading: 291.813976 deg. 2j4HeadingCmd: 5.093115 target range: 557.500000 and range: 557.50 m. j@jjj!i!h!h!h!h)f)f)f)rf1bf5%@H}>Iy I} II}~fBIy&Iy.Iy6I}{<:I}EF 6$?IɛueBu ; quR̳w,3ϺA:z7@Y:F@: 9:<0=y:H@T?a? @ٗcH?`. r?@4?n?ɨ:z7@:;8y@DMMb@Mb@Mb@III I)IYMx&?~jtxyM7)?IIMVA I)IIMHAIyII]I]=5٢ms: mL=9uN;Q u>qy }G٣}?Gy}$g > Nusing accuracyPremultiplier from configi49V?i4Y i[B9)?:?-HC8;;m:i4 &AEZjFNOT Ignoring new targets: 557.50 m.BjšJjš ProNav: ac range: 557.500000 m, nav range: 561.245728 m, bearing: 200.698143 deg, approach rate: 0.019535 m/s, LOS rate: -0.067651 deg/s, cmd heading: 291.813986 deg, new cmd heading: 291.732822 deg. 2j9HeadingCmd: 5.091698 target range: 557.500000 and range: 557.50 m. j1@jjjihhhhwBfffrfbf @̍&@ɛ=eB=C(; 9= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754279`;ӳw,CMϺA28@Y2(@2]92Z=y2H<?%j?@WJ|?@ޝ`?9??ɨ28@20;0y:eB>< IIJIJX5٢% %O=9-_Q ->)) 5G٣1y5N 5> ENusing accuracyPremultiplier from config9Ei49=?Mi4Y=r i=[BIMzM?=pHC=:=:=J J J J J =:J "9J J J ץ;J إ;J ;J ;:dٳw,dgϺAF%@YFy@F8Պ9FR:=yFH`?y?i5?朜pZ?? ?ɨF%@FɃ;FnCy^eB^? IIjIj:5٢7< D=9;κQ >   G٣yE7 E> Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261468i49Ć?i4Y i[B?HC<<Wi4^B %A%EZjamFNOT Ignoring new targets: 557.50 m.BjʓJjʓ ProNav: ac range: 557.500000 m, nav range: 561.259094 m, bearing: 200.641468 deg, approach rate: 0.013925 m/s, LOS rate: -0.064604 deg/s, cmd heading: 291.652848 deg, new cmd heading: 291.562802 deg. 2jX1HeadingCmd: 5.088731 target range: 557.500000 and range: 557.50 m. j֢@jjjihhhhfffrfbfJ(@ɛEeBE\,; IM I Lw,[AϺA>W@Y>@>19>'=y>Hѽ?~?* >K?@v45???ɨ>W@>;>mCy^eBbA IUMb@Mb@Mb@QQQ Q)QYUMbX?~jtxMb`?yU*?UĻU;Q Q)QIUGAQyUQHAImIm65٢}b; }L=9ʸ9Q > G٣?Gyb > Nusing accuracyPremultiplier from configi49̆?i4Y» i[B*?:?HC;;di4 AZjFNOT Ignoring new targets: 557.50 m.Bj(Jj( ProNav: ac range: 557.500000 m, nav range: 561.261780 m, bearing: 200.616015 deg, approach rate: 0.007156 m/s, LOS rate: -0.067824 deg/s, cmd heading: 291.562799 deg, new cmd heading: 291.486441 deg. 2j0:HeadingCmd: 5.087398 target range: 557.500000 and range: 557.50 m. jˢ@jjjihhhhwBfffrfbfh)@ɛUeBUu; QUhzK] FJK] 9KY K] K] RKe ?JKe >ׂw,?@#? ??ɨn;@nd;ly%eB%B IIEIE5٢U?; UK=9]:Q ]>aa eG٣ayeG˺ m> uNusing accuracyPremultiplier from configiui49mԆ?}i4YmX im[By}H>IC III =&I.I6I<:IeFBIC -7$?I5fJICRICZI =bI =jI5}?m@ICm# =m, =mri4 AEZjFNOT Ignoring new targets: 557.50 m.BjJj  ProNav: ac range: 557.500000 m, nav range: 561.264587 m, bearing: 200.588635 deg, approach rate: 0.006750 m/s, LOS rate: -0.065821 deg/s, cmd heading: 291.486437 deg, new cmd heading: 291.404297 deg. 2j 4=HeadingCmd: 5.085965 target range: 557.500000 and range: 557.50 m. j=9@j9j9j9i9hAhAhAhAfIfIfIrfIbfM A)@ɛeB2; xi%*5;i%@;)-9@)9J}JyJyJyJ}:JyJyJyJ}$;J}%;JyJy*F?2F:FBFf5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269534GM o;GU ?GU #?G B O- >ѥw,c ϺAy~eBJ IMb@Mb@Mb@ )YFx? rh?~jth?y+?C<D; )IHAyzHAII5٢2= E=9Q > G٣y > Nusing accuracyPremultiplier from configi49݆?i4Y i[B+?:U?IC;@;ei4 AZjFNOT Ignoring new targets: 557.50 m.Bj%Jj%5 ProNav: ac range: 557.500000 m, nav range: 561.277161 m, bearing: 200.560257 deg, approach rate: 0.033110 m/s, LOS rate: -0.074730 deg/s, cmd heading: 291.404311 deg, new cmd heading: 291.319176 deg. 2j5%M=HeadingCmd: 5.084479 target range: 557.500000 and range: 557.50 m. j= @j9j9j9i9hAhAhAhMwBfIfQfQrfQbfU@˝*@ɛ}eBR?;  =I  :ɚ i I R&i=I6oi5;iK<) @) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519873*F?2F:FBF4JF !I%fG] &;G9 BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770648w,NϺA2ٛ@Y2@2<92j-=y2H@8?~?`7@8?pI?K?@?ɨ2ٛ@2;0y>eB>U IIFIFm5٢R 7= R_=9R:Q R>TT VG٣TyV& Z> ^Nusing accuracyPremultiplier from configXEi49Z 憜?Ei4YZ iZ[BAEuE?ZICZnI! I!I!I% =&I!.I!6I%<:I%SFGml<Gi B O >) ! G  E $YA yE eAJ J J 0J J =:J 9J ـ3J J ץ;J إ;J ( ;J ) ;(w,ϺA:؛@Y:c@:?9:x=y:H@d?@~?E@?@}'??@?ɨ:؛@:;:lCybeBbS IIrIr35٢~# ~E=9Q >   G٣?Gy2 > Nusing accuracyPremultiplier from config1i495Y?i4Y5 i5\B{?5JC5<58<5ߜi4! -ځA5EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277352ZjiuFNOT Ignoring new targets: 557.50 m.BjuJj} ProNav: ac range: 557.500000 m, nav range: 561.300720 m, bearing: 200.506453 deg, approach rate: 0.027730 m/s, LOS rate: -0.062992 deg/s, cmd heading: 291.243883 deg, new cmd heading: 291.157783 deg. 2j,HeadingCmd: 5.081662 target range: 557.500000 and range: 557.50 m. j@jjjihhhhfffrfbfS,@ɛueBu5Q; qu=Iq u)(:ɚyiyI}h=I˙i7;i|O'<)@)*F?2F:FBFx4JF"G=G=- Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:21:16:46.8485 5 TRx dataTimestamp_ set to:1736371007.9687265 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527408GE jx<GM rAGI I G BI Oe >w,ӈкA:ӛ@Y:@:9:L"=y:H_?@}?3? '?a?`?ɨ:ӛ@:o;:pCy^eBbW IMMb@Mb@Mb@III I)IYM rh?~jtx?~jth?yM,?M;IMpWA M:A)IIMIAIyMHAIeIer5٢u< uC=9}]WQ }> G٣y+ > Nusing accuracyPremultiplier from configi49??i4Y i\B,?:?VJC;;ii4 ́AEZjFNOT Ignoring new targets: 557.50 m.BjݹJjݹ ProNav: ac range: 557.500000 m, nav range: 561.308655 m, bearing: 200.477844 deg, approach rate: 0.022534 m/s, LOS rate: -0.081248 deg/s, cmd heading: 291.157796 deg, new cmd heading: 291.071970 deg. 2j _HeadingCmd: 5.080164 target range: 557.500000 and range: 557.50 m. j@jjjihhhhwBfffrfbfa-@ɛ=eB==s; 9E+=IA E0:ɚAiAIEj_h=Ii?8;i W4<)@)*Fa2Fa:FaBFep0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779598G (<G B O >zK BoJK 9K K K 9w,xaкA2ӛ@Y2@25$92=y2H`?`}?`C@?@DUĐ??`?ɨ2ӛ@2t݈;2mCy:eB:\ IIFIF45٢JÐ< NY=9RT0Q R>PT VG٣TyVά V> ^Nusing accuracyPremultiplier from configX^i49ZJ?bi4YZ iZ \B`bb?ZJCZe ;Z ;Zi4d jAhrWill construct direction to contact in vehicle frame from tetrahedron phase data.rAipvchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030583Zj FNOT Ignoring new targets: 557.50 m.BjJj= ProNav: ac range: 557.500000 m, nav range: 561.315979 m, bearing: 200.451980 deg, approach rate: 0.019433 m/s, LOS rate: -0.068624 deg/s, cmd heading: 291.071981 deg, new cmd heading: 290.994391 deg. 2jEb w,1B6кA2-ɛ@Y2آ@2$92b=y2H?̀?h$[z?L?¿??ɨ2-ɛ@2(;2nCy>eB>f IMb@Mb@Mb@ )Y?X9v?y&1|?y,?<`;YA :A)IHAyII5٢= 7=9KQ > G٣?Gy9 > 5Nusing accuracyPremultiplier from config1=i495 ?=i4Y5C i5\BE,?E:E2E?5JC5;5#;5fi4I MAqZjFNOT Ignoring new targets: 557.50 m.BjJj ProNav: ac range: 557.500000 m, nav range: 561.335632 m, bearing: 200.420790 deg, approach rate: 0.042698 m/s, LOS rate: -0.067760 deg/s, cmd heading: 290.994390 deg, new cmd heading: 290.900823 deg. 2j:HeadingCmd: 5.077177 target range: 557.500000 and range: 557.50 m. 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#w,aPкAoț@Yע@498>yH@)?@?`f`.ny?@a^??@?ɨoț@E;y5fB5{ IIEIE5٢e= eR=9eoQ e>ii mG٣iyut u> }Nusing accuracyPremultiplier from configyi49}?i4Y}o i} \B6?}'KC}7:}7:}i4]B YAEB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 557.50 m.Bj%Jj%] ProNav: ac range: 557.500000 m, nav range: 561.352173 m, bearing: 200.394644 deg, approach rate: 0.043134 m/s, LOS rate: -0.068182 deg/s, cmd heading: 290.900817 deg, new cmd heading: 290.822380 deg. 2j]+;eHeadingCmd: 5.075808 target range: 557.500000 and range: 557.50 m. jmm@jijijiiihihihhfffrfbf`z/@ɛueB}1; y}=Iy }#nW:ɚyiyIg=IXi<;i5\<)m@)*Fe?2Fa:FiBFmq0JFizKa3JKh9KKK  %m5:2(yodP0Will 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 elapseH>I I IIfBI&I.I6I<:IHF I fG) G B O- >w,iкAJ#@YJwȢ@J%9J%>yJHi?b?`w._?)?`??ɨJ#@J;JmCy^ fB^y IIfIfN5٢vŻ vR=9z*Q >    G٣ y > Nusing accuracyPremultiplier from config%i49?%i4Y i*\B)-s-?jKC::_i49 =^A9Zj!mWill 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 elapseFNOT Ignoring new targets: 557.50 m.Bj<Jj<5 ProNav: ac range: 557.500000 m, nav range: 561.368835 m, bearing: 200.367695 deg, approach rate: 0.041148 m/s, LOS rate: -0.066548 deg/s, cmd heading: 290.822379 deg, new cmd heading: 290.741534 deg. 2j=6}HeadingCmd: 5.074397 target range: 557.500000 and range: 557.50 m. j}va@jjjihhhhfffrfbf/0@ɛ5eB5V; 15\=I9 =rxi:ɚ9i9IE%#g=IMiU>;iUS<)Uva@)Q*F2F:FBFp0JF 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 8\< 9$?I G B O > w,̓кA6@Y6YŢ@6$ 96%>y6Hc? ?`Y?@ ?? ?ɨ6@6- ;6oCyN$fBR I5Mb@Mb@Mb@111 1)1Y5oʡ?)\(?:v?y5-?5Ga=5T<1 5:A)5GAI5IA1y5GIAIIS5٢k]= @=9ŇQ > G٣?Gyk > Nusing accuracyPremultiplier from configi49K'?i4Y i8\B-?:'?KC;N;*i4 /AZjFNOT Ignoring new targets: 557.50 m.BjpJjp  ProNav: ac range: 557.500000 m, nav range: 561.396667 m, bearing: 200.338562 deg, approach rate: 0.069929 m/s, LOS rate: -0.073194 deg/s, cmd heading: 290.741537 deg, new cmd heading: 290.654143 deg. 2j HHeadingCmd: 5.072872 target range: 557.500000 and range: 557.50 m. jT@jjjih!h!h!h%BxBf)f)f)rf)bf50@JAJEJAJAJAJE[9JAJAɛueBuVH< y}.=Iy }Dz:ɚyiyI}f=I뚿i@?;if<)T@)*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 ******mreceived new query, but waiting for acoustic response period to elapseGu3Z<G}sAGyGI BQ Om >zK ݀NK +9K K K  :'w,кA2ܩ@Y20@2 ޢ92+>y2HM?@?@ƶ ,E?雿 l[?`# ?ӽ?ɨ2ܩ@22;2nCyN-fBR IIZIZ5bWill 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 elapse٢f< fX=9jQ j>hh nG٣ljH]<bHYHaIeC Ie IIefBIe =&Ia I.Ia6Iec<:Ie3Fy5f 5> ENusing accuracyPremultiplier from config9Ej49=1?Mj4Y=` i=F\BIMWM?=KC=:=:=j4q }A}EZjFNOT Ignoring new targets: 557.50 m.BjJj ProNav: ac range: 557.500000 m, nav range: 561.424133 m, bearing: 200.309518 deg, approach rate: 0.063950 m/s, LOS rate: -0.067621 deg/s, cmd heading: 290.654138 deg, new cmd heading: 290.567010 deg. 2j9HeadingCmd: 5.071351 target range: 557.500000 and range: 557.50 m. jH@jjjihhh h f1f9fArfAbfE 0@ɛeB; 隵\=I > :ɚiImf=Iai)@;ikd<)H@)*FY2FY:FYBFYJFY}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 l o<GI BQ Om >W<-w,кA:g@Y:@:è9:8>y:H3?@? ¿@-? ?`?ڽ?ɨ:g@:FŇ;:oCyBJfBF IMb@Mb@Mb@ )YE?l?II MG٣IyM U> eNusing accuracyPremultiplier from configamj49eF:?mj4Ye@ ieT\Bm&?m:uʒu?eyzH??ȿ ? ϕ???ɨz@z{,;zmCyefB II-I-m5٢M<= MJ=9MQ M>QQ UG٣U?Gy]f ]> eNusing accuracyPremultiplier from configamj49e_C?mj4Ye iec\Bimu?eLCe7:e:e*j4y }A}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 557.50 m.BjJj ProNav: ac range: 557.500000 m, nav range: 561.459290 m, bearing: 200.257802 deg, approach rate: 0.044648 m/s, LOS rate: -0.066247 deg/s, cmd heading: 290.492289 deg, new cmd heading: 290.411871 deg. 2j5HeadingCmd: 5.068644 target range: 557.500000 and range: 557.50 m. j T2@j j j i h h hhfffrfbfj1@ɛmeBm=< im>Ii ':ɚiIe=IviӏC;iɡ`<)T2@)*FU?2FQ:FQBF]0JFYzKLKh9KKKBB,VnnVBBK!:K%rAWill 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 elapseH]>IY I] II]fBI] =&IY.IY6I]޳<:I]F yI}fBI5ǸCJI5ǸCRI1ZI5 =bI1jI5q5GRe<G B O >O:w,%?кA:@Y:M@:ⴼ9:>y:H?@?п6? ؛?@J? ?ɨ:@:;8yFdfBDIRIR5٢Z ZT=9ZQ Z>\\ bG٣`yb5 b> fNusing accuracyPremultiplier from configdjj49fL?jj4Yf ifr\BY];]?fLCf Iy 6:ɚiI e=I桛iE;i#U<)a'@)*FE?2FA:FABFE0JFI 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 Ii Gi GA BQ O >8Aw,ѺA ((y}fBޅ IJJJJJ:J9JJ-Mb@Mb@Mb@))) )))Y-)\(?A`"?/$?y-G!?-Y=-<-YA -:A))I-bJA)y-GIAImIm5٢= 0=9Q > G٣y > Nusing accuracyPremultiplier from configj49V?j4Y i\B!?:ݏ? MC%;";9j4 fAEZjFNOT Ignoring new targets: 557.50 m.BjJj ProNav: ac range: 557.500000 m, nav range: 561.503601 m, bearing: 200.202511 deg, approach rate: 0.062763 m/s, LOS rate: -0.068000 deg/s, cmd heading: 290.335304 deg, new cmd heading: 290.246032 deg. 2j:HeadingCmd: 5.065749 target range: 557.500000 and range: 557.50 m. j@jjjihhhhxBf!f!f!rf!bf- 2@ɛUeBUt%`< QUv*>IQ ]'3:ɚYiYI]d=Ieԛie|F;ieNo<)e@)i*F2F:FBF1JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******MR****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapseG P<G B O >baGw,ѺAzK2hOK0K0K2K2%sf]WRH?95788789;5/'|||}ztrpnljjfRK: ?JK:?Be@YBqt@B񙻼9BD"=yBHe?/?Nl?jkr?`M? ?ɨBe@Bv;BlCyJfBJ IRWill construct direction to contact in vehicle frame from tetrahedron phase data.RT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapseIZIZ5٢b= bk=9f1Q f?dd jG٣j?GyjI j? rNusing accuracyPremultiplier from configlrj49n^?vj4Yn" in\BtvGv?nBMCn@;n@;nEj4x ;$?IH>I III gBI =&I.I6I}<:IFF %6A!ZjIUFNOT Ignoring new targets: 557.50 m.BjUSJj]Se ProNav: ac range: 557.500000 m, nav range: 561.523499 m, bearing: 200.180307 deg, approach rate: 0.056536 m/s, LOS rate: -0.063090 deg/s, cmd heading: 290.246020 deg, new cmd heading: 290.179408 deg. 2jm1-mHeadingCmd: 5.064586 target range: 557.500000 and range: 557.50 m. jm@jqjqjqiqhqhyhyhyfyffrfbf`2@ɛeB }< 隵<>I !:ɚiIbBd=IiG;iK<)@)*G*F)2F):F)BF-e5JF)1A gYy:AGUl o<GBA]Will 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 elapseO>Mw,8ѺABW@YBg@B9B%=yBH`]?@?` t?@%җ??@?ɨBW@Bq;BoCyRfBR I5Mb@Mb@Mb@111 1)1Y5rh|?)\(?~jt?y5?5Ga=5<5YA 5?9A)1I5IA1y5zHAIMIM5٢< ;=9eZQ > G٣yt > Nusing accuracyPremultiplier from configj49Kh?j4Y) i\B?:̏?MC;;6Uj4 &AZj!-FNOT Ignoring new targets: 557.50 m.Bj-Jj-E ProNav: ac range: 557.500000 m, nav range: 561.548950 m, bearing: 200.153208 deg, approach rate: 0.058997 m/s, LOS rate: -0.062812 deg/s, cmd heading: 290.179412 deg, new cmd heading: 290.098120 deg. 2jMm,MHeadingCmd: 5.063168 target range: 557.500000 and range: 557.50 m. jUx@jQjQjQiYhYhYhYh]xBfafafarfabfm^3@ɛeBj< 隕>>I oJ:ɚiI͹c=I)i5H;i& N<)x@)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*F-?2F):F)BF-l5JF1GR<GBO>] 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 elapserTw,eRѺA6 M@Y6b\@6|96=y6HW??@.@.?EC@?`?_?ɨ6 M@6Շ;4yRfBV II^I^5٢zI?= zY=9z!Q z>|| G٣yc >  Nusing accuracyPremultiplier from config j49 p?j4Y . i \B%? MC 3; iD; `bj4) -A-EMB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 557.50 m.BjesJjesu ProNav: ac range: 557.500000 m, nav range: 561.570618 m, bearing: 200.129860 deg, approach rate: 0.057384 m/s, LOS rate: -0.061833 deg/s, cmd heading: 290.098133 deg, new cmd heading: 290.028091 deg. 2ju)}HeadingCmd: 5.061945 target range: 557.500000 and range: 557.50 m. j}t@jyjyjyiyhhhhfffrfbf׾3@ɛeB< K>I V:ɚiI;c=IQi J;i+mM<)t@)*Fi2Fq:FqBFu 5JFqzKTOK9KK 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 elapseIKdddddd`]\YXVYWVVRRPOMHFEEFC@<:95320.-)((&"#!HI I6II?gBI =&I.I6I<:IZFBK!:K!GqGqBO>JM JM JM 0JI JM ]:JM 9JM ـ3JI JM =;a] JM >;ae JI ae JI ae yZw,lѺARaA@YRP@R1ü9R=yRH v? ů? Թ ?䕿@e?@??ɨRaA@Rj;RkCynfBn IIvIv5٢ <  I=9eTQ > G٣?Gy(e %> -Nusing accuracyPremultiplier from config!-j49%y?5j4Y%{4 i%\B15%5?%NC%:% ;%pj4E\B EAEEZjamFNOT Ignoring new targets: 557.50 m.BjmFJjmF ProNav: ac range: 557.500000 m, nav range: 561.593872 m, bearing: 200.104597 deg, approach rate: 0.057251 m/s, LOS rate: -0.062192 deg/s, cmd heading: 290.028082 deg, new cmd heading: 289.952298 deg. 2j*HeadingCmd: 5.060622 target range: 557.500000 and range: 557.50 m. j@jjjihhhhfffrfbf@ (4@ɛeB< lK>-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseI  ;ɚiIb=I|i`sK;iBL<)@)*F2F:FBFQ5JFPExceeded connect timeout, disconnecting.GiG<G?G ? I f 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 >jaw, ]ѺAy~fB IMb@Mb@Mb@ )Y +?S㥫?I +?y?/]=9< ;A)GAIyGIAII5٢>k= ?=9Q > G٣y > Nusing accuracyPremultiplier from configj49݂?j4Y: i\B?:񏿑?BNCT;;;j4  A ZjYeFNOT Ignoring new targets: 557.50 m.BjmJjm ProNav: ac range: 557.500000 m, nav range: 561.617981 m, bearing: 200.078900 deg, approach rate: 0.055392 m/s, LOS rate: -0.059040 deg/s, cmd heading: 289.952295 deg, new cmd heading: 289.875205 deg. 2j"HeadingCmd: 5.059277 target range: 557.500000 and range: 557.50 m. j@jjjihhhhxBfffrfbf4@ɛeBc< ]>I ˉ;ɚiIb=I  i L;iCa<)@)*F?2F:FBFB5JF%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 F<G! B1 OM >ygw,7ѺA 6=$?I4BWill construct direction to contact in vehicle frame from tetrahedron phase data.BAiBAFIVC IVUIIVrgBIT&IT.IT6IV<:IVLFzKJ{FNKJ9KHKJKJ  L\\9f}eSE<62-*'$"#   >'@Y>6@>C~ȼ9>'=y>HX??ѯ `j]? ʴ`$?^}? Q?ɨ>'@>;>lCynfBr IIzIz5٢< X=9Q >    G٣ y > Nusing accuracyPremultiplier from config%j49銇?%j4Y? i\B!%X-?{NC;T:njj41 5]A1Zj FNOT Ignoring new targets: 557.50 m.Bj Jj % ProNav: ac range: 557.500000 m, nav range: 561.638672 m, bearing: 200.056276 deg, approach rate: 0.055833 m/s, LOS rate: -0.061045 deg/s, cmd heading: 289.875195 deg, new cmd heading: 289.807328 deg. 2j%'-HeadingCmd: 5.058092 target range: 557.500000 and range: 557.50 m. j-ۡ@j)j)j)i)h)h)hQhYfYfafarfibfmf4@ɛfB< 3_>I! %";ɚ!i!I%a=I-Ϝi-N;iM@<)Uۡ@)Q*F?2F:FJJJJJ=:J9JJJץ;Jإ;J^ ;J^ ;BFz4JF1EWill construct direction to contact in vehicle frame from tetrahedron phase data.M  nManaging dock network, ignoring radio surface power offmw,^ѺA6@Y6.@6ɼ96|=y6HI?h?ο@N?@Дv8? x?@ݾ?ɨ6@61;6nCyBfBBI-Mb@Mb@Mb@))) )))Y-X9v?Mb?I +?y-?-=)-YA -:A))I-3KA)y-IAIEIEv5٢U"= UE=9׿Q > G٣?Gyh > Nusing accuracyPremultiplier from configj49F?5j4YE i]B=?=:==?NCz(<2(<؛j4A EAEEZjiuFNOT Ignoring new targets: 557.50 m.Bj}Jj} ProNav: ac range: 557.500000 m, nav range: 561.666382 m, bearing: 200.030958 deg, approach rate: 0.063013 m/s, LOS rate: -0.057571 deg/s, cmd heading: 289.807331 deg, new cmd heading: 289.731380 deg. 2j HeadingCmd: 5.056767 target range: 557.500000 and range: 557.50 m. jѡ@jjjihhhh/yBfffrfbfe5@ɛ fB=< +i>I .;ɚiI`=IJi@O;iJ<)ѡ@)1E9 iIiWill construct direction to contact in vehicle frame from tetrahedron phase data. ] BDAT read: Tx time:21:16:54.6687 ] $Ping request sent.] qq uG٣yy} }> Nusing accuracyPremultiplier from configj49n?j4Y}K i]B]?NC.;;j4 dAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 557.50 m.BjJj ProNav: ac range: 557.500000 m, nav range: 561.693115 m, bearing: 200.006058 deg, approach rate: 0.064130 m/s, LOS rate: -0.059728 deg/s, cmd heading: 289.731379 deg, new cmd heading: 289.656683 deg. 2j#HeadingCmd: 5.055463 target range: 557.500000 and range: 557.50 m. jZơ@jjjihhhhfffrfbf e5@ɛ5fB=< 9=yO>I9 =9;ɚ9iAIE=m`=IE&iMW`P;iM'9<)MZơ@)Q*F?2F :F BFJF aIaWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:16:54.6679 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251042H>I InIIgBI&I.I6I<:IFzKvNKػ9KKKG H<G B O >JK3 K.KK"KJ- J) J- 1J) J- :J) J- 3J) J- ;J- ;J) J) zw,ѺAy fB%II5I55٢E^U= E^=9EQ M>II MG٣QyU U> eNusing accuracyPremultiplier from configamj49ed?mj4YeP ie']Bqqu?e0OCe;e;ej4y }A}EZjFNOT Ignoring new targets: 557.50 m.BjJj ProNav: ac range: 557.500000 m, nav range: 561.716431 m, bearing: 199.984426 deg, approach rate: 0.063595 m/s, LOS rate: -0.059004 deg/s, cmd heading: 289.656684 deg, new cmd heading: 289.591788 deg. 2j!HeadingCmd: 5.054330 target range: 557.500000 and range: 557.50 m. j@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501347jjjihhhhfffrf bf `/6@ɛ5fB5~v< 15m\>I1 =C;ɚ9i9I=_=IE KiE~Q;iEL<)E@)I*F%?2F!:F)BF)JF1G}I3< E >$?IA GY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753207ҁw,ҺAyfB IMb@Mb@Mb@ )Y@5^I ?p= ף?y&1?yb?=`e< )IbJAyIAII%5٢t @=9Q > G٣?Gy   > Nusing accuracyPremultiplier from configj49z?j4Y3V i6]B%b?%:%%?nOC;^;`j4) -GA)ZjYeFNOT Ignoring new targets: 557.50 m.BjeJje􂺝u ProNav: ac range: 557.500000 m, nav range: 561.744263 m, bearing: 199.960028 deg, approach rate: 0.065306 m/s, LOS rate: -0.057245 deg/s, cmd heading: 289.591797 deg, new cmd heading: 289.518607 deg. 2j}%}HeadingCmd: 5.053053 target range: 557.500000 and range: 557.50 m. j}@jjjihhhhyBfffrfbfi6@ɛfB< "G>I pJN;ɚiIS_=ItiR;i$^<)@)*F2F:FBFp0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006178G0K<G ?G>G B O > 9 IA w,!ҺAZH"?ARH"AAH&>I$ I&{II&gBI$&I$.I$6I&2<:I& F2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257130BI JI RI ZI =bI =jI ]4n֚@YnX@n޼9n9=ynH??`HG?@؛??a?ɨn֚@nwW;nlCyzfBz IzK~KK~ 9K|K~K~II 5٢ Q=9BQ > G٣y > Nusing accuracyPremultiplier from configj49¶?j4Ys[ tIiE]Bg%?OC<<j4Y eAeEZj -FNOT Ignoring new targets: 557.50 m.Bj=qJj=qu ProNav: ac range: 557.500000 m, nav range: 561.768677 m, bearing: 199.937512 deg, approach rate: 0.057321 m/s, LOS rate: -0.052862 deg/s, cmd heading: 289.518605 deg, new cmd heading: 289.451060 deg. 2j}}HeadingCmd: 5.051874 target range: 557.500000 and range: 557.50 m. j}@jjjihhhhfffrfbf 7@ɛ}'fBn< 隥0>I ~X;ɚiI^=IiS;i_ <)@JJJJJ:J"9JJJq;Jr;J;J;))*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509240G Lc<G B O >n(w,a;ҺARؚ@YRd@RUټ9Rw=yRH??B`:?>2)? ??ɨRؚ@R.;RkCy^fB^ I]Mb@Mb@Mb@YYY Y)YY]Gz?L7A`?{Gzt?y]?]+=]ף;]pWA Y)]MFAIYYy]HAI}I}5٢< K=9-:Q > G٣y": > Nusing accuracyPremultiplier from configj49Y?j4Y` iP]B?:?OCB;;%j4 qAZjFNOT Ignoring new targets: 557.50 m.BjmBJjuB} ProNav: ac range: 557.500000 m, nav range: 561.794678 m, bearing: 199.914326 deg, approach rate: 0.070720 m/s, LOS rate: -0.063060 deg/s, cmd heading: 289.451068 deg, new cmd heading: 289.381513 deg. 2j-HeadingCmd: 5.050660 target range: 557.500000 and range: 557.50 m. j@jjjihhhhxBfffrfbf@k7@ Ifɛ .fB5< ?->I !`;ɚiI73^=I-eÝi5֝T;i5CO,<)5@)1mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761280*F2F:FBFq0JFGf6<GyBO_>JJBA Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013096vw,NUҺA6&@Y6z@6.ϼ96ߘ=y6H M??"@?. ?}>??ɨ6&@6;6mCy^fB^ IIfIf5٢n nV=9r T;Q r>tt vG٣v?Gy=6; E> MNusing accuracyPremultiplier from configIUj49MLJ?Uj4YMf iM[]BY]Í]?MPCMI;Mk;Mj4i mAiZjFNOT Ignoring new targets: 557.50 m.BjEJjE ProNav: ac range: 557.500000 m, nav range: 561.820496 m, bearing: 199.891701 deg, approach rate: 0.065486 m/s, LOS rate: -0.057383 deg/s, cmd heading: 289.381509 deg, new cmd heading: 289.313640 deg. 2jHeadingCmd: 5.049476 target range: 557.500000 and range: 557.50 m. jN@jjjihhhhfffrfbf@f7@ɛ5fB3]< h >I Ag;ɚiI]=I 4ꝿi U;i̭S<)N@)*F?2F:FBF0JF ?$?IH9I9 I9I9I= =&I9.I96I=Z<:I=(F}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266501zK-JK)K)K-K- BK=qA)A EtC:K9G4<GGrAG -FY)y-AGBO>g>w,(oҺAf@Yf2@frʼ9f=yfH`?@C?@? D@]?i?s?ɨf@fǻ;foCyrfBv II~I~5٢q;  G=9 o:Q  > G٣ym > %Nusing accuracyPremultiplier from config!-j49%JЇ?-j4Y%sk i%f]B)5ƍ5?%TPC%m ;% ;%j49 =A=EeB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 557.50 m.Bj}Jj} ProNav: ac range: 557.500000 m, nav range: 561.846802 m, bearing: 199.868737 deg, approach rate: 0.065864 m/s, LOS rate: -0.057494 deg/s, cmd heading: 289.313645 deg, new cmd heading: 289.244755 deg. 2jHeadingCmd: 5.048273 target range: 557.500000 and range: 557.50 m. jt@jjjihhhhfffrfbf18@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517689ɛ=fB9< j=I m;ɚiIA]=IiW;i_<)t@)*F ?2F:FBF0JFGe3Z< IfG9 BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769078i!w,ҺA:@Y:2@:sż9:=y:H?? `|@y?Iq?e̾??ɨ:@:j;:mCy^fBb IUMb@Mb@Mb@QQQ Q)QYU"~?Zd;?y&1|yU?Uy=U`UAXA U:A)QIUIAQyUzHAImImu5JJJJJ]:J59JJa@a@a@a@٢ :=9%:Q %>!) -G٣)y59 => ENusing accuracyPremultiplier from configAMk49Eه?Mk4YEq iEm]BM?M:MݎM?EPCE;E;E. k4][B ]A]EZjFNOT Ignoring new targets: 557.50 m.BjSJjS ProNav: ac range: 557.500000 m, nav range: 561.874329 m, bearing: 199.842846 deg, approach rate: 0.062895 m/s, LOS rate: -0.059156 deg/s, cmd heading: 289.244742 deg, new cmd heading: 289.167071 deg. 2jd"HeadingCmd: 5.046917 target range: 557.500000 and range: 557.50 m. jY@jjjihhhhxBfffrfbf8@ɛFfBP$< l=I $yr;ɚiI\=I>iX;is<)Y@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021327*F?2F:FBF0JF GE D`<G! B) OM > I HE >IE C IE tIIE gBIE =&IA .IA 6IE L<:IE !FKw,ȢҺA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273292>ۚ@Y>j@>cļ9>C=y>H??9//?91?`??ɨ>ۚ@>;>kCyJfBJ IIRIRT5٢Z5ҽ Zd=9^9Q b>`` fG٣f?Gyfp f> jNusing accuracyPremultiplier from configh]k49jhᇜ?]k4Yjjv ijr]Baee?jPCj jAZjFNOT Ignoring new targets: 557.50 m.BjQ|JjQ|  ProNav: ac range: 557.500000 m, nav range: 561.896545 m, bearing: 199.821792 deg, approach rate: 0.058197 m/s, LOS rate: -0.055148 deg/s, cmd heading: 289.167069 deg, new cmd heading: 289.103910 deg. 2j c5HeadingCmd: 5.045815 target range: 557.500000 and range: 557.50 m. jUQw@jYjYjYiYhYhYhahafafafirfibfm9@ɛNfB; 隥K=I 0u;ɚiI]\=I)big+Z;im<)Qw@)*Fm?2Fi:FiBFm0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527714Gmo<G ?G ?G B! O >uw,ҺA:ך@Y:D@:9:e=y:H??u`W@?}`?>H?Q?ɨ:ך@:R׈;:mCyFyfBF IMb@Mb@Mb@ )Y/$?Q?Qy?u=uYA ?9A)IyI5I55٢E EB=9ME:Q M>II UG٣QyU+o U> eNusing accuracyPremultiplier from configYek49]ꇜ?ek4Y]| i]u]Bmx?m:m֏m?] QC]8;] 7;]f(k4 zA 9I9ZjY]FNOT Ignoring new targets: 557.50 m.BjeᎺJjeᎺ ProNav: ac range: 557.500000 m, nav range: 561.922791 m, bearing: 199.795491 deg, approach rate: 0.062329 m/s, LOS rate: -0.062458 deg/s, cmd heading: 289.103903 deg, new cmd heading: 289.025005 deg. 2ju+HeadingCmd: 5.044438 target range: 557.500000 and range: 557.50 m. j l@jjjihhhhexBfffrfbfLq9@ɛWfBM; !% =I! %v;ɚ!i!I%}[=UWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:21:16:57.7906 ]TRx dataTimestamp_ set to:1736371019.056820echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778383I-Hiu[;iu#~<)u l@)y*Fa2Fa:FaBFe0JFaJJJJJ:J9JJG l o<Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029218]w,~ҺAFɚ@YFtء@FZ9Fp=yFH ק??`i[[?`*?7??ɨFɚ@F;FlCyRefBR IIZIZ35٢rcL rQ=9rQ v>tt vG٣tyzU z> ~Nusing accuracyPremultiplier from config|k49~?k4Y~L i~x]B   ?~KQC~:~":~6k4 AEZjaeFNOT Ignoring new targets: 557.50 m.Bjm.Jjm. ProNav: ac range: 557.500000 m, nav range: 561.946777 m, bearing: 199.771062 deg, approach rate: 0.064462 m/s, LOS rate: -0.065649 deg/s, cmd heading: 289.025001 deg, new cmd heading: 288.951715 deg. 2j74HeadingCmd: 5.043159 target range: 557.500000 and range: 557.50 m. ja@jjjihhhhfffrfbf9@ɛ%_fB%u; !%@;I! -&w;ɚ)i)I-[=I5/i];];i]Et<)]a@)Y*F?2F:FBF4JF -@$?I)HI I[II|gBI =&I.I6I"<:IF]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:16:57.7906 LVL= 32752, 32753, 17314, 32755, AGC= 70, IDX= 455,-0.17,-1.230,-2.185,-0.461,-1.169, PHS= 0.027,-0.969, 0.705, RAW= 173.7, 3.3, CAL= 174.0, -5.4, ROT= 336.0, 5.4 Ygot valid direction response: 21:16:57.7906 LVL= 32752, 32753, 17314, 32755, AGC= 70, IDX= 455,-0.17,-1.230,-2.185,-0.461,-1.169, PHS= 0.027,-0.969, 0.705, RAW= 173.7, 3.3, CAL= 174.0, -5.4, ROT= 336.0, 5.4 PDAT read: Bearing 336.0, 5.4 (Local) ~Local bearing/azimuth received: Bearing 336.0, 5.4 (Local) DAT read: Range 10 to 50 : 538.2 m (Round-trip 717.7 ms) speed 0.6 m/s ,DAT read: user:1635> BDAT read: Tx time:21:16:58.9187 $Ping request sent.w,1\ҺA2@Y2H̡@292=y2H??@@ v?}? ?=?ɨ2@26;2kCyBKfBB IIZIZj5٢v3 vI=9z:Q z>x| G٣ym %> -Nusing accuracyPremultiplier from config!5k49%?]k4Y%K i%z]BY]C]?%QC%;%;%fDk4a eրAiWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:16:58.9179 kڛ?kU9 k kҺA:kDBkDZkT@" OuU3Jj\S@KbΛiĿDH< h?Jk{ݿRk*Fnzvbׄ}yXp )*@%nt-\-{Hǿ6;?"k*kCkQIٛ?k" 2kOBkk`< kkQ DkC\@ addTargetRange:: Added new target pos. range: 538.200012 m, deltaT: 25.963187 s, deltaX: -19.299988 m, approachRate: -0.743360 m/s, rangeRepo size: 4  Added new target pos. range: 538.200012 m, bearing: 190.483549 deg, lat: 36.899902 deg, lon: -122.114956 deg, deltaT: 25.963187 s, deltaX: -19.299988 m, approachRate: -0.743360 m/s, posRepo size: 4 Zj =FNOT Ignoring new targets: 538.20 m.BjMJjq ProNav: ac range: 538.200012 m, nav range: 553.275146 m, bearing: 197.060074 deg, approach rate: 0.000000 m/s, LOS rate: -0.065649 deg/s, cmd heading: 288.951727 deg, new cmd heading: 288.863558 deg. 2j)EHeadingCmd: 5.041620 target range: 538.200012 and range: 538.20 m. jmT@jijqjqiyhyhhhfff9rfEр@bfEѐ?ɛkfB): 隕I u;ɚiI_0[=I랿i8_;i{-v<)T@)*F?2F:FBF0JF Im Will construct direction to contact in vehicle frame from tetrahedron phase data.G y<G sAG G B O >´w,u ӺA2@Y2@2zɼ92y=y2H%R??um)@X?.?广?Y?ɨ2@2;0y>&fB> IJ~J~J~0J|J~=:J~H9J~ـ3J|%Mb@Mb@Mb@!!! !)!Y%S㥛?I +?Zd;Oy%$&?%94=%j%AXA !)%HAI!!y%HAI=I=X5٢Mr M;=9,Q > G٣?Gy! > Nusing accuracyPremultiplier from config k49? k4YZ i &?:k?QC;;Tk4  A]B*** querying acoustic contact ***jYjYZjFNOT Ignoring new targets: 538.20 m.BjJj ProNav: ac range: 538.200012 m, nav range: 553.308350 m, bearing: 197.030000 deg, approach rate: 0.079974 m/s, LOS rate: -0.072432 deg/s, cmd heading: 288.863562 deg, new cmd heading: 288.773347 deg. 2jFHeadingCmd: 5.040046 target range: 538.200012 and range: 538.20 m. jH@jjjihhhh1xBfffrfbf+?ɛesfBm imBIi mq;ɚiiqIuZ=I}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.iM U`;iMDR<)MH@)Q*F?2F:FBF1JF Y Ie fGe y<G1 HE >IA  IE <IIE JgBIA &IA .IA 6IE E<:IE FBY Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai A checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995166ȴw,Y%ӺAf@YfԒ@fgѼ9f؛>yfHd$?`=? *4`F1,?`쑿  ?`U?@Լ?ɨf@fH;fnCy*fB II-I-5zK=KK9K9K=K=٢U< UJ=9UQ ]>YY eG٣aye e> mNusing accuracyPremultiplier from configiuk49m?uk4Ymt imy]By}˔}?mRCm ;m%;mak4ZB AEZjFNOT Ignoring new targets: 538.20 m.BjϜJjϜ ProNav: ac range: 538.200012 m, nav range: 553.336365 m, bearing: 197.004028 deg, approach rate: 0.073942 m/s, LOS rate: -0.068547 deg/s, cmd heading: 288.773349 deg, new cmd heading: 288.695436 deg. 2j,<HeadingCmd: 5.038686 target range: 538.200012 and range: 538.20 m. j<@jjjihhhhfffrfbf jb?ɛ{fB 隽I m;ɚiIZ=IKiaa;ik}><)<@)*F?2F:FBF`5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247057G*W<Gq B O >ϴw,1?ӺA6)m@Y6~|@6 ؼ96=y6H??@ n8p?? Q?`f?ɨ6)m@6Ż;6lCy>fB> I I%Mb@Mb@Mb@!!! !)!Y%(\?Zd;O?{Gzy%.?%j<%ף%VA !)%MFAI%HA!y%GAI5I5p5٢ $ C=9Q > G٣?Gyջ > Nusing accuracyPremultiplier from configk49?k4Yw iz]BA.?:?`RC-;;Mpk4 8A߱EZj)-FNOT Ignoring new targets: 538.20 m.Bj5Jj5M ProNav: ac range: 538.200012 m, nav range: 553.357727 m, bearing: 196.974548 deg, approach rate: 0.050892 m/s, LOS rate: -0.070230 deg/s, cmd heading: 288.695431 deg, new cmd heading: 288.606993 deg. 2jM@UHeadingCmd: 5.037142 target range: 538.200012 and range: 538.20 m. jUE0@jQjQjQiQhYhYhYh]wBfafafarfabfm?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498984ɛfBCv 隥ֽI -h;ɚiIUZ=IW~i[b;i0c0<)E0@)*F12F1:F1BF5F5JF1JJJJJ:J9JJGU=<GU?GU>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=1.750910մw,YӺAy~fB~t II 9I 5٢%] %V=9%Q %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config9Ek49=?Ek4Y=٢ i9AAE?=RC=\:=:=}k4Q UbAQZjyFNOT Ignoring new targets: 538.20 m.BjJj ProNav: ac range: 538.200012 m, nav range: 553.377258 m, bearing: 196.947695 deg, approach rate: 0.051079 m/s, LOS rate: -0.070223 deg/s, cmd heading: 288.606993 deg, new cmd heading: 288.526438 deg. 2j@HeadingCmd: 5.035737 target range: 538.200012 and range: 538.20 m. j$@jjjihhhhfffrfbf6?ɛfBʻ  I Mpa;ɚiIZ=Ifilc;isCH<)$@)*F2F:FBF>2JF A$?IHI III gBI =&I.I6IZ<:I,FBIĹCJIĹCRIZIbIjIR5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002934zK&~JK 9KKKG{*<GBO>#ܴw,rӺAF(R@YF}a@FԼ9F0>=yFH@#?I?[AC?9?n??ɨF(R@Fb;DyZfBZw IIb6Ib5٢jN"< jO=9n:Q n>pp rG٣pyr v> zNusing accuracyPremultiplier from configtzk49v'?~k4Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255476Yvs iv{]B?vRCv;v;vok4 %ZA!Zj  FNOT Ignoring new targets: 538.20 m.BjJjM ProNav: ac range: 538.200012 m, nav range: 553.396667 m, bearing: 196.919973 deg, approach rate: 0.046062 m/s, LOS rate: -0.065788 deg/s, cmd heading: 288.526452 deg, new cmd heading: 288.443288 deg. 2jM4uHeadingCmd: 5.034285 target range: 538.200012 and range: 538.20 m. ju@jqjqjqiyhyhyhyhyfffrfbf`x@ɛfBJ I E X;ɚiI/Y=I ۟i Иd;i(<)@)) I*F?2F:FBFd5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506980G Y=<G B O% > w,ÌӺA68@Y6G@6+&ؼ96=y6H?> ? cIT?i?Sܾ?b?ɨ68@6p>;6kCy> fBBx IMb@Mb@Mb@ )Y~jt?~jtx?I +y;?;94UA n8A)CAJJJ1JJ]:J[9J3JIGAy=FAI ,I 5٢e; 7=9%Q %>!! -G٣)y- -> =Nusing accuracyPremultiplier from config1=k4950?Ek4Y5 i5]BE;?E:EڝE?5;SC5;58;5k4I UTAUݱEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 538.20 m.BjJj ProNav: ac range: 538.200012 m, nav range: 553.410522 m, bearing: 196.886165 deg, approach rate: 0.032166 m/s, LOS rate: -0.078486 deg/s, cmd heading: 288.443287 deg, new cmd heading: 288.341867 deg. 2jtW%HeadingCmd: 5.032515 target range: 538.200012 and range: 538.20 m. j%] @j!j!j!i!h!h)hIhMfwBfQfQfQrfQbf] @ɛfB" 隭I  P;ɚiIY=IiERe;iE<)] @) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759123*F?2F:FBF4JFGx<GyBO> I fjH <bH <H >I  I II fBI =&I .I 6I ~<:I HF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011452 G  .5w,ӺA YyBJ$@YJY3@Jaڼ9J=yJHo?+? tQ P\}?iD@bK?@V?@?ɨJ$@J;JiCyV fBVz II~.I~5٢ <  ]=9AQ > G٣?GyEۻ E> UNusing accuracyPremultiplier from configzK]iKK]9KYK]K]RKm ?JKm?Qk49U8?k4YUh iU]B,?USCUDw,pyӺA 2B$?I4:8@Y:@: ߼9:Z=y:H:??7XMJ?u݈8?@?D?ɨ:8@:Hm;:lCyFfBF{ IMMb@Mb@Mb@III I)IYMx&1?MbpyMA@?MMM-TA I)M CAIIIyMEAIu*Iu.5٢; C=9Q > G٣y > Nusing accuracyPremultiplier from configk49@?k4Y- i]BB@?:̟?SCJK;vA;k4 IAZjFNOT Ignoring new targets: 538.20 m.BjnJjn ProNav: ac range: 538.200012 m, nav range: 553.430542 m, bearing: 196.825575 deg, approach rate: 0.022540 m/s, LOS rate: -0.081932 deg/s, cmd heading: 288.256605 deg, new cmd heading: 288.160095 deg. 2j` HeadingCmd: 5.029343 target range: 538.200012 and range: 538.20 m. j `@j jjihhhhMwBfff!rf!bf-# @uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515025ɛfB  &I U@;ɚiIY=I }i xf;i n1;) `@)1*F?2F:FBFJFG GrAG- RK <G B - Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:21:17:02.0291 5 TRx dataTimestamp_ set to:1736371023.3406935 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768044OE >.Iw,d]ӺA2@Y2n@2o92w=y2H`?!? *c__"?\3? i?@?ɨ2@2Tl;2kCyN*fBN IIV'IV5٢v,= zT=9z7Q z>|| G٣y ڻ  > Nusing accuracyPremultiplier from configk49H?%k4Yn i]B!% %?TC;;k4) -A1ZjQ]FNOT Ignoring new targets: 538.20 m.Bj]mJj]mm ProNav: ac range: 538.200012 m, nav range: 553.438171 m, bearing: 196.795546 deg, approach rate: 0.019817 m/s, LOS rate: -0.077996 deg/s, cmd heading: 288.160108 deg, new cmd heading: 288.070022 deg. 2jmVuHeadingCmd: 5.027771 target range: 538.200012 and range: 538.20 m. j}@jyjyjyiyhyhhhfffrfbf`:@ɛfBPg I 9;ɚiIX=Imilf;i?;)@) QIQ*Fi2Fi:FiBFiJFqH>I I IIfBI&I.I6Ir<:I?FWill construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՁchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.019243Gu&;zKKKKKK +A]z BK:KGQBqO>J J J 0J J J 9J ـ3J J =;a J >;a J ^ ;a J ^ ;a sqw,0ӺA22ٙ@Y2@292&=y2H ?)?``\g?fo?ή??ɨ22ٙ@2;0yNCfBR II^I^5rWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 21:17:02.0291 LVL= 23792, 24225, 13874, 29907, AGC= 71, IDX= 403, 0.50, 1.774, 0.750, 2.537, 1.665, PHS= 0.196,-0.868, 0.869, RAW= 172.6, -2.6, CAL= 174.1, -10.2, ROT= 335.9, 10.2 Ygot valid direction response: 21:17:02.0291 LVL= 23792, 24225, 13874, 29907, AGC= 71, IDX= 403, 0.50, 1.774, 0.750, 2.537, 1.665, PHS= 0.196,-0.868, 0.869, RAW= 172.6, -2.6, CAL= 174.1, -10.2, ROT= 335.9, 10.2 PDAT read: Bearing 335.9, 10.2 (Local) ~Local bearing/azimuth received: Bearing 335.9, 10.2 (Local) DAT read: Range 10 to 50 : 529.6 m (Round-trip 706.2 ms) speed 0.6 m/s ,DAT read: user:1636> BDAT read: Tx time:21:17:03.1187 $Ping request sent.v?5^vv^?v@@v9 vxB@)vK6Iv@ivK6>ttv{`vj?FMd?ݹk{)vlj?Iv|;=ivNϿ٢yf= ;=9Q > G٣?Gy   > 5Nusing accuracyPremultiplier from config=k49Q?=k4Y i]B9=E?oTC};;Sk4I MAMڱEvN4tt:publishing transmit ping timeرFpublishing direction and range infot9vL ̔Iv￀ $[~?ytttt t)tItittttt t)tItitttv{`vj?FMd?ݹk{)tItittttkv2{?kv kt kvӺA:kvfDBkvDZkvZ@"v %Tk9>UEEz LDW@vL ̔Iv￀ $[~?JkvNϿRkvN4*v^Z\ea0'<=@v; ]:п*KD?"kv. *kvkvd?kv߿s" 2kvBktkv\ kvkv5 Dkv֋[@U addTargetRange:: Added new target pos. range: 529.599976 m, deltaT: 4.285047 s, deltaX: -8.600037 m, approachRate: -2.006988 m/s, rangeRepo size: 4  Added new target pos. range: 529.599976 m, bearing: 195.260340 deg, lat: 36.899902 deg, lon: -122.114932 deg, deltaT: 4.285047 s, deltaX: -8.600037 m, approachRate: -2.006988 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 529.60 m.BjJj ProNav: ac range: 529.599976 m, nav range: 552.828979 m, bearing: 196.548006 deg, approach rate: 0.000000 m/s, LOS rate: -0.077996 deg/s, cmd heading: 288.070031 deg, new cmd heading: 287.945199 deg. 2jHeadingCmd: 5.025592 target range: 529.599976 and range: 529.60 m. jѠ@jjjihhhhfff!rf%̌@bf%R? AIAɛmfBm" quQ Iq u/;ɚqiqIusfX=Ii-=g;i7X;)Ѡ@)*F2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:17:03.1179 G] o;GY G] sAG! B1 OE >w, ԺAV™@YVOҠ@V[9V=yVHA?/?`.`"n?R| ?_??ɨV™@Vp;VlCyb[fB I5Mb@Mb@Mb@111 1)1Y5S?{Gzy&1?y5/=?5#5`e<5TA 1)5CAI11y5FAII5٢'R= 3=9Q > G٣y» > Nusing accuracyPremultiplier from configk49Y?k4Y4 i]B<=?Will construct direction to contact in vehicle frame from tetrahedron phase data.:?TC;_;ok4%YB %A%۱EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 529.60 m.BjѺJjѺ ProNav: ac range: 529.599976 m, nav range: 552.832031 m, bearing: 196.512721 deg, approach rate: 0.007932 m/s, LOS rate: -0.091716 deg/s, cmd heading: 287.945203 deg, new cmd heading: 287.839348 deg. 2j{HeadingCmd: 5.023745 target range: 529.599976 and range: 529.60 m. j @jjji h h h1h5wBf1f1f1rf9bf=@yf?ɛfB8ͻ 隭I K);ɚiIV!X=I[5img;ib;) @)*F2F:FBFp0JF =C$?IEfZH @ARH ?AH I  I II fBI &I .I 6I ;<:I F 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 B O > w,Q)ԺAzK~NK~9K|K~K~%-9BFLMIG?0$~|wrpmRK?JK>=v@Y=˹@=,9=$W>y=Hy?+?U2ru(?ԉ?q?@?ɨ=v@=;=kCyMfBM II]I]s5٢m>= mb=9$Q > G٣y > Nusing accuracyPremultiplier from configk49`?k4Y i]Bb? UC;;k4 ZAZj!-FNOT Ignoring new targets: 529.60 m.BjUJjUe ProNav: ac range: 529.599976 m, nav range: 552.833740 m, bearing: 196.485005 deg, approach rate: 0.004898 m/s, LOS rate: -0.079439 deg/s, cmd heading: 287.839362 deg, new cmd heading: 287.756216 deg. 2jeZeHeadingCmd: 5.022294 target range: 529.599976 and range: 529.60 m. jm@jijijiiihhhhfffrfbf X?JJJJJJ9JJJJJ;J;ɛUfBU` Y]VIa f%;ɚiIW=Idi!wg;in;)@)*FE?2FA:FABFIJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982213G ~q;GY Bi O > A IA ow,ʋCԺA6@Y6@6m96{t>y6HH? 7? ^`n^?ǃ ??ʶ?ɨ6@6';6iCybfBb I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233819Mb@Mb@Mb@ )YI +?{Gzy&1?y94?`<UA 5A)IyEAII|5٢Pj= D=9%Q > G٣?Gyu# > Nusing accuracyPremultiplier from configk49f?k4YG i]Bb4?:V?UUC ;;k4  )A Zj1=FNOT Ignoring new targets: 529.60 m.BjEJjEU ProNav: ac range: 529.599976 m, nav range: 552.833618 m, bearing: 196.454936 deg, approach rate: -0.000302 m/s, LOS rate: -0.074308 deg/s, cmd heading: 287.756225 deg, new cmd heading: 287.666018 deg. 2jUK]HeadingCmd: 5.020719 target range: 529.599976 and range: 529.60 m. j]@jYjYjYiahahahahmwBfififirfibfu ?ɛfBmmH 隥XI q!;ɚiI0~W=IiAg;i:)@)E*F5?2F9:F9BFAJFA5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487032Gm )o;Ga Bq O w,g]ԺA6w@Y6d@696>y6H@A&?@>? >?cӟ? "R?%?ɨ6w@6W;6oCybfBb IhhIjIj:5٢r> r[=9vfQ v>tx zG٣xyz z> Nusing accuracyPremultiplier from config l493m? l4Y i]B   ?UC;t2; l4! %A!ZjIMFNOT Ignoring new targets: 529.60 m.BjU"JjU"e ProNav: ac range: 529.599976 m, nav range: 552.833008 m, bearing: 196.427737 deg, approach rate: -0.001630 m/s, LOS rate: -0.072623 deg/s, cmd heading: 287.666012 deg, new cmd heading: 287.584413 deg. 2jm\GmHeadingCmd: 5.019295 target range: 529.599976 and range: 529.60 m. jm@jijqjqiqhqhqhyhyfyfyfrfbf?ɛfB 隽I };ɚiIoW=I,ǡiBf;i:)@) IH]>IY I]II]gBIY&IY.IY6I]R<:I](F*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739325zKBOK9KKKgeaa^YSRNMKHD>=:9;8553200//.+(*),()& !#! 5H6$BK:KG;GBO>J J J 1J J :J 9J 3J J $;J %;J H;J H;= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989754-w,xCwԺARj@YRy@R[9R>yRHu?D?`d P&?!'@b?)?[?ɨRj@Rt;RkCyjfBj IIvIv%5٢= I=9:Q >    G٣ yu > %Nusing accuracyPremultiplier from config%l49s?-l4Y& i]B)-ʤ-?UC.::l45XB 5~A=ٱEZj  FNOT Ignoring new targets: 529.60 m.Bj5>Jj5>E ProNav: ac range: 529.599976 m, nav range: 552.832153 m, bearing: 196.398074 deg, approach rate: -0.001993 m/s, LOS rate: -0.069173 deg/s, cmd heading: 287.584405 deg, new cmd heading: 287.495417 deg. 2jE=MHeadingCmd: 5.017742 target range: 529.599976 and range: 529.60 m. jMW@jIjIjQiQhyhhhfffrfbf@-@ IɛgB  :  P~I  ;ɚ iIV=Ieief;ie1:)eW@)q*F2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247618G} 7:G rAG GQ Ba O} >y)$w,tԺAy5gB5IMb@Mb@Mb@ )Y rh?:v?Q?yC+?T<\=VA ?9A)DAIGAy GAII٢EMu= E5=9EQ E>II MG٣M?GyU U> ]Nusing accuracyPremultiplier from configYel49]{?el4Y] i] ^Be+?m:mm?].VC];];])l4q u~AqZjFNOT Ignoring new targets: 529.60 m.BjJj ProNav: ac range: 529.599976 m, nav range: 552.840942 m, bearing: 196.366919 deg, approach rate: 0.020545 m/s, LOS rate: -0.072826 deg/s, cmd heading: 287.495421 deg, new cmd heading: 287.401957 deg. 2jGHeadingCmd: 5.016110 target range: 529.599976 and range: 529.60 m. j@jjjihhhhxBfffrfbf+@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497865ɛgB-&; :I ;ɚi!I%2V=I-/i5xf;i5T5;)=@)q*Fy2Fy:FyBF0JF D$?IfjH- <bH) H5 >I1  I5 OII5 hgBI1 &I1 .I1 6I5 K<:I5 !FBIJIRIZI =bI =jIhY4G ?: Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ i՝ A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750378G B O >O*w,@ԺA6V@Y6e@6r96F>y6H@G?@K?g@|=?@MV@߿?}?$?ɨ6V@6tc;4yN2gBN.IIVIV_5٢b= bg=9b:Q b>dd fG٣dyf j> nNusing accuracyPremultiplier from confighrl49j끈?rl4Yj ij^Bprr?jkVCjP:j:j5l4x z}AxB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 529.60 m.Bj-Jj-= ProNav: ac range: 529.599976 m, nav range: 552.847412 m, bearing: 196.342462 deg, approach rate: 0.018229 m/s, LOS rate: -0.068907 deg/s, cmd heading: 287.401957 deg, new cmd heading: 287.328587 deg. 2jE)=EHeadingCmd: 5.014830 target range: 529.599976 and range: 529.60 m. jE|y@jIjIjIiIhIhIhQhQzKU,NKU]9KQKUKU     fQffrfbf)@ɛgB< ; P[61w,ԺA:R@Y:b@:9:S;>y:H:?`K? @`?@Ô6??O?ɨ:R@:RÉ;:lCyFFgBF:IMb@Mb@Mb@ )YV-??L7A`?y|?<+= n8A)CAIyFAI5I55٢E6= EB=9M¢:Q M>II UG٣QyU U>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.253842 Nusing accuracyPremultiplier from configl49:?l4Y5 i5^B?:w?VC;;Dl4 }AZjFNOT Ignoring new targets: 529.60 m.BjٓJjٓ ProNav: ac range: 529.599976 m, nav range: 552.860107 m, bearing: 196.314985 deg, approach rate: 0.029861 m/s, LOS rate: -0.064629 deg/s, cmd heading: 287.328573 deg, new cmd heading: 287.246144 deg. 2jj1HeadingCmd: 5.013391 target range: 529.599976 and range: 529.60 m. jm@jjjiqhyhyhhxBfffrfbfL @ɛE'gBEA; AEGi By O >Z`7w,RԺA6oL@Y6[@6V961S>y6H(?M? j?8@? ?`I?ɨ6oL@6;4yBjgBBPIIJIJy5٢Rٻ= RU=9VI:Q V>TT VG٣Z@GyZN Z> bNusing accuracyPremultiplier from config\bl49^?bl4Y^ i^J^Bdff?^VC^:^:^Ql4jDB j{|A !I%flZjFNOT Ignoring new targets: 529.60 m.BjJJjJ ProNav: ac range: 529.599976 m, nav range: 552.871216 m, bearing: 196.290686 deg, approach rate: 0.027836 m/s, LOS rate: -0.060888 deg/s, cmd heading: 287.246146 deg, new cmd heading: 287.173252 deg. 2j%' HeadingCmd: 5.012119 target range: 529.599976 and range: 529.60 m. j Gc@j j j i hhhhfffrfbf%Q @ɛM3gBM; IMd\=II M6$;ɚQiQIUT=I]Oi]*e;ief:;)eGc@)iH>I IIIgBI&I.I6I$<:IF)  G -Y)y-TBuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759463y@B*F?2F!:F!BF!JF!zK MK9KKK   3FIKLKGEEBAA@?==83.--6FNG:6357:>EIJJKLMHEB@:3.)G ']?;G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=4.011243=w,ԺAy=gB=iIIMIM5٢]= e?=9eQ e>ii mG٣iym u> }Nusing accuracyPremultiplier from configyl49}?l4Y} i}b^B?}/WCy}e:}`l4 {AױEZjFNOT Ignoring new targets: 529.60 m.BjJj ProNav: ac range: 529.599976 m, nav range: 552.884033 m, bearing: 196.263073 deg, approach rate: 0.031471 m/s, LOS rate: -0.067798 deg/s, cmd heading: 287.173255 deg, new cmd heading: 287.090418 deg. 2j:HeadingCmd: 5.010673 target range: 529.599976 and range: 529.60 m. joW@jjjihhhhfffrfbf@m@ !I)ɛM@gBMm< Q]=IY (;ɚiITT=Iᢿi7 f;ik҅;)oW@)*F]?2FY:FYBF]_1JFYuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.261842G} 7eD;GY Bi O >J J J 0J J :J 9J ـ3J a @a @a @a @qDw,aպAy=gB=kIMb@Mb@Mb@ )Yd;O?)\(?~jt?y?Ga=<YA )DAIHAyGAIIE5٢; ?=9Q >!! -G٣)y) -> =Nusing accuracyPremultiplier from config1=l495히?El4Y5 i5w^BE?E:EwE?5oWC5;5 ;5ol4I U{AQZjy}FNOT Ignoring new targets: 529.60 m.BjFJjF ProNav: ac range: 529.599976 m, nav range: 552.909851 m, bearing: 196.237414 deg, approach rate: 0.060381 m/s, LOS rate: -0.060008 deg/s, cmd heading: 287.090418 deg, new cmd heading: 287.013443 deg. 2j$HeadingCmd: 5.009330 target range: 529.599976 and range: 529.60 m. jnL@jjjihhhhMyBfffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.515761rfbf~+@ɛLgBd; %Đ=I! %Oz,;ɚ!i)I-S=I5 i58f;i5^;)5nL@)9*F2F:FBF`5JF %F$?I!ZHRH@AH>IC III hBI =&I.I6I!<:IFG 6I;G G rAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.765757Jw,,պA2A@Y2qP@2Bv92>y2H?N?@MC?Ս?6v?¸?ɨ2A@2@;2iCyRgBRtIIZIZ5٢b)-= bc=9bhq;Q b>dd fG٣f@Gyj{ j> rNusing accuracyPremultiplier from configlrl49n?vl4Yn in^Btvv?nWCn-;n.;ny|l4x z{A|B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 529.60 m.Bj-Jj5E ProNav: ac range: 529.599976 m, nav range: 552.931274 m, bearing: 196.215850 deg, approach rate: 0.059347 m/s, LOS rate: -0.059734 deg/s, cmd heading: 287.013455 deg, new cmd heading: 286.948766 deg. 2jE#MHeadingCmd: 5.008201 target range: 529.599976 and range: 529.60 m. jM.C@jIjIjIiIhIhQhQhQfQfYfYrfabfeД@ɛXgB C<  =I  0;ɚ iIFiS=zKi5NK9KKK(&$  I52i=>af;i=O;)=.C@)9*F2F:FBF44JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.019326G{/;GB9 O > ! I) MQw,\FպA2=@Y2,M@2926>y2H?O?O?҇!?ly??ɨ2=@2f;2jCyZgBZxI=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.269899UMb@Mb@Mb@QQQ Q)QYUCl?V-?~jt?yU?Uh=UD G٣yt > Nusing accuracyPremultiplier from configl49ᭈ?l4Y% i^B ?:i?WC;;wl4 v{AZjFNOT Ignoring new targets: 529.60 m.Bj\Jj\ ProNav: ac range: 529.599976 m, nav range: 552.964233 m, bearing: 196.190945 deg, approach rate: 0.077155 m/s, LOS rate: -0.058297 deg/s, cmd heading: 286.948760 deg, new cmd heading: 286.874050 deg. 2j HeadingCmd: 5.006896 target range: 529.599976 and range: 529.60 m. j8@jj j i h h hhbyBfffrfbfg@ɛEfgBE; AE=IA M3;ɚIiIIMR=Iuo]iuf;i}ȸ;)}8@)y*F?2F:F BF 4JF JJJ1JJ}:J9J3JWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.522376G- CQ;G B OM >!Ww,:`պA2(;@Y2}J@2ݼ92H>y2H`p?`eO?@3?Oࠢ??ྷ?ɨ2(;@2;2kCyNgBNvIIZIZ5 dId٢j% jV=9jަ:Q n>lp rG٣pyr` r> zNusing accuracyPremultiplier from configtzl49vG?~l4Yv* iv^Bquvu?vXCvI IIIRhBI =&I.I6I<:IF*F ?2F :F BF o0JF UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.775066zKLK 9KKK  BK!:K%sAGE~q;GU ?GU>G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.025800]w,zպA6;@Y6rJ@6#ּ96>y6Hs?O?`^?@@ޚ? j?=?ɨ6;@6L;4yBgBBuIIJIJ5٢}p }@=9}3:Q > G٣@GyN > Nusing accuracyPremultiplier from configl49?l4Y0 i^Bu?XXC;u:˧l4CB {AձEZj1=FNOT Ignoring new targets: 529.60 m.Bj=ކJj=ކu ProNav: ac range: 529.599976 m, nav range: 553.026672 m, bearing: 196.143898 deg, approach rate: 0.078391 m/s, LOS rate: -0.058956 deg/s, cmd heading: 286.807539 deg, new cmd heading: 286.732901 deg. 2ju!HeadingCmd: 5.004433 target range: 529.599976 and range: 529.60 m. jQ$@jjjihhhhfffrfbf!@ɛgB; If l=I ٞ8;ɚiI- R=IE)iug;iu\;)uQ$@)*F2F:FBF5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=6.279037G ;J J J J J J y9J J G B O >dw,EպA2~4@Y2C@2u~Լ92'>y2H@ԧ?@R?e]ܵ?@P芿` ??^?ɨ2~4@2h;2hCy:gB>rIMb@Mb@Mb@ )YV-?(\µ?{Gzt?yh?=ף;VA )Iy GAII=5٢; G=9A:Q > G٣y > Nusing accuracyPremultiplier from configl49ƈ?l4YP6 i^B?:t?XC!;< ;l4 {AZjFNOT Ignoring new targets: 529.60 m.Bj߈Jj߈- ProNav: ac range: 529.599976 m, nav range: 553.064026 m, bearing: 196.119997 deg, approach rate: 0.093513 m/s, LOS rate: -0.059831 deg/s, cmd heading: 286.732899 deg, new cmd heading: 286.661200 deg. 2j-?$=HeadingCmd: 5.003182 target range: 529.599976 and range: 529.60 m. j=@j9j9j9i9h9hAhAhE0yBfAfIfIrfIbfM*@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.529820ɛgB; Iq IuIIuphBIu =&Iq.Iq6Iu <:IuFG ;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=6.782691jw,lͭպA22@Y25B@2hм92dX>y2H ̤? %G٣!y5D 5> =Nusing accuracyPremultiplier from config9El49=͈?El4Y=; i=^BAM{M?=XC=:=:=l4Q U{AQ}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 529.60 m.BjJj ProNav: ac range: 529.599976 m, nav range: 553.099487 m, bearing: 196.097375 deg, approach rate: 0.091890 m/s, LOS rate: -0.058617 deg/s, cmd heading: 286.661209 deg, new cmd heading: 286.593346 deg. 2j HeadingCmd: 5.001997 target range: 529.599976 and range: 529.60 m. j]@jjjihhhhfffrfbf@ɛgB"; `I 3e9;ɚiIQQ=Ii h;i <)]@) zKwLK9KKK  RK%?JK%?*F2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.034079G2<GGGBO> I qw,պA2;)@Y28@2μ92->y2H^?T?`Ɯ?~4@ܙ?r??ɨ2;)@2ވ;2iCyrgBroIWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=7.285822Mb@Mb@Mb@ )Ygfffff?ˡE?Mby3?=ZA )IGAyHAII5٢q< @=99Q > G٣@Gy<7 > Nusing accuracyPremultiplier from configl49ֈ?l4YjA i^B?:&? YCK;OJ;9l4 {AұEZj  FNOT Ignoring new targets: 529.60 m.Bj#Jj# ProNav: ac range: 529.599976 m, nav range: 553.137451 m, bearing: 196.072367 deg, approach rate: 0.090349 m/s, LOS rate: -0.059510 deg/s, cmd heading: 286.593344 deg, new cmd heading: 286.518327 deg. 2j]#HeadingCmd: 5.000688 target range: 529.599976 and range: 529.60 m. j@jjjihhhhhyBfffrfbf@ɛ}gB}: @gI g~8;ɚiIP=I(isi;i! <)@)JJ~JJJs:Jf9JJ*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.537855G O <G B O >ww,պA 4I4VI@YV+@VƼ9Vp>yVHy?Z? 1ൠ@?]ޘ?.l?۹?ɨVI@VXK;VhCyb|gBb\IIjIj5٢r rX=9vk';Q v>tt zG٣xyz z> Nusing accuracyPremultiplier from config|l49~ވ? l4Y~F i~^B  Y ?~CYC~:~z:~zl4 *|AZjAMFNOT Ignoring new targets: 529.60 m.BjMJjM􇺝 ProNav: ac range: 529.599976 m, nav range: 553.171448 m, bearing: 196.049828 deg, approach rate: 0.089644 m/s, LOS rate: -0.059430 deg/s, cmd heading: 286.518321 deg, new cmd heading: 286.450706 deg. 2j%#HeadingCmd: 4.999508 target range: 529.599976 and range: 529.60 m. j@jjj i h h h hfH%>I! I%II%zhBI% =&I!.I!6I%<:I%FBI¸CJI¸CRIZI =bI =jIO5fQfQrfYbf]6@ɛgBu 隥cI 5;ɚiIuP=I}Oij;i*<)@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=7.791364*Fe?2Fa:FaBFep0JFazKMnLK]9KKKBK:KrAG P <G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.041745&~w,ZպAz) @Yz~@zż9zo>yzHW?*b?@_ b?@D(@??+??ɨz) @zˈ;xy]gBHIII5٢%J -F=9-Ƥ9Q ->11 5G٣1y5 => ENusing accuracyPremultiplier from configAMl49E戜?Ml4YEfL iE^BIMM?EYCE;E;El4i u|AqZjFNOT Ignoring new targets: 529.60 m.Bj.Jj. ProNav: ac range: 529.599976 m, nav range: 553.207947 m, bearing: 196.025319 deg, approach rate: 0.086706 m/s, LOS rate: -0.058218 deg/s, cmd heading: 286.450703 deg, new cmd heading: 286.377182 deg. 2jHeadingCmd: 4.998225 target range: 529.599976 and range: 529.60 m. ju@jjjihhhhfffrfbfK @ɛgB~ ̽I n0;ɚiIt\P=I%yi%>j;i%;)%u@)) uH$?Iq*F!2F!:F!BF%o0JF!=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.293876G Mh <G G >G B O >w,LֺA:@Y:k@:ż9:>y:H@A?@de?`^M?Ί?`)??ɨ:@:`;:gCyJQgBNAI=Mb@Mb@Mb@999 9)9Y=A`"?Q?{Gzy=?=\==#=hWA =7A)=CAI=GA9y=FAIuIu5٢ݼ C=98Q > G٣@GyQ > Nusing accuracyPremultiplier from configl49~?l4YR i^B'?:m?YC<֦<l4q }|A}ԱEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.545916ZjFNOT Ignoring new targets: 529.60 m.Bj>Jj> ProNav: ac range: 529.599976 m, nav range: 553.240417 m, bearing: 195.999138 deg, approach rate: 0.074409 m/s, LOS rate: -0.059993 deg/s, cmd heading: 286.377182 deg, new cmd heading: 286.298642 deg. 2j$HeadingCmd: 4.996854 target range: 529.599976 and range: 529.60 m. j:@jjji!h!h!h)h-xBf)f1f1rf1bf5O/!@ɛgB 隽 I 7l);ɚiIjP=I i ^k;i :;) :@) *F?2F:FBF}0JF aIefHIC III\hBI&I.IFD6I<:IF5vGIY WYyAG f6<M Will construct direction to contact in vehicle frame from tetrahedron phase data.I iM Ae checking for new query: numPingsReceived=0, elapsed TxPingTime=8.801729Gi B O ><9w,8/ֺA>@Y>@>Ǽ9>>y>H` ?i?@m@ ,?@?`5??ɨ>@>|;>iCyFDgBF9IIRIR5٢Z Z[=9ZQ Z>\\ ^G٣\yb8 b> jNusing accuracyPremultiplier from confighnm49j?nm4YjW ij^Bpr9r?jYCj;j;j m4t v}AvѱE B*** querying acoustic contact ***j j ZjeFNOT Ignoring new targets: 529.60 m.Bje_Jje_u ProNav: ac range: 529.599976 m, nav range: 553.268433 m, bearing: 195.976216 deg, approach rate: 0.080344 m/s, LOS rate: -0.065733 deg/s, cmd heading: 286.298635 deg, new cmd heading: 286.229875 deg. 2jur4HeadingCmd: 4.995654 target range: 529.599976 and range: 529.60 m. jeܟ@jjjihhhhfffrfbf!@ɛgBN !%"I! %q";ɚ!i!I%oO=I-ͤi-kk;i5;JeJeJe0JaJev:Je9Jeـ3JaJeW;amJeX;auJe;auJe;auzK}KK}9KyK}K})5eܟ@)*Fi2Fi:FqBFu0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.049847G; i Iq G B O > w,>HֺA6@Y6B@6[ż96W3>y6H@ ?l?Ioհ?T᪘?9??ɨ6@6ƈ;6hCy>1gB>.IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.301791Mb@Mb@Mb@ )YT㥛 ?A`"?I +y!?Y=94VA )IGAyFAI5I575٢E5 EA=9M":Q M>IQ UG٣QyU9 U> eNusing accuracyPremultiplier from configamm49e?mm4Ye^ ie^Bm!?m:m}u?e?ZCef;e;ecm4 Q}AZjAEFNOT Ignoring new targets: 529.60 m.BjM%JjM% ProNav: ac range: 529.599976 m, nav range: 553.293152 m, bearing: 195.948735 deg, approach rate: 0.055893 m/s, LOS rate: -0.062137 deg/s, cmd heading: 286.229869 deg, new cmd heading: 286.147428 deg. 2j*HeadingCmd: 4.994215 target range: 529.599976 and range: 529.60 m. jП@jjjihhhhxBfffrfbfC"@ɛEgBE" IMI=II ;ɚiIrO=Ii8k;iw;)П@)*Fa2Fi:FiBFiJFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.553765G -;G G G B O > a Ia Sw,%bֺA:nɘ@Y:؟@:ʼ9:>y:H ?`Kt?j"?vZ?,?̻?ɨ:nɘ@:k;:gCyDF-IININ5٢Z ZS=9ZQ Z>\\ ^G٣^@Gy^ b> fNusing accuracyPremultiplier from config`jm49bv?jm4Ybd ib^Bhj癿j?b}ZCb ;b ;b%m4p rS}ApZjFNOT Ignoring new targets: 529.60 m.BjJj- ProNav: ac range: 529.599976 m, nav range: 553.315186 m, bearing: 195.923572 deg, approach rate: 0.060002 m/s, LOS rate: -0.068521 deg/s, cmd heading: 286.147415 deg, new cmd heading: 286.071929 deg. 2j-<5HeadingCmd: 4.992897 target range: 529.599976 and range: 529.60 m. j5ş@j1j9j9i9h9h9hAhAfAfAfArfIbfM4|#@ɛugBu^O y}4JIy }M;ɚyiIIO=I,(i$ l;i?W;)ş@)H>I III3hBI&I.I6I#<:IF*F!2F!:F!BF%o5JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.807630GEo;G!B)OM>JmJmJm1JiJm}:Jmm9Jm3JiJm;Jm;Jm;Jm;zKJK 9KKK  Will construct direction to contact in vehicle frame from tetrahedron phase data. y~H?w?ke ?@  G٣yh > Nusing accuracyPremultiplier from configm49?m4Y'k i^B?ZCX;;4m4 }AZjFNOT Ignoring new targets: 529.60 m.BjݍJjݍ ProNav: ac range: 529.599976 m, nav range: 553.339233 m, bearing: 195.895698 deg, approach rate: 0.053504 m/s, LOS rate: -0.062013 deg/s, cmd heading: 286.071928 deg, new cmd heading: 285.988310 deg. 2j<*HeadingCmd: 4.991437 target range: 529.599976 and range: 529.60 m. j۹@jjjih I$?Ihh!h!f!fIfIrfIbfU l$@ɛ= hBEW EqII Ui;ɚQiQI]FfO=I Wi sl;i ѯ;) ۹@)Will construct direction to contact in vehicle frame from tetrahedron phase data.%w,_ֺA6k@Y6@6Trϼ96J=y6H?3?m `^ 5??ޱ?`S?ɨ6k@6;6gCy>gB>IEMb@Mb@Mb@AAA A)AYEK7?yy }G٣yy > Nusing accuracyPremultiplier from configm49C?m4Y r i_B)?:_? [C;;lCm4BB ~AϱEZjFNOT Ignoring new targets: 529.60 m.BjJj򥺝 ProNav: ac range: 529.599976 m, nav range: 553.354858 m, bearing: 195.867085 deg, approach rate: 0.039615 m/s, LOS rate: -0.072541 deg/s, cmd heading: 285.988299 deg, new cmd heading: 285.902463 deg. 2j#GHeadingCmd: 4.989939 target range: 529.599976 and range: 529.60 m. j@jjjihhhh"xB Will construct direction to contact in vehicle frame from tetrahedron phase data.IQ IUIIU hBIQ&IQ.IQ6IU<:IUFGaByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:1637>  BDAT read: Tx time:21:17:14.0689  $Ping request sent.  G٣@Gy   > Nusing accuracyPremultiplier from configm49O?m4Yox i_B%%?K[C ;T ;Pm4) -:~A)MB*** querying acoustic contact ***jIjIZjYeFNOT Ignoring new targets: 529.60 m.BjeJjeu ProNav: ac range: 529.599976 m, nav range: 553.369019 m, bearing: 195.840553 deg, approach rate: 0.036523 m/s, LOS rate: -0.068432 deg/s, cmd heading: 285.902457 deg, new cmd heading: 285.822863 deg. 2j};}HeadingCmd: 4.988550 target range: 529.599976 and range: 529.60 m. j4@jjjihhhhfffrfbf%@ɛ)hB @I T:ɚiI>O=Iiyl;im;)4@JJJJJ]:J9JJJ=;J>;J};J~;)zK"KK9KKK  *F2F:FBF=5JFGBO!>%Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:21:17:14.0681 5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251122 Ifw,ֺABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502236yrfBrIMb@Mb@Mb@ )YʡE? G٣y > Nusing accuracyPremultiplier from configm49$?m4Y i _B/?:M?[C;;`m4  P~AZjq}FNOT Ignoring new targets: 529.60 m.Bj}Jj} ProNav: ac range: 529.599976 m, nav range: 553.376892 m, bearing: 195.809772 deg, approach rate: 0.017894 m/s, LOS rate: -0.069955 deg/s, cmd heading: 285.822872 deg, new cmd heading: 285.730528 deg. 2j @HeadingCmd: 4.986938 target range: 529.599976 and range: 529.60 m. j@jjjihhhhwBfffrfbf&@ɛm:hBu` quIq uE:ɚqiyI}H)O=I}l륿il;i;)@)E*FA2FA:FABFE`5JFIGABQOuX>5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754124 I ȸw,ֺAHս>IC IIIgBI =&I.IED6I<:IFy%fB%IImImX5٢C P=9Q > G٣y > Nusing accuracyPremultiplier from configm49+?m4Y i_B?[C;c;mm4 c~AZjFNOT Ignoring new targets: 529.60 m.BjJj ProNav: ac range: 529.599976 m, nav range: 553.384216 m, bearing: 195.781801 deg, approach rate: 0.018971 m/s, LOS rate: -0.072449 deg/s, cmd heading: 285.730527 deg, new cmd heading: 285.646617 deg. 2jF HeadingCmd: 4.985474 target range: 529.599976 and range: 529.60 m. j @j j j ihhh!h!f)f)f)rf1bf=@-'@ɛ}HhBK 隅AI 1:ɚiI#O=Igil;iG;)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007223*Fa2Fi:FiBFma4JFiGABIOm5>JJJ0JJ:J9Jـ3JJU;JV;J\5;J]5;zK% LK! K! K% K%  #s &>IO^m}ndTD3{nbYOFA:4/*&&$"BK1 :K5 nA= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258259w,ZֺA>@@Y>O@>9>=y>H?`_?o`?!s>?'?ཿ?ɨ>@@>';>iCyfB III5٢%= -P=9-Q ->11 5G٣1y=Ҽ => ENusing accuracyPremultiplier from configAMm49E2?Mm4YEy iE_BIMM?E!\CE:E@:E{m4Y ]*~A]̱EZjFNOT Ignoring new targets: 529.60 m.BjJj ProNav: ac range: 529.599976 m, nav range: 553.388916 m, bearing: 195.754028 deg, approach rate: 0.012027 m/s, LOS rate: -0.071072 deg/s, cmd heading: 285.646625 deg, new cmd heading: 285.563307 deg. 2jCHeadingCmd: 4.984020 target range: 529.599976 and range: 529.60 m. j}@jjjihhhhfffrfbf a(@ -J$?I1ɛMWhBܿ I +9:ɚiIO=IKibl;iJH)}@)*F2F1:F1BF=t2JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510495Ge -;GA BI Om >ŵw,\׺A65@Y6D@696q=y6H??Ϳ@D`?^qP? v?v?ɨ65@6߈;6gCy>fB>I Mb@Mb@Mb@    ) Y M?~jth?y n2?  D; SSA ) 1BAI tEA y zDAI%I%5٢5j= =J=9=1Q =>AA EG٣E@GyMU M> UNusing accuracyPremultiplier from configI]m49MR8?em4YM iM%_Beo2?e:e<e?Mj\CMY@;M ?;Mm4mAB ur~AuͱEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762267Zj9UFNOT Ignoring new targets: 529.60 m.BjUJjUm ProNav: ac range: 529.599976 m, nav range: 553.385986 m, bearing: 195.724744 deg, approach rate: -0.006851 m/s, LOS rate: -0.068481 deg/s, cmd heading: 285.563297 deg, new cmd heading: 285.475444 deg. 2ju;uHeadingCmd: 4.982486 target range: 529.599976 and range: 529.60 m. jup@jyjyjyiyhyhyhhwBfffrfbfj>)@ɛ5hhB5/ͼ 15I9 =z69ɚ9i9I=O=IEQ}iEk;iE;&)Ep@) !I)*F=?2FA:FABFEo0JFAG}:GBZHRHAAHν>IC IIIgBI =&I.IDD6I<:IBIƷCJIƶCRIƔCZI =bI =jI8$6O-p> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014154̵w,#i2׺A66@Y6*F@696O=y6H@N?w? ݚ`*r??t@Y?Ӿ?:?ɨ66@6";4yNfBNIIZIZV5٢f< fQ=9f;Q j>hh jG٣hyn9 n> rNusing accuracyPremultiplier from configpvm49rM>?vm4Yr ir._Bxz7z?r\Cr:rn:rTm4| d~AB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 529.60 m.Bj5SJj5SM ProNav: ac range: 529.599976 m, nav range: 553.383301 m, bearing: 195.696621 deg, approach rate: -0.007277 m/s, LOS rate: -0.076204 deg/s, cmd heading: 285.475433 deg, new cmd heading: 285.391063 deg. 2jM1QMHeadingCmd: 4.981014 target range: 529.599976 and range: 529.60 m. jUwd@jQjQjQiQhQhYhYhYfafafarfabfe`)@ɛvhB 隝žI ҵw,?L׺A2Will construct direction to contact in vehicle frame from tetrahedron phase data.0i06checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518484:;%@Y:4@:9:=y:H`Q?`̦?$o ??"r`'}? G٣yP > Nusing accuracyPremultiplier from configm49E?m4YI i:_B/2?:?\C>;>;m4 ~AZjamFNOT Ignoring new targets: 529.60 m.BjmJjm ProNav: ac range: 529.599976 m, nav range: 553.381836 m, bearing: 195.665187 deg, approach rate: -0.003300 m/s, LOS rate: -0.070807 deg/s, cmd heading: 285.391067 deg, new cmd heading: 285.296767 deg. 2j`BHeadingCmd: 4.979368 target range: 529.599976 and range: 529.60 m. jV@jjjihhhhxBfffrfbf *@ɛhBtμ BþI ɚiIN=I㦿ij;i&p9)V@) JJJJJ|:J:JJa@a@a@a@*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770157G ?:G B I O >)! ) `ٵw,f׺A:GDHVý>IVC IVIIVgBIV =&IT.IVCD6IV<:IVFd ~Y|y~S B=s@Y=+@=9=Ay=y=HY?:?֤`Z?r?ؾ?`?ɨ=s@=4;=hCyMgBMII]I]X5٢m&< mN=9u:Q u> G٣@Gye2 > Nusing accuracyPremultiplier from configm497K?m4YA iD_BȦ?C]C9;%H;]m4A E}AAZjFNOT Ignoring new targets: 529.60 m.BjJj ProNav: ac range: 529.599976 m, nav range: 553.380371 m, bearing: 195.636782 deg, approach rate: -0.003552 m/s, LOS rate: -0.068877 deg/s, cmd heading: 285.296756 deg, new cmd heading: 285.211540 deg. 2j=HeadingCmd: 4.977880 target range: 529.599976 and range: 529.60 m. jJ@jjjihhhhfffrfbfI+@ɛehBe  imɾuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022333Ii }&ɚyiyI}iN=I:ij;i>:)J@)*F ?2F :F BFp0JFG- }:zKM )LKM 9KI KM KM BKa :Ke rAG B OM >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274126@ߵw,׺ABW@YB#@B9BF=yBH`}?o?@ݿౖ?j{pt?3 ?:?ɨBW@B2T;BgCy^gB^IIrIr5٢]f'= ]L=9}*Q }>y G٣y > Nusing accuracyPremultiplier from configm4 K$?If9oQ?m4Y^ iO_B馿?]Cs;s;nm4 }A˱EZjFNOT Ignoring new targets: 529.60 m.BjjJjj ProNav: ac range: 529.599976 m, nav range: 553.378723 m, bearing: 195.607794 deg, approach rate: -0.004359 m/s, LOS rate: -0.076681 deg/s, cmd heading: 285.211542 deg, new cmd heading: 285.124577 deg. 2jRHeadingCmd: 4.976363 target range: 529.599976 and range: 529.60 m. j]>@jjjihhhhf f f rf bf uq,@ɛUhBU Y]ȾIa el`ɚiiiImO=I}Ei;j;iɺ:)]>@) *F2F:FBFJFGrA GsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526707GG B O >J#K# K#K#K#"K#J J J 1J J l:J &:J 3J (w,ԙ׺A: @Y:@:9:0=y:Hh??=0 ?m?h?+?ɨ: @:Z;:fCyNgBRI-Mb@Mb@Mb@))) )))Y-M?Mb?~jt?y-n2?-<-D<) )))I-tEA)y-DAIMIMv5٢]] ]J=9eQ e>aa eG٣iymV m> }Nusing accuracyPremultiplier from configq}m49uW?m4Yuv iu]_Bx2?:?u]Cu!;un ;uqm4 }AZjFNOT Ignoring new targets: 529.60 m.BjrJjrWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:17:17.1765 TRx dataTimestamp_ set to:1736371038.464808checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779381U ProNav: ac range: 529.599976 m, nav range: 553.377747 m, bearing: 195.578888 deg, approach rate: -0.002443 m/s, LOS rate: -0.072322 deg/s, cmd heading: 285.124580 deg, new cmd heading: 285.037864 deg. 2jUF]HeadingCmd: 4.974849 target range: 529.599976 and range: 529.60 m. j]1@jYjajaiahahahihmxBfififirfbf I-@ɛhB2 ԾI  sɚiIO=Iwii;io|:)1@) I*F?2F:FBFw0JFjHbH<H>IC IIIgBI =&IED.IAD6I۲<:IFG$;G?G? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030805G B O >*Tw,鵳׺A6@Y6A@6QO96=y6H@W?? G @Qt?Qg?h?@o?ɨ6@6;6iCyR2gBR.IIvIvx5٢%= %N=95Q =>AI MG٣U @Gy]_, e> Nusing accuracyPremultiplier from configym49}]?m4Y} i}k_B!-ΦU?}^C}<}<}m4 ?}AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 529.60 m.Bj՗Jj՗ ProNav: ac range: 529.599976 m, nav range: 553.376648 m, bearing: 195.549657 deg, approach rate: -0.002495 m/s, LOS rate: -0.066372 deg/s, cmd heading: 285.037864 deg, new cmd heading: 284.950169 deg. 2j36HeadingCmd: 4.973319 target range: 529.599976 and range: 529.60 m. jm%@jjjizKmiJKmػ9KiKmKm hhhhfffrfbf ).@ɛhBr ̾I G̺ɚ i I N=Iii;i:)m%@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 21:17:17.1765 LVL= 28880, 32753, 25330, 32755, AGC= 73, IDX= 384, 0.21,-1.310,-2.394,-0.363,-1.207, PHS=-0.015,-1.140, 0.840, RAW= 175.5, 3.7, CAL= 175.7, -5.1, ROT= 334.3, 5.1 eYgot valid direction response: 21:17:17.1765 LVL= 28880, 32753, 25330, 32755, AGC= 73, IDX= 384, 0.21,-1.310,-2.394,-0.363,-1.207, PHS=-0.015,-1.140, 0.840, RAW= 175.5, 3.7, CAL= 175.7, -5.1, ROT= 334.3, 5.1 u8DAT read: $Error in header *Received a bad header*F?2F:FBFo0JFX#Rx 1: Read direction message, but no range.-`direction in FSK: [-0.164706,-0.979429,0.116576]9n.ſxk|WS׽?p b)IIiu둿= W? D@ A= ?BD@)KIU@iK=t}?"ǍQ?:6y?)#w?Igki6c޿JeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse yIyG% /:G! BQ O >;w,u׺A"Will construct direction to contact in vehicle frame from tetrahedron phase data."T****** received valid address query ******"R****** received valid ping request ******"received new query, but waiting for acoustic response period to elapse6@Y6=@6L96 =y6H :? ?`]CX?XaYH?ȿ?ü?ɨ6@6*?;6fCyN6gBR0IMb@Mb@Mb@ )YS?{Gz?:v?y/?ף<T< 6A)`AAIGAyDAIIy5٢$; ?=9&Q > G٣y8 > Nusing accuracyPremultiplier from config5m49d?=m4Y iz_B=5/?=:=Ф=?e^Cl;;im4A M2}AIZjiFNOT Ignoring new targets: 529.60 m.BjOJjO ProNav: ac range: 529.599976 m, nav range: 553.380127 m, bearing: 195.519690 deg, approach rate: 0.008897 m/s, LOS rate: -0.076634 deg/s, cmd heading: 284.950165 deg, new cmd heading: 284.860263 deg. 2j_RHeadingCmd: 4.971749 target range: 529.599976 and range: 529.60 m. j@jjjihhhh+xBfffrfbf.@ɛhB 隵ҾI uɚiI`N=I"ݧiMi;if:)@)JJAAJJJJJ|:J^:JJ*F?2F:FBF0JF"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 : i Ii G B O >(dw,c׺AH&>I&C I&II&gBI& =&I$.I&@D6I&ز<:I&FJ@YJ(@J9J%>yJH@2?`?s`7Q?`Ρ???ɨJ@J&;HyRGgBR;IIZIZx5٢f ?= f^=9frQ f>hh jG٣hyn& r> zNusing accuracyPremultiplier from configx m49zj? m4YzK iz_B᤿?z^Czv;zb;z8m4! -|A)ZjquFNOT Ignoring new targets: 529.60 m.BjJj- ProNav: ac range: 529.599976 m, nav range: 553.383118 m, bearing: 195.493757 deg, approach rate: 0.008065 m/s, LOS rate: -0.069930 deg/s, cmd heading: 284.860252 deg, new cmd heading: 284.782455 deg. 2j-?5HeadingCmd: 4.970391 target range: 529.599976 and range: 529.60 m. j5r @j1jQjQiQhYhYhYhYfYfafarfabfe@/@ɛhB jҾI ɚi I N=UWill 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 elapseIe iei;ie;)er @)i*Fe?2Fa:FaBFe0JFaG h:zK gKK 9K K K )12.( U$4CP^hkhjourm_>Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseXw,uغA xIxޗ@Y@|9j>yH`a?~?@3 C5?U?@y??ɨޗ@c;yUgBCII-I-5٢5!= =B=9=AA MG٣M @GyML M> UNusing accuracyPremultiplier from configQ]n49U_q?]n4YU iU_Baee?U^CU ;U? ;Un4m@B m|AuɱEZjFNOT Ignoring new targets: 529.60 m.Bj%bJj%b5 ProNav: ac range: 529.599976 m, nav range: 553.386169 m, bearing: 195.464054 deg, approach rate: 0.007114 m/s, LOS rate: -0.069235 deg/s, cmd heading: 284.782443 deg, new cmd heading: 284.693335 deg. 2j5>5HeadingCmd: 4.968836 target range: 529.599976 and range: 529.60 m. j]@jYjYjYiYhYhahahafafifirfibfm@A0@ɛhBIX ԾI  <&ɚiIN=IJ J J J J :J :J J ww, غAJi՗@YJ@JA9JX>yJH?? E-"$?Q 1???ɨJi՗@JІ;JgCyVgBZ_IEMb@Mb@Mb@AAA A)AYEMbX?Q? rh?yE*?E\=ECyy }G٣yy}y4 > Nusing accuracyPremultiplier from confign49/x?n4Yd i_B +?:j?4_C;y;"n4 {AWill 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 elapseZjFNOT Ignoring new targets: 529.60 m.Bj2Jj2 ProNav: ac range: 529.599976 m, nav range: 553.394958 m, bearing: 195.435927 deg, approach rate: 0.021199 m/s, LOS rate: -0.067841 deg/s, cmd heading: 284.693322 deg, new cmd heading: 284.608942 deg. 2j<:HeadingCmd: 4.967363 target range: 529.599976 and range: 529.60 m. j@jjjihh hhxBfffrfbf@0@ L$?IfɛiBx ǾI T<ɚiI@N=I li Wh;i ;) @)*F2F:FBF1JFGsA GrAZHARHE?AHM>IMC IMIIMhBIM =&II.IM?D6IM<:IMFm Will construct direction to contact in vehicle frame from tetrahedron phase data.m T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapseG] 7:G9 BI Ou >Z w,4غA6Yȗ@Y6מ@6962%>y6Hf?%?``N ?h: t???ɨ6Yȗ@6i;4ybgBbgIIjIj5٢r= rS=9vLQ v>tt vG٣tyzI z> ~Nusing accuracyPremultiplier from config| n49~~? n4Y~ i~_B?~v_C~h;~i;~$n4%AB %{A!ZjIMFNOT Ignoring new targets: 529.60 m.BjUJjUe ProNav: ac range: 529.599976 m, nav range: 553.403015 m, bearing: 195.409260 deg, approach rate: 0.022122 m/s, LOS rate: -0.073221 deg/s, cmd heading: 284.608956 deg, new cmd heading: 284.528955 deg. 2jeImHeadingCmd: 4.965967 target range: 529.599976 and range: 529.60 m. jm4@jijijiiihihqhqhyfyfyfyrfybf)1@ɛiB 隽ǾI uJMɚiIN=Iish;i6:)4@)*FI2FI:FQBFUP5JFQzK OKKKKzvqbXRLHFB@@>;::876472/121-,--))(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 IG}:G ?G>GIBQOu>9w,NغAWill 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>x@Y>Ξ@>F"9>>y>H?@t?>k@?`?0?@ع?ɨ>x@>҆;>eCyFgBJpI%Mb@Mb@Mb@!!! !)!Y% r?~jt?~jt?y%#?%D=%<%UA %6A)%1BAI!!y%EAI5I5^5٢E= ED=9M_Q M>IQ UG٣U @GyU* U> eNusing accuracyPremultiplier from configYen49]?mn4Y] i]_Bu$?u:55?]_C]<]<].3n49 E{AAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 529.60 m.BjfJjf ProNav: ac range: 529.599976 m, nav range: 553.416931 m, bearing: 195.381749 deg, approach rate: 0.031267 m/s, LOS rate: -0.061811 deg/s, cmd heading: 284.528961 deg, new cmd heading: 284.446431 deg. 2j)HeadingCmd: 4.964527 target range: 529.599976 and range: 529.60 m. jgݞ@jjjihhh9h=xBfAfAfArfAbfEO~1@ɛ4iBb 隵y˾I eɚiIN=Iɨi8h;i ;)gݞ@)El>E>*F}?2Fy:FyBF}3JFy"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 elapse I G ;Gy B O >HE >IE C IE IIE )hBIE =&IA .IA 6IE <:IE FSw,hغABI5CJI5CRI5CZI5 =bI5 =jI516Y@YŞ@F99>yH t?ഺ??A?_?7-?й?ɨY@3;yEgBEIIuIu5٢= F=9AQ > G٣y 1 > Nusing accuracyPremultiplier from confign49?n4Y i_B?_C::An4 &{AZj!-FNOT Ignoring new targets: 529.60 m.Bj-tJj5tE ProNav: ac range: 529.599976 m, nav range: 553.430542 m, bearing: 195.354498 deg, approach rate: 0.034814 m/s, LOS rate: -0.069703 deg/s, cmd heading: 284.446425 deg, new cmd heading: 284.364672 deg. 2jEX?MHeadingCmd: 4.963100 target range: 529.599976 and range: 529.60 m. jMў@jIjIjIiIhIhQhYhYfYfafarfabfe\1@ɛEiB ƾI PxɚiIN=I%i%eh;i%F;)-ў@5Will construct direction to contact in vehicle frame from tetrahedron phase data.5Ai5A=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse))*F?2F:FBFV5JFJJJJJ:J :JJJ  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 elapseR w,غA PIPvͬ@Yv"@v 9v.p>yvHVi?R?^`?bP? &"?i@??ɨvͬ@vqe;vfCyMgBMIII[5٢k< I=9Q > G٣ye; > Nusing accuracyPremultiplier from confign49?n4Y i_B@?@`CL::On4@B  {ADZEZjFNOT Ignoring new targets: 529.60 m.Bj Jj- ProNav: ac range: 529.599976 m, nav range: 553.443848 m, bearing: 195.327555 deg, approach rate: 0.033365 m/s, LOS rate: -0.067561 deg/s, cmd heading: 284.364681 deg, new cmd heading: 284.283852 deg. 2j-w9=HeadingCmd: 4.961689 target range: 529.599976 and range: 529.60 m. j=)ƞ@j9jAjAiAhAhAhIhIfIfIfQrfQbfU`bE2@ɛ}ViB}{ 隅˾I ɚiISN=I&ig;iOm*;))ƞ@)*F2F :F BF o0JF 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 elapseGM']?;G B O- >&w,cغA6@Y6@6 963>y6Ha?s?@׼`9v?V?A? N,??ɨ6@6W;4yBgBBIMMb@Mb@Mb@III I)IYM?Q?yy }G٣} @Gy=+ > Nusing accuracyPremultiplier from configWill 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 elapsen49?n4Y i`B ?:?`CZ;;]n4 zAZjFNOT Ignoring new targets: 529.60 m.Bj Jj  ProNav: ac range: 529.599976 m, nav range: 553.461792 m, bearing: 195.301836 deg, approach rate: 0.044851 m/s, LOS rate: -0.064280 deg/s, cmd heading: 284.283866 deg, new cmd heading: 284.206714 deg. 2ju0HeadingCmd: 4.960343 target range: 529.599976 and range: 529.60 m. j!@jjjihh h h xBfffrfbf@2@ɛMhiBMA IMƾII M{ɚQiQIUN=I]Ri]g;i][i;)]!@)aE M$?If*F2F:FBFJFG GsAG9Q FYyAjH<bHH>IC III\hBI =&I.I>D6I&<:IFG;GBO>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 elapse,w,l>غAyppI~I~ 5٢E: MM=9MQ M>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configamn49e?mn4Ye ie`Biqu?e`CeXD;eOF;ekn4 zAJJJ0JJL:J:Jـ3JJA <JB <Jn;Jn;ZjFNOT Ignoring new targets: 529.60 m.BjMJjM ProNav: ac range: 529.599976 m, nav range: 553.479919 m, bearing: 195.276037 deg, approach rate: 0.045244 m/s, LOS rate: -0.064391 deg/s, cmd heading: 284.206712 deg, new cmd heading: 284.129316 deg. 2j0HeadingCmd: 4.958992 target range: 529.599976 and range: 529.60 m. j@jjjihhhhfffrfbf@~3@ɛ |iB& оI %ɚiI;N=I)iSh;i ;zK-ZMK-S9K)K-K-RKE>JKE?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:FaBFe3JFi IG 1;G B O- >/3w, غAWill 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 elapseF@YF@F 9Fu>yFH@M?`?_e?8Y?8c?@ A?@?ɨF@F͆;DyRgBRIMb@Mb@Mb@ )YK?)\(?Q?y^?Ga=u< "5A)1BAIyI I x5٢i = ?=9%Q %>!! %G٣!y-% -> 5Nusing accuracyPremultiplier from config1=n495?=n4Y5w i5-`BE?E:E@E?5aC5a;5;5zn4I U[zAQmB*** querying acoustic contact ***jijiZjyFNOT Ignoring new targets: 529.60 m.Bj쏺Jj쏺 ProNav: ac range: 529.599976 m, nav range: 553.497498 m, bearing: 195.249343 deg, approach rate: 0.041431 m/s, LOS rate: -0.062914 deg/s, cmd heading: 284.129312 deg, new cmd heading: 284.049235 deg. 2j,HeadingCmd: 4.957594 target range: 529.599976 and range: 529.60 m. j@jjjihhh h xBf ffrfbf`3@ɛiB  隥dҾI pɚiIN=Ii}Lh;iF%;)@)*F2F:FBFo0JFWill 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 ; I GY Bi O >H >I  I II hBI  =&I .I 6I 1<:I F9w,MغAy޵gB޽III5٢O)= N=9Q > G٣ @Gy > %Nusing accuracyPremultiplier from config!-n49%j?5n4Y% i%>`B115?%@aC% ;%K ;%n49 =zAAZjq}FNOT Ignoring new targets: 529.60 m.Bj}xJj}x ProNav: ac range: 529.599976 m, nav range: 553.514099 m, bearing: 195.224254 deg, approach rate: 0.041212 m/s, LOS rate: -0.062279 deg/s, cmd heading: 284.049235 deg, new cmd heading: 283.973971 deg. 2j*HeadingCmd: 4.956281 target range: 529.599976 and range: 529.60 m. jڙ@jjjihhhhfffrfbf 3@ɛiBё ҾI  ɚiIN=Iةi,h;i`;)ڙ@)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 elapse*F2F:FBFp0JFJJJ1JJ:J":J3JJ<J<J8{;J9{;G{/;G B O >zK VBJK ػ9K K K  };h .*7aSGX_jSBK :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 elapse%@w,ŎٺA (I,ڜ@Y/@L6 9HK>yH=+??@ez?d`?`䥡? k[??ɨڜ@sՆ;dCy-gB-IImIma5٢} }R=9}@Q }> G٣y8 > Nusing accuracyPremultiplier from confign49ѵ?n4YJ iO`Bd?{aCu ; ;n4 5zAűEZjFNOT Ignoring new targets: 529.60 m.BjCJjC  ProNav: ac range: 529.599976 m, nav range: 553.529846 m, bearing: 195.200277 deg, approach rate: 0.040842 m/s, LOS rate: -0.062188 deg/s, cmd heading: 283.973967 deg, new cmd heading: 283.902036 deg. 2j *HeadingCmd: 4.955025 target range: 529.599976 and range: 529.60 m. j@jjjihh!h!h!f!f)f)rf)bf-H4@ɛUiB]' Y]IY ]wɚYiaIeN=Ie&imh;ii)m@)i*F-?2F1:F1BF1JF9]Will 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 elapseGo;G B O ]Gw,MjٺA6@Y6H@6| 96>y6H@?x?L`-l?c?'?M?R?ɨ6@692;6eCyBhBBIUMb@Mb@Mb@QQQ Q)QYU$C?S㥫?{Gz?yU?U/]=U# G٣yQ >Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse Nusing accuracyPremultiplier from confign49?n4Yj i_`B?:?aC;;Wn4 yAZjFNOT Ignoring new targets: 529.60 m.BjJj ProNav: ac range: 529.599976 m, nav range: 553.546387 m, bearing: 195.174866 deg, approach rate: 0.040877 m/s, LOS rate: -0.062796 deg/s, cmd heading: 283.902031 deg, new cmd heading: 283.825801 deg. 2j b, HeadingCmd: 4.953695 target range: 529.599976 and range: 529.60 m. j @jjjih!h!h)h-xBf)f)f)rf1bf54@ɛ]iBeձ ae Ia e^ȻɚaiiImUN=Im,iupi;i}$;)}@)y uN$?Iuf*F?2F:FBF-0JF)ZHRHH>IC I*IIhBI =&I.I6I<:IFGM-;GUsAGUsAG) B9 M Will construct direction to contact in vehicle frame from tetrahedron phase data.M ,Mw,WC7ٺA2I@Y2@2m922>y2H?@w?`pb?$e?̡?uB??ɨ2I@2b;2dCybgBbIIjIj5٢r( rU=9rQ v>tt vG٣v@Gyzd] ~>  Nusing accuracyPremultiplier from config n49‰?n4Y* in`B?aC::n4! %zA!ZjAMFNOT Ignoring new targets: 529.60 m.BjMJjMe ProNav: ac range: 529.599976 m, nav range: 553.561951 m, bearing: 195.151029 deg, approach rate: 0.040696 m/s, LOS rate: -0.062326 deg/s, cmd heading: 283.825806 deg, new cmd heading: 283.754298 deg. 2je+mHeadingCmd: 4.952447 target range: 529.599976 and range: 529.60 m. jmrz@jijijiiihihqhyhyfffrfbfo5@JJJ0JJ:J!:Jـ3JJ5<J5<Jny;Jny;ɛiBu# rI 0ԻɚiIN=IUi0i;i<)rz@)Ei>E>*F2F:FBF0JF PExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.խAiխAe Will construct direction to contact in vehicle frame from tetrahedron phase data.m yZH@y?[?B c?Cf?ˡ?@:&??ɨZ{@Z䁆;XyfhBfIMb@Mb@Mb@ )Yv?Mb?Mb`?y?@=; "5A)IEFAyCAII5٢U= 6=9m7Q > G٣yr^8 > Nusing accuracyPremultiplier from config n49ʉ?n4Y& i{`BN?:?:bC;;ln4 yA!MB*** querying acoustic contact ***jIjIZjq}FNOT Ignoring new targets: 529.60 m.BjJj ProNav: ac range: 529.599976 m, nav range: 553.577759 m, bearing: 195.123245 deg, approach rate: 0.034719 m/s, LOS rate: -0.061021 deg/s, cmd heading: 283.754308 deg, new cmd heading: 283.670957 deg. 2j'HeadingCmd: 4.950992 target range: 529.599976 and range: 529.60 m. jn@jjjihhhhxBfffrfbf5@ɛiB OI ɚiIHO=IOij;i<)n@)JAJA*F]?2FY:FYBF]0JFYMWill construct direction to contact in vehicle frame from tetrahedron phase data.U-PZw,AkٺAH>I I0IIhBI =&I.I=D6I߲<:IFN@YN᠞@N)l9NF9>yNH@A? ?  Q?0j?? ? ?ɨN@Nӆ;NfCyVhBZIIbIb_5٢jX jc=9j.7Q n>ll nG٣lyrۺ r> vNusing accuracyPremultiplier from configtzn49vω?zn4YvA, iv`B|~̟~?vqbCvg;v;vn4 yA Zj15FNOT Ignoring new targets: 529.60 m.Bj=tJj=tM ProNav: ac range: 529.599976 m, nav range: 553.590332 m, bearing: 195.101034 deg, approach rate: 0.035501 m/s, LOS rate: -0.062709 deg/s, cmd heading: 283.670952 deg, new cmd heading: 283.604323 deg. 2jM%,UHeadingCmd: 4.949829 target range: 529.599976 and range: 529.60 m. jUe@jQjQjQiYhYhYhYhafafafarfabfmk5@ɛiB4 隝I 6mɚiItO=Ijisk;i<)e@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1639>  BDAT read: Tx time:21:17:25.0190 $Ping request sent.  nManaging dock network, ignoring radio surface power off Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:17:25.0182  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249452zK zOK h9K K K       I f6aw,ٺAy=hBEIIMIM5٢u< uA=9}Q }>yy }G٣@Gy > Nusing accuracyPremultiplier from confign49։?n4Y2 i`B?bCG;;n4?B yAñEZjFNOT Ignoring new targets: 529.60 m.BjJj ProNav: ac range: 529.599976 m, nav range: 553.605286 m, bearing: 195.074814 deg, approach rate: 0.035303 m/s, LOS rate: -0.061901 deg/s, cmd heading: 283.604317 deg, new cmd heading: 283.525657 deg. 2j)HeadingCmd: 4.948456 target range: 529.599976 and range: 529.60 m. jY@jjjihhh)h)f1f9f9rfAbfEN6@ɛmjBm- imRIq uɚqiqIu6O=I}eتi}nl;i}u/<)Y@)*F ?2F:FBF<2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504574G )<G B O5 >*J R="J a=^`gw,cٺAy  hB IeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753165Mb@Mb@Mb@ )Y/$?~jt?y?=TA )IDAyIIJ5٢6< B=9Q >    G٣ y > Nusing accuracyPremultiplier from config%n494݉?%n4Y9 i`B-?-:-ڡ-?bCH;w;n49 =yA9ZjamFNOT Ignoring new targets: 529.60 m.BjmmJjum ProNav: ac range: 529.599976 m, nav range: 553.616577 m, bearing: 195.048056 deg, approach rate: 0.026643 m/s, LOS rate: -0.063134 deg/s, cmd heading: 283.525660 deg, new cmd heading: 283.445390 deg. 2jO-HeadingCmd: 4.947055 target range: 529.599976 and range: 529.60 m. jGN@jjji Ih1h1h1h5xBf9f9f9rf9bf= 6@ɛ*jB\2 隭I ɚiIUO=IPi֚m;i&B<)GN@)jH1bH5p;*FM?2FI:FIBFM1JFIH>IC I6IIhBI =&I.I>D6I<:IFBIƭCJIƭCRIƓCZI =bI =jI;5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004318Gm f1<GA BI Om >0mw,pθٺA:u@Y:m@:`9:(l>y:H?U?@ ?SYo?K?`N_?o?ɨ:u@:b;:eCyFhBFIININH5٢V}̼ Vc=9V[Q V>XX ZG٣Xyb b> fNusing accuracyPremultiplier from configdjn49f≜?jn4Yf> if`BhjLn?f-cCf;f;f.n4p ryApZj FNOT Ignoring new targets: 529.60 m.Bj_Jj_% ProNav: ac range: 529.599976 m, nav range: 553.625488 m, bearing: 195.025194 deg, approach rate: 0.024770 m/s, LOS rate: -0.063548 deg/s, cmd heading: 283.445392 deg, new cmd heading: 283.376807 deg. 2j-s.-HeadingCmd: 4.945858 target range: 529.599976 and range: 529.60 m. j-yD@j1j1j1i1h1h1h9h9fAfAfIrfIbfM7@ɛ;jB^N 隭 I  ɚiIwO=I-i.Ln;i<)yD@)*FM?2FI:FQBFU55JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261345zK MK 9K K K  P$?IGu><G}rAG}rAGa By O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.utw,̵ٺAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.514799](_@Y]~n@]F9]=y]H\;?`V?`TF?Rx?็?Z?`?ɨ](_@]"g;]bCymhBmI-Mb@Mb@Mb@))) )))Y-V-?Q?y&1|y-|?-<-`-QA -5A)-?AI-tEA)y-3CAIEIE5٢U?= U2=9]Q ]>YY eG٣e@GyeJ e> uNusing accuracyPremultiplier from configq}o49u鉜?}o4YuE iu`B}?}::?uvcCu;u;u8o4 yAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 529.60 m.BjJj ProNav: ac range: 529.599976 m, nav range: 553.632874 m, bearing: 194.995588 deg, approach rate: 0.016038 m/s, LOS rate: -0.064291 deg/s, cmd heading: 283.376817 deg, new cmd heading: 283.288000 deg. 2j}0HeadingCmd: 4.944308 target range: 529.599976 and range: 529.60 m. j7@jjjihhhhxBfffrfbf@J7@ɛ%RjB- 6< )-I) -*ɚ1i1I5O=I5R`i=o;i=U<)=7@)9EQEUrAJuJuJqJqJu :Ju/:JqJqa@a@a@a@*F2F:FBF_5JFG-rA G-rAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764309 IG <)Q Q vG G B O% >A e Ya ym BH- >I- C I- 0II- hBI- =&I) .I- ?D6I- <:I- Fzw,ٺAygBIII#5٢% %`=9-Q ->)1 5G٣1y5 5> ENusing accuracyPremultiplier from config9Eo49=?Mo4Y=K i=`BIIM?=cC=X:=:=o4Q ]zAYZjFNOT Ignoring new targets: 529.60 m.BjJj ProNav: ac range: 529.599976 m, nav range: 553.638794 m, bearing: 194.972115 deg, approach rate: 0.016304 m/s, LOS rate: -0.064642 deg/s, cmd heading: 283.287997 deg, new cmd heading: 283.217579 deg. 2jt1HeadingCmd: 4.943079 target range: 529.599976 and range: 529.60 m. j-@jjjihhhhfffrfbfb7@ɛdjB-] 7I jdɚWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016493i I O=IiCo;i'&<)-@)*F2F:FBF5JFGH<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268983 I fzK oKK +9K K K BK qA:K w,h^ںA6\@Y6Jl@696=y6H2??e8Qj?x? ^? 9&?@ѽ?ɨ6\@6H;6cCyB hBBII^I^@5٢f7= fP=9fwQ:Q f>hh jG٣hyj3 n> zNusing accuracyPremultiplier from configt}o49v?o4YvQ iv`BC?vcCvǨJ J J 0J J L:J :J ـ3J G B O= >@w,?; ںAy=gB=I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772308 IMMb@Mb@Mb@III I)IYMRQ? G٣@Gy > Nusing accuracyPremultiplier from configo49\?o4Y4Y i`B"?:ڦ?:dC];;2o4 zAZjFNOT Ignoring new targets: 529.60 m.BjƝJjƝ ProNav: ac range: 529.599976 m, nav range: 553.647217 m, bearing: 194.916640 deg, approach rate: 0.004475 m/s, LOS rate: -0.068969 deg/s, cmd heading: 283.141476 deg, new cmd heading: 283.051177 deg. 2jU=HeadingCmd: 4.940175 target range: 529.599976 and range: 529.60 m. j@jjjihhh h dxBfffrfbf8@ɛEjBEߡd Y]$Ia e,ɚaiaIekTP=I竿i |r;i J<) @) E?>E>H>IC III&I.I>D6I<:IF*F?2F:FBF2JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024204GE I3<G B) OA w,o:ںA2 O@Y2`^@2,92=y2H ?1?R?Bx? ??`|? ?ɨ2 O@2߈;2bCyBgBBIIJIJ<5٢R| Rj=9Vv2:Q V>TT ZG٣XyZ ^> bNusing accuracyPremultiplier from config\bo49^E?fo4Y^^ i^`Bdff?^sdC^" ;^ ;^>o4l n zAlZj FNOT Ignoring new targets: 529.60 m.BjJj% ProNav: ac range: 529.599976 m, nav range: 553.648376 m, bearing: 194.893660 deg, approach rate: 0.003323 m/s, LOS rate: -0.065846 deg/s, cmd heading: 283.051181 deg, new cmd heading: 282.982240 deg. 2j%45HeadingCmd: 4.938972 target range: 529.599976 and range: 529.60 m. j5 @j1j1j1i1h1h1h9h9f9f9fArfAbfE9@ɛ jB x yj= )I y4ɚiIP=I.ir;i)?<) @)!*F?2F:FBFo0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.277275 IzKBIK9KKKRK%?JK%?G%F<GB O% > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:17:28.1174 % TRx dataTimestamp_ set to:1736371049.309694= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536706Ҕw,:TںAyMhBUIMb@Mb@Mb@ )YPn?y&1?Mb`y$?`e< 5A)>AIyBAII=5٢  <  )=9Q > G٣y > %Nusing accuracyPremultiplier from config!=o49%?=o4Y%f i%`BE"$?E:E򧿑E?%dC%T;%;%Oo4 yA B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 529.60 m.JK KKK"KJ-J-J)J)J-̶:J-/:J)J)Bj=JjEU ProNav: ac range: 529.599976 m, nav range: 553.648071 m, bearing: 194.861733 deg, approach rate: -0.000606 m/s, LOS rate: -0.063364 deg/s, cmd heading: 282.982251 deg, new cmd heading: 282.886470 deg. 2jU-]HeadingCmd: 4.937300 target range: 529.599976 and range: 529.60 m. j]]@jYjYjYiYhYhahahmuxBfififqrfqbfu9@ɛjBm\ 隥.I ?ɚiIP=IEibwt;iY<)]@)*Fy2Fy:FyBFyJF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780800 Q$?IG ><G G sAH} >Iy  Iy Iy I} =&Iy .Iy 6I} #<:I} FG B O >Ow,J nںA69@Y6I@696s=y6Hϩ?d?⿿@?7|?`Y???ɨ69@6;6aCyBgBBIIJIJv5٢R2 R|=9R"Q V ?TT VG٣TyZ Z ? bNusing accuracyPremultiplier from config\fo49^[ ?jo4Y^l i^`BhjHj?^dC^j;^WL;^[o4p ryApZj  FNOT Ignoring new targets: 529.60 m.BjAJjA- ProNav: ac range: 529.599976 m, nav range: 553.647461 m, bearing: 194.840228 deg, approach rate: -0.002013 m/s, LOS rate: -0.070927 deg/s, cmd heading: 282.886464 deg, new cmd heading: 282.821950 deg. 2j-BMHeadingCmd: 4.936174 target range: 529.599976 and range: 529.60 m. jM$@jQjQjihhhh!f)f)fYrfabfe9@Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 21:17:28.1174 LVL= 32752, 32753, 22834, 32755, AGC= 69, IDX= 352, 0.50,-3.035, 2.414,-2.306,-3.045, PHS= 0.098,-0.777, 0.735, RAW= 174.8, -0.9, CAL= 175.8, -8.7, ROT= 334.2, 8.7 uYgot valid direction response: 21:17:28.1174 LVL= 32752, 32753, 22834, 32755, AGC= 69, IDX= 352, 0.50,-3.035, 2.414,-2.306,-3.045, PHS= 0.098,-0.777, 0.735, RAW= 174.8, -0.9, CAL= 175.8, -8.7, ROT= 334.2, 8.7 }PDAT read: Bearing 334.2, 8.7 (Local) }~Local bearing/azimuth received: Bearing 334.2, 8.7 (Local) DAT read: Range 10 to 50 : 520.6 m (Round-trip 694.2 ms) speed 0.8 m/s ,DAT read: user:1640> BDAT read: Tx time:21:17:29.2191 $Ping request sent. Zp?&$%?'b8Վ)t?Iv<EIiCӿ_ u:publishing transmit ping time}Fpublishing direction and range info9Qp@2{f,[I?y )Ii )Ii Zp?&$%?'b8Վ)Ii*F?2F:FBFp0JFG *W<e Will construct direction to contact in vehicle frame from tetrahedron phase data.u JDAT read: TxSync time:21:17:29.2183 I G B O >zK K 9K K K  *2478767422/*&%$#  BK rA:K d⡶w,KںA2,@Y2;@2г92=y2Hv?Y??~?su?Y?`?ɨ2,@2<;2cCyR hBRIIZIZ5٢r< rF=9vQ v>tt vG٣z@Gyz} z> ~Nusing accuracyPremultiplier from config|o49~?o4Y~r i~`B  | ?~:eC~:~:~~io4>B yAEk4?k`2 k ksںA:k&DBkGDZkR@" DQ{Q@Qp@2{f,[I?JkCӿRk_ *%>KS(FYCK@"ܧ￑|}ÿ2e Ќ?"k*kkK ?kV, 2kBkk߿s" kBkP DkόW@ addTargetRange:: Added new target pos. range: 520.599976 m, deltaT: 25.965190 s, deltaX: -9.000000 m, approachRate: -0.346618 m/s, rangeRepo size: 4  Added new target pos. range: 520.599976 m, bearing: 188.759204 deg, lat: 36.899902 deg, lon: -122.114727 deg, deltaT: 25.965190 s, deltaX: -9.000000 m, approachRate: -0.346618 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 520.60 m.BjJj ProNav: ac range: 520.599976 m, nav range: 549.260559 m, bearing: 192.970427 deg, approach rate: 0.000000 m/s, LOS rate: -0.070927 deg/s, cmd heading: 282.821960 deg, new cmd heading: 282.731752 deg. 2jHeadingCmd: 4.934600 target range: 520.599976 and range: 520.60 m. j>@jjjih h h h fffrfD@bf s?ɛjB: 6I H;QɚiIߚQ=I%si%S~v;i%C<)%>@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.E-B=*F?2F:FBFo0JFJM JM JM 1JI JM :JM :JM 3JI G F<} Will construct direction to contact in vehicle frame from tetrahedron phase data. I fG B O >eިw,2ںA2@Y2*"@2d92>y2Ha??3$`p?:z?ܢ?k??ɨ2@2Q8;2aCy>hB>IMb@Mb@Mb@ )YuV?Mb?~jtxyr(?<Ļ Q4A)>AIyAAI%I%5٢Q (=9KպQ > G٣yԻ > Nusing accuracyPremultiplier from configo49?o4Yz i`B(?:z?eCk;j;yzo4 yAZjIUFNOT Ignoring new targets: 520.60 m.Bj]RJj]R} ProNav: ac range: 520.599976 m, nav range: 549.269653 m, bearing: 192.937093 deg, approach rate: 0.019001 m/s, LOS rate: -0.069646 deg/s, cmd heading: 282.731747 deg, new cmd heading: 282.631746 deg. 2j}0?HeadingCmd: 4.932855 target range: 520.599976 and range: 520.60 m. jٝ@jjjihhhhOxBjHbH<fffrfAbfE?H>IC III =&I.I?D6I<:IsFɛjB x =I \ɚiI\Q=I׬iw;iW/<)ٝ@)E5`k=*F?2F:FBFJF-Will construct direction to contact in vehicle frame from tetrahedron phase data.G =<G ?G ?Gi By O >zw,RںA:@Y:@:[9:T>y:H@!??` \':?4~???.?ɨ:@:y;8yfhBfIIrIr5٢z%= zY=9zQ z>|| ~G٣|y疻 >  Nusing accuracyPremultiplier from config o49 ?o4Y 3 i `B%? eC KG; G; o4) -yA)ZjQUFNOT Ignoring new targets: 520.60 m.Bje8Jje8u ProNav: ac range: 520.599976 m, nav range: 549.276367 m, bearing: 192.911308 deg, approach rate: 0.018123 m/s, LOS rate: -0.069600 deg/s, cmd heading: 282.631753 deg, new cmd heading: 282.554399 deg. 2ju?}HeadingCmd: 4.931505 target range: 520.599976 and range: 520.60 m. j}Ν@jyjyjihhhhfffrfbf`6?ɛkBa ?I HeɚiI_[R=Ii(Zx;i",<)Ν@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data. IzK :MK 9K K K RK?JK ?*F?2F:FBFJFU Will construct direction to contact in vehicle frame from tetrahedron phase data.GE (<G9 BA O] >2w,ںA6+@Y6@696x=y6H?@1?+j*?i?Z?t??ɨ6+@6[;6bCy>hB>IMMb@Mb@Mb@III I)IYMJ +?yy }G٣}@Gy > Nusing accuracyPremultiplier from configo49~"?o4YM i aB(?:}?fCs;C;Uo4 yAZjFNOT Ignoring new targets: 520.60 m.Bj`Jj` ProNav: ac range: 520.599976 m, nav range: 549.280212 m, bearing: 192.882367 deg, approach rate: 0.009083 m/s, LOS rate: -0.068358 deg/s, cmd heading: 282.554407 deg, new cmd heading: 282.467587 deg. 2j;HeadingCmd: 4.929989 target range: 520.599976 and range: 520.60 m. jy@jjji h h hh_xBfffrfbfZ?ɛM'kBM܈ IUCIQ UBoɚQiQIUR=I]5i]=y;i]<'<)]y@)aJiJi*F%?2F!:F!BF%0JF! IWill construct direction to contact in vehicle frame from tetrahedron phase data.GM2<H% >I!  I% <II% hBI% =&I! .I! 6I% <:I% FBIEɮCJIEɮCRIAZIE =bIE =jIEɚ5G9 BI Om >!w,TںA6 @Y6`@696=y6H`!?@?忿* /?Q??ӆ?ʿ?ɨ6 @6;4yR&hBRIIZIZ5٢z= zS=9z:Q ~>|| G٣y9 >  Nusing accuracyPremultiplier from config o49 '?o4Y Ҏ %Will construct direction to contact in vehicle frame from tetrahedron phase data.i aB)-y-? TfC S; \; ۣo41 =WyA9UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 520.60 m.BjmJjm} ProNav: ac range: 520.599976 m, nav range: 549.283875 m, bearing: 192.855790 deg, approach rate: 0.009462 m/s, LOS rate: -0.068671 deg/s, cmd heading: 282.467582 deg, new cmd heading: 282.387851 deg. 2j<HeadingCmd: 4.928598 target range: 520.599976 and range: 520.60 m. j@jjjihhhhfffrfbfkJ@ɛ=kBw EI ٯyɚiI,S=Ici=7z;i><)@)*Fq2Fq:FqBFu0JFqJJJ0JJ:J!:Jـ3JJ[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.zK KK +9K K K (¶w,L ۺA^)@Y^@^9^%=y^Ho??@p`^-F?Uׄ?61?`v ?@?ɨ^)@^;^dCyf+hBfIIrIr5٢vg.< zJ=9zqQ z>|| ~G٣|y" >  Nusing accuracyPremultiplier from config o49 ,?o4Y  i !aB? fC  ; ~ ; o4%=B %@yA%EZjIMFNOT Ignoring new targets: 520.60 m.BjUHJjUHe ProNav: ac range: 520.599976 m, nav range: 549.287415 m, bearing: 192.828054 deg, approach rate: 0.008831 m/s, LOS rate: -0.069191 deg/s, cmd heading: 282.387860 deg, new cmd heading: 282.304652 deg. 2je=mHeadingCmd: 4.927145 target range: 520.599976 and range: 520.60 m. jm-@jijijiiihihqhyhyfyfyfrfbf`z@ɛSkBp  JI ɚiIS=Ii)7{;iD:<)-@)E]>E>*F?2F:FBF/1JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.489229GUܸ<<GB9OU> I f Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738146@ɶw,-&ۺAG(4 NYLyNBߖ@Y@w9t=yH!J??q@T/`?\?~?@?|?ɨߖ@A;騽bCy:hBIZH)RH-@AH>IC ICIIhBI =&I.I>D6I<:IFMb@Mb@Mb@ )YS㥛? G٣@Gy4 > Nusing accuracyPremultiplier from configo493?o4Y i-aB5&?:먿?fC;(;xo4 yAEZj  FNOT Ignoring new targets: 520.60 m.BjJj% ProNav: ac range: 520.599976 m, nav range: 549.296326 m, bearing: 192.794174 deg, approach rate: 0.017789 m/s, LOS rate: -0.067634 deg/s, cmd heading: 282.304641 deg, new cmd heading: 282.203003 deg. 2j%9-HeadingCmd: 4.925372 target range: 520.599976 and range: 520.60 m. j-@j1j1j1i1h9h9hAhENxBfAfAfArfIbfM@}@ɛuokB}_ y}BMIy }ɚyiI?T=I̭i?|;i.C<)@)*FI2FI:FIBFM0JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991178Gm =<Gu ?Gu ?GA BQ Jm Jm Jm 1Ji Jm :Jm y6:Jm 3Ji Jm <Jm <Jm ;Jm ;O >u жw,q8@ۺA6d˖@Y6ڝ@6߾96=y6H@o? ?:X x3@na?@ ? ???ɨ6d˖@6;6aCyBGhBBIIJIJ5٢R+= R=9V6IQ V?TT VG٣TyZ Z? fNusing accuracyPremultiplier from config\jo49^7?jo4Y^ע i^5aBhj;j?^gC^\:^:^o4p rxApZj  FNOT Ignoring new targets: 520.60 m.BjљJjљ% ProNav: ac range: 520.599976 m, nav range: 549.301270 m, bearing: 192.774089 deg, approach rate: 0.016551 m/s, LOS rate: -0.067239 deg/s, cmd heading: 282.203008 deg, new cmd heading: 282.142755 deg. 2j%8-HeadingCmd: 4.924320 target range: 520.599976 and range: 520.60 m. j-@j)j)j1i1h1h1h1h9f9f9fArfAbfM= @ɛkB/ lNI :ɚiIXT=I Lﭿi ;};i a,<) @)  IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241959*F2F:FBFp5JFzK&(KK9KKKGY=<GBO >U Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496297t;ֶw,#ZۺA:3@Y:ȝ@: '9:=y:H???`6@"??ߤ?F%? %?ɨ:3@:G;:dCyNAhBNIUMb@Mb@Mb@QQQ Q)QYUw/? G٣yB > Nusing accuracyPremultiplier from configo49r=?o4Y iCaB&?:?egCE;;o4 xAZjFNOT Ignoring new targets: 520.60 m.BjJj ProNav: ac range: 520.599976 m, nav range: 549.307617 m, bearing: 192.744521 deg, approach rate: 0.014646 m/s, LOS rate: -0.068221 deg/s, cmd heading: 282.142766 deg, new cmd heading: 282.054062 deg. 2jG; HeadingCmd: 4.922772 target range: 520.599976 and range: 520.60 m. j Y@j j j i hhhh7xBfff!rf!bf%`X @ɛUkBUJS Y]UIY ]rɚYiYI]T=Ie"ieu~;im&<)mY@)iEy*F!2F!:F!BF-`5JF)"G1G5= IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:17:32.3049 TRx dataTimestamp_ set to:1736371053.592748checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747071G-(<H]>I]C I]UII]iBI] =&IY.I]=D6I]<:I]FG B O- >]cܶw,sۺAf@Yf޷@f%/9f_=yfHFr? ? >9 ?͐???િ?ɨf@f<;dyrBhBp~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.998247IzIzH5٢B; Q=9׵Q >!! %G٣%@Gy% %> 5Nusing accuracyPremultiplier from config)=o49-B?=o4Y- i-PaB9==?-gC-2 ;- ;-o4A MxAMEeB*** querying acoustic contact ***jajaZjq}FNOT Ignoring new targets: 520.60 m.Bj}BJj}B ProNav: ac range: 520.599976 m, nav range: 549.312927 m, bearing: 192.718162 deg, approach rate: 0.013672 m/s, LOS rate: -0.067869 deg/s, cmd heading: 282.054055 deg, new cmd heading: 281.974978 deg. 2jO:HeadingCmd: 4.921392 target range: 520.599976 and range: 520.60 m. j |@jjjihhhhfffrfbfF<@ɛkB [I 뗼ɚiI sU=I>Oi~;i<) |@)*Fq2Fq:FyBF}P5JFyJeJeJaJaJe;:Je;:JaJaJeM)<JeN)<Je;Je; IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 511.2 m (Round-trip 681.7 ms) speed 0.5 m/s ,DAT read: user:1641> BDAT read: Tx time:21:17:33.4191 $Ping request sent.zK :IK 9K K K Iw,XʍۺA2u@Y2˯@2592=y2H@TR??D : +??@ɳ?W?#?ɨ2u@2u;2bCyr_hBrII I 5٢J= %J=9%pcQ %>)) -G٣)y- -> =Nusing accuracyPremultiplier from config1Eo495G?Eo4Y5J i5^aBAEE?5gC5;5%;5o4I UkxAQ addTargetRange:: Added new target pos. range: 511.200012 m, deltaT: 4.285878 s, deltaX: -9.399963 m, approachRate: -2.193241 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 520.60 m.BjJj ProNav: ac range: 520.599976 m, nav range: 549.318359 m, bearing: 192.690678 deg, approach rate: 0.013447 m/s, LOS rate: -0.068033 deg/s, cmd heading: 281.974989 deg, new cmd heading: 281.892539 deg. 2j:HeadingCmd: 4.919953 target range: 520.599976 and range: 511.20 m. jAp@jjjihhhhfffrf@3@bf %?ɛkB YI ɚiIU=Ii~i;i%}&<)%Ap@))-Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:21:17:33.4183 *F2F:FBF5JFG G B O > I f Will construct direction to contact in vehicle frame from tetrahedron phase data.uw,ۺA6@Y6휝@6=96mP=y6H?? >>?`=b? ?hO??ɨ6@6;6dCyjmhBnIMb@Mb@Mb@H>IC IhII1iBI =&I.Iqy }G٣yy} }> Nusing accuracyPremultiplier from configp49M?p4Y ipaB#?:?2hC$;";cp4 1xAZjFNOT Ignoring new targets: 520.60 m.BjEJjE ProNav: ac range: 520.599976 m, nav range: 549.324524 m, bearing: 192.660858 deg, approach rate: 0.013760 m/s, LOS rate: -0.066563 deg/s, cmd heading: 281.892535 deg, new cmd heading: 281.803074 deg. 2j6HeadingCmd: 4.918392 target range: 520.599976 and range: 511.20 m. jwc@jjjihhhhDxBfff rf bf?ɛ=kB=ȝ 9=r\I9 EPڣɚAiAIEYV=IMiU?;iU<)Uwc@)Y*F2F:FBF3JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.Gf1<G B O J J J J J +:J 5K:J J J 2<J 2<J ;J ;gmw,ۺA>|@Y>9@>E9>!=y>H`&?@Q?@@ALM?B٘???\?ɨ>|@>c;>bCyJkhBNIIVkIV5٢^o ^h=9bϵQ b>`` bG٣b@Gyf f> jNusing accuracyPremultiplier from confighnp49j9R?rp4Yj^ ijaBpr9r?jlhCj;j(;jp4t v:xAzEZj%FNOT Ignoring new targets: 520.60 m.Bj%&Jj%&= ProNav: ac range: 520.599976 m, nav range: 549.329041 m, bearing: 192.637367 deg, approach rate: 0.012788 m/s, LOS rate: -0.066510 deg/s, cmd heading: 281.803087 deg, new cmd heading: 281.732616 deg. 2j=6EHeadingCmd: 4.917162 target range: 520.599976 and range: 511.20 m. jEdY@jAjAjAiIhIhIhIhIfQ ]S$?IYfQfarfabfeF?ɛmkBmn6uWill construct direction to contact in vehicle frame from tetrahedron phase data. 隕}bI "bɚiI1V=Iٮiv;i|<)dY@)*Fm?2Fi:FiBFmo0JFizK>`JK9KKK   RK ?JK?Go[<G ?GGa Bq O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.*w,iۺA>\k@Y>z@>*)M9>&>=y>H ?@?X~C?;?f?o??ɨ>\k@>:; G٣y > Nusing accuracyPremultiplier from configp49W?p4Yi iaBr"?:8?hC;F;#p4 wAZj1=FNOT Ignoring new targets: 520.60 m.Bj=閺Jj=閺M ProNav: ac range: 520.599976 m, nav range: 549.336914 m, bearing: 192.608596 deg, approach rate: 0.018053 m/s, LOS rate: -0.065968 deg/s, cmd heading: 281.732626 deg, new cmd heading: 281.646315 deg. 2jU5UHeadingCmd: 4.915656 target range: 520.599976 and range: 511.20 m. jU M@jYjYjYiYhYhYhahepxBfafafirfibfm?ɛ lB`檽 隝dI UɚiI=W=I6 iڀ;im<) M@) iImf*Fm?2Fi:FqBFqJFqWill construct direction to contact in vehicle frame from tetrahedron phase data.աiաH>I I{IIPiBI =&I.I;D6I޲<:I|FGMRK <G! B1 OM >w,7ۺA6e@Y6tt@6 Q96=y6HLh?2?<`D@? ɚ? .?/$??ɨ6e@6K;6`CyRhBRIIZIZK5٢bS= b]=9bdd fG٣dyjy j>Will construct direction to contact in vehicle frame from tetrahedron phase data. ]Nusing accuracyPremultiplier from configlep49n\?ep4Yn_ inaBaeRe?nhCnAzK] LK] 9KY K] K]  BKm qA:Ki w,ܺAB;`@YBo@BQ9BÝ=yBH1U??̿ E? `?`h/?`|?Ͻ?ɨB;`@B:;BbCyJhBJIIVIV5٢^خ ^K=9^ҷQ ^>`` bG٣b@Gyf º j> vNusing accuracyPremultiplier from configp~p49rb?p4Yr iraB f ?r0iCr;rq;r>p4! %wA!ZjI]FNOT Ignoring new targets: 520.60 m.BjeЛJjeЛ ProNav: ac range: 520.599976 m, nav range: 549.350647 m, bearing: 192.557512 deg, approach rate: 0.018338 m/s, LOS rate: -0.068112 deg/s, cmd heading: 281.573319 deg, new cmd heading: 281.493070 deg. 2j:HeadingCmd: 4.912981 target range: 520.599976 and range: 511.20 m. j$7@jjjihhhhfffrfbfG@ɛ;lBᴽ mI ɚiIn)X=Ibi;it<)$7@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269256*F%?2F):F)BF)JF)J]J]J]2JYJ]:J]mQ:J]c3JYam@am@am@am@Gu<G}qAGyGI BQ O} > I II  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520538 w,J(ܺAW@Yf@SS9=yH3??`< fG ??rg???ɨW@';`CyEhBEIH>I IIIniBI =&I.I G٣y > Nusing accuracyPremultiplier from configp49Jh?p4YL iaB{ ?:?ziCX;V;!Op4 wAZjFNOT Ignoring new targets: 520.60 m.BjEJjE ProNav: ac range: 520.599976 m, nav range: 549.361938 m, bearing: 192.527362 deg, approach rate: 0.024602 m/s, LOS rate: -0.065689 deg/s, cmd heading: 281.493078 deg, new cmd heading: 281.402632 deg. 2jS4HeadingCmd: 4.911402 target range: 520.599976 and range: 511.20 m. j5*@jjj!i!h!h!h)h-xBf)f)f1rf1bf=0@ɛmWlBm qupIq uP ¼ɚqiyI}X=I}i2;i,Z#<)5*@)*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772062G )<G B O >'w,zBܺABJ@YBY@BV9Bj=yBH??j@I ?ı?Mڪ?>?`Ի?ɨBJ@B{;BbCyNhBRIIXIX٢bM>= bm=9b'Q b?dd fG٣dyj j? nNusing accuracyPremultiplier from config pItlvp49nl?zp4Yn inaBxz;z?niCnp;np;n)[p4 RwAZj15FNOT Ignoring new targets: 520.60 m.Bj=Jj=M ProNav: ac range: 520.599976 m, nav range: 549.370178 m, bearing: 192.504917 deg, approach rate: 0.023866 m/s, LOS rate: -0.065009 deg/s, cmd heading: 281.402619 deg, new cmd heading: 281.335284 deg. 2jMv2UHeadingCmd: 4.910227 target range: 520.599976 and range: 511.20 m. jU @jQjQjQiQhYhYhahafafafarfibfm`@ɛklBý 隥qI ^ǼɚiI7'Y=IiG;ix<) @)EYWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026221*F2F:FBF0JFG GsAzKEGLKE9KAKEKE  G59)<G B O5 >= Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2796431w,9\ܺAnA@Yn-Q@nY9n=ynH?`4?b$(K`?.?@:?`E!?c?ɨnA@nvv;n`Cy||Mb@Mb@Mb@ )YT㥛 ?{Gz?y!?#=nNA 3A):AIDAy(@AII592ݺQ > G٣@Gy > Nusing accuracyPremultiplier from configp49r?p4Y iaBY!?:䦿?iC>;;ejp4 SwAEJ1J5@AJEJEJE0JAJE:JET:JEـ3JAZjQUFNOT Ignoring new targets: 520.60 m.Bj]Jj] ProNav: ac range: 520.599976 m, nav range: 549.383545 m, bearing: 192.476352 deg, approach rate: 0.030221 m/s, LOS rate: -0.064581 deg/s, cmd heading: 281.335273 deg, new cmd heading: 281.249581 deg. 2jI1HeadingCmd: 4.908731 target range: 520.599976 and range: 511.20 m. jS@jjjihhh!h-{xBf)f)f)rf)bf5@/ @ɛlB$t 隭xI ZμɚiIY=IiƼ;iQ#<)S@ T$?I)) u~GWill construct direction to contact in vehicle frame from tetrahedron phase data.2DAT read: R1:17:36.5020 Punknown deviceResponse_: R1:17:36.5020 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529906*F2F:FBFJF Yy~BH>IC IIIiBI =&I.I;D6I<:IFG )<G ?G >G B O >w,}vܺA60@Y6+@@6-<^960=y6H?@?<` N iD?`?ī?^H?W?ɨ60@6;͇;6bCyBhBBIIJIJ5٢RL< R<9R:Q V>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\bp49^x?bp4Y^ i^aBdf(f?^3jC^ ;^;^Ewp4rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.780234=;B =wAEEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 520.60 m.BjJj ProNav: ac range: 520.599976 m, nav range: 549.394531 m, bearing: 192.452209 deg, approach rate: 0.029067 m/s, LOS rate: -0.063875 deg/s, cmd heading: 281.249568 deg, new cmd heading: 281.177141 deg. 2jX/HeadingCmd: 4.907467 target range: 520.599976 and range: 511.20 m. j @jjjihhhhfffrfbf @@ɛlBǽ 隥8{I `ԼɚiIk6Z=Ii;iq<) @)*F2F:FBF0JF IfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032954GG B O >zK TtMK 9K K K        BK rA:K T#w,K[ܺAB&@YB6@Bca9B>=yBHs?;?@YQO !?қ? 2?xi? x?ɨB&@B⮇;@y^hB^IIfIf)5٢n8 nF=9rQ r>pt vG٣tyv8C v> ~Nusing accuracyPremultiplier from configx~p49z}?p4Yz; izbBP?zujCz ;z ;zp4  2wAZjAUFNOT Ignoring new targets: 520.60 m.BjefJjef ProNav: ac range: 520.599976 m, nav range: 549.406555 m, bearing: 192.425229 deg, approach rate: 0.030469 m/s, LOS rate: -0.068368 deg/s, cmd heading: 281.177141 deg, new cmd heading: 281.096201 deg. 2j;HeadingCmd: 4.906054 target range: 520.599976 and range: 511.20 m. je@jjjihhhhfffrfbf@ɛlBĽ I ۼɚ i I Z=I5Ei5n;i5H0<)5e@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 21:17:36.5020 LVL= 31536, 32657, 17394, 32755, AGC= 68, IDX= 418,-0.25, 1.552, 0.567, 2.286, 1.573, PHS= 0.067,-0.959, 0.710, RAW= 172.4, 2.5, CAL= 173.0, -6.1, ROT= 337.0, 6.1 ]Ygot valid direction response: 21:17:36.5020 LVL= 31536, 32657, 17394, 32755, AGC= 68, IDX= 418,-0.25, 1.552, 0.567, 2.286, 1.573, PHS= 0.067,-0.959, 0.710, RAW= 172.4, 2.5, CAL= 173.0, -6.1, ROT= 337.0, 6.1 mPDAT read: Bearing 337.0, 6.1 (Local) u~Local bearing/azimuth received: Bearing 337.0, 6.1 (Local) DAT read: Range 10 to 50 : 509.0 m (Round-trip 678.7 ms) speed 0.4 m/s *F?2F,DAT read: user:1642> BDAT read: Tx time:21:17:37.6192 $Ping request sent.P1¿|Tk{-m?yC0{ C)IDiL7=u5?@@¸2= ,>A@)^ ڽI`7@i^ =4v{?NX?O?)\j?I4iS8ܿ/:publishing transmit ping timeFpublishing direction and range info9>P1¿|Tk{-m?y )Ii )Ii4v{?NX?O?)IiJ]J]JYJYJ]:J]W:JYJY I G jx<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.*w, MܺAZ@YZ"@Zg9ZU=yZH`2$?`4?R S@?#?߬?^? ?ɨZ@ZZ;XyfhBfIjH1bH5<H=>I9 I=II=iBI= =&I9.I96I=<:I=FMb@Mb@Mb@ )Y!rh?ˡE?Mb`yl'?'= 1A)ICAy?AII+5٢< &=9T/Q > G٣@Gyu > Nusing accuracyPremultiplier from configp49ׄ?p4Y ibB'?:?jC; ;;p4 vAk%#w?k%(y k! k%ܺA:k%CBk%CZk%1L@"%TFR}3N~1U@%>P1¿|Tk{-m?Jk%S8ܿRk%/*%4Lĺ]-8 NL?7@%]1~Q_b?"k%j*k%k%IU?k%*v} 2k%ۢBk%d?k%" k%OBk%Dk%&R@ addTargetRange:: Added new target pos. range: 509.000000 m, deltaT: 4.289923 s, deltaX: -2.200012 m, approachRate: -0.512833 m/s, rangeRepo size: 4  Added new target pos. range: 509.000000 m, bearing: 182.725387 deg, lat: 36.900080 deg, lon: -122.114232 deg, deltaT: 8.575801 s, deltaX: -11.599976 m, approachRate: -1.352641 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 509.00 m.BjJj- ProNav: ac range: 509.000000 m, nav range: 522.093811 m, bearing: 188.137987 deg, approach rate: 0.000000 m/s, LOS rate: -0.068368 deg/s, cmd heading: 281.096189 deg, new cmd heading: 280.990265 deg. 2j)-HeadingCmd: 4.904205 target range: 509.000000 and range: 509.00 m. j5@@j1j1j1iQhQhYhYh]hxBfYfafarfe@bfe?ɛlB# I ɚiI\[=IjiՃ;iF<)@@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG <G sAG sA I G B O- >Jj1w,ܺA6@Y6I @6*7n96=y6H?7"?@rcVx?a?`­?ֽ?@7?ɨ6@6^;6aCyBhBB&IIRuIR5٢V< Zr=9ZQ Z?\\ ^G٣\ybP b? fNusing accuracyPremultiplier from configdjp49f?jp4Yf if$bBhnn?fkCf ;f ;fp4p rvApZj  FNOT Ignoring new targets: 509.00 m.BjJjuWill construct direction to contact in vehicle frame from tetrahedron phase data.  ProNav: ac range: 509.000000 m, nav range: 522.119202 m, bearing: 188.114101 deg, approach rate: 0.081089 m/s, LOS rate: -0.076281 deg/s, cmd heading: 280.990267 deg, new cmd heading: 280.918612 deg. 2j gQHeadingCmd: 4.902955 target range: 509.000000 and range: 509.00 m. j@jjj!i!h!h!hIhIfIfIfQrfQbfU` ?ɛ lB bܽ  䄿I  2ɚiI[=Iei% ;ȉ;)@)zKMMKh9KKK     ",6=EUn}|ztrnhdb`\ZWORK?JK ?*FQ2FY:FYBF]1JFY- Will construct direction to contact in vehicle frame from tetrahedron phase data.G jx<Gy B O5 >Ő7w,fܺA6@Y6!@6%s96=y6H?)?0@RYhD??#`?Ƽ?`?ɨ6@6MD;4yBhBF+IMb@Mb@Mb@ )YuV?Ya eG٣aye9 e> uNusing accuracyPremultiplier from configi=p49mN?Ep4Ym3 im8bBM(?M:MfM?mHkC YIYmE>Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fa2Fa:FiBFmo5JFiG}sA GyHaIa IeIIeiBIe =&Ia.Ia6Ie<:IeFG 1X<GY Bi O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.m=w,ܺA6Vҕ@Y6@6|96(=y6H`%?,?]?? {?`&?`?ɨ6Vҕ@6Z;6bCy>hBB:IIJaIJ5٢RZo= RV=9RQ R>TT VG٣V@GyZ Z> ^Nusing accuracyPremultiplier from config\bp49^h?bp4Y^ i^JbBdf̩f?^kC^2:^:^ؾp4h jCvAjE~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 509.00 m.BjഺJjഺ% ProNav: ac range: 509.000000 m, nav range: 522.174561 m, bearing: 188.056352 deg, approach rate: 0.074725 m/s, LOS rate: -0.079066 deg/s, cmd heading: 280.827326 deg, new cmd heading: 280.745373 deg. 2j% Y-HeadingCmd: 4.899931 target range: 509.000000 and range: 509.00 m. j-<̜@j)j)j)i1h1h1h1h9f9f9f9rfAbfE)?ɛ mB6ݽ 15I1 =Vɚ9i9I= ]=IE{iEi;iE;)E<̜@)I*F 2F :F BF 5JF  MU$?IMfWill construct direction to contact in vehicle frame from tetrahedron phase data.թiխAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GU3V;GU ?GU?G B O5 >zK} :NK} 9Ky K} K} IGUjvwcXOFA:64/1/-.,*+''%$$!"    /Dw,kݺABŕ@YB ՜@BTK9B=yBH` ?k-?@ _?? ?`??ɨBŕ@B%͉;B`CyJhBJDIIRIRH5٢Z!= ZI=9^Q ^>\` bG٣dyjw j> zNusing accuracyPremultiplier from configt p49vߙ? p4Yv iv^bB?vkCv;v0;v1p4! %vA)ZjYeFNOT Ignoring new targets: 509.00 m.BjuJju} ProNav: ac range: 509.000000 m, nav range: 522.202148 m, bearing: 188.026892 deg, approach rate: 0.066550 m/s, LOS rate: -0.071061 deg/s, cmd heading: 280.745364 deg, new cmd heading: 280.656989 deg. 2jCHeadingCmd: 4.898388 target range: 509.000000 and range: 509.00 m. j@jjjihhhhfffrfbfU@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982482ɛ:mB<Ͻ 隥I JɚiI]=IAi;i;)@)*FM?2FQ:FQBF]35JFY IIIG O; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235188G B O >H] >IY  I] II] iBI]  =&IY .IY 6I] <:I] FJw,Ȕ-ݺA2@Y2lɜ@2cV92}K=y2H4?@-?F`?S?@ (?@:?`?ɨ2@2;2^CyniBnSIprAMb@Mb@Mb@ )YHzG?+?~jth?y=*?=D;LA 1A)6AICAy=>AIIe5٢[= 8=9mQ > G٣y R > Nusing accuracyPremultiplier from configp49ٟ?p4Y! itbB*?:?lCM;;p4 uAZj)FNOT Ignoring new targets: 509.00 m.BjJj ProNav: ac range: 509.000000 m, nav range: 522.232849 m, bearing: 187.994990 deg, approach rate: 0.070551 m/s, LOS rate: -0.073308 deg/s, cmd heading: 280.656981 deg, new cmd heading: 280.561280 deg. 2j>I HeadingCmd: 4.896718 target range: 509.000000 and range: 509.00 m. j 걜@j j jihhhhjxBfffrfbf%4m@ɛTmBN~ٽ 隝ĈI 4ɚiI0^=I%wi-T;i-Ay;)-걜@))*F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487247G ;JK3 KA.KK"KJA JE JE 0JA JA JE wR:JE ـ3JA JE 2<Qw,fGݺA:@Y:渜@:9:=y:H@?``0? U`LcP[?@#?Xs?`K??ɨ:@:,;:aCyF)iBFcIIRIR5٢V= Z_=9ZpMQ Z>\\ ^G٣^@Gyb b> fNusing accuracyPremultiplier from configdjp49fˤ?jp4Yf6( ifbBhrv?fVlCfŧ;f;fip4  5uA Zj)5FNOT Ignoring new targets: 509.00 m.=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.738680BjEJjM ProNav: ac range: 509.000000 m, nav range: 522.258057 m, bearing: 187.968367 deg, approach rate: 0.067921 m/s, LOS rate: -0.071733 deg/s, cmd heading: 280.561276 deg, new cmd heading: 280.481410 deg. 2jDHeadingCmd: 4.895324 target range: 509.000000 and range: 509.00 m. j@jjjihhhhfffrfbf`0F@ɛlmB 隥iI uɚiI^=IpiWԄ;i޼;)@)*F2F:FBFo0JFzKEMKE]9KAKEKE  RKU>JKU>GGrAGrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990349Gi B O >Ww,MaݺA:@Y:Y@:J9:y=y:H |K? 2?,f@{e&?@X?A?`8?@.?ɨ:@:|;:`CyF7iBFlIJxJxMMb@Mb@Mb@III I)IYM?+?I +?yM,?IM94    G٣y䁻 > Nusing accuracyPremultiplier from config%p49Ѫ?%p4Y/ ibB--?-:-x-?lC;;p41 =tA9ZjamFNOT Ignoring new targets: 509.00 m.BjuJju ProNav: ac range: 509.000000 m, nav range: 522.288269 m, bearing: 187.935419 deg, approach rate: 0.067994 m/s, LOS rate: -0.074146 deg/s, cmd heading: 280.481418 deg, new cmd heading: 280.382580 deg. 2jKHeadingCmd: 4.893599 target range: 509.000000 and range: 509.00 m. j]@jjjihhhhxBfffrfbf @ɛmB*ݽ ≿I / ɚiIS_=Iݱi;i;)]@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.243775*FY2FY:FYBFaJFaH>I IIIjBI&I.I6I)<:IFBIũCJIũCRIœCZI =bI =jI!X5GE?;G! B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494701g^w,{ݺANp@YN@NU9NY=yNH?8?0 k@?$?P?@q?`?ɨNp@N;N_CyZTiBZ~IIbwIb5٢j= j`=9nܻQ n>pp rG٣pyrh v> zNusing accuracyPremultiplier from configtzq49v?~q4Yv<6 ivbB"?vlCvazK rLK h9K K K ew, ݺA>"b@Y>yq@> 9>Uh=y>Hj?`';?@T@mW?`]??`ȇ??ɨ>"b@>{;>bCyFhiBJIIRIR5٢ZC= ZL=9Zm&Q ^>\\ ^G٣^@Gyb b> fNusing accuracyPremultiplier from configdjq49fִ?jq4Yf&= ifbBln\n?f'mCf. ;fq ;fq4p r2tArEZj!-FNOT Ignoring new targets: 509.00 m.Bj=ʳJj=ʳ ProNav: ac range: 509.000000 m, nav range: 522.337097 m, bearing: 187.879145 deg, approach rate: 0.067753 m/s, LOS rate: -0.078593 deg/s, cmd heading: 280.302112 deg, new cmd heading: 280.213753 deg. 2jWHeadingCmd: 4.890653 target range: 509.000000 and range: 509.00 m. j:@jjjihhhhfff rf)bf- @ɛUmBU4H Q]RIY ]ɚYiYI]`o`=Ie>ień;iep]*;):@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.000288*FM?2FI:FQBFQJFQ*J "J p= IG; ) I Y y BG B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=4.251155H >I  I II NjBI &I .I 6I <:I Fu)kw, ѮݺAFK@YF[@FB=9FS=yFH ;?>? `p?@Q^?????ɨFK@Fe%;F`CyNiB^IUMb@Mb@Mb@QQQ Q)QYUsh|??+?/$?yU)?QU)) -G٣)y-|ǻ 5> Nusing accuracyPremultiplier from configq49?q4YD ibB\*?:ѫ?umC;(;#q4 sAZjAFNOT Ignoring new targets: 509.00 m.BjJj ProNav: ac range: 509.000000 m, nav range: 522.364746 m, bearing: 187.845968 deg, approach rate: 0.058523 m/s, LOS rate: -0.070220 deg/s, cmd heading: 280.213756 deg, new cmd heading: 280.114231 deg. 2j@MHeadingCmd: 4.888916 target range: 509.000000 and range: 509.00 m. jMq@jIjIjIiQhQhQhQhUxBfYfYfYrfYbfe<@ɛ-mB-.Nؽ )-I) 5$bɚ1i1I5`=I=pwi=.;i=B:)=q@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.502509*F?2F:FBFJFJ5 J1 J1 J1 J5 ;J1 J1 J1 J5 ?@<J5 ?@<J1 J1 V$?I GY G1 BA O] >rw,ݺA6i>@Y6M@65966=y6H?w@?`r?@?`"?`? ?ɨ6i>@6$$;6aCy>iBBIIFxIF5٢R= Re=9R1Q R>TT VG٣TyV} Z> ^Nusing accuracyPremultiplier from config\fq49^?fq4Y^J i^cBdff?^mC^/;^B;^/q4l nisAlWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.754389ZjFNOT Ignoring new targets: 509.00 m.BjJj ProNav: ac range: 509.000000 m, nav range: 522.385376 m, bearing: 187.820900 deg, approach rate: 0.059380 m/s, LOS rate: -0.072151 deg/s, cmd heading: 280.114227 deg, new cmd heading: 280.039026 deg. 2jFHeadingCmd: 4.887603 target range: 509.000000 and range: 509.00 m. j>g@jjjihhhhfffrfbf@B@ɛumBu uo=uIq }!@ɚyiyI}Ga=Isi+v;i:)>g@)Ee>E>*Fe?2Fa:FaBFe0JFa"Gm=Gm=zKJKKKKG;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.006361Ga Bi O >?xw,ݺAV-@YVg<@V9VZ=yVH`?@C?`@tb?٩?@n???ɨV-@Vu;V`Cy^iB^IJhJh ImMb@Mb@Mb@iii i)iYmNbX9? ףp= ??ym%?mQ8=m G٣@Gy陻 %> 5Nusing accuracyPremultiplier from config)5q49-Ċ?=q4Y-GR i-1cB='&?=:==?-mC-;-;-?q4E9B MrAMEZjy}FNOT Ignoring new targets: 509.00 m.BjJj ProNav: ac range: 509.000000 m, nav range: 522.413940 m, bearing: 187.789182 deg, approach rate: 0.065552 m/s, LOS rate: -0.072785 deg/s, cmd heading: 280.039013 deg, new cmd heading: 279.943865 deg. 2jGHeadingCmd: 4.885942 target range: 509.000000 and range: 509.00 m. jY@jjjihhhhxBfffrfbf`$@ɛ nBH 1I ɚiIb=IزiD;im :)Y@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.259212*FY2FY:FYBFYJFYH>I ICIIjBI =&I.I6I<:IFG O:G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.510987i~w,!sݺAE@YE/@E_9EB=yEH@Wd?`PD?`3@vNg??7???ɨE@E ;AymiBmII}_I}45٢> Q=94Q > G٣y > Nusing accuracyPremultiplier from configq49Ɋ?q4YX iPcB<?:nC ; ;GMq4 rA]B*** querying acoustic contact ***jYjYZjFNOT Ignoring new targets: 509.00 m.BjJj ProNav: ac range: 509.000000 m, nav range: 522.438232 m, bearing: 187.761919 deg, approach rate: 0.059638 m/s, LOS rate: -0.066929 deg/s, cmd heading: 279.943855 deg, new cmd heading: 279.862069 deg. 2j7HeadingCmd: 4.884514 target range: 509.000000 and range: 509.00 m. jM@jjjihhhhfff rf bf `@ɛ](nB] YePIa ߡɚiIb=Ii ;i:)M@)JJJJ I fJJX:JJJJJ0;J0;*F=?2F9:F9BF=0JFA5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.762510G} 7:GY Ba O >zK a3JK 9K K K Mw,%<޺A>@Y>%@>9>Q=y>H`@>;>aCyRiBRIXZBAIZVIZ65٢b)= bY=9fQ f>dh jG٣hyjT j> rNusing accuracyPremultiplier from configlrq49n=Ί?vq4Yn^ inncBtvdv?nxnCn:n:ntZq4x ~qA|Zj%FNOT Ignoring new targets: 509.00 m.Bj%˪Jj-˪5 ProNav: ac range: 509.000000 m, nav range: 522.461670 m, bearing: 187.735396 deg, approach rate: 0.065979 m/s, LOS rate: -0.074660 deg/s, cmd heading: 279.862056 deg, new cmd heading: 279.782492 deg. 2j=LEHeadingCmd: 4.883126 target range: 509.000000 and range: 509.00 m. jEB@jAjAjAiAhAhIhIhIfIfIfQrfQbfU@ɛ=@nB= 9=CI9 E"ɚAiAIE#c=IM(5iM;iM:)MB@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.014423E`k= I*J)"J-4=*F?2F:FBFq0JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=6.266356ZH RH AAH >I  I uII jBI &I .I 6I <:I FG ?:G B O >݋w,71޺A2 @Y2/@2b92@=y2Hh?`F?`+Ay"?ʲ? ?@a??ɨ2 @2lׇ;2_CyZjBZI=Mb@Mb@Mb@999 9)9Y=~jt?:v?S㥛?y=?=T==/<=LA =l/A)=6AI=CA9y==AIUPIU5٢eJ<= e5=9m{Q m>qq uG٣u@Gyu$ }> Nusing accuracyPremultiplier from configyq49}ӊ?q4Y}e i}cB^?:?}nC}E;}D;}4jq4 qAEZjFNOT Ignoring new targets: 509.00 m.BjeJje ProNav: ac range: 509.000000 m, nav range: 522.491943 m, bearing: 187.705640 deg, approach rate: 0.066889 m/s, LOS rate: -0.065743 deg/s, cmd heading: 279.782498 deg, new cmd heading: 279.693234 deg. 2jy4HeadingCmd: 4.881568 target range: 509.000000 and range: 509.00 m. j5@jjjihhhhPyBfffrfbf@ɛ_nB 隽I ¿&ɚiI:c=I3hi;i:)5@)EL=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.520152*FU?2FQ:FQBFU1JFQ I II G G ?G 0?Ju Ju Jq Jq Ju ];Ju u:Jq Jq Ju I<Ju I<Ju D;Ju D;G B O >Yw,yyK޺A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=6.770371yޅ>jBޅIIDI95٢= G=9Q > G٣y > Nusing accuracyPremultiplier from configq49؊?q4Yd=Ii;i9;)2*@)zKEV$KKE9KAKEKEE=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.023187*F}?2Fy:FyBF}0JFy"G=G= Y I] fG :G B O >Ӛw,Ih޺A2@Y2@292ĕ=y2H?K? {?h?;?ɾ?9?ɨ2@2;2^CyBIjBFIMb@Mb@Mb@ )Y9v? ףp= ?I +?y?Q8=9<+KA )"5AICAy G٣Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.274463yⱻ > Nusing accuracyPremultiplier from config q49+ފ? q4Ys icB?:ת?BoC_/;-;q4 pAEZjAEFNOT Ignoring new targets: 509.00 m.BjM町JjM町] ProNav: ac range: 509.000000 m, nav range: 522.546753 m, bearing: 187.649616 deg, approach rate: 0.061057 m/s, LOS rate: -0.065091 deg/s, cmd heading: 279.612044 deg, new cmd heading: 279.525179 deg. 2j]2H I  I II -kBI  =&I .I 6I <:I F%HeadingCmd: 4.878635 target range: 509.000000 and range: 509.00 m. j%@j!j!j!i)h)h)h)h5?yBf1f1f1rf1bf=`d@ɛnB 隥[I st.ɚiId=IMȳiq;i:)@)EE*E"EEsAErA*F] ?2FY :FY BF] p0JFY  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.526945G% ; W$?I G B O%>kw,,޺A6*@Y6@6wp96=y6H?@]L?F|@I? @?1?ؾ?>?ɨ6*@664;6_Cy>UjB>IIJ.IJY5٢R< R@=9Vn6Q V>TX ZG٣Z@GyZ ^> bNusing accuracyPremultiplier from config\bq49^⊜?fq4Y^Qy i^cBdff?^oC^ ;^~ ;^Pq4l nrpAlzB*** querying acoustic contact ***j|j|ZjFNOT Ignoring new targets: 509.00 m.Bj Jj ProNav: ac range: 509.000000 m, nav range: 522.571655 m, bearing: 187.622864 deg, approach rate: 0.058885 m/s, LOS rate: -0.063255 deg/s, cmd heading: 279.525191 deg, new cmd heading: 279.444940 deg. 2j-HeadingCmd: 4.877234 target range: 509.000000 and range: 509.00 m. jN@jjjihhhhfffrfbf@ɛmnBma quIq uD2ɚqiqIu*fe=I}4i}R;i;)N@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.)i-A=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.779828*FE?2FA:FABFE3JFAG?:GBOH>zKeJKe9KaKeKeBKi:Ki Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.032216Iw,-޺AF@YF(@F^ꟽ9Fo=yFH? M?`|`?@!??W?@?ɨF@F;DyrfjBr&II <I s5٢$= D=9%Q %>!) -G٣)y- -> 5Nusing accuracyPremultiplier from config1=q495犜?Eq4Y5 i5dBAEE?5oC5;5I;5q4Y e-pAa IZjJ5J5J1J1J5;J5_:J1J1aU@aU@a]@a]@uFNOT Ignoring new targets: 509.00 m.Bj}Jj ProNav: ac range: 509.000000 m, nav range: 522.596191 m, bearing: 187.596468 deg, approach rate: 0.052444 m/s, LOS rate: -0.056417 deg/s, cmd heading: 279.444950 deg, new cmd heading: 279.365765 deg. 2jHeadingCmd: 4.875853 target range: 509.000000 and range: 509.00 m. j@jjjihhhhfffrfbfGz @ɛ=nB= AEvIA Eф6ɚaiiImJe=Im{#iu6;iuXA);)u@)qEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.282453*FM?2FI:FIBFM 1JFIGQ GUrAjH=<bH=<HE>IEC IEIIE`kBIE =&IEFD.IE:D6IE <:IEFBIJIRIZI =bI =jIAd5G :GY Bq O >w,撹޺A6@Y6"@6У96,d=y6H@2?VL? {? ?it?`?ڨ?ɨ6@6z;6^Cy>sjB>/I=Mb@Mb@Mb@999 9)9Y=@5^I ?Mb?Mb?y=b?=@==<=VJA =h/A)=M4AI=BA9y=Qqq uG٣qy}Y }> Nusing accuracyPremultiplier from configq49o슜?q4Y{ i+dB?:?oCQ;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.534596;aq4 oAZjFNOT Ignoring new targets: 509.00 m.Bj2Jj2 ProNav: ac range: 509.000000 m, nav range: 522.621826 m, bearing: 187.571058 deg, approach rate: 0.070212 m/s, LOS rate: -0.069591 deg/s, cmd heading: 279.365775 deg, new cmd heading: 279.289551 deg. 2j ?HeadingCmd: 4.874522 target range: 509.000000 and range: 509.00 m. j@jjjih h h h UyBfffrfbf@)!@ɛnBa I )9ɚiITf=IOi-;ij;)@)E p>E  >*F2F:FBF`5JF IG']?;M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=8.786529G B O >;w,8k޺A6@Y6@6\96*I=y6Ho?)L? $z T?`K??9??ɨ6@6M;4y>pjBR-IIZ,IZ5٢f~ fU=9f ׻Q j>hh jG٣j @Gyn6 n> rNusing accuracyPremultiplier from configpvq49r?vq4Yr irBdBxzz?r1pCr.:r:rq4| pAEZjamFNOT Ignoring new targets: 509.00 m.Bjm/Jjm/ ProNav: ac range: 509.000000 m, nav range: 522.645569 m, bearing: 187.547544 deg, approach rate: 0.060995 m/s, LOS rate: -0.060405 deg/s, cmd heading: 279.289550 deg, new cmd heading: 279.219010 deg. 2j%HeadingCmd: 4.873291 target range: 509.000000 and range: 509.00 m. j@jjjihhhhfffrfbf!@zKuiJKu9KqKuKu-+ RK?JK?ɛoBY 隽I i=ɚiI#g=Imwi-;iP;)@)*F2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.038977 IG !j;G% ?JU JU JU 0)} = } oCJQ JU } ;JU Oj:JU ـ3JQ G% ?  9 G B O >  Y y UA] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=9.290263nӺw,8h޺A2ݔ@Y2G@2ҭ92<=y2H=\?L?t%y?E??@w$?s?ɨ2ݔ@2z;0yV{jBV3IHhIh IjIIjkBIj =&Ih.Ih6Ij"<:IjFMb@Mb@Mb@ )Ym?J +?Mbpy?H= )5AICAy    G٣ y > %Nusing accuracyPremultiplier from config-q49?-q4YY iYdB5%?5:5<5?qpCe;;aq4=8B =oA=EZjFNOT Ignoring new targets: 509.00 m.BjՋJjՋ ProNav: ac range: 509.000000 m, nav range: 522.674622 m, bearing: 187.520470 deg, approach rate: 0.065596 m/s, LOS rate: -0.061126 deg/s, cmd heading: 279.219008 deg, new cmd heading: 279.137788 deg. 2j'HeadingCmd: 4.871873 target range: 509.000000 and range: 509.00 m. jc@jjjihhhhpyBfffrfbfp"@ɛ.oB^O 隍qI KAɚiIg=Iॴi :;i[;)c@)*FQ2FQ:FQBFU5JFQ"G]=G]=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.542450G ;Gq By O > I fw,(ߺA6:۔@Y6@696&=y6H P?`L?5xʕ?`m߰?@N? V,??ɨ6:۔@6>Ն;6]CyNqjBN-ITTIZ*IZv5٢b-ݼ bb=9b]׻Q b>dd fG٣dyj;p j> nNusing accuracyPremultiplier from configlrq49n?rq4Yn{ inldBpvFv?npCn:n:nq4x zoAxB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 509.00 m.Bj-NjJj-Nj ProNav: ac range: 509.000000 m, nav range: 522.698120 m, bearing: 187.498595 deg, approach rate: 0.065641 m/s, LOS rate: -0.061101 deg/s, cmd heading: 279.137783 deg, new cmd heading: 279.072163 deg. 2j'HeadingCmd: 4.870728 target range: 509.000000 and range: 509.00 m. jݛ@jjjihhhhfffrfbf#@ɛ%HoB%" !-⚿I) -9NEɚ)i)I-`Rh=I=g˴i=N;i=s;)=ݛ@)AEIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.795430*F 2F :F BF o0JF G-G;zK;MKKKK@C4gT5# G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. =Ӕ@Y>@>ݷ9>=y>H/? L?@`x?~?`? =Ӕ@>E[;>^CybmjBf*IIr&Ir5٢~ ~G=9~?ɻQ > G٣!@Gy X  > Nusing accuracyPremultiplier from configq49?q4YT idB!%f%?pC2 ;e ;[q49 =pAAZjq}FNOT Ignoring new targets: 509.00 m.Bj}Jj} ProNav: ac range: 509.000000 m, nav range: 522.724792 m, bearing: 187.473674 deg, approach rate: 0.064408 m/s, LOS rate: -0.060176 deg/s, cmd heading: 279.072158 deg, new cmd heading: 278.997398 deg. 2j1%HeadingCmd: 4.869423 target range: 509.000000 and range: 509.00 m. jQқ@jjjihhhhfffrfbf`_^$@ uX$?Iy*Ja="Ja=JJJJJ ;Jp:JJɛjoB 隝I >@JɚiIh=I&in;i;)Qқ@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-I IIIkBI&I.I6IB<:IFG ~q;G sAG G B O >ηw,:ߺABӔ@YB@B}9BŮ=yBH\0?K? vXv? ?5?@~?Ӟ?ɨBӔ@BOm;@yJ`jBJ#I%Mb@Mb@Mb@!!! !)!Y%I +?v/?Qy%9?%xi=%u%IA %-A)% 1AI!!y% ;AIE'IE̲5٢U UE=9] Q ]>aa eG٣aym8 m> uNusing accuracyPremultiplier from configq}Will construct direction to contact in vehicle frame from tetrahedron phase data. U BDAT read: Tx time:21:17:48.5693 ] $Ping request sent.] [Էw,TߺA6ǔ@Y6*כ@696=y6H? 9M?`@5vj??`{3??@?ɨ6ǔ@6%;6[CyRajBR$IIZ&IZ5٢bG; fT=9fQ f>dh jG٣hyj u j> UNusing accuracyPremultiplier from configQ]r49U ?]r4YU` iUdBYee?UXqCUP ;U ;Ur4i m;pAiZjFNOT Ignoring new targets: 509.00 m.BjgJjg ProNav: ac range: 509.000000 m, nav range: 522.785767 m, bearing: 187.422244 deg, approach rate: 0.079223 m/s, LOS rate: -0.067058 deg/s, cmd heading: 278.918752 deg, new cmd heading: 278.843118 deg. 2j8HeadingCmd: 4.866731 target range: 509.000000 and range: 509.00 m. jB@jjjihhhhfffrfbfu%@ɛoB54 I Qɚ i I %2j=I dNi ;i;)B@)E!E%sAzK50NK5h9K1K5K5'1$*F?2F:FBFp0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:17:48.5685 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248077GW; yIGBJ1 J1 J J J 2J J -;J u:J c3J O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498927۷w,$nߺAHF{>ID IDIDID&ID.ID6IF<:IFFz返@Yz?ϛ@zƽ9z=yzHY?N?| u[T?i?Ӹ?g?6?ɨz返@zá;z_Cy QjB IMb@Mb@Mb@ )Yףp= ?Mb? G٣yU U> ]Nusing accuracyPremultiplier from configYer49]g?er4Y]X i]dBe=?e:m꪿m?]qC];];]/r4q u|pAqZjFNOT Ignoring new targets: 509.00 m.Bj}Jj} ProNav: ac range: 509.000000 m, nav range: 522.814575 m, bearing: 187.392607 deg, approach rate: 0.065650 m/s, LOS rate: -0.067533 deg/s, cmd heading: 278.843129 deg, new cmd heading: 278.754224 deg. 2jc9HeadingCmd: 4.865179 target range: 509.000000 and range: 509.00 m. j@jjjihhhhxBfffrfbf&@ɛoB I VɚiI%#j=IM;iU;iU;)U@)Q*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750950GE o;GM ?GM >G! B) OM > a Ia w,QjߺA2?@Y2@2Rͽ92:>y2H4?$N?@wu)?@(?U?`?R?ɨ2?@29;2]Cy>?jBBIIF7IFW5٢NS@ R_=9R Q R>TT VG٣V"@GyV Z> ^Nusing accuracyPremultiplier from configXbr49Z?br4YZ iZdB`b&b?ZqCZC ;Z ;Zi$r4j7B jpAjEMB*** querying acoustic contact ***jIjIZjy}FNOT Ignoring new targets: 509.00 m.BjJj ProNav: ac range: 509.000000 m, nav range: 522.837280 m, bearing: 187.368964 deg, approach rate: 0.062764 m/s, LOS rate: -0.065355 deg/s, cmd heading: 278.754227 deg, new cmd heading: 278.683299 deg. 2ji3HeadingCmd: 4.863941 target range: 509.000000 and range: 509.00 m. jh@jjjihhhhfffrfbfۛ'@ɛ%oB%`Z !%I! -5[ɚ)i)I-k=I=ʩi=l ;i=s;)=h@)AWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004891*F?2F:FBF0JF"G=GG5;GBO >zKM 0(LKI KI KM KM  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254941+w,DߺA6@Y6Z@6/ӽ96̣>y6H?`nS?w?:?Qn?m?`?ɨ6@6h;6`CyNYjBNIIVIV5٢^z{= ^I=9b?Q b>`` bG٣dyf# f> jNusing accuracyPremultiplier from confighnr49j|?nr4Yjb ijdBprr?jrCj ;jT ;j2r4t vWpAtZjFNOT Ignoring new targets: 509.00 m.Bj-yJj-y ProNav: ac range: 509.000000 m, nav range: 522.862854 m, bearing: 187.341415 deg, approach rate: 0.064718 m/s, LOS rate: -0.069711 deg/s, cmd heading: 278.683302 deg, new cmd heading: 278.600662 deg. 2j^?HeadingCmd: 4.862499 target range: 509.000000 and range: 509.00 m. j@jjjihh Ifhhfff rf bf=q(@ɛoB ˳I! m P`ɚiiiIm>,l=Iu ٵiu);i} ;)}@)yEC>E> Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509017*Fe?2Fa:FaBFmp0JFiHIC IIIkBI =&I.I6I <:IFG ;G B O >Uw,ߺAy~KjB~I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759259Mb@Mb@Mb@ )Ysh|??&1?Qy)?P=u S+A).AIBAyp9AI+I5٢%^ -5=9-Q ->9A EG٣Iy] e> mNusing accuracyPremultiplier from configiur49mK?ur4Ym% imeB}*?}:}}?mdrCma#;m ;mBr4 pAZjFNOT Ignoring new targets: 509.00 m.BjTJjT ProNav: ac range: 509.000000 m, nav range: 522.893677 m, bearing: 187.308436 deg, approach rate: 0.067549 m/s, LOS rate: -0.072271 deg/s, cmd heading: 278.600657 deg, new cmd heading: 278.501724 deg. 2jeFHeadingCmd: 4.860772 target range: 509.000000 and range: 509.00 m. jr@jjjihhhhtxBfffrfbf@"L)@ɛupBuT" quظIy }dɚyiyI}pl=IiF;i];)r@) I*Fa2Fa:FaBFe0JFaJJJ1JJ;Jt:J3JJ] Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010892>w,?ߺA6!n@Y6x}@6Nݽ96=y6H?@X?hxC? ~?@? ??ɨ6!n@6ن;6^CyBQjBBIININ5٢Vj< Vf=9V^Q Z>XX ZG٣Z#@Gy^`; ^> fNusing accuracyPremultiplier from config`fr49b!?fr4Yb ibeBhj%j?brCb":b:bNr49 =xpA9ZjFNOT Ignoring new targets: 509.00 m.BjJj ProNav: ac range: 509.000000 m, nav range: 522.916504 m, bearing: 187.283103 deg, approach rate: 0.061827 m/s, LOS rate: -0.068611 deg/s, cmd heading: 278.501728 deg, new cmd heading: 278.425732 deg. 2jY<HeadingCmd: 4.859446 target range: 509.000000 and range: 509.00 m. j@jjjihhhhf1f1f9rf9bf=@*@ɛ--pB5$ 15I1 5"iɚ1i9I=m=zKMjIKM 9KIKMKMIu=iu}A;iuY;)u@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264483*F!2F):F)BF-0JF1GMrA GI Z$?IGm ;Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515023gw,ߺAHz>I III&I.I6IA<:IFBIuCJIuCRIqZIu =bIu =jIuG5i`@Yo@9=yH b?[? x``??-?lm?ߏ?ɨi`@;_Cy%_jB%"I-5 G٣yl > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configr49r'?r4Y i7eB+::\?rC8;4>[r46B 8pAEZjFNOT Ignoring new targets: 509.00 m.Bj;Jj; ProNav: ac range: 509.000000 m, nav range: 522.946472 m, bearing: 187.249528 deg, approach rate: 0.067205 m/s, LOS rate: -0.075288 deg/s, cmd heading: 278.425722 deg, new cmd heading: 278.325004 deg. 2jN HeadingCmd: 4.857688 target range: 509.000000 and range: 509.00 m. j .r@j jjihhhhf!f!f)rf1bf5*@ɛ]MpB] aeIa eI#oɚiI8n=Ivi=;i/z;).r@)E*F92F9:FABFE0JFA}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767101Ge 7eD; I G9 BI !] bCommunications Fault in component: RDI_PathfinderOe >JK 3 KL.KK"KJ J J J J ;J {:J J J `<J `<J ;J ;TPw,g A6tI@Y6X@696n=y6H@|?}`?Մ y?@5ַ?Ǽ? ? ?ɨ6tI@6Sr;6^Cy>`jB>#IF@FPowering downFF JJIJIJͰ5٢RZ; Vn=9VQ V?XX ZG٣XyZ ^? bbBottom track data is 0.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`jr49b+?jr4Yb ibNeBn :lnQ:nn?b(sCbr;bO?bcr4p v5pAtB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 509.00 m.BjJj ProNav: ac range: 509.000000 m, nav range: 522.968079 m, bearing: 187.224714 deg, approach rate: 0.059257 m/s, LOS rate: -0.068050 deg/s, cmd heading: 278.325018 deg, new cmd heading: 278.250580 deg. 2j: HeadingCmd: 4.856389 target range: 509.000000 and range: 509.00 m. j g@j j j ihhhhfffrf!bf%`+@ɛmdpB1 隕I VsɚiIn=IEi(;i;)g@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019809*F2F:FBF`5JFGg;G ?G>zK JK ػ9K 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=3.270991{w,!#A27@Y2 G@2 <92==y2Hƿ?Tb?C z? R?,7?>?Ԍ?ɨ27@2(;2_CyN}jBN5IIV$IV"5٢f= fH=9jډQ n>pp rG٣v$@Gyzj z> bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config|r49~0? r4Y~ i~jeB 9  ):?~nsC~ާ;~œ?~~kr4A EoAEE aIefZjq}FNOT Ignoring new targets: 509.00 m.BjJjEvGYq YyB ProNav: ac range: 509.000000 m, nav range: 522.993469 m, bearing: 187.194963 deg, approach rate: 0.064008 m/s, LOS rate: -0.074997 deg/s, cmd heading: 278.250569 deg, new cmd heading: 278.161319 deg. 2jM%HeadingCmd: 4.854831 target range: 509.000000 and range: 509.00 m. j%Z@j!j!j!iIhQhQhYhYfYfYfarfabfmڏ,@ɛpB(# I  xɚ i I 4o=ITԶi;i7;)Z@)*F2F:FBFJF"GG=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525240H%x>I! I%II%kBI% =&I!.I!6I%<:I%BFG ;G B O >w,nj=A6@Y6),@696>=y6HT?Gf?@&j|` ??`Ƚ?C1?@?ɨ6@6ц;6]CyBjBB@IIVIV 5٢nL5= rI=9z಻Q ~>   G٣ y >EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.775890 bBottom track data is 1.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from configr495?r4Y0 ieB9 :i?sC?';;?qr4 voAZjAEFNOT Ignoring new targets: 509.00 m.BjMJjM} ProNav: ac range: 509.000000 m, nav range: 523.019226 m, bearing: 187.163981 deg, approach rate: 0.059836 m/s, LOS rate: -0.071972 deg/s, cmd heading: 278.161312 deg, new cmd heading: 278.068369 deg. 2j}EHeadingCmd: 4.853209 target range: 509.000000 and range: 509.00 m. j|M@jjjihhhhfffrfbf`US-@ɛpB;/  I  Ď}ɚ)i)I-?p=I5{ i5Ѓ;i=:)=|M@)9EErAEErA YIY*F%?2F):F)BF-4JF)JJJJJ;J:JJJl<Jl<J;J;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027124GE :G9 BI !] dClearing failed state for component RDI_Pathfinder] Om >w,CWA2@Y2@2}]92=y2H@?j?`s}`?s?_Y??ຉ?ɨ2@2;0yvjBvVI=:Expecting PD13 message formatI I b5٢Ҭ= F=9Q %>!! %G٣!y-. -> =bBottom track data is 2.0 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1Er495V:?Er4Y5 i5eBE9AE9EҭM?5sC506;5X@5vr4Q UnAQZjyFNOT Ignoring new targets: 509.00 m.BjJj ProNav: ac range: 509.000000 m, nav range: 523.041687 m, bearing: 187.136062 deg, approach rate: 0.059331 m/s, LOS rate: -0.073744 deg/s, cmd heading: 278.068367 deg, new cmd heading: 277.984615 deg. 2jpJHeadingCmd: 4.851747 target range: 509.000000 and range: 509.00 m. jA@jjjihhhhfffrfbf`.@ɛpBh1 'I ɚiIp=Ib9is;iS)A@)zK>`JK9KKKR`P KU* RK?JK>*F?2F:FBFo0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280174 QIQG9GGGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530905H% v>I!  I% II% kBI%  =&I! .I% 9D6I% <:I% oFLw,qAvΓ@Yvݚ@vp9v =yvHn?Rr? a)? ?y? о?`Ӆ?ɨvΓ@vɆ;v\CyjBjIIIҪ5٢%= %J=9%K3Q ->)) -G٣-%@Gy5ƀ 5> EbBottom track data is 2.4 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9Mr49=>?Mr4Y= i=eBMo9IM9MM?==tC= ';=@@=zr4a e^nAeEZjFNOT Ignoring new targets: 509.00 m.Bj!Jj! ProNav: ac range: 509.000000 m, nav range: 523.063721 m, bearing: 187.106788 deg, approach rate: 0.054333 m/s, LOS rate: -0.072184 deg/s, cmd heading: 277.984601 deg, new cmd heading: 277.896782 deg. 2j(FHeadingCmd: 4.850214 target range: 509.000000 and range: 509.00 m. j4@jjjihhhhfffrfbf.@ɛpB, qurIq }iɚyiyI}}q=Iki;iK)4@)*FI2FI:FIBFIJFIGUsA GQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.782988G >Gi Bq O > I II J J J J J T;J :J J J h<J h<J ;J ;"w,.Af@Yfɚ@f\9fr=yfHs? Iu?>X`-?  I=9%Q %>)) -G٣)y5̻ 5> =bBottom track data is 2.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config9r49=C?r4Y= i=eBB99?=tC=\d<=7@=}r4 tmAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 509.00 m.BjJJjJ ProNav: ac range: 509.000000 m, nav range: 523.085327 m, bearing: 187.077369 deg, approach rate: 0.051784 m/s, LOS rate: -0.070505 deg/s, cmd heading: 277.896792 deg, new cmd heading: 277.808539 deg. 2jAHeadingCmd: 4.848674 target range: 509.000000 and range: 509.00 m. jV(@jjjihhhh f f f rf bf@?/@ɛEpBE) AEIA EoɚIiIIM r=IMiU^W;iUk)UV(@)QEeV>Ee>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.034991*F?2F:FBFJFG]UGBO>zK5 -NK5 ͼ9K1 K5 K5 C~|vokgbZUQPROIC<764/+& BKA :KA M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287027(w,cԤAZf@YZ@Zgl9Z;=yZHM?@x?S@2k?CE?FB?@ӳ?`?ɨZf@Z;Z[Cyb6kBfI pIrfInIn5٢z= zN=9~ӦQ ~> G٣y׻ > bBottom track data is 3.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config }r49 G?}r4Y d i fB}9yl9I? tC s< cP@ ur4 lAZjFNOT Ignoring new targets: 509.00 m.BjnJj nE ProNav: ac range: 509.000000 m, nav range: 523.105713 m, bearing: 187.048799 deg, approach rate: 0.050979 m/s, LOS rate: -0.071442 deg/s, cmd heading: 277.808546 deg, new cmd heading: 277.722841 deg. 2jMDuHeadingCmd: 4.847178 target range: 509.000000 and range: 509.00 m. ju@jqjyjyiyhyhhhfffrfbf,G0@ɛ}qB}x' y}GIy VɚiI2r=IϷi ;i ,ѻ) @) *F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540259jHbHHu>IC ICII6lBI =&I.I6I<:I|FG TG ?G .?G B O >.w,̾A2@Y2@2a92Ls=y2H`T?Ez? V s)?Ҽ?X???ɨ2@2=;2\CyZokBZIIbIb5٢jm > jK=9nΛQ n>ll rG٣r&@Gyr r> zbBottom track data is 3.6 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx~r49ziL?~r4YzD iz fB8?9?z uCzT&;zUi@zr4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791244 kA!ZjAMFNOT Ignoring new targets: 509.00 m.BjMcJjUc] ProNav: ac range: 509.000000 m, nav range: 523.125977 m, bearing: 187.019739 deg, approach rate: 0.052244 m/s, LOS rate: -0.074920 deg/s, cmd heading: 277.722841 deg, new cmd heading: 277.635664 deg. 2jeMeHeadingCmd: 4.845656 target range: 509.000000 and range: 509.00 m. je@jijijqiqhqhqhyhyfyfyfrfbf0@ɛM qBM0 IM&II UĊɚQiQIULs=I]i];i]m)]@)a [$?I*F2F:FBF p0JF "G=G=G%4λWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.043338GB O% >v5w,A:1~@Y:@:69:|=y:Hࡹ?|?`Tׁ@I?Z?`??@~?ɨ:1~@:D;:]Cy^kB^IIfIf5٢r= rJ=9rEQ r>tt vG٣tyz z> bBottom track data is 4.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from config|r49~P? r4Y~) i~@fB 8  9 ௿ ?~MuC~%);~@~Hr4 JkAEZjAMFNOT Ignoring new targets: 509.00 m.BjMJjUe ProNav: ac range: 509.000000 m, nav range: 523.145874 m, bearing: 186.990584 deg, approach rate: 0.049434 m/s, LOS rate: -0.072432 deg/s, cmd heading: 277.635660 deg, new cmd heading: 277.548197 deg. 2jmFmHeadingCmd: 4.844130 target range: 509.000000 and range: 509.00 m. jm@jijqjqiqhqhqhyhyfffrfbf 1@ɛ9qBs- 隵I ɚiI7s=I2iy<;i##)@)E*F2F:FBF0JFzK MK ]9K K K -Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295134 IfG)JJJJ%JJJ;J:JJa@a@a@a@G B O5 >H v>I C I II lBI  =&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=6.5469332TT VG٣TyZw Z> bbBottom track data is 4.4 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\fr49^U?fr4Y^ i^`fBf8dj8j򯿑j?^uC^e&;^B@^r4n5B njAnEZjFNOT Ignoring new targets: 509.00 m.Bj Jj ] ProNav: ac range: 509.000000 m, nav range: 523.165344 m, bearing: 186.961961 deg, approach rate: 0.049256 m/s, LOS rate: -0.072406 deg/s, cmd heading: 277.548207 deg, new cmd heading: 277.462343 deg. 2j]FeHeadingCmd: 4.842631 target range: 509.000000 and range: 509.00 m. je@jajajaiihihihihifqfqfqrfbf9t1@ɛTqB<) PI SɚiIDt=Idi;iܻ)@)*F?2F:FBF0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802245GGsAGsAGBO> I E PExceeded connect timeout, disconnecting.Bw,>@ AyrlBv'IIzIzN5٢ >  D=9 Q  > G٣'@Gy > -bBottom track data is 4.9 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config)5r49-Y?5r4Y- i-fB=89=89=?-uC-WH;-@-φr4I MiAImB*** querying acoustic contact ***jijiZjq}FNOT Ignoring new targets: 509.00 m.Bj}줺Jj}줺 ProNav: ac range: 509.000000 m, nav range: 523.186035 m, bearing: 186.931801 deg, approach rate: 0.049461 m/s, LOS rate: -0.072093 deg/s, cmd heading: 277.462338 deg, new cmd heading: 277.371862 deg. 2jEHeadingCmd: 4.841052 target range: 509.000000 and range: 509.00 m. j@jjjihhhhfffrfbfJ1@ɛnqB*8) ̬I ɚiIrt=Iӗii};i V)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051630*F2F:FBF_1JFG GrAG]޻G1BAO]>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304044zK uJK 9K K K Iw,=,&A (I(bKo@Yb~@b + 9b>ybHe@?2x?@¿@d`? 4?@7?k?t?ɨbKo@b8B;b\CyjKlBjQIIrIrÙ5٢-B%> -H=9-[ԻQ 5>11 =G٣9y=F => MbBottom track data is 5.3 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAUr49E^?Ur4YE # iEfBU[8Q]8]]?EvCEM7;E@Er4a e}hAaZjFNOT Ignoring new targets: 509.00 m.BjJj ProNav: ac range: 509.000000 m, nav range: 523.206116 m, bearing: 186.902297 deg, approach rate: 0.048525 m/s, LOS rate: -0.071295 deg/s, cmd heading: 277.371851 deg, new cmd heading: 277.283341 deg. 2jCHeadingCmd: 4.839507 target range: 509.000000 and range: 509.00 m. j>ݚ@jjjihhhhff f rfbf'G2@J}J})J}0JyJ}<;J}:J}ـ3Jyɛ%qB-% )-I) -Γɚ)i1I5t=I5rʸi=k|;i=ݯ)=>ݚ@)9EsAEsA*F=?2F9:F9BF=0JFAHmu>ImC ImIIm4mBIm =&Ii.Ii6Imu<:ImFBI=ŧCJI=ŧCRI9ZI= =bI= =jI=ŝm5Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙiՙchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.555364G} TGa B O >?Ow,?A:o@Y:T@:Ku 9: \>y:HD?@!w?!¿@} ?~?`??xr?ɨ:o@:;:YCyFjlBFdIININ5٢V+= VS=9ZOUQ Z>XX ^G٣\y^f9 b> fbBottom track data is 5.7 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`jr49b>b?jr4Yb) ibfBj18hn8nn?b^vCb[;b@bqr4t zhAxWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.807368Zj!-FNOT Ignoring new targets: 509.00 m.Bj-DJj5DE ProNav: ac range: 509.000000 m, nav range: 523.225220 m, bearing: 186.874365 deg, approach rate: 0.049712 m/s, LOS rate: -0.072681 deg/s, cmd heading: 277.283332 deg, new cmd heading: 277.199540 deg. 2jEGMHeadingCmd: 4.838045 target range: 509.000000 and range: 509.00 m. jMCњ@jIjIjIiIhIhIhQhQfQfQfYrfabfe@2@ɛqB* 隕ئI ԕɚiI2u=I]i{;iC)Cњ@) 9I9*F=?2F9:F9BFE_5JFA nManaging dock network, ignoring radio surface power offGUXG] ?G]?G1B9Om>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.059008'Vw,YA6q@Y6>@6Ԅ 96>Y>y6HR?{t?e¿ |+?뭾? ?W?No?ɨ6q@62;6\CyRlBRIIZIZ5٢~> ~F=9#Q >  G٣ (@Gy :  > bBottom track data is 6.1 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%r49f?%r4Y0 ifB%8!-X8- -?vC5;S@r454B 5 gA5EZjimFNOT Ignoring new targets: 509.00 m.Bjm¥Jju¥ ProNav: ac range: 509.000000 m, nav range: 523.245911 m, bearing: 186.844489 deg, approach rate: 0.050184 m/s, LOS rate: -0.072458 deg/s, cmd heading: 277.199539 deg, new cmd heading: 277.109915 deg. 2jFHeadingCmd: 4.836481 target range: 509.000000 and range: 509.00 m. jsĚ@jjjihhhhfffrfbf3@ɛqB% I }ɚiIɇu=I-iz;ie7%)sĚ@)*F?2F:FBF15JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.311911zKa3JK+9KKK  y2x/}bM=/&  !I%f) dC=GYy ܿYyAGV'SJJ1J1JJ;J:J3JGBO>He t>Ia  Ie 1IIe mBIe  =&Ia .Ia 6Ie <:Ie FF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.562981Q\w,sAylB IIIT5٢-ۛ= -G=95Q 5>19 =G٣9y= E> MbBottom track data is 6.5 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAUr49E(k?Ur4YE7 iE gBU7Q]/8Y]?EvCE8;Ev@Er4a efAiZjFNOT Ignoring new targets: 509.00 m.BjɥJjɥ ProNav: ac range: 509.000000 m, nav range: 523.266602 m, bearing: 186.814863 deg, approach rate: 0.050616 m/s, LOS rate: -0.072471 deg/s, cmd heading: 277.109927 deg, new cmd heading: 277.021053 deg. 2jFHeadingCmd: 4.834929 target range: 509.000000 and range: 509.00 m. j@jjjihhhhfffrfbf@z3@ɛqB& ֡I mɚiIRu=Is`iy;iᬺ)@) Ea>E>*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=8.815181GmB  \$?I GI BY O} >;cw,.A2iq@Y2@2%Q92>y2H@L?@r?@K¿z`???? l?ɨ2iq@2;2[Cy:lB>IIJIJ5٢R > RS=9VQ V>TT VG٣XyZ" Z> bbBottom track data is 6.9 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\fr49^Xo?fr4Y^[> i^+gBf7dj 8j j?^+wC^3&;^@^r4l neAl~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 509.00 m.BjJj- ProNav: ac range: 509.000000 m, nav range: 523.286194 m, bearing: 186.786939 deg, approach rate: 0.050481 m/s, LOS rate: -0.071947 deg/s, cmd heading: 277.021053 deg, new cmd heading: 276.937282 deg. 2j-E5HeadingCmd: 4.833467 target range: 509.000000 and range: 509.00 m. j5ī@j1j1j1i1hhhhfffrfbf!3@ɛ5qB5U% 1=@I9 =&ɚ9i9I=-v=IEZiEJUy;iE9"n)Eī@)IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=9.067110*F?2F:FBFj0JFG ïGrAGGBO- >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=9.319695zK NK 9K K K  I 3diw,cAMIt@YM@M9M+>yMH@b?q?¿@y ?8?`4?@}?j?ɨMIt@M;M]CymmBuIIIʏ5٢P= 7=9$ͺQ >   G٣ )@GyL: %> =bBottom track data is 7.3 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1=r495:t?Er4Y5F i5RgBE7AE7EE?5wwC5?;5H@5Gr4QJ]J]+JYJYJ]\;J]Ȇ:JYJY eKpw,>A6Vn@Y6}@6k96һ>y6H3?q?`x¿ Gy#?@:o???@*i?ɨ6Vn@6Ɩ;6\CyBKmBBIIJIJS5٢RS> Rb=9R:Q R>TT VG٣TyVA Z> ^bBottom track data is 7.7 s old, using for 20.0 s. ^Nusing accuracyPremultiplier from configXfr49Zx?fr4YZ L iZqgBjw7hj7jj?ZwCZcl;Z@Zr4rWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.823278t vwdAtZjFNOT Ignoring new targets: 509.00 m.BjJj- ProNav: ac range: 509.000000 m, nav range: 523.327454 m, bearing: 186.728765 deg, approach rate: 0.051151 m/s, LOS rate: -0.072130 deg/s, cmd heading: 276.839725 deg, new cmd heading: 276.762779 deg. 2j-F5HeadingCmd: 4.830422 target range: 509.000000 and range: 509.00 m. j5ђ@j1j1j1i9h9h9hAhAfAfIfIrfQbfU 4@ɛrB,, `I ɚiIv=I (i x;i 9:)ђ@)EA I*F?2F:FBFo0JFG:Will construct direction to contact in vehicle frame from tetrahedron phase data. vvw,A:As@Y:@:d]9:c&>y:HEY?p?¿*x$ ??b?@x?@/h?ɨ:As@:-;:[CyBqmBFIININ75٢Z-= ZI=9ZQ Z>\\ ^G٣\yb: b> fbBottom track data is 8.1 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdjr49fv|?jr4YfS ifgBnH7ln7nn?fwCf7;fTAfr4v3B vcAvEZjFNOT Ignoring new targets: 509.00 m.BjJj5 ProNav: ac range: 509.000000 m, nav range: 523.348511 m, bearing: 186.699459 deg, approach rate: 0.052161 m/s, LOS rate: -0.072592 deg/s, cmd heading: 276.762790 deg, new cmd heading: 276.674875 deg. 2j5FG=HeadingCmd: 4.828887 target range: 509.000000 and range: 509.00 m. j=?@j9j9j9i9hAhAhAhAfIfIfIrfIbfMo5@ɛ}7rB}$-& y}I >ɚiIw=Io&ix;i~ s;)?@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>H s>I  I II nBI &I .I 6I -<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. yRH*;? p?@¿ w ? ?M??`Eg?ɨRo@R݆;Py^mB^IIfIf5٢nz3= nG=9n>Q r>pp rG٣r*@Gyv% v> bBottom track data is 8.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from configxr49z》?%r4YzZ izgB%"7!%t7%%?z=xCz;zAzr41 5cAQZjFNOT Ignoring new targets: 509.00 m.Bj"Jj" ProNav: ac range: 509.000000 m, nav range: 523.369751 m, bearing: 186.669903 deg, approach rate: 0.050307 m/s, LOS rate: -0.070000 deg/s, cmd heading: 276.674871 deg, new cmd heading: 276.586207 deg. 2j)@HeadingCmd: 4.827340 target range: 509.000000 and range: 509.00 m. jy@jjjihhhhfffrfbf G5@ɛ]QrB]$ Y]IY e4ɚaiaIe_Ww=Im"Yi[x;i``;)y@)*F%?2F!:F!BF!JF)"G-=G-=Will construct direction to contact in vehicle frame from tetrahedron phase data.J} J} .Jy Jy J} <;J} V:Jy Jy J} }oAA MG٣IyU U> ebBottom track data is 8.9 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYmr49]o?mr4Y]@a i]gBm7imE7qu?]xC]51;]A]r4 +cAB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 509.00 m.Bj-eJj-e=Will construct direction to contact in vehicle frame from tetrahedron phase data.M mBDAT read: Tx time:21:17:59.5195 u$Ping request sent.u Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244565 A IA zKE BIKE 9KA KE KE w,9(AJ-i@YJx@JE9J>yJHH?q?¿\v`?\?fO?? e?ɨJ-i@Jԇ;Hy~mB8II_I|5٢=~= =K=9EQ M>QQ ]G٣Yye e> mbBottom track data is 9.3 s old, using for 20.0 s. mNusing accuracyPremultiplier from configiur49mˉ?ur4Ym,h imhB}6y} 7},?mxCm?F;mAm$r4 bAZjFNOT Ignoring new targets: 509.00 m.BjJj ProNav: ac range: 509.000000 m, nav range: 523.412781 m, bearing: 186.610330 deg, approach rate: 0.054259 m/s, LOS rate: -0.075077 deg/s, cmd heading: 276.495155 deg, new cmd heading: 276.407493 deg. 2jNHeadingCmd: 4.824221 target range: 509.000000 and range: 509.00 m. j`@jjjihhhhfffrfbfP6@ɛ rB &r+ ǗI ^ɚiIZw=I%\i%Jy;i%ǎ;)%`@))*Fi2Fq:FqBFu}0JFqZHRHHI IIInBI&I.I6I<:IwFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.497457G;GGG B O >w,BA6_@Y6Jo@6[96>y6H>?p?@ÿ@u*? C?z?2?b?ɨ6_@6T;4yBmBBIIIN~RWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.748638INZ5٢Z= ZS=9^RcQ ^>`` bG٣b+@Gyb,@ f> jbBottom track data is 9.7 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdnr49f獋?nr4Yfn if$hBr6pr7rPr?f yCfD;fCAf:r4t vbAxZj%FNOT Ignoring new targets: 509.00 m.Bj%fJj%f5 ProNav: ac range: 509.000000 m, nav range: 523.432617 m, bearing: 186.582641 deg, approach rate: 0.051485 m/s, LOS rate: -0.071864 deg/s, cmd heading: 276.407483 deg, new cmd heading: 276.324419 deg. 2j5GEEHeadingCmd: 4.822771 target range: 509.000000 and range: 509.00 m. jE$T@jAjAjAiAhAhAhIhIfIfIfQrfQbfU@Z6@ ]$?IɛrB% ) !%0I! %ɚ!i)I-:3x=I-i5 y;i5;)5$T@)Q*F?2F:FBF0JFG GrAJ-J-4J-0J)J-;J-r:J-ـ3J)J-s<J-s<J-;J-;G;UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000596GBO>cԖw,D\A:O@Y:^@:79:I>y:H@:?^v? x¿@u?,?õ?y?c?ɨ:O@:;:YCy^mBbYI)d fAIjvIj5٢rv= rG=9rEQ r>tt zG٣xyz* ~> dBottom track data is 10.1 s old, using for 20.0 s. Nusing accuracyPremultiplier from config r49?? r4Yu iJhB66?OyC&;!ALr4! %aA%EZjAMFNOT Ignoring new targets: 509.00 m.BjMAJjUAe ProNav: ac range: 509.000000 m, nav range: 523.453369 m, bearing: 186.553054 deg, approach rate: 0.050669 m/s, LOS rate: -0.072238 deg/s, cmd heading: 276.324428 deg, new cmd heading: 276.235670 deg. 2jeNFmHeadingCmd: 4.821222 target range: 509.000000 and range: 509.00 m. jmsG@jijijiiihqhyhyhyfffrfbf`7@ɛrB+ 隵疿I }ɚiIywx=I!i?y;i;)sG@)EN>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254243*F ?2F :F BF 0JFG G"GG IfzK%:IK% 9K!K%K%GBO>H I  I II :oBI  =&I .I 6I в<:I WFBIMʦCJIMʦCRIIZIM =bIM =jIMp 5] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504517`w,vAFmJ@YFY@F9F>yFH@<?Fy?@,_¿2u@:w? ??X:?@Kd?ɨFmJ@Fdʇ;Dyb nBbcIIjIj5٢z`= ~I=9~Q ~> G٣y ̺  > dBottom track data is 10.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config r49 ?r4Y | i ohB%b6!%6%%? yC 8; S(A \r4) -saA1ZjFNOT Ignoring new targets: 509.00 m.BjJj ProNav: ac range: 509.000000 m, nav range: 523.473877 m, bearing: 186.523814 deg, approach rate: 0.049555 m/s, LOS rate: -0.070652 deg/s, cmd heading: 276.235663 deg, new cmd heading: 276.147947 deg. 2jAHeadingCmd: 4.819691 target range: 509.000000 and range: 509.00 m. j:@jjjihhhhff f rf bf L7@ɛrB) 隽I  ɚiIOx=ISi^z;i;):@)*Fi2Fi:FiBFm1JFiGqGu?GABYO9>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756778 IJE JE 5JE 1JA JE $;JE :JE 3JA JE V~<JE V~<JE ;JE ;k棸w,[A6M@Y6\@696Um>y6H&*? =z?@;¿u~? i??R? e?ɨ6M@6A|;6[Cyf nBfqIInInƕ5٢vsf= vK=9zԼ9Q z>xx zG٣|y~/z: ~>  dBottom track data is 10.9 s old, using for 20.0 s.  Nusing accuracyPremultiplier from configr49ǚ?r4Y ihB766%?yC:b;.Ahr4) -aA)ZjQ]FNOT Ignoring new targets: 509.00 m.BjeJjem ProNav: ac range: 509.000000 m, nav range: 523.494446 m, bearing: 186.494801 deg, approach rate: 0.051949 m/s, LOS rate: -0.073272 deg/s, cmd heading: 276.147936 deg, new cmd heading: 276.060901 deg. 2ju%I}HeadingCmd: 4.818172 target range: 509.000000 and range: 509.00 m. j}v.@jyjyjyiyhhhhfffrfbf7@ɛrB. 嗿I h篽ɚiIy=Iiyz;i / <)v.@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008637*FU?2FQ:FQBFU`5JFQG)B1OU> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260563 I vGzK yJK ]9K K K ) I w,~7ABK>qA:K< zYxyz&Bn"H@YnyW@n 9nw>ynH ?`{?G,¿Eu$h??y?(? e?ɨn"H@n$;lym?nBmIII5٢= ;=9-1Q > G٣,@Gyź > -dBottom track data is 11.4 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!-r49%k?Ur4Y% i%hBU6QU_6]]?%"zC%;%5A%sr4a e`AaB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 509.00 m.BjUJjU ProNav: ac range: 509.000000 m, nav range: 523.516907 m, bearing: 186.463059 deg, approach rate: 0.049596 m/s, LOS rate: -0.070087 deg/s, cmd heading: 276.060892 deg, new cmd heading: 275.965669 deg. 2jf@HeadingCmd: 4.816510 target range: 509.000000 and range: 509.00 m. j @jjjihh!h!h!f!f)f)rfIbfMa8@ɛrB' YI )ɚiIBy=Ii{;i<) @)H1I1 I5DII5woBI1&I1.I16I5<:I5.F-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513246*F]?2FY:FYBF]1JFaG9BAO]v>w,{A2@@Y2MP@2n928>y2H-ƻ?}? `udG? ?|?`?f?ɨ2@@2 ;2\CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.764675yFenBFIININ95٢V= Va=9ZQ Z>XX ^G٣\y^ b> fdBottom track data is 11.7 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`jr49b.?jr4Yb7 ibhBn5ln56nΰn?b_zCb49;b;Abzr4r2B r_AvEZj aIaFNOT Ignoring new targets: 509.00 m.BjJj ProNav: ac range: 509.000000 m, nav range: 523.535156 m, bearing: 186.437176 deg, approach rate: 0.052578 m/s, LOS rate: -0.074567 deg/s, cmd heading: 275.965679 deg, new cmd heading: 275.888034 deg. 2jLHeadingCmd: 4.815155 target range: 509.000000 and range: 509.00 m. j@jjjihhh h f f9fArfAbfM8@ɛMsBU\/ QUeIQ UɚYiYI]hy=I]n軿iey|;ie_<)e@)aJcKk3 Kk.KcKc"KcJJFJ0JJ $;Jǔ:Jـ3JJ|<J|<J ;J ;*F2F:FBF`5JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016578G ;G B O >((w,A60@Y63@@696=>y6H ,F??uJ?( ? ?`翿?d?ɨ60@6;6YCy>nB>IIFIFɑ5٢N= RJ=9RRQ R>TT VG٣TyV Z> ^dBottom track data is 12.1 s old, using for 20.0 s. ^Nusing accuracyPremultiplier from config\br49^^?fr4Y^ i^iBj5hj6jj?^zC^q;^ BA^r4l n|_ApZj FNOT Ignoring new targets: 509.00 m.BjߤJjߤ% ProNav: ac range: 509.000000 m, nav range: 523.555176 m, bearing: 186.408110 deg, approach rate: 0.049643 m/s, LOS rate: -0.072071 deg/s, cmd heading: 275.888034 deg, new cmd heading: 275.800840 deg. 2j%E-HeadingCmd: 4.813633 target range: 509.000000 and range: 509.00 m. j-H @j)j1j1i1h1h1h9h9f9f9f9rfAbfE9@ɛm$sBuy2 qu蓿Iq uTɚyiyI}y=I}IiW};i<)H @)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271854*F2F:FBFo0JF aIiG;zKm$JKh9KKK!- RK?JK?GB!OER>H% r>I!  I% oII% oBI! &I! .I! 6I% <:I% jF5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= BDAT read: Rx Time:21:18:02.5898 = TRx dataTimestamp_ set to:1736371083.836735E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521713Lw,Ay nB III5٢-= -B=9-Q 5>11 EG٣E-@GyE E> UdBottom track data is 12.5 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]r49M?]r4YMO iM)iBe5ae5ae?MzCM<;MHAMr4i m^AiZjFNOT Ignoring new targets: 509.00 m.BjJj ProNav: ac range: 509.000000 m, nav range: 523.576294 m, bearing: 186.377745 deg, approach rate: 0.049153 m/s, LOS rate: -0.070673 deg/s, cmd heading: 275.800853 deg, new cmd heading: 275.709761 deg. 2jB=HeadingCmd: 4.812043 target range: 509.000000 and range: 509.00 m. j=B@jAjAjAiAhAhAhIhIfIfIfrfbf9@ɛ>sB( I ͷɚi I cz=IdNi~;iJ/<)B@)*F2F:F BF m0JF "G%%=G%a=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775728 aIefG )<G B O >;ĸw,Ar@Yr*@r[9r\3>yrH?`ł?Iv@t?lI?8??c?ɨr@r2;;py~nB~IIIW5٢%h= %J=9%gQ %>)) -G٣)y5bۻ 5> =dBottom track data is 12.9 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9Er49=ܯ?Mr4Y=4 i=OiBU5QU5UfU?=.{C=X;=;OA=r4Y ]1^AYZjFNOT Ignoring new targets: 509.00 m.BjCJjC ProNav: ac range: 509.000000 m, nav range: 523.595947 m, bearing: 186.348695 deg, approach rate: 0.049764 m/s, LOS rate: -0.073554 deg/s, cmd heading: 275.709766 deg, new cmd heading: 275.622618 deg. 2jIHeadingCmd: 4.810522 target range: 509.000000 and range: 509.00 m. j@jjjihhhhfffrfbf9@ɛRsBe&0 XI FɚiIVz=I;i+~;i<)@ Will construct direction to contact in vehicle frame from tetrahedron phase data. i DAT read: 21:18:02.5898 LVL= 29344, 32753, 18642, 32755, AGC= 70, IDX= 242,-0.25, 2.940, 1.851,-2.809, 2.621, PHS= 0.407,-0.722, 0.851, RAW= 165.9, -7.7, CAL= 169.3, -14.5, ROT= 340.7, 14.5 Ygot valid direction response: 21:18:02.5898 LVL= 29344, 32753, 18642, 32755, AGC= 70, IDX= 242,-0.25, 2.940, 1.851,-2.809, 2.621, PHS= 0.407,-0.722, 0.851, RAW= 165.9, -7.7, CAL= 169.3, -14.5, ROT= 340.7, 14.5 PDAT read: Bearing 340.7, 14.5 (Local) ~Local bearing/azimuth received: Bearing 340.7, 14.5 (Local) DAT read: Range 10 to 50 : 499.6 m (Round-trip 666.2 ms) speed 0.4 m/s ,DAT read: user:1645> BDAT read: Tx time:21:18:03.6695 $Ping request sent.8#Y?O9@ $=@)IdH@i>fI ?1?ߚ)M?IR >ijÿ噾:publishing transmit ping timeعFpublishing direction and range info9Q㏥?͔Pr?y )Ii )IifI ?1?ߚ)Ii*F?2F:FBFo0JFG9)<G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:18:03.6687 O Q IQ zK LK K K K BK rA:K cʸw,Ȕ+A6g @Y6@6$96Q>y6H-??@v@?"h?Q?`N?@|b?ɨ6g @6t;6XCyJnBJIIR{IR5٢j3G= jP=9jFQ n>ll nG٣lyr r> dBottom track data is 13.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from configtr49vٳ?r4Yv ivtiBO55%?vq{Cv;vUAvr4) -]A-EkE(ʊ"?kEi J J<J1JJ);J:J3Ja@a@a@a%@kA kEA:kECBkECZkEP@"En4 5@r;}M!^#m}b@EQ㏥?͔Pr?JkEjÿRkE噾*EƲr)~ B9My!QV@EB↑5p͂Ly?"kEi*kE kEG ?kE!| 2kECkEK ?kAkEۢBkEDkE"P@ addTargetRange:: Added new target pos. range: 499.600006 m, deltaT: 25.959068 s, deltaX: -9.399994 m, approachRate: -0.362108 m/s, rangeRepo size: 4  Added new target pos. range: 499.600006 m, bearing: 186.829228 deg, lat: 36.900089 deg, lon: -122.114232 deg, deltaT: 25.959068 s, deltaX: -9.399994 m, approachRate: -0.362108 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 499.60 m.BjJj ProNav: ac range: 499.600006 m, nav range: 522.636475 m, bearing: 186.332247 deg, approach rate: 0.000000 m/s, LOS rate: -0.073554 deg/s, cmd heading: 275.622612 deg, new cmd heading: 275.527340 deg. 2jHeadingCmd: 4.808859 target range: 499.600006 and range: 499.60 m. j-@jjjihhhhAfAfAfIrfU9@bf]z?Hq>I IIIpBI&I.I6I<:IoFɛ lsB u(( +I íɚiIz=I=iE3;iE#<)E-@)A%Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFm0JFG l<G B O >EѸw,VEA69@Y6@6cn96e=y6H`\>?[?@ 3x)?M?Yz?x?a?ɨ69@6(ԇ;6YCBWill construct direction to contact in vehicle frame from tetrahedron phase data.yzoBzI ^$?IfIBI5٢%V= %F=9%5HQ %>)) -G٣-.@Gy5T 5> =dBottom track data is 13.8 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9Er49=񷋜?Mr4Y= i=iBM(5IM|5MM?={C=+;=\A=r4U1B ]F]AeEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 499.60 m.BjJj ProNav: ac range: 499.600006 m, nav range: 522.655334 m, bearing: 186.302493 deg, approach rate: 0.050183 m/s, LOS rate: -0.079169 deg/s, cmd heading: 275.527345 deg, new cmd heading: 275.438085 deg. 2jUYHeadingCmd: 4.807302 target range: 499.600006 and range: 499.60 m. jjՙ@jjjihhhhfffrfbf ?ɛsB5  ʍI  C5ɚ i I z=I鼿i ;i;)jՙ@)*F2F:FBFo0JFGsA GsAGjx<=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.GBO >p׸w,2_A>aђ@Y>@>9>4=y>H`:R??@}hyuA?8?`? >?`?ɨ>aђ@>;>WCybIoBb(IIn*In|u5٢v> vN=9vz^Q z>xx zG٣xy~Z >  dBottom track data is 14.2 s old, using for 20.0 s.  Nusing accuracyPremultiplier from configr49ϻ?r4YȺ iiB5L5?{CpJ;|bAr4) -d\A)ZjaeFNOT Ignoring new targets: 499.60 m.BjmJjm} ProNav: ac range: 499.600006 m, nav range: 522.672668 m, bearing: 186.273796 deg, approach rate: 0.043573 m/s, LOS rate: -0.072134 deg/s, cmd heading: 275.438088 deg, new cmd heading: 275.352002 deg. 2j}FHeadingCmd: 4.805799 target range: 499.600006 and range: 499.60 m. jə@jjjihhhhfffrfbf@?ɛsB, rI ɚiIz=Ii92;iz;)ə@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239212*F2F:FBFx0 9IYJFazKJK9KKKp   ^[:R3fy|k oFRK-?JK->JJAAJJ:J2JJ+;J:Jc3JG&;Gi B O >H I  I II upBI  =&I .I 6I <:I 3FM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491838ݸw, yAyrloBr>IIIII٢]@= ]C=9eQ e>aa eG٣iym m> }dBottom track data is 14.6 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configqr49u࿋?r4Yu iuiB4%5?u@|CuX;u,iAur4 [AZjFNOT Ignoring new targets: 499.60 m.BjBJjB] ProNav: ac range: 499.600006 m, nav range: 522.691040 m, bearing: 186.243656 deg, approach rate: 0.044034 m/s, LOS rate: -0.072240 deg/s, cmd heading: 275.352000 deg, new cmd heading: 275.261582 deg. 2jeOFeHeadingCmd: 4.804221 target range: 499.600006 and range: 499.60 m. je.@jijijiiihihihqhqfqfqfyrfybf} ?ɛsBT) I ɚiI&{=INi=s;iW;).@)*FI2FI:FIBFM0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742129 AIAGm;G) B9 OU >Sw,A6/@Y6ƙ@6 96?=y6H=?_?@!zZ? ?? `? 4c?ɨ6/@6;6\CyRoBR^IIZeIZЇ5٢bh > bU=9b}Q b>dd fG٣f/@GyjU j> rdBottom track data is 15.0 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlrr49nË?vr4Yn injBv4tv5vv?n|CnE9;nPoAnr4x ~[AZj)-FNOT Ignoring new targets: 499.60 m.Bj5IJj5IE ProNav: ac range: 499.600006 m, nav range: 522.707275 m, bearing: 186.215933 deg, approach rate: 0.042314 m/s, LOS rate: -0.072252 deg/s, cmd heading: 275.261596 deg, new cmd heading: 275.178428 deg. 2jEXFMHeadingCmd: 4.802770 target range: 499.600006 and range: 499.60 m. jMJ@jIjIjIiIhIhQhQhQfQfYfYrfYbfe|?ɛsB". 隕݃I b½ɚiI>V{=IB~ik;i<;)J@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994083*F12F1:F1BF5?1JF1"G==G==GU*;G1B9O]> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247578 9 I9 w,ӬAzKOK 9KKK~dXgzlM1   'd RTp;j&@Yj~Й@j9jQ'=yjH_ҷ??4 z@??v? T?`Vd?ɨj&@j N;jXCyvoBv{IzAzA u u uu uu  u u }} }Mb@Mb@Mb@yyy y)yY}Mb?I +?~jt?y} ?}94=}<}1A }dA)}AI}5Ayy}&A*JC="J%=J J<J1JJ(;J:J3JI[I5٢= %6=9-):Q U>QQ UG٣Qy]/; ]> Nusing accuracyPremultiplier from configar49eYNj?r4Ye ieFjBT: ?:e?e|Ce;e!;er4 KZAZjEFNOT Ignoring new targets: 499.60 m.BjMJjM] ProNav: ac range: 499.600006 m, nav range: 522.722229 m, bearing: 186.185168 deg, approach rate: 0.031992 m/s, LOS rate: -0.065817 deg/s, cmd heading: 275.178432 deg, new cmd heading: 275.086139 deg. 2j]4eHeadingCmd: 4.801159 target range: 499.600006 and range: 499.60 m. je@HiIi Im%IImpBIi&Ii.Ii6Im<:Im`FBI9JI9RI9ZI= =bI= =jI=L4jjjihhhh!yBfffrfbf~@ɛEsBe# aeTIa eQiĽɚiiiIm=m{=I} i};i}Z <)}@)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498716*F?2F:FBF0JFG O;G B O >vw,=A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750243:_@Y:ϙ@:M9:#=y:Hb̷? ? <@{?Q?? ?`e?ɨ:_@:v;:YCyRoBRIIZ?IZ~5 dIff٢E= MZ=9M9Q U>QQ UG٣Qy}鄹 }> Nusing accuracyPremultiplier from configr49{ʋ?r4Y itjBg?}C::r40B YAE B*** querying acoustic contact ***j j Zj9=FNOT Ignoring new targets: 499.60 m.BjEJjE ProNav: ac range: 499.600006 m, nav range: 522.734619 m, bearing: 186.159872 deg, approach rate: 0.032994 m/s, LOS rate: -0.067358 deg/s, cmd heading: 275.086142 deg, new cmd heading: 275.010257 deg. 2j8HeadingCmd: 4.799834 target range: 499.600006 and range: 499.60 m. j>@jjjihhhhfffrfbf@@ɛsB, 隝~I ŽɚiI{=It޽iF;iH<)>@)*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002066G Mh <G B O >w,}A6@Y6rЙ@6g96=y6H@`ҷ?@ғ?`aA{A??Ν?Q ?@e?ɨ6@6;6WCyBpBBIIJ<IJv}5٢V6= VT=9Z.:Q Z>XX ^G٣^0@Gybu9 b> fNusing accuracyPremultiplier from configdjr49f͋?jr4Yf ifjBhjdj?f@}CfU:f ;fr4p r YApZj  FNOT Ignoring new targets: 499.60 m.BjJj- ProNav: ac range: 499.600006 m, nav range: 522.747314 m, bearing: 186.134172 deg, approach rate: 0.034768 m/s, LOS rate: -0.070380 deg/s, cmd heading: 275.010245 deg, new cmd heading: 274.933148 deg. 2j-4A5HeadingCmd: 4.798489 target range: 499.600006 and range: 499.60 m. j58@j1j9j9i9h9h9hAhAfAfAfIrfIbfM`ܢ @ɛtB=- xI `ǽɚiI{=I i4;i ƹ/<) 8@) E=rAE9}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256340*F?2F I) _C:FBFP5JFGErA GErAGAzK]NOK]]9KYK]K]#    , /Pr<_J>5+! Yy:Bm@oAJJ:JJJ4.;J:JJGm jx<Hu r>Iq  Iu cIIu JqBIu  =&Iq .Iq 6Iu <:Iu mFG B O  Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:21:18:06.7276 - TRx dataTimestamp_ set to:1736371087.872557- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507125w,\AR5@YRЙ@R99R/=yRHӷ?@ G٣yj7 > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configr49Pы?r4Y ijB+::b?}C;>;r41B XA EZjFNOT Ignoring new targets: 499.60 m.BjJj ProNav: ac range: 499.600006 m, nav range: 522.762024 m, bearing: 186.104680 deg, approach rate: 0.032484 m/s, LOS rate: -0.065127 deg/s, cmd heading: 274.933146 deg, new cmd heading: 274.844673 deg. 2j2HeadingCmd: 4.796945 target range: 499.600006 and range: 499.60 m. j@jjjihhhhfffrfbf R @ɛtB% vI $ɽɚiI{=I"=iw?;iC<)@)*F}?2Fy:FyBF`5JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758418 IG -<Ga Bi O >w,77A6Ē@Y6pә@696=y6H`?@?  |.? j?@9?̽?`g?ɨ6Ē@6;6WCy>npBBIIJIJm5٢R= R[=9R:Q R>TT VG٣TyZy: Z> ^bBottom track data is 0.8 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\br49^iԋ?br4Y^ i^kBf :df]:fWf?^}C^';^O?^r4h nWAlZj FNOT Ignoring new targets: 499.60 m.Bj ҠJjҠ% ProNav: ac range: 499.600006 m, nav range: 522.774719 m, bearing: 186.079708 deg, approach rate: 0.035739 m/s, LOS rate: -0.070300 deg/s, cmd heading: 274.844681 deg, new cmd heading: 274.769765 deg. 2j%@-HeadingCmd: 4.795637 target range: 499.600006 and range: 499.60 m. j-u@j)j)j)i)h)h)h1h1f9f9fArfAbfE @ɛu*tBu- q}nIy }tʽɚyiyI}|=Igi;i'[<)u@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.013121*F?2F:FBFi0JFG2<GBO> _$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:18:06.7276 LVL= 19872, 26209, 12466, 25251, AGC= 72, IDX= 309, 0.23,-0.073,-1.065, 0.450,-0.322, PHS= 0.338,-0.695, 0.769, RAW= 166.7, -6.4, CAL= 169.7, -13.4, ROT= 340.3, 13.4  Ygot valid direction response: 21:18:06.7276 LVL= 19872, 26209, 12466, 25251, AGC= 72, IDX= 309, 0.23,-0.073,-1.065, 0.450,-0.322, PHS= 0.338,-0.695, 0.769, RAW= 166.7, -6.4, CAL= 169.7, -13.4, ROT= 340.3, 13.4  PDAT read: Bearing 340.3, 13.4 (Local)  ~Local bearing/azimuth received: Bearing 340.3, 13.4 (Local)  DAT read: Range 10 to 50 : 490.5 m (Round-trip 654.0 ms) speed 0.4 m/s - ,DAT read: user:1646> 5 BDAT read: Tx time:21:18:07.8195 5 $Ping request sent.5 ٝ 1ٝ /D? w,%.AzK:QNK8K8K:K: BKP:KP4:@ =@)|oI3@i|o>'??m`op)2iP?I=inƿv|n:publishing transmit ping timeYnFpublishing direction and range info9Dzo? cW ?y )Ii )Ii'??m`op)IiM|@YM˙@MX$9MP=yMH@S? ?}f}#_? ?4q??*h?ɨM|@MBч;IyޥwpBޥIZH RH @AHp>I IIIqBI =&I.I6Iβ<:IQF U U UU UU  U U UMb@Mb@Mb@QQQ Q)QYU5^I ?:v?yU?U1 =G٣=1@Gy=ۺ => MNusing accuracyPremultiplier from configAMr49E-؋?Mr4YE] iE:kBUT:u5?u:unu?E~CEA;E;Er40B WAEk/T?k* k kS(A:k@CBkCZk܉N@"= #V(!@6Ɏg}Ma@Dzo? cW ?JknƿRkv|*H޺~n04wD>%T@YnhT}r?"kP%*kkɔC@?k*g52 2kNCkIU?kV, kBkDkuO@ addTargetRange:: Added new target pos. range: 490.500000 m, deltaT: 4.285108 s, deltaX: -9.100006 m, approachRate: -2.123635 m/s, rangeRepo size: 4  Added new target pos. range: 490.500000 m, bearing: 184.902890 deg, lat: 36.900161 deg, lon: -122.114232 deg, deltaT: 4.285108 s, deltaX: -9.100006 m, approachRate: -2.123635 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 490.50 m.BjJj ProNav: ac range: 490.500000 m, nav range: 514.870056 m, bearing: 186.135946 deg, approach rate: 0.000000 m/s, LOS rate: -0.070300 deg/s, cmd heading: 274.769768 deg, new cmd heading: 274.647281 deg. 2jHeadingCmd: 4.793499 target range: 490.500000 and range: 490.50 m. jYd@jjjihhhh9yBfffrf~@bfs?ɛItB? 隭tI f̽ɚiI |=Ii;ih<)Yd@)*F} ?2Fy :Fy BF 1JF y Iy  Will construct direction to contact in vehicle frame from tetrahedron phase data.G P<GBO> w,MA6{@Y6ӻ@6396cy>y6H@`0??κ}(??@?`X?`?ɨ6{@6;6UCyBpBBIDFAININen5٢RH= Vp=9V~GQ V?XX ZG٣Xy^, b? fNusing accuracyPremultiplier from config`fr49bnڋ?jr4Yb ib[kBhnn?bF~Cb;b;br4p rWApB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 490.50 m.BjӢJjӢ% ProNav: ac range: 490.500000 m, nav range: 514.875793 m, bearing: 186.113963 deg, approach rate: 0.018577 m/s, LOS rate: -0.071177 deg/s, cmd heading: 274.647289 deg, new cmd heading: 274.581343 deg. 2j%dC-HeadingCmd: 4.792348 target range: 490.500000 and range: 490.50 m. jZ@jjjihhhhfffrfbf`Dw,*fA:M@Y:@:9:9=y:H??e}*ۻ??ٝ?@z?`)b?ɨ:M@:FL;:WCyFpBFI TIVfININ]5٢b9= bI=9f]Q f>dd jG٣hyj j> rNusing accuracyPremultiplier from configlrr49n!݋?vr4Yn inkBtv̷v?n~CnX:n:nr4x zVA|Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990227ZjAEFNOT Ignoring new targets: 490.50 m.BjMJjUm ProNav: ac range: 490.500000 m, nav range: 514.882507 m, bearing: 186.087477 deg, approach rate: 0.016402 m/s, LOS rate: -0.064705 deg/s, cmd heading: 274.581336 deg, new cmd heading: 274.501878 deg. 2ju1HeadingCmd: 4.790962 target range: 490.500000 and range: 490.50 m. jO@jjjihhhhfffrf9bfE?ɛotBC' qI Ͻɚi I&|=I%.i%~;i%d<)%O@)IzKLK59KKKRK ?JK>*F2F:FBF4JFG G"GGHI IIIqBI&I.I6I<:IAFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243390Gq By O >. w,zĀA2®@Y2@292q=y2HvB??`L.}"?@? &??d?ɨ2®@2>;2YCyNpBNI]Mb@Mb@Mb@YYY Y)YY]Cl?y&1? G٣2@Gyj0; > Nusing accuracyPremultiplier from configs49ߋ?s4Y| ikBs?:?~C; ;s4 YVAZjFNOT Ignoring new targets: 490.50 m.BjJj ProNav: ac range: 490.500000 m, nav range: 514.885376 m, bearing: 186.058783 deg, approach rate: 0.006757 m/s, LOS rate: -0.067583 deg/s, cmd heading: 274.501888 deg, new cmd heading: 274.415808 deg. 2j9HeadingCmd: 4.789459 target range: 490.500000 and range: 490.50 m. j@C@jjjih h hhyBfffrfbf5?ɛEtBEE. IMnII MѽɚIiIIUn|=IUi2i];i]U<)]@C@)YEi I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494620*F2F:FBFo0JFG)G-qAGB O5.>JUJUBJU0JQJU+;JU:JUـ3JQJU><JU><JUx;JUx; Will construct direction to contact in vehicle frame from tetrahedron phase data.չ iչ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746435\W&w,ݘA25@Y2ę@2S92k=y2H@tv?v?E~S.?@X?_b?@N@?@rg?ɨ25@2Sv;2TCyBpBB$I F=F=IJ(IJt5٢f= fW=9jhh jG٣ly}; }> Nusing accuracyPremultiplier from configs49 ⋜?s4Y ikB?C::s4 UAZjFNOT Ignoring new targets: 490.50 m.BjvJjv% ProNav: ac range: 490.500000 m, nav range: 514.888306 m, bearing: 186.032002 deg, approach rate: 0.007243 m/s, LOS rate: -0.066210 deg/s, cmd heading: 274.415800 deg, new cmd heading: 274.335455 deg. 2j%5-HeadingCmd: 4.788057 target range: 490.500000 and range: 490.50 m. j-7@j)j)j)i1hQhQhYhYfYfYfYrfabfe?ɛtB/=* lI 6ҽɚiI9|=I``i嘆;ir<)7@)*F?2F:FBFJFGBOA> IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998921zK ]JK +9K K K *JY "J] p=,w,qAH(I*C I*II*>rBI(&I(.I(6I*<:I*hF^}@Y^ə@^%j9^+O=y^H+??@ I?%?:??@zi?ɨ^}@^Ή;^WCy~pB~IMb@Mb@Mb@ )YRQ?y&1?~jty"?D-A KA)Id/Ay!AI I p5٢ 7=9%94;Q %>!! %G٣)y-: -> =Nusing accuracyPremultiplier from config1=s495䋜?=s4Y5 i5kBE"?E:EE?5GC5;5;5#s4M/B MVAUEuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250232ZjFNOT Ignoring new targets: 490.50 m.Bj:Jj: ProNav: ac range: 490.500000 m, nav range: 514.891785 m, bearing: 186.002110 deg, approach rate: 0.008203 m/s, LOS rate: -0.070478 deg/s, cmd heading: 274.335450 deg, new cmd heading: 274.245775 deg. 2jyAHeadingCmd: 4.786492 target range: 490.500000 and range: 490.50 m. j*@jjjihhhhyBfffrfbfC@ɛ tB <- 隵tI QԽɚiIE$}=Ii쵇;i<)*@)*F?2F:FBFn0JFGBOd> q Iy - Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502201i3w,QA:c@Y:™@:9:==y:H`i? {? s ? ? 0?@L޽?j?ɨ:c@:;:YCy^qB^6IIf&Ifs5٢n<= ra=9rj:Q r>tt vG٣v3@Gyv; v> ~Nusing accuracyPremultiplier from configxs49z拜?s4Yz izlB?zCz;z;z0s4 tUA5B*** querying acoustic contact ***j1j1ZjAMFNOT Ignoring new targets: 490.50 m.BjMJjUe ProNav: ac range: 490.500000 m, nav range: 514.894592 m, bearing: 185.976652 deg, approach rate: 0.007715 m/s, LOS rate: -0.069952 deg/s, cmd heading: 274.245783 deg, new cmd heading: 274.169409 deg. 2je@mHeadingCmd: 4.785159 target range: 490.500000 and range: 490.50 m. jm @jijijiiihihqhqhqfyfyfrfbf'$@ɛtB4i1 隽nI QսɚiIh}=IRi ;i<) @)J JJ1JJ';JJ3JJށ<Jށ<JJ*FI2FQ:FQBFU}0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754205G6;G?G?GYBiO> i Im fe9w,k`A6@Y6㹙@696z=y6H *$?X?jپ?i?%??`k?ɨ6@6;6TCyJ qBJ<IfWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.0071159=AIIp5٢ô< 9=9_7:Q >  G٣ y j  > Nusing accuracyPremultiplier from configs49鋜?%s4Y i5lB!%:%?CB;;@s4) 5LUAZjFNOT Ignoring new targets: 490.50 m.Bj=JjEu ProNav: ac range: 490.500000 m, nav range: 514.897888 m, bearing: 185.945560 deg, approach rate: 0.006658 m/s, LOS rate: -0.062810 deg/s, cmd heading: 274.169421 deg, new cmd heading: 274.076145 deg. 2j}l,HeadingCmd: 4.783531 target range: 490.500000 and range: 490.50 m. j@jzKVBJK9KKKoad3 jjihhhhfffrfbf=> @J J ɛtB_' 隭rI շ׽ɚiI}=Ii;i<)@)H-n>I) I-II-grBI)&I).I)6I-̲<:I-LFBIJIRIZI =bIjIŏ4*F2F:FBFo0JFGu9n<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263025GQ Bi O >z@w,uA:l@Y:į@:r9:=y:HvԶ? K?@ւg??`%?Ѳ?k?ɨ:l@:ٛ;:VCyB)qBBOIMb@Mb@Mb@ )YFx?Q?~jty+?u<~*A A)7AI ,AyAI-I-m5٢=U= =Y=9=(8Q E>AA EG٣AyMW M> UNusing accuracyPremultiplier from configQ]s49U시?]s4YU$ iUXlB]+?e:e]e?UCU;U[;U>Ms4q uTAqZjFNOT Ignoring new targets: 490.50 m.BjsĺJjsĺ ProNav: ac range: 490.500000 m, nav range: 514.900757 m, bearing: 185.917760 deg, approach rate: 0.008861 m/s, LOS rate: -0.085875 deg/s, cmd heading: 274.076148 deg, new cmd heading: 273.992749 deg. 2jkHeadingCmd: 4.782075 target range: 490.500000 and range: 490.50 m. j@jjjihhhhxBfffrfbf̯ @ɛtB8 隍nI ؽɚiI}=I`$iъ;i{<)@) IWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:21:18:10.8738 -TRx dataTimestamp_ set to:1736371092.1672165checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518569*FI2FQ:FQBFU0JFYJ=J=AJ9J9J=+;J=/:J9J9J=><J=><J=;J=;G>Q<Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766088ܤFw,A6ڌ@Y62@6i96v=y6H@G:? ?[@ƺ? ?$? a?l?ɨ6ڌ@6`;6XCyR6qBRWIIZ IZq5٢5= =J=9=$7Q =>AA EG٣E4@GyM M> UNusing accuracyPremultiplier from configQ]s49U?es4YU+ iU~lBaee?U'CU;U;U_[s4i mTAqZjFNOT Ignoring new targets: 490.50 m.Bj᩺Jj᩺ ProNav: ac range: 490.500000 m, nav range: 514.903259 m, bearing: 185.887831 deg, approach rate: 0.006209 m/s, LOS rate: -0.074260 deg/s, cmd heading: 273.992738 deg, new cmd heading: 273.902953 deg. 2jKHeadingCmd: 4.780509 target range: 490.500000 and range: 490.50 m. j@jjjihhhhfffrfbf@ɛtB1  1pI  Uhڽɚ i I |<~=IWi1Ӌ;i<)@)*F?2F:FBF1JF"GC=G= If}G Yyj B-Will construct direction to contact in vehicle frame from tetrahedron phase data.GFթ<GGrADAT read: 21:18:10.8738 LVL= 28656, 31729, 16610, 29475, AGC= 68, IDX= 398,-0.02,-1.924,-2.791,-1.335,-2.096, PHS= 0.260,-0.647, 0.758, RAW= 170.5, -6.1, CAL= 172.9, -13.0, ROT= 337.1, 13.0 Ygot valid direction response: 21:18:10.8738 LVL= 28656, 31729, 16610, 29475, AGC= 68, IDX= 398,-0.02,-1.924,-2.791,-1.335,-2.096, PHS= 0.260,-0.647, 0.758, RAW= 170.5, -6.1, CAL= 172.9, -13.0, ROT= 337.1, 13.0 PDAT read: Bearing 337.1, 13.0 (Local) ~Local bearing/azimuth received: Bearing 337.1, 13.0 (Local)  DAT read: Range 10 to 50 : 487.5 m (Round-trip 650.1 ms) speed 0.7 m/s 5,DAT read: user:1647> =BDAT read: Tx time:21:18:11.9695 =$Ping request sent.E^direction in FSK: [0.015838,-0.976162,0.216464]:publishing transmit ping time9Fpublishing direction and range info)9-v7?9j<E?y-C)-o-{ -@)-#sI-Di->-ˡ%-J B?-Is>@-^ ڽ -!A@)-VhI-E@i-Vh>))-h.5A?"?gL)-ta?I-a=i-<ƿ-tm_)) :publishing transmit ping time9 Fpublishing direction and range info)9-v7?9j<E?y)))) )))I)i))))) )))I)i)))-h.5A?"?gL))I)i))))zKE WNKE +9KA KE KE ZH9 RH9 HA IA  IE +IIE rBIA &IA .IA 6IE <:IE ,F9Lw,5A2*y@Y2@292=y2H@?? Rk~?^?`o ?-?@n?ɨ2*y@2;2VCyB>qBB\IMb@Mb@Mb@ )Y`"? rh?~jthy7?C<D(A A)AI)AyGAIIHo5٢< ?=99Q > %G٣!y%4 %> -Nusing accuracyPremultiplier from config)]s49-x?es4Y-3 i-lBm7?m:mm?}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:18:11.9687 -NC-V<-EV<-vjs4.B yTAEk] ?k]Qs kY k]*A:k]CBk]CZk]ĎN@"]F͈@$}aZ@]v7?9j<E?Jk]<ƿRk]tm_*]Y1~a?DHLGI@]غ̵.iֵ?"k]W&*k]k]Q9?k]SP{ 2k]Bk]G ?k]SP{ k]Bk]HCk]v~N@ addTargetRange:: Added new target pos. range: 487.500000 m, deltaT: 4.039598 s, deltaX: -3.000000 m, approachRate: -0.742648 m/s, rangeRepo size: 4  Added new target pos. range: 487.500000 m, bearing: 184.920043 deg, lat: 36.900371 deg, lon: -122.114109 deg, deltaT: 4.039598 s, deltaX: -3.000000 m, approachRate: -0.742648 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 487.50 m.BjJj! ProNav: ac range: 487.500000 m, nav range: 490.569733 m, bearing: 184.863031 deg, approach rate: 0.000000 m/s, LOS rate: -0.074260 deg/s, cmd heading: 273.902962 deg, new cmd heading: 273.797426 deg. 2jHeadingCmd: 4.778666 target range: 487.500000 and range: 487.50 m. j@jjjihhhh]xBfffrfx~@bf0)?ɛ5uB5E* 1=GtI9 =!eܽɚ9iaIeo~=Ieim;im<)m@)i*F2F:FBF0JF I% Will construct direction to contact in vehicle frame from tetrahedron phase data.G= 7ͤ<G B! O= >dd fG٣dyf!z j> nNusing accuracyPremultiplier from configlrs49n?rs4Yna: inlBpvv?nnCn;n;nvs4x zSAxB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 487.50 m.Bj-ֺJj-ֺ= ProNav: ac range: 487.500000 m, nav range: 490.574738 m, bearing: 184.833350 deg, approach rate: 0.015826 m/s, LOS rate: -0.093853 deg/s, cmd heading: 273.797422 deg, new cmd heading: 273.708379 deg. 2jEҀEHeadingCmd: 4.777112 target range: 487.500000 and range: 487.50 m. jEޘ@jIjIjIiIhIhIhQhQfQfYfYrfYbf]Y?ɛuBmpr= imnIi ueݽɚqiqIu~=I}i};i}΃<)}ޘ@)yJJCJ0JJl-;J9:Jـ3JJ<J<J];J];*F%?2F!:F!BF-`5JF)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<GY Bi O > I Yw,DiAN%@YN$5@N?z9N=yNH ? h? `NJk?<?/\??%p?ɨN%@Na<;LybsqBb|IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975738)d dqu@AI}I}R5٢~= ==9%Q > G٣5@Gy3 > Nusing accuracyPremultiplier from configs49D?s4YiB imBO?C@;; s4 SAZjFNOT Ignoring new targets: 487.50 m.Bj彺Jj彺 ProNav: ac range: 487.500000 m, nav range: 490.579529 m, bearing: 184.797570 deg, approach rate: 0.011116 m/s, LOS rate: -0.083010 deg/s, cmd heading: 273.708384 deg, new cmd heading: 273.601044 deg. 2jcHeadingCmd: 4.775239 target range: 487.500000 and range: 487.50 m. jΘ@jj!j!i)h1h9hIhIfQfQfQrfQbfU,?ɛ2uB~. %oI) 5?߽ɚ1i9I=Idi;i\e<)Θ@)JJBAzK=JK=ػ9K9K=K=RKE ?JKE?Hm>I IJIIrBI =&I.I6I<:I@F*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228493G T<G ?G >G B O >f`w, A2@Y2g@292F=y2H`4? ձ? ;`e(?`f?`C?`?n?ɨ2@2K;0y>qBBIEMb@Mb@Mb@AAA A)AYEX9v?I +? mN=9uVQ }>yy G٣y핼 > Nusing accuracyPremultiplier from configs49?s4YJ i6mB >?:?C;[;s4 RAZjFNOT Ignoring new targets: 487.50 m.BjúJjú ProNav: ac range: 487.500000 m, nav range: 490.583344 m, bearing: 184.763533 deg, approach rate: 0.009583 m/s, LOS rate: -0.085505 deg/s, cmd heading: 273.601040 deg, new cmd heading: 273.498930 deg. 2jjHeadingCmd: 4.773457 target range: 487.500000 and range: 487.50 m. j)@jjjihhhhbxBfffrfbf O?ɛ5CuB=3 9=RfI9 =;ɚ9i9IEb=IE>iMΎ;iMs<)M)@)I `$?I*F2F:FBF`0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480259Gmo<GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732722fw,A2ߑ@Y2)@292ۤ=y2H^??4Rc9?|M? e?`W?p?ɨ2ߑ@2D;2YCyrqBrIIzIzi5٢%= -O=9-^&;Q ->11 5G٣1y5O 5> ENusing accuracyPremultiplier from configAMs49E?Ms4YEQ iEhmBIMۼU?ECEo;Eq;Es4e-B eQAmEZjFNOT Ignoring new targets: 487.50 m.BjºJjº ProNav: ac range: 487.500000 m, nav range: 490.586945 m, bearing: 184.729817 deg, approach rate: 0.009098 m/s, LOS rate: -0.085179 deg/s, cmd heading: 273.498943 deg, new cmd heading: 273.397794 deg. 2jiHeadingCmd: 4.771692 target range: 487.500000 and range: 487.50 m. j@jjjihhhhfffrfbfln?ɛUuB/ T^I ɚiI=IxiA2;i X*<) @) *FI2FI:FIBFMd0JFI iImf=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983244Gl<G B O >*JI "JM =JK 3 KL.KK"KJe Ja Je 1Ja Je ,;Ja Je 3Ja a @a @a @a @zK MK 9K K K r) ; ZSS3  BK qA:K H I  I vII sBI &I .I 6I <:I 3F mw,DA>Cӑ@Y>@>^v9>y=y>H?"?zT`Uδ? J? [??`q?ɨ>Cӑ@>b;>WCyFrBFIMb@Mb@Mb@ )YK7A?l? G٣6@Gym > Nusing accuracyPremultiplier from configs49?s4YY imBUB?:?C*;V;s4 UQAZj!-FNOT Ignoring new targets: 487.50 m.Bj-ǺJj-Ǻ= ProNav: ac range: 487.500000 m, nav range: 490.596344 m, bearing: 184.692855 deg, approach rate: 0.022202 m/s, LOS rate: -0.087304 deg/s, cmd heading: 273.397801 deg, new cmd heading: 273.286918 deg. 2j=oEHeadingCmd: 4.769756 target range: 487.500000 and range: 487.50 m. jEء@jAjIjIiIhIhIhQhU.xBfQfQfYrfYbf]@ɛhuB", 隍XIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235362 LwɚiI=I iᢏ;i>20<)ء@)*F?2F:FBFk0JF YIYG- )<G1 G5 sAG B O= >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487337$sw,A6@Y6l͘@696{=y6Hx?P?^`@h,?X?`?d?p?ɨ6@6V;4yN7rBNI V=V=IZIZb5٢b^> bZ=9f۹Q f>dd fG٣hyjF j> nNusing accuracyPremultiplier from configlrs49n{?rs4Yn-a inmBtvv?n,Cn:n:ns4x zPAxB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 487.50 m.BjZJjZu ProNav: ac range: 487.500000 m, nav range: 490.604034 m, bearing: 184.660480 deg, approach rate: 0.019766 m/s, LOS rate: -0.083210 deg/s, cmd heading: 273.286906 deg, new cmd heading: 273.189784 deg. 2juld}HeadingCmd: 4.768061 target range: 487.500000 and range: 487.50 m. j}@jyjyjyiyhhhhfffrfbfm@b@ɛ{uB$* 隽$QI wɚiI =Ii ;io!<)@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739418*F?2F:FBFo0JFG 2<G B O > I II zw,zAJ0@YJ@J&9J1v=yJH@*?F?f@ߒ"?0]?]?Qͻ? p?ɨJ0@J^;JUCyRfrBVII^I^Kk5٢fI= fJ=9fg9Q f>hh jG٣hyj԰ n> rNusing accuracyPremultiplier from configpvs49r4?vs4Yri irnBtvYz?rSCWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991711r1.;rן;rs4 OAZj9=FNOT Ignoring new targets: 487.50 m.BjEϺJjEϺU ProNav: ac range: 487.500000 m, nav range: 490.611908 m, bearing: 184.625193 deg, approach rate: 0.020252 m/s, LOS rate: -0.090761 deg/s, cmd heading: 273.189781 deg, new cmd heading: 273.083923 deg. 2jU'yHeadingCmd: 4.766213 target range: 487.500000 and range: 487.50 m. j҄@jjjih!h!h!h!f)f)f)rf)bf-\@ɛuB6. 隭]II /ɚiIu%=I#,¿i\^;iZ<)҄@)*F2F:FBFJ-J-IJ)J)J-0;J-U:J)J)JFHk>I IIIosBI&I.I6I<:I@FzK OK]9KKKRK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243288G )<G B O >Jw,PPA6v@Y6Σ@696Ԫ=y6H _#? {?r ?ul? cc??@o?ɨ6v@6;4y>rB><I5Mb@Mb@Mb@111 1)1Y5ʡE?I +?S㥛?y5=?594=5/<5V"A 5 A)5 AI11y5QAIMIM^5٢e > eA=9eѹQ e>ii mG٣m7@GyuI u> }Nusing accuracyPremultiplier from configys49}%?s4Y}*q i}NnB'>?:?}zC} ;}L ;}xs4,B NAEZjFNOT Ignoring new targets: 487.50 m.BjúJjú ProNav: ac range: 487.500000 m, nav range: 490.622131 m, bearing: 184.589202 deg, approach rate: 0.024307 m/s, LOS rate: -0.085569 deg/s, cmd heading: 273.083913 deg, new cmd heading: 272.975943 deg. If2jjHeadingCmd: 4.764329 target range: 487.500000 and range: 487.50 m. jbu@jjjihhhhxBfffrfbf C @ɛ-uB-&( 15 Will construct direction to contact in vehicle frame from tetrahedron phase data.չ iս A checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747447S1w,+AR@YRP@R-9R=yRH{? ׸?2 b?o?`A`?4?$o?ɨR@R[T;RWCy^rBbiIIjIj=X5٢r=> rS=9r9Q v>tt vG٣tyz z> Nusing accuracyPremultiplier from config|s49~? s4Y~x i~nB  Һ ?~C~;~;~s4 MAZjIMFNOT Ignoring new targets: 487.50 m.BjUJjUe ProNav: ac range: 487.500000 m, nav range: 490.631012 m, bearing: 184.556220 deg, approach rate: 0.022813 m/s, LOS rate: -0.084726 deg/s, cmd heading: 272.975941 deg, new cmd heading: 272.876997 deg. 2jehmHeadingCmd: 4.762602 target range: 487.500000 and range: 487.50 m. jm%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.001464J= J= KJ= 0J9 J= 2;J= ^:J= ـ3J9 H I  I II sBI ! =&I .I 6I <:I 1FzK VBJK 9K K K %CxoN1xjkf_TE;:6781BIe˥CJIe˥CRIaZIe =bIe =jIe&5-\w,B 8A2h@Y2x@2 92v,=y2H@o?f?@'7`V?`˃?h?A?n?ɨ2h@2h;2UCyB;sBBImMb@Mb@Mb@iii i)iYmbX9?~jt? rh?ymE6?mD=mC =i mQ A)iIm#Aiym\AIIX5٢'> ?=9-!Q > G٣y` > Nusing accuracyPremultiplier from configs49 ?s4Yv inB6?:T?ŁC/;C;s4 uLAZj9MFNOT Ignoring new targets: 487.50 m.BjMJjUe ProNav: ac range: 487.500000 m, nav range: 490.641846 m, bearing: 184.520998 deg, approach rate: 0.024882 m/s, LOS rate: -0.080894 deg/s, cmd heading: 272.876986 deg, new cmd heading: 272.771321 deg. 2je^mHeadingCmd: 4.760757 target range: 487.500000 and range: 487.50 m. jm X@jijijiiihiuWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:18:15.0294 LVL= 32752, 32753, 21474, 32755, AGC= 66, IDX= 506,-0.14, 1.690, 0.456, 2.042, 1.218, PHS= 0.560,-0.714, 0.821, RAW= 159.2, -9.4, CAL= 164.0, -16.4, ROT= 346.0, 16.4 Ygot valid direction response: 21:18:15.0294 LVL= 32752, 32753, 21474, 32755, AGC= 66, IDX= 506,-0.14, 1.690, 0.456, 2.042, 1.218, PHS= 0.560,-0.714, 0.821, RAW= 159.2, -9.4, CAL= 164.0, -16.4, ROT= 346.0, 16.4 PDAT read: Bearing 346.0, 16.4 (Local) ~Local bearing/azimuth received: Bearing 346.0, 16.4 (Local) DAT read: Range 10 to 50 : 491.7 m (Round-trip 655.7 ms) speed 0.4 m/s ,DAT read: user:1648> BDAT read: Tx time:21:18:16.1196 %$Ping request sent.%@iuC>qqu=y|?KD?~0Ŀ)u.?Iu8(>iu$Fu׾qq%:publishing transmit ping time%Fpublishing direction and range infoqI5¿i5*;i=;)= X@)99u%?ױ?/Ff&3?yqqqq q)qIqiqqqqq q)qIqiqqqu=y|?KD?~0Ŀ)qIqiqqqq*F?2F:FBFp0JFGBOj> I% Will construct direction to contact in vehicle frame from tetrahedron phase data.Dw,QA6BL@Y6[@696 =y6H??@0W`6°?? mp?^Z?@m?ɨ6BL@6؎;4y^sBbIIjIj65٢rC> rV=9v"Q v>tt zG٣z8@Gyz z> Nusing accuracyPremultiplier from config t490? t4Y_ ioB  ƺ ?C :*:Kt4 KKAk+?k k k<.=A:kCBk-CZkM@"UNn"A@|Uf{OS}8)i@%?ױ?/Ff&3?Jk$FRk׾*hF }C@ċ+c@+R}򢱿ԇWI?"k*kk3 W?k.V 2k>VCkQ9?k*g52 kNCk^CkyM@m addTargetRange:: Added new target pos. range: 491.700012 m, deltaT: 4.286276 s, deltaX: 4.200012 m, approachRate: 0.979874 m/s, rangeRepo size: 4  Added new target pos. range: 491.700012 m, bearing: 184.158166 deg, lat: 36.900423 deg, lon: -122.114078 deg, deltaT: 4.286276 s, deltaX: 4.200012 m, approachRate: 0.979874 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 491.70 m.BjJj ProNav: ac range: 491.700012 m, nav range: 484.736877 m, bearing: 184.216118 deg, approach rate: 0.000000 m/s, LOS rate: -0.080894 deg/s, cmd heading: 272.771309 deg, new cmd heading: 272.679930 deg. 2jHeadingCmd: 4.759162 target range: 491.700012 and range: 491.70 m. jK@jjjihhhhfffrfbf`[?ɛuBb! quIq uimɚqiqI}W=I/ÿi*B;i䯾;)K@)*FI2FI:FIBFM1JFIGQGUrAG!B)OM1>Will construct direction to contact in vehicle frame from tetrahedron phase data. I ) ] vG} vA Y vAy Bnw,kA2_"@Y21@2$92I=y2H?ż? Ͼ@?`?`?@˼?k?ɨ2_"@2;0yBsBBIIJIJuZ5٢b9> fL=9f$Q f>hh jG٣hynP r> vNusing accuracyPremultiplier from configpvt49r?zt4Yr ir=oBxzqz?r C~Will construct direction to contact in vehicle frame from tetrahedron phase data.r:r[;rMt4  #JA E-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 491.70 m.BjEYJjEYU ProNav: ac range: 491.700012 m, nav range: 484.746155 m, bearing: 184.183014 deg, approach rate: 0.023319 m/s, LOS rate: -0.083208 deg/s, cmd heading: 272.679921 deg, new cmd heading: 272.580612 deg. 2jUkdHeadingCmd: 4.757429 target range: 491.700012 and range: 491.70 m. j<@jjjihhhhfffrf1bf5` ?ɛ}uB} 隅I RɚiI2R=IKÿi/;imO?;)<@)*FQ2FY:FYBF3JFJJNJ1JJ0;J:J3JHiIi ImvIImtBIi&Ii.Ii6Imڲ<:ImQFzKzNK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.ձiյAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G Re<G B O >wUw,5Ay~#tB~#I IIIMb@Mb@Mb@ )Y/$?A`"? rh?y,?Y=A  A)=AI!AyAII:5٢Y;> :=9Q > G٣y > Nusing accuracyPremultiplier from configt49?t4YJ i}oB,? :  ?0C;;!t4+B HAEZj9=FNOT Ignoring new targets: 491.70 m.BjM۲JjM۲] ProNav: ac range: 491.700012 m, nav range: 484.759186 m, bearing: 184.148814 deg, approach rate: 0.029791 m/s, LOS rate: -0.078185 deg/s, cmd heading: 272.580610 deg, new cmd heading: 272.478013 deg. 2j]VeHeadingCmd: 4.755639 target range: 491.700012 and range: 491.70 m. je1.@jajajaiihihihihm-yBfqfqfqrfybf}d?ɛuB@ 隥I OɚiIF=Iÿi5;i$;)1.@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243959*FQ2FQ:FQBFU`5JFQGEd<GB!O=P> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494739w, uA2\@Y2@2h92^=y2HS?`?EX߫?o?@̽?{?j?ɨ2\@2Q,;0yBmtBBQIIJIJE5٢f!J> f^=9fvQ f>hh jG٣hynJ n> rNusing accuracyPremultiplier from configpvt49r?vt4Yr iroBxz̺z?rOCra:r :r.t4| ~GA|ZjFNOT Ignoring new targets: 491.70 m.BjxJjx ProNav: ac range: 491.700012 m, nav range: 484.768738 m, bearing: 184.120116 deg, approach rate: 0.024803 m/s, LOS rate: -0.074519 deg/s, cmd heading: 272.478021 deg, new cmd heading: 272.391927 deg. 2jLHeadingCmd: 4.754136 target range: 491.700012 and range: 491.70 m. j!@jjjihhhhfffrfbf% ^?ɛvBs 隕˾I ȼɚiIZ3=Iÿi;ifb9)!@) 9I=f*F?2F:FBFQ5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746936Ge !j;Gm ?Gm F?GI Bq O >jHM <bHM <He j>Ia  Ie IIe kuBIa &Ia .Ia 6Ie <:Ie *Fw,&VA2@Y2@2dF92A=y2H`+? &?@bA@@?? ?`|?l?ɨ2@2j;2TCy>tB>xIzKNm$JKNh9KLKNKNMb@Mb@Mb@ )Y1Zd?p= ף?L7A`?y"?=+=EA ) AIAyzAI I >5٢M] >uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998969 4=9)3;Q > G٣9@Gyi > Nusing accuracyPremultiplier from configt49?t4Y ioBA?:B?sC@;{;?t4) -FA)ZjquFNOT Ignoring new targets: 491.70 m.Bj}Jj} ProNav: ac range: 491.700012 m, nav range: 484.787659 m, bearing: 184.086972 deg, approach rate: 0.040852 m/s, LOS rate: -0.071557 deg/s, cmd heading: 272.391933 deg, new cmd heading: 272.292507 deg. 2joDHeadingCmd: 4.752401 target range: 491.700012 and range: 491.70 m. j@jjjihhhhyBfffrfbfP@ɛMvBUh Q]嵾Ia hɚiI>=IÿiBƐ;i:)@)*F}?2Fy:FyBF}`5JFy"GC=G= !I!- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251841G] ?:G9 BI Oe > w,['A:@Y:f@:c?9:=y:H@^0??j?`?`t??@l?ɨ:@:;:VCyBuBFIININ95٢^r> bh=9b=;Q b?dd fG٣dyf j? nNusing accuracyPremultiplier from confighrt49jo?vt4Yj/ ij pBtv_v?jCj>;j ?;jJt4x zVEA|Zj!%FNOT Ignoring new targets: 491.70 m.Bj-<Jj-<= ProNav: ac range: 491.700012 m, nav range: 484.801025 m, bearing: 184.063469 deg, approach rate: 0.040830 m/s, LOS rate: -0.071792 deg/s, cmd heading: 272.292513 deg, new cmd heading: 272.222004 deg. 2j=EEHeadingCmd: 4.751170 target range: 491.700012 and range: 491.70 m. jE @jAjAjAiAhAhIhIhIfIfQfQrfQbfU @ɛ%vB 隍I  ɚiI=IĿi;i<;) @)JJRJ0JJl-;J:Jـ3JJa%Ja%J;a%J;a-*F12F1:F1BF5o0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502722GGBO=>  I w, A6ِ@Y6@6969=y6H [?&?`T{ ??e?`?l?ɨ6ِ@6AU;6UCyNBuBRIIZIZ65٢b> fJ=9f`:Q f>hh jG٣hyj; j>rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754934 vNusing accuracyPremultiplier from configtzt49v:?zt4Yv ivWpB|~~?vCvQ;v;vXt4  SDA %B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 491.70 m.Bj=Jj=U ProNav: ac range: 491.700012 m, nav range: 484.817108 m, bearing: 184.034847 deg, approach rate: 0.039551 m/s, LOS rate: -0.070384 deg/s, cmd heading: 272.221998 deg, new cmd heading: 272.136135 deg. 2jU7A]HeadingCmd: 4.749671 target range: 491.700012 and range: 491.70 m. j]O@jajajaiahahahihifififqrfqbfu[@ɛ]7vB] udk=utIq }1ɚyiyI}=I-JĿi5;i? ;)O@)Et>E>*F5?2F1:F9BF=l0JF9H i>I C I ^II "vBI &I .I 6I ²<:I =FzK:IK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008687G;G B O >w, A Va$?ITyuBIMb@Mb@Mb@ )YV-?S㥫?/$?y ?/]=<tA  A)lAIyAII:5٢> 9=9Q > G٣:@Gy > Nusing accuracyPremultiplier from config t49  ?t4Y ˵ i pBW?:? ʂC ; K; Rht4-*B -KCA5EZjY]FNOT Ignoring new targets: 491.70 m.Bj]ߒJjeߒm ProNav: ac range: 491.700012 m, nav range: 484.831207 m, bearing: 184.006514 deg, approach rate: 0.031949 m/s, LOS rate: -0.064202 deg/s, cmd heading: 272.136129 deg, new cmd heading: 272.051130 deg. 2ju?0}HeadingCmd: 4.748188 target range: 491.700012 and range: 491.70 m. j}(@jyjyjyiyhyhhh:zBfffrfbfZ @ɛIvB5 FI ɚiIt=IzĿi4w;iw;)(@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259483*Fm?2Fi:FiBFmo0JFiJJGJ1JJ2;JK:J3JJ<J<J;J;GG B O  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:18:19.1872  TRx dataTimestamp_ set to:1736371100.488857 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512055ǹw,r AjȐ@Yjח@jE9j(=yjHh?`? z﾿ D?ĕ?5?]?@l?ɨjȐ@jt;jTCyruBv%II~I~?15٢ S4> Z=9X;Q > G٣y%δ %> -Nusing accuracyPremultiplier from config)5t49-#?5t4Y-" i-pB15ո=?-C-;-;-mut4A EZH RH AAH g>I  I II vBI " =&I .I 6I ϲ<:I DFV͹w,:AzK>a3JK>9K<K>K>fs@YfΗ@ff9f=yfH?@Ծ?`74@?|?@}?ò?Ol?ɨfs@f.;fSCynuBn;IeMb@Mb@Mb@aaa a)aYeT㥛 ?~jt?MbP?ye?eD=e:eA e=A)eAIeAayefAII995٢= >=9!;Q > G٣y* > Nusing accuracyPremultiplier from configt49M%?t4Y ipB?:и?C;j;yt4  AAZj1=FNOT Ignoring new targets: 491.70 m.Bj=Jj=UWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:18:19.1872 LVL= 14176, 17249, 9074, 15603, AGC= 70, IDX= 5, 0.28,-1.842,-2.959,-1.500,-2.320, PHS= 0.565,-0.593, 0.817, RAW= 159.6, -12.1, CAL= 165.1, -18.6, ROT= 344.9, 18.6  ProNav: ac range: 491.700012 m, nav range: 484.855255 m, bearing: 183.957017 deg, approach rate: 0.029347 m/s, LOS rate: -0.060113 deg/s, cmd heading: 271.978788 deg, new cmd heading: 271.902652 deg. 2j%HeadingCmd: 4.745596 target range: 491.700012 and range: 491.70 m. jۗ@jjjihhhhOzBfffYgot valid direction response: 21:18:19.1872 LVL= 14176, 17249, 9074, 15603, AGC= 70, IDX= 5, 0.28,-1.842,-2.959,-1.500,-2.320, PHS= 0.565,-0.593, 0.817, RAW= 159.6, -12.1, CAL= 165.1, -18.6, ROT= 344.9, 18.6 rfabfm)I@PDAT read: Bearing 344.9, 18.6 (Local) ~Local bearing/azimuth received: Bearing 344.9, 18.6 (Local) DAT read: Range 10 to 50 : 497.5 m (Round-trip 663.4 ms) speed 0.1 m/s ,DAT read: user:1649> ɛnvBE I ɚiI~=IĿiF;BDAT read: Tx time:21:18:20.2696 $Ping request sent.%QQU? #Fc?5'ʿ)U $1?IUX>iU鷿U\@ӾQQ=:publishing transmit ping timeEFpublishing direction and range infoQ9UPGS?F}I a ݩ?yQQQQ Q)QIQiQQQQQ Q)QIQiQQQU? #Fc?5'ʿ)QIQiQQQQ IEup,=Ey*F ?2F :F BF 4JF - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 JDAT read: TxSync time:21:18:20.2688 G%.A;G- ?G-?JmJmHJm0JiJm4.;JmЕ:Jmـ3Jiau@au@au@au@G B)OM?C\ֹw,mZA6<@Y6@6p96~=y6H Qě?Ϳ?F9`Z?` ? "? ڽ?mk?ɨ6<@6:;4yBvBBRIDFAI~I~)5٢ M=  ,=9EQ > G٣;@Gy: > -Nusing accuracyPremultiplier from config!5t49%'?5t4Y% i%pB15Y5?%C%(;%;% t4A EAAAk+^;?kT k k?A:kCBkCZk P@"b+pN@=(]:|vTf[h@PGS?F}I a ݩ?Jk鷿Rk\@Ӿ*3?.l}u-IЬH= c@)]{Hc2|x<Ɨ?"kM*kgk]-?k~ 2kUCkɔC@?kSP{ kCk CkbM@ addTargetRange:: Added new target pos. range: 497.500000 m, deltaT: 4.036180 s, deltaX: 5.799988 m, approachRate: 1.436999 m/s, rangeRepo size: 4  Added new target pos. range: 497.500000 m, bearing: 186.239434 deg, lat: 36.900432 deg, lon: -122.114109 deg, deltaT: 4.036180 s, deltaX: 5.799988 m, approachRate: 1.436999 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 497.50 m.BjJj ProNav: ac range: 497.500000 m, nav range: 484.080170 m, bearing: 184.264756 deg, approach rate: 0.000000 m/s, LOS rate: -0.060113 deg/s, cmd heading: 271.902645 deg, new cmd heading: 271.815997 deg. 2jHeadingCmd: 4.744084 target range: 497.500000 and range: 497.50 m. jϗ@jjjihhhhfffrf@bf4F?ɛvB%k !%XI!Will construct direction to contact in vehicle frame from tetrahedron phase data. %4ɚiIh~=IIſi;i8:)ϗ@)Em@p=*F?2F:FBFo0JF yIG;G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.ܹw,qtA6@Y6@6O96^=y6H}s?`n?`b` ?@??e?Nl?ɨ6@6;4yNDvBRsIIZIZ\05٢b"> fP=9fX:Q j>hh jG٣hynP n> rNusing accuracyPremultiplier from configpvt49r)?vt4Yr irqBxzdz?r7Cr:r@:rҢt4| D@A uB*** querying acoustic contact ***jqHI III]wBI! =&I.I6I<:IjFBI}CJI}CRIyZI}! =bI}! =jI}b4J9J=@AjqZj!-FNOT Ignoring new targets: 497.50 m.BjU1kJjU1ke ProNav: ac range: 497.500000 m, nav range: 484.089661 m, bearing: 184.241472 deg, approach rate: 0.020954 m/s, LOS rate: -0.051406 deg/s, cmd heading: 271.815984 deg, new cmd heading: 271.746133 deg. 2je HeadingCmd: 4.742865 target range: 497.500000 and range: 497.50 m. jŗ@jjjihhhhfffrfbfD?zK-BoHK-]9K)K-K-ɛevB 隍.I P\ɚiI}=I<)ſinЏ;i':)ŗ@)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.E8k= I f*Fe ?2Fa :Fa BFe !5JFa U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.206121G5:GBO?'7w, A $$B @YBx@B9B=yBHd??@zĠ\c?f?-?='?@i?ɨB @B ;BUCyZOvBZzIJJLJ1JJJ:J3JMb@Mb@Mb@ )YZd;?I +?~jty>94=DA A)(AItAyAI-[I-5٢=2< ==9EQ E>AI MG٣M<@GyM M> ]Nusing accuracyPremultiplier from configQ]t49U,?et4YUV iUFqBe>e:eйe?U[CU;U;Ut4mB u>AuEZjFNOT Ignoring new targets: 497.50 m.Bj9Jj9 ProNav: ac range: 497.500000 m, nav range: 484.102203 m, bearing: 184.208762 deg, approach rate: 0.024846 m/s, LOS rate: -0.064793 deg/s, cmd heading: 271.746125 deg, new cmd heading: 271.647999 deg. 2j1HeadingCmd: 4.741152 target range: 497.500000 and range: 497.50 m. j@jjjihhhhfffrfbf@?ɛvBq lI 0ɚ i I }=I[aſi;i;)@)E!E!*E)"E)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458286*F]?2FY:FYBFeH5JFa I G |uA  Y |uAy BGe ; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710096GY Bi O >w,8A>g@Y>@>9>=y>HH*?~?ȿ @;?@^??'i?`'k?ɨ>g@>;>TCyFavBFIIRIR:5٢Z7= ZP=9^;Q ^>`` bG٣`ybj; f> jNusing accuracyPremultiplier from configdnt49f{.?nt4YfT ifaqBprr?fsCf:f7:fut4t vS>AtZjFNOT Ignoring new targets: 497.50 m.Bj{Jj{ ProNav: ac range: 497.500000 m, nav range: 484.111267 m, bearing: 184.186205 deg, approach rate: 0.022126 m/s, LOS rate: -0.055064 deg/s, cmd heading: 271.647989 deg, new cmd heading: 271.580318 deg. 2j)HeadingCmd: 4.739971 target range: 497.500000 and range: 497.50 m. j׭@jjjihhhhff)f)rf1bf5s?ɛvBo 隵份I 7ɚiI@1}=Iſi";iM;)׭@jHbH4<Hf>I IQIIwBI&I.I6I<:IF*J"J%=)!zK>`JK 9KKKBKrA:KqA*F2F:FBF%`0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963091G] ; I G1 BA O] >w,A:@Y:@:9:-==y:H`F?)?౤? ? P?A?@l?ɨ:@:ṉ;:SCyF_vBFIUMb@Mb@Mb@QQQ Q)QYUMbX9?ˡE?~jtyU?U'=UļUA UA)UAIUAQyUQAIuIu:5٢画 >=9 ;Q > G٣yd; > Nusing accuracyPremultiplier from configt490?t4Y iyqB\?:E?Cj;s;xt4 [>AEZjFNOT Ignoring new targets: 497.50 m.BjHJjH ProNav: ac range: 497.500000 m, nav range: 484.120575 m, bearing: 184.160491 deg, approach rate: 0.022515 m/s, LOS rate: -0.062197 deg/s, cmd heading: 271.580315 deg, new cmd heading: 271.503176 deg. 2j* HeadingCmd: 4.738625 target range: 497.500000 and range: 497.50 m. j Т@j j j i h hhh@zBfffrfbf@S@ɛMvBM]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214244 QePIa e ɚaiaIek|=Im)ſimя;im:;)uТ@)q*F)2F):F)BF-o0JF)G5k';G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466188Cw,AR@YRƗ@Ro9R=yRH ??`>FH?? \}?ξ?m?ɨR@R;Pyb]vBbI)d dIjIj55٢vm vU=9z;Q z>xx zG٣z=@Gy~c; >  Nusing accuracyPremultiplier from config t492?t4Y iqB?C:@:t4! %c>A) AIAZjYeFNOT Ignoring new targets: 497.50 m.BjeAJjeAu ProNav: ac range: 497.500000 m, nav range: 484.129211 m, bearing: 184.137481 deg, approach rate: 0.022356 m/s, LOS rate: -0.059562 deg/s, cmd heading: 271.503189 deg, new cmd heading: 271.434158 deg. 2ju#}HeadingCmd: 4.737420 target range: 497.500000 and range: 497.50 m. j}@jjjihhhhfffrfbf24@ɛvB/g I ɚiI|=Iſi#;i<)@) *FI2FI:FIBFMp0JFIeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.718107G ;He>I IdIIwBI" =&I.I6I<:I"FG J @AJ J J PJ J J l-;J :J J J zK5 :IK1 K1 K5 K5 0w,AB@YBɗ@B9Bl=yBH@m?y?`Jڧ?@?VO?G&? ?n?ɨB@Bb;BRCy^JvBbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.970183fwIUMb@Mb@Mb@QQQ Q)QYUK7?~jt?~jtyUI ?U=UU`A U(A)UAIUAQyUAImIm;5٢}5 }A=9\;Q > G٣yb: > Nusing accuracyPremultiplier from configt494?t4Y iqB ?:2?ȃCx;};t4 >AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 497.50 m.BjJj ProNav: ac range: 497.500000 m, nav range: 484.138306 m, bearing: 184.107967 deg, approach rate: 0.020003 m/s, LOS rate: -0.064916 deg/s, cmd heading: 271.434149 deg, new cmd heading: 271.345609 deg. 2j42 HeadingCmd: 4.735874 target range: 497.500000 and range: 497.50 m. j H@j j j i hhhhyBf!f!f)rf1bf5@ɛvBO *I fɚiI q|=IKƿi 쐐;i [j.<) H@) 1I1*F?2F:FBFo0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.222146G <G B O >w,A>@Y>6ї@> 9>=y>HE*?x?cL)?@y? ?@R?@=o?ɨ>@>ѳ;>UCyJ3vBJhIIRIR65٢ZIq ZX=9Zx;Q Z>\\ bG٣`yf; f> jNusing accuracyPremultiplier from confighnt49j6?nt4Yj ijqBprr?jCjKG;jG;jt4x z ?AxZjFNOT Ignoring new targets: 497.50 m.Bj%FJj%F5 ProNav: ac range: 497.500000 m, nav range: 484.145477 m, bearing: 184.085497 deg, approach rate: 0.020827 m/s, LOS rate: -0.065253 deg/s, cmd heading: 271.345603 deg, new cmd heading: 271.278194 deg. 2j5!35HeadingCmd: 4.734698 target range: 497.500000 and range: 497.50 m. j=@j9j9j9i9hAhAhAhAfIfIfIrfIbfM@ @ɛwB;J OI ɚ i I W|=I4ƿi;iJ<)@)*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:18:23.3368 TRx dataTimestamp_ set to:1736371104.526675checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477653 I%gG(<GGGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.730422B w,@m3AVk@YVΗ@V\9Vh=yVH8?@C?L ?`W?@M?,?#q?ɨVk@V~G;VSCyjvBjXIIrIr6=5٢zم zF=9z2;Q ~>| G٣>@Gy= > Nusing accuracyPremultiplier from config u49 8?u4Y  i qB? C  ; : ; K u4%B -t?A-EZjFNOT Ignoring new targets: 497.50 m.Bj쏺Jj쏺 ProNav: ac range: 497.500000 m, nav range: 484.154022 m, bearing: 184.058749 deg, approach rate: 0.020099 m/s, LOS rate: -0.062913 deg/s, cmd heading: 271.278202 deg, new cmd heading: 271.197960 deg. 2j,HeadingCmd: 4.733297 target range: 497.500000 and range: 497.50 m. j ,w@j j j i h h hhQfYfYfYrfYbf] @ZHyRH}?AHc>I IQIIwBI&I.I8D6I<:IFJJHJJJJЕ:JJJJJ;J;ɛwB )-I1 =,ɚaiaIm9|=I}bƿi;i(V<),w@)zK=jIK=9K9K=K=9QF 6t5{5x`K=70'Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 497.2 m (Round-trip 663.0 ms) speed 0.4 m/s %,DAT read: user:1650> -BDAT read: Tx time:21:18:24.4197 -$Ping request sent.-uw,NAyvBJIMb@Mb@Mb@ )YZd;?{Gz?ly?#=A A)AIIAy AII>5Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:18:24.4189 ٢F 5=9Q > G٣y > Nusing accuracyPremultiplier from configu49;?u4Y iqB?:㻿?!Cr;;u4 ?A addTargetRange:: Added new target pos. range: 497.200012 m, deltaT: 4.040659 s, deltaX: -0.299988 m, approachRate: -0.074242 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 497.50 m.BjoJjo  ProNav: ac range: 497.500000 m, nav range: 484.163086 m, bearing: 184.025624 deg, approach rate: 0.019788 m/s, LOS rate: -0.072317 deg/s, cmd heading: 271.197961 deg, new cmd heading: 271.098589 deg. 2jF=HeadingCmd: 4.731563 target range: 497.500000 and range: 497.20 m. j=h@j9j9j9i9hAhAhAhEyBfIfIfIrfM@3@bfMO?ɛ(wB= 隽I ۨɚiI|/|=IƿiR;iPo<)h@)i*F?2F:FBF0JFu Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >Hw,6hA IF@YFǗ@F>s9FZ=yFHV?K?`3@ AD?m ?? ?s?ɨF@FƉ;FRCyVuBV<IIfIf(*5٢Ei EU=9MX;Q M>QQ ]G٣Yy] e> uNusing accuracyPremultiplier from configi}u49m=?u4Ym) imqB?m@Cm6~;m~;m(u4 '@AZjFNOT Ignoring new targets: 497.50 m.BjPJjP ProNav: ac range: 497.500000 m, nav range: 484.170746 m, bearing: 183.997298 deg, approach rate: 0.020843 m/s, LOS rate: -0.077073 deg/s, cmd heading: 271.098596 deg, new cmd heading: 271.013620 deg. 2jSHeadingCmd: 4.730080 target range: 497.500000 and range: 497.20 m. j\@jjjihhhhfffrfbfU?ɛU7wBU Y]IY ev"ɚaiaIe8|=I'ƿi};it<)\@)E1E5rA*F?2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Hb>IC I8IIwBI# =&I.I6I<:I*FG l o<JcKkO3 Kk(.KcKc"KcJ5 J5 cJ5 0J1 J5 4.;J5 ϣ:J5 ـ3J1 J5 D<J5 D<J5 <J5 <GI B O >zK ՂOK ]9K K K  z w,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.y޽uB޽0IuMb@Mb@Mb@qqq q)qYuX9v?Zd;O?V-yu3?uj<=uuzA u@)u@IuAqyu AII55٢+ 7=9Q > G٣?@Gy > Nusing accuracyPremultiplier from configu49??u4YV irB@4?:"?gC;8;8u4 t@AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 497.50 m.BjJj -c$?I1E ProNav: ac range: 497.500000 m, nav range: 484.180573 m, bearing: 183.960407 deg, approach rate: 0.022182 m/s, LOS rate: -0.083273 deg/s, cmd heading: 271.013628 deg, new cmd heading: 270.902956 deg. 2jEdMHeadingCmd: 4.728148 target range: 497.500000 and range: 497.20 m. jML@jIjIjQiQhQhQhQh]HxBfYfYfYrfabfe?ɛIwB 隽ָI ɚiI.E|=Ir ǿia͓;id<)L@)*F?2F!:F!BF%1JF!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 y<G B) OE >&w,$ARu@YRv@Ra9Rq>yRHؖ?&? @@檤? ;?S?x? k?ɨRu@RB;Py^uB^ IIjIj/5٢n rj=9vQ v>tx zG٣xyz轼 z> ~Nusing accuracyPremultiplier from config|mu49~A?mu4Y~ i~3rBqu$u?~C~Ty<~iy<~[Du4}B }@AEZjFNOT Ignoring new targets: 497.50 m.BjJj ProNav: ac range: 497.500000 m, nav range: 484.186523 m, bearing: 183.931368 deg, approach rate: 0.016363 m/s, LOS rate: -0.079846 deg/s, cmd heading: 270.902952 deg, new cmd heading: 270.815835 deg. 2j0[HeadingCmd: 4.726628 target range: 497.500000 and range: 497.20 m. j@@jjjihhhhfffrfbfy?ɛ WwB7 ̾I baɚiIa|=IE=ǿi%w/;i%O'<)%@@)!EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507714*F2F:FBF4JF I gGw<GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759168,w,ȵAz`@YzDp@ze9z>yzHX?@ƺ?`hI@?F?` ?Ͽ?`p?ɨz`@z;zSCyuB(IIIdK5٢-< 5F=9=w9Q =>9A EG٣AyEû E> UNusing accuracyPremultiplier from configI]u49MC?]u4YMY iMRrBaeze?MCMp/;M/;MRu4i m@AijH<bH<H`>I IIIIwBI&I.I6I<:IFBIaJIaRIaZIe" =bIe" =jIe+5ZjFNOT Ignoring new targets: 497.50 m.BjJj ProNav: ac range: 497.500000 m, nav range: 484.192932 m, bearing: 183.897219 deg, approach rate: 0.015759 m/s, LOS rate: -0.083971 deg/s, cmd heading: 270.815826 deg, new cmd heading: 270.713383 deg. 2jfHeadingCmd: 4.724840 target range: 497.500000 and range: 497.20 m. jm1@jijijiiihqhqhqhqfyfyfyrfybf9?JJMJ2JJ6;Jh:Jc3JJ<J<JR;JR;ɛ]iwB 隕ϾI bɚiI{|=I wǿiڤ;ik,<)1@)IEp>E>zK}KKػ9KKK ** + 3 ){RO%]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiYechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.010563*Fe?2Fa:FaBFe\5JFiGmsA GmrA I G= 9)<G B1 Oe >3w,ȔAPExceeded connect timeout, disconnecting.:\@Y:k@:9K 9:Id=y:HnГ? ?俿s? ?_{??v?ɨ:\@: ;:RCyFuBJ+I N=Na=mMb@Mb@Mb@iii i)iYmE?&1? G٣y~ > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262245u49/F?u4Y tIi~rBG?:?ՄC2;O;Jau4 @AZjFNOT Ignoring new targets: 497.50 m.Bj oӺJj oӺ% ProNav: ac range: 497.500000 m, nav range: 484.199005 m, bearing: 183.859309 deg, approach rate: 0.014806 m/s, LOS rate: -0.092425 deg/s, cmd heading: 270.713373 deg, new cmd heading: 270.599644 deg. 2j%}-HeadingCmd: 4.722855 target range: 497.500000 and range: 497.20 m. j-!@j)j)j)i)h)h)h1h5wBf9f9f9rf9bf=E@ɛexwBm imԾIi mɚiiqIu|=I}ǿi}|;i}%D<)}!@)y*F-?2F):F)BF-i0JF)GM!<G) B9 OU >m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514330  I )M ž= M UC`9w2G>vAH,A jYjvAyj B;@Y6K@Id 9,1=yHň??`=`!*??^?`+?z?ɨ;@ ;騭QCy޽uB޽0III>5٢< D=9 ;Q > G٣@@Gy > Nusing accuracyPremultiplier from config u49kH? u4Y/) irB{?CK,;,;ou4 q@AZjquFNOT Ignoring new targets: 497.50 m.Bj}κJj}κ ProNav: ac range: 497.500000 m, nav range: 484.204041 m, bearing: 183.821327 deg, approach rate: 0.011979 m/s, LOS rate: -0.090362 deg/s, cmd heading: 270.599637 deg, new cmd heading: 270.485690 deg. 2jxHeadingCmd: 4.720866 target range: 497.500000 and range: 497.20 m. jU@jjjihhhhfffrfbfc@ɛwBO wؾI 1zɚiI]|=Iǿiu;i~\#<)U@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767209*F92F9:F9BF=a0JF9H^>I III4wBI$ =&I.I6I<:I'FJAAJBAG} Y=<Gq B O >@w,+MAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018292zK"OK"9K K"K" "14*RK*?JK* ?BI@YB%@Bv 9B^I=yBH:?`?DW` O??D?h?N}?ɨBI@B(;@yNuBNHIMb@Mb@Mb@ )YM?)\(?:v?ynR?Ga=T<A -@)@I AyfAII;5٢_= N=9;Q > G٣y;= > Nusing accuracyPremultiplier from config u49J?u4Y1 irB-R?-:-L5?(C<<}u49 =?A=E IB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 497.50 m.Bj ѺJj Ѻ= ProNav: ac range: 497.500000 m, nav range: 484.207245 m, bearing: 183.782887 deg, approach rate: 0.007620 m/s, LOS rate: -0.091412 deg/s, cmd heading: 270.485682 deg, new cmd heading: 270.370363 deg. 2j=zEHeadingCmd: 4.718853 target range: 497.500000 and range: 497.20 m. jE@jAjAjAiIhIhhhdwBfffrfbfq @ɛ wB h  &ξI  N=ɚiI|=I <ȿi;i{;)@)! %nManaging dock network, ignoring radio surface power off*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270570G (<J J SJ 1J J 2;J :J 3J a @a @a @a @G B! Om >Fw,ZAyEvBEZIIUIU>5٢= L=9Q > G٣y > Nusing accuracyPremultiplier from configu49L?u4YW: isB?RC;;u4 Y?AZjFNOT Ignoring new targets: 497.50 m.BjFJjF캝- ProNav: ac range: 497.500000 m, nav range: 484.210724 m, bearing: 183.744052 deg, approach rate: 0.009253 m/s, LOS rate: -0.103283 deg/s, cmd heading: 270.370361 deg, new cmd heading: 270.253857 deg. 2j5Í5HeadingCmd: 4.716820 target range: 497.500000 and range: 497.20 m. j50@j9j9j9i9h9hAhAhAfAfIfIrfIbfM` @ɛuwB}c y}žIy ɚiI#}=I~ȿi=;i%<)0@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522105*F2F:FBFo0JF qI}gG1X<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:18:27.4823  TRx dataTimestamp_ set to:1736371108.813587 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776205Mw,6AZH9RH=@AHAIA IEIIEIwBIA&IA.IA6IE<:IE,FyޝFvBޥtIIIB5٢ = G=9Q > G٣A@Gy > Nusing accuracyPremultiplier from configu49N?u4YC iKsB?|Ce::u4 >AZjAEFNOT Ignoring new targets: 497.50 m.BjMۺJjMۺ] ProNav: ac range: 497.500000 m, nav range: 484.214447 m, bearing: 183.704944 deg, approach rate: 0.009151 m/s, LOS rate: -0.096117 deg/s, cmd heading: 270.253865 deg, new cmd heading: 270.136542 deg. 2j]탻eHeadingCmd: 4.714772 target range: 497.500000 and range: 497.20 m. jejߖ@jajajaiahahihihififqfqrfybf}A@ɛwB78 隭ɷI ]*J"Jp=ɚiI:G}=Iȿix;ia?<)jߖ@)*Fu?2Fq:FyBF}p0JFyzK=8oLK=9K9K=K="]'pGI* P BKI:KMrAUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028645 IG )<G9 BI Oe >4Tw,PA6@Y6^@6> 96q=y6H{`k?.W?/?@3?$??ɨ6@6}v;6RCybvBbIuMb@Mb@Mb@qqq q)qYu:v?Mb?V-?yuT?u@=u %BDAT read: Tx time:21:18:28.5697 %$Ping request sent.%ٽ.ٽ6?ٽ07@ٽz0 ڽ:@)ڽ:FqIڽ X@iڽ:Fq>ڹڹ۽$??ۡ/)۽sD?I۽=i۽7ǿ۽Y۹۹M:publishing transmit ping time!MFpublishing direction and range infoع9ؽՕ:?2 =j-?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽$??ۡ/)۹I۹i۹۹۹۹ImIm85٢e> @=9\:Q > G٣y) > Nusing accuracyPremultiplier from configu49P?u4Y3L isBuU?~:&ÿ?C;j;u4 =AEkF?kű0 k kyTA:kCBk6CZkG@"@|9r*}_y(d@Օ:?2 =j-?Jk7ǿRkY*Nj7< ~B%@6k/SZ@zZ =p&{?k?"k-A*kkY?kz . 2k+(CkY?k*g52 k+(CkoCkL@ addTargetRange:: Added new target pos. range: 493.799988 m, deltaT: 4.287148 s, deltaX: -3.400024 m, approachRate: -0.793074 m/s, rangeRepo size: 4  Added new target pos. range: 493.799988 m, bearing: 178.709236 deg, lat: 36.900442 deg, lon: -122.114078 deg, deltaT: 8.327807 s, deltaX: -3.700012 m, approachRate: -0.444296 m/s, posRepo size: 4 Zj FNOT Ignoring new targets: 493.80 m.BjJj% ProNav: ac range: 493.799988 m, nav range: 482.870270 m, bearing: 183.343955 deg, approach rate: 0.000000 m/s, LOS rate: -0.096117 deg/s, cmd heading: 270.136550 deg, new cmd heading: 270.006348 deg. 2jIMHeadingCmd: 4.712500 target range: 493.799988 and range: 493.80 m. jM̖@jQjQjQiQhQhQhYh]wBfYfYfarfe~@bfe ;?ɛwBa I hɚiI)`}=I: ɿi ;i%.)%̖@))JJTJJJ3;J :JJ*F?2F:FBFo0JFm Will construct direction to contact in vehicle frame from tetrahedron phase data.u JDAT read: TxSync time:21:18:28.5689 G C< I G B O >C1Zw, jA-b%@Y-4@- 9- =y-HF@?>̴!Li L?%? 6? l?ɨ-b%@-;-QCyevBeIIeI15٢)O> Y=9:Q > G٣y > Nusing accuracyPremultiplier from configu49Q? u4YT isB  Ŀ ?хC&&<&<`u4]B ]gH=\>I9 I=QII=wBI9&I=GD.I96I=ײ<:I=@Ffaw,ⓄAWill construct direction to contact in vehicle frame from tetrahedron phase data.izKRKyPKR9KPKRKRv@YvY@v 9v=yvHRS ~? .l8sh? %?@ϼ? ?ɨv@vI;vPCy޵&wB޽I AIAEMb@Mb@Mb@AAA A)AYE rh?Zd;O?~jt?yECK?Ej<=E=E A E@)E@IE AAyE\AI}I}|+5٢+> /=9(>Q > G٣B@Gy > Nusing accuracyPremultiplier from configu49Q?u4Y^ i tBK?:ſ?C<<~u4) -);A)B*** querying acoustic contact ***jjZjimFNOT Ignoring new targets: 493.80 m.BjuźJjuź ProNav: ac range: 493.799988 m, nav range: 482.851868 m, bearing: 183.263695 deg, approach rate: -0.022090 m/s, LOS rate: -0.086520 deg/s, cmd heading: 269.893942 deg, new cmd heading: 269.765565 deg. 2jm%HeadingCmd: 4.708297 target range: 493.799988 and range: 493.80 m. j%_@j!j)j)i)h)h)h1h5wBf1f1f1rf9bf}?ɛwB^g 隥@I ɚiIk}=Iɿiғ;i0^)_@)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.*Fq2Fq:FqBFuo0JFqJ J OJ J J <5;J q:J J G i"G B O > hw,GǡA6@Y6ɕ@6{ 96=y6H@i@E?@>)`Ѱ:3?wL?S??ɨ6@6;6RCy>wBB9IIJLIJ5٢n> r^=9r VQ r>tt vG٣tyvfy v> ~Nusing accuracyPremultiplier from configxu49zWR?u4Yze izBtB  Rƿ ?z$CzJ;z 3;z=u4 9AZjAEFNOT Ignoring new targets: 493.80 m.BjMJjM򺝊] ProNav: ac range: 493.799988 m, nav range: 482.841797 m, bearing: 183.229879 deg, approach rate: -0.031512 m/s, LOS rate: -0.105816 deg/s, cmd heading: 269.765561 deg, new cmd heading: 269.664110 deg. 2j]=eHeadingCmd: 4.706527 target range: 493.799988 and range: 493.80 m. jeޛ@jajajaiahihihihifqfqfqrfybf}(?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247479ɛwBuD 隽ؽI gɚiI]}=Iɿi@Ԓ;i?)ޛ@)*FI2FI:FQBFUf3JFQ IgG-XGB O-,>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499410jH <bH <H [>I C I II QxBI % =&I .I 6I b<:I F6nw,ϞA2!@Y2z@2 92=y2H`-@}?|J`t?,?c?I?ɨ2!@2;2PCyBwBBhIIJlIJK!5٢ :>  H=9  ;Q  > G٣y > %Nusing accuracyPremultiplier from config!-u49%R?-u4Y%m i%tB)-ƿ5?%MC%:% :%u49 ={8A9ZjaeFNOT Ignoring new targets: 493.80 m.BjuԺJjuԺ ProNav: ac range: 493.799988 m, nav range: 482.829926 m, bearing: 183.191904 deg, approach rate: -0.029069 m/s, LOS rate: -0.092990 deg/s, cmd heading: 269.664119 deg, new cmd heading: 269.550191 deg. 2jFHeadingCmd: 4.704538 target range: 493.799988 and range: 493.80 m. j@jjjihhhhfffrfbf@S?ɛxB^ l:I  ɚiI;}=I ʿi l;i ~) @) *F?2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751697zKEm$JKE9KAKEKE IgG-KG B O- >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003256v$uw,A^@Y^^@^9^Ň=y^HƮ,?' U Rq?` ? ?,~?ɨ^@^؉;^RCyr?xBrI-Mb@Mb@Mb@))) )))Y--?V-?Zd;O?y-?5?-<-j<=) -@)-x@I- A)y-AIMuIMH%5٢]or> ]6=9e;Q e>ai mG٣mC@Gymr m> }Nusing accuracyPremultiplier from configq}u49uR?}u4Yu0v iutB5?:9ɿ?uuCu;ul;u;u4B 6AEZjFNOT Ignoring new targets: 493.80 m.BjJjU ProNav: ac range: 493.799988 m, nav range: 482.812256 m, bearing: 183.154913 deg, approach rate: -0.039378 m/s, LOS rate: -0.082440 deg/s, cmd heading: 269.550192 deg, new cmd heading: 269.439215 deg. 2jUOb]HeadingCmd: 4.702601 target range: 493.799988 and range: 493.80 m. j]{@jYjYjYiahahahihmxBfififirfqbfu` @ɛxB`JJYJJJ6;J:JJ 7=I ;ɚiI[}=IEPʿiMُ;iMc)M{@)QE*F2F:FBF1JFGrA GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255368 i Ii G G B O >WH{w,RAy~xBII }I (5٢> %b=9%Q %>)) -G٣)y5 5> ENusing accuracyPremultiplier from config9Eu49=R?Mu4Y=| i=tBIIM?=C=:=:=u4Q U5AYZjFNOT Ignoring new targets: 493.80 m.Bj<Jj< ProNav: ac range: 493.799988 m, nav range: 482.798126 m, bearing: 183.125019 deg, approach rate: -0.038892 m/s, LOS rate: -0.082284 deg/s, cmd heading: 269.439215 deg, new cmd heading: 269.349532 deg. 2jaHeadingCmd: 4.701036 target range: 493.799988 and range: 493.80 m. jn@jjjihhhhfffrfbf@ɛxB b>I vɚiI|=Iʿiq׎;i|h)n@)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508794*F?2F:FBF4JFHIII IM?IIM0yBII&II.II6IMZ<:IMFBI ţCJI ţCRI ZI $ =bI $ =jI 4GGB! Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759304zK K 9K K K  Y Ia n6w,G ABi@YB²@B.9Bk>yBHUj? p`T) 6?r? ׿?x?ɨBi@B;BPCyJ yBJ*IMMb@Mb@Mb@III I)IYMPn?:v?~jt?yM$?MT @=9';Q > G٣yܤ: > Nusing accuracyPremultiplier from configv49OR?v4Y i-uBj$?:˿?C ;; v4 3AZj!%FNOT Ignoring new targets: 493.80 m.Bj-ҪJj-Ҫ= ProNav: ac range: 493.799988 m, nav range: 482.777832 m, bearing: 183.093254 deg, approach rate: -0.047704 m/s, LOS rate: -0.074672 deg/s, cmd heading: 269.349521 deg, new cmd heading: 269.254220 deg. 2j=LEHeadingCmd: 4.699373 target range: 493.799988 and range: 493.80 m. jECa@jAjAjAiAhIhIhIhMUyBfQfQfQrfQbfU5@ɛ}+xBٽ 隅:b>I *EɚiIe|=I_ʿi&;iq"L)Ca@)*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011891G] _G9 BQ O} >JM "JM RJI JI JM |;;JM :JI JI Zw, #Ay qyB gIIII5٢-> -U=9-Q 5>11 5G٣5D@Gy= => ENusing accuracyPremultiplier from configAMv49EQ?Mv4YEC iE]uBQQU?EֆCEn:Ez:E+v4Y ]1Aa}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263542B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 493.80 m.BjRJjR ProNav: ac range: 493.799988 m, nav range: 482.759705 m, bearing: 183.064693 deg, approach rate: -0.046976 m/s, LOS rate: -0.074017 deg/s, cmd heading: 269.254226 deg, new cmd heading: 269.168540 deg. 2j0KHeadingCmd: 4.697877 target range: 493.799988 and range: 493.80 m. jU@jjjihhhhfffrfbf@tL @ɛ8xBC@˽ \>I  aɚ i I  {=I^ʿif;iF:)U@) IG  YyB*F-?2F):F)BF-e0JF)"G5=G5=GUhAG) 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= BDAT read: Rx Time:21:18:31.6271 = TRx dataTimestamp_ set to:1736371112.849502E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517292BI O >ZHA RHA HM Z>II  IM IIM $zBII &II .II 6IM <:IM DFw,;y6Hwq?I@p??@ܪ?t?ɨ6@6T;6OCyNyBRIIZEIZ5٢bT> bQ=9b#;Q b>dd fG٣hyjh< n> vNusing accuracyPremultiplier from configpvv49r{Q?vv4YrŐ iruBxzu˿z?rCr:r:r'v4| 0AEZj)-FNOT Ignoring new targets: 493.80 m.Bj5Jj5E ProNav: ac range: 493.799988 m, nav range: 482.741943 m, bearing: 183.035439 deg, approach rate: -0.045674 m/s, LOS rate: -0.075230 deg/s, cmd heading: 269.168548 deg, new cmd heading: 269.080783 deg. 2jENMHeadingCmd: 4.696346 target range: 493.799988 and range: 493.80 m. jMwH@jIjIjIiIhIhQhYhYfYfafarfabfe(j @ɛ-FxB5W½ QU>IQ ]9)ɚYiYI]{=Ie˿ieӋ;im)mwH@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.ՙiՙchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.770583*F?2F:FBFo0JF'TFailed to parse incomplete device message. IgGN<8Gi Bq O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.Nlw,VA"DAT read: 21:18:31.6271 LVL= 24240, 24481, 18738, 29683, AGC= 72, IDX= 382,-0.44,-0.994,-2.466,-0.825,-1.613, PHS= 0.708,-0.806, 0.785, RAW= 152.5, -8.9, CAL= 158.3, -16.6, ROT= 351.7, 16.6 &Ygot valid direction response: 21:18:31.6271 LVL= 24240, 24481, 18738, 29683, AGC= 72, IDX= 382,-0.44,-0.994,-2.466,-0.825,-1.613, PHS= 0.708,-0.806, 0.785, RAW= 152.5, -8.9, CAL= 158.3, -16.6, ROT= 351.7, 16.6 *PDAT read: Bearing 351.7, 16.6 (Local) .~Local bearing/azimuth received: Bearing 351.7, 16.6 (Local) N׎@VDAT read: Range 10 to 50 : 489.9 m (Round-trip 653.3 ms) speed 0.3 m/s V,DAT read: user:1652> ^BDAT read: Tx time:21:18:32.7197 ^$Ping request sent.^?ymCim^m_ m2I)msImHim}?5?mVNmH?mX*@m m0@)mVIm%m@YNg@Nk9Nod >yNH@q ? @4q? Lm?`? -r?ɨN׎@N;NRCyvzBvI|~AimV>iimz@?h?apÿ)m?Im0>imm ii:publishing transmit ping time\Fpublishing direction and range infoi9mwK?̩bZƫ>?yiiii i)iIiiiiiii i)iIiiiiimz@?h?apÿ)iIiiiiiiMb@Mb@Mb@ )YK7A`?{Gzt??y ?ף;< A K@)b@I$ AypAITI5٢-o&> M)=9U;Q U>YY ]G٣Yy] ; ]> mNusing accuracyPremultiplier from configav49eP?v4Ye ieuB) ?:D̿?eCeS*e89:@*|,zǷ4o@mwK?̩bZƫ>?JkmRkm *mL|;%@l|h@m.'MRq7(Ж?t΍Z?"km.A*kmrkm%?kmM x 2km5Ckm]-?km.V kmUCkmCkmAL@ addTargetRange:: Added new target pos. range: 489.899994 m, deltaT: 4.031954 s, deltaX: -3.899994 m, approachRate: -0.967271 m/s, rangeRepo size: 4  Added new target pos. range: 489.899994 m, bearing: 178.607077 deg, lat: 36.900539 deg, lon: -122.114058 deg, deltaT: 4.031954 s, deltaX: -3.899994 m, approachRate: -0.967271 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 489.90 m.Bj Jj  ProNav: ac range: 489.899994 m, nav range: 471.884369 m, bearing: 182.859644 deg, approach rate: 0.000000 m/s, LOS rate: -0.075230 deg/s, cmd heading: 269.080794 deg, new cmd heading: 268.964466 deg. 2jEHeadingCmd: 4.694315 target range: 489.899994 and range: 489.90 m. jE7@jAjIjIiIhIhIhQhU=zBfQfQfYrf]`f~@bf]?ɛWxBݿ  p>I  :ɚ i I z=I`˿i$;i^P)7@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:18:32.7189 *F2F:FBF1JF IG >uG B O >꛺w,qAB@YB@Bѩ9Bj >yBHəϳ?Ǻ5?I?c?p?ɨB@B;BOCyntzBnIIz Iz4٢&> f=9 K;Q  >11 5G٣5E@Gy=; => ENusing accuracyPremultiplier from configAMv49EP?Mv4YE iEuBqu˿u?E/CE;E;ECEv4y -AZjFNOT Ignoring new targets: 489.90 m.BjJj ProNav: ac range: 489.899994 m, nav range: 471.870636 m, bearing: 182.836610 deg, approach rate: -0.041073 m/s, LOS rate: -0.068893 deg/s, cmd heading: 268.964462 deg, new cmd heading: 268.895358 deg. 2j-=-HeadingCmd: 4.693110 target range: 489.899994 and range: 489.90 m. j--@j1j1j1i1h1h1h9h9f9f9fArfAbfE@?MWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛbxBˢ 隽?I ɚiIgz=I˿i;iDǸ)-@)HM[>II IM^IIM{BII&II.II6IM̲<:IM3F*F?2F:FBFo0JFGg{JQJU@AJe!Je_JaJaJe:;Je:JaJaJe Will construct direction to contact in vehicle frame from tetrahedron phase data. 9 I9 zK BIK 9K K K  ΢w,ËAyzB%IMb@Mb@Mb@ )YX9v?I +y&1|?y>94`;; A 5@)I AyGAI-I`5٢ =  ;=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-v49%O?-v4Y% i%uB->-:-Ͽ5?%IC%;%[;%XTv4=B =\-A=EZjaeFNOT Ignoring new targets: 489.90 m.BjmJjm ProNav: ac range: 489.899994 m, nav range: 471.850342 m, bearing: 182.812017 deg, approach rate: -0.048002 m/s, LOS rate: -0.058172 deg/s, cmd heading: 268.895368 deg, new cmd heading: 268.821586 deg. 2jHeadingCmd: 4.691822 target range: 489.899994 and range: 489.90 m. jg#@jjjihhhhzBfffrfbf@@w?ɛpxBĆ 隥 ?I ɚiIy=Iα˿i*;i::)g#@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG V'SG B O >w,RA : @Y:f@:9:>y:H?#p@'s@? 2T?ȩ?@ n?ɨ: @:;:PCbWill construct direction to contact in vehicle frame from tetrahedron phase data.yfzBf;IInIn4٢v > v_=9vtbQ z>xx zG٣xy~; >  Nusing accuracyPremultiplier from config v49 O?v4Y  i vB.Ͽ? `C ; ; 2av4! %,A!MB*** querying acoustic contact ***jIjIZjQ IFNOT Ignoring new targets: 489.90 m.BjށJjށ] ProNav: ac range: 489.899994 m, nav range: 471.833588 m, bearing: 182.791058 deg, approach rate: -0.045378 m/s, LOS rate: -0.056769 deg/s, cmd heading: 268.821574 deg, new cmd heading: 268.758695 deg. 2jemHeadingCmd: 4.690724 target range: 489.899994 and range: 489.90 m. jmi@jijijqiqhyhyhhfffrfbf =?ɛ}xB%䟽 %E=%-?I! %3ɚ!i)I-%y=IU˿iU;iU;)Ui@)Y*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 zQG B O >jHE <bHE <HM Z>II  IM IIM {BII &II .II 6IM <:IM Fp!w,`vA*J"J%=J JSJ2JJ9;J:Jc3JJc<Jd<J;J;F&@YFU6@F9FY>yFH)@ܱ?@{@м @@\?`1?@?co?ɨF&@F;FQCybzBbJIIjIj4٢ru= rK=9v+;Q v>tx zG٣zF@Gyz2< z> }Nusing accuracyPremultiplier from configyv49}IN?v4Y} i}2vBο?}yC}X:}X:}ov4 *,AZj FNOT Ignoring new targets: 489.90 m.Bj Jj  ProNav: ac range: 489.899994 m, nav range: 471.815491 m, bearing: 182.767179 deg, approach rate: -0.042394 m/s, LOS rate: -0.055944 deg/s, cmd heading: 268.758682 deg, new cmd heading: 268.687040 deg. 2jHeadingCmd: 4.689474 target range: 489.899994 and range: 489.90 m. j+@jjjihhhh!fQfYfaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740176rfibfa? IzKEFKKE9KAKEKEɛUxBU QUk?IQ ]ɚYiYI]7px=I˿iڊ;i <)+@)*F=?2FA:FABFAJFA} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988946G `;G B O >y2HN?`~Mh??`ڿ?c?nq?ɨ2dF@2;2OCy> {B>cI Mb@Mb@Mb@    ) Y ʡE?y&1|Qy > `廹 u  @) K@I A y (AI-9I- 5٢B= 9=9;Q > G٣y5< > Nusing accuracyPremultiplier from configv49M?v4Y iBvB>:X̿?C;;~v4 +AEZjFNOT Ignoring new targets: 489.90 m.BjtJjt ProNav: ac range: 489.899994 m, nav range: 471.801941 m, bearing: 182.744927 deg, approach rate: -0.032569 m/s, LOS rate: -0.053488 deg/s, cmd heading: 268.687047 deg, new cmd heading: 268.620290 deg. 2j%HeadingCmd: 4.688309 target range: 489.899994 and range: 489.90 m. j%@j!j!j!i!h)h)h1h5zBf1f1f1rf9bf=@ɛexBec ae?Ii mɚiiiImw=Iu$̿iuA;iuZUN<)u@)y*F%?2F!:F!BF%1JF!G;GGqAGBOC>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245074 YIY+dw, A2d@Y2At@2ϝ92>y2H`DZ?@F@y?`+S????t?ɨ2d@2,;0yR{BRlI)T TXXXZAAI^'I^5٢ =  U=9!;Q > G٣y%< %> -Nusing accuracyPremultiplier from config)5v49-M?=v4Y- i-QvB9=˿E?-C-m^;-w;-$v4a eK+AiZjFNOT Ignoring new targets: 489.90 m.BjiJjiWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498466 ProNav: ac range: 489.899994 m, nav range: 471.790375 m, bearing: 182.724814 deg, approach rate: -0.029287 m/s, LOS rate: -0.050930 deg/s, cmd heading: 268.620302 deg, new cmd heading: 268.559962 deg. 2j HeadingCmd: 4.687255 target range: 489.899994 and range: 489.90 m. j@jjjihhhhfffrfbf `h@ɛUxB] Y]f?IY ]#ɚYiaIez3w=HY>I III+|BI&I.I6IҲ<:I4FInG̿i;i<)@)J!J%BAJEJEcJE1JAJE\8;JEϣ:JE3JAJE <JE <JE<JE<EJK ?GU Mh <G!B1OM>Gĺw,A>g~@Y>@>9> >y>H~>?btC? ?9?q?x?ɨ>g~@>$;>NCyZ{BZhIEMb@Mb@Mb@AAA A)AYES㥛?~jt? rhyE>ED G٣G@Gy; > Nusing accuracyPremultiplier from configv49N?v4Y i\vB>:Mſ?C;>;v4 a+AZjFNOT Ignoring new targets: 489.90 m.BjZ~JjZ~ ProNav: ac range: 489.899994 m, nav range: 471.786499 m, bearing: 182.698479 deg, approach rate: -0.008182 m/s, LOS rate: -0.055593 deg/s, cmd heading: 268.559951 deg, new cmd heading: 268.480947 deg. 2jHeadingCmd: 4.685876 target range: 489.899994 and range: 489.90 m. j@jjjihhhhzBfffrfbf -@ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001235ɛUxBUw[ Y]?IY ]ɚYiYI]v=It̿iG=;i0<)@)EeBJ=*F2F:FBF0JFGE3a<GiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253165 A IA fnʺw,v+ABm@YBƢ@B<9B >yBH`jt+?`?0_?o?? b4?n|?ɨBm@Bɉ;BOCyJzBJVIIVPIV5٢Zd ^Y=9^n;Q ^>`` bG٣`yf; f> jNusing accuracyPremultiplier from confighnv49jN?rv4Yj ijdvBprĿr?jׇCjd.;j.;j3v4t v+Ax B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 489.90 m.Bj%xJj%x5 ProNav: ac range: 489.899994 m, nav range: 471.783936 m, bearing: 182.678030 deg, approach rate: -0.006795 m/s, LOS rate: -0.054206 deg/s, cmd heading: 268.480939 deg, new cmd heading: 268.419590 deg. 2j5HeadingCmd: 4.684805 target range: 489.899994 and range: 489.90 m. j@jjjihhhhfffrfbf H @ɛxB  ?I TɚiIv=I ̿i L;i &y<) @)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506067E]SE=ZHRHHI I-IIS|BI&I.I6I<:I[FBI]ǢCJI]ǢCRIYZI]% =bI]% =jI]z4*F?2F:FBF0JFJK23 KL.KK"KJM JM ]JM 0JI JM 6;JM :JM ـ3JI JM <JM <JM S<JM S<G T<G ?G ?G BA O >Ѻw,1AHA"Will construct direction to contact in vehicle frame from tetrahedron phase data..BDAT read: Rx Time:21:18:35.7760 2TRx dataTimestamp_ set to:1736371117.140430:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763332 \I\]z@Y]ӫ@]9]>y]Ho`l?@9 ?@"??`/x??ɨ]z@]G;]NCzKKK 9KKKyޝzBޝHI=Mb@Mb@Mb@999 9)9Y=Mb?~jt?ˡEy=?==='=A =x@)=@I=A9y=@IU[IU5٢e1 e=9m;Q m>ii uG٣qyu; u> Nusing accuracyPremultiplier from configyv49}iP?v4Y}* i}ovBN?:?}C}l;};}Ӽv4 5,AEZjFNOT Ignoring new targets: 489.90 m.BjyJjy ProNav: ac range: 489.899994 m, nav range: 471.793335 m, bearing: 182.645389 deg, approach rate: 0.017683 m/s, LOS rate: -0.061406 deg/s, cmd heading: 268.419577 deg, new cmd heading: 268.321657 deg. 2j(HeadingCmd: 4.683096 target range: 489.899994 and range: 489.90 m. jە@jjjihhhhyBfffrfbf?@ɛxB.ʭ i?I ɚiIBu=I̿i;i3}<)ە@)E!E!*E!"E!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.008954EG>E>*F- ?2F) :F) BF5 o0JF1 "G] =G] =G}b<GYBaO}?2ٺw,hAWill construct direction to contact in vehicle frame from tetrahedron phase data. i @)H zPCnDAT read: 21:18:35.7760 LVL= 24784, 32753, 18114, 32755, AGC= 70, IDX= 433, 0.27,-2.356, 2.848,-2.037,-2.852, PHS= 0.585,-0.535, 0.812, RAW= 159.1, -13.7, CAL= 165.1, -19.9, ROT= 344.9, 19.9 IuGYgot valid direction response: 21:18:35.7760 LVL= 24784, 32753, 18114, 32755, AGC= 70, IDX= 433, 0.27,-2.356, 2.848,-2.037,-2.852, PHS= 0.585,-0.535, 0.812, RAW= 159.1, -13.7, CAL= 165.1, -19.9, ROT= 344.9, 19.9 YyBPDAT read: Bearing 344.9, 19.9 (Local) ~Local bearing/azimuth received: Bearing 344.9, 19.9 (Local) %DAT read: Range 10 to 50 : 489.0 m (Round-trip 652.1 ms) speed 0.4 m/s %,DAT read: user:1653> e4@BDAT read: Tx time:21:18:36.8698 $Ping request sent.yeH@ sJ?@ @59?`t?u??4?ɨe4@eܲ;eQCy޽zB޽-I988ܣ?r;?yC ` F)IFi?;O?g1@Gt !k8@)ӱI@iӱ> 4$?[ߗn?q!IWο)1.?Ihu>iOmZ=ؾ I >I  5٢, $=9%L; %:publishing transmit ping time؉%Fpublishing direction and range info 988ܣ?r;?y  ) I i ) I i 4$?[ߗn?q!IWο) I i Q e>ii mG٣mH@Gymź u> }Nusing accuracyPremultiplier from configqv49u$R?v4Yu iuzvBǾ?uCu1JM?"ka*kk{Y?kP 2kUCk3 W?k k kCkL@ addTargetRange:: Added new target pos. range: 489.000000 m, deltaT: 4.288290 s, deltaX: -0.899994 m, approachRate: -0.209872 m/s, rangeRepo size: 4 - Added new target pos. range: 489.000000 m, bearing: 186.966045 deg, lat: 36.900580 deg, lon: -122.114058 deg, deltaT: 4.288290 s, deltaX: -0.899994 m, approachRate: -0.209872 m/s, posRepo size: 4 Zj)-FNOT Ignoring new targets: 489.00 m.Bj5Jj1m ProNav: ac range: 489.000000 m, nav range: 467.242889 m, bearing: 182.639847 deg, approach rate: 0.000000 m/s, LOS rate: -0.061406 deg/s, cmd heading: 268.321659 deg, new cmd heading: 268.222451 deg. 2jimHeadingCmd: 4.681365 target range: 489.000000 and range: 489.00 m. ju͕@jqjqjqiqhhhhfffrf~@bf@A?ɛ%xB%Ͷ !%G>I! -ɚ)i)I-+u=IUrͿiU;;i]<)]͕@)aWill construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF JF H- X>I)  I- II- ?|BI- & =&I) .I) 6I- Dz<:I- ,FG <J J G B O >w,^Ano@Yn@n]9ng=ynH  ?"5@q?q?\?4?@?ɨno@n6h;nOCyvzBvII~"I~5٢ ;  k=9:Q ? G٣yb %? -Nusing accuracyPremultiplier from config!Uv49%;S?]v4Y%e i%vBami?%0C%v<%X}<%ov4Will construct direction to contact in vehicle frame from tetrahedron phase data.5B =H-A IEEZj15FNOT Ignoring new targets: 489.00 m.Bj=pJj=pm ProNav: ac range: 489.000000 m, nav range: 467.247955 m, bearing: 182.618804 deg, approach rate: 0.012664 m/s, LOS rate: -0.052604 deg/s, cmd heading: 268.222458 deg, new cmd heading: 268.159328 deg. 2jmhuHeadingCmd: 4.680263 target range: 489.000000 and range: 489.00 m. juĕ@jqjqjqiyhyhhhfffrfbf?zK=FKK=h9K9K=K= )+.0-/+)'&$#! RKE?JKE?ɛMxBUu QU%>IQ })ɚyiyI}t=I,Ϳi^*;iBO<)ĕ@)*F5?2F1:F1BF1JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data.Gu <GI BY Ou >w,yA6HT@Y6c@6296=y6H@艿`p?`bΙ@? 4???ޓ?ɨ6HT@6]M;6MCy>tzB>IMb@Mb@Mb@ )YX9v?A`"?AA EG٣AyE M> Nusing accuracyPremultiplier from configv49U?v4Y ivB?:?PC/;Y;nv4 -AJ5 J5XJ1J1J59;J5:J1J1a=@a=@aE@aE@ZjAmFNOT Ignoring new targets: 489.00 m.BjmʺJjuʺ} ProNav: ac range: 489.000000 m, nav range: 467.257935 m, bearing: 182.588329 deg, approach rate: 0.028924 m/s, LOS rate: -0.088328 deg/s, cmd heading: 268.159319 deg, new cmd heading: 268.067896 deg. 2jyrHeadingCmd: 4.678668 target range: 489.000000 and range: 489.00 m. j@jjjihhhh-yBfffrfbf`?ɛxB5D 1=>I9 =nɚ9i9I=rt=Ie`Ϳie;im?<)m@)i*F?2F:FBF1JFG sA G Will construct direction to contact in vehicle frame from tetrahedron phase data.Gs< IgGBOi>C,w,J@A>z"@Y>1@>%9>(=y>H@Y$`E?Yl`Y*x@,T?f?`Ž??ɨ>z"@>և;>LCyFYzBFIIR2IR5٢Z  ZT=9ZV:Q ^>\\ bG٣bI@Gyb b> fNusing accuracyPremultiplier from configdjv49fuV?jv4Yf ifvBln便n?fkCf& ;f ;f[v4p rE.At B*** querying acoustic contact ***j j Zj%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.5FNOT Ignoring new targets: 489.00 m.BjE JjE U ProNav: ac range: 489.000000 m, nav range: 467.265350 m, bearing: 182.562060 deg, approach rate: 0.020367 m/s, LOS rate: -0.072145 deg/s, cmd heading: 268.067904 deg, new cmd heading: 267.989099 deg. 2jU FUHeadingCmd: 4.677292 target range: 489.000000 and range: 489.00 m. j]a@jYjYjYiYhahahahafififirfibfmP?ɛ yB+R 隥c>I ɚiIat=IͿiՔ;i<)a@)jH]<bHYHeW>Ia IeIIe{BIa&Ia.Ia6Ie<:IeLF*FQ2FQ:FYBF] 5JFY*JER="JE=G5<GqBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.435152O > I zK ^mMK ]9K K K BK :K qAw,)A63@Y6@6pڽ96C=y6H,?y̼3@A?@?@6?@?ɨ63@6H;6NCyN;zBNIMb@Mb@Mb@ )YuV?Q?~jtyr(?\=ļA &@)b@IAy@IrI#5٢} 7=9;Q > G٣y+ >  Nusing accuracyPremultiplier from config w49 X?w4Y D i vB)?:? C ; ; w4! %.A!ZjIFNOT Ignoring new targets: 489.00 m.BjJj ProNav: ac range: 489.000000 m, nav range: 467.278320 m, bearing: 182.526064 deg, approach rate: 0.029220 m/s, LOS rate: -0.081092 deg/s, cmd heading: 267.989111 deg, new cmd heading: 267.881126 deg. 2j^HeadingCmd: 4.675408 target range: 489.000000 and range: 489.00 m. j@jjjihhhhxxBfffrfbf?ɛ%yB%KSĽ *rj=隍>I mɚiI8t=IͿi͕;i<)@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.685712*FY2FY:FYBFeP5JFaG=T<GBOn>JUJUdJU1JQJU<5;JUT:JU3JQ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.937125 Aw,6A IN@YNl@Nֽ9N=yNHə`b?=[Ne[? κ?$ļ?̞?ɨN@N:;NOCy^"zB^IIfcIfN5٢n n^=9r;Q r>pt vG٣tyv$9 v> ~Nusing accuracyPremultiplier from configxw49zaZ?w4Yz izvBB?zCz:z:zw4 "/AZjFNOT Ignoring new targets: 489.00 m.BjJj ProNav: ac range: 489.000000 m, nav range: 467.288177 m, bearing: 182.496254 deg, approach rate: 0.025522 m/s, LOS rate: -0.077181 deg/s, cmd heading: 267.881139 deg, new cmd heading: 267.791712 deg. 2jSHeadingCmd: 4.673847 target range: 489.000000 and range: 489.00 m. j(@jjjih!h!h!h!f)f)f)rf)bf5J@ɛe$yBeΑŽ ae}>Ia m ɚiiiImt=IuͿiuup;iur<)u(@)y*F%?2F):F)BF-`0JF)"G1G5=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.188149H]V>IY I]II]{BIY&IY.I]7D6I]<:I]FGup<GI Ba O} >(w,A6tȎ@Y6ו@6mӽ96[=y6H&X ?Ά` K? a?@-c?`?ɨ6tȎ@6R@;6MCyB zBBIIJvIJ%5٢Ry VN=9V);Q V>XX ZG٣ZJ@GyZ8 ^> bNusing accuracyPremultiplier from config`fw49b$\?fw4Yb ibvBdf׾j?b҈Cb:b":b w4rB r/AvEZj)-FNOT Ignoring new targets: 489.00 m.Bj5Jj=񾺝M ProNav: ac range: 489.000000 m, nav range: 467.297791 m, bearing: 182.464107 deg, approach rate: 0.024960 m/s, LOS rate: -0.083467 deg/s, cmd heading: 267.791719 deg, new cmd heading: 267.695280 deg. 2jM!eUHeadingCmd: 4.672164 target range: 489.000000 and range: 489.00 m. jU^@jQjQjQiQhYhYhYhYfafafarfabfm@@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443849 aIaɛ1yBZa̽ 隵W>I ɚiIot=I5οi ;iN<)^@)*FM?2FI:FIBFQJFQzK}.JK}9KyK}K}RK?JK?Gm jhn<E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.692136GI BQ Ou >Rw,|A2@Y2ܨ@2jѽ92=y2H #?+x @] 4?t+?$C?@?ɨ2@2U;2OCyNzBNI%Mb@Mb@Mb@!!! !)!Y%\(\?{Gz?y&1|y%:?%ף=%`%~@ %@)%&@I%Q@!y%@I=jI=h 5٢MŴ< M@=9M^;Q U>QQ ]G٣Yy]\ ]> eNusing accuracyPremultiplier from configamw49e^?mw4Ye iewBuIa e}TɚaiaIeVt=I/wοie;ip<)r@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.944851 AIEgE+E=*F% ?2F! :F) BF- _5JF) G F<G G rAU Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.196323G B O >fKw,;AZH,RH,H2W>I0 I2II2_{BI0&I0.I06I2w<:I2Fy-zB-II=bI=5٢U< U2=9]Q ]>YY eG٣aye e> uNusing accuracyPremultiplier from configiuw49m1`?uw4Ym{ im#wByy}?m$Cm~:m:m?w4B ?/AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 489.00 m.BjӺJjӺ ProNav: ac range: 489.000000 m, nav range: 467.318604 m, bearing: 182.385103 deg, approach rate: 0.024595 m/s, LOS rate: -0.092265 deg/s, cmd heading: 267.581212 deg, new cmd heading: 267.458256 deg. 2jH}HeadingCmd: 4.668027 target range: 489.000000 and range: 489.00 m. j{`@jj jihhhhfffrf!bf% @ɛJyBPͽ O>I ɚiITs=I~οi;iC<){`@) Ee=*F}?2Fy:FyBF}a0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:21:18:39.9221 =TRx dataTimestamp_ set to:1736371121.172722Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.454833 IG 9)<zK BIK h9K K K GY Bi O >P0w,YUAFu9@YFH@F"Ͻ9F=yFH p`?@l @?`? ٹ? 텼?ݢ?ɨFu9@FF;FNCyNzBNI-Mb@Mb@Mb@))) )))Y-/$?+?:v?y-L?-=-T<-h@ -@)-@I-$@)y-z@I]}I](5٢uk uI=9}XK;Q }>y G٣K@Gy > Nusing accuracyPremultiplier from configw49a?w4Y iNwBM?:¿?NC;;Mw4 V/AuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.700269ZjFNOT Ignoring new targets: 489.00 m.BjZպJjZպ ProNav: ac range: 489.000000 m, nav range: 467.320984 m, bearing: 182.345421 deg, approach rate: 0.005595 m/s, LOS rate: -0.093264 deg/s, cmd heading: 267.458269 deg, new cmd heading: 267.339225 deg. 2jHeadingCmd: 4.665950 target range: 489.000000 and range: 489.00 m. jvO@jjjihhhhpwBfffrfbf`P[@ɛWyB3Ͻ 隝B=>I ɚiIrs=IϿiۗ;i6;)vO@)JJYJJJ6;J:JJE`k=*F ?2F :F BF P5JF M Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:18:39.9221 LVL= 26016, 32369, 22130, 32755, AGC= 66, IDX= 393, 0.10,-2.883, 2.169,-2.769, 2.787, PHS= 0.701,-0.571, 0.724, RAW= 150.9, -13.2, CAL= 157.8, -20.7, ROT= 352.2, 20.7  Ygot valid direction response: 21:18:39.9221 LVL= 26016, 32369, 22130, 32755, AGC= 66, IDX= 393, 0.10,-2.883, 2.169,-2.769, 2.787, PHS= 0.701,-0.571, 0.724, RAW= 150.9, -13.2, CAL= 157.8, -20.7, ROT= 352.2, 20.7 I g PDAT read: Bearing 352.2, 20.7 (Local)  ~Local bearing/azimuth received: Bearing 352.2, 20.7 (Local)  DAT read: Range 10 to 50 : 486.1 m (Round-trip 648.2 ms) speed 0.8 m/s  ,DAT read: user:1654>  BDAT read: Tx time:21:18:41.0198  $Ping request sent. I I M !FlMO?ۣ?NͿ)M  ?IM Wl>iM pѳM QI I  :publishing transmit ping time  Fpublishing direction and range infoI 9M eͲr?WG]~4?yI I I I I )I II iI I I I I I )I II iI I I M !FlMO?ۣ?NͿ)I II iI I I I G iG<G ?G >GBO>w,tAyVzBII-mI-!5٢= > =+=9=Q E>AA EG٣AyM M> uNusing accuracyPremultiplier from configq}w49uc?}w4Yu iuwB?uCuP:u:u^w4B I.AEk ?k /9= k  k KVkA:k CBk cCZk 'L@" <P@莂CyZUp@ eͲr?WG]~4?Jk pѳRk Q* Aw& {dN9TwaՅk@ RԃzD)`Χw>?"k t*k Qk :X?k ˰ 2k bCk {Y?k ˰ k k ICk L@ addTargetRange:: Added new target pos. range: 486.100006 m, deltaT: 4.036964 s, deltaX: -2.899994 m, approachRate: -0.718360 m/s, rangeRepo size: 4  Added new target pos. range: 486.100006 m, bearing: 183.347723 deg, lat: 36.900626 deg, lon: -122.114132 deg, deltaT: 4.036964 s, deltaX: -2.899994 m, approachRate: -0.718360 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 486.10 m.BjJj ProNav: ac range: 486.100006 m, nav range: 462.572052 m, bearing: 183.136363 deg, approach rate: 0.000000 m/s, LOS rate: -0.093264 deg/s, cmd heading: 267.339232 deg, new cmd heading: 267.204555 deg. 2jHeadingCmd: 4.663599 target range: 486.100006 and range: 486.10 m. j5<@jjjihhhh f f f rfa~@bf ?-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:21:18:41.0190 ɛeyB`nɽ 隵q>I *ɚiI-s=HU>I IIIK{BI&I.I6Ix<:IBIJIRIZI& =bI& =jIkI4I NϿi ;i ]=;) 5<@)EE*E"E*Fe ?2Fa :Fa BFe T5JFa GE !j; Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I9 GY B O >'y#w,`AF֍@YFv@FvϽ9F=yFH@[:?@>`]i? ?଼??ɨF֍@F>8;FLCyRczBRI5Mb@Mb@Mb@111 1)1Y5Dl?l??y5OM?5=5<5@ 5@)5@I5@1y5@IM.IM5٢]P< ]I=9et%Q e>aa eG٣iym m> Nusing accuracyPremultiplier from configqw49uc?w4Yu iuwBHN?:Lſ?uCuI |ɚiI9s=IߒϿiV;i@])#+@)*Fi2Fi:FiBFmo0JFi=Will construct direction to contact in vehicle frame from tetrahedron phase data.GUg;G) B9 OU >Ȣ)w,njAU~GevAWill construct direction to contact in vehicle frame from tetrahedron phase data. YvAy)By޽zB$I d$?IIHIW5٢> @=9Q >  G٣ L@Gy   > -Nusing accuracyPremultiplier from config)=w49-d?=w4Y-' i-wB99=?-ӉC-*;-*;-{w4A M-AIZj)UFNOT Ignoring new targets: 486.10 m.BjU-ߺJjU-ߺe ProNav: ac range: 486.100006 m, nav range: 462.555756 m, bearing: 183.054345 deg, approach rate: -0.019108 m/s, LOS rate: -0.097558 deg/s, cmd heading: 267.085176 deg, new cmd heading: 266.958503 deg. 2je煻uHeadingCmd: 4.659305 target range: 486.100006 and range: 486.10 m. ju@jqjyjyiyhyhyhhfffrfbf`) ?ɛ|yBt 隽>I HɚiIs=IRϿi-;i1)@)*Fe?2Fa:FaBFek0JFaM Will construct direction to contact in vehicle frame from tetrahedron phase data.G V'SG G nAjH <bH H I  I II {BI &I .I 6I s<:I FG B O >0w,KA6d@Y6't@6ֽ96=y6Hy? |$ ? ??[?ɨ6d@6;4yNzBNOIIVIV14٢^A> ba=9b Q b>dd jG٣hyjv j> rNusing accuracyPremultiplier from configlrw49ne?vw4Yn/ in xBtvǿv?nCna:na:nBw4JJXJ4JJ\8;J:J3JJ I ɚiIs=Iпi7L;i?) @)*F?2F:FBFp0Will construct direction to contact in vehicle frame from tetrahedron phase data. I gT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JFzKma3JKm9KiKmKmGe zQGA BQ O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7410366w,`A6@@Y6P@6~)ؽ96i=y6H@׼Ĺ?@`?Y?<?Y?ɨ6@@6ފ;4yB{BBjI)D DMb@Mb@Mb@ )YˡE?J +?X9v?yG?H=<@ r@)@I@yQ@IVI5٢= 7=9Q > G٣y\! > 5Nusing accuracyPremultiplier from config Ew49 d?Ew4Y 48 i CxBM|H?M:M˿M? %C T; ; ܗw4uB uD+A}EZjFNOT Ignoring new targets: 486.10 m.BjݺJjݺ ProNav: ac range: 486.100006 m, nav range: 462.520233 m, bearing: 182.975935 deg, approach rate: -0.056165 m/s, LOS rate: -0.097030 deg/s, cmd heading: 266.851365 deg, new cmd heading: 266.723251 deg. 2j.HeadingCmd: 4.655199 target range: 486.100006 and range: 486.10 m. jd@jjjihhhh wBf f f)rf1bf5?ɛ}yB}q 隅>I ɚiI6Ms=IaпiI!;iD)d@)*FE?2FA:FABFAJFIG%;3GB O5p>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991172 I 5Z=95Q 5>99 =G٣=M@GyE E> MNusing accuracyPremultiplier from configIUw49Md?Uw4YM? iMpxBQQ]?MJCM ;M ;Mw4a e)AaZjFNOT Ignoring new targets: 486.10 m.BjRJjR㺝 ProNav: ac range: 486.100006 m, nav range: 462.499695 m, bearing: 182.940071 deg, approach rate: -0.056903 m/s, LOS rate: -0.099369 deg/s, cmd heading: 266.723258 deg, new cmd heading: 266.615661 deg. 2jdHeadingCmd: 4.653321 target range: 486.100006 and range: 486.10 m. j@jjjihhhhfffrfbf @ɛyB3 %l>I! %lɚ!i!I%r=I-cпi-D;i-$)-@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244395HV>I III|BI&I.I6Im<:IF*F?2F:FBF1JF"G=GJJYJ0JJ6;J:Jـ3JJ<J<J<J<GI6G ?G>GBO > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503773{Cw,}AZ -@YZf<@Zֽ9Z=yZH Y ?- ?Rĺ??@W?ɨZ -@Z;ZNCyf{BfI]Mb@Mb@Mb@YYY Y)YY]A`"?I +?X9v?y]9?]9 D=9X:Q > G٣y > Nusing accuracyPremultiplier from configw49b?w4YG ixBW9?: п?pC1;;w4 (AzK >`JK S9K K K ZjFNOT Ignoring new targets: 486.10 m.BjhJjh ProNav: ac range: 486.100006 m, nav range: 462.467865 m, bearing: 182.902895 deg, approach rate: -0.072381 m/s, LOS rate: -0.084545 deg/s, cmd heading: 266.615669 deg, new cmd heading: 266.504132 deg. 2jhHeadingCmd: 4.651374 target range: 486.100006 and range: 486.10 m. jؔ@jjjihhhhqxBfffrfbf V@ɛ=yB=3 AE?IA eyɚaiaImr=Im.пiu$(;iu0)uؔ@)q*FY2FY:FYBF]0JFY5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751145Ge &G9 BA Oe >LIw,)AJ$@YJ\3@J;ֽ9JW=yJH8?@ܼ({W ?`Ϻ?|??ɨJ$@J'W;HyZ |BZIIj,Ij5٢vFX> vU=9vQ v>xx zG٣xyE8 E> MNusing accuracyPremultiplier from configIew49Maa?mw4YMO  c$?IiMxB6п?MCMJ<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003382McM Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255180ZH RH AAH I  I _II |BI &I .I 6I <:I FPw,;CA6"@Y62@6h׽96}=y6H0? 9Է`iJ }*?j? a?k?ɨ6"@6;4yf]|Bf3IJrJrSJr1JpJr6;Jr:Jr3JpJr<Jr<Jr;Jr;Iz"Iz5٢ 2F>  H=9 p&Q  >!) -G٣5N@GyEӹ E> MNusing accuracyPremultiplier from configIUw49M`?Uw4YMV iMxBQU@п]?MCM;M;MRw4eB e &AmEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 486.10 m.BjκJjκ ProNav: ac range: 486.100006 m, nav range: 462.407990 m, bearing: 182.833189 deg, approach rate: -0.077469 m/s, LOS rate: -0.090310 deg/s, cmd heading: 266.401830 deg, new cmd heading: 266.294995 deg. 2jwHeadingCmd: 4.647725 target range: 486.100006 and range: 486.10 m. j)@jjjihhhhfffrfbf`~ @ɛyB^$ (?I 6ɚiIq=I Vѿi wj;i  ) )@)*F?2F:FBF4JF yI} gWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:18:44.0461 TRx dataTimestamp_ set to:1736371125.208880checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508508G{#GGsAzK7KK]9KKKGBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759185* Ww,]A>$@Y>(4@>,O׽9>wt>y>Hɚت?`|` @H5? 6ݺ? K??ɨ>$@>q;>JCyJ|BJdIEMb@Mb@Mb@AAA A)AYEp= ף? <=978Q > G٣y: > MNusing accuracyPremultiplier from config!Uw49%]?Uw4Y%] i%yBU9%?U:]տ]?%܊C%;%;%yw4a e$AZjFNOT Ignoring new targets: 486.10 m.BjJj ProNav: ac range: 486.100006 m, nav range: 462.367004 m, bearing: 182.799204 deg, approach rate: -0.091723 m/s, LOS rate: -0.076064 deg/s, cmd heading: 266.295006 deg, new cmd heading: 266.193041 deg. 2jPHeadingCmd: 4.645945 target range: 486.100006 and range: 486.10 m. j@jjAjAiAhAhAhIhMFyBfIfIfQrfQbfU#@ɛyB~@ uE=9?I  &ɚiIzp=Iѿip;i])@)*F?2F:FBFO5JF aIiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.013834G JG B O >-]w,xCwA2;*@Y29@21׽92>y2H o৩?]氿??@ ? ??ɨ2;*@2C;2MCyf|BjIIr"Ir5٢z*`> z\=9~Q > G٣y 0:  > Nusing accuracyPremultiplier from configw49[?w4Yd i?yB!%տ%?C ;u ;Ow4) -#A)ZjQUFNOT Ignoring new targets: 486.10 m.Bj]hJj]hm ProNav: ac range: 486.100006 m, nav range: 462.332550 m, bearing: 182.770413 deg, approach rate: -0.097508 m/s, LOS rate: -0.081485 deg/s, cmd heading: 266.193044 deg, new cmd heading: 266.106667 deg. 2jm_uHeadingCmd: 4.644437 target range: 486.100006 and range: 486.10 m. j};@jyjyjyihhhhfffrfbf`@ɛyBG _L?I  ɚiIiUp=I~ѿi;i);@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.H=U>I9 I=II=p}BI9&I9.I=8D6I=<:I=F*F]?2FY:FYBF]`0JFYDAT read: 21:18:44.0461 LVL= 25760, 22289, 18738, 32755, AGC= 69, IDX= 285, 0.12, 2.731, 1.236, 2.884, 2.066, PHS= 0.753,-0.782, 0.816, RAW= 152.0, -10.1, CAL= 158.2, -17.7, ROT= 351.8, 17.7 Ygot valid direction response: 21:18:44.0461 LVL= 25760, 22289, 18738, 32755, AGC= 69, IDX= 285, 0.12, 2.731, 1.236, 2.884, 2.066, PHS= 0.753,-0.782, 0.816, RAW= 152.0, -10.1, CAL= 158.2, -17.7, ROT= 351.8, 17.7 PDAT read: Bearing 351.8, 17.7 (Local) ~Local bearing/azimuth received: Bearing 351.8, 17.7 (Local) DAT read: Range 10 to 50 : 466.6 m (Round-trip 622.2 ms) speed 0.4 m/s %,DAT read: user:1655> BDAT read: Tx time:21:18:45.1698 $Ping request sent.!!%Tҩ?!?qI_ƿ)%3?I%3>i%`%1 !!:publishing transmit ping timeFpublishing direction and range info!9% i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data.dw,/AyUA}BޕIzKgKK9KKK RK ?JK ?Mb@Mb@Mb@ )YʡE?/$ M)=9UQ U>QQ ]G٣]O@Gy] ]> Nusing accuracyPremultiplier from configw49X?w4YXk ieyBX?:ؿ?C;;hw4 "AkM?kM kI kM-}A:kMLCBkMCZkMUF@"Mm: B@ynx!3n@M4kw,2Ay%}B%II5I5Y4٢]2> ]K=9aQ e>ii mG٣iyi m> }Nusing accuracyPremultiplier from configq}x49uV?x4Yu1q iuyB?u:Cuh-;u-;u1 x4B h!AEZjFNOT Ignoring new targets: 466.60 m.BjJj ProNav: ac range: 466.600006 m, nav range: 449.334961 m, bearing: 177.663685 deg, approach rate: -0.049562 m/s, LOS rate: -0.078095 deg/s, cmd heading: 265.979478 deg, new cmd heading: 265.894220 deg. 2jbVHeadingCmd: 4.640729 target range: 466.600006 and range: 466.60 m. jۀ@jjjihhhhfffrfbf?ɛ%yB%6 )-i?I) -ܽɚ)i)I5Nn=I5<ҿi5Z܎;i=g)=ۀ@)9Efm=EWill construct direction to contact in vehicle frame from tetrahedron phase data.jHU<bHU4=HeT>IeC IeLIIe'~BIa&Ia.Ia6IeD<:IeFBI JI RI ZI bI jI ǥ$4*F?2F:FBFR5JFG g{G B! OM >rw,A2|@Y2*@2&ݽ92=y2H㴿?bOдlr n??z?`?ɨ2|@2;2LCy>}B>IIFIF4٢N= NG=9RػQ R>PP VG٣T Iy > Nusing accuracyPremultiplier from config%x49*T?-x4Yyw iyB)-ؿ-?YC;t;x41 = A9]B*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 466.60 m.BjmvJjmv} ProNav: ac range: 466.600006 m, nav range: 449.315338 m, bearing: 177.633163 deg, approach rate: -0.046218 m/s, LOS rate: -0.071892 deg/s, cmd heading: 265.894210 deg, new cmd heading: 265.802639 deg. 2j}[EHeadingCmd: 4.639131 target range: 466.600006 and range: 466.60 m. js@jjjihhhhfffrfbf?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.ɛyB l0  r?I  4۽ɚ iIm=I_pҿi}[;i7)s@)E\J=*F?2F:FBFa0JFzK->KK-]9K)K-K-BK5qA:K5pAGb(] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.450371G B O >xw,ޏA:k'@Y:6@:VF۽9:>y:H@ܫ? M`k?d[?u4?ʎ?ɨ:k'@:u;:KCyB}BB(IJ!J%PJ%1J!J!J%:J%3J!a-@a-@a-@a5@Mb@Mb@Mb@ )YJ +?MbMb`y?@ @)@I-@yz@IMIMH4٢e;= e@=9e ;Q e>ii mG٣mP@Gymf; u> Nusing accuracyPremultiplier from configqx49uQ?x4Yu6} iuyB?:ڿ?uuCu ;u;ur'x4 AZjFNOT Ignoring new targets: 466.60 m.BjQJjQe ProNav: ac range: 466.600006 m, nav range: 449.293762 m, bearing: 177.605243 deg, approach rate: -0.052128 m/s, LOS rate: -0.067457 deg/s, cmd heading: 265.802631 deg, new cmd heading: 265.718868 deg. 2ju.9HeadingCmd: 4.637669 target range: 466.600006 and range: 466.60 m. jg@jjjihhhhGzBfffrfbf V?) UvGmvA .YvAyBɛyBa+ |?I I g UٽɚiIsl=I%Fҿi%};i%)%g@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703717ErE=*Fi 2Fi :Fi BFm `5JFi Ha Ia  Ie IIe ~BIa } Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954290&Ia .Ia 6Ie <:Ie FGOPGGrAGaBqO?yy2Hس`? = 4K? ̺?? N?ɨ2a=@2~;2ICyJ"~BJJIIR"IR5٢Z@= ^'=9^;Q ^>`` bG٣`yb; b> jNusing accuracyPremultiplier from configdnx49fN?nx4Yf ifyBlnڿn?fCf:fT:f8x4t vAvEZjFNOT Ignoring new targets: 466.60 m.Bj%ԚJj%Ԛ5 ProNav: ac range: 466.600006 m, nav range: 449.269073 m, bearing: 177.572239 deg, approach rate: -0.050626 m/s, LOS rate: -0.067681 deg/s, cmd heading: 265.718865 deg, new cmd heading: 265.619847 deg. 2j59=HeadingCmd: 4.635941 target range: 466.600006 and range: 466.60 m. j=Y@j9j9j9i9hAhAhAhAfIfIfrfbf`l@ɛzB !% ?I! %]l׽ɚiIk=Iҿi;ixg;)Y@)EE*E"E IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206588*FE?2FA:FABFAJFAzK} yJK} 9Ky K} K} U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459312Gm zQGA BQ Om >w,U!ABuS@YBb@Bѽ9B^>yBH@(*@? bĿKm?/?@??ɨBuS@BB;BNCyJ:~BJXIMb@Mb@Mb@ )YMbX9?V-I +y?94@ @)\@IC@y(@II_4٢J= -=9;Q > G٣Q@Gy4; > Nusing accuracyPremultiplier from configx49K?x4YF iyB?:ٿ?C;;Ix4 AZj%FNOT Ignoring new targets: 466.60 m.Bj%Jj%5 ProNav: ac range: 466.600006 m, nav range: 449.248291 m, bearing: 177.541709 deg, approach rate: -0.043944 m/s, LOS rate: -0.064558 deg/s, cmd heading: 265.619855 deg, new cmd heading: 265.528262 deg. 2j581=HeadingCmd: 4.634343 target range: 466.600006 and range: 466.60 m. j=L@j9j9jAiIhIhIhQhUzBfQfQfQrfYbf]` @J3Kw3 K@o/KK"KJJQJJJ2;Jz:JJɛE zBMS IM?II UeսɚQiQIUj=I]H ӿi]1;i]^N;)]L@)*Fe?2Fa:FaBFm`0JFi I gG5']?;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710440G BO5p>w,v;A6c@Y6s@6(ͽ964Q >y6H২?># 7Zϻ????ɨ6c@6G;4yNP~BNfIIZIZv4٢bm= b\=9f;Q f>dh jG٣hyj; j> rNusing accuracyPremultiplier from configlrx49nI?vx4Yn- inyBtvWٿv?n͋Cn":n:nVx4x ~MA|Zj!%FNOT Ignoring new targets: 466.60 m.Bj-MJj-ME ProNav: ac range: 466.600006 m, nav range: 449.232544 m, bearing: 177.517854 deg, approach rate: -0.042503 m/s, LOS rate: -0.064391 deg/s, cmd heading: 265.528276 deg, new cmd heading: 265.456707 deg. 2jE0MHeadingCmd: 4.633093 target range: 466.600006 and range: 466.60 m. jMMB@jIjIjIiIhIhQhQhQZHRHHS>I III9BI&I.I6IL<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962505fQffrfbf5@ɛzB  =隍z?I ӽɚiI'i=I76ӿi^;i;<)MB@)!*F?2F:FBFa0JF"G=G IG .A;G ?G )? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215177G B OE >Ww,UA^o@Y^t~@^Suɽ9^4 >y^HP ? ?M a(R? F$? ??ɨ^o@^F;^JCyf]~BfnIMb@Mb@Mb@ )YV-?~jt{Gzy>ף@ @)E@I@y@II|4٢2< ;=9ȇ;Q > G٣yP; > Nusing accuracyPremultiplier from configx49H?x4YԔ iyBR>:tֿ?C;;Fex4B AEzK->`JK-]9K)K-K-B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 466.60 m.BjۅJjۅ] ProNav: ac range: 466.600006 m, nav range: 449.219391 m, bearing: 177.490406 deg, approach rate: -0.028039 m/s, LOS rate: -0.058513 deg/s, cmd heading: 265.456695 deg, new cmd heading: 265.374350 deg. 2j] HeadingCmd: 4.631656 target range: 466.600006 and range: 466.60 m. j6@jjjihhhh|zBfffrfbf @ɛ%zB-Q 15?I1 u,ѽɚqiqIuh=INeӿiu;iE?<)6@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:18:48.2151 TRx dataTimestamp_ set to:1736371129.492843 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467685*F?2F:FBF`0JFJ J SJ J J 6;J :J J G < q Iy Gy B O >R)w,xnA2Will construct direction to contact in vehicle frame from tetrahedron phase data.0i0>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.720344N~@YN8@NŽ9NM >yNHhԱ@?pA@ @??`9??ɨN~@N;NICynX~BnkII~I~4٢ I  W=9 ;Q > G٣y; > %Nusing accuracyPremultiplier from config!-x49%sF?-x4Y% i%zB155ֿ5?%C%:%@:%rx49 =%A9ZjaeFNOT Ignoring new targets: 466.60 m.BjuJju ProNav: ac range: 466.600006 m, nav range: 449.208344 m, bearing: 177.466481 deg, approach rate: -0.031804 m/s, LOS rate: -0.068880 deg/s, cmd heading: 265.374351 deg, new cmd heading: 265.302574 deg. 2j=HeadingCmd: 4.630404 target range: 466.600006 and range: 466.60 m. jD,@jjjihhhhfffrfbf+@ɛ$zB ~?I xWнɚiIh=IYӿi-k;iAk<)D,@)*F2F:FBFo0JFHI I!IIBI&I.I6I><:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 21:18:48.2151 LVL= 14240, 18673, 11074, 20467, AGC= 73, IDX= 128,-0.31, 0.866,-0.305, 0.902, 0.223, PHS= 0.731,-0.481, 0.677, RAW= 147.7, -15.4, CAL= 154.1, -23.2, ROT= 355.9, 23.2 UYgot valid direction response: 21:18:48.2151 LVL= 14240, 18673, 11074, 20467, AGC= 73, IDX= 128,-0.31, 0.866,-0.305, 0.902, 0.223, PHS= 0.731,-0.481, 0.677, RAW= 147.7, -15.4, CAL= 154.1, -23.2, ROT= 355.9, 23.2 ]PDAT read: Bearing 355.9, 23.2 (Local) e~Local bearing/azimuth received: Bearing 355.9, 23.2 (Local) }DAT read: Range 10 to 50 : 480.8 m (Round-trip 641.1 ms) speed 0.4 m/s ,DAT read: user:1656> BDAT read: Tx time:21:18:49.3199 $Ping request sent.2L?ˮ?H͕mQ ѿ)#>I8 >iYA:publishing transmit ping timeرFpublishing direction and range info9,?-X2e鿄$ł?y )Ii )Ii2L?ˮ?H͕mQ ѿ)IiG- (<G B O5 >J- @AJ- ?A5w,ٯA6K@Y6@6896< >y6H`L@v?U=j@@? J-??`A?ɨ6K@6w;6LCyR[~BRmIIZIZ4٢r< vL=9v>;Q v>tx zG٣zR@GyzP; z> %Nusing accuracyPremultiplier from config-x49D?-x4Y izB)- ֿ-?C::x4Y ]AYkMzL?kMȼ] kI kMA:kMfCBkMCZkMN@"MVk@U@S>wxtq@M,?-X2e鿄$ł?JkMYRkMA*MRy/zz,QBSi> m@Mczؘ@JH+R?"kM*kM{kM,@[?kMu.Ld 2kMLCkM:X?kM˰ kM5CkM^CkM L@ addTargetRange:: Added new target pos. range: 480.799988 m, deltaT: 4.031104 s, deltaX: 14.199982 m, approachRate: 3.522604 m/s, rangeRepo size: 4 I- Added new target pos. range: 480.799988 m, bearing: 184.998012 deg, lat: 36.900889 deg, lon: -122.114132 deg, deltaT: 4.031104 s, deltaX: 14.199982 m, approachRate: 3.522604 m/s, posRepo size: 4 ZjquFNOT Ignoring new targets: 480.80 m.Bj}Jjy ProNav: ac range: 480.799988 m, nav range: 432.741943 m, bearing: 182.663695 deg, approach rate: 0.000000 m/s, LOS rate: -0.068880 deg/s, cmd heading: 265.302579 deg, new cmd heading: 265.215573 deg. 2jHeadingCmd: 4.628885 target range: 480.799988 and range: 480.80 m. j@jjjihhhhfffrf ~@bf@\?mWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:21:18:49.3191 ɛ}-zBTK 隅?I fνɚiI0g=I ӿiHE;ip<)@)zKVBJK9KKK' Z&'Me P$&W$o($v @gS4# RK?JK?ESE=*F! 2F! :F! BF% `0JF) % Will construct direction to contact in vehicle frame from tetrahedron phase data.G 5[<GBO>w,LAJJ J0J Jt4;J Jـ3J rf@YrAv@ry 9r=yrHޓ?t`P&_?`?K?1?ɨrf@r،;rICy\~B Mb@Mb@Mb@ )Y{Gz?I +?~jty?94<ļ@ z@)@I@y@IIg4٢%: %=9-:Q ->)) 5G٣1y5 5> =Nusing accuracyPremultiplier from config9Ux49=C?Ux4Y=+ i= zB]?]:]ο]?==C=;=;=6x4i mAiZjFNOT Ignoring new targets: 480.80 m.Bj}Jj} ProNav: ac range: 480.799988 m, nav range: 432.716766 m, bearing: 182.627680 deg, approach rate: -0.048734 m/s, LOS rate: -0.069719 deg/s, cmd heading: 265.215562 deg, new cmd heading: 265.107509 deg. 2jc?HeadingCmd: 4.626999 target range: 480.799988 and range: 480.80 m. j`@jjjihhhhzBfffrfbf.?ɛ7zBE ?I Y̽ɚ i I =f=Iӿid ;i4^h<)`@)Will construct direction to contact in vehicle frame from tetrahedron phase data.E=*Fq2Fq:FqBFum0JFqG Ӕ<G B O >jH <bH p<H R>I  I 'II BI &I .I 7D6I <:I Fm Will construct direction to contact in vehicle frame from tetrahedron phase data.zw, AFQ@YFBa@F9Fj=yFH;ິ?ʼW 9ɹ???@?ɨFQ@Fnc;DyND~Bb_IIjIj74٢r vb=9z8;Q z>x| ~G٣~S@Gy >  Nusing accuracyPremultiplier from config x49 B?x4Y  i *zBLϿ? UC 3: : ޟx4! %uA!ZjIMFNOT Ignoring new targets: 480.80 m.BjUJjU ProNav: ac range: 480.799988 m, nav range: 432.699188 m, bearing: 182.603086 deg, approach rate: -0.048970 m/s, LOS rate: -0.068518 deg/s, cmd heading: 265.107509 deg, new cmd heading: 265.033725 deg. 2j<HeadingCmd: 4.625711 target range: 480.799988 and range: 480.80 m. j@jjjihhhhfffrfbf ?ɛ->zB50ؼ 1uŀ?Iq }MʽɚyiyI}tle=I(Կi;iE X<)@)*J5C="J5a=E1E1*E1"E1 IIIWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF`0JFzKu PKu 9Kq Ku Ku BK rA:K qAG el<G B O >dw,A^Will construct direction to contact in vehicle frame from tetrahedron phase data.F@YU@]9=yHu?d @@Jf?@{C?+Ⱦ?k?ɨF@ޏ;JCy-0~B-RIMb@Mb@Mb@ )YV-?S㥛?~jtyh?/<C@ d@)@I@y@IID4٢2% )=9m;Q > G٣y,: > Nusing accuracyPremultiplier from config x49 RB?x4Y \ i w,uA>G@Y>W@>9>O=y>HĎ?Q@ǰ~?V?@+?B?ɨ>G@>;>GCyF ~BJ<IIR!IR5٢Zǽ Z`=9Z"\` bG٣`yb9 f> jNusing accuracyPremultiplier from configdjx49fA?nx4Yfŷ ifHzBlrS̿r?fCf5;f6;fx4t vOAtZjFNOT Ignoring new targets: 480.80 m.BjuJj%u- ProNav: ac range: 480.799988 m, nav range: 432.665253 m, bearing: 182.539431 deg, approach rate: -0.042698 m/s, LOS rate: -0.080632 deg/s, cmd heading: 264.924187 deg, new cmd heading: 264.842756 deg. 2j-Y]5HeadingCmd: 4.622378 target range: 480.799988 and range: 480.80 m. j5@j1j9j9i9hAhAhIhIfIfIfIrfQbfU`?ɛNzB׼ o?I %_vǽɚ!i!I%c=I-XԿi-;i-z<)-@)1HAIA IEIIElBIA&IA.IA6IEG<:IEFBI¡CJI¡CRIZIbIjI/4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996354*F2F:FBF0JFJJUJ1JJ<5;J:J3JJW I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247904"sĻw,ߩAJ@Y_Y@y`9=yH}@W?@(y ϰ?@e? $?@E?ɨJ@;騭HCy]~Be6IMb@Mb@Mb@ )YʡE?Mb? G٣T@Gyh: > Nusing accuracyPremultiplier from configx49A?x4Y i]zB8?:ȿ?C;:;(x4 yAZj!%FNOT Ignoring new targets: 480.80 m.Bj-ѺJj5Ѻ= ProNav: ac range: 480.799988 m, nav range: 432.652466 m, bearing: 182.498255 deg, approach rate: -0.025359 m/s, LOS rate: -0.081664 deg/s, cmd heading: 264.842743 deg, new cmd heading: 264.719212 deg. 2jE.`MHeadingCmd: 4.620222 target range: 480.799988 and range: 480.80 m. jMؓ@jIjIjIiIhIhQhQhU yBfQfYfYrfYbf] @ɛVzBS 隍j?I ŽɚiI" c=IԿi;iۍ<)ؓ@)zKJK]9KKKRK?JK ?*F]?2FY:FYBF]u0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502285G y<G B  G O5 >9 ʻw,G,A 0I0 N YPyRxBf>@YfAN@f{9f:c=yfH R׳?`cǽ` 9? ? ]?X?ɨf>@fE;fLCyr}Br/IIzIz4٢ =9 ZHI RHM ?AHU S>IQ  IU IIU CBIQ &IQ .IQ 6IU i<:IU F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003833tѻw,mFA:P1@Y:@@:퟽9:=y:H@xD`?`:@>@g`@?l?T?F?ɨ:P1@:#;:JCyV}BV*IXZAI^$I^d5٢f fN=9fb;Q j>hh jG٣hyn0 n> rNusing accuracyPremultiplier from configpvx49rA?vx4Yrt irwzBxzɿz?rCr:r3:rx4  A Zj15FNOT Ignoring new targets: 480.80 m.Bj=Jj=M ProNav: ac range: 480.799988 m, nav range: 432.633881 m, bearing: 182.440579 deg, approach rate: -0.026563 m/s, LOS rate: -0.081359 deg/s, cmd heading: 264.642919 deg, new cmd heading: 264.546177 deg. 2jMX_UHeadingCmd: 4.617202 target range: 480.799988 and range: 480.80 m. jU@jQjQjQiQhQhYhYhafafafarfabfm' @ɛczB| 隥b?I  ýɚiIa=I>տi9j;iVM<)@JJQJJJ2;Jz:JJJP<JQ<J;J;) QIY*F?2F:FBFP5JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.255760Gp<GBOm >zK] KK] 9KY K] K] BKi :Ki ׻w,@_AbWill construct direction to contact in vehicle frame from tetrahedron phase data.bBDAT read: Rx Time:21:18:52.3512 fTRx dataTimestamp_ set to:1736371133.524605fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.508828y }B $IMb@Mb@Mb@ )Y?333333?y&1|y,?=`@ )@I&@y@I I<4٢e .=9Q > G٣U@Gy > Nusing accuracyPremultiplier from configx49B?x4Y izB-?:Ŀ?C;>;Dx4B AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 480.80 m.BjǺJjǺ ProNav: ac range: 480.799988 m, nav range: 432.630615 m, bearing: 182.398453 deg, approach rate: -0.006770 m/s, LOS rate: -0.087339 deg/s, cmd heading: 264.546177 deg, new cmd heading: 264.419797 deg. 2joHeadingCmd: 4.614996 target range: 480.799988 and range: 480.80 m. j @jjjihhhhxBfffrf bf @ @ɛkzBO)" 隝^?I Gɚ i I hVa=I<տi;i<) @)a IIMg*F2F:FBF1JF"G!G!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763819G9 GE ?GE ?G B! O= >޾ݻw,3yA- @Y-"@-疽9-=y-H@? oֽJ? ز?rp??ɨ- @-ŋ;-ICyE}BEIIU:IU# 5٢e mf=9m?Kqq uG٣qy}W^ }> Nusing accuracyPremultiplier from configy49aC?y4Y, izBſ?:C ; ;y4  AZjFNOT Ignoring new targets: 480.80 m.BjպJjպ ProNav: ac range: 480.799988 m, nav range: 432.627136 m, bearing: 182.366563 deg, approach rate: -0.010183 m/s, LOS rate: -0.093346 deg/s, cmd heading: 264.419791 deg, new cmd heading: 264.324121 deg. 2jHeadingCmd: 4.613326 target range: 480.799988 and range: 480.80 m. j^@jjjihhhhfffrfbf@(@ɛ-pzB- 15D[?I1 5cɚ1i1I5_`=I=տi=E8;iE<)E^@)AH-R>I) I-II-BI)&I).I)6I-*<:I-F*F?2F:FBFa0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016015G,<GyBO<>JJJ0JJ\8;JJـ3JJ <J <JJ A IA  Will construct direction to contact in vehicle frame from tetrahedron phase data.Ց iՑ  DAT read: 21:18:52.3512 LVL= 25696, 30961, 23458, 32755, AGC= 69, IDX= 424, 0.25,-2.959, 1.847,-2.854, 2.668, PHS= 0.744,-0.774, 0.759, RAW= 150.5, -9.6, CAL= 156.7, -17.5, ROT= 353.3, 17.5  Ygot valid direction response: 21:18:52.3512 LVL= 25696, 30961, 23458, 32755, AGC= 69, IDX= 424, 0.25,-2.959, 1.847,-2.854, 2.668, PHS= 0.744,-0.774, 0.759, RAW= 150.5, -9.6, CAL= 156.7, -17.5, ROT= 353.3, 17.5  PDAT read: Bearing 353.3, 17.5 (Local)  ~Local bearing/azimuth received: Bearing 353.3, 17.5 (Local)  DAT read: Range 10 to 50 : 470.4 m (Round-trip 627.2 ms) speed 0.4 m/s  ,DAT read: user:1657>  BDAT read: Tx time:21:18:53.4699  $Ping request sent. ?ٕ $Fٕ MB?ٕ 0(@ٕ + ڕ  /@)ڕ aIڕ Q@iڕ a>ڑ ڑ ە ɥ0?0m/?CϢտRſ)ە 8?Iە b+>iە Sە $ۑ ۑ 5 :publishing transmit ping time 5 Fpublishing direction and range infoؑ 9ؕ %H?L1"̒)z?yؑ ؑ ؑ ؑ ّ )ّ Iّ iّ ّ ّ ّ ّ ڑ )ڑ Iڑ iڑ ڑ ڑ ە ɥ0?0m/?CϢտRſ)ۑ Iۑ iۑ ۑ ۑ w,mAm{@Ym@m[d9m =ymH^J`ǩ?]>`?`yh?@8? |?ɨm{@m/4;iyu}B} I 5=5=Mb@Mb@Mb@ )Y G٣y > Nusing accuracyPremultiplier from configy492D?y4Y6 izB4?:ſ?kC;{;y4 Ak͞?k. k kA:k3CBkCZkxF@"Of5?@2E64x<p@%H?L1"̒)z?JkSRk$*+dQz 4@~Vj@l7WHѥ?C_e?"k^A*kk?k~ 2kCk"6A?kkCk.Ck K@u addTargetRange:: Added new target pos. range: 470.399994 m, deltaT: 4.283380 s, deltaX: -10.399994 m, approachRate: -2.427988 m/s, rangeRepo size: 4  Added new target pos. range: 470.399994 m, bearing: 177.274446 deg, lat: 36.900963 deg, lon: -122.114132 deg, deltaT: 4.283380 s, deltaX: -10.399994 m, approachRate: -2.427988 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 470.40 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.  ProNav: ac range: 470.399994 m, nav range: 424.364380 m, bearing: 182.361157 deg, approach rate: 0.000000 m/s, LOS rate: -0.093346 deg/s, cmd heading: 264.324113 deg, new cmd heading: 264.168623 deg. 2j  HeadingCmd: 4.610612 target range: 470.399994 and range: 470.40 m. j#@jjjihhhh%OxBf!f!f!rf%`ff}@bf-|y?ɛyzBD3 %AY?I! % ɚ!i!I%jL`=I-ֿiMX;iMP<)U#@)Q*F ?2F :F BF i1JF 9 IA G Ӟ<Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>w,AVƌ@YV ֓@Vې9Vո=yVHs? 2xE`Ĵ?? /?[?ɨVƌ@Vr;Ty^}B^IIjIjB4٢n2+ rs=9r"q;Q r?tt vG٣vV@Gyzwx z? ~Nusing accuracyPremultiplier from config|y49~D?y4Y~\ i~zBuƿ?~C~:~v:~B#y4  AZjAEFNOT Ignoring new targets: 470.40 m.BjMJjMຝ] ProNav: ac range: 470.399994 m, nav range: 424.359558 m, bearing: 182.329648 deg, approach rate: -0.015032 m/s, LOS rate: -0.098231 deg/s, cmd heading: 264.168631 deg, new cmd heading: 264.074102 deg. 2j]ԆeHeadingCmd: 4.608963 target range: 470.399994 and range: 470.40 m. je|@jajajiiihihihqhqfqfqfqrfybf}?ɛ~zBp 隭BW?I ɚiIM_=ILֿi ;iJS<)|@)*FE?2FA:FIBFM`0JFIG%喇<GBO=/>jHqbHu4<H}S>Iy I}II}~BIy&Iy.Iy6I}<:I}F}Will construct direction to contact in vehicle frame from tetrahedron phase data.J} J} JJ} 1Jy J} 2;J} ٖ:J} 3Jy J} P<J} Q<J} ;J} ;_ w,A I:@Y:߯@:})9:=y:HƸʠ?``zql??ʿ??ɨ:@:H;:JCy^}B^'IIfIf4٢ = F=9Q;Q > G٣y%8 %> -Nusing accuracyPremultiplier from config)5y49-D?5y4Y- i-zB15ǿ5?-C- ;- ;-1y4EB EAEEZjqFNOT Ignoring new targets: 470.40 m.BjٺJjٺ ProNav: ac range: 470.399994 m, nav range: 424.352417 m, bearing: 182.290482 deg, approach rate: -0.017300 m/s, LOS rate: -0.094882 deg/s, cmd heading: 264.074101 deg, new cmd heading: 263.956604 deg. 2j;HeadingCmd: 4.606912 target range: 470.399994 and range: 470.40 m. jk@jjjihhhhfff rf bf ?ɛuzB}I. y}(Y?Iy }ɚyiIZ_=I$ֿi6;i~ 4<)k@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fq:FqBFqJFyGT<zK- BIK- 9K) K- K- Gi Bq O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.'w,IcA2io@Y2~@2$,92W=y2HM/? t@ \??H? ?ɨ2io@2؊;2ICyR}BR-ITTEMb@Mb@Mb@AAA A)AYErh|?ʡE? G٣y%}b %> eNusing accuracyPremultiplier from configYy49]D?y4Y] i]{Bw,;AHR>I III&I.I6I)<:IFF]@YF$m@F39F=yFHںҞ?G 밸`?=?? ?ɨF]@F~;FFCyb$~BbKIIjIj4٢5= 5P=95;Q 5>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751761II UG٣QyU U> eNusing accuracyPremultiplier from configYey49]D?my4Y] i].{Bimeɿm?]C]v:]:]Ny4y }AyZjFNOT Ignoring new targets: 470.40 m.BjJj ProNav: ac range: 470.399994 m, nav range: 424.328156 m, bearing: 182.210073 deg, approach rate: -0.031928 m/s, LOS rate: -0.103887 deg/s, cmd heading: 263.825892 deg, new cmd heading: 263.715373 deg. 2jHeadingCmd: 4.602702 target range: 470.399994 and range: 470.40 m. jUI@jjjihhhhfffrfbf ?ɛ zB   7e?I  ĸɚiIZ^=I׿i;iT1<)UI@)!*F2F:FBFo0JFJMAAJMAA !I!J%J%FJ!J!J%6;J%ǔ:J!J!J%<J%<J% ;J% ;GGiByO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003102 >w,.Az>C@YzR@z΃9zN=yzHŝ?`79@?v?`Q??ɨz>C@znK;zICy +~B OIMb@Mb@Mb@ )YV-?v/?~jt?y G٣W@Gy3 > Nusing accuracyPremultiplier from configy49D?y4Y iJ{B=?:^Ϳ?"C;;\y4 AZjFNOT Ignoring new targets: 470.40 m.BjsغJjsغ ProNav: ac range: 470.399994 m, nav range: 424.305786 m, bearing: 182.168122 deg, approach rate: -0.050451 m/s, LOS rate: -0.094618 deg/s, cmd heading: 263.715380 deg, new cmd heading: 263.589521 deg. 2j߁HeadingCmd: 4.600505 target range: 470.399994 and range: 470.40 m. jV7@jjjihhhh@xBfffrfbf%W@zKEyJKE 9KAKE KE   RKM ?JKM?ɛmzBuf qu_e?Iq u ɚqiqI}]=Ib׿iN;i6;)V7@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256310*F92FA:FABFAJFA  I G Mh <Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507030c w,3AF)@YF-9@F 9F`=yFH_x`?5@5 8v?@ ܯ??@/?ɨF)@F;DyN\~BRmIIZIZ_4٢b=> b]=9b;Q b>dd fG٣dyf j> nNusing accuracyPremultiplier from configlry49n.C?ry4Yn inc{BprͿv?nECn:nz:niy4zB zAzEZj!-FNOT Ignoring new targets: 470.40 m.Bj-Jj-ﺝE ProNav: ac range: 470.399994 m, nav range: 424.285583 m, bearing: 182.131482 deg, approach rate: -0.057838 m/s, LOS rate: -0.104901 deg/s, cmd heading: 263.589513 deg, new cmd heading: 263.479588 deg. 2jEEHeadingCmd: 4.598587 target range: 470.399994 and range: 470.40 m. jM'@jIjIjIiIhIhIhQhQfffrfbf@@ɛ%zB% )-`p?I) -ʸɚ)i1I5X]=Iu׿iu;iu1;)u'@)y*FA2FA:FIBFIJFIGUrA GQZH)RH)H5Q>I1 I5II5BI1&I1.I16I5<:I5FBIJIRIZIbIjIŲr4UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758915GM&;G) B9 OU > I Iw,MAy ~~B III4٢M= MB=9MQ M>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configamy49e8B?uy4Ye> ie{Bqqu?emCeqa;eGc;ecxy4 vAZjFNOT Ignoring new targets: 470.40 m.BjTJjT㺝 ProNav: ac range: 470.399994 m, nav range: 424.262787 m, bearing: 182.089679 deg, approach rate: -0.054189 m/s, LOS rate: -0.099374 deg/s, cmd heading: 263.479602 deg, new cmd heading: 263.354186 deg. 2jfHeadingCmd: 4.596398 target range: 470.399994 and range: 470.40 m. j@jjjihhhhfffrfbf@}@ɛzB,) {w?I !ɚi!I%\=I%׿i- 4;i-n <)-@))Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013000*F?2F:FBF0JFGo;GBO>zK ozLK 9K K K v)aF+:q? n\NB:.'" BK :K e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263044Nuw,gA2@Y2@2o92vO=y2H?R "I?r?*?`?ɨ2@2;2HCyB~BBI)E= C~GJ%J%SJ%0J!J%3;J%:J%ـ3J!a-@a-@a-@a-@) Ig ` Y y `BMb@Mb@Mb@ )YbX9?I +? rh?yE6?94=C<@ )I\@yG@II+4٢r= )=9;Q > G٣X@GyN > Nusing accuracyPremultiplier from configy49@?y4YP" i{B%6?%:-п-?C'<\'<Xy41 5A1UB*** querying acoustic contact ***jQjQZjFNOT Ignoring new targets: 470.40 m.Bj׺Jj׺ ProNav: ac range: 470.399994 m, nav range: 424.230011 m, bearing: 182.043309 deg, approach rate: -0.066460 m/s, LOS rate: -0.094033 deg/s, cmd heading: 263.354199 deg, new cmd heading: 263.215078 deg. 2jHeadingCmd: 4.593970 target range: 470.399994 and range: 470.40 m. j@jjjihhhhxBfffrfbf 6 @ɛzB\cʼ 隍X?I ɚiI8\=I68ؿi!?;Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:18:56.5091 TRx dataTimestamp_ set to:1736371137.808664checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516015i;)@)*F?2F:FBFo0JFG K <H P>I  I II bBI ' =&I .I 6I <:I FG B O > w,hZA6@Y6@6"h96=y6H v?ؽķ Ӽ`?% ?@c? ?ɨ6@6w;4yB~BBIIJ IJ<4٢R>> R=9R;Q V ?TT VG٣T^Will construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767035y5 5 ? =Nusing accuracyPremultiplier from config9My49=I??My4Y=( i={BIuпu?=C=;=;=y4y }AyZjFNOT Ignoring new targets: 470.40 m.Bj!غJj !غ ProNav: ac range: 470.399994 m, nav range: 424.207245 m, bearing: 182.011672 deg, approach rate: -0.067983 m/s, LOS rate: -0.094478 deg/s, cmd heading: 263.215082 deg, new cmd heading: 263.120166 deg. 2j%HeadingCmd: 4.592313 target range: 470.399994 and range: 470.40 m. j%;@j!j!j!i!h!h)h1h1f1f1f9rf9bf=s@ɛzB !-Y?I) -Bɚ)i)I-"[=I5nؿi5m=;i5;)5;@)9*F?2F:FBF/1JF =a$?IEgGZݤ;GqBO\>mWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:18:56.5092 LVL= 12400, 19409, 9762, 15139, AGC= 70, IDX= 3,-0.03,-1.758,-2.963,-1.732,-2.336, PHS= 0.666,-0.580, 0.601, RAW= 147.3, -11.3, CAL= 154.4, -19.7, ROT= 355.6, 19.7 Ygot valid direction response: 21:18:56.5092 LVL= 12400, 19409, 9762, 15139, AGC= 70, IDX= 3,-0.03,-1.758,-2.963,-1.732,-2.336, PHS= 0.666,-0.580, 0.601, RAW= 147.3, -11.3, CAL= 154.4, -19.7, ROT= 355.6, 19.7 PDAT read: Bearing 355.6, 19.7 (Local) ~Local bearing/azimuth received: Bearing 355.6, 19.7 (Local) DAT read: Range 10 to 50 : 476.3 m (Round-trip 635.1 ms) speed 0.8 m/s ,DAT read: user:1658> BDAT read: Tx time:21:18:57.6200 $Ping request sent.iim-Mn? 9?ɺɿ)mYY>ImJ>im&m+"ii:publishing transmit ping timeFpublishing direction and range infoi9mt|?B)‘ϯE?yiiii i)iIiiiiiii i)iIiiiiim-Mn? 9?ɺɿ)iIiiiiii PExceeded connect timeout, disconnecting.&w,EA%͋@Y%yܒ@%db9%_=y%HZ~? @h壱?Q? ??ɨ%͋@%;%ICy=B=IMb@Mb@Mb@ )YʡE?Q?Q?y/?u<u<&@ )z@IE@y@IIN4٢5= 5'=95>;Q =>zK}kOK}9KyK} K}RK ?JK? G٣Y@GyV >Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:18:57.6192 Nusing accuracyPremultiplier from configy49]!&-w,&A2_@Y2ϒ@2Ӭ^92O,=y2H>Q?c@ u?ҫ?(?ƺ?ɨ2_@2;0y>FB>IIbIb4٢ne> nn=9nI:;Q r?pp rG٣pyvM v? zNusing accuracyPremultiplier from configx~y49zb:?~y4Yz 7 iz{Bֿ?zCzE;zF;zmy4 LAZj9=FNOT Ignoring new targets: 476.30 m.BjEߺJjEߺ] ProNav: ac range: 476.299988 m, nav range: 421.291382 m, bearing: 177.763579 deg, approach rate: -0.047976 m/s, LOS rate: -0.097824 deg/s, cmd heading: 262.980178 deg, new cmd heading: 262.889266 deg. 2jeEHeadingCmd: 4.588283 target range: 476.299988 and range: 476.30 m. j7Ӓ@jjjihhhhfffrfbfF?ɛzB< l?I ɚiIhZ=Iؿi1;ild;)7Ӓ@)*F2F:FBF 5JFjH<bH<HI ILIIBI& =&I.I6I$<:IFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Ge;GYBiO> I 4w,A2?@Y2@2`92j=y2H@ͅ?ͼέ@FuQ۱?`3? T־??ɨ2?@2G;2GCy>tB>I F=Fa=IJIJ34٢R= RO=9VQ V>TT ZG٣XyZ Z> bNusing accuracyPremultiplier from config\by49^7?by4Y^1> i^{BdfZ׿f?^!C^\ ;^z:^6y4h jAhZj FNOT Ignoring new targets: 476.30 m.Bj 5ԺJj 5Ժ ProNav: ac range: 476.299988 m, nav range: 421.271881 m, bearing: 177.726973 deg, approach rate: -0.049415 m/s, LOS rate: -0.092763 deg/s, cmd heading: 262.889255 deg, new cmd heading: 262.779433 deg. 2j%~5HeadingCmd: 4.586366 target range: 476.299988 and range: 476.30 m. j5Ò@jQjQjQiQhYhYhYhafafafarfabfm@?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛzB < 隽?I R檽ɚiIY=I^1ٿi;iѫ9)Ò@)1 nManaging dock network, ignoring radio surface power off*F2F:FBFJFzKM JKM +9KI KM KM  =HGD<2,' G] 1;u Will construct direction to contact in vehicle frame from tetrahedron phase data.BK :K rAG B O >0:w,AV@YV앒@V94[9VJ0=yVHI? @E? .c??@˷?ɨV@VB.;VFCy^Bb0I IIIJ3K3 K.KK"KJ-J-QJ)J)J-2;J-z:J)J)Mb@Mb@Mb@ )YPn?y&1~jtx?y$?`e;@ @)M@I@y@II.4٢]= 7=9eM;Q > G٣y< > Nusing accuracyPremultiplier from config y49%4? y4YE i|B $$?:ܿ?FC_;;y4 A!B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 476.30 m.BjtJjtU ProNav: ac range: 476.299988 m, nav range: 421.239258 m, bearing: 177.688359 deg, approach rate: -0.069594 m/s, LOS rate: -0.082380 deg/s, cmd heading: 262.779425 deg, new cmd heading: 262.663574 deg. 2jU%b]HeadingCmd: 4.584344 target range: 476.299988 and range: 476.30 m. j]@jajajaiahahhh[yBfffrfbf@s?ɛzB% )-y?I) --ɚ)i)I-X=I5sٿi5C;i=a;)=@)9Will 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:FBF5JFGE ?:GA GE >H I  I II BI ' =&I .I 6I %<:I G B) OE >Aw,GAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751229 友@Y ?@ /NN9 T!=y Hm? qB~ ?`Ʃ?(&?`?ɨ 友@ 7ފ; ICy%B%MII5I54٢U= UU=9UZYY ]G٣eZ@Gye=B; e> mNusing accuracyPremultiplier from configiuy49m0?uy4YmL im|Bܿ?meCm l-CGw,uAyuB}_I)  Mb@Mb@Mb@    ) Y rh|?I +~jth?y ? 9 D; @ @) @I  y @I5I54٢E= E<=9EQ M>II MG٣QyU ]> eNusing accuracyPremultiplier from configYey49]E-?my4Y]R i]$|Bm?m:mn޿u?]C];];]xy4}B }A}ƱEZj5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255840=FNOT Ignoring new targets: 476.30 m.BjEGJjEGzKMMKM]9KIKMKM<` $ V ZdjZlWI<1+"} ProNav: ac range: 476.299988 m, nav range: 421.178375 m, bearing: 177.619330 deg, approach rate: -0.078423 m/s, LOS rate: -0.084488 deg/s, cmd heading: 262.563892 deg, new cmd heading: 262.456480 deg. 2j}gHeadingCmd: 4.580729 target range: 476.299988 and range: 476.30 m. jV@jjjihhhhyBfffrfbf`G@ɛzBP< !% ?I) -nɚ)i)I-dW=I5ٿi5+;i5T;)5V@)9*F2F:FBFJF IJ=J=NJ9J9J=/;J=:J9J9G @;G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507463 pMw,\8AJp@YJʲ@J2=9J/=yJH{T??CC?2?EB??ɨJp@J%K;JHCyR BVII^I^4٢fv> fe=9f?hh jG٣lyn; n> rNusing accuracyPremultiplier from configpvy49rG*?vy4YrX ir/|B|~޿~?rCrGD;rE;ry4 AZj)-FNOT Ignoring new targets: 476.30 m.Bj5OJj5OE ProNav: ac range: 476.299988 m, nav range: 421.151825 m, bearing: 177.590061 deg, approach rate: -0.074666 m/s, LOS rate: -0.082316 deg/s, cmd heading: 262.456467 deg, new cmd heading: 262.368655 deg. 2jEaMHeadingCmd: 4.579197 target range: 476.299988 and range: 476.30 m. jMȈ@jIjIjQiQhQhQhQhYfYfYfYrfYbfe`3@ɛzBh< 隝k?I  ɚiIV=IJڿia;i<)Ȉ@)*F-?2F):F)BF-o0JF)ZHRHAAHQ>I IIINBI& =&I.I6I:I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759486GM;GQGQGABQOu>  I STw, 'RA6֮@Y60@6t596S=y6H '/?׽dH??Z|??ɨ6֮@6;6GCy>B>IIFIF&4٢N = RN=9Rٛ;Q R>TT VG٣V[@GyVe; V> ^Nusing accuracyPremultiplier from configXbz49Z&?bz4YZ^ iZ:|B`bݿb?ZCZy;Z;Zz4h jAhZj|~FNOT Ignoring new targets: 476.30 m.Bj-Jj- ProNav: ac range: 476.299988 m, nav range: 421.122681 m, bearing: 177.557403 deg, approach rate: -0.073403 m/s, LOS rate: -0.082259 deg/s, cmd heading: 262.368658 deg, new cmd heading: 262.270676 deg. 2jaHeadingCmd: 4.577487 target range: 476.299988 and range: 476.30 m. jz@j!j!j!i!h!h!h)h)f)f)f1rf1bf5z@ɛezBen< ae?Ii m|ɚiiiImU=IuUTڿWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011493iuc;iQv?<)z@)*F?2F:FBFJFG GsAGv<GBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263359zK XPK 9K K K 0ScdZ:t}Zw,kA2f@Y2@2.92'#=y2H!?@&?ۥ?$? ?ɨ2f@2;2HC PIPyV"BVIMb@Mb@Mb@ )Y G٣yQ9 > Nusing accuracyPremultiplier from configz49"?z4Ywe iA|B?:ῑ?C;>;Mz4  KA Zj)5FNOT Ignoring new targets: 476.30 m.Bj=Jj= ProNav: ac range: 476.299988 m, nav range: 421.084900 m, bearing: 177.522937 deg, approach rate: -0.085266 m/s, LOS rate: -0.077792 deg/s, cmd heading: 262.270685 deg, new cmd heading: 262.167278 deg. 2jU HeadingCmd: 4.575682 target range: 476.299988 and range: 476.30 m. j k@j j j i h)hIhQhUyBfQfQfYrfYbf]` @ɛzB-< ?I ӝɚiIU=Ixڿi ;iV<)k@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.յAiյABDAT read: Rx Time:21:19:00.6323 TRx dataTimestamp_ set to:1736371141.842512checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518442*F?2F:F!BF!JF!H I  I II |BI ' =&I .I 6I <:I ~FBIQJIQRIQZIU' =bIU' =jIU4G Y=<G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767433kaw,A6@Y6@6B(96,>y6H@`k?c@ٷ ??`??ɨ6@6/;4yR)BRII^I^4٢f'= f\=9fg;Q v>xx zG٣xy~9 ~> Nusing accuracyPremultiplier from config z49h? z4Yk iG|B)5}ῑ5?C;1;k"z49 =A95B*** querying acoustic contact ***j1j1ZjAeFNOT Ignoring new targets: 476.30 m.BjmfJjmf} ProNav: ac range: 476.299988 m, nav range: 421.053101 m, bearing: 177.493782 deg, approach rate: -0.077901 m/s, LOS rate: -0.071428 deg/s, cmd heading: 262.167276 deg, new cmd heading: 262.079805 deg. 2j}DHeadingCmd: 4.574155 target range: 476.299988 and range: 476.30 m. j{_@jjjihhhhfffrfbf@n@ɛ%zB%U< !-*?I) -;ɚ)i)I-;T=I5ڿi5;i5Jm<)5{_@)9 IJJJJQJ0JJt4;Jz:Jـ3JJ G S<G% ?G% >E BDAT read: Tx time:21:19:01.7200 M $Ping request sent.M ٭J?٭~%@٭ ڭ,@)ڭޏIڭ@iڭޏ>ککۭo??[Ev?\2)ۭ9>Iۭ6(>iۭSĿۭ۩۩U :publishing transmit ping timeI ] Fpublishing direction and range infoة9حAT/ ? Ҡٛ?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کIکiکککۭo??[Ev?\2)۩I۩i۩۩۩۩gw,,ԟA:@YÒ@R"9Y=yH `?@߯ ?I?`4??ɨ:@;騵ECyIWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:19:01.7192 UMb@Mb@Mb@QQQ Q)QYUn?~jt{GzyUV?UļU#Q U@)Ud@IU@QyU\@II4٢ #=9c=;Q > G٣\@Gy,: >zKy MK]9KKK Nusing accuracyPremultiplier from configz49?z4YCr iK|B}? : c޿ ?"C;;3z4 ADZEk+Q ?kVR k kA:k CBk}CZkƞA@" )@ PHl-wy p@AT/ ? Ҡٛ?JkSĿRk*йxa`?G@:$%8k@G9:H뿺\;?n+ݎ?"k9B*kk ?kzO] 2kCk,@[?k~ kCkCk-E@addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 456.100006 m, deltaT: 4.031726 s, deltaX: -20.199982 m, approachRate: -5.010257 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 476.30 m.Bj<Jj<- ProNav: ac range: 476.299988 m, nav range: 421.019257 m, bearing: 177.456395 deg, approach rate: -0.070128 m/s, LOS rate: -0.077476 deg/s, cmd heading: 262.079795 deg, new cmd heading: 261.967625 deg. 2j-THeadingCmd: 4.572197 target range: 476.299988 and range: 476.30 m. jqO@j9j9Ij9iQa u`$?Iughahy YyBhh zBfffrf|@bf@p?ɛzBx< !%?II UnɚQiQIUcS=I]ۿi]^;i]DӅ<)]qO@)aE*F% ?2F! :F! BF% o0JF) "GE =GE = Will construct direction to contact in vehicle frame from tetrahedron phase data.Ge l o<GABIOe>Ynw, Ay0BI  AII4٢%f= %T=9-Q ->)1 5G٣1y5 5> =Nusing accuracyPremultiplier from config9Ez49=?Mz4Y=w i=O|BQQU?==C=\C;=iD;=OAz4Y ]AYZjFNOT Ignoring new targets: 476.30 m.BjJj ProNav: ac range: 476.299988 m, nav range: 420.993103 m, bearing: 177.427337 deg, approach rate: -0.070843 m/s, LOS rate: -0.078715 deg/s, cmd heading: 261.967616 deg, new cmd heading: 261.880438 deg. 2jXHeadingCmd: 4.570676 target range: 476.299988 and range: 476.30 m. jB@jjjihhhhfffrfbf?ɛzB= (?IHI I'IIBI& =&I.I8D6I(<:IF % 㖽ɚ!i)I-R=I-3ۿi5B;i5@<)5B@)1*F?2F:FBF61JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G}Ӕ<GQBaO}7> III*J4="JR=JJOJ1JJT1;Jq:J3JJ<J<J;J; Will construct direction to contact in vehicle frame from tetrahedron phase data.uw,A6Z@Y6@67$96."=y6H@@?@\;v`??̽?@?ɨ6Z@6W;6GCyv9BvII~I~4٢ Y0=  M=9ϗQ > G٣!y%D[ -> 5Nusing accuracyPremultiplier from config)=z49-Q?Ez4Y-} i-S|BAE߿E?-ZC-?;-7@;-LOz4I MAQZjq}FNOT Ignoring new targets: 476.30 m.Bj諺Jj諺 ProNav: ac range: 476.299988 m, nav range: 420.964905 m, bearing: 177.397265 deg, approach rate: -0.070461 m/s, LOS rate: -0.075147 deg/s, cmd heading: 261.880436 deg, new cmd heading: 261.790215 deg. 2jJNHeadingCmd: 4.569101 target range: 476.299988 and range: 476.30 m. j6@jjjihhhhfffrfbf~N?ɛzB< ?I 盔ɚiIQ=IgۿiZ;isc<)6@)*F?2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zK-KK-+9K)K-K-G9BKA:KEoAGQGUnAGI BY O} > I II {{w,Ay~2B~IMb@Mb@Mb@ )Y&1? rh G٣]@Gy > Nusing accuracyPremultiplier from config z49 ?z4Y iX|B?:uݿ?yCWH; F;l^z4! %A!ZjIUFNOT Ignoring new targets: 476.30 m.BjU JjU e ProNav: ac range: 476.299988 m, nav range: 420.937103 m, bearing: 177.364125 deg, approach rate: -0.064190 m/s, LOS rate: -0.076521 deg/s, cmd heading: 261.790223 deg, new cmd heading: 261.690795 deg. mWill construct direction to contact in vehicle frame from tetrahedron phase data.2juR}HeadingCmd: 4.567366 target range: 476.299988 and range: 476.30 m. j}'@jyjyjyiyhyhyhhyBfffrfbf@_A?ɛzB -< ?Ia e%ɚaiaIm'P=Imۿim;iu<)u'@)q*F=?2F9:F9BF=f5JF9GA GEoAHEP>IA IE:IIEBIA&IA.IE7D6IE<:IEFG Qd< Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >1w,} AF|@YF@F S9F=yFH`.?(`/A}? <)??`9?ɨF|@F;FECy^8B^IIf If4 pIp٢-< -X=9-;Q 5>11 5G٣1y=;w => ENusing accuracyPremultiplier from configAMz49E(?Mz4YE iE\|BQUݿU?ECE:E:Ekz4]B eAe˱EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 476.30 m.BjJj ProNav: ac range: 476.299988 m, nav range: 420.912659 m, bearing: 177.335180 deg, approach rate: -0.064600 m/s, LOS rate: -0.076496 deg/s, cmd heading: 261.690802 deg, new cmd heading: 261.603964 deg. 2jQHeadingCmd: 4.565851 target range: 476.299988 and range: 476.30 m. js@jjjihhhhfffrfbf J?JJJJJJ2;Jٖ:JJJP<JQ<J;J;ɛzB8H< ,?I ɚ!i!I%' P=I%ۿi-V;i-<)-s@))*F2F:FBF4JFWill 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.GT<GBO>戼w,V%A:@Y:N@:9:â=y:H@`?>/@????ɨ:@:T;8yB,BFIrWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.214901-Mb@Mb@Mb@))) )))Y-> ףp=?~jt?I +y-?-D<-94-@ -M@)-/@I-@)y-@IMIM4٢U6n ]G=9eܧ;Q e>ii mG٣iym: u> }Nusing accuracyPremultiplier from configyz49} ?z4Y} i}a|B?:ֿ?}C}7 ;};}yz4 AZjFNOT Ignoring new targets: 476.30 m.BjJjzK}RIK}9KyK}K} RK ?JK? ProNav: ac range: 476.299988 m, nav range: 420.898163 m, bearing: 177.303350 deg, approach rate: -0.035372 m/s, LOS rate: -0.077674 deg/s, cmd heading: 261.603977 deg, new cmd heading: 261.508482 deg. 2j:UHeadingCmd: 4.564184 target range: 476.299988 and range: 476.30 m. j @jjjihhhhyBfffrfbf@ɛezBe\< imԮ?Ii yɚiI8O=I9ܿiK;iD[<) @) I*Fa2Fa:FaBFe5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466677G G ?G >Ga Bq O >w,1?A:E@Y:@:e 9: =y:H;'?@$U???O?`?ɨ:E@:׎;:FCyb1BbIIj Ij4٢r< rR=9rV;Q v>tt vG٣v^@Gyz : z> ~Nusing accuracyPremultiplier from config|z49~ ?z4Y~~ i~e|B  ֿ ?~ϐC~;~;~z4B A̱EZjAMFNOT Ignoring new targets: 476.30 m.BjMJjMe ProNav: ac range: 476.299988 m, nav range: 420.884705 m, bearing: 177.273328 deg, approach rate: -0.034625 m/s, LOS rate: -0.077242 deg/s, cmd heading: 261.508491 deg, new cmd heading: 261.418422 deg. 2je TmHeadingCmd: 4.562612 target range: 476.299988 and range: 476.30 m. jm@jijijiiqhqhqhqhyfyfyfyrfbf@ɛzBn= 隭?I $ɚiZH?ARH@AHI III&I.I6I:IIpN=I;ܿi/;iX<)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719584*Fm?2Fi:FiBFm_0JFi"Gu=Gu= IgJJNJJJ.;J:JJJ<J<J7;J7;Gm<GI BQ O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970602 w,J YA6~@Y6ߍ@6Lh96{=y6H?uϳKL?@H?`? ?ɨ6~@6';6ECyV*BVIIbIb4٢jl jK=9j6;Q j>ll nG٣lyr. r> vNusing accuracyPremultiplier from configtzz49v?zz4Yv ivh|B|~׿~?vCv#;v*$;vz4 A ZjFNOT Ignoring new targets: 476.30 m.BjtJjt ProNav: ac range: 476.299988 m, nav range: 420.870605 m, bearing: 177.242171 deg, approach rate: -0.033718 m/s, LOS rate: -0.074512 deg/s, cmd heading: 261.418414 deg, new cmd heading: 261.324942 deg. 2jLHeadingCmd: 4.560981 target range: 476.299988 and range: 476.30 m. j@jjjihhhhfff rf bf @ɛEzBEd+< AE?IA M)ɚIiIIMM=IU3qܿiU);iU<)U@)Y*F5?2F9:F9BF=k0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225987zKKKKKK I676WQ$ BK:KtA I G <G B O >#w,%rAJlv@YJƅ@J9J3=yJHO 9?^Mo>?k?` ?@t?ɨJlv@J;JFCyR#BVI-Mb@Mb@Mb@))) )))Y-5^I ?V-?y&1|y-?-<-`-@ -V@)-M@I-@)y-p@IE IEe4٢e.  eA=9mG,;Q u>yy G٣y+ > Nusing accuracyPremultiplier from configz49?z4Y- io|BA?:ӿ? Co;Y;z4 3AZjFNOT Ignoring new targets: 476.30 m.Bj uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:21:19:04.7404 TRx dataTimestamp_ set to:1736371145.876589checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479653Jj ProNav: ac range: 476.299988 m, nav range: 420.861633 m, bearing: 177.207551 deg, approach rate: -0.021723 m/s, LOS rate: -0.083823 deg/s, cmd heading: 261.324950 deg, new cmd heading: 261.221086 deg. 2jfHeadingCmd: 4.559168 target range: 476.299988 and range: 476.30 m. j@jjjihhhhyBfffrfbf[ @ɛEzBMx< QU?IQ UɚQiQI]L=I]ܿi]3J;iek<)e@)a*F?2F:FBFg0JFHQ>I I-IIBI&I.I8D6I<:IFG- <G1 G5 rAG B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.731338 w,ÌA $I$y&BII- I-4٢=hP< =M=9EQ E>AI MG٣M_@GyM M> UNusing accuracyPremultiplier from configQ]z49Us?ez4YUR iUu|Biim?U+CUA;UB;UMz4q uAB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 476.30 m.Bj-ޱJj-ޱE ProNav: ac range: 476.299988 m, nav range: 420.853516 m, bearing: 177.175707 deg, approach rate: -0.019820 m/s, LOS rate: -0.077752 deg/s, cmd heading: 261.221077 deg, new cmd heading: 261.125542 deg. 2jEqUMHeadingCmd: 4.557500 target range: 476.299988 and range: 476.30 m. jM ב@jIjQjQiQhQhYhYhYfYfYfarfabfmw@ɛzBY= 隝m?I 7ɚiIs L=I=ܿiZ;iL<) ב@)*FI2FI:FIBFUo0JFQGa GesAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.982946GMۣ<G) B9 OU >5w,|AnWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:19:04.7404 LVL= 17456, 23697, 16482, 23027, AGC= 73, IDX= 19, 0.13, 0.041,-1.331, 0.050,-0.372, PHS= 0.501,-0.912, 0.419, RAW= 147.0, -0.1, CAL= 150.7, -9.1, ROT= 359.3, 9.1 Ygot valid direction response: 21:19:04.7404 LVL= 17456, 23697, 16482, 23027, AGC= 73, IDX= 19, 0.13, 0.041,-1.331, 0.050,-0.372, PHS= 0.501,-0.912, 0.419, RAW= 147.0, -0.1, CAL= 150.7, -9.1, ROT= 359.3, 9.1 %PDAT read: Bearing 359.3, 9.1 (Local) %~Local bearing/azimuth received: Bearing 359.3, 9.1 (Local) 5DAT read: Range 10 to 50 : 462.2 m (Round-trip 616.3 ms) speed 0.2 m/s =,DAT read: user:1660> MBDAT read: Tx time:21:19:05.8700 M$Ping request sent.MrY3$@r raU(@)r"Irū@ir">ppr"@?™?1(`)r>Ir;irJܿr`!pp:publishing transmit ping timeIFpublishing direction and range infop9r%KI澿w"?yppppzK]*NKYKYK]K]yu"BuI = p)pIpippppp p)pIpipppr"@?™?1(`)pIpipppp 1I9Mb@Mb@Mb@ )YGz?S㥫?~jthyp?/]=D@ ?@)7@I@y@I I4٢j =9Q >JJQJJJ0;Jz:JJa@a@a@a@!! %G٣!y) -> 5Nusing accuracyPremultiplier from config1=z495/?=z4Y5 i5|B= ?=:eοe?5TC5;5;5z4i m5AuͱEkrz ?krJ kp kr~oA:krCBkrCZkrS6@"r--7KH,wu[q@r%KI澿w"?JkrJܿRkr`!*rsSz0xQ .\@ ' l@rI/EXT?_Nz?"krB*krkrb ?kr8* 2kr`Ckruas?kpkr`CkrbCkr׾D@ addTargetRange:: Added new target pos. range: 462.200012 m, deltaT: 8.319361 s, deltaX: -14.099976 m, approachRate: -1.694839 m/s, rangeRepo size: 4 % Added new target pos. range: 462.200012 m, bearing: 163.390618 deg, lat: 36.901066 deg, lon: -122.113710 deg, deltaT: 8.319361 s, deltaX: -14.099976 m, approachRate: -1.694839 m/s, posRepo size: 4 Zj!-FNOT Ignoring new targets: 462.20 m.Bj-Jj)m ProNav: ac range: 462.200012 m, nav range: 412.771942 m, bearing: 176.135697 deg, approach rate: 0.000000 m/s, LOS rate: -0.077752 deg/s, cmd heading: 261.125536 deg, new cmd heading: 260.995159 deg. 2jiHeadingCmd: 4.555225 target range: 462.200012 and range: 462.20 m. jgđ@jjjihhhhyBfffrf@3|@bfC?ɛmzBueb< qu@?Iq u;iɚqiyI}*K=I}-ݿiG2;i<)gđ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:19:05.8692 *FE ?2FA :FA BFE `0JFI jH <bH <H P>I  I 'II BI &I .I 6I W<:I FBIJIRIZI& =bI& =jḮ4Gmb<G)B1OU?,w,A62@Y6B@6UB96Q=y6H¿%y?׼ `@??4??ɨ62@6;6CCyN%BNIzWill construct direction to contact in vehicle frame from tetrahedron phase data.IjIj4٢Upe< UQ=9U~;Q ]>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiuz49m?uz4Ym im|By}п}?mrCm:m:mz4 AZjFNOT Ignoring new targets: 462.20 m.BjߺJjߺ ProNav: ac range: 462.200012 m, nav range: 412.775085 m, bearing: 176.103283 deg, approach rate: 0.009478 m/s, LOS rate: -0.097732 deg/s, cmd heading: 260.995161 deg, new cmd heading: 260.897921 deg. 2j%HeadingCmd: 4.553528 target range: 462.200012 and range: 462.20 m. j@jjjihhhhfffrfbfE(?ɛUzBUq`8= Y]ث?IY ]sɚYiYI]jJ=Iekeݿimߦ;im<)m@)i )I1*F2F:FBFo0JFG<Will construct direction to contact in vehicle frame from tetrahedron phase data.G BI Om >w,pwA:Z@Y:@: q9:@{=y:H¿D}?͹s@¿?̟?>??ɨ:Z@:yÌ;:FCyJ#BNIIbIbJ4٢f jT=9j>Q j>hl nG٣n`@Gyrdf r> vNusing accuracyPremultiplier from configtzz49v?zz4YvT iv|Bxzп~?vCv:v:vz4 -AZjyFNOT Ignoring new targets: 462.20 m.BjJj ProNav: ac range: 462.200012 m, nav range: 412.777161 m, bearing: 176.070311 deg, approach rate: 0.005248 m/s, LOS rate: -0.083376 deg/s, cmd heading: 260.897927 deg, new cmd heading: 260.799010 deg. 2jdHeadingCmd: 4.551801 target range: 462.200012 and range: 462.20 m. j[@jjjihh h9h9fAfAfArfAbfE o?ɛzBj(< 隽E?I zɚiIYI=Iݿiq;imz<)[@)EErA%Will construct direction to contact in vehicle frame from tetrahedron phase data.)9 9GvA*F?2F:FBFJF YvAyBzK JK h9K K K  )I-gm@m B"Gu=Gu=JJJJJ2;JJJG <G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai O >꽼w,)_Ay B IMb@Mb@Mb@ )YT㥛 ?i|?5?~jth?y!?q=D; )M@Iy@II4٢Ck <=9Q > G٣y > Nusing accuracyPremultiplier from configz49?z4Y i|B!?:п?C;;z4 GAZj%FNOT Ignoring new targets: 462.20 m.Bj%̺Jj%̺5 ProNav: ac range: 462.200012 m, nav range: 412.781067 m, bearing: 176.032214 deg, approach rate: 0.009186 m/s, LOS rate: -0.089589 deg/s, cmd heading: 260.798998 deg, new cmd heading: 260.684708 deg. 2j5u]HeadingCmd: 4.549807 target range: 462.200012 and range: 462.20 m. je@jajijiiihihihqhuyBfqfqfyrfybf}@F?ɛMzBUFv = QU`?IQ UTvɚQiQI]H=I]Yݿiep;ieW<)e@)aHqIq Iu!IIuBIq&Iq.Iu7D6Iu<:IuF*F%?2F!:F)BF-~0JF)G l o<GBOk>Will construct direction to contact in vehicle frame from tetrahedron phase data. I J J BAļw,+2A6z@Y6ϑ@696=y6H+ÿ q?O"PÿK??q?^?@?ɨ6z@6Ր;6ACyB#BBIIJIJ74٢fš< f\=9fRQ f>hh jG٣hyj n> vNusing accuracyPremultiplier from configtzz49vh?zz4Yv iv|Bxz'ѿ~?vґCv+  I gNʼw,F .AzK"k3IK"ػ9K K"K"RK&?JK$:O@Y:@: 9:=y:H8Ŀl?Ohÿ9?Ԣ?q??ɨ:O@:;:DCyF%BFIMb@Mb@Mb@ )YMbX9?Q?~jtx?y!?u=;@ )Iz@y@I%I%4٢5v(< 5D=9=>;Q =>AA EG٣Ea@GyEC E> UNusing accuracyPremultiplier from configIU{4JJTJ0JJ.;J :Jـ3J9M?5{4YM iM|B5"?=:=tѿ=?MCM Ѽw,GA F@YF @F9F8l=yFHحĿ-g?@, 1(Ŀ@v?`$?;?@?ɨF@Fl;Dyb/BbIIjIj4rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506981٢vQ:= zO=9z;Q z>|| ~G٣|y >  Nusing accuracyPremultiplier from config {49 }?{4Y F i |Bѿ? C  : : ${4! %A!ZjQ]FNOT Ignoring new targets: 462.20 m.BjeۺJjeۺU ProNav: ac range: 462.200012 m, nav range: 412.784180 m, bearing: 175.928054 deg, approach rate: 0.001097 m/s, LOS rate: -0.096131 deg/s, cmd heading: 260.476559 deg, new cmd heading: 260.372240 deg. 2jU򃻝]HeadingCmd: 4.544353 target range: 462.200012 and range: 462.20 m. j]Wk@jYjajaiahahahihifififirfq Ibf̝@ɛM"= ?I iɚiIF=I޿i;i<)Wk@)*F2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760252G2<G ?G)?G B O >'ؼw,}aAy~2B~II%I%k4٢M v< MD=9MQ U>QY ]G٣aym u> Nusing accuracyPremultiplier from config{49?{4YS i|B?6Cz<G <&{4 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011901ZjFNOT Ignoring new targets: 462.20 m.Bj%hJj-he ProNav: ac range: 462.200012 m, nav range: 412.784760 m, bearing: 175.890823 deg, approach rate: 0.001194 m/s, LOS rate: -0.076676 deg/s, cmd heading: 260.372248 deg, new cmd heading: 260.260558 deg. 2je}RuHeadingCmd: 4.542404 target range: 462.200012 and range: 462.20 m. ju_[@jqjqjqiqhyhyhhfffrfbf{@ Iɛ=4L< AE?IA MqcɚIiIIM&E=zKUa3JKU9KQKUKU + h|Y9}iS=!uolhcZWOIGB?986533BKa:KerAI޿i;ij<<)_[@)EJJJ1JJ2;JJ3J*F2F:FBF0JF"G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264873G l<G B O >;޼w,~A6[@Y6j@6Zؼ96^2=y6H"hſ\?m+Ŀd? ???ɨ6[@65(;4yB9BBI-Mb@Mb@Mb@))) )))Y-jt? ףp= ?Mb?y- ?-Q8=-<) -V@))I))y)IEIE4٢< /=9;Q > G٣b@Gy%J > Nusing accuracyPremultiplier from config{49?{4Y i|B1!?:տ?[Cs;B.;7{4 tAZj)-FNOT Ignoring new targets: 462.20 m.Bj5(Jj5(纝E ProNav: ac range: 462.200012 m, nav range: 412.777100 m, bearing: 175.850512 deg, approach rate: -0.019200 m/s, LOS rate: -0.101046 deg/s, cmd heading: 260.260561 deg, new cmd heading: 260.139624 deg. 2jEMHeadingCmd: 4.540293 target range: 462.200012 and range: 462.20 m. jMJ@jIjIjIiIhIhQhQhUyBfYfYfYrfYbf]%i @HI I'IIBI&I.I6I̱<:IiFɛH= 3<隵?I _ɚiIJD=I߿iE;i/<)J@)*F?2F:FBF15JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:21:19:08.8875 TRx dataTimestamp_ set to:1736371150.161058checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517159 IGI3<Gy B O >rw,A6 H@Y6fW@6ռ96=y6H`ſ*Y? b3ſ??`s?A?ɨ6 H@6d;6ACyB=BBIDFAIJIJ4٢R߮< R_=9V-:Q V>TT VG٣XyZsջ Z> bNusing accuracyPremultiplier from config\b{49^?f{4Y^ i^|Bdfտf?^yC^:^:^C{4hrWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.767764 jTAYB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 462.20 m.Bj辺Jj辺 ProNav: ac range: 462.200012 m, nav range: 412.770660 m, bearing: 175.818576 deg, approach rate: -0.016826 m/s, LOS rate: -0.083452 deg/s, cmd heading: 260.139612 deg, new cmd heading: 260.043803 deg. 2je HeadingCmd: 4.538620 target range: 462.200012 and range: 462.20 m. j a<@j j j i h hh1h9f9f9f9rf9bfE љ@ɛ63= 隕?I ZɚiIUaC=IM߿iq;i);)a<@)*F?2F:FBF4JFG<<GB!O~>Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:19:08.8875 LVL= 19680, 31409, 20178, 32755, AGC= 71, IDX= 404, 0.18, 0.383,-1.237, 0.335,-0.371, PHS= 0.843,-0.819, 0.704, RAW= 145.7, -9.2, CAL= 152.2, -17.9, ROT= 357.8, 17.9 Ygot valid direction response: 21:19:08.8875 LVL= 19680, 31409, 20178, 32755, AGC= 71, IDX= 404, 0.18, 0.383,-1.237, 0.335,-0.371, PHS= 0.843,-0.819, 0.704, RAW= 145.7, -9.2, CAL= 152.2, -17.9, ROT= 357.8, 17.9  PDAT read: Bearing 357.8, 17.9 (Local)  ~Local bearing/azimuth received: Bearing 357.8, 17.9 (Local)  DAT read: Range 10 to 50 : 459.9 m (Round-trip 613.3 ms) speed 0.5 m/s  ,DAT read: user:1661> % BDAT read: Tx time:21:19:09.9700 % $Ping request sent.% ڑڑەF.ax?b`?i ]Ŀ)ە-t>Iە&#>iەUͿەeV*ۑۑM :publishing transmit ping time! M Fpublishing direction and range infoؑ9ؕ \K?Bg?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑەF.ax?b`?i ]Ŀ)ۑIۑiۑۑۑۑ _$?I gzK5 OK5 9K1 K5 K5 21.+*+()%"!    RKU ?JKU ?w,iA2;@Y2=K@2|μ92`=y2H`ſ@V?.eſ@ǜ?֙? ?`7?ɨ2;@2%;2CCy<@EMb@Mb@Mb@AAA A)AYEGz?V-?Mb?yEp?E G٣y N > UNusing accuracyPremultiplier from configI]{49M`?]{4YM iM|Be?e:eCٿe?MCM@#;M~ ;MT{4B PAϱEk]: ?kD$ k kA:kCBk`CZkVA@"}&:@Žvѽžq@ \K?Bg?JkUͿRkeV**@CGxPYG@ UF}s3n@q뿊j_8??"klw,A6@Y6y$@6ټ96<=y6H}ƿ@U?5}ƿ?BB>I LILIFIF4٢VA= Vt=9%Q %?!! -G٣-c@Gy- ^ 5> ENusing accuracyPremultiplier from config9E{49=?M{4Y=. i=}BIMٿU?=C=';=;(;=`{4Y ]%AYZjFNOT Ignoring new targets: 459.90 m.BjպJjպ ProNav: ac range: 459.899994 m, nav range: 400.347137 m, bearing: 173.213164 deg, approach rate: -0.008423 m/s, LOS rate: -0.093153 deg/s, cmd heading: 259.921456 deg, new cmd heading: 259.833369 deg. 2jHeadingCmd: 4.534948 target range: 459.899994 and range: 459.90 m. jK@jjjihhhhfffrfbf ?ɛPg= ?I <RɚiI4A=IA߿i$;i1;)K@)JKw3 K.-KK"KJIJMPJIJIJIJM:JIJIJMP*w,KsA=Will construct direction to contact in vehicle frame from tetrahedron phase data.ym>BuI }=}= IIIUMb@Mb@Mb@QQQ Q)QYUS?I +?MbP?yU/?U94 G٣y > Nusing accuracyPremultiplier from config{49틜?{4Y i }B5?:kݿ?CS;&;q{4B @AұEZjFNOT Ignoring new targets: 459.90 m.BjȺJjȺ ProNav: ac range: 459.899994 m, nav range: 400.335052 m, bearing: 173.170191 deg, approach rate: -0.024707 m/s, LOS rate: -0.087858 deg/s, cmd heading: 259.833373 deg, new cmd heading: 259.704451 deg. 2j/q HeadingCmd: 4.532698 target range: 459.899994 and range: 459.90 m. j  @j j j i h hhhyBfffrfbf`sc?ɛzBt= 0?I ILɚiID~@=Ii;i~<) @)zK(MKKKKE<*FU?2FQ:FQBFU_0JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data.G} ;G ?G >Gi Bq O 3w,A2k@Y2@292=y2Ho%ǿ M?u&ƿ2ç??{??ɨ2k@2;2@CyZBBZIIbIb4٢j< j{=9n+Q n ?ll nG٣pyr r ? zNusing accuracyPremultiplier from configt~{49v\ꋜ?~{4Yv+ iv}B޿?vCv4;v94;v}{4   AZj1=FNOT Ignoring new targets: 459.90 m.Bj=ȺJj=ȺM ProNav: ac range: 459.899994 m, nav range: 400.326141 m, bearing: 173.141744 deg, approach rate: -0.027396 m/s, LOS rate: -0.087461 deg/s, cmd heading: 259.704447 deg, new cmd heading: 259.619101 deg. 2jMpUHeadingCmd: 4.531208 target range: 459.899994 and range: 459.90 m. jU@jQjYjYiYhYhYhahafafafarfibfmVP?ɛzBi/= 隥G?I HɚiI?=I@i;ia;)@)EE*E"EHO>I I@IIBI& =&I.I6I<:IFBIJIRIZIbIjIU4Will construct direction to contact in vehicle frame from tetrahedron phase data. I*F?2F:FBF`0JF"G=G=JJ]JJJ3;J:JJJ<J<JS<JS<G 2<G B O >>Vw,-A6Will construct direction to contact in vehicle frame from tetrahedron phase data.y= G٣d@Gy > Nusing accuracyPremultiplier from config{49拜?{4Y i}B?C.::{4 PAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 459.90 m.Bj)ɺJj)ɺ ProNav: ac range: 459.899994 m, nav range: 400.314606 m, bearing: 173.104401 deg, approach rate: -0.027163 m/s, LOS rate: -0.087935 deg/s, cmd heading: 259.619097 deg, new cmd heading: 259.507065 deg. 2j eq HeadingCmd: 4.529253 target range: 459.899994 and range: 459.90 m. j @jjjihhhhff!f!rf!bf% ?ɛMzBM>= QU?IQ UCɚYiYI]E>=IeހieL;ieB;)e@)a*F 2F :F BF o0JF G@;GBOEs>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.9GvA I  Y vAy BzK= FKK= 9K9 K= K= o w,w4AB=߉@YB@Bļ9BX=yBHQǿF?`쀻`}tƿ@?B?`??ɨB=߉@Bs;BACyJ>BJIPPmMb@Mb@Mb@iii i)iYm-?ym5?mmm\@ m?@)m7@ImM@iym@II4٢; I=9n  G٣y[ > Nusing accuracyPremultiplier from config{49⋜?{4Yu i }B5?:࿑?;C;O;{4 =AԱEZjFNOT Ignoring new targets: 459.90 m.BjJj ProNav: ac range: 459.899994 m, nav range: 400.298889 m, bearing: 173.068549 deg, approach rate: -0.036702 m/s, LOS rate: -0.083726 deg/s, cmd heading: 259.507054 deg, new cmd heading: 259.399495 deg. 2jeHeadingCmd: 4.527375 target range: 459.899994 and range: 459.90 m. jB@jjjihhh h-yBf1f9f9rfAbfE`@mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.249875ɛzBa9= r?I E(>ɚIiIIM==I]ai];ie;)B@)*F}?2Fy:FyBFyJFyHI III' =&I.I6I<:IFGY  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501899G9 Ba O} > I ghw,LNA6`݉@Y6@696=y6H Yǿ D?@|ttƿ3?(Ö??O?ɨ6`݉@6(;4yB7BBIIJIJ4٢R V[=9Vמ;Q Z>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f{49b\ߋ?f{4Ybo ib%}Bhj࿑j?bYCb;bw;b{49 =tA9ZjFNOT Ignoring new targets: 459.90 m.BjͺJjͺ ProNav: ac range: 459.899994 m, nav range: 400.284546 m, bearing: 173.035581 deg, approach rate: -0.038999 m/s, LOS rate: -0.089642 deg/s, cmd heading: 259.399492 deg, new cmd heading: 259.300586 deg. 2jvHeadingCmd: 4.525649 target range: 459.899994 and range: 459.90 m. jҐ@jjjihhhhfffrfbf@ɛzBEb= 隭?I*JC="JJJNJJJJ:JJJJJ7;J7; M:ɚYiYI]X<=Iuiu<;iux<)uҐ@)q*F!2F!:F!BF%0JF!G5rA G5rAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756985Gm ;GA BQ Ou >w,*hAU0߉@YU@U9UI=yUHRǿ B?@3u ƿ@8?{q?@ ??ɨU0߉@UD;U@Cy޽9BIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008354 yIyMb@Mb@Mb@ )YK7A?MbP!) -G٣-e@Gy-09 5> =Nusing accuracyPremultiplier from config1={495Vڋ?E{4Y5" i5'}BE"?E:E࿑M?5C5[;5;52{4Q UgAQZjy}FNOT Ignoring new targets: 459.90 m.BjպJjպ ProNav: ac range: 459.899994 m, nav range: 400.264526 m, bearing: 172.988803 deg, approach rate: -0.039974 m/s, LOS rate: -0.093410 deg/s, cmd heading: 259.300591 deg, new cmd heading: 259.160249 deg. 2j6HeadingCmd: 4.523200 target range: 459.899994 and range: 459.90 m. j @jjjihhhhryBfffrfbf@ɛzB 6= ?I L(5ɚiI;=I7Giߖ;i$(<) @)zK&~JKKKK*F}?2Fy:FyBF}0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.Ց iՑ  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260415G 2<G B O >z w,A>@Y>@>bK9>b=y>H~=ǿ B?`v@@ƿ@h?,I?X?@?ɨ>@>Џ;>BCyF6BFI N=N=IRIR4٢Z9 Z=9Zh;Q ^?\\ ^G٣`yb-; b? fNusing accuracyPremultiplier from configdj{49f׋?j{4Yf' if(}Bhnk࿑n?fCfe ;fP ;fe{4p r}ApZjFNOT Ignoring new targets: 459.90 m.BjκJjκ- ProNav: ac range: 459.899994 m, nav range: 400.253448 m, bearing: 172.962406 deg, approach rate: -0.037885 m/s, LOS rate: -0.090275 deg/s, cmd heading: 259.160245 deg, new cmd heading: 259.081053 deg. 2j-w5HeadingCmd: 4.521817 target range: 459.899994 and range: 459.90 m. j5@j1j1j1i1h9h9h9hAfAfAfArfAbfM@D @HM>I I:IIBI&I.I6I<:IFɛzBi= 隝?I .1ɚiI:=Iti;i D<)@)*F?2F:FBFP5JFG2<Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:19:12.9850 TRx dataTimestamp_ set to:1736371154.192775checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510978 iIiGqBO?>JJAAJJJJJt4;J:JJJ<J<J<J<1&w,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762277:߉@Y:y@:@9:<=y:H TSǿ??j u@ƿO@?䇐?լ??ɨ:߉@:<;:?Cy^3B^IIjIj4٢%U %C=9-;Q ->)1 5G٣1y5gҺ ]> eNusing accuracyPremultiplier from configam{49eeӋ?m{4Ye. iaim࿑u?eCe:e*:e2{4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 459.90 m.BjL˺JjL˺ ProNav: ac range: 459.899994 m, nav range: 400.237396 m, bearing: 172.924092 deg, approach rate: -0.037231 m/s, LOS rate: -0.088868 deg/s, cmd heading: 259.081042 deg, new cmd heading: 258.966095 deg. 2j%s%HeadingCmd: 4.519811 target range: 459.899994 and range: 459.90 m. j%K@j)j)j)i)h)h)hQhQfQfYfYrfYbf];@ɛzBRJ= 隭?I H,ɚiI9=I=iLq;ijwR<)K@)*F2F:FBF05JF"GGp=Will construct direction to contact in vehicle frame from tetrahedron phase data. U^$?IQ}DAT read: 21:19:12.9850 LVL= 20448, 25905, 17314, 32067, AGC= 72, IDX= 411, 0.23, 0.147,-1.135, 0.010,-0.296, PHS= 0.530,-0.792, 0.303, RAW= 140.7, -0.7, CAL= 145.3, -9.8, ROT= 4.7, 9.8 Ygot valid direction response: 21:19:12.9850 LVL= 20448, 25905, 17314, 32067, AGC= 72, IDX= 411, 0.23, 0.147,-1.135, 0.010,-0.296, PHS= 0.530,-0.792, 0.303, RAW= 140.7, -0.7, CAL= 145.3, -9.8, ROT= 4.7, 9.8 PDAT read: Bearing 4.7, 9.8 (Local) ~Local bearing/azimuth received: Bearing 4.7, 9.8 (Local) DAT read: Range 10 to 50 : 458.1 m (Round-trip 610.8 ms) speed 0.8 m/s ,DAT read: user:1662> BDAT read: Tx time:21:19:14.0701 $Ping request sent. )@ +H :M"@) %/I =i %/>   B? ?DP>) >I A) I i    G% '<G B O- >zK JK 9K K K b>',w,Ayn+BnI=Mb@Mb@Mb@999 9)9Y=Pn?:vMby=$?=T==r@ 9)= @I= @9y=G@IMIM4٢}u  }7=9}Q > G٣f@Gy > Nusing accuracyPremultiplier from config{49΋?{4Y6 i$$?:⿑?C;;{4B A رEkE@3E?kE;N UWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:21:19:14.0693 kA kEA:kE CBkE{CZkE\3@"EnIVIC2]tAA}s@E6udѵ*" J?JkEܿRkE?*EtiuZZ`^@@"p@Ev(y?5P?"kEB*kE,kEW?{?kE 2kECkEZ1 ?kEzO] kECkECkE_9@@ addTargetRange:: Added new target pos. range: 458.100006 m, deltaT: 4.034675 s, deltaX: -1.799988 m, approachRate: -0.446130 m/s, rangeRepo size: 4  Added new target pos. range: 458.100006 m, bearing: 160.872863 deg, lat: 36.901274 deg, lon: -122.113473 deg, deltaT: 4.034675 s, deltaX: -1.799988 m, approachRate: -0.446130 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 458.10 m.BjJjM ProNav: ac range: 458.100006 m, nav range: 391.769470 m, bearing: 172.087969 deg, approach rate: 0.000000 m/s, LOS rate: -0.088868 deg/s, cmd heading: 258.966103 deg, new cmd heading: 258.841323 deg. 2jIUHeadingCmd: 4.517633 target range: 458.100006 and range: 458.10 m. jUt@jQjYjYiYhYhYhaheMyBfaffrf|@bfِ?ɛzB<= ae?Ia el'ɚaiaIe8=Imim+;iup<)ut@)q*F?2F:FBF`5JFHI I-IIBI&I.I6I<:IF Will construct direction to contact in vehicle frame from tetrahedron phase data. I IU gGe 3Z<G9 BA Oe >3w,̶AB͉@YB^ܐ@B Q9B]=yBH@Κǿ@:?rc=ǿ`|ʡ?r;?6?~?ɨB͉@B%;B@CyJ#BNIPPIVIVV4٢^@ ^j=9^$ɚiI8=I4iÒ;ie<)@)*J"J=*FM?2FQ:FQBFU`0JFYG=Qd<GBO+>MWill construct direction to contact in vehicle frame from tetrahedron phase data.j9w,A-ඉ@Y-:Ɛ@-iqN9-7->y-Hǿ-? n@ǿȴ?`Ή?O?+?ɨ-ඉ@-];)y}&B}IWill construct direction to contact in vehicle frame from tetrahedron phase data. III4٢EE< M4=9]<9Q e>qy }G٣y繻  > Nusing accuracyPremultiplier from config {49 ŋ?{4Y C i '}B㿑? %C C: : {4I MAQZjFNOT Ignoring new targets: 458.10 m.BjdҺJjdҺ ProNav: ac range: 458.100006 m, nav range: 391.734375 m, bearing: 172.011329 deg, approach rate: -0.042585 m/s, LOS rate: -0.091969 deg/s, cmd heading: 258.745051 deg, new cmd heading: 258.611390 deg. 2jx|HeadingCmd: 4.513620 target range: 458.100006 and range: 458.10 m. jo@jjjihh!h!h!f!f)f)rf)bf-X_?ɛzB9=  ?I ɚiI7=I i I;i  `<) o@)JJQJJJ0;Jz:JJa@a@a@a@zK:NKh9KKK *F?2F:FBFJFG GnAe Will construct direction to contact in vehicle frame from tetrahedron phase data.G xr<G B O >m@w, QA6w@Y6Ѽ@6@96ޱ>y6H@ȿp/?@2 mǿ?Z?@*?ҽ?ɨ6w@65;6ACy>B>IH!I! I%II%BI!&I!.I!6I%<:I%SFeMb@Mb@Mb@aaa a)aYeˡE?Mbpy&1|ye'?ee`e@ e@)aIe7@aye@I}I}ʴ4٢ W=9?;Q > G٣g@GyR > Nusing accuracyPremultiplier from config|49?|4YI i'?:ῑ?CC;; |4 .AZjFNOT Ignoring new targets: 458.10 m.BjJjຝ ProNav: ac range: 458.100006 m, nav range: 391.721680 m, bearing: 171.977126 deg, approach rate: -0.036453 m/s, LOS rate: -0.098213 deg/s, cmd heading: 258.611398 deg, new cmd heading: 258.508786 deg. 2jΆ HeadingCmd: 4.511829 target range: 458.100006 and range: 458.10 m. j `@j jjihhhh>yBfff!rf!bf%(?ɛMzBMꡊ=  ?I  ɚiI26=Iͻiɮ;i\"l<)`@)!*F?2F:FBFl0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. IGF<Ga Bq O >Fw,%AWill construct direction to contact in vehicle frame from tetrahedron phase data.FͰ@YF'@F!9F=yFH ȿM2?`+mǿnѠ?=4?@?`?ɨFͰ@F6;FCCy%B%I 5=5p=IeIeH4٢= I=9/;Q > G٣yy: > Nusing accuracyPremultiplier from config|49]?|4YP iῑ?eC::1|4B *AٱEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 458.10 m.Bj ۺJj ۺ ProNav: ac range: 458.100006 m, nav range: 391.707458 m, bearing: 171.938150 deg, approach rate: -0.034946 m/s, LOS rate: -0.095779 deg/s, cmd heading: 258.508781 deg, new cmd heading: 258.391849 deg. 2jw%HeadingCmd: 4.509789 target range: 458.100006 and range: 458.10 m. j%0P@j!j)j)i)h)h)h1h1fffrfbf t?ɛzBb= ج?I  UɚiIL5=I i ;iU*<)U0P@)Y*F 2F :F BF o0JF  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.G mo<G B O= >J J PJ J J <5;J :J J zK5 2KK5 ]9K1 K5 K5 RKE ?JKE ?HMw,u7AyBIMb@Mb@Mb@ )YCl?I +y/?94r@ )7@I @yG@I I 4٢ C=9%Q ->11 =G٣9yE E> UNusing accuracyPremultiplier from configI]|49MҸ?]|4YMX iM%}B]/?]:]࿑]?MCM;M;M'|4i miAiZjFNOT Ignoring new targets: 458.10 m.BjJj溝 ProNav: ac range: 458.100006 m, nav range: 391.694153 m, bearing: 171.895737 deg, approach rate: -0.031554 m/s, LOS rate: -0.100586 deg/s, cmd heading: 258.391848 deg, new cmd heading: 258.264605 deg. 2jHeadingCmd: 4.507568 target range: 458.100006 and range: 458.10 m. j=@jjjihhhh#yBfffrfbf@ɛ zB h=  D?I  WɚiIUf4=IoGiZ;iqt<)=@)!mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.249824*F?2F:FBF{0JF"G=G=ZHRH?AH%L>I%C I%II%BI!&I!.I!6I%$<:I%FBIJIRIZI' =bI' =jIf 4Gᜆ<G B O > I % Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501956Tw,jPAN@YNȐ@N$l9N=yNHǿ6?oϧǿK? -t?ݾ?"?ɨN@N';N?CyVBVIIbIb[4٢f}¼ jb=9j`ll nG٣lyrHD; r> vNusing accuracyPremultiplier from configtz|49v?z|4Yvv^ iv"}B|~࿑?vCvD;v!E;v|4|4  A Zj15FNOT Ignoring new targets: 458.10 m.Bj=Jj=庝M ProNav: ac range: 458.100006 m, nav range: 391.683258 m, bearing: 171.859743 deg, approach rate: -0.030307 m/s, LOS rate: -0.100132 deg/s, cmd heading: 258.264616 deg, new cmd heading: 258.156630 deg. 2jMpUHeadingCmd: 4.505683 target range: 458.100006 and range: 458.10 m. jU.@jQjQjQihhhhfffrfbfA@ɛ-zB5|= QU?IY ] ɚYiYI]3=Ie2ieHK;ie<)e.@)i*F 2F :F BF0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753910G-<G B O5 >0Zw,jA)Fž= FC=vG IgWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0103741 $ Yy0B5@Y5s@5Tq95Q=y5H ȿ|5?d߽in ǿۣ? *n?n?`>?ɨ5@5;1yޭBޭI-only read 2 of 4 data items for bottom velocity. Device response is::BS, +5, +696,  @ @ @  @ II4٢'= =9;Q >99 EG٣Eh@GyEKۺ E> UbBottom track data is 0.5 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]|49M?]|4YM5h iM}B+:z:࿑?MڔCM';M<?MC|4 0AܱEJJIJJJJU:JJZj!%FNOT Ignoring new targets: 458.10 m.Bj-|޺Jj-|޺zK=VBJK9K9K=K= BKEqA:KA] ProNav: ac range: 458.100006 m, nav range: 391.666595 m, bearing: 171.804710 deg, approach rate: -0.029446 m/s, LOS rate: -0.097256 deg/s, cmd heading: 258.156617 deg, new cmd heading: 257.991512 deg. 2j]}eHeadingCmd: 4.502801 target range: 458.100006 and range: 458.10 m. je@jajajaiahahihihififqfqrfqbf 9 @ɛ}zB}!:?= y}?Iy cɚiI2=Iis۲;i|<)@) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258751*F ?2F :F BF o0JF H! I!  I% II% wBI! &I! .I! 6I% ˱<:I% eFG 9n<GBO>\|bw,mABu@YBв@Bt9BuJ=yBH>ȿ2?@3 @k` ȿ H?zb?M? ?ɨBu@B(A;BACyJ!BJIIVIV4٢Z޾< ^h=9^˄;Q ^>\` bG٣`yf: f? jbBottom track data is 0.9 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdn|49fO?n|4Yfen if}Br :prJ:r5ῑr?fCf8;ff?fK|4t vAxZj%FNOT Ignoring new targets: 458.10 m.Bj-Jj-񺝊= ProNav: ac range: 458.100006 m, nav range: 391.655762 m, bearing: 171.769770 deg, approach rate: -0.032768 m/s, LOS rate: -0.105684 deg/s, cmd heading: 257.991517 deg, new cmd heading: 257.886693 deg. 2j=EHeadingCmd: 4.500972 target range: 458.100006 and range: 458.10 m. jE@jAjAjAiAhIhIhIhIfQfQfQrfQbfUu @ɛzB= 隥W?I )ɚiI1=Ii;i2<)@) ]$?IgWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:21:19:17.0688 %TRx dataTimestamp_ set to:1736371158.232732-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511112*F?2F:FBF?1JFG`D<GqByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762131ghw,( A>@Y>@>9># =y>H@mȿ1?{ri`?ȿ Y?@ZB?@?R?ɨ>@>Y;\\ G٣i@Gy h  > bBottom track data is 1.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config|49֦?%|4Yu i}B%9!%$:%fῑ%?CV5;c?S|45B 5A5ݱEUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 458.10 m.BjmoJjmo庝} ProNav: ac range: 458.100006 m, nav range: 391.642822 m, bearing: 171.728718 deg, approach rate: -0.031611 m/s, LOS rate: -0.100294 deg/s, cmd heading: 257.886688 deg, new cmd heading: 257.763528 deg. 2jHeadingCmd: 4.498822 target range: 458.100006 and range: 458.10 m. jZ@jjjihhhhfffrfbfT@ɛzB~= f?I zɚiIX0=Ifihմ;i/<)Z@)*F2F:FBFa5JF 9IAUWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:19:17.0688 LVL= 29520, 32753, 28914, 32755, AGC= 66, IDX= 398, 0.09,-2.953, 1.937,-3.126, 2.639, PHS= 0.779,-0.655, 0.515, RAW= 140.0, -9.7, CAL= 146.7, -19.7, ROT= 3.3, 19.7 Ygot valid direction response: 21:19:17.0688 LVL= 29520, 32753, 28914, 32755, AGC= 66, IDX= 398, 0.09,-2.953, 1.937,-3.126, 2.639, PHS= 0.779,-0.655, 0.515, RAW= 140.0, -9.7, CAL= 146.7, -19.7, ROT= 3.3, 19.7 PDAT read: Bearing 3.3, 19.7 (Local) ~Local bearing/azimuth received: Bearing 3.3, 19.7 (Local) DAT read: Range 10 to 50 : 445.9 m (Round-trip 594.6 ms) speed 0.9 m/s ,DAT read: user:1663> BDAT read: Tx time:21:19:18.1701 $Ping request sent.YY]׿?,G?cQſ)];>I]T->i]D]>DYY:publishing transmit ping timeFpublishing direction and range infoY9].k?ߟZ3濫89?yYYYY Y)YIYiYYYYY Y)YIYiY-$JgetPosition uart error serial timeout]$^Rudder uart error - getPosition..serial timeout1-$(Communications Fault! YY]׿?,G?cQſ)YIYiYYYYGB!\Communications Fault in component: RudderServoO%>JU JU SJQ JQ JU 6;JU :JQ JQ RK ?JK ?' TFailed to parse incomplete device message.nw,A:@Y:@:i.:9:=y:H`uȿ-?`=le(ȿj?5E ?X?ɨ:@:Ep;:@CyN3BRIWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:19:18.1693         Mb@Mb@Mb@ )Y rh?Mb?MbP?y,?<:j@  @)r@I@y@I I _4٢M.= u3=9u /;Q u>yy }G٣yy6 > Nusing accuracyPremultiplier from config|49u?|4Y} i}BT:,?:޿?CCH<pK<`c|41 5yA1kU?kz{ k kTA:kCBklCZkA@"Ffg=@,ãzs3лZs@.k?ߟZ3濫89?JkDRk>D*7m&a v$g#C@Fp@frOZt?u`?"kB*kWkn`?k5t 2k Ckb ?kkݘCkCk?@ addTargetRange:: Added new target pos. range: 445.899994 m, deltaT: 4.071549 s, deltaX: -12.200012 m, approachRate: -2.996406 m/s, rangeRepo size: 4  Added new target pos. range: 445.899994 m, bearing: 173.652707 deg, lat: 36.901288 deg, lon: -122.113473 deg, deltaT: 4.071549 s, deltaX: -12.200012 m, approachRate: -2.996406 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 445.90 m.BjJjHM>I III|BI&I.I6IDZ<:IcF5 ProNav: ac range: 445.899994 m, nav range: 390.032715 m, bearing: 171.649727 deg, approach rate: 0.000000 m/s, LOS rate: -0.100294 deg/s, cmd heading: 257.763526 deg, new cmd heading: 257.618658 deg. 2j1=HeadingCmd: 4.496294 target range: 445.899994 and range: 445.90 m. j=@j9jAjAiAhAhihqhugyBfqfqfyrf}`f{@bf}r?ɛzBp= ˴?I ɚiIh0=IڸikC;i_<)@)!*F2F:FBF0JF $4Uninitialize Rudder Servo.$Powering downG G"GGGBO> 1 I1 M Will construct direction to contact in vehicle frame from tetrahedron phase data.uw,ABWs@YB@B6:9B3=yBHtȿ,?q' qbȿ6?҆_٠?`?ɨBWs@B;@yfxx ~G٣|y~ ~>  Nusing accuracyPremultiplier from config |49?|4Yǃ i}B5߿?bC::o|4! %1A!ZjQUFNOT Ignoring new targets: 445.90 m.Bje,Jje,u ProNav: ac range: 445.899994 m, nav range: 390.026276 m, bearing: 171.614651 deg, approach rate: -0.019836 m/s, LOS rate: -0.108048 deg/s, cmd heading: 257.618671 deg, new cmd heading: 257.513444 deg. 2juN}HeadingCmd: 4.494457 target range: 445.899994 and range: 445.90 m. j}ҏ@jyjyjyihhhhfffrfbf?ɛzB= k?I ɚiIS-/=I i;im<)ҏ@)*F?2F:FBF4JFGiBqO>Will construct direction to contact in vehicle frame from tetrahedron phase data. 9 I9 {w,;A2Will construct direction to contact in vehicle frame from tetrahedron phase data. @@Y "P@ F:9 %=y Hɿ@#?@뽼nX(ɿ@AԖ?sHiM?(?ɨ @@ .; >Cy-AB-I Mb@Mb@Mb@    ) Y J +?Mb?Mb?y (?  < \@ @) M@I  @ y G@I-I-&4٢=8< =7=9=*Q =>AA EG٣Ej@GyM,b M> UNusing accuracyPremultiplier from configQ]|49U?]|4YUl iU}Be(?e:e࿑e?UCU;U;Uf|4y }AZjFNOT Ignoring new targets: 445.90 m.BjٺJjٺ ProNav: ac range: 445.899994 m, nav range: 390.016479 m, bearing: 171.571336 deg, approach rate: -0.021548 m/s, LOS rate: -0.095282 deg/s, cmd heading: 257.513431 deg, new cmd heading: 257.383482 deg. 2jȂHeadingCmd: 4.492189 target range: 445.899994 and range: 445.90 m. j@jjjihhhhyyBzKm$JK9KK!KBKrA:KmAJJJJJJt4;Jٖ:JJfff rf bf 2?ɛUzBU= Q]f?IY ]<ɚYiYI]h(.=Ie\?im<;im<)m@)i*F?2F:FBFA5JF $%4Initializing EZServoServo.Will construct direction to contact in vehicle frame from tetrahedron phase data. $ 2Initializing RudderServo.H I C I II BI &I .I 6I <:I FG B ! ^Clearing failed state for component RudderServo1 O >w,| AB0@YBP@@B;9B/:=yBH@ɿ@r ? @8Uɿ᳕?V`6?w?ɨB0@B;BACyJPBJIIVIV(4٢Z= ^g=9^,m;Q b>`` bG٣`yf f> jNusing accuracyPremultiplier from confighn|49j?n|4Yjx ij}BprU࿑r?jCjh;j;jË|4vB vAv߱EZjFNOT Ignoring new targets: 445.90 m.Bj%UJj%U⺝5 ProNav: ac range: 445.899994 m, nav range: 390.008453 m, bearing: 171.537087 deg, approach rate: -0.023185 m/s, LOS rate: -0.098937 deg/s, cmd heading: 257.383494 deg, new cmd heading: 257.280744 deg. 2j5̇EHeadingCmd: 4.490396 target range: 445.899994 and range: 445.90 m. jES@jAjAjAiAhIhQhahifqfyfrfbfS?ɛzBC= 0<隵k?I ؼɚiI>-=Izi';i0<)S@)E IguWill construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :FBF_0JFGBO (>% Will construct direction to contact in vehicle frame from tetrahedron phase data.爽w,?W%A: @Y:0@:6(7;9:=y:H 9?ʿ;?@Qʿ` ?f&??ɨ: @:r;:@Cy^^BbIIjIjD4٢rȆ= rG=9vK:Q v>tt zG٣xyz z> Nusing accuracyPremultiplier from config|}|49~Ւ?}|4Y~v i~"}B࿑?~ȕC~<~<~|4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 445.90 m.Bj qѺJj qѺE ProNav: ac range: 445.899994 m, nav range: 389.998810 m, bearing: 171.497442 deg, approach rate: -0.022270 m/s, LOS rate: -0.091555 deg/s, cmd heading: 257.280740 deg, new cmd heading: 257.161804 deg. 2jEU{}HeadingCmd: 4.488320 target range: 445.899994 and range: 445.90 m. j}R@jyjyjihhhhfffrfbfr?ɛUzBU= Y]~?IY ]jͼɚYiYI]h/,=I"i;ia<)R@)*F?2F: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.GBOk>zKe BIKe 9Ka Ke "Ke RKm ?JKm >w,@?AyޕmBޕIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261625Mb@Mb@Mb@ )Yx&1?~jt?:v?y!?<T< ?@)z@Iy=@II4٢ԇ= 0=9Q > G٣k@Gy > Nusing accuracyPremultiplier from config|49l?|4Y i)}B!?:߿?C5;;\|4 AEZj9MFNOT Ignoring new targets: 445.90 m.Bj]ݺJj]ݺ} ProNav: ac range: 445.899994 m, nav range: 389.989929 m, bearing: 171.454255 deg, approach rate: -0.019913 m/s, LOS rate: -0.096841 deg/s, cmd heading: 257.161813 deg, new cmd heading: 257.032250 deg. 2j}섻HeadingCmd: 4.486059 target range: 445.899994 and range: 445.90 m. j̍@jjjihhhhyBfffrfbf6@ZHRH@AHI I4IIBI& =&I.I6I<:IvFɛmzBmUӤ= im?Ii ugv¼ɚqiqIu+=I}=i}I(;i}m<)}̍@)*F5?2F9:F9BF9JF9G?G?GB IO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513497w, YAJ&J$J$J$J&.;J$J$J$J& G٣y > %Nusing accuracyPremultiplier from config-|49Պ?-|4YJ i.}B115? CI;J;|49 EXAAZjimFNOT Ignoring new targets: 445.90 m.BjuպJjuպ ProNav: ac range: 445.899994 m, nav range: 389.982880 m, bearing: 171.419117 deg, approach rate: -0.018765 m/s, LOS rate: -0.093535 deg/s, cmd heading: 257.032258 deg, new cmd heading: 256.926841 deg. 2jbHeadingCmd: 4.484220 target range: 445.899994 and range: 445.90 m. j~@jjjihhhhfffrfbf@ɛzBB= ?I LɚiI*=IDi';i[<)~@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765877E)<E!E%sA*F?2F:FBFJFG B O > \$?I (w,rA.Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023266yB IMb@Mb@Mb@ )Y$C?:v?y&1?y?<`e<@ d@)@I/@yz@IIT4٢%= 8=9Q > G٣y > Nusing accuracyPremultiplier from config|498?|4Y i4}BL?:X޿?-C<;;|4 AZj)-FNOT Ignoring new targets: 445.90 m.Bj5ʺJj5ʺE ProNav: ac range: 445.899994 m, nav range: 389.978699 m, bearing: 171.381044 deg, approach rate: -0.009723 m/s, LOS rate: -0.088544 deg/s, cmd heading: 256.926855 deg, new cmd heading: 256.812634 deg. 2jEsUHeadingCmd: 4.482226 target range: 445.899994 and range: 445.90 m. jUen@jQjQjQiQhQhYhYh][zBfYfafarfabfe@ @ɛzB= 隕?I rϭɚiI(=IEׅiEX;iE&<)Een@)IzKe:IKe]9KaKe#KeBKq:KurAE፨<*F?2F:FBFn0JFGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273636H I  I SII BI ' =&I .I 6I <:I ~FBIiJImɠCRIiZIibIijImP4w,֌A>q@Y>@>4S<9>+=y>Hʿ?_Hʿ(?@6s`!?z?ɨ>q@>͒;>>CyFBFIININ4٢V\= Vt=9Z Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777580+5w,A>@Y>r@>Nm<9>r=y>H'˿`?@Di0˿l_?`巍?g?ɨ>@>T;hh jG٣jl@Gyn n> vNusing accuracyPremultiplier from configpv|49r?v|4Yr ir;}BxzF߿z?rgCr:r:r|4| ~AZj!-FNOT Ignoring new targets: 445.90 m.Bj-˺Jj5˺U ProNav: ac range: 445.899994 m, nav range: 389.968994 m, bearing: 171.315367 deg, approach rate: -0.013461 m/s, LOS rate: -0.088784 deg/s, cmd heading: 256.723698 deg, new cmd heading: 256.615608 deg. 2jUsmHeadingCmd: 4.478787 target range: 445.899994 and range: 445.90 m. jm:R@jijijiiihqhqhyhfffrfbf@@ɛzB3= ?I 왼ɚiIV&=IiNr;iX<):R@)ER>E> G!A }YyuB*FM?2FI:FIBFMo1JFQ IG)BQWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 443.0 m (Round-trip 590.7 ms) speed 0.3 m/s ,DAT read: user:1664> -X#Rx 1: Read range message, but no direction.ؑyؕCؑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.OEs>zK K K K $K fw,N{AVx׈@YV@V#<9Vy6=yVH\˿ ?`o|Arl˿v?u5?_?ɨVx׈@Vt;V=Cy~B~/IWill construct direction to contact in vehicle frame from tetrahedron phase data.iABDAT read: Tx time:21:19:22.2702 $Ping request sent.99 =G٣9yE;r E> MNusing accuracyPremultiplier from configIU|49M|?U|4YM[ iM<}BU?]:] ࿑]?MCM;M;MF|4a e$AaB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 443.000000 m, deltaT: 4.048042 s, deltaX: -2.899994 m, approachRate: -0.716394 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 445.90 m.Bj1Jj1 ProNav: ac range: 445.899994 m, nav range: 389.961792 m, bearing: 171.277236 deg, approach rate: -0.015868 m/s, LOS rate: -0.084014 deg/s, cmd heading: 256.615617 deg, new cmd heading: 256.501223 deg. 2jfHeadingCmd: 4.476791 target range: 445.899994 and range: 443.00 m. jA@jjjihhhhzBfffrf{@bfC?HQIQ IUrIIUҀBIQ&IQ.IQ6IU<:IUFɛ]zB]Χ= Y]?IY eɚaiaIeʡ%=Im7imĹ;im|Q<)mA@)q*F?2F:FBF0JFGBOf> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249635&Iw,B]A*J "Ja=JJEJJJ4.;JB:JJJD<JD<J';J(;JV@YJ@Jw<9J0=yJH 1̿`O?能`8̿>ہ?`?H??ɨJV@J&;J>Cy~B~2IIIy4٢H< U=9K:Q > G٣y` > Nusing accuracyPremultiplier from config|49gy?|4Y i=}B࿑?C;A;|4 AZjFNOT Ignoring new targets: 445.90 m.Bj@ĺJj@ĺ  ProNav: ac range: 445.899994 m, nav range: 389.954620 m, bearing: 171.244675 deg, approach rate: -0.018894 m/s, LOS rate: -0.085789 deg/s, cmd heading: 256.501225 deg, new cmd heading: 256.403538 deg. 2j kHeadingCmd: 4.475086 target range: 445.899994 and range: 443.00 m. j3@jjjihhhhfffrfbf?ɛ5zB=)= 9=?I9 =TȂɚiI|$=Ioi;iZ@<)3@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502632*Fe?2Fa:FaBFe`5JFaG Ӕ<G ?G ?Gy B O > I sw,7A.Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758409ŋ@Y @<9o=yH 1̿ ?b0@D̿Gq???ɨŋ@z;騡y޽B޽=IMMb@Mb@Mb@III I)IYMQ?y&1?~jt?yM\?M`e G٣m@Gy > Nusing accuracyPremultiplier from config}49Ku?}4Ya i?}Bp?:⿑?ÖCD;; }4 AZjyFNOT Ignoring new targets: 445.90 m.BjXJjX ProNav: ac range: 445.899994 m, nav range: 389.942780 m, bearing: 171.208963 deg, approach rate: -0.025993 m/s, LOS rate: -0.078398 deg/s, cmd heading: 256.403526 deg, new cmd heading: 256.296387 deg. 2j7WHeadingCmd: 4.473216 target range: 445.899994 and range: 443.00 m. j$@jjjihhh h zBf f frfbf@?zKm$JKh9KK%KɛzB+$= 隵R?I >BlɚiI`#=Iia;ih<)$@)E *F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010699HI II  IM IIM BII &II .II 6IM <:IM FG <Gy B O >#Yýw, A:un@Y:}@:ؖ<9:=y:HA̿ ?`ܸ* Ϳ n? ڒn?7?ɨ:un@:;:=CyDDININ4٢V-: Vn=9Z?|;Q Z?XX ZG٣\y^W* ^? fNusing accuracyPremultiplier from configdj}49fq?j}4Yf\ if@}Bhj\㿑n?fܖCf:fz:f}4rߒB rArEZjFNOT Ignoring new targets: 445.90 m.BjJj ProNav: ac range: 445.899994 m, nav range: 389.932800 m, bearing: 171.180626 deg, approach rate: -0.029355 m/s, LOS rate: -0.083360 deg/s, cmd heading: 256.296401 deg, new cmd heading: 256.211386 deg. 2jdHeadingCmd: 4.471732 target range: 445.899994 and range: 443.00 m. jn@jjjihhhhfffrfbf`d?ɛ-zB-~m= 15?I1 9I9 UthZɚYiYI]Q"=I]ier;ie~<)en@)auWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262458*FM?2FI:FIBFM_0JFIJ9J=BAJEJEIJAJAJE.;JEU:JAJAJE<JE<JE;JE;GmoT<GI BQ Ou >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513511ɽw,'A>0\@Y>k@>֡<9>=y>H`7=Ϳ|? 4`%kXͿ9j?:?&?ɨ>0\@>䈞;>;CyDF<IIVIV4٢7 C=9%Q;Q %>)) -G٣)y=s => MNusing accuracyPremultiplier from configAU}49Em?]}4YEq iEA}BYe㿑e?ECEZ;E[;E'}4y }A}EZjFNOT Ignoring new targets: 445.90 m.BjaJja ProNav: ac range: 445.899994 m, nav range: 389.920166 m, bearing: 171.146003 deg, approach rate: -0.030687 m/s, LOS rate: -0.084096 deg/s, cmd heading: 256.211379 deg, new cmd heading: 256.107508 deg. 2jfHeadingCmd: 4.469919 target range: 445.899994 and range: 443.00 m. j @jjjihhhhfffrfbf?ɛ%zB%= )-?I) 5Cɚ1i1I5#-!=I=i= ;i=}<)= @)A*F%?2F!:F!BF%`0JF! 9IEgWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768645G%T<G)G-qAG B O% >zK5 BIK5 +9K1 K5 &K5 kнw,/AA:P@Y:`@:<9:=y:HiͿk?@"@Ϳ_?`S??ɨ:P@:!;:>CyFBJ1IMb@Mb@Mb@ )Yw/?y&1|? G٣n@Gy2Y >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017636 Nusing accuracyPremultiplier from config}49i?}4Y/ i@}B?:F忑?C(;;p6}4 A-B*** querying acoustic contact ***j)j)ZjQUFNOT Ignoring new targets: 445.90 m.Bj]ƱJj]Ʊm ProNav: ac range: 445.899994 m, nav range: 389.905518 m, bearing: 171.113253 deg, approach rate: -0.034758 m/s, LOS rate: -0.077711 deg/s, cmd heading: 256.107505 deg, new cmd heading: 256.009252 deg. 2jmTUuHeadingCmd: 4.468204 target range: 445.899994 and range: 443.00 m. ju@jqjqjyiyhyhyhyhzBfffrfbf@CT@ɛzBM= 隽F?I ,ɚiI =IKQiB7;i>́<)@)EEqAZHRHAAH)I) I-II-BI-& =&I).I)6I-<:I-F*Fm?2Fi:FiBFme0JFi 9I9Gqp<Gi Bq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269661O >ֽw,H[ANG@YNW@NA<9N}=yNHXͿ ?@ 8 Ϳp? O?*?ɨNG@N7[;LyVBV*IIbIb4٢j j[=9jl;Q n>ll rG٣pyrA v> zNusing accuracyPremultiplier from configx~}49zf?~}4Yz= iz?}Bl忑?z0Czu;z;zyC}4 B `A Zj1=FNOT Ignoring new targets: 445.90 m.Bj=BJj=BM ProNav: ac range: 445.899994 m, nav range: 389.892517 m, bearing: 171.084420 deg, approach rate: -0.035330 m/s, LOS rate: -0.078360 deg/s, cmd heading: 256.009260 deg, new cmd heading: 255.922757 deg. 2jMW]HeadingCmd: 4.466695 target range: 445.899994 and range: 443.00 m. j]*@jYjYjYiYhYhYhahafafifirfqbf} I@ɛ|zB}= 隭F?I  tɚiI=I‚i;in<)*@)*FM?2FI:FQBFUp0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521739G!~<GiBqO> = [$?I9 Vܽw,uA>Will construct direction to contact in vehicle frame from tetrahedron phase data.Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.783890C@YR@l<9s=yHͿ?ѻ ͿӦb, K?@w?ɨC@쒡;y5B5IMb@Mb@Mb@ )YK7A`?I +Mb`y ?94 @)E@I7@y@J J FJ J J T1;J ǔ:J J a@a@a@a@II74٢-19 =G٣9y=U => UNusing accuracyPremultiplier from configAU}49E`?]}4YE iE6}B] ?]:]{鿑]?EQCE!;E;ELT}4i mAiZjFNOT Ignoring new targets: 445.90 m.BjEJjE ProNav: ac range: 445.899994 m, nav range: 389.867126 m, bearing: 171.046201 deg, approach rate: -0.052640 m/s, LOS rate: -0.079240 deg/s, cmd heading: 255.922762 deg, new cmd heading: 255.808098 deg. 2jYHeadingCmd: 4.464694 target range: 445.899994 and range: 443.00 m. jގ@jjjihhhhzBfffrfbf ! @ɛxzBݾ= 隝?I ɚiI=IUi);iH<)ގ@)zKjIK9KK'KBK!:K%qA*Fu?2Fq:FqBFum0JFq%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033542H I  I II BI &I .I 6I h<:I FG ^<G ?G >G B O >w,QAF|E@YFT@FAG<9F=yFHiͿ&? CͿtǟ[?-?ɨF|E@F"ϡ;DyNBRIIZIZN4٢f" f|=9j1: n ? vNusing accuracyPremultiplier from configpv}49r\?v}4Yrd ir/}Bxzs鿑z?rhCr:rT:r_}4|  AZj!-FNOT Ignoring new targets: 445.90 m.Bj5(Jj5(E ProNav: ac range: 445.899994 m, nav range: 389.850159 m, bearing: 171.020452 deg, approach rate: -0.052471 m/s, LOS rate: -0.079628 deg/s, cmd heading: 255.808097 deg, new cmd heading: 255.730848 deg. 2jEZMHeadingCmd: 4.463346 target range: 445.899994 and range: 443.00 m. jMӎ@jIjQjQiQhQhQhYhYfYfYfarfabfe c @ɛvzBh= 隝?I ڻɚiI=Iic;i<)ӎ@) I g*FU?2FQ:FQBFU0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285816Gur<GQBaO}>E Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:21:19:25.2625 M TRx dataTimestamp_ set to:1736371166.608548M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538549vw,:A}I@Y}X@}7=9} =y}H Ϳ_?u <@*Ϳ7@ơ!*?M?ɨ}I@}nX;}=CyޕrBޕIII4٢ 9=9\ G٣yΒ: >  Nusing accuracyPremultiplier from config }49 W?}4Y  i %}Bb鿑? C ); ); o}4%B %A%EZjIUFNOT Ignoring new targets: 445.90 m.BjUJJj]Je ProNav: ac range: 445.899994 m, nav range: 389.827271 m, bearing: 170.985355 deg, approach rate: -0.051677 m/s, LOS rate: -0.079248 deg/s, cmd heading: 255.730861 deg, new cmd heading: 255.625562 deg. 2jmYuHeadingCmd: 4.461508 target range: 445.899994 and range: 443.00 m. juĎ@jqjqjqiqhqhqhyhyfyfyfrfbf2B@ɛszB8= 隽$?I mɚiIi=I,ip;i֚<)Ď@)*Fa2Fa:FaBFe0JFa IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.793076GU <GI Bq O >J J NJ J J .;J :J J zK m$JK K K (K RK >JK >1w,Ay`B IMb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 21:19:25.2625 LVL= 24624, 31777, 26802, 32755, AGC= 68, IDX= 419, 0.18,-2.374, 2.350,-2.836,-2.958, PHS= 0.672,-0.928, 0.119, RAW= 130.1, 2.0, CAL= 136.3, -5.7, ROT= 13.7, 5.7 =Ygot valid direction response: 21:19:25.2625 LVL= 24624, 31777, 26802, 32755, AGC= 68, IDX= 419, 0.18,-2.374, 2.350,-2.836,-2.958, PHS= 0.672,-0.928, 0.119, RAW= 130.1, 2.0, CAL= 136.3, -5.7, ROT= 13.7, 5.7 EPDAT read: Bearing 13.7, 5.7 (Local) E~Local bearing/azimuth received: Bearing 13.7, 5.7 (Local) UDAT read: Range 10 to 50 : 441.0 m (Round-trip 588.1 ms) speed 0.6 m/s U,DAT read: user:1665> ]BDAT read: Tx time:21:19:26.3702 ]$Ping request sent.ezĿ`)_%JS?yC )Yn?MbMbpyV?@ )IM@y@I0`!| h)IDi1,?hmF=R@5= ?@)%˽IGt>i%=I4٢ >=9Q > GjHbHHN>I IlIÌBI&I.I6I<:IFBIJIáCRIZI& =bI& =jI4|?5vs?-?)B4>I: i&쿉N)o5:publishing transmit ping timeY5Fpublishing direction and range info9v>zĿ`)_%JS?y )Ii )Ii|?5vs?-?)Ii٣IyM U> uNusing accuracyPremultiplier from configi}49mWR?}4YmW im}BZ?:近?mCmwzĿ`)_%JS?Jk&RkN)o*+J9׻pl+y_@ޑMqpt@GWmu-E?ъ ۺ?"kB*kޅkr03?k 2kCkn`?k kCkʺCk03@ addTargetRange:: Added new target pos. range: 441.000000 m, deltaT: 4.293109 s, deltaX: -2.000000 m, approachRate: -0.465863 m/s, rangeRepo size: 4  Added new target pos. range: 441.000000 m, bearing: 154.816748 deg, lat: 36.901587 deg, lon: -122.112747 deg, deltaT: 8.341151 s, deltaX: -4.899994 m, approachRate: -0.587448 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 441.00 m.BjJj ProNav: ac range: 441.000000 m, nav range: 373.585114 m, bearing: 160.305742 deg, approach rate: 0.000000 m/s, LOS rate: -0.079248 deg/s, cmd heading: 255.625567 deg, new cmd heading: 255.504234 deg. 2jHeadingCmd: 4.459390 target range: 441.000000 and range: 441.00 m. jS@j9j9j9i9hAhAhAhEzBfIfIfIrfM{@bfU%?ɛozB4= 2?I  hɚiI^=Iri^;i8K<)S@)E I*F?2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:19:26.3694 G %<G G rAG B O > w,x`A6JP@Y6_@6N*=96=y6H tfͿ?ו`ͿaY?`y?ɨ6JP@6;6;CyFGBFIININ"4٢j jO=9nlp rG٣rp@Gyr;  ? Nusing accuracyPremultiplier from config}49`N?}4YK i}B{近?—Cz::}4MB MAMEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 441.00 m.BjκJjκ ProNav: ac range: 441.000000 m, nav range: 373.604187 m, bearing: 160.276171 deg, approach rate: 0.058268 m/s, LOS rate: -0.090333 deg/s, cmd heading: 255.504236 deg, new cmd heading: 255.415527 deg. 2jwHeadingCmd: 4.457842 target range: 441.000000 and range: 441.00 m. j@jjjihhh!h!f!f)f)rf)bf-H?ɛ}mzB:K= 隥)?I 'ɚiI#=I٤i;i_<)@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.aieAmT****** received valid address query ******mR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.*F]?2Fa:FaBFe.2JFa)E= %vG=|uAY aY|uAyIBG}b<  I Gq B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746932[w,'Af*@Yf9@f )=9fY=yfHaͿ?d`  bοpNj!m?L?ɨf*@fN1;f G٣y+ > Nusing accuracyPremultiplier from config}49I?}4Y i}B%?%:%濑%?C{<;%L;O}41 5A1ZjY]FNOT Ignoring new targets: 441.00 m.BjepͺJjepͺu ProNav: ac range: 441.000000 m, nav range: 373.632660 m, bearing: 160.237734 deg, approach rate: 0.066529 m/s, LOS rate: -0.089805 deg/s, cmd heading: 255.415525 deg, new cmd heading: 255.300222 deg. 2juv}HeadingCmd: 4.455830 target range: 441.000000 and range: 441.00 m. j}(@jyjyjyihhhh?zBfffrfbf,?ɛjzBdx= k?I chɚiIT=Ii;ir<)(@)zK:IK 9KK)KBK:KrA*F?2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997867H%M>I! I%:II%BI%% =&I!.I!6I%<:I%FG <G B O > I w,DA2%@Y2 5@2,3=92=y2H a ο ?Ѿ`ο@cc?j?ɨ2%@2ɞ;0y:B:IIJIJ74٢R. Rc=9R;Q V>TT VG٣TyZ-׺ Z> ^Nusing accuracyPremultiplier from config\b}49^wE?b}4Y^ i^|Bdf濑f?^C^:^ :^}4h jrAhZjy}FNOT Ignoring new targets: 441.00 m.BjJj ProNav: ac range: 441.000000 m, nav range: 373.656189 m, bearing: 160.205993 deg, approach rate: 0.062788 m/s, LOS rate: -0.084695 deg/s, cmd heading: 255.300231 deg, new cmd heading: 255.205016 deg. 2jhHeadingCmd: 4.454168 target range: 441.000000 and range: 441.00 m. j@jjjihhhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247589frfbfmI?ɛ}gzB}= 隅?I pUɚiI=I?i1;i2 <)@)*F!2F):F)BF-5JF)Gb<G?G?GBO J> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499720 w,-A 60@Y6@@6==96k=y6H Ϳ?@ ]ο,@g?g?ɨ60@6%;6:CynBniIIz%Iz5٢ +  D=9 O;Q  > G٣q@GyT; > %Nusing accuracyPremultiplier from config!-}49%@?-}4Y%I i%|B)-濑5?%C%:%e:%p}4=B =.A=EZjamFNOT Ignoring new targets: 441.00 m.BjuѺJjuѺ ProNav: ac range: 441.000000 m, nav range: 373.683899 m, bearing: 160.169259 deg, approach rate: 0.069167 m/s, LOS rate: -0.091685 deg/s, cmd heading: 255.205019 deg, new cmd heading: 255.094825 deg. 2j{HeadingCmd: 4.452245 target range: 441.000000 and range: 441.00 m. jx@jjjihhhhfffrfbf?ɛdzBN= %?I L`:ɚiI=IB\i /;i!<)x@) Z$?I!g*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755054GJJRJ0JJ4.;J:Jـ3JGQBYO}>zK RIK 9K K *K rw,GAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003432yލBލMIHI IIIgBI& =&I.I6I<:IFMb@Mb@Mb@ )Yx&1?Mb?QyA ?<u@ @)@IE@y@II4٢- "=9Q  >    G٣ y > Nusing accuracyPremultiplier from config%}49;?%}4Y_ i|B%P ?-:-D忑-?DCr;;}41 5A1ZjaeFNOT Ignoring new targets: 441.00 m.BjmٺJjmٺ} ProNav: ac range: 441.000000 m, nav range: 373.723480 m, bearing: 160.121422 deg, approach rate: 0.078496 m/s, LOS rate: -0.094860 deg/s, cmd heading: 255.094834 deg, new cmd heading: 254.951336 deg. 2j}3HeadingCmd: 4.449740 target range: 441.000000 and range: 441.00 m. jFd@jjjihhhhyBfffrfbfVG@ɛ`zBc@= ?I 4;ɚiI>=IUi;i <)Fd@) I*Fm?2Fi:FqBFu4JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255778G +^<G G Gi By O > PExceeded connect timeout, disconnecting.w,aAZs1@YZ@@ZFV=9ZM"=yZH`Ϳ ? Y qο=qŪ )?d?ɨZs1@Z֜;XybBb%IIj#Ij5٢rV v=9v Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763138V+w,&n{A],@Y];@]~l`=9]*=y]HͿM?V+ο"Ϛ )?K?ɨ],@]%;Yyu[Bu IMb@Mb@Mb@ )YHzG?S㥛?{Gzy=*?/<ףK@ @)@I\@y3@I%8I%@ 5٢5oĽ =6=9=*;Q =>9A EG٣Er@GyEq E> UNusing accuracyPremultiplier from configI]}49M2?]}4YM$ iM|B]u*?]:]ῑ]?MCM;M<;M.}4i mAiZj1=FNOT Ignoring new targets: 441.00 m.BjE,ܺJjM,ܺ ProNav: ac range: 441.000000 m, nav range: 373.793243 m, bearing: 160.047865 deg, approach rate: 0.098396 m/s, LOS rate: -0.096245 deg/s, cmd heading: 254.865749 deg, new cmd heading: 254.730706 deg. 2jHeadingCmd: 4.445889 target range: 441.000000 and range: 441.00 m. jD@jjjihhhhyBfffrfbf@;@ɛ5YzB50= 5%<5J?I9 =P;ɚ9zK=:IK9K9K=+K=i9I]>=Ie,ie;ie϶<)mD@)i*F?2F:FBFJFeWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013852HI III+BI&I.I6I<:IAFG] ><G1 BA O] > y Iy %w,6AF/"@YF1@Fh=9FS=yFHο@ ?޿ ͼο`򝜿`3=?`?ɨF/"@F;Fdd fG٣hyj[h j> rNusing accuracyPremultiplier from configlr}49n.?r}4Yn* in|Bxzῑz?nCng5;n5;n}4| ~AEZj!-FNOT Ignoring new targets: 441.00 m.Bj-Jj-󺝊= ProNav: ac range: 441.000000 m, nav range: 373.829620 m, bearing: 160.012142 deg, approach rate: 0.108507 m/s, LOS rate: -0.106548 deg/s, cmd heading: 254.730703 deg, new cmd heading: 254.623542 deg. 2j=>EHeadingCmd: 4.444019 target range: 441.000000 and range: 441.00 m. jEh5@jAjIjIiIhIhIhQhQfQfQfQrfYbf]  @ɛVzB= 隍?I ע;ɚiI=IiiE;i<)h5@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263503*Fu?2Fq:FqBFup0JFqJiJiJuJuEJqJqJu/;JuB:JqJqJum Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Rx Time:21:19:29.3836 u TRx dataTimestamp_ set to:1736371170.640616} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5166058+w,A6 @Y6@6m=96{=y6HErο ?`$쿿jϿh}x2??ɨ6 @6m;6;CyB BFIIN>IN 5٢V? VL=9VI;Q Z>XX ZG٣Xy^> ^> bNusing accuracyPremultiplier from config`f}49b*?j}4Yb1 ib~|Bhj=⿑j?b˜Cb/;bb;b}4rB rArEZj FNOT Ignoring new targets: 441.00 m.BjJj庝% ProNav: ac range: 441.000000 m, nav range: 373.869995 m, bearing: 159.971866 deg, approach rate: 0.100686 m/s, LOS rate: -0.100427 deg/s, cmd heading: 254.623551 deg, new cmd heading: 254.502739 deg. 2j-؉-HeadingCmd: 4.441911 target range: 441.000000 and range: 441.00 m. j-"$@j1j1j1i1h1h1hhfffrfbf`q @ɛ RzB4= I%"g Q] ?IY ]i;ɚYiYI]j=Ieie;ie&<)e"$@)i*F-?2F):F)BF50JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771548GQG) BY O >zK VBJK 9K K ,K "2w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.ZDAT read: 21:19:29.3836 LVL= 24224, 32753, 23986, 29171, AGC= 73, IDX= 140,-0.46,-2.269, 2.257,-2.514,-3.095, PHS= 0.914,-0.884, 0.578, RAW= 139.9, -7.4, CAL= 146.0, -17.2, ROT= 4.0, 17.2 rYgot valid direction response: 21:19:29.3836 LVL= 24224, 32753, 23986, 29171, AGC= 73, IDX= 140,-0.46,-2.269, 2.257,-2.514,-3.095, PHS= 0.914,-0.884, 0.578, RAW= 139.9, -7.4, CAL= 146.0, -17.2, ROT= 4.0, 17.2 z8DAT read: $Error in header HeN>Ia IeSIIeBIa&Ia.Ia6Ie<:IeFM*Received a bad headerX#Rx 1: Read direction message, but no range.^direction in FSK: [0.020581,-0.716132,0.697661]9(?h濥=S?^ ])qIIii?Mb?E@ A e#@)`I5=i`>g? ]㓔?vxôz)T>I3>iebſ*ET****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseyލ~BލI =a=Mb@Mb@Mb@ )Yl?~jt?~jty7?= @)@IE@y(@I]3I] 5٢8 =9Q > G٣s@Gy > Nusing accuracyPremultiplier from config~49=$?~4Yr< i]|B7?:࿑?C+;Y;~4 gAZj9EFNOT Ignoring new targets: 441.00 m.BjMRJjMR} ProNav: ac range: 441.000000 m, nav range: 373.937317 m, bearing: 159.910028 deg, approach rate: 0.117243 m/s, LOS rate: -0.107675 deg/s, cmd heading: 254.502739 deg, new cmd heading: 254.317256 deg. 2j}ʓHeadingCmd: 4.438673 target range: 441.000000 and range: 441.00 m. j @jjjihhhh6yBfffrfbf@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 elapseɛLzB= ?I 1;ɚiI=I i ;io=) @)*Jy "Jy J J KJ 1J J 0;J ^:J 3J J J<J J<J ;J ;EU `=<*F ?2F :F BF 25JF 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<GBO?;w,{A>@Y>@>|=9>Ï=y>HϿ?c [?п`.|`=U? ?ɨ>@>;>:CyJ~BJIIV*IV 5٢^S ^3=9^;Q b>`` fG٣dyf¼ f> nNusing accuracyPremultiplier from confighn~49j?n~4YjD ijB|Bpr⿑r?j Cj ;jG;jn ~4t z=Ax B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 441.00 m.Bj-Jj-= ProNav: ac range: 441.000000 m, nav range: 373.987579 m, bearing: 159.860855 deg, approach rate: 0.111676 m/s, LOS rate: -0.109241 deg/s, cmd heading: 254.317258 deg, new cmd heading: 254.169760 deg. 2j=񕻝EHeadingCmd: 4.436099 target range: 441.000000 and range: 441.00 m. jE@jAjAjAiIhIhIhIhQfQfQfQrfQbf]q@ mX$?Iiɛ=GzB=-= Y]?Ia e<ɚaiaIe1=ImSmim;imL<)m@)qE}<]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse*F?2F:FBF_0JFGl=GBOh>zK JK 9K K -K  !!$)+/////121-+'%""%$"!BK :K pA 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 elapseZoBw,6 AHrM>Ip IrIIrbBIp&Ip.Ip6Irñ<:IrcFBIJIRIZIbIjI4y޽~B޽IMb@Mb@Mb@ )YʡE?kt?~jty=? 0=D @)@IyIBI5٢a /=9Q > G٣y > Nusing accuracyPremultiplier from config~49Z?~4YM i(|B >?:ῑ?LC; ;0~4 AZj%FNOT Ignoring new targets: 441.00 m.Bj%"Jj%"= ProNav: ac range: 441.000000 m, nav range: 374.042755 m, bearing: 159.808486 deg, approach rate: 0.118045 m/s, LOS rate: -0.112024 deg/s, cmd heading: 254.169753 deg, new cmd heading: 254.012669 deg. 2j=Ù=HeadingCmd: 4.433357 target range: 441.000000 and range: 441.00 m. jEލ@jAjAjAiIhQhQhYhexBfifqfyrfbf`F@ iIiɛ}BzB}\= y}C?I ~<ɚiIߎ=I*i;i]<)ލ@)uWill 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 elapseEM 8<J5 J5 GJ1 J1 J5 /;J5 K:J1 J1 J5 <J5 <J5 ;J5 ;*F 2F :F BF `5JF G=G?G>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 elapseGBO?sJw,0+AfGzvA  = Y=vAy=Bb@Ybq@A[=9=yH`M|п?ܾ`пE??ɨb@;騵8Cy~BII0I5٢%4 %"=9%;Q %>)) -G٣-t@Gy5 5> =Nusing accuracyPremultiplier from config9E~49= ?E~4Y=qW i= |B⿑?=|C=W<=W<=iB~4B AEZjFNOT Ignoring new targets: 441.00 m.BjWJjW ProNav: ac range: 441.000000 m, nav range: 374.099121 m, bearing: 159.751904 deg, approach rate: 0.109031 m/s, LOS rate: -0.109432 deg/s, cmd heading: 254.012659 deg, new cmd heading: 253.842939 deg. 2j4HeadingCmd: 4.430395 target range: 441.000000 and range: 441.00 m. jō@jjjih h h h fffrfbf@ɛESRw,]IAWill 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:8@Y:.H@:d=9:=y:Hп?q`%ѿ`Ǹ)@?`v?ɨ:8@:7;: G٣y2+ > Nusing accuracyPremultiplier from config~49 ?~4Y` i{BQ@?:㿑?C;U;JKw3 K.-KK"KJ J DJ J J +;J :J J J =<J ><J B;J B;yXw,cA: @Y:@:=9:!=y:H hѿY?@$iwѿ`:?`?ɨ: @:w;::CyF~BFIIN6IN] 5٢V%= Zk=9^=:Q ^?`` bG٣bu@Gyf#{ f? jNusing accuracyPremultiplier from confighn~49j&?n~4Yj^g ij{Bpro俑r?j˙Cj ;j ;j9_~4t vAtZjFNOT Ignoring new targets: 441.00 m.Bj, Jj, - ProNav: ac range: 441.000000 m, nav range: 374.187469 m, bearing: 159.658201 deg, approach rate: 0.111016 m/s, LOS rate: -0.119927 deg/s, cmd heading: 253.678881 deg, new cmd heading: 253.561881 deg. 2j-=HeadingCmd: 4.425490 target range: 441.000000 and range: 441.00 m. j=@j9jAjAiAhAhAhIhIfIfIfIrfQbfU@ɛ}2zB}6= 隅?I F<ɚiI=Ii;i <)@)E*F?2F:FBFk0JFGsA GsA]Will 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 elapseG=<GG 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 elapse^w,n}Av@Y@Tb=9v=yHoѿ?`I- ѿK yI`?@?ɨv@;騉yޝ~BޥI p=p=Mb@Mb@Mb@ )Y\(\?Mb?y:?=K@ E@)I@y@I1I&5٢< ,=9:Q > G٣y@2 > Nusing accuracyPremultiplier from config~49k?~4Y=p i{B;?:濑?C3;;o~4B AE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 441.00 m.Bj%Jj%5 ProNav: ac range: 441.000000 m, nav range: 374.229797 m, bearing: 159.605607 deg, approach rate: 0.088979 m/s, LOS rate: -0.110548 deg/s, cmd heading: 253.561894 deg, new cmd heading: 253.404129 deg. 2j5=HeadingCmd: 4.422736 target range: 441.000000 and range: 441.00 m. j=@j9j9j9i9h9hAhIhM/yBfIfIfIrfQbfU@ɛ+zB̯= 隍?I  W<ɚiIh=I2#i;iɋ<)@)zK$LKh9KK/K*F?2F:FBF`0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseH-N>I) I-II-~BI)&I).I)6I-<:I-FG < a Ii G B O >̋ew,CA6@Y6̍@6w=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse963E=y6H ѿ@?.8@ҿM&LC??ɨ6@6R;4y ~B II%9I% 5٢] = ]C=9e`8Q e>y G٣y6 > Nusing accuracyPremultiplier from config~49H?~4Y)x i{Bx翑?Cz::~~4 nAZj9=FNOT Ignoring new targets: 441.00 m.BjEJjEU ProNav: ac range: 441.000000 m, nav range: 374.266449 m, bearing: 159.558582 deg, approach rate: 0.084136 m/s, LOS rate: -0.107939 deg/s, cmd heading: 253.404116 deg, new cmd heading: 253.263054 deg. 2jU']HeadingCmd: 4.420274 target range: 441.000000 and range: 441.00 m. j]r@jYjYjYiYhahaJiJihihqfqfqfqrfqbf}@ɛ%zB= 隭ӎ?I %f<ɚiIY =IsiH;iy<)r@)*F=?2FA:FABFAJFAu Will construct direction to contact in vehicle frame from tetrahedron phase data.} T****** received valid address query ******} R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapseGe 喇<G B! OE >kw,aAb:@Yb@b5=9bL=ybHѿAy?@e Xҿ Z κ??ɨb:@b!Ę;b8Cyz~BzI 5W$?I5$gI5I5٢|= o=9;Q ? G٣v@GyO ? Nusing accuracyPremultiplier from config~49A?%~4Y~ i{B)-近-??Cf<f<~41 5A1ZjFNOT Ignoring new targets: 441.00 m.BjJj ProNav: ac range: 441.000000 m, nav range: 374.295105 m, bearing: 159.520691 deg, approach rate: 0.081871 m/s, LOS rate: -0.108246 deg/s, cmd heading: 253.263059 deg, new cmd heading: 253.149395 deg. 2jHeadingCmd: 4.418291 target range: 441.000000 and range: 441.00 m. jb@jjjihhhhfffrfbf @ɛ} zB}P= y}]?Iy u<ɚiI@=Iie;iMY<)b@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?2Fy:FyBFo0JF"G=G=JJEJJJT1;JB:JJa@a@a@a@G Ӕ<G ?G ?Gi By O >zK KK 9K K 0K rw,ݶA"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@Y:@:nɄ=9:=y:H>ҿn?˙ҿ-3`?%?ɨ:.w@:mJ;:;CHI III&I.I6I<:IFy=~B=IMb@Mb@Mb@ )Yl? rh?Mbp?y7?C =;@ @)b@I@y@I4I{5٢j; 8=9H:Q > G٣ys > Nusing accuracyPremultiplier from config~49? ~4Y i{B7?:.近?hCT;;~4%B -A-EZjQUFNOT Ignoring new targets: 441.00 m.Bj]Jj]m ProNav: ac range: 441.000000 m, nav range: 374.331268 m, bearing: 159.472639 deg, approach rate: 0.085310 m/s, LOS rate: -0.113343 deg/s, cmd heading: 253.149405 deg, new cmd heading: 253.005264 deg. 2jmuHeadingCmd: 4.415775 target range: 441.000000 and range: 441.00 m. juN@jqjqjqiqhyhyhyh}yBfffrfbfEW @ɛzB+=  1I1eY?Ii m<ɚiiiIm9=IuOiu;iuG<)uN@)y*F%?2F!:F!BF%p0JF!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 Re<*J 4="J =G B) Om >xw,A6R@Y6Jb@64=96a=y6Hҿc?u徿 ҿ@6?)?ɨ6R@6K;67CyR~BRII^9I^ 5٢f&= fr=9j:Q j?hh jG٣hyryV r? vNusing accuracyPremultiplier from configtz~49vꊜ?z~4Yv͌ iv{Bxz近z?vCv ;v\ ;vɥ~4 xAZj)-FNOT Ignoring new targets: 441.00 m.Bj5Jj5E ProNav: ac range: 441.000000 m, nav range: 374.358124 m, bearing: 159.435777 deg, approach rate: 0.080473 m/s, LOS rate: -0.110449 deg/s, cmd heading: 253.005261 deg, new cmd heading: 252.894683 deg. 2jMMHeadingCmd: 4.413845 target range: 441.000000 and range: 441.00 m. jM8>@jQjQjQiQhQhQhahifqffrfbf !@ɛzB0= f?I {<ɚiI=IFiD;i$<)8>@)*FY2FY:FYBF]a5JFY}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 elapseGMzQ<G BO--> I%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~w,UAJ}J}FJyJyJ}l-;J}ǔ:JyJyyޥ~BޥI=Mb@Mb@Mb@999 9)9Y=w/?Q? rh?y=&?=u<=C<=@ =@)=@I=@9y=(@IU)IU5٢c= #=9Q > G٣w@Gy > Nusing accuracyPremultiplier from config~49i㊜?~4Y i{B'?:#쿑?C;;@~4B AEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 441.00 m.Bj7Jj7㺝- ProNav: ac range: 441.000000 m, nav range: 374.385895 m, bearing: 159.386095 deg, approach rate: 0.055523 m/s, LOS rate: -0.099323 deg/s, cmd heading: 252.894693 deg, new cmd heading: 252.745659 deg. 2j-T5HeadingCmd: 4.411244 target range: 441.000000 and range: 441.00 m. j5(@j1j1j1i1h9h9hAhEGzBfAfAfArfIbfM`"@ɛuzBu= q}ɜ?Iy }<ɚyiyI}E=Iśiи;izP<)(@)zK]JK9KK1K*F5?2F1:F1BF5/1JF9GA GAuWill 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 elapseHM>I IIIBI% =&I.I6I<:IF  I Gu P<GQ B O >Nʅw,=IAyz B~II <I  5٢=s= =~=99Q E ?AA EG٣AyI M ? UNusing accuracyPremultiplier from configQ]~49Uފ?]~4YUb iU|{BYae?U˚CU ;U` ;U|~4i mAiZjFNOT Ignoring new targets: 441.00 m.Bj*Jj*㺝 ProNav: ac range: 441.000000 m, nav range: 374.403900 m, bearing: 159.354134 deg, approach rate: 0.055944 m/s, LOS rate: -0.099302 deg/s, cmd heading: 252.745659 deg, new cmd heading: 252.649779 deg. 2jLHeadingCmd: 4.409571 target range: 441.000000 and range: 441.00 m. j4@jjjihhhhfffrfbf "@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  zB =  ş?I ,<ɚiI=Ii;i%f<)%4@)!*F?2F:FBF4JFG5[<GBO > 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,L32A XIX؅@YZ@=9=yH{kӿ9? jӿBNP??ɨ؅@;9Cy%'B%II=.I=5٢Mp= MI=9M;Q M>QQ UG٣Qy] ]> mNusing accuracyPremultiplier from configam~49e@؊?m~4Ye ieq{Bqu}?eCe;en ;e~4 5AZjFNOT Ignoring new targets: 441.00 m.BjJj㺝 ProNav: ac range: 441.000000 m, nav range: 374.422913 m, bearing: 159.313584 deg, approach rate: 0.046729 m/s, LOS rate: -0.099658 deg/s, cmd heading: 252.649790 deg, new cmd heading: 252.528148 deg. 2jɈHeadingCmd: 4.407448 target range: 441.000000 and range: 441.00 m. j @jjjihIhIhQhQfQfQfYrfYbfe`#@ɛzBz= 3?I !<ɚiI/=I+i);i_;)- @))*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 elapseJ JJ0JJ+;JJـ3JGJc<G B O >/ܒw,KAzKJK+9KK2K*Will construct direction to contact in vehicle frame from tetrahedron phase data.2 G٣y > Nusing accuracyPremultiplier from config~49Њ?~4Y ie{B?:?C4;3;@~4 AZjFNOT Ignoring new targets: 441.00 m.Bj%κJj%κU ProNav: ac range: 441.000000 m, nav range: 374.428528 m, bearing: 159.272818 deg, approach rate: 0.012463 m/s, LOS rate: -0.090475 deg/s, cmd heading: 252.528158 deg, new cmd heading: 252.405862 deg. 2jU^xmHeadingCmd: 4.405313 target range: 441.000000 and range: 441.00 m. jT@jjjihhhhzBfffrfbfRc$@ V$?Iɛ zB =  o?I <ɚiI=IM^iU_;iUU#;)]T@)YEi*F?2F:FBFN4JF"G =G =G@;G ?G?GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.`` bG٣bx@Gyf f? zNusing accuracyPremultiplier from configh~~49jʊ?~~4Yj׬ ij\{B|~~?j*Cj;j ;jN~4  A EZj1=FNOT Ignoring new targets: 441.00 m.Bj=ҺJjEҺU ProNav: ac range: 441.000000 m, nav range: 374.432617 m, bearing: 159.241162 deg, approach rate: 0.011911 m/s, LOS rate: -0.092204 deg/s, cmd heading: 252.405871 deg, new cmd heading: 252.310904 deg. 2jU}]HeadingCmd: 4.403656 target range: 441.000000 and range: 441.00 m. j]@jYjYjYiYhahahahafififirfibfu8%@ɛyB= 隵?I в<ɚiI=ImiJP;igA;)@))]ž= ]C]Will construct direction to contact in vehicle frame from tetrahedron phase data.u Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:1667>  BDAT read: Tx time:21:19:37.3203  $Ping request sent.  G٣y > Nusing accuracyPremultiplier from config~49?~4Y iO{B ?: ?PC; ;:~4%B %8A%EeB*** querying acoustic contact ***jajaZjqFNOT Ignoring new targets: 441.00 m.Bj;Jj; ProNav: ac range: 441.000000 m, nav range: 374.426666 m, bearing: 159.195690 deg, approach rate: -0.010883 m/s, LOS rate: -0.083156 deg/s, cmd heading: 252.310904 deg, new cmd heading: 252.174486 deg. 2jGdHeadingCmd: 4.401275 target range: 441.000000 and range: 441.00 m. j?׌@jjjihhhh%{Bfffrfbf )&@zKVBJK9KK3KBK!:K%qA=Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:21:19:37.3195 Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251121HyIy I}'II}BI}% =&Iy.Iy6I}=<:I}FɛyB= ?I Ȣ<ɚiIle=Ipi%g;i%'\;)%?׌@)!EsAEsA*FE ?2FA :FA BFE 5JFA GI  GI y Iy Gm ; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502887GaBiO>"Gw,A2@Y2M@2z=92=y2H`ӿ?`QaS@ZԿ< ko??ɨ2@2D;28Cy>mB>IIJIJ4٢R< Rm=9RnQ V?TT VG٣TyZ Z? ^Nusing accuracyPremultiplier from config\b49^?b4Y^ i^G{Bdf[f?^hC^:^:^ 4h jAhZj|~FNOT Ignoring new targets: 441.00 m.Bj5ƺJj5ƺu ProNav: ac range: 441.000000 m, nav range: 374.422607 m, bearing: 159.167119 deg, approach rate: -0.012308 m/s, LOS rate: -0.086643 deg/s, cmd heading: 252.174491 deg, new cmd heading: 252.088775 deg. 2jum}HeadingCmd: 4.399779 target range: 441.000000 and range: 441.00 m. j}ʌ@jyjyjyihhhhfffrfbff&@ɛyB>> r<q?I l<ɚ i I  =Isi;i. ;)ʌ@)!*F2F:FBF`0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754190G!<;GBO- >  I! ~kw,IA2@Y2y@2]p=92=y2H}Կ 4? ԝ 5O0xԿ䔘 q? ?ɨ2@2;25Cy^hBbIddIj"Ij5٢rJ rG=9rlQ v>tt vG٣vy@Gyz4 z> ]Nusing accuracyPremultiplier from configQe49UC?e4YUR iU={Baee?UCU` ;Ui:U4i u#AqZjFNOT Ignoring new targets: 441.00 m.Bj}Jj} ProNav: ac range: 441.000000 m, nav range: 374.417206 m, bearing: 159.131656 deg, approach rate: -0.012750 m/s, LOS rate: -0.083706 deg/s, cmd heading: 252.088786 deg, new cmd heading: 251.982398 deg. 2jeHeadingCmd: 4.397923 target range: 441.000000 and range: 441.00 m. jȻ@jjjihhhhfffrfbf'@ɛ yB = V?I  <ɚiI =IJPi%hx;i%z#;)%Ȼ@)!uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006172*F?2F:FBFo0JFJJBJ0JJ+;J:Jـ3JG$;G B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259087HM L>II  IM @IIM BIM & =&II .II 6IM <:IM ~FzKe yJKe ػ9Ka Ke 4Ke RKm ?JKm >3Uw,R,AR@YR@R=9R=yRHԿ?@QehԿ@.9ٰWJ?`?ɨR@Rl^;R8CyZYB bU$?I`f IMMb@Mb@Mb@III I)IYMZd;?Zd;Q?yM>MyMu G٣yq ; > Nusing accuracyPremultiplier from config49?4YH i2{B?:?C;;i(4 ^AEZjFNOT Ignoring new targets: 441.00 m.BjJj ProNav: ac range: 441.000000 m, nav range: 374.400696 m, bearing: 159.099846 deg, approach rate: -0.037580 m/s, LOS rate: -0.072408 deg/s, cmd heading: 251.982399 deg, new cmd heading: 251.886965 deg. 2jFHeadingCmd: 4.396257 target range: 441.000000 and range: 441.00 m. j#@jjjihhhhm{BfffIrfIbfU(@ɛyB= ?I 0<ɚiID =I ݆iL;i ;)#@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511059*F?2F:FBFf0JFG (;G% ?G% ?G B O= >}w,A6՚@Y61@6hA=96=y6Hӿ`?WWFԿc>$ॕ? ?ɨ6՚@6W;67Cy>LB>IIF:IF# 5٢j jW=9j)H;Q n>rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762177tt vG٣tyz; z> ~Nusing accuracyPremultiplier from config|49~ۥ?4Y~ i~({B ?~C~;~2:~54 AZjAMFNOT Ignoring new targets: 441.00 m.BjM@JjM@e ProNav: ac range: 441.000000 m, nav range: 374.386169 m, bearing: 159.070763 deg, approach rate: -0.040663 m/s, LOS rate: -0.081417 deg/s, cmd heading: 251.886967 deg, new cmd heading: 251.799713 deg. 2je_mHeadingCmd: 4.394734 target range: 441.000000 and range: 441.00 m. jm@jijijiiihihihqhqfqfyfyrfybf}?)@ɛyBd> 隭֬?I <ɚiI =IȸivW;i/<)@) IEG<*F?2F:FBFe0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014412G @;Gq B O >w,tA2@Y2쿌@2=92=y2Hӿy?*|]+ ԿP`l?H?ɨ2@2ޓ;0y>5B>I@@MMb@Mb@Mb@III I)IYMbX9?T㥛 ~jtx?yME>MM;M@ M=@)MZ@IMj@IyMp@ImFImt5٢}Q }<=9}%;Q > G٣z@Gy; > Nusing accuracyPremultiplier from config49@?4Y i{Bd>:?ӛC;;D4 AZjFNOT Ignoring new targets: 441.00 m.BjJj ProNav: ac range: 441.000000 m, nav range: 374.369507 m, bearing: 159.038776 deg, approach rate: -0.038597 m/s, LOS rate: -0.074097 deg/s, cmd heading: 251.799705 deg, new cmd heading: 251.703740 deg. 2jhK-HeadingCmd: 4.393059 target range: 441.000000 and range: 441.00 m. j-@j1j1j9i9h9hAhAhE{BfIfIfQrfYbf]!*@ɛyBZ= ?I %ޖ<ɚAiAIE =IMiM";iM?/><)M@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266275HM>I IFIIBI&I.I6I<:IFzKJK9KK5KEE}<*F?2F:FBFw0JF YIYG= 6;<G B O= >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518137׮Ǿw,9 A6Å@Y6 ӌ@6u =96FP>y6Hcӿ"?b%ӿƛ@?:?ɨ6Å@6Փ;68Cy>B>IIJ0IJ5٢Nw RZ=9RX;Q R>TT VG٣TyV'; Z> ^Nusing accuracyPremultiplier from configXb49Z?f4YZ iZ {Bdff?ZCZ>;Z>;ZQ4jB j>AnEzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 441.00 m.Bj bJj b ProNav: ac range: 441.000000 m, nav range: 374.355652 m, bearing: 159.011139 deg, approach rate: -0.036899 m/s, LOS rate: -0.073606 deg/s, cmd heading: 251.703727 deg, new cmd heading: 251.620814 deg. 2jJ%HeadingCmd: 4.391612 target range: 441.000000 and range: 441.00 m. j%@j!j!j!i)h)h)h)h)f1f1f1rf1J JJ1JJ+;JJ3JJ !% ?I! -|<ɚ)i)I-8, =I5i=;i=Sp<)=@)qEm<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771557*F5?2F1:F1BF5o0JF1 Q IU 'gGU =<GY GY G9 BI Oe >xaξw,3Q11 5G٣1y= => ENusing accuracyPremultiplier from configAM49E?M4YEb iEzBQQU?ECEz:EC:Ea4]B ] A]EZj1=FNOT Ignoring new targets: 441.00 m.Bj]lJjelm ProNav: ac range: 441.000000 m, nav range: 374.338837 m, bearing: 158.977392 deg, approach rate: -0.035159 m/s, LOS rate: -0.070564 deg/s, cmd heading: 251.620809 deg, new cmd heading: 251.519564 deg. 2juAHeadingCmd: 4.389844 target range: 441.000000 and range: 441.00 m. jy@jjjihhhh!f)f1fIrfQbf1+@ɛyBau= %?I  k<ɚiI =I%Yi%;i%j<)%y@)QEYEY*EY"EYHI I3IIBI% =&I.I6I<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274986zK yJK h9K K 6K *F ?2F :F BF a0JF = T$?I9 G mo<GBO ?&׾w,]A.Will construct direction to contact in vehicle frame from tetrahedron phase data.,i.A2BDAT read: Rx Time:21:19:40.3121 2TRx dataTimestamp_ set to:1736371181.4808926checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527454B@YBz@B<̒=9B=yBH`"Qӿ$-?@0@kӿ@0˞Uƿ?s?ɨB@B;B7CyJ~BJI%Mb@Mb@Mb@!!! !)!Y%Zd;O?J +y&1|y%j>%H%`! !)!I%@!y%f@I=>I= 5٢M  =9=;Q E>ii mG٣m{@Gyu`; u> }Nusing accuracyPremultiplier from configy49}{?4Y}$ i}zB>:?}*C}1;}/;}u4 AJ J EJ J J l-;J B:J J J <J <J ';J (;ZjIMFNOT Ignoring new targets: 441.00 m.BjṶJjṶ ProNav: ac range: 441.000000 m, nav range: 374.328461 m, bearing: 158.934714 deg, approach rate: -0.018470 m/s, LOS rate: -0.075974 deg/s, cmd heading: 251.519558 deg, new cmd heading: 251.391520 deg. 2jPHeadingCmd: 4.387610 target range: 441.000000 and range: 441.00 m. jMg@jjjihhhhQ{Bfffrfbf4,@ɛmyBm-= iuN?Iq ua=ɚqiqIu=I8i;iG<)Mg@)*Fy2Fy:FyBF}o0JFy Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778184 i Ii G `L<Gq B O >Kݾw,]wA6@Y6@60=96$=y6HBӿ.?@rmӿP@סп?@?ɨ6@6L;66CyBo~BByIIJMIJ5٢R? RV=9RY;Q V>TT VG٣TyZ*; Z? bNusing accuracyPremultiplier from config`f49bӀ?f4YbH ibzBdjj?b@Cb:b:bǁ4l nApZjFNOT Ignoring new targets: 441.00 m.BjJj ProNav: ac range: 441.000000 m, nav range: 374.322388 m, bearing: 158.908573 deg, approach rate: -0.017640 m/s, LOS rate: -0.075931 deg/s, cmd heading: 251.391533 deg, new cmd heading: 251.313108 deg. 2jqPHeadingCmd: 4.386241 target range: 441.000000 and range: 441.00 m. j\@jjjihhhhff f rf bf ` -@ɛeyBe= ae?Ia e=ɚiiiIm\=Iui;ig<)\@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033927*F?2F:FBF0JFG<G?G>GaBOd>H L>I  I II MBI & =&I .I 6I <:I FBIJIRIZIbI% =jI4% Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: 21:19:40.3121 LVL= 23456, 31345, 24418, 32755, AGC= 73, IDX= 221,-0.37,-0.636,-2.249,-0.921,-1.298, PHS= 0.750,-0.904, 0.374, RAW= 137.5, -3.0, CAL= 142.8, -12.5, ROT= 7.2, 12.5 e Ygot valid direction response: 21:19:40.3121 LVL= 23456, 31345, 24418, 32755, AGC= 73, IDX= 221,-0.37,-0.636,-2.249,-0.921,-1.298, PHS= 0.750,-0.904, 0.374, RAW= 137.5, -3.0, CAL= 142.8, -12.5, ROT= 7.2, 12.5 m PDAT read: Bearing 7.2, 12.5 (Local) u ~Local bearing/azimuth received: Bearing 7.2, 12.5 (Local)  DAT read: Range 10 to 50 : 440.6 m (Round-trip 587.5 ms) speed 0.3 m/s  ,DAT read: user:1668>  BDAT read: Tx time:21:19:41.4204  $Ping request sent. % ǖ@% PwV % W@)% f_I% >i% f_>! ! zK K K K 7K '5!% #b{?1?:.{)% ,>I% QS=i% տ% @P! ! = :publishing transmit ping timeؑ E Fpublishing direction and range info! 9% rtBHMz: A?y! ! ! ! ! )! I! i! ! ! ! ! ! )! I! i! ! ! % #b{?1?:.{)! I! i! ! P4w,bA2@Y2:@2=92V=y2HT4ӿ@1? onӿb ޲ן?˪?ɨ2@2đ;25CQQyR1~BRSI I5Mb@Mb@Mb@111 1)1Y5Pn?Mb{Gzy5?55#5@ 5@)5@I11y5G@I}FI}t5٢ $=9Q:Q > G٣|@GyE: E> Nusing accuracyPremultiplier from config49x?4Y izB_?:?cCo<<C4 AkU"!?kUJ kQ kUA:kULCBkUCZkU13@"Uj=7yr:At@UrtBHMz: A?JkUտRkU@P*U@~t00[@4Ȏ=q@U;@翻$㓣 ?R*~w?"kUB*kUkU,>!?kU* 2kUCkUW?{?kU* kU CkUCkUN5@E addTargetRange:: Added new target pos. range: 440.600006 m, deltaT: 15.123947 s, deltaX: -0.399994 m, approachRate: -0.026448 m/s, rangeRepo size: 4 U Added new target pos. range: 440.600006 m, bearing: 160.973695 deg, lat: 36.901613 deg, lon: -122.113023 deg, deltaT: 15.123947 s, deltaX: -0.399994 m, approachRate: -0.026448 m/s, posRepo size: 4 ZjQ}Will construct direction to contact in vehicle frame from tetrahedron phase data.FNOT Ignoring new targets: 440.60 m.BjJj ProNav: ac range: 440.600006 m, nav range: 363.468811 m, bearing: 162.315358 deg, approach rate: 0.000000 m/s, LOS rate: -0.075931 deg/s, cmd heading: 251.313095 deg, new cmd heading: 251.186779 deg. 2jHeadingCmd: 4.384037 target range: 440.600006 and range: 440.60 m. jJ@jjjihhhh'{Bfffrf{@bf ]?ɛeyBe8= aeR?Ia eާ =ɚiiiIm=IuNi;ig<)J@)*F) 2F) :F) BF- o0JF) JU JU <JQ JQ JU L*;JU :JQ JQ JU <JU <JU ;JU ;G -< 9GG B vAO>7w, AWill construct direction to contact in vehicle frame from tetrahedron phase data.A FYFvAyFdBy}}B}"II8I@ 5٢lH L=9Q > G٣y > Nusing accuracyPremultiplier from config49r?4Y izB   ?|C::`4 AIAA E0 AAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 440.60 m.Bj)ºJj )º ProNav: ac range: 440.600006 m, nav range: 363.457977 m, bearing: 162.284971 deg, approach rate: -0.030259 m/s, LOS rate: -0.084874 deg/s, cmd heading: 251.186791 deg, new cmd heading: 251.095629 deg. 2jh%HeadingCmd: 4.382445 target range: 440.600006 and range: 440.60 m. j%<@j!j!j!i!h!h)h)h)fQfQfQrfQbf]|?ɛyB= 隭?I y=ɚiIEw=IqKil;i<)<@)*F2F!:F!BF%0JF!G<GWill 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.BO>J @AJ @Aw,ߩA6@Y6dÌ@6I=96N =y6Hӯӿt/? L[Կ`@ 0??ɨ6@6K;68CyR}BRImMb@Mb@Mb@iii i)iYm@5^I ?y&1|~jtymb?m`廹mm3@ mj@)m@Im@iym@I]I5٢#O O=9Q > G٣y{ > Nusing accuracyPremultiplier from config49m?4Y/ izBz?:P?C;;4B i!A EZjFNOT Ignoring new targets: 440.60 m.Bjl׺Jjl׺  ProNav: ac range: 440.600006 m, nav range: 363.455200 m, bearing: 162.250547 deg, approach rate: -0.007597 m/s, LOS rate: -0.094168 deg/s, cmd heading: 251.095622 deg, new cmd heading: 250.992349 deg. 2j @HeadingCmd: 4.380643 target range: 440.600006 and range: 440.60 m. j:.@jjjihhh!h%zBf!f!f!rf)bf- ?ɛUyB]+2= Y]Cq?IY ]:=ɚaiaIe=Ieim;imjڪ<)m:.@)ijH<bH<HM>I III~BI&I.I6Iı<:IdF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.995601*F)2F):F)BF5P5JF1zKLK]9KK8KRK>JK> MS$?IIGIGQGUnAG) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246261!;w,AJd@YJ@J=9Ja=yJHӿJ'?{/0UBԿ@,`]ϲ-޻?` ?ɨJd@J);J6CynF}BnII @I  5٢%n< -Q=95:Q =>AA MG٣M}@GyUjѻJaJeBJaJaJaJe:JaJaJaJaJex;Jex; u> }Nusing accuracyPremultiplier from configy49}f?4Y} i}lzB?}C}:}:}4 "AZjFNOT Ignoring new targets: 440.60 m.BjʺJjʺ ProNav: ac range: 440.600006 m, nav range: 363.451904 m, bearing: 162.215299 deg, approach rate: -0.008280 m/s, LOS rate: -0.088551 deg/s, cmd heading: 250.992349 deg, new cmd heading: 250.886604 deg. 2jsHeadingCmd: 4.378797 target range: 440.600006 and range: 440.60 m. j@jjjihhhhfffrfbf?ɛ%yB%= !%r_?I! -=ɚ)i)I-=I5i4m;iM<)@)*Fi2Fi:FiBFm5JFieWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498364 9I=(gGJ<Gi Bq O >7ew,`A:@Y:@:=9:l=y:Hyӿ? t=N`tkԿ@n,`AJ?`?ɨ:@:;:5CyF}BFIiJ=IJ> N=N=IRhIR5٢Z  ZR=9^q;Q ^>`` bG٣`yb˻ b> jNusing accuracyPremultiplier from configdj49f2a?n4Yf ifTzBlnr?fМCf;f;f=4t vA#AtZjFNOT Ignoring new targets: 440.60 m.Bj%3ʺJj%3ʺ5 ProNav: ac range: 440.600006 m, nav range: 363.448395 m, bearing: 162.181557 deg, approach rate: -0.009193 m/s, LOS rate: -0.088389 deg/s, cmd heading: 250.886591 deg, new cmd heading: 250.785363 deg. 2j5r=HeadingCmd: 4.377030 target range: 440.600006 and range: 440.60 m. j=@j9j9j9iAhAhAhAhAfIfIfIrfIbfU?ɛ}yB}= L<隅T?I =ɚiI=IinF;i)<)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752710*F?2F:FBF`0JFGK<GBO>HI IFII~BI&I.I6I<:IFm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002184 ! I! zK= >`JK= 9K9 K= 9K= BKM qA:KM rALw,;A2r@Y2 @2ď=92Rq=y2HI*Կ M?E ֞Կt:??ɨ2r@2g ;26Cy}|B}IMb@Mb@Mb@ )YMb?/$?V-y#?< @)@I@y@IqI#5٢ %)=9%G;Q %>)) -G٣)y5ϻ 5> =Nusing accuracyPremultiplier from config9E49=Y?E4Y= i=/zBMT#?M:MUM?=C=;=K;=#4Q UH$AYZjyFNOT Ignoring new targets: 440.60 m.BjJj亝 ProNav: ac range: 440.600006 m, nav range: 363.457001 m, bearing: 162.133278 deg, approach rate: 0.017823 m/s, LOS rate: -0.099984 deg/s, cmd heading: 250.785367 deg, new cmd heading: 250.640536 deg. 2j<HeadingCmd: 4.374503 target range: 440.600006 and range: 440.60 m. j@jjjihhhhzBfffrfbf @ɛyB^= !%E?I) -e=ɚ)i1I5@V=I=Oi=pT;i=T$<)=@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254236*F?2F:FBF5JFG= Fթ<G] ?G] >G B) OE >o w, /AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506274>\@Y>k@>b=9>#=y>HSԿ`9 ? 9 = =Կ卢 -糿E? ?ɨ>\@>DY;>3CyF|BJJIININ(*5٢V Z~=9Z/;Q Z ?\\ ^G٣\y^ b ? fNusing accuracyPremultiplier from config`j49b#U?j4Yb jtIibzBhjj?bCb;b;b`4p r%ApZjFNOT Ignoring new targets: 440.60 m.Bj:ֺJj:ֺ I ProNav: ac range: 440.600006 m, nav range: 363.462311 m, bearing: 162.101180 deg, approach rate: 0.015492 m/s, LOS rate: -0.093647 deg/s, cmd heading: 250.640540 deg, new cmd heading: 250.544246 deg. 2jHeadingCmd: 4.372822 target range: 440.600006 and range: 440.60 m. j(@jjjihhhhfffrfbf%@ɛUyBUrh= QUG0?IQ ]ٴ=ɚYiYI]2=Iĕif;iיִ<)(@)*F=?2F9:F9BF=`0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758161G]7ͤ<GA BI O >JK KKK"KJ J FJ J J +;J ǔ:J J a @a @a @a @wRw,^IAy5b|B=6I)A AMb@Mb@Mb@ )Y/$?l?S㥛y&1?=/ݼI@ @)Iy@IwI+&5٢ 6=9Q > G٣~@Gy% %> -Nusing accuracyPremultiplier from config)549-IN?54Y- i-yB=1?=:=&뿑=?-9C-F;-;- 4EB E&AEEuB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 440.60 m.BjJjZHRH@AHL>I IIIp}BI&I.I6I<:I`F ProNav: ac range: 440.600006 m, nav range: 363.476685 m, bearing: 162.052515 deg, approach rate: 0.033463 m/s, LOS rate: -0.113291 deg/s, cmd heading: 250.544234 deg, new cmd heading: 250.398245 deg. 2jHeadingCmd: 4.370274 target range: 440.600006 and range: 440.60 m. jHً@jjjihhMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010006hhyBfffrfbfC@ɛyB= (?I E!=ɚAiAIE!=IMKiM;iM*Q<)MHً@)Q IzKEJKES9KAKE:KE CE5%<*F] ?2Fa :Fa BFe 25JFi  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265251G<G!G%rAGBO=?ow,2kA6&$@Y63@6sn=96/=y6H`۽Կr?@eK+`z7տ'ܽ?Ǯ?ɨ6&$@6z;4yB|BB IIJIJ,5٢R{  R)=9V,:Q V>TT VG٣TyZh Z> bNusing accuracyPremultiplier from config`f49bF?f4YbZ ibyBdf쿑f?bcCb":b":b4rB r''ApZj  FNOT Ignoring new targets: 440.60 m.Bj%Jj%% ProNav: ac range: 440.600006 m, nav range: 363.490234 m, bearing: 161.999812 deg, approach rate: 0.028002 m/s, LOS rate: -0.108910 deg/s, cmd heading: 250.398232 deg, new cmd heading: 250.240130 deg. 2j%|-HeadingCmd: 4.367514 target range: 440.600006 and range: 440.60 m. j-‹@j)j)j)i)h)h1h1hfffrfbf' @uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:21:19:44.4221 }TRx dataTimestamp_ set to:1736371185.764697checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515272ɛyB⥞= 隍?I z!=ɚiI %=I4i;iˑ<)‹@) R$?I)gEM<*F}?2F:FBF`0JFG <% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766857G B O >X!w,aAJNJNIJLJLJN+;JNU:JLJL@YH@נ=9=yHԿe?r`!nտ@``>?o?ɨ@;騍5Cy{BIMb@Mb@Mb@ )Y+?)\(?Mbyv>?Ga= @)@IyI~IE)5٢ڽ "=9{9Q > G٣@Gy > Nusing accuracyPremultiplier from config49>?4Y# iyB??:(꿑?C ;;U 4 (AZjFNOT Ignoring new targets: 440.60 m.BjJj5 ProNav: ac range: 440.600006 m, nav range: 363.511292 m, bearing: 161.940739 deg, approach rate: 0.041756 m/s, LOS rate: -0.117135 deg/s, cmd heading: 250.240127 deg, new cmd heading: 250.062918 deg. 2j5Ǡ=HeadingCmd: 4.364421 target range: 440.600006 and range: 440.60 m. j=W@j9j9j9i9h9HM>I I~II|BI&I.I6I<:IFhhh/yBfffrfbf`3@ɛ]yB]s= Ye} ?Ia e#=ɚaiaIem8=Imim;im <)mW@)q}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:19:44.4221 LVL= 19760, 32753, 23330, 32755, AGC= 75, IDX= 33,-0.19, 2.030, 0.484, 1.694, 1.363, PHS= 0.756,-0.832, 0.328, RAW= 134.9, -3.6, CAL= 140.4, -13.5, ROT= 9.6, 13.5 Ygot valid direction response: 21:19:44.4221 LVL= 19760, 32753, 23330, 32755, AGC= 75, IDX= 33,-0.19, 2.030, 0.484, 1.694, 1.363, PHS= 0.756,-0.832, 0.328, RAW= 134.9, -3.6, CAL= 140.4, -13.5, ROT= 9.6, 13.5 PDAT read: Bearing 9.6, 13.5 (Local) ~Local bearing/azimuth received: Bearing 9.6, 13.5 (Local) EE*E"E%DAT read: Range 10 to 50 : 448.2 m (Round-trip 597.6 ms) speed 0.4 m/s -,DAT read: user:1669> 5BDAT read: Tx time:21:19:45.5204 ]$Ping request sent.]}K@} } @)}:FqI}+>i}:Fq>yy}s*?nm?)b )}u,>I} =i} ӿ}\yy:publishing transmit ping timeYFpublishing direction and range infoy9}Mi+LkJD俐psI?yyyyy y)yIyiyyyyy I1 y)yIyiyyy}s*?nm?)b )yIyiyyyyzKmMKm9KiKm;KmwdZWRNOLJIIGFHHGCCB=9- *F5 ?2F9 :F9 BF= 5JF9 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 JDAT read: TxSync time:21:19:45.5196 G]喇<G9BAOe ?T)w,A 6@Y6R@6,=96T;=y6H@'տ !?|`@xտ`JΡ ?(?ɨ6@6܀;67Cy>{B>IIJ{IJ'5٢V4 V;=9Z'pQ Z>\\ bG٣`ybZ f> nNusing accuracyPremultiplier from confighr49jy7?r4Yj5, ijyBtu꿑}?jCj!?kkCkfCkdL3@] addTargetRange:: Added new target pos. range: 448.200012 m, deltaT: 4.032063 s, deltaX: 7.600006 m, approachRate: 1.884893 m/s, rangeRepo size: 4  Added new target pos. range: 448.200012 m, bearing: 160.483094 deg, lat: 36.901848 deg, lon: -122.113023 deg, deltaT: 4.032063 s, deltaX: 7.600006 m, approachRate: 1.884893 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 448.20 m.BjJj ProNav: ac range: 448.200012 m, nav range: 338.800964 m, bearing: 160.516281 deg, approach rate: 0.000000 m/s, LOS rate: -0.117135 deg/s, cmd heading: 250.062924 deg, new cmd heading: 249.894654 deg. 2jHeadingCmd: 4.361485 target range: 448.200012 and range: 448.20 m. jH@jjjihhhhfffrf@3|@bf%?ɛ5yB5= 15?I9 =%=ɚ9i9I=J=IELiEL;iEK<)MH@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JF I*gGɎ<G B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.l0w,A2@Y2΋@2!=92lJ=y2H }տ?`>`a @տ``rͳ??ɨ2@2};25Cyb{BfIInZInQ5٢v  vG=9v Q v>xx zG٣xy~\ ~>  Nusing accuracyPremultiplier from config490?4Y3 ioyB!-J뿑-?C;{;"4MB M(AMEZjquFNOT Ignoring new targets: 448.20 m.Bj}vJj}v ProNav: ac range: 448.200012 m, nav range: 338.823120 m, bearing: 160.465092 deg, approach rate: 0.059209 m/s, LOS rate: -0.136789 deg/s, cmd heading: 249.894656 deg, new cmd heading: 249.741099 deg. 2jHeadingCmd: 4.358804 target range: 448.200012 and range: 448.20 m. jS{@jjjihhhhfffrfbf?ɛyB= >I T''=ɚiI*L=IRi;iv<)S{@)JJCJJJJ9:JJ*F]?2FY:FaBFe`0JFajH<bH4=HI I-IIS|BI% =&I.I6I <:IFBIJIRIZIbI& =jIL4Will construct direction to contact in vehicle frame from tetrahedron phase data.G~<GiBqO> I zK tNK ]9K K <K RK ?JK ?՘6w,zA6Α@Y6*@6=96&=y6H`տM?Մ`IAֿObA?Ŷ?ɨ6Α@6;4y>{B>ImMb@Mb@Mb@iii i)iYmPn?I 5٢ @=9Q > G٣@GyR > Nusing accuracyPremultiplier from config49)?4YC< iWyBD?:鿑?C;;"4B )AE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 448.20 m.BjJj%5 ProNav: ac range: 448.200012 m, nav range: 338.851379 m, bearing: 160.409964 deg, approach rate: 0.066387 m/s, LOS rate: -0.129496 deg/s, cmd heading: 249.741086 deg, new cmd heading: 249.575716 deg. 2j5=HeadingCmd: 4.355918 target range: 448.200012 and range: 448.20 m. j=c@j9j9j9i9h9hAhAhE9yBfAfIfIrfIbfM`?ɛ}yB}$= y}&>Iy (=ɚiIT=Ii߄;i}T<)c@)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:FBFJF G-l o<G)G))q qvG G % A e Yi ym BBi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484352 I pp rG٣pyre v> zNusing accuracyPremultiplier from configt~49vo#?~4YvC ivByB|c꿑?v3Cv;v:v9)4   )A Zj15FNOT Ignoring new targets: 448.20 m.Bj=Jj=U ProNav: ac range: 448.200012 m, nav range: 338.875244 m, bearing: 160.360815 deg, approach rate: 0.063621 m/s, LOS rate: -0.131015 deg/s, cmd heading: 249.575713 deg, new cmd heading: 249.428279 deg. 2jUԳ]HeadingCmd: 4.353345 target range: 448.200012 and range: 448.20 m. j]N@jYjYjYiahahahahafififirfqbfu?ɛyB\= z>I g*=ɚi!I%P=I%i-P;i-M/<)-N@)1*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736311GEzQ<JJBJ0JJJ:Jـ3JG! B) OE >#Cw,?RAH:L>I8 I:II: |BI8&I8.I86I:<:I:Fb(@Yb7@bF=9bD=ybHЖֿ`?`!J׿@0d oB??ɨb(@bg;b5Cyj{BjI]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.988324Mb@Mb@Mb@ )Y"~j?Q?ySC?\=QA @)`@IK@yQ@II*5٢   9=9:Q 5>99 =G٣9yEщ E> MNusing accuracyPremultiplier from configIu49M?u4YM]L iM,yBu%D?}:}뿑}?M_CM ;M;M 14 3)A Q$?IZjFNOT Ignoring new targets: 448.20 m.Bj*Jj*- ProNav: ac range: 448.200012 m, nav range: 338.900024 m, bearing: 160.303173 deg, approach rate: 0.053811 m/s, LOS rate: -0.125163 deg/s, cmd heading: 249.428291 deg, new cmd heading: 249.255375 deg. 2j5̫=HeadingCmd: 4.350327 target range: 448.200012 and range: 448.20 m. j=5@j9jAjAiAhAhAhIhMoyBfIfYfYrfYbf]@Ϧ@zK&~JK 9KK=KɛyBv= 7>I A,=ɚ!i!I%Z=Imgim4;imC;)m5@)q*F2F:FBF n0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240251GE 2<G B O% >Iw,H)A^&@Y^!@^=9^=y^Hnֿw?@/@~`k0׿@VGx#S? 1?ɨ^&@^;^3Cyn{BnIIzIz|+5٢:= Z=9X:Q >!! %G٣%@Gy%{ -> 5Nusing accuracyPremultiplier from config1=495L?=4Y5S i5yB9=쿑=?5C5:5L:574MB M(AMEZjquFNOT Ignoring new targets: 448.20 m.Bj};Jj}; ProNav: ac range: 448.200012 m, nav range: 338.919983 m, bearing: 160.255498 deg, approach rate: 0.056087 m/s, LOS rate: -0.133966 deg/s, cmd heading: 249.255377 deg, new cmd heading: 249.112364 deg. 2j෻HeadingCmd: 4.347831 target range: 448.200012 and range: 448.20 m. jn!@jjjihhhhfffrfbf`#t@ɛyBD= l?I -=ɚiIJ=IiP;i4=;)n!@)*F?2F:FBF0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.492920G}Mh <G9BAOe4> yI}+g% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746901Pw, CAB(@YB@B=9B_=yBH<ֿ ?@*@1h׿Ý@}l?@ű?ɨB(@B2;B4Cyn{BnIirN>Ir<IzqIz#5٢% %J=9-P9Q ->)) -G٣1y5j 5> =Nusing accuracyPremultiplier from config9E49=,?E4Y=^[ i=yBIM쿑M?=C=*:= :=>4Q U(A]EZjFNOT Ignoring new targets: 448.20 m.BjJj ProNav: ac range: 448.200012 m, nav range: 338.940979 m, bearing: 160.203384 deg, approach rate: 0.051757 m/s, LOS rate: -0.128457 deg/s, cmd heading: 249.112353 deg, new cmd heading: 248.956020 deg. 2jQHeadingCmd: 4.345102 target range: 448.200012 and range: 448.20 m. j @jjjihhhhfffrfbfH@ɛyBd= p?I +a/=ɚiIJA=Ii,;i"8;) @)*F?2F!:F!BF5 1JF9ZHYRHYHeM>Ia IeIIe{BIa&Ia.Ia6Ie<:IeFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996182 qIqG}1X<Ga Bq O >zK BIK h9K K >K Vw,\AJ܃@YJ@J`=9J=yJH#׿ń?@V&`*׿]+Q? ?ɨJ܃@J;J3CyR{BRI-Mb@Mb@Mb@))) )))Y-Cl? ףp= ? G٣yۻ > Nusing accuracyPremultiplier from config49?4Y6c ixB;?:?ӞC;;F4 h(A uB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 448.20 m.Bjq Jjq  ProNav: ac range: 448.200012 m, nav range: 338.951782 m, bearing: 160.150543 deg, approach rate: 0.024746 m/s, LOS rate: -0.121037 deg/s, cmd heading: 248.956024 deg, new cmd heading: 248.797505 deg. 2j"HeadingCmd: 4.342336 target range: 448.200012 and range: 448.20 m. jj@jjjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248349ihhhhyBfffrfbf`@ @ɛyB= 隵 ?I kl1=ɚiI9=Imi;i(;)j@)JJDJ1JJ,;J:J3JJ Y IY ]w,vA6Ń@Y6Ԋ@6K=96f=y6HN׿z?ٳ/׿I@??ɨ6Ń@6FO;62CyB{BBIIJ~IJE)5٢z= zZ=9~٣Q ~> G٣@Gy:  > Nusing accuracyPremultiplier from config 49 ?4Y j i xBI? C m ; ; L4) -'A)ZjquFNOT Ignoring new targets: 448.20 m.Bj} Jj}  ProNav: ac range: 448.200012 m, nav range: 338.960724 m, bearing: 160.104187 deg, approach rate: 0.024294 m/s, LOS rate: -0.125941 deg/s, cmd heading: 248.797509 deg, new cmd heading: 248.658447 deg. 2jݬHeadingCmd: 4.339909 target range: 448.200012 and range: 448.20 m. j@jjjihhhhfffrfbfJ! @ɛyBf= ?I -3=ɚiI=ILiɚ;i;)@)Ei>E>*Fu?2Fq:FqBFu5JFqG}rA GyWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756978G&;GBO>He L>Ia  Ie IIe |BIa &Ia .Ia 6Ie 8<:Ie Fdw,!ABд@YB,Ċ@B_=9BB=yBH`m׿Qq?-@׿&+ i??ɨBд@Bf{;B4CyJ|BJI)P PWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=4.008274=Mb@Mb@Mb@999 9)9Y=Dl?y&1|?y&1?y=O-?=`;=`e<=A =@)=hAI=@9y=@I]nI]."5٢mv= m?=9uv9Q u> P$?I G٣y] e> Nusing accuracyPremultiplier from configi49m?4Ymq imxB[-?:/?mCm;mw;mT4B r'AEZj%FNOT Ignoring new targets: 448.20 m.Bj%Jj-= ProNav: ac range: 448.200012 m, nav range: 338.954376 m, bearing: 160.051922 deg, approach rate: -0.013581 m/s, LOS rate: -0.111825 deg/s, cmd heading: 248.658446 deg, new cmd heading: 248.501648 deg. 2j=}EHeadingCmd: 4.337172 target range: 448.200012 and range: 448.20 m. jEʊ@jAjAjAiAhIhIhQhUzBfQfQfYrfYbf] o@ɛyBB1= Y?I ]5=ɚiI.=Ii0;iZ;)ʊ@zK KK 9K K ?K 8W>}4 yt)*F2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.260538G% o;G B O% >Je Je FJa Ja Je l-;Je ǔ:Ja Ja Je <Je <Je ;Je ;0jw,AZ@YZN@Z$=9Z=yZH׿l?E٩׿[皿 Ҿ??ɨZ@Z;Z3Cyf|Bf IIvhIv5٢z,q= ~T=9~K:Q ~> G٣yIU  > Nusing accuracyPremultiplier from config 49 D?4Y w i xBW%?  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.764182qw,ڐAy#|BII-lI-K!5٢]< ]D=9eQ e>ai mG٣m@Gym m> uNusing accuracyPremultiplier from configq49u剜?4Yu~ iuxB?u`Cu;u;u b4 &AZjFNOT Ignoring new targets: 448.20 m.BjJj ProNav: ac range: 448.200012 m, nav range: 338.943726 m, bearing: 159.963735 deg, approach rate: -0.013549 m/s, LOS rate: -0.114246 deg/s, cmd heading: 248.379911 deg, new cmd heading: 248.237097 deg. 2jϜHeadingCmd: 4.332555 target range: 448.200012 and range: 448.20 m. jJ@jjjihhhhfffrfbfx@ɛ%yB%l= !%#?I) -JH9=ɚ)i)I-=I5Ai=;i=x<)EJ@)IEQ*F?2F:FBFJF"G%=G!jH<bH<HM>I III5|BI&I.I6I<:IF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=5.016960 IGu^n;Gu?Gu?GI BQ Ou >zK NK +9K K @K -{O4 nZPKC<85//-)'&#$$!  MCww,yvAf膃@YfD@fꖞ=9fk=yfH@e׿D^?@¿@!E6ؿÚ@ͳ ?`>?ɨf膃@fČ;f2Cyr<|BrIiv=Iv=eMb@Mb@Mb@aaa a)aYe}?5^I? G٣yn/ > Nusing accuracyPremultiplier from config49v݉?4Y܄ ixB^"?:W?CX;(;:i4 &AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.268520B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 448.20 m.BjaJja⺝ ProNav: ac range: 448.200012 m, nav range: 338.934631 m, bearing: 159.919761 deg, approach rate: -0.020465 m/s, LOS rate: -0.098959 deg/s, cmd heading: 248.237106 deg, new cmd heading: 248.105180 deg. 2jԇ-HeadingCmd: 4.330252 target range: 448.200012 and range: 448.20 m. j-m@j)j1j1i1h1h1h9h=zBf9f9f9rfAbfEA@ɛMyBUל= QU*?IQ U;=ɚYiYI]${=I]il;iՠ;)m@)JUJUGJQJQJU.;JUK:JQJQJU<JU<JU;JU;*F=?2FA:FABFE`0JFAe Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=5.520167Gm < N$?I GY Ba O >k}w,IA>u@Y>p@>=9>=y>H#׿V?@"¿3Xؿ@š,  ? ?ɨ>u@>b;>1CyJP|BJ+IIVlIVK!5٢Z]= ^Y=9^:Q ^>`` bG٣`yf f> jNusing accuracyPremultiplier from confighn49jՉ?n4Yj ijxBlrr?jCj ;jK ;jo4t v7&AtZj%FNOT Ignoring new targets: 448.20 m.Bj%Jj-5 ProNav: ac range: 448.200012 m, nav range: 338.925964 m, bearing: 159.879493 deg, approach rate: -0.025162 m/s, LOS rate: -0.116909 deg/s, cmd heading: 248.105174 deg, new cmd heading: 247.984368 deg. 2j=wEHeadingCmd: 4.328144 target range: 448.200012 and range: 448.20 m. jE'@jAjAjAiAhAhIhIhIfIfIfQrfQbfU`N@ɛyBD= 隍q0?I ֣==ɚiI>=I>i;i;)'@)*FU?2FQ:FQBFUo0JFQG-;GBO*>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.772427*JUR="JUp=H L>I  I 9II h|BI & =&I .I 6I <:I FBIJIRIZI% =bI% =jI'4Sw,}%A6lp@Y6@6E=96b=y6H q׿ /U?6"¿ @aؿb?j?ɨ6lp@6%;62CyR_|BR4I iIiuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035546Mb@Mb@Mb@ )Y"~?Q~jt?y?<A @)AI@y=@I]I5٢-Y< -5=9-P:Q ->11 5G٣=@Gy= => ENusing accuracyPremultiplier from configAM49Ẻ?M4YE iExBU??U:UU?EŸCE;E;Ew4]B e%Ae EZjFNOT Ignoring new targets: 448.20 m.Bj޺Jj޺ ProNav: ac range: 448.200012 m, nav range: 338.902954 m, bearing: 159.835524 deg, approach rate: -0.050928 m/s, LOS rate: -0.097324 deg/s, cmd heading: 247.984361 deg, new cmd heading: 247.852443 deg. 2j5HeadingCmd: 4.325841 target range: 448.200012 and range: 448.20 m. j5Km@j1j1j1i1h9h9h9h=s{BfAfAfArfAbfM}@ɛyBJ= 隝4?I g_@=ɚiI=I>i;i<)Km@)zK9NKh9KKAK   (sFhM6(    !%)+-/1568PmgQD<BKrA:K*Fe?2Fa:FaBFaJFa= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289832G 2<G G Gi Bq O >Jm Jm MJi Ji Jm +;Jm h:Ji Ji Jm =<Jm ><Jm R;Jm R;>}w,+A6`@Y6p@6=96=y6H`)ؿN?`}2¿rؿy|p9 8?ϩ?ɨ6`@6V;60CyNg|BR9I)T TIZmIZ!5UG٢] G٣y > Nusing accuracyPremultiplier from config49Kĉ?4YU ixB ?ߟC::~4 %AZjFNOT Ignoring new targets: 448.20 m.BjںJjں ProNav: ac range: 448.200012 m, nav range: 338.882599 m, bearing: 159.797114 deg, approach rate: -0.050712 m/s, LOS rate: -0.095699 deg/s, cmd heading: 247.852457 deg, new cmd heading: 247.737219 deg. 2j[HeadingCmd: 4.323830 target range: 448.200012 and range: 448.20 m. j\@jjjihhhhfffrfbf@ɛ=yB= = 9=T7?I9 EB=ɚAiAIE<=Im)im;i<)\@) YI]-gWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541418*Fe?2Fa:FaBFep0JFaG )<G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=6.7922370ww,%FARY@YR&i@R|=9R=yRHؿK?I;¿׉ؿ@i?]?ɨRY@Rx_;R1CyZj|BZ;IIbzIb'5٢jT; nP=9n;Q n>pp rG٣pyr v> zNusing accuracyPremultiplier from configt~49vz?4Yv} ivtxB?vCvWH;vH;v 4  %AZj9=FNOT Ignoring new targets: 448.20 m.BjEJjE㺝U ProNav: ac range: 448.200012 m, nav range: 338.863190 m, bearing: 159.760646 deg, approach rate: -0.052951 m/s, LOS rate: -0.099493 deg/s, cmd heading: 247.737218 deg, new cmd heading: 247.627810 deg. 2jU]HeadingCmd: 4.321920 target range: 448.200012 and range: 448.20 m. j],M@jYjYjYiYhahahahafififirfibfu@@ɛEyBE= IM}8?II MqD=ɚIiqIuY=I} i}X4;i}&<)},M@)y*F?2F:FBF0JFHyIy I}XII}|BI}% =&Iy.Iy6I}B<:I}F !I!uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.044211GE <G! B1 OM >zK /NK K K BK ;;61-,1484-'# RK ?JK >Hw,(_A2R@Y2a@2hW=920r=y2H!ؿ`|I?1¿=ؿH`D??ɨ2R@29;20Cy:`|B:5IMMb@Mb@Mb@III I)IYM rh?/$:v?yMC ?M,MT=9:Q > G٣yi > Nusing accuracyPremultiplier from config49?4Y idxB ?:r?C;;4 %AZj%FNOT Ignoring new targets: 448.20 m.Bj-yѺJj5yѺM ProNav: ac range: 448.200012 m, nav range: 338.836670 m, bearing: 159.721421 deg, approach rate: -0.061904 m/s, LOS rate: -0.091568 deg/s, cmd heading: 247.627798 deg, new cmd heading: 247.510114 deg. 2jM^{]HeadingCmd: 4.319866 target range: 448.200012 and range: 448.20 m. j]X<@jYjYjYiYhYhahahe{Bfafifirfibfm9@ɛyBz= 隝X6?I 8KG=ɚiIL=I Nir;iZ6<)X<@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314540*FM?2FI:FIBFMb5JFIG1$<G ?G?Gi Bq O > 5 M$?I1 % Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=7.564308lw,\yAy]U|B].IIuIu(*5٢ټ N=9Q > G٣@Gy > Nusing accuracyPremultiplier from config49f?4Y iUxB?4C7::4! %&A%#EEB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 448.20 m.BjUʺJj]ʺe ProNav: ac range: 448.200012 m, nav range: 338.812225 m, bearing: 159.685077 deg, approach rate: -0.059569 m/s, LOS rate: -0.088573 deg/s, cmd heading: 247.510100 deg, new cmd heading: 247.401061 deg. 2jm%suHeadingCmd: 4.317963 target range: 448.200012 and range: 448.20 m. j},@jyjyjyiyhyhyhhfffrfbf`y@ɛyB= 隽4?I I=ɚiI=Ifi;iP<),@)*FM?2FI:FQBFUY5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817209G55<J] J]CJ]0JYJ]+;J]9:J]ـ3JYa@a@a@a@GI BY Ou >H I  I eII |BI & =&I .I 6I <:I Faw,:tA6I@Y6aX@6=96=y6H2ؿE?G¿ٮؿ@F˴??ɨ6I@6ɧ;61C dIdyn=|BnI}Mb@Mb@Mb@yyy y)yY}"~j?S㥫 G٣y; > Nusing accuracyPremultiplier from config49?4Y iExB?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068404:@?OCם;;4 u&AZjFNOT Ignoring new targets: 448.20 m.Bj}ʺJj}ʺ- ProNav: ac range: 448.200012 m, nav range: 338.782776 m, bearing: 159.649907 deg, approach rate: -0.074112 m/s, LOS rate: -0.088516 deg/s, cmd heading: 247.401063 deg, new cmd heading: 247.295544 deg. 2j-r5HeadingCmd: 4.316122 target range: 448.200012 and range: 448.20 m. j5@j1j9j9i9h9h9hAhE{BfAfIfQrfQbfU`.9 @ɛ}yB}= 隅j.?I K=ɚiI=Ii)+;izW<)@)*F!2F!:F)BF-4JF)zK KMK+9KKCKG!T<GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320302̪w,LA6D@Y6S@6˧=96'=y6H@:ؿB?LW¿@ Bؿo`??ɨ6D@6a;6/Cy>&|B>IIFIF*5٢bpn fY=9f:Q f>hh jG٣hyj6 n> rNusing accuracyPremultiplier from configpv49r:?v4Yri ir6xBtvIv?rhCr*:r*:rB4| ~&A|Zj!-FNOT Ignoring new targets: 448.20 m.Bj-}ƺJj5}ƺE ProNav: ac range: 448.200012 m, nav range: 338.755676 m, bearing: 159.617540 deg, approach rate: -0.072639 m/s, LOS rate: -0.086767 deg/s, cmd heading: 247.295550 deg, new cmd heading: 247.198439 deg. 2jE0nMHeadingCmd: 4.314427 target range: 448.200012 and range: 448.20 m. jM@jIjIjIiIhIhQhQhQfYfYfYrfYbf] @ɛyB== 隍)?I M=ɚiIʦ=I5Hi5;i=g<)=@)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=8.572343G 3Z<GBO >w,+A"Will construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=8.824304:[F@Y:U@:ɨ=9:>[=y:H07ؿpC?oZ¿@εؿ1??ɨ:[F@:C6;8yF|BFIIPIP٢V VL=9Z:Q Z>\\ ^G٣^@Gyb: b> fNusing accuracyPremultiplier from configdj49f򒉜?j4Yf2 if%xBQUE]?fCf" Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.580152w,Ԉ;4yR{BRIIZIZ15٢z ~_=9@:Q > G٣ y   > Nusing accuracyPremultiplier from config49󁉜?4Y iwB!%%?C;;4) -(A)ZjFNOT Ignoring new targets: 448.20 m.BjJj ProNav: ac range: 448.200012 m, nav range: 338.667053 m, bearing: 159.512433 deg, approach rate: -0.071927 m/s, LOS rate: -0.084761 deg/s, cmd heading: 246.978165 deg, new cmd heading: 246.883115 deg. 2jhHeadingCmd: 4.308923 target range: 448.200012 and range: 448.20 m. j@jjjihhhhfffrfbf@n#@ɛ5yB5= 15( ?I1 =S=ɚ9i9I=E=IEiE.;iE<)E@)IEErA*Fe?2Fa:FaBFaJFa"Gm=Gm=eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.832967JK 3 KL.KK"KJJCJ1JJl-;J9:J3JG- R<G B O5 >HE L>IA  IE 3IIE ]|BIA &IA .IA 6IE *<:IE F[Ŀw,A Ibt>@YbM@b=9b/=ybHmEؿ`??`0g¿}@ؿTx=?0?ɨbt>@bsw;b0Cyn{BnI pr=Mb@Mb@Mb@ )YE?Zd;OMby?j<3 A p@)AIWill construct direction to contact in vehicle frame from tetrahedron phase data. G٣@Gy > Nusing accuracyPremultiplier from config 49!y? 4YJ iwB/?:?ՠC;;'4 )AEB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 448.20 m.BjU\̺JjU\̺e ProNav: ac range: 448.200012 m, nav range: 338.640228 m, bearing: 159.474019 deg, approach rate: -0.062377 m/s, LOS rate: -0.089332 deg/s, cmd heading: 246.883116 deg, new cmd heading: 246.767866 deg. 2je;umHeadingCmd: 4.306912 target range: 448.200012 and range: 448.20 m. jm9҉@jqjqjqiqhqhqhyh}{Bfyfyfrfbf`F$@ɛ~yB= 隵?I  U=ɚiI5=IiQ;i<)9҉@)*F?2F:FBFo0JFzK}JK}9KyK}EK}BK:KG<m Will construct direction to contact in vehicle frame from tetrahedron phase data.m ˿w,.A::@Y:J@:"=9:`=y:H9Lؿ>>?o¿`{ؿ@򮞿UL?`ݦ?ɨ::@:X;:1Cy^M{B^IIfIf45٢nD9 r]=9r!:Q r>tt vG٣tyvǢ z> ~Nusing accuracyPremultiplier from configx49zq?4Yz izwB ?zCzC;zC;zĀ4 '*AZjAEFNOT Ignoring new targets: 448.20 m.BjM ʺJjM ʺ] ProNav: ac range: 448.200012 m, nav range: 338.617493 m, bearing: 159.441471 deg, approach rate: -0.061691 m/s, LOS rate: -0.088321 deg/s, cmd heading: 246.767877 deg, new cmd heading: 246.670228 deg. 2j]treHeadingCmd: 4.305208 target range: 448.200012 and range: 448.20 m. jeCĉ@jajajaiahahihihififqfqrfqbfu%@ɛj= 隭t>I fW=ɚiI)/=I_.i;i!s<)Cĉ@) =K$?I9*Fm?2Fi:FqBFu0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.ҿw,DjHAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1670> BDAT read: Tx time:21:19:56.4705 $Ping request sent.?@-N¿zؿɞ;`;? ?ɨF6@F ;F/CyR%{BRsIIZIZ85٢bǽ bL=9b#%Q f>dd fG٣dyj\ j> nNusing accuracyPremultiplier from configlr49ni?r4Yn inwBtvz?n Cno7;n4;nˀ4| ~*A*EZj!-FNOT Ignoring new targets: 448.20 m.Bj-ɺJj-ɺ= ProNav: ac range: 448.200012 m, nav range: 338.592896 m, bearing: 159.406165 deg, approach rate: -0.061429 m/s, LOS rate: -0.088180 deg/s, cmd heading: 246.670233 deg, new cmd heading: 246.564307 deg. 2j=rEHeadingCmd: 4.303359 target range: 448.200012 and range: 448.20 m. jE@jAjIjIiIhIhIhQhQfQfQfQJJ@JJJ,;J:JJrfbf@%@ɛAEjɥ= AE>IA MpX=ɚIiIIM6=I}ji};i}<)}@)ER>E>*Fu?2Fq:FqBF}0JFyGsA GrAZHRHAAHM>I III |BI&I.I6I7<:IFBIJIRIZIbIjI4 )I5/gWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:19:56.4697 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254415GuFթ<G1 B9 OU >zK RIK h9K K FK +ؿw,DbAy~zB~OI)   AMb@Mb@Mb@ )Y/$?Q롿   G٣@Gy} }> Nusing accuracyPremultiplier from config49`?4Y iwB?:E?*CH<;@:;Ӏ4B +A,EZjFNOT Ignoring new targets: 448.20 m.BjٺJjٺ ProNav: ac range: 448.200012 m, nav range: 338.569824 m, bearing: 159.362586 deg, approach rate: -0.050337 m/s, LOS rate: -0.095088 deg/s, cmd heading: 246.564310 deg, new cmd heading: 246.433564 deg. 2j HeadingCmd: 4.301077 target range: 448.200012 and range: 448.20 m. jl@jjjihhhh%<{Bf!f!f!rf!bf- &@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502266ɛu}yB}v= y}y>Iy  Y=ɚiIiM=IiB;i<)l@)) *F?2F:FBF0JF 5GEtA]A YtAy4A  I G b<G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754120O >7V޿w,!|A>@Y>#@>ץ=9> :=y>HPؿ}@>n;hh jG٣hynH n> rNusing accuracyPremultiplier from configpv49rX?v4Yr ir|wBxzz?rCCr:rn:rـ4| ,AZj!-FNOT Ignoring new targets: 448.20 m.Bj5OںJj5Oں ProNav: ac range: 448.200012 m, nav range: 338.551392 m, bearing: 159.329191 deg, approach rate: -0.052671 m/s, LOS rate: -0.095431 deg/s, cmd heading: 246.433553 deg, new cmd heading: 246.333362 deg. 2jHeadingCmd: 4.299328 target range: 448.200012 and range: 448.20 m. j@jjjihhhhfffrfbf`w'@ɛ9=8= AE>IA ERZ=ɚAiAIE<`=Ii";i <)@)*F2F:FBF`5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006914*J"JG- E<G B O- >H L>I  I II {BI &I .I 6I <:I F  I ?w,Avd@Yv@v=9v=yvHؿu/?@ G٣yE > Nusing accuracyPremultiplier from config49O?4Y i^wB?:?eC<<_4 R-A/EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 448.20 m.Bj غJj غ% ProNav: ac range: 448.200012 m, nav range: 338.534637 m, bearing: 159.285454 deg, approach rate: -0.036300 m/s, LOS rate: -0.094765 deg/s, cmd heading: 246.333368 deg, new cmd heading: 246.202152 deg. 2j%MHeadingCmd: 4.297038 target range: 448.200012 and range: 448.20 m. jMV@jIjQjQiQhQhQhYh]{BfYfYfYrfabfeu_(@ɛ~yBI= >I ˊ[=ɚiIa=I:i;i9<)V@)*F2F:FBFO5JFzKjIK9KKGKU Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512439G Fթ<G B O >J J ?J J J +;J &:J J J a- J a5 J ;a5 J ;a5 gw,֯A2߂@Y2B@2R2=92O=y2H`Kؿ#?@@[@dhٿG@5?j?ɨ2߂@2ĩ;2/CyB5zBBIIJIJp;5٢RH R_=9V}Q V>TT VG٣V@GyZ{ Z> ^Nusing accuracyPremultiplier from config\b49^%H?b4Y^ i^EwBdff?^C^:^:^4h jw.AhZj FNOT Ignoring new targets: 448.20 m.Bj Jj ProNav: ac range: 448.200012 m, nav range: 338.520203 m, bearing: 159.248849 deg, approach rate: -0.042152 m/s, LOS rate: -0.106897 deg/s, cmd heading: 246.202146 deg, new cmd heading: 246.092326 deg. 2jHeadingCmd: 4.295121 target range: 448.200012 and range: 448.20 m. jq@jjjihhhhfffrfbf@)@ɛ  D=  6>I   \=ɚi)I-=I=xi=;i=<)=q@)A J$?I*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762527G%<GBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014049Vw,qA6@܂@Y6@6g/=96a=y6H~ؿ@o!?Y`pٿL݂??ɨ6@܂@6;60CyBzBBIININjC5٢Ri VI=9V;Q V>x| ~G٣|y~ ~>  Nusing accuracyPremultiplier from config-49??54Y i(wB155?Cu;;49 E/AAZjFNOT Ignoring new targets: 448.20 m.BjܺJjܺ ProNav: ac range: 448.200012 m, nav range: 338.503845 m, bearing: 159.207276 deg, approach rate: -0.037953 m/s, LOS rate: -0.096464 deg/s, cmd heading: 246.092317 deg, new cmd heading: 245.967591 deg. 2jgHeadingCmd: 4.292944 target range: 448.200012 and range: 448.20 m. j_@jjjihhhhfffrfbf- )@ɛ]yB]X= ]3=]_>IY ]߈\=ɚaiaIeF=I}5i};i}<)}_@)*F?2F:F!BF!JF!jHm<bHm<HI IeII{BI&I.I6D6I'<:IF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266615G-<GBO>zKM VBJKM 9KI KM HKM Rw,ARKJK>ynyBnI]Mb@Mb@Mb@YYY Y)YY] r?{Gz?~jty]#?]#<]] A ]@)]3 AIYYy]AIuIuI5٢ ==9Q > G٣y > Nusing accuracyPremultiplier from config49 7?4Ys i wB#?:?¡CD;J;i4 /AZj!%FNOT Ignoring new targets: 448.20 m.BjJj Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518967 ProNav: ac range: 448.200012 m, nav range: 338.498474 m, bearing: 159.161762 deg, approach rate: -0.012954 m/s, LOS rate: -0.109771 deg/s, cmd heading: 245.967598 deg, new cmd heading: 245.831056 deg. 2j%UHeadingCmd: 4.290561 target range: 448.200012 and range: 448.20 m. j]GL@jYjYjYihhhhzBfffrfbf*@ɛIUo|v= y}F=Iy \=ɚiI/=IPib;iB<)GL@)JJFJJJJǔ:JJJJJ ;J ;*F?2F:FBFJF I0g Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771280G )ş<G B O >w,{fARyȂ@YR׉@Rz=9R3z=yRHٿr?QٿX х?®?ɨRyȂ@Rˈ;R-Cy^yB^IIfIfMD5٢r rW=9r9Q r>tt vG٣v@Gyvuϻ z> ~Nusing accuracyPremultiplier from configx49z[/?4Yz^ izvB n ?zCz ;z_;z4B 0A3EZjAEFNOT Ignoring new targets: 448.20 m.BjM JjM ] ProNav: ac range: 448.200012 m, nav range: 338.493225 m, bearing: 159.120743 deg, approach rate: -0.014043 m/s, LOS rate: -0.109739 deg/s, cmd heading: 245.831048 deg, new cmd heading: 245.707990 deg. 2j]eHeadingCmd: 4.288414 target range: 448.200012 and range: 448.20 m. je:@jajajiiihihihihqfqfqfqrfybf} z+@ɛyB8gh= 隭=I \=ɚiIo=ITiy;i߼<):@)*F5?2F1:F9BF=o0JF9G%~<GBO (>%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022479Hi Ii  Im IIm zBIi &Ii .Ii 6Im j<:Im F I yw,ZAU@YUƉ@U;=9U=yUH`@ٿX?` J@ٿ@Ml? ?ɨU@UQ;QymyBuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274844}rIMb@Mb@Mb@ )YK7A`?V-?Mby+?<` A @) AI@yAIIQ5٢l 0=9wQ > G٣yy > Nusing accuracyPremultiplier from config49$&?4Y ivB7+?:A? C;I;34 /1A B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 448.20 m.BjJj%5 ProNav: ac range: 448.200012 m, nav range: 338.494446 m, bearing: 159.068339 deg, approach rate: 0.002621 m/s, LOS rate: -0.112537 deg/s, cmd heading: 245.707996 deg, new cmd heading: 245.550784 deg. 2j5w=HeadingCmd: 4.285670 target range: 448.200012 and range: 448.20 m. j=5$@j9j9j9i9hAhAhIhM1zBfIfIfIrfQbfUi,@ɛEyBMp]= QU:IY }\=ɚiI=Ii;iJ<)5$@)zK%&`KK%]9K!K%IK%#,..,+)((''#!!!! "  BK9:K9UPExceeded connect timeout, disconnecting.E% Will construct direction to contact in vehicle frame from tetrahedron phase data.5 BDAT read: Rx Time:21:19:59.4591 = TRx dataTimestamp_ set to:1736371200.665899E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528716*F] ?2FY :FY BFe _0JFa J J 7J J J );J :J J J 7<J 7<J ;J ; I$?IGE<GBO?Z w,/8A:f@Y:œ@:_=9:8=y:Hٿ?4;ٿę&U?e?ɨ:f@:Ĉ;:.CyBPyBBSIIfIfP5٢nܽ n1=9r1Q r>pt vG٣tzWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778151yv3 ~> Nusing accuracyPremultiplier from config 49?4Y ivB?0C ;G;G 4 1A!ZjAEFNOT Ignoring new targets: 448.20 m.BjMdJjUde ProNav: ac range: 448.200012 m, nav range: 338.494385 m, bearing: 159.016269 deg, approach rate: -0.000133 m/s, LOS rate: -0.113123 deg/s, cmd heading: 245.550792 deg, new cmd heading: 245.394581 deg. 2jeEmHeadingCmd: 4.282943 target range: 448.200012 and range: 448.20 m. jm @jijijiiihqhqhqhqfyfyfyrfybf}T-@ɛyBqMO= 隭II \=ɚiI@=Iio;i<) @)E6=*F=?2FA:FABFE`0JFAGe~<Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:19:59.4591 LVL= 28528, 32753, 26658, 32755, AGC= 70, IDX= 269, 0.08,-1.626, 2.919,-1.984,-2.379, PHS= 0.841,-0.938, 0.392, RAW= 136.0, -3.7, CAL= 141.4, -13.6, ROT= 8.6, 13.6 - Ygot valid direction response: 21:19:59.4591 LVL= 28528, 32753, 26658, 32755, AGC= 70, IDX= 269, 0.08,-1.626, 2.919,-1.984,-2.379, PHS= 0.841,-0.938, 0.392, RAW= 136.0, -3.7, CAL= 141.4, -13.6, ROT= 8.6, 13.6 = PDAT read: Bearing 8.6, 13.6 (Local) ] ~Local bearing/azimuth received: Bearing 8.6, 13.6 (Local) m DAT read: Range 10 to 50 : 438.3 m (Round-trip 584.4 ms) speed 0.6 m/s m ,DAT read: user:1671> G B O > BDAT read: Tx time:21:20:00.5721  $Ping request sent. ٵ@ٵ A ڵ@)ڵsIڵ`>iڵs>ڱڱ۵/f?y-lw?b)۵Ε>I۵K=i۵*ӿ۵߲W۱۱ :publishing transmit ping time  Fpublishing direction and range infoر9ص(ߪY(;"}l*?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵/f?y-lw?b)۱I۱i۱۱۱۱_cw,gRA6x@Y6@6=96B=y6H ٿf?v N3 $"ڿ@0] ૽?`?ɨ6x@6;60CZHDRHF@AHPIP IRIIRzBIP&IP.IP6IR[<:IRFy~-yB~=IIIS5 I٢% -8=9=7Q E>qy G٣@GyK > -Nusing accuracyPremultiplier from config!49%V?4Y%I i%vB9?%XC%<%<%4 2Ak'L'?k k Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:20:00.5713  kJA:k&CBkCZk}.@"$7,r8art@(ߪY(;"}l*?Jk*ӿRk߲W**ār)z`@=1)@r@49>0<$F??ÆQ?"kC*kkNJ&?kG{ 2k'Ck.R$?kk'CkCk]0@ addTargetRange:: Added new target pos. range: 438.299988 m, deltaT: 14.902082 s, deltaX: -9.900024 m, approachRate: -0.664338 m/s, rangeRepo size: 4  Added new target pos. range: 438.299988 m, bearing: 156.213508 deg, lat: 36.901936 deg, lon: -122.113023 deg, deltaT: 14.902082 s, deltaX: -9.900024 m, approachRate: -0.664338 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 438.30 m.BjJj ProNav: ac range: 438.299988 m, nav range: 329.320374 m, bearing: 158.348010 deg, approach rate: 0.000000 m/s, LOS rate: -0.113123 deg/s, cmd heading: 245.394572 deg, new cmd heading: 245.224689 deg. 2jHeadingCmd: 4.279978 target range: 438.299988 and range: 438.30 m. j@j!j!j!i!h!h!h)h)f)f)f1rf5d{@bf5/g?ɛ}yB9G= 隥:I et\=ɚiIq=I4i/;i<)@)EE*E"EzKMK 9KKJK          nManaging dock network, ignoring radio surface power off*F% ?2F! :F) BF- !5JF)  Will construct direction to contact in vehicle frame from tetrahedron phase data.J} J} ?J} 0Jy J} l-;J} &:J} ـ3Jy J} <J} <J} ;J} ;Gӌ<GGGBO ?w,uA ,I0:W@Y:>g@:?K=9:c_=y:H`6ٿ$?\}`& Zڿb-`u? ?ɨ:W@:~;:-CyFyBF,I]Mb@Mb@Mb@YYY Y)YY]ʡE?+?~jty]/?]=]D]vA ]@)]3 AIYYy]AIuIus75٢'Z =9)Q > G٣y, > Nusing accuracyPremultiplier from config491 ?4Y isvB/?: ?Ch;%;>4B 2A7EZjFNOT Ignoring new targets: 438.30 m.Bj<Jj< ProNav: ac range: 438.299988 m, nav range: 329.326691 m, bearing: 158.288566 deg, approach rate: 0.013401 m/s, LOS rate: -0.126101 deg/s, cmd heading: 245.224692 deg, new cmd heading: 245.046362 deg. 2jHeadingCmd: 4.276866 target range: 438.299988 and range: 438.30 m. j܈@jjj i h h hhzBfffrfbf̅?ɛEyBE`<= IMrII Uz \=ɚQiQIU5=I]gi]?] Will construct direction to contact in vehicle frame from tetrahedron phase data.C#w,RA6+4@Y6C@6=96˳=y6H0ڿ ?P@ڿֳ.m`c??ɨ6+4@6o;6)CyNxBRIIZIZ:5٢f  fW=9f)Q f>hh jG٣hyn< n> rNusing accuracyPremultiplier from configpv49rf?v4Yr ir\vBtzz?rCr:r:r$4| }3AyZjFNOT Ignoring new targets: 438.30 m.BjJj ProNav: ac range: 438.299988 m, nav range: 329.330566 m, bearing: 158.243422 deg, approach rate: 0.009822 m/s, LOS rate: -0.114407 deg/s, cmd heading: 245.046369 deg, new cmd heading: 244.910940 deg. 2jHeadingCmd: 4.274502 target range: 438.299988 and range: 438.30 m. jȈ@jjjihhH!I! I%II%yBI!&I!.I!6I%S<:I%FBIJIRIZIbIjI4hAhAfAfAfIrfIbfM`N? UH$?I]1gɛeyBe.= im#Ii }[=ɚiI\=ICiUh)w,(GAr@Yr@r0=9r=yrHԇڿo?>nNڿ@Aﲿks?1?ɨr@r;r-Cy~xB IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y"~?Mb?{Gzty3?@=ףA @)I3@yGAIIB5٢A˼ 9=9Q > G٣@Gy#W > Nusing accuracyPremultiplier from config49+?4Y" iDvB_4?:Q?͢C;;,4B 3AmGvAAJJ8J1JJJ:J3JJJJ;J; aYvAyB B*** querying acoustic contact ***j j ZjIUFNOT Ignoring new targets: 438.30 m.BjULJjUL ProNav: ac range: 438.299988 m, nav range: 329.336426 m, bearing: 158.189520 deg, approach rate: 0.011894 m/s, LOS rate: -0.109414 deg/s, cmd heading: 244.910940 deg, new cmd heading: 244.749239 deg. 2j-HeadingCmd: 4.271680 target range: 438.299988 and range: 438.30 m. j@jjjihhhhyBfffrfbfr?ɛyB-= 9=91I9 =dZ=ɚ9i9I=*=IEiEҸ0w,1A6݁@Y6@6=96=y6Hڿ?`E.ۿ ׻?୹?ɨ6݁@6;4yBxBBIIJIJM5٢V # Va=9Z~Q Z>XX ZG٣Xy^W ^> bNusing accuracyPremultiplier from config`f49bx?f4Yb) ib1vBhjj?bCb:ba:b24l n4ApZj FNOT Ignoring new targets: 438.30 m.Bj+Jj+% ProNav: ac range: 438.299988 m, nav range: 329.340210 m, bearing: 158.145133 deg, approach rate: 0.012784 m/s, LOS rate: -0.149953 deg/s, cmd heading: 244.749228 deg, new cmd heading: 244.616069 deg. 2j-ͻ-HeadingCmd: 4.269356 target range: 438.299988 and range: 438.30 m. j-@j1j1j1i1h1h1h9hAfAfAfArfIbfMl?ɛuyB] = AI ]Z=ɚiI}=I i >jH<bH<H%K>I! I%XII%YyBI!&I!.I!6I%<:I%F 1 I1  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229389p6w,eA:(@Y:Ȉ@:f=9:B=y:H`ۿ +?@ .nۿ@ۑH5??ɨ:(@:趉;8y^xBbIMb@Mb@Mb@ )Yi|?5?A`"?~jth?y1?Y=D; )` AI@y=AII[5٢s 7=9|'Q > G٣y"  > Nusing accuracyPremultiplier from config 49 3爜?4Y 0 i vB.2?:v%? C ; `; :4-B -4A-;EZjQ]FNOT Ignoring new targets: 438.30 m.Bje~ Jjm~  ProNav: ac range: 438.299988 m, nav range: 329.346222 m, bearing: 158.091170 deg, approach rate: 0.013490 m/s, LOS rate: -0.121081 deg/s, cmd heading: 244.616067 deg, new cmd heading: 244.454181 deg. 2j1HeadingCmd: 4.266531 target range: 438.299988 and range: 438.30 m. jk@jjjihhh h  zBfffrfbf@ɛyBe%= 隵KI Y=ɚiI7=IiN ! I! =w,MA^3@Y^@^\=9^X=y^H7ۿ? `mAۿ|'@T?0?ɨ^3@^;^+Cy xB I %=%p=I-I-X[5٢E' MV=9MQ M>QQ UG٣U@GyUۻ ]> eNusing accuracyPremultiplier from configam49e6߈?m4Ye07 ievBquu?e7Ce:e:eeA4y P4AZjFNOT Ignoring new targets: 438.30 m.BjK JjK  ProNav: ac range: 438.299988 m, nav range: 329.350922 m, bearing: 158.044991 deg, approach rate: 0.012305 m/s, LOS rate: -0.120907 deg/s, cmd heading: 244.454192 deg, new cmd heading: 244.315656 deg. 2jHeadingCmd: 4.264112 target range: 438.299988 and range: 438.30 m. js@jjjihhhhfffrfbf @ɛ yB V= ;]I FX=ɚiI^=I}8i%|E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985495J J EJ 0J J .;J B:J ـ3J a @a @a @a @Cw,AF@YF웈@F壎=9F*=yFH@cۿc?TXۿ׍ б7??ɨF@FX{;F,CybxBbIIjIjT5٢%; %M=9%6ZQ %>)) -G٣)y- 5> ENusing accuracyPremultiplier from config1E495ֈ?M4Y5= i5uBIM)M?5[C5:5:5[H4Q UF4AYZjyFNOT Ignoring new targets: 438.30 m.Bj Jj  ProNav: ac range: 438.299988 m, nav range: 329.355255 m, bearing: 157.996842 deg, approach rate: 0.010855 m/s, LOS rate: -0.120605 deg/s, cmd heading: 244.315648 deg, new cmd heading: 244.171205 deg. 2jHeadingCmd: 4.261591 target range: 438.299988 and range: 438.30 m. j^@jjjihhhhffHI I9II&yBI$ =&I.I6I߱<:I~Ffrfbf 4 @ɛyBz= 隍]I 9X=ɚi G$?I2gIB=IaizKu GMKu 9Kq Ku MKu xrkbYOB;5+#    BK :K #Jw,Q*ANv@YN@N=9N~=yNH@Aۿ|?@ [ۿˮ??ɨNv@N;N.CyVxBVI~Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:20:03.5449 TRx dataTimestamp_ set to:1736371204.698751%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493999EMb@Mb@Mb@AAA A)AYEB`"?~jt?~jtx?yE.?E=E;EA E3@)EvAIEAAyE3AIIuZ5٢p 2=9=Q  >    G٣ yQ > Nusing accuracyPremultiplier from config%49̈?%4YE iuB- /?-:-3-?C;B;P45B 5j4A5>EZjyFNOT Ignoring new targets: 438.30 m.BjJj ProNav: ac range: 438.299988 m, nav range: 329.352966 m, bearing: 157.941369 deg, approach rate: -0.004871 m/s, LOS rate: -0.118047 deg/s, cmd heading: 244.171203 deg, new cmd heading: 244.004783 deg. 2jHeadingCmd: 4.258687 target range: 438.299988 and range: 438.30 m. j*G@jjjihhhhFzBfffrfbf a @ɛyB|= WjI 'bW=ɚiIYD =IaiQw,SDA6e@Y6Du@6}=96L=y6H@ԩۿ?So` ۿ夈AL? ?ɨ6e@6;;6,Cy>xB>IIFIF:\5٢N< Rv=9RkQ R ?TT VG٣V@GyVlͻ V ? ^Nusing accuracyPremultiplier from configX49Zdň?4YZ'K iZuB  v ?ZCZ0I I2IIyBI% =&I.I6I<:IAF IG Re<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.E DAT read: 21:20:03.5449 LVL= 26880, 32753, 31730, 32755, AGC= 69, IDX= 288,-0.03,-2.394, 2.520,-2.831,-2.969, PHS= 0.663,-0.748, 0.135, RAW= 128.2, -0.8, CAL= 134.4, -9.6, ROT= 15.6, 9.6 M Ygot valid direction response: 21:20:03.5449 LVL= 26880, 32753, 31730, 32755, AGC= 69, IDX= 288,-0.03,-2.394, 2.520,-2.831,-2.969, PHS= 0.663,-0.748, 0.135, RAW= 128.2, -0.8, CAL= 134.4, -9.6, ROT= 15.6, 9.6 1Ww,-^ARPDAT read: Bearing 15.6, 9.6 (Local) R~Local bearing/azimuth received: Bearing 15.6, 9.6 (Local) ZDAT read: Range 10 to 50 : 426.4 m (Round-trip 568.6 ms) speed 0.6 m/s r,DAT read: user:1672> rBDAT read: Tx time:21:20:04.6706 v$Ping request sent.vf3@d Q @)+I'g>i+>?qgQe?3#Q)>I'j G٣y > Nusing accuracyPremultiplier from config%49⸈?-4YS iuB-,?-:-n-?ϣC;|;_4=B =-4A=@EzKeMKaKaKeNKe   RKu?JKu?ky ^w,M}A6 ?@Y6fN@6F=96=y6H@ۿ}?૆z>ܿ#؂@'??ɨ6 ?@6q;6*Cy>xB>IIFIFM5٢RK Rl=9VGQ V?TX ZG٣XyZ ` Z? ^Nusing accuracyPremultiplier from config\b49^Ұ?b4Y^Y i^uBdf f?^C^\ ;^ ;^e4h j>4AlZjFNOT Ignoring new targets: 426.40 m.BjQJjQ ProNav: ac range: 426.399994 m, nav range: 326.989441 m, bearing: 155.659510 deg, approach rate: 0.001988 m/s, LOS rate: -0.127045 deg/s, cmd heading: 243.696860 deg, new cmd heading: 243.574008 deg. 2jaHeadingCmd: 4.251168 target range: 426.399994 and range: 426.40 m. j @jjjihhhhfffrfbf@Z8?ɛyB= 隵3lI U=ɚiI =I i,Will construct direction to contact in vehicle frame from tetrahedron phase data.J] J] ?J] 0JY J] ,';J] &:J] ـ3JY H5 K>I1  I5 ,II5 yBI1 &I1 .I1 6I5 ȱ<:I5 mF I 3gh|ew,A6)@Y6A9@6ڭ=96=y6H@ܿ@j?@^ aܿ8g2a? ?ɨ6)@6;6,CyBxBBIININB5٢f-= fI=9f똻Q f>hh jG٣j@Gyn@л n> eNusing accuracyPremultiplier from configYm49]󦈜?}4Y]n` i]uBc?]C];]<]#m4 3ACEZjaFNOT Ignoring new targets: 426.40 m.BjJj %Will construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 426.399994 m, nav range: 326.989685 m, bearing: 155.609663 deg, approach rate: 0.000572 m/s, LOS rate: -0.116840 deg/s, cmd heading: 243.573999 deg, new cmd heading: 243.424459 deg. 2j_HeadingCmd: 4.248558 target range: 426.399994 and range: 426.40 m. j0@jjjihhhhfffrfbf `?ɛUyB]F2= Y]^IY ]H@T=ɚYiYIe =I-U7i-zK LK 59K K OK  Will construct direction to contact in vehicle frame from tetrahedron phase data./kw,A6@Y6 ,@6B|=96=y6H`/ܿ`6h? %)@IYvܿxB>IMMb@Mb@Mb@III I)IYM?Mb?{Gzt?yMf&?M=9pQ > G٣yn >  Nusing accuracyPremultiplier from config 49 㜈?4Y g i uBj&?:%%? 5C 1; [0; t4) -3A)ZjqFNOT Ignoring new targets: 426.40 m. D$?IBjoJjo ProNav: ac range: 426.399994 m, nav range: 326.984253 m, bearing: 155.561134 deg, approach rate: -0.013351 m/s, LOS rate: -0.119279 deg/s, cmd heading: 243.424445 deg, new cmd heading: 243.278854 deg. 2jHeadingCmd: 4.246017 target range: 426.399994 and range: 426.40 m. j_߇@jjjihhhhzBfffrfbf v?ɛ yBd= [dI S=ɚiIr4 =I`i%)@rw,QA: @Y:`/@:v=9:=y:H*ܿ@m?`@lmܿza`Ԯ@ڽ?#?ɨ: @:;8yFxBFIININR5٢V; VZ=9VQ Z>XX ZG٣Xy^S: ^> bNusing accuracyPremultiplier from config`f49b]?f4Ybl ibuBhnr?bSCb&;b$;bz4 3A%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 426.40 m.Bj=Jj=M ProNav: ac range: 426.399994 m, nav range: 326.979919 m, bearing: 155.519975 deg, approach rate: -0.011968 m/s, LOS rate: -0.113676 deg/s, cmd heading: 243.278853 deg, new cmd heading: 243.155373 deg. 2jMUHeadingCmd: 4.243862 target range: 426.399994 and range: 426.40 m. jU͇@jQjQjQiYhYhYhahafafafarfibfm)?}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.ɛyBO= 隽dI FR=ɚiI =IGiqI I2IIyBI&I.I6I<:IXFBIJIRIZIbIjI!4 I4gG5<GBAO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9704532xw,A:@Y:E*@:kv=9:u=y:H@3ܿ@k?`6vܿcȮ? ?ɨ:@:H;:+CyTX)x x||Mb@Mb@Mb@ )YV-?I +~jtx?y|?94;A hA)AIy AIIO5٢4i: ;=9QQ > G٣@Gy빺 > Nusing accuracyPremultiplier from config49ω?4Ys iuB?:?vC;;4B 3AGEZj%FNOT Ignoring new targets: 426.40 m.Bj%Jj%= ProNav: ac range: 426.399994 m, nav range: 326.966766 m, bearing: 155.472133 deg, approach rate: -0.030299 m/s, LOS rate: -0.110209 deg/s, cmd heading: 243.155363 deg, new cmd heading: 243.011833 deg. 2jEEUHeadingCmd: 4.241356 target range: 426.399994 and range: 426.40 m. jU1@jjjihhhh{Bfffrfbf@ɛ}yB^[= 隅3iI KR=ɚizKJK9KKPK K0^q|{m`WI>3%I =ITi Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220715)%= %KC;GvA 5Y5vAy5B*Fe?2Fi:Fq @ BBFm0JF IG 喇<G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471371~w,enA~@Y~ @~Vr=9~2=y~HKlܿ`_?*{͛tܿЦZ;FH?`̻?ɨ~@~F;~*CyxBII-I-T5٢= =R=9E'Q E>AA MG٣IyM! M> UNusing accuracyPremultiplier from configQ]49Ur?]4YUx iU}uBae;e?UCUi ;U ;UZ4i m3AiZjFNOT Ignoring new targets: 426.40 m.BjpJjp ProNav: ac range: 426.399994 m, nav range: 326.954407 m, bearing: 155.430002 deg, approach rate: -0.031986 m/s, LOS rate: -0.109037 deg/s, cmd heading: 243.011820 deg, new cmd heading: 242.885423 deg. 2jHeadingCmd: 4.239151 target range: 426.399994 and range: 426.40 m. j@jjjihhhhfffrfbf@ɛ}yB} = y}oI ^cQ=ɚiIG( =Iwi(H I  I 9II &yBI $ =&I .I 6I <:I F I mυw,^Ay޵xB޵III]5٢= @=9Q > G٣y > Nusing accuracyPremultiplier from config 549 v?=4Y ~ i ouBAIU? C < < ڐ4q }3AWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978611ZjFNOT Ignoring new targets: 426.40 m.Bj%c޺Jj%c޺5 ProNav: ac range: 426.399994 m, nav range: 326.940948 m, bearing: 155.383240 deg, approach rate: -0.027977 m/s, LOS rate: -0.097213 deg/s, cmd heading: 242.885434 deg, new cmd heading: 242.745141 deg. 2j5n5HeadingCmd: 4.236702 target range: 426.399994 and range: 426.40 m. j=@j9j9j9iYhahahahafififirfibfm@ɛyBd=  eI E{P=ɚiI =Ii!<852/--+(%%#%$$# BK qA:K qA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227379G E<G J] J] 2J] 1JY J] $;J] h:J] 3JY J] U~7w,?3A $$b$ր@Yb@b{l=9b=ybHүܿ@O?@ V஋@~ܿyQ#? ?ɨb$ր@bċ;b-CyjxBn I}Mb@Mb@Mb@yyy y)yY}X9v?{GzMbp?y}?}ף};}rA C$?I }~A)}AI}Ayy} AIIW5٢2H< E=9K\Q > G٣@Gy4 > Nusing accuracyPremultiplier from config49k?4Y iauB ?:q?פC;; 4 3AJEZjFNOT Ignoring new targets: 426.40 m.BjJj ProNav: ac range: 426.399994 m, nav range: 326.923584 m, bearing: 155.338940 deg, approach rate: -0.046139 m/s, LOS rate: -0.117715 deg/s, cmd heading: 242.745142 deg, new cmd heading: 242.612236 deg. 2jHeadingCmd: 4.234382 target range: 426.399994 and range: 426.40 m. j@jjjihhhh_{Bf f f rf bf  @ɛUyB]Y = Y] dIY ] O=ɚiI =Iiw,MA6Sŀ@Y6ԇ@6tk=96^=y6Hܿ3H? X? ݿVB?\jJ3??ɨ6Sŀ@6}͊;6,CyBxBBIIJIJ{R5٢R H R^=9VJQ V>TT VG٣TyZͶ Z> ^Nusing accuracyPremultiplier from config\f49^b?f4Y^ i^TuBdjj?^C^4;^ 2;^w4rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.731464l ]3AYB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 426.40 m.BjSJjS󺝊= ProNav: ac range: 426.399994 m, nav range: 326.907745 m, bearing: 155.299283 deg, approach rate: -0.042479 m/s, LOS rate: -0.106366 deg/s, cmd heading: 242.612226 deg, new cmd heading: 242.493247 deg. 2j=EHeadingCmd: 4.232306 target range: 426.399994 and range: 426.40 m. jE o@jAjIjIiIhQhhhfffrf!bf-@ZHRHAAH)I) I-?II-0yBI-% =&I).I)6I-<:I-Fɛ}yB}` = y}{Iy ~N=ɚi II$ =IAi?J E BDAT read: Tx time:21:20:08.7206 M $Ping request sent.M ٥Ԙ٥٥ @٥}> ڥ@)ڥ¸2>Iڥ-\>iڥ¸2ڡG B O >ڡۥYtJ?ڱ?lL0Y?)ۥt=IۥI]}iۥeۥpۡۡ% :publishing transmit ping timeI % Fpublishing direction and range infoء9إ%ؿ3nܿM?yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥYtJ?ڱ?lL0Y? Ew,CfA:@Y:M@: g=9:r<=y:Hܿ@??@: h{`^,ݿ` V?i} ? ?ɨ:@)Ii:nS;:*CyJxBJIMb@Mb@Mb@ )Yl?:v~jth?y?ԼD;A )AI7Ay AII[5٢< *=9gQ > G٣yé > =Nusing accuracyPremultiplier from config1E495V?E4Y5 i5DuBM?M:MtM?5C5;5 ;54uޒB u3A}KEzKMK9KKRK 3?P8QRK?JK?k)\?k k k_A:kCBkXCZkP@Will construct direction to contact in vehicle frame from tetrahedron phase data."JO~d_V %g;s)du@%ؿ3nܿM?JkeRkp*T `am@RIDvt@tԿY?^;*?"k+hC*k`k[?ky 2kCkkkkqCk?ɛmyBmԃ = qudrIyJ J9J0JJ';J :Jـ3JJށ<Jށ<Jh;Jh; }N=ɚiIOt =Imitw,AVٝ@YV5@V]^b=9V[=yVH`"ݿ7?' Os@Kݿg?H@?s?ɨVٝ@V;V+Cy^xB^IIjIjT5٢n4 ng=9r}Q r>tt vG٣v@Gyv׻ z>  Nusing accuracyPremultiplier from config| 49~'N?4Y~M i~8uB?~4C~P';~a#;~4 3A%NEZjAMFNOT Ignoring new targets: 423.60 m.BjUJjUe ProNav: ac range: 423.600006 m, nav range: 326.866516 m, bearing: 155.212982 deg, approach rate: -0.053115 m/s, LOS rate: -0.110089 deg/s, cmd heading: 242.338390 deg, new cmd heading: 242.229849 deg. 2jemHeadingCmd: 4.227708 target range: 423.600006 and range: 423.60 m. jmcI@jijijiiihqhqhqhqfyfyfrfbf`?ɛyBM< 隽I oM=ɚiI/ =Ii^H} K>Iy  I} EII} ;yBIy &Iy .Iy 6I} &<:I} F B$?I w,˝A>T@Y>@>\=9>=y>H`c8ݿ`0?Y@j@kݿ"p? g??ɨ>T@>ڊ;>(CyFxBFIIRIR3A5٢V ZO=9ZeQ Z>dd jG٣hyr1û r> zNusing accuracyPremultiplier from configx~49zAD?4Yz iz+uB?zRCzK;z};z 4  4AZj1=FNOT Ignoring new targets: 423.60 m.BjEJjE캝 ProNav: ac range: 423.600006 m, nav range: 326.846161 m, bearing: 155.171635 deg, approach rate: -0.050899 m/s, LOS rate: -0.103395 deg/s, cmd heading: 242.229845 deg, new cmd heading: 242.105797 deg. 2j덻HeadingCmd: 4.225543 target range: 423.600006 and range: 423.60 m. j7@jjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.hyhhhfffrfbf@?ɛyBz= 隝MI cL=ɚiIk =Igi`>JU JU 6JQ JQ JU $;JU {:JQ JQ JU |<JU |<JU ;JU ;sw,wA6r@Y6t@6V=960= HIHy6Hcݿi%?׿s`&ݿw?Ϫ?=?ɨ6r@6 ;6)CyRxBRIEMb@Mb@Mb@AAA A)AYEtV?lMbp?yE?EE;EA E A)AIEdAAyE AII>5٢ :=9^Q > G٣y޻ > Nusing accuracyPremultiplier from config49i9?4YV iuB?:D?rC;';4 #4AZj1EFNOT Ignoring new targets: 423.60 m.BjMJjM㺝 ProNav: ac range: 423.600006 m, nav range: 326.819031 m, bearing: 155.128220 deg, approach rate: -0.062236 m/s, LOS rate: -0.099602 deg/s, cmd heading: 242.105809 deg, new cmd heading: 241.975551 deg. 2jHeadingCmd: 4.223270 target range: 423.600006 and range: 423.60 m. j%@jjjihhhh{Bfffrfbf?ɛuyBu< y}ڑIy }~K=ɚyiyI}U=Ii>w,RA"Will construct direction to contact in vehicle frame from tetrahedron phase data.:s@Y:o@: nZ=9:=y:Haݿ@0&?ʿ``ݿ`s? qJz?}?ɨ:s@:;8ybxBbIIjIj]5٢r ^ rZ=9v$;Q v>tt vG٣z@Gyzv9 z> Nusing accuracyPremultiplier from config|49~ 0? 4Y~1 i~uB  B ?~C~:~:~24 84AEB*** querying acoustic contact ***jAjAZjIMFNOT Ignoring new targets: 423.60 m.BjUJjU亝e ProNav: ac range: 423.600006 m, nav range: 326.795776 m, bearing: 155.090728 deg, approach rate: -0.062055 m/s, LOS rate: -0.100055 deg/s, cmd heading: 241.975543 deg, new cmd heading: 241.863060 deg. 2jmUmHeadingCmd: 4.221307 target range: 423.600006 and range: 423.60 m. jm@jqjqjqiqhqhqhyhyfyffrfbf?ɛyBZ< 隽햾I J=ɚiI/=Iiҹw,3Ay%xB%IMb@Mb@Mb@ )Y|?5^?Zd;O~jth?y?j<D;+A  A)AIyp AIIxV5٢ ;=9Q > G٣y > Nusing accuracyPremultiplier from config49$?4Y˪ iuBj?:<?C;o;Ɂ4 ݒB 4AQEZj9EFNOT Ignoring new targets: 423.60 m.BjE>JjE>庝] ProNav: ac range: 423.600006 m, nav range: 326.765106 m, bearing: 155.047109 deg, approach rate: -0.070455 m/s, LOS rate: -0.100210 deg/s, cmd heading: 241.863064 deg, new cmd heading: 241.732195 deg. 2j]]HeadingCmd: 4.219023 target range: 423.600006 and range: 423.60 m. je<@jajajaiahahahihm{BfiffzK-OK-]9K)K-TK-%%#!!   rfbf=@MWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQUchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.179782ɛyBL\< ?I TI=ɚiI =I>iU Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.431476w, Ay={xB=IIMIMr^5٢] ]S=9aQ e>aa mG٣iyi m> Nusing accuracyPremultiplier from config49?4Yگ itB?ʥCO;;Ё4 4AZjFNOT Ignoring new targets: 423.60 m.BjzJjz庝 ProNav: ac range: 423.600006 m, nav range: 326.737549 m, bearing: 155.007709 deg, approach rate: -0.070155 m/s, LOS rate: -0.100313 deg/s, cmd heading: 241.732197 deg, new cmd heading: 241.613987 deg. 2j  HeadingCmd: 4.216959 target range: 423.600006 and range: 423.60 m. j U@jjjihhhhf!f!f!rf!bf%@# @ɛMyBU< QUIQ ]GH=ɚYiYI]e=Ie =ie! q Iq ow,`A6F@Y6U@6[AZ=96=y6Hݿ?5L@8ݿEt?`DӚ??ɨ6F@6;6+CyRcxBVI)X XI^I^Z5٢f^} fT=9fQ j>ll nG٣n@Gyrkf r> vNusing accuracyPremultiplier from configtz49v?z4Yv ivtBx~~?vCv(;v;vTׁ4ܒB %T5A%SEZjQUFNOT Ignoring new targets: 423.60 m.BjeJjeẝu ProNav: ac range: 423.600006 m, nav range: 326.709930 m, bearing: 154.969740 deg, approach rate: -0.071848 m/s, LOS rate: -0.098783 deg/s, cmd heading: 241.613980 deg, new cmd heading: 241.500065 deg. 2ju}HeadingCmd: 4.214971 target range: 423.600006 and range: 423.60 m. j} @jyjyjihhhhfffrfbf$@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.939154ɛyB< 隽žI F=ɚiI=I]i( Y Ie 6gw,6A2:@Y2I@2zY=92B=y2Hݿ ?/F ݿv?,?@?ɨ2:@2 ;2*Cy:SxB:I]Mb@Mb@Mb@YYY Y)YY]gfffff?{GzMbpy]3?]#]]A ]MA)]EAI]zAYy]=AIIr^5٢-P 55=9=۹Q =>9A eG٣ayeQ m> uNusing accuracyPremultiplier from configiu49mX?}4Ym imtB}?}:}}?mCmw;m+;mK߁4 5AVEZjFNOT Ignoring new targets: 423.60 m.BjJj㺝e ProNav: ac range: 423.600006 m, nav range: 326.679657 m, bearing: 154.924077 deg, approach rate: -0.065980 m/s, LOS rate: -0.099531 deg/s, cmd heading: 241.500053 deg, new cmd heading: 241.363051 deg. 2jeHeadingCmd: 4.212580 target range: 423.600006 and range: 423.60 m. jt͆@jjjihhhh{Bfffrfbf@ @ɛyBN < ѾI yE=ɚiI J=I=̈́i=w,bPAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.691482ye1xBeIIuIuZ5٢ W=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Yq itB?$C;;4 6AJJ6JJJ%;J{:JJa@a@a@a@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 423.60 m.Bj Jj 纝% ProNav: ac range: 423.600006 m, nav range: 326.654816 m, bearing: 154.886365 deg, approach rate: -0.066733 m/s, LOS rate: -0.101318 deg/s, cmd heading: 241.363039 deg, new cmd heading: 241.249894 deg. 2j%=HeadingCmd: 4.210605 target range: 423.600006 and range: 423.60 m. j=G@jAjAjAiIhIhYhahifqfyfyrfbf@ZHRH@AH 5@$?I1I I IIxBI&I.I6Iٱ<:IzFɛ=yB=O< 9=I9 EC=ɚAiAIE =Im&im  BDAT read: Tx time:21:20:12.7707  $Ping request sent. i|=EM?Q愫Idi鿉*VpU :publishing transmit ping time U Fpublishing direction and range info9 68<ÿO.Hה?y )Ii )IiEM?Q愫 ףp=?l{Gzty?ףAA A)AIAyfAIIb5-Will construct direction to contact in vehicle frame from tetrahedron phase data.٢mz< m/=9qQ u>qq uG٣}@Gy > Nusing accuracyPremultiplier from config49?4Yz itB;?:?FC;D;4ےB o6AYEk>?kT k kf1aA:kCBksCZk[@"YkO'#UnҗSEu@zKE?%NKES9KAKEVKE 68<ÿO.Hה?JkRk*Vp*k8Ue@BUs@9:Cc?*g?"k*C*k_kUI>?kxD<5 2kCkkS;?k_ [ kCkCk͍%@ addTargetRange:: Added new target pos. range: 421.799988 m, deltaT: 4.032706 s, deltaX: -1.800018 m, approachRate: -0.446355 m/s, rangeRepo size: 4  Added new target pos. range: 421.799988 m, bearing: 142.665323 deg, lat: 36.902570 deg, lon: -122.112850 deg, deltaT: 4.032706 s, deltaX: -1.800018 m, approachRate: -0.446355 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 421.80 m.BjJj ProNav: ac range: 421.799988 m, nav range: 273.100525 m, bearing: 148.211568 deg, approach rate: 0.000000 m/s, LOS rate: -0.101318 deg/s, cmd heading: 241.249904 deg, new cmd heading: 241.102475 deg. 2jHeadingCmd: 4.208032 target range: 421.799988 and range: 421.80 m. j3@jjjih!h!h!h%{Bf)f)f)rf-\z@bf-@o*?ɛuzBJ< 隝I 0:B=ɚiI;R=IOi x+w,AN@YND@NdO=9Ny=yNH`*޿ ?@,` V޿ 8?q N??ɨN@N6;N(CyVwBV|IIbIbY5٢jB jz=9jyQ n?ll nG٣lyrŭ r? vNusing accuracyPremultiplier from configtz49v燜?z4Yv ivtBx~~?v]Cvi ;v ;v4 7AZj)5FNOT Ignoring new targets: 421.80 m.Bj5Jj=E ProNav: ac range: 421.799988 m, nav range: 273.100555 m, bearing: 148.173077 deg, approach rate: 0.000100 m/s, LOS rate: -0.126351 deg/s, cmd heading: 241.102481 deg, new cmd heading: 240.987008 deg. 2jMmUHeadingCmd: 4.206017 target range: 421.799988 and range: 421.80 m. jU@jQjQjQiQhQhYhYhYfYfafarfabfe M?ɛzB蘀; :@=隝#I [A=ɚiI=ITi Will construct direction to contact in vehicle frame from tetrahedron phase data.*JC="JR=JJ3JJJD#;J:JJHI IIIxBI&I.I6I<:IF ?$?IQw,[A2x@Y2@2bK=92,=y2H@hh jG٣hyj"/ n> rNusing accuracyPremultiplier from configpv49r݇?v4Yr irtBtvTz?r{Cr7:r:r4| 7AZjIUFNOT Ignoring new targets: 421.80 m.BjU]Will construct direction to contact in vehicle frame from tetrahedron phase data.JjUu ProNav: ac range: 421.799988 m, nav range: 273.099731 m, bearing: 148.124996 deg, approach rate: -0.002024 m/s, LOS rate: -0.118115 deg/s, cmd heading: 240.986996 deg, new cmd heading: 240.842754 deg. 2juHeadingCmd: 4.203499 target range: 421.799988 and range: 421.80 m. j@j j j i1h9hAhqhyfffrfbf ?ɛzB< -I >=ɚiIMa=IiK I ~w,_AyUwBUQI Mb@Mb@Mb@    ) Y "~?:vI +y ? Լ 94 A 7A) rAI  A y  AIII5٢E> E4=9UQ U>QQ ]G٣]@Gy] ]> uNusing accuracyPremultiplier from configi}49m9҇?}4Ym imtB}$?}:}}?mCm;m8;m4ڒB 8AZEZjFNOT Ignoring new targets: 421.80 m.Bj Jj  ProNav: ac range: 421.799988 m, nav range: 273.104553 m, bearing: 148.069860 deg, approach rate: 0.010697 m/s, LOS rate: -0.122319 deg/s, cmd heading: 240.842743 deg, new cmd heading: 240.677339 deg. 2j䧻HeadingCmd: 4.200612 target range: 421.799988 and range: 421.80 m. jjk@jjjihhhh<{Bfffrfbfa?ɛzB~<; =I <=ɚi!I%T=I-Hi-ȱ  Will construct direction to contact in vehicle frame from tetrahedron phase data.cw,hAJ@YJhц@JȂG=9JU=yJH`޿?lE@޿C?@P?`x?ɨJ@Jӈ;J)CynwBn=IIz Izg5٢9 b=9Q >    G٣ y   > Nusing accuracyPremultiplier from config%495ɇ?%4YT ivtB!%6%?Cz::41 58A5]EUB*** querying acoustic contact ***jYjYZjaeFNOT Ignoring new targets: 421.80 m.Bjm( Jjm( JJ1J0JJJ:Jـ3J ProNav: ac range: 421.799988 m, nav range: 273.107819 m, bearing: 148.026348 deg, approach rate: 0.009065 m/s, LOS rate: -0.120787 deg/s, cmd heading: 240.677343 deg, new cmd heading: 240.546808 deg. 2jʥHeadingCmd: 4.198334 target range: 421.799988 and range: 421.80 m. jX@jjjihhhhfffrfbf/?ɛzB@ )$I 6:=ɚiI`=jH5<bH5p<H9I9 I=II=zxBI=% =&I9.I9 YI]7g6I9:I9I5ni w,A6@Y6Ն@6I=96=y6H%޿?Sg@޿ħ? ;??ɨ6@6X+;6*Cy>RwBBIJWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.203910Mb@Mb@Mb@ )YZd;O?Mb`Qyj?uA MA)AI AyAIIm5٢ "=9:Q > G٣y: > Nusing accuracyPremultiplier from config49Լ?4Ym i^tBv?:|?ަCi;h;4 9A Zj)5FNOT Ignoring new targets: 421.80 m.Bj5Jj5zKEjIKEh9KAKEXKERKU ?JKU?] ProNav: ac range: 421.799988 m, nav range: 273.126007 m, bearing: 147.962095 deg, approach rate: 0.036126 m/s, LOS rate: -0.127612 deg/s, cmd heading: 240.546804 deg, new cmd heading: 240.354058 deg. 2je(mHeadingCmd: 4.194970 target range: 421.799988 and range: 421.80 m. jm1=@jijijiiihihqhqhu{Bfqfyfyrfybf}I@ >$?I ɛU&zBU@g: QU4IQ ]7=ɚYiYI]`=IRi` w,̶ A6so@Y6dž@6gH=96=y6H`޿`?X; ޿?{??ɨ6so@6;6(CyBwBBIIJIJk5٢RU R`=9RhQ R>TT VG٣V@GyZ Z> ^Nusing accuracyPremultiplier from config\b49^׳?b4Y^ i^NtB`bf?^C^;^Q;^&4h jc:AhZjFNOT Ignoring new targets: 421.80 m.Bj Jj  ProNav: ac range: 421.799988 m, nav range: 273.139008 m, bearing: 147.915595 deg, approach rate: 0.034183 m/s, LOS rate: -0.122262 deg/s, cmd heading: 240.354056 deg, new cmd heading: 240.214563 deg. 2jЧHeadingCmd: 4.192535 target range: 421.799988 and range: 421.80 m. j?)@jjjihhhhfffrfbf @ɛ--zB5A 15IDI1 =5=ɚ9i9I==IE7iE% a w,"q(ABZ@YB@BIG=9B"=yBH_޿@?UR #޿U?樿? ?ɨBZ@B9;B&CyRvBVIMb@Mb@Mb@ )YPn?I +?y&1y$?9<`e )AIyAI'I(t5٢, !=9f(Q > G٣y $  > Nusing accuracyPremultiplier from config%49?%4Y= i7tB%;$?%:-N-?$Cr;;!41 5;A5`EZjYeFNOT Ignoring new targets: 421.80 m.BjeHJjeH} ProNav: ac range: 421.799988 m, nav range: 273.170044 m, bearing: 147.847474 deg, approach rate: 0.063055 m/s, LOS rate: -0.138381 deg/s, cmd heading: 240.214557 deg, new cmd heading: 240.010219 deg. 2j}𽻝HeadingCmd: 4.188969 target range: 421.799988 and range: 421.80 m. j @jjjihhhh zBfffrfbf [ @ɛe6zBe8! aeQI F2=ɚiI=Ii3 ~w,BA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2BDAT read: Rx Time:21:20:15.7470 6TRx dataTimestamp_ set to:1736371217.0453046checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465473F&@YFԢ@FB=9Fؒ=yFH޿V??ZA ߿?w]??ɨF&@Fa;F'CyRvBRIIZ+IZu5٢b bb=9fY>Q f>dh jG٣hyj n> rNusing accuracyPremultiplier from configlv49n?z4Yn in(tB  ?nBCn;nj;nX'4%ؒB %;A-aEZjIUFNOT Ignoring new targets: 421.80 m.Bj5Jj5E ProNav: ac range: 421.799988 m, nav range: 273.191498 m, bearing: 147.799334 deg, approach rate: 0.058674 m/s, LOS rate: -0.131647 deg/s, cmd heading: 240.010225 deg, new cmd heading: 239.865817 deg. 2jEMHeadingCmd: 4.186448 target range: 421.799988 and range: 421.80 m. jMb@jIjijqiqhqhqhyhyfyfyfyrfbf` @ɛ=zB] ^I /=ɚiI=I0i!c E =$?IA ZHI RHI HQ IQ  IU XIIU wBIU % =&IQ .IQ 6IU <:IU FBI JI RI ZI bI $ =jI ʱ4 w,t[A~@Yl@>C2=9-=yHM߿n?k BQh߿@?F??ɨ~@5);)Cy-vB-II=I=p5٢M UB=9UQ ]>YY ]G٣]@GyeM e> mNusing accuracyPremultiplier from configiu49mS?u4Ym imtBy}}?mdCm ;m" ;m.4 N BDAT read: Tx time:21:20:16.8707 $Ping request sent.i}4Q=yy};?O?0Y?)}e>I}Pi}}?yyy}:publishing transmit ping timeء}Fpublishing direction and range infoy9}]KĿtPqCῦG)q u C   E YA yM B Will construct direction to contact in vehicle frame from tetrahedron phase data. i % JDAT read: TxSync time:21:20:16.8699 w,˼uAJJJJ>JHJHJJ|";JJ:JHJHJJIz G٣y- > Nusing accuracyPremultiplier from config49Ɖ?4Y itB)?:?Cw<aw<x64! %?kxD<5 kCkCk"@  addTargetRange:: Added new target pos. range: 429.100006 m, deltaT: 4.031346 s, deltaX: 7.300018 m, approachRate: 1.810814 m/s, rangeRepo size: 4  Added new target pos. range: 429.100006 m, bearing: 139.078932 deg, lat: 36.902646 deg, lon: -122.112549 deg, deltaT: 4.031346 s, deltaX: 7.300018 m, approachRate: 1.810814 m/s, posRepo size: 4 Zj-FNOT Ignoring new targets: 429.10 m.Bj-Jj)= ProNav: ac range: 429.100006 m, nav range: 281.799225 m, bearing: 142.155824 deg, approach rate: 0.000000 m/s, LOS rate: -0.135535 deg/s, cmd heading: 239.696446 deg, new cmd heading: 239.503191 deg. 2j9EHeadingCmd: 4.180119 target range: 429.100006 and range: 429.10 m. jEÅ@jIjIjIiIhQhQhah%gzBf)f1f1rf5z@bf5 q?ɛLzB qI  J(=ɚ i I2=I=iEPge$w,qA>Will construct direction to contact in vehicle frame from tetrahedron phase data.JZB~@YJ0@J_S=9J==yJH߿ ?r߿T?"飿Ǹ?N?ɨJZB~@JP;HynevBnIIv*Iv|u5٢~P ~K=9ֻQ >  G٣ y   > Nusing accuracyPremultiplier from config49??4Y< isB!%%?C::i=4) -.=A)ZjaeFNOT Ignoring new targets: 429.10 m.Bjm"Jjm"} ProNav: ac range: 429.100006 m, nav range: 281.855682 m, bearing: 142.103609 deg, approach rate: 0.153971 m/s, LOS rate: -0.142373 deg/s, cmd heading: 239.503179 deg, new cmd heading: 239.346565 deg. 2j}kûHeadingCmd: 4.177386 target range: 429.100006 and range: 429.10 m. j%@jjjihhhhfffrfbfMG?ɛRzB qIq d=}G{Iy &=ɚiI|=HL>I IIISwBI$ =&I.I6I<:IiFIli*w,S@Ay%GvB%uIMb@Mb@Mb@ )YʡE?X9v?:vy/?}=TA dA)rAII AyAIIen5٢̆ ==9Q > G٣@Gy] ]> eNusing accuracyPremultiplier from configam49eu?m4Ye iesBm\0?u:uu?eӧCe;e;e5E4y }=AZjFNOT Ignoring new targets: 429.10 m.Bj9Jj9 ProNav: ac range: 429.100006 m, nav range: 281.927063 m, bearing: 142.042911 deg, approach rate: 0.159632 m/s, LOS rate: -0.135707 deg/s, cmd heading: 239.346576 deg, new cmd heading: 239.164529 deg. 2jDHeadingCmd: 4.174209 target range: 429.100006 and range: 429.10 m. j@jjjihhhhRzBfffrfbf }?ɛYzB 1I! %Xb"=ɚ!i!I%fv=I=yi=IE>J3K3 K/. m;$?Im9gKK"KJUJU4JU1JQJU%;JUr:JU3JQJU<JU<JU;JU;zKq9NKKK[Kwc]UMID@<974-,)('# ! *8IZenv}*F?2F:FBF0JF"G=Ga=G -<E Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O% >w1w,p'A2}@Y2@2 =92;=y2H0y?sR\s޼?`X??ɨ2}@2TÉ;2&Cy:8vB>kIIJIJ+p5٢R+ Ra=9VMQ V>TT VG٣XyZA Z> bNusing accuracyPremultiplier from config\b49^l?b4Y^^ i^sBdf\f?^C^;:^:^VK4j֒B n=AniEZj  FNOT Ignoring new targets: 429.10 m.Bj;Jj; ProNav: ac range: 429.100006 m, nav range: 281.981628 m, bearing: 141.995122 deg, approach rate: 0.155989 m/s, LOS rate: -0.136589 deg/s, cmd heading: 239.164538 deg, new cmd heading: 239.021200 deg. 2jzHeadingCmd: 4.171707 target range: 429.100006 and range: 429.10 m. j~@jjjihhhhfffrfbf`"?ɛ_zB/ 턿I =ɚiI%[=I%v"iUaI IIIwBI&I.I6Iֱ<:IzFGE <G B1 Om >7w, A6W}@Y69@6=96I=y6HhB@a]?JFe?@iO?W?ɨ6W}@6u;6'CyR(vBRbIIZ>IZY~5٢b' bI=9fƻQ f>dd fG٣dyj> j> rNusing accuracyPremultiplier from configlv49nb?z4Yn  insBxzz?nCn/;nI;nuR4 >A%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 429.10 m.Bj5Jj5E ProNav: ac range: 429.100006 m, nav range: 282.043427 m, bearing: 141.939535 deg, approach rate: 0.151537 m/s, LOS rate: -0.136278 deg/s, cmd heading: 239.021213 deg, new cmd heading: 238.854488 deg. 2jE MHeadingCmd: 4.168797 target range: 429.100006 and range: 429.10 m. jMf@jIjQjQiQhQhQhYhYfYfYfarfibfm/?ɛezBU$ 隥I =ɚiIN4=I#Ri Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.162338 A IA Ja Je /Ja Ja Ja Je ڈ:Ja Ja Ja Ja Je s;Je s;=w,AzK"اNK"ػ9K K"\K"weXKDCDA?=;;<;7744476510030/+*(*,*,('(%()'%:|@Y:ʀ@:!b<9:dL=y:Ht >?smu`a?) Z? ?ɨ:|@:8;8yF!vBF]IMMb@Mb@Mb@III I)IYMtV?Zd;?Mb`yM2?My=MMA I)IIIIyM(AIaIa٢u5 u@=9uQ u>yy }G٣}@Gy > Nusing accuracyPremultiplier from config49W?4Y! isB^3?:?AZjFNOT Ignoring new targets: 429.10 m.BjJj% ProNav: ac range: 429.100006 m, nav range: 282.106049 m, bearing: 141.880274 deg, approach rate: 0.147399 m/s, LOS rate: -0.139456 deg/s, cmd heading: 238.854475 deg, new cmd heading: 238.676732 deg. 2j%j-HeadingCmd: 4.165695 target range: 429.100006 and range: 429.10 m. j-_M@j)j)j)i1h1h1h9h=yBf9f9fArfAbfEj@ɛkzBG  NI  -=ɚ)i1I5i"=I5i=ȰDw,qA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.666413r j|@YraD@r_o<9rs=yrH?C`N?zn?@#͚c??ɨr j|@r͎;r&Cyx|I ?I ~5٢肺 %P=9%Q ->11 5G٣1y=$ => ENusing accuracyPremultiplier from configAM49EzM?M4YE' iEsBIMU?E_CE:E:E`4Y ]->A]lEZjFNOT Ignoring new targets: 429.10 m.BjJj ProNav: ac range: 429.100006 m, nav range: 282.162354 m, bearing: 141.825288 deg, approach rate: 0.142880 m/s, LOS rate: -0.139504 deg/s, cmd heading: 238.676726 deg, new cmd heading: 238.511803 deg. 2jzHeadingCmd: 4.162816 target range: 429.100006 and range: 429.10 m. j5@jjjihhhhfffrfbf@@ :$?IɛqzB, I B=ɚiI=I !i !=Kw,1'/Ay)vBbIMb@Mb@Mb@ )Y"~?+?~jtx?y3?=;nA  A)AI AyGAIEI5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.170388٢< *=9Q > G٣y > Nusing accuracyPremultiplier from config49??4Y~/ isB@4?:?C;;2i4  >AZjFNOT Ignoring new targets: 429.10 m.Bj Jj 5 ProNav: ac range: 429.100006 m, nav range: 282.220703 m, bearing: 141.757596 deg, approach rate: 0.121348 m/s, LOS rate: -0.140748 deg/s, cmd heading: 238.511790 deg, new cmd heading: 238.308757 deg. 2j50=HeadingCmd: 4.159273 target range: 429.100006 and range: 429.10 m. j=@j9j9j9i9h9hAhAhEHzBfIfIfQrfQbfUX] @ɛxzB 隅щI (j=ɚiI=I.icL] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:21:20:19.8438 e TRx dataTimestamp_ set to:1736371221.076618m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.423351 Rw,>HA:{@Y::@:<9:Xu=y:HK >?`n 0&6?`v?@?ɨ:{@:;:$Cy^$vBb_IifR>If<IjHIjd5٢r` ro=9r.Q r?tt vG٣v@Gyz z? ~Nusing accuracyPremultiplier from config|49~(6?4Y~ 5 i~sB  ?~C~: ;~:~,o4ԒB >AmEZjAEFNOT Ignoring new targets: 429.10 m.BjM JjM ] ProNav: ac range: 429.100006 m, nav range: 282.259827 m, bearing: 141.709378 deg, approach rate: 0.114179 m/s, LOS rate: -0.140701 deg/s, cmd heading: 238.308770 deg, new cmd heading: 238.164136 deg. 2j]eHeadingCmd: 4.156748 target range: 429.100006 and range: 429.10 m. je@jajajaiahihihihifqfqfqrfqbfu`< @ɛ|zBC 隥I a =ɚiIw=IiV:PXw,7bA>m{@Y>JƄ@>U2<9>=y>H1?@+@ ? ,??ɨ>m{@>?;>&CyJBvBNrIIb>IbY~5٢j= jJ=9n Q n>ll rG٣pyr1 r> zNusing accuracyPremultiplier from configtz49vz*?~4Yv; it|~~?vΨCvm ;v ;v;v4  =A pE-B*** querying acoustic contact ***j)5Will construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 21:20:19.8438 LVL= 25408, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.47,-0.951,-2.564,-1.463,-1.513, PHS= 0.649,-1.004, 0.047, RAW= 128.9, 4.3, CAL= 135.7, -2.1, ROT= 14.3, 2.1 Ygot valid direction response: 21:20:19.8438 LVL= 25408, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.47,-0.951,-2.564,-1.463,-1.513, PHS= 0.649,-1.004, 0.047, RAW= 128.9, 4.3, CAL= 135.7, -2.1, ROT= 14.3, 2.1 PDAT read: Bearing 14.3, 2.1 (Local) ~Local bearing/azimuth received: Bearing 14.3, 2.1 (Local) DAT read: Range 10 to 50 : 426.7 m (Round-trip 569.0 ms) speed 0.3 m/s ,DAT read: user:1676> BDAT read: Tx time:21:20:20.9707 $Ping request sent.i5Q =115ܴ T? 6}?g'/?)5^J>I5i5i5q11]:publishing transmit ping timeرFpublishing direction and range info195Zʿ_}h\ώ?y1 ProNav: ac range: 429.100006 m, nav range: 282.305084 m, bearing: 141.652383 deg, approach rate: 0.103948 m/s, LOS rate: -0.130886 deg/s, cmd heading: 238.164134 deg, new cmd heading: 237.993176 deg. 111 1)1I1i11111 1)1I1i1115ܴ T? 6}?g'/?)1I1i112j-HeadingCmd: 4.153765 target range: 429.100006 and range: 426.70 m. j-@j1j111jYiahihqhhfffrf@3z@bf+?ɛzB  $I =ɚiI,x =I%lHi%zK *NK h9K K ^K RK% >JK% >t^w,|A2k?{@Y2@2gL<92=y2H( ?#Ÿ`@@?! T??ɨ2k?{@2u;2%CyBMvBByIMb@Mb@Mb@ )Y/$?y&1?I +?y,?`e<94<(A 5A)AI AyAI9I"|5٢< $=9zQ >) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E49=o?E4Y=OC i=sBMWill construct direction to contact in vehicle frame from tetrahedron phase data.E,?:?=C=:)<=(<=&4 k=AkuˏK?ku,N- kq ku_eA:kuYCBkuCZku[@"u H*VF]Am/knu@uZʿ_}h\ώ?JkuiRkuq*u\7:fc#"k@>Fs@ucn'QۿD/'4?cOV?"kuXC*ku%6ku;a%GBO>fw,|A^z@Y^F@^(?<9^`=y^HI@? B"90Q?`ǁ`?@?ɨ^z@^;^$CyfbvBjI)l lIrIrk5٢H= E=9Q > G٣@Gy"A > Nusing accuracyPremultiplier from config49?4Y^I isB?C::+4! %=A-sEZjiuFNOT Ignoring new targets: 429.10 m.BjuK)JjuK) ProNav: ac range: 429.100006 m, nav range: 282.379272 m, bearing: 141.528852 deg, approach rate: 0.087431 m/s, LOS rate: -0.148009 deg/s, cmd heading: 237.785851 deg, new cmd heading: 237.622650 deg. 2j'˻HeadingCmd: 4.147298 target range: 429.100006 and range: 426.70 m. j@jjjihhhhfffrfbf?ɛmzBu> qufIq u=ɚqiyI}A!=I`iE=> Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFo0JFGsA GG ~q;5 9GM vAy Y vAy RBG B O >$lw,7A2Will construct direction to contact in vehicle frame from tetrahedron phase data.Fz@YFOg@F;9F=yFH@e@??G`@P_?6u6?z?ɨFz@F-;F&CyRrvBRI %8$?I!Mb@Mb@Mb@ )YJ +?~jty&1?y(?D`e<A  A)AIAyAIIX[5٢= H=9 Q > G٣y! > Nusing accuracyPremultiplier from config49? 4Y@O isB (? :   ??C ; ;Q4 sw, ABhz@YBC@B9B =yBH O``` bG٣`ybA f> nNusing accuracyPremultiplier from confighr49jH?r4YjT ijsBtv v?j^Cj;j;j4zҒB zq% Will construct direction to contact in vehicle frame from tetrahedron phase data.yw,AyvBIi >IV>IU"IUq5٢ < 0=9Q > G٣@Gy > Nusing accuracyPremultiplier from config49膜?4Y'[ isB?Ce;e;қ4 6\ee:*o)lVK?1' G% ;G B O% >ͩw,2AR`z@YR?@R9Ri=yRH`ɝ?"6@frʰ?@u?ɝ?`?ɨR`z@Rt;R$CyZvBZIeMb@Mb@Mb@aaa a)aYejt?ktMb?ye ?e 0e G٣yD > Nusing accuracyPremultiplier from config49܆?4Y ` isB2!?:'?CN;;M4 ;AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504301ZjFNOT Ignoring new targets: 429.10 m.BjJj ProNav: ac range: 429.100006 m, nav range: 282.446045 m, bearing: 141.316254 deg, approach rate: 0.015500 m/s, LOS rate: -0.128586 deg/s, cmd heading: 237.126956 deg, new cmd heading: 236.984930 deg. 2j~HeadingCmd: 4.136168 target range: 429.100006 and range: 426.70 m. j|[@jjjihhhh{Bfffrfbf v@ɛzBP% 隭RxI <ɚiI#=Ih i{0H I  I II wBI &I .I 6I <:I cFJ J /J 1J J (;J ڈ:J 3J J <J <J s;J s;ӆw,AFcz@YF@@F9F=yFH`?`$~"c@u?1??@M?ɨFcz@F;F%CyzvBzII *I |u5٢< R=9ƻQ %>!! %G٣!y-9 -> 5Nusing accuracyPremultiplier from config1=495WІ?=4Y5/e i5sBAE%E?5©C5 ;5 ;54I Mo;AIZjFNOT Ignoring new targets: 429.10 m.BjJj ProNav: ac range: 429.100006 m, nav range: 282.452240 m, bearing: 141.266563 deg, approach rate: 0.016687 m/s, LOS rate: -0.133849 deg/s, cmd heading: 236.984943 deg, new cmd heading: 236.835871 deg. 2jHeadingCmd: 4.133566 target range: 429.100006 and range: 426.70 m. j,F@jjjihhhhfffrfbf t@ɛEzBE<1 IMwII M <ɚIiIIMg$=I}] i},w,}6A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259751 DIDNqz@YNG@N*9Ny=yNH  ?`I#(@ZgH?^?<^?w?ɨNqz@N;N&CyrvBrI)t tttMb@Mb@Mb@ )Y`"?L7A`尿Mb?y?+<lA )AIAyAI I k5٢%W< %:=9%ӻQ ->)) -G٣-@Gy5<; 5> =Nusing accuracyPremultiplier from config9E49=R†?E4Y=~j i=sBM?M:MM?=C=;=';=°4eђB eK;AezEZjFNOT Ignoring new targets: 429.10 m.Bjp Jjp  ProNav: ac range: 429.100006 m, nav range: 282.448639 m, bearing: 141.213555 deg, approach rate: -0.008222 m/s, LOS rate: -0.121034 deg/s, cmd heading: 236.835881 deg, new cmd heading: 236.676857 deg. 2j HeadingCmd: 4.130790 target range: 429.100006 and range: 426.70 m. jo/@jjjihhhhU{Bfffrfbf @ɛzBV. G@=隕KvI uV<ɚiI$=I iBw,XPA:tz@Y:I@:U9:l=y:H}? U?`?ʫ??ɨ:tz@:;:%CyFvBFIIRIRkf5٢Z /= Ze=9^IQ ^>`` bG٣`yf\-: f> jNusing accuracyPremultiplier from configdn49fⶆ?n4Yfn ifsBQUU?fCfIy I}II}]wBIy&Iy.Iy6I}ȱ<:I}oFJuJu2Ju0JqJuD#;Juh:Juـ3JqJu{<Ju{<Ju#;Ju#;*F?2F:FBFJFG ܸ<<G ?G ? Will construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: Range 10 to 50 : 414.3 m (Round-trip 552.5 ms) speed 0.4 m/s - ,DAT read: user:1677> 5 BDAT read: Tx time:21:20:25.0208 5 $Ping request sent.5 w, 5jAUz@YU!S@UN~9U=yUHu?Զ K┳?Џ?mн?B?ɨUz@UFp;U$CyvBIMb@Mb@Mb@ )Y㥛 ?L7A`尿y? )IAy AII٢~< =9TQ > G٣yG; > Nusing accuracyPremultiplier from config49句?4Yu isBt?:?*C;{;4ϒB :AE e5$?IamWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:21:20:25.0200 B*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 414.299988 m, deltaT: 4.033976 s, deltaX: -12.400024 m, approachRate: -3.073896 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 429.10 m.Bj " Jj " = ProNav: ac range: 429.100006 m, nav range: 282.442352 m, bearing: 141.102350 deg, approach rate: -0.006345 m/s, LOS rate: -0.120766 deg/s, cmd heading: 236.547100 deg, new cmd heading: 236.343228 deg. 2j=¥EHeadingCmd: 4.124968 target range: 429.100006 and range: 414.30 m. jE@jAjIjIiIhIhIhQhU{Bfqfqfyrf}y@bf}R?ɛezBeFx aeqIa m<ɚiiiIm iYY ]G٣]@Gyem e> mNusing accuracyPremultiplier from configiu49mZ?u4Ymz imsBy}}?mECm;:m :maǂ4 :AZjFNOT Ignoring new targets: 429.10 m.Bj;Jj; ProNav: ac range: 429.100006 m, nav range: 282.439941 m, bearing: 141.058560 deg, approach rate: -0.006894 m/s, LOS rate: -0.125221 deg/s, cmd heading: 236.343233 deg, new cmd heading: 236.211862 deg. 2jૻHeadingCmd: 4.122675 target range: 429.100006 and range: 414.30 m. j@jjjihhhhfffrfbf`?ɛzB8O WpI V<ɚiI1%=I%E i%tI IEIIwBI&I.I6I<:IF*F?2F:FBF4JFJJ0J1JJ|";J_:J3JJIz<JIz<JX;JX;G p<G B O >*w,dsA69[z@Y6<@6oü96=y6Hć?S\Q?a?4һ?$?ɨ69[z@6i;4y>vB>IIFIFm5٢R RE=9VݻQ V>TT ZGZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002101٣XybWZ b> fNusing accuracyPremultiplier from configd549f{?54Yf~ ifsB1==?fdCfh=*F] ?2FY :FY BF] X5JFY zK :IK 9K K cK BK :K rAG <GGnAGyBO?w,4A23z@Y2Q)@2ـټ92-=y2H t?qWh@F?I/?0? ?ɨ23z@2;2'C>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506176y:vBBI5Mb@Mb@Mb@111 1)1Y5-?A`" G٣y  -> 5Nusing accuracyPremultiplier from config1=495_{?=4Y5 i1E?E:EtE?5C5;58;5@؂4q u:AyZjFNOT Ignoring new targets: 429.10 m.Bj 4 Jj 4  ProNav: ac range: 429.100006 m, nav range: 282.440552 m, bearing: 140.943726 deg, approach rate: 0.006277 m/s, LOS rate: -0.121703 deg/s, cmd heading: 236.066173 deg, new cmd heading: 235.867373 deg. 2j %HeadingCmd: 4.116662 target range: 429.100006 and range: 414.30 m. j%@j!j!jAiAhIhIhIhM{BfQfQfQrfQbfU?ɛzB 隍tI ɸ<ɚiI&=IQ i I  I XII wBI &I .I 6I <:I FBIJIRIZIbIjI_4*F ?2F :F BF 2JF G V<GBO>P*w,&qA2 z@Y2@2ۼ92 F=y2H?鴿`w?@>o??@)?ɨ2 z@2Up;2$Cy>vB>IIFIFk5٢Rť R8=9V Q V>TT VG٣V@GyZ Z> ^Nusing accuracyPremultiplier from config\b49^m?b4Y^ i^sBdff?^C^*:^:^߂4l n:AnEzWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010201ZjFNOT Ignoring new targets: 429.10 m.BjJj ProNav: ac range: 429.100006 m, nav range: 282.442871 m, bearing: 140.891453 deg, approach rate: 0.005258 m/s, LOS rate: -0.118497 deg/s, cmd heading: 235.867360 deg, new cmd heading: 235.710542 deg. 2jHeadingCmd: 4.113925 target range: 429.100006 and range: 414.30 m. j F@j jjihhhhf!f!f)rfIbfU v@ɛ-zB5( 15xI1 5PU<ɚ1i1I=WR&=I=* iEsBO w,7AyvBII-&I-s5zK=VBJK=]9K9K=dK=RKM ?JKM?٢U U@=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu49m`?u4Ym iiyy}?mϪCm!;mv";m]4͒B :AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 429.10 m.Bjk Jjk  ProNav: ac range: 429.100006 m, nav range: 282.445343 m, bearing: 140.840987 deg, approach rate: 0.006013 m/s, LOS rate: -0.122764 deg/s, cmd heading: 235.710539 deg, new cmd heading: 235.559140 deg. 2jHeadingCmd: 4.111282 target range: 429.100006 and range: 414.30 m. j@jjjihhhhfffrfbfœ@ɛzB֟K }I <ɚiI&=Iu iG B O > E 3$?IA  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766014`9w,AHM>I I^IIwBI&I.I6I<:I`FBMy@YB@B?9BVK=yBHK~?Q Ҋ0?@Wz?@T??ɨBMy@BG;@y^vB^Iib=IbIf*If|u5٢rfU rQ=9r;+Q r>tt vG٣tyv z> ~Nusing accuracyPremultiplier from config|49~T?4Y~ i|  ?~C~;~;~.4 ;AZjFNOT Ignoring new targets: 429.10 m.BjJj5 ProNav: ac range: 429.100006 m, nav range: 282.447052 m, bearing: 140.794660 deg, approach rate: 0.004129 m/s, LOS rate: -0.111931 deg/s, cmd heading: 235.559127 deg, new cmd heading: 235.420149 deg. 2j5=HeadingCmd: 4.108857 target range: 429.100006 and range: 414.30 m. j={@j9j9j9i9h9hAhAhAfAfIfIrfIbfM@]@ɛ}zB}ZL 隅RI r<ɚiI(&=I2( itdw,3A:y@Y:Q@:9:7=y:HCv?*?P>?Q? ?ɨ:y@:];:"CyFvBFI m@u u@u u@u  u@u I}-I}v5٢ @=9Q > G٣@Gy > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49G?4Yߙ isB+::? CiD;>84 3;AE IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270260ZjFNOT Ignoring new targets: 429.10 m.BjP JjP  ProNav: ac range: 429.100006 m, nav range: 282.448700 m, bearing: 140.743998 deg, approach rate: 0.003933 m/s, LOS rate: -0.120923 deg/s, cmd heading: 235.420146 deg, new cmd heading: 235.268161 deg. 2jHeadingCmd: 4.106204 target range: 429.100006 and range: 414.30 m. jf@jjjih h hhfffrfbf] @ɛezBe`J 隕I 0<ɚiI+3'=IS isIw,MAR{y@YR@R9R{=yRH`}r?ɴ`֎`??@?7 ??ɨR{y@Rc;R$CyZvBZIIdId٢ W=92 Q > G٣!y%R %> 5bBottom track data is 0.8 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)549-;?=4Y- i-sB= :9=m:=E?-)C-6;-Q?-4I MM;AIZjy}FNOT Ignoring new targets: 429.10 m.Bjv Jjv  ProNav: ac range: 429.100006 m, nav range: 282.450104 m, bearing: 140.697988 deg, approach rate: 0.003773 m/s, LOS rate: -0.123676 deg/s, cmd heading: 235.268161 deg, new cmd heading: 235.130132 deg. 2jHeadingCmd: 4.103795 target range: 429.100006 and range: 414.30 m. jJR@jjjihhhhfffrfbf`7 @ɛzBo =I &9<ɚiI'=I"{ i<)JR@)*F?2F:FBF0JF 1$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774280ZH!RH%AAH)I) I-XII-wBI-# =&I).I)6I-ֱ<:I-{FG-<GGrAGBO>uw,gA^uy@Y^Ѓ@^9^P2=y^H:ci?Pôx- -X#Rx 1: Read range message, but no direction.pyrCpT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.^;^#Cy=vB=I)I II](I]t5٢, ?=9 G٣yڜ > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49b.?4Y isB9@:#?IC;ڞ?4 ;AE addTargetRange:: Added new target pos. range: 421.899994 m, deltaT: 4.030466 s, deltaX: 7.600006 m, approachRate: 1.885640 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 429.10 m.BjuJju ProNav: ac range: 429.100006 m, nav range: 282.451324 m, bearing: 140.647827 deg, approach rate: 0.002882 m/s, LOS rate: -0.118428 deg/s, cmd heading: 235.130136 deg, new cmd heading: 234.979654 deg. 2jHeadingCmd: 4.101169 target range: 429.100006 and range: 421.90 m. j<@jjjihhhhf fifirfm`f^z@bfu@fg?ɛzBܒQ I /!<ɚiI'=I5) i=\w,A6cy@Y6@6;96U=y6H`# b?@I|%?4f?)ý?@?ɨ6cy@6C;6 CyLNI e e ee ee  e e eMb@Mb@Mb@aaa a)aYe^I +?/$?y&1|yeX?e G٣@Gyƚ > Nusing accuracyPremultiplier from config49#?4Y isBT:r?:M?hC ;;4 ;AB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 429.10 m.Bj+ Jj+  ProNav: ac range: 429.100006 m, nav range: 282.482330 m, bearing: 140.599102 deg, approach rate: 0.076875 m/s, LOS rate: -0.120795 deg/s, cmd heading: 234.979654 deg, new cmd heading: 234.833494 deg. 2jͥ HeadingCmd: 4.098618 target range: 429.100006 and range: 421.90 m. j '@j j jihhhhzBfffrf!bf%?ɛzB8l Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251221隥GI $<ɚiI07(=I  iG Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502976H I  I QII wBI &I .I 6I ȱ<:I qFw,%[A>-y@Y>O@>9>=y>HS?c om`i? 6?`ݽ? d?ɨ>-y@> [;>#Cy%vB%II5I5.l5٢ET MP=9M'Q M>IQ UG٣QyU U> eNusing accuracyPremultiplier from configam49e?m4Ye< iesBquu?eCen:e:e 4 ;AZj%FNOT Ignoring new targets: 429.10 m.Bj%)Jj-)] ProNav: ac range: 429.100006 m, nav range: 282.511871 m, bearing: 140.551754 deg, approach rate: 0.072643 m/s, LOS rate: -0.116418 deg/s, cmd heading: 234.833488 deg, new cmd heading: 234.691461 deg. 2j]˟}HeadingCmd: 4.096139 target range: 429.100006 and range: 421.90 m. j}@jyjyjyiyhyhhhfffrfbfR?ɛzBb@ I _M<ɚiI(=I  imG B O >ҳw,GA 46@Z! y@YZm@Zz9Z=yZH@I?@N cٷ?Π? 1??ɨZ! y@ZՕ;Z$CyfvBfIijC=Ije> =0$?I=>gMb@Mb@Mb@ )YS?~jt?~jthy?<D )^AIAyIIa5٢= B=95Q > G٣yC > Nusing accuracyPremultiplier from config49} ?4Yݳ itB?:?C;b;4˒B ;AEMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007068Zj-FNOT Ignoring new targets: 429.10 m.Bj-uJj-u ProNav: ac range: 429.100006 m, nav range: 282.542297 m, bearing: 140.500727 deg, approach rate: 0.070101 m/s, LOS rate: -0.117553 deg/s, cmd heading: 234.691474 deg, new cmd heading: 234.538409 deg. 2jZHeadingCmd: 4.093467 target range: 429.100006 and range: 421.90 m. j@jjjihhhhzBfff!rf!bf%,?JmJm4JiJiJm,';Jmr:JiJiɛ{B.c |I r<ɚiI (=I V$ iw,A2x@Y2S@2{O92=y2H0!NB? ;@lX C?ɡ?h? ?ɨ2x@2ס;2 Cy:vB:IIFIFa5٢R< R_=9VQ V>X\ ^G٣b@GybĻ f> rNusing accuracyPremultiplier from configlz49nH?z4Ynո intB| ?nëCn);n:;nS4  ;A ZjFNOT Ignoring new targets: 429.10 m.BjV JjV  ProNav: ac range: 429.100006 m, nav range: 282.568878 m, bearing: 140.455593 deg, approach rate: 0.072780 m/s, LOS rate: -0.123568 deg/s, cmd heading: 234.538396 deg, new cmd heading: 234.403008 deg. 2jHeadingCmd: 4.091105 target range: 429.100006 and range: 421.90 m. jT@jjj!i!h!h!h!h)f)f)f)rf)bf5f?ɛ {Bdf m Ii ue<ɚqiqIuS)=I} K i}SlI IEIIwBI$ =&I.I6I<:IFGE<G B O >w,AFUx@YFk@F 9FT=bWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764151yFH v45?ZK``?@Zo?? ?ɨFUx@Fk;F#CyMvBMII}I}+p5٢\4 <=9:Q > G٣yջ > Nusing accuracyPremultiplier from config49J?4Y itB@ ?C ;N;4 ;AZjIMFNOT Ignoring new targets: 429.10 m.BjuHJjuH ProNav: ac range: 429.100006 m, nav range: 282.599457 m, bearing: 140.402801 deg, approach rate: 0.073071 m/s, LOS rate: -0.126140 deg/s, cmd heading: 234.403022 deg, new cmd heading: 234.244661 deg. 2j#HeadingCmd: 4.088341 target range: 429.100006 and range: 421.90 m. jӂ@jjji1h1h9h9hAfAfAfArfAbfMy@PExceeded connect timeout, disconnecting.ɛ{B/y 隽WI nU<ɚiI)=IVx iw,hAy5vB5I)A AzKmVBJKmػ9KiKmhKmMb@Mb@Mb@ )YS?{Gz?Mb`?y/?ף<;(A )AIyAI#Ibr5٢9 ==9Q > %G٣!y% -> 5Nusing accuracyPremultiplier from config1=495M녜?=4Y5o i5tB=D?=:== =?5C5;5j;5_'4MʒB MJEHeadingCmd: 4.085577 target range: 429.100006 and range: 421.90 m. jE @jAjAjIiIhIhIhQhUzBfYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268771ffrfbf@D1@ɛ-{B-rd 15I1 5 F<ɚ1i1I5**=I} i}fH} M>Iy  I} 8II} wBI} # =&Iy .Iy 6I} <:I} FBI9JI9RI9ZI=# =bI=# =jI=˫4w,%AJJ-J0JJ!;Jч:Jـ3JJxqq uG٣u@GyP > Nusing accuracyPremultiplier from config49y?4Y i&tB ?$C:C:.4 ' w,V-7A 8I8yevBeIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023224Mb@Mb@Mb@ )Yx&1?~jt?~jthy!?D<DA  A)IAyAI%$I%r5٢-ر 5==95Q 5>99 =G٣9y >  Nusing accuracyPremultiplier from config49 Ӆ?4Y i/tB!?:[ ?ICO;l0;54! -+w,!QA ,.@N$x@YN!@N 9N~=yNHp ?@|/>!<?8?k?z?ɨN$x@N;N!CyfvBfIizY>Iz=I &I s5٢_; %\=9%UkQ %>)) -G٣)y-JJ.J1JJ ;JV:J3JJw<Jw<J;J;0w,sjA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779781~=w@Y~{ @~ 9~,=y~H@` ?` O$??L??ɨ~=w@~w;~"Cy vB II%$I%r5٢-ּ 5K=95?Q 5>99 =G٣=@GyE E> MNusing accuracyPremultiplier from configIU49M?U4YM+ iM?tBae e?MCM[;M"\;MC4i m= -BDAT read: Tx time:21:20:33.1208 5$Ping request sent.5!w,A6w@Y6@6ց96BD=y6H!?{@ -Yo?@Oϡ? ? ?ɨ6w@6;6 Cy@@EMb@Mb@Mb@AAA A)AYEZd;?y&1|~jthyE?E`廹AE(A E5A)EAIEAAyEAI]8I]{59mrӹQ m>qq uG٣qy}Q }> Nusing accuracyPremultiplier from config49?4Y iFtB?: ?C;j;@J4 zKm$JK9KKjKRK?JK ? addTargetRange:: Added new target pos. range: 420.100006 m, deltaT: 4.283574 s, deltaX: -1.799988 m, approachRate: -0.420207 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 429.10 m.BjJj  ProNav: ac range: 429.100006 m, nav range: 282.749512 m, bearing: 140.098147 deg, approach rate: 0.041655 m/s, LOS rate: -0.126462 deg/s, cmd heading: 233.485618 deg, new cmd heading: 233.330801 deg. 2j HeadingCmd: 4.072391 target range: 429.100006 and range: 420.10 m. jQ@jjjihhhhzBf!f!f!rf%Az@bf%U?ɛM2{BUԞ QU핿IQ ] ;ɚYiYI];,=Ie} ie$# I IQ % Will construct direction to contact in vehicle frame from tetrahedron phase data.H1 I1  I5 ,II5 qwBI5 # =&I1 .I1 6I5 <:I5 FA'w,oAZtw@YZɂ@Z?9Zp=yZHַ?w?@{???ɨZtw@Z;Z!CJrJr/JpJpJr!;Jrڈ:JpJpJrx<Jrx<Jrs;Jrs;yzzvB~I) I !I q5٢& %<9%YQ %>)) -G٣)y-# 5> =Nusing accuracyPremultiplier from config1E495ƣ?E4Y5 i5NtBAE< E?5ŬC5:5L:5$Q4UȒB U\rn-w,UA -$?IyޕvBޕIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0046065Mb@Mb@Mb@111 1)1Y5Mb?Mbaa eG٣e@Gym m> }Nusing accuracyPremultiplier from configq49uR?4Yu iuStB##?:-?uCutR4w,#ARjv@YRo@Ru9RwD=yRH?@d?pp rG٣pyv v> zNusing accuracyPremultiplier from configx~49z?~4Yzp izXtB|?zCz. ;z ;z_4  JJ,J0JJ $;JL:Jـ3JJ|<J|<J;J;^~:w,qA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760691>v@Y>M]@>-9>=y>H؟?@G@h@{?? #?a?ɨ>v@>gq;> Cy vB Ii>I>I%'I%(t5٢-8 5E=95{6;Q 5>99 EG٣AyE M> UNusing accuracyPremultiplier from configI]49M{?]4YM iM]tBY]]?M(CM;M!;M`f4mƒB m0eAw, A6v@Y6"S@6<96=y6HF?!*l??@? ?ɨ6v@6~;6"CyB|vBBIEMb@Mb@Mb@AAA A)AYEp= ף?~jtI +yE%?EļE94E(A E5A)AIEAAyEAI]&I]s5٢m: mG=9uQ u>qq }G٣}@Gy} F }> Nusing accuracyPremultiplier from config49m?4Yg ibtBB%?:?JCZ;V;m4 AJK}>ɛI{B 隽I <6;ɚiIP/=I\i.  I H I  I I I &I .I 6I <:I cF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516594]Gw, A25Zv@Y2w<@2z92*h=y2Hk)?&a?0?V?@v?ɨ25Zv@2u:;2!CyBvBBIIJ"IJq5٢f} = fU=9jQ j>hl nG٣lyn n> vNusing accuracyPremultiplier from configpv49r`?z4Yr~ irftBxzz?rjCr  +$?I Mw,9 A=r6v@Y=*@=>9==y=H 7 ܁?@g? Ŧ??@l?ɨ=r6v@=;9yM~vBUI)Y YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020877UMb@Mb@Mb@QQQ Q)QYUw/?~jtMbyU&?UDUUA UzA)U AIUAQyUzAIuIuo5٢ɼ 1=99Q > G٣y> > Nusing accuracyPremultiplier from config49WQ?4Y iltB&?:?C;p;P|4 :G B O >Tw,nS A2v@Y2@2=92`~=y2H M "r?s`!@޷???K?ɨ2v@2&;2#CyBvBBIIJ/IJw5٢^= ^m=9b!Q b?`d fG٣f@GyjS j? rNusing accuracyPremultiplier from configlr49nE?v4Yni inrtBtvv?nCn:nz:n\4x z;A~EZj%FNOT Ignoring new targets: 429.10 m.Bj% Jj% 5 ProNav: ac range: 429.100006 m, nav range: 282.830475 m, bearing: 139.681528 deg, approach rate: 0.024980 m/s, LOS rate: -0.132051 deg/s, cmd heading: 232.217935 deg, new cmd heading: 232.080971 deg. 2j5@=HeadingCmd: 4.050577 target range: 429.100006 and range: 420.10 m. j=T@jAjAjAiAhAhAhIhIfIfIfIrfQbfUP @ɛT{B %f=%I! %iHɚ!i!I% 1=I- i-IIy I}II}]wBIy&Iy.Iy6I}<:I}FBIAJIARIAZIAbIAjIE3Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:20:36.0691 TRx dataTimestamp_ set to:1736371237.460779checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526486G~<GB O >Zw,UOm AWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779942) CEGay YySBu@YN@ 9=yHb`a?`)o)/S??`g?Q?ɨu@K;CyvBIi%a=I%;I"Iq5٢g< =98Q > G٣yǻ > Nusing accuracyPremultiplier from config493?4Y iztBK?٭C|<!<4mĒB m;AuE *$?IZj  FNOT Ignoring new targets: 429.10 m.BjU\JjU\e ProNav: ac range: 429.100006 m, nav range: 282.842926 m, bearing: 139.611720 deg, approach rate: 0.020797 m/s, LOS rate: -0.116593 deg/s, cmd heading: 232.080976 deg, new cmd heading: 231.871562 deg. 2jemHeadingCmd: 4.046922 target range: 429.100006 and range: 420.10 m. jmc@jjjihhhhfffWill construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 21:20:36.0691 LVL= 21744, 32753, 28066, 32755, AGC= 70, IDX= 273,-0.06, 2.913, 1.408, 2.096, 2.550, PHS= 0.451,-1.095,-0.456, RAW= 114.3, 16.1, CAL= 121.6, 13.5, ROT= 28.4, -13.5 5Ygot valid direction response: 21:20:36.0691 LVL= 21744, 32753, 28066, 32755, AGC= 70, IDX= 273,-0.06, 2.913, 1.408, 2.096, 2.550, PHS= 0.451,-1.095,-0.456, RAW= 114.3, 16.1, CAL= 121.6, 13.5, ROT= 28.4, -13.5 =PDAT read: Bearing 28.4, -13.5 (Local) =~Local bearing/azimuth received: Bearing 28.4, -13.5 (Local) UDAT read: Range 10 to 50 : 408.0 m (Round-trip 544.1 ms) speed 0.3 m/s ],DAT read: user:1680> ]BDAT read: Tx time:21:20:37.1708 e$Ping request sent.erfbfX?(xBY?ޏ> @):Fq>I>i:Fqs?5@}%#QC?)J̽IiV"텿 :publishing transmit ping timea Fpublishing direction and range info9l,qڿҿB?y )Ii )Iɛ5 Z{B5 č 9 = CI9 = кɚ9 i9 I= 1=IM iM h G٣yYڻ > Nusing accuracyPremultiplier from config49^#?4Y itBF)?:?C#;;4) -W;A-Eku5*œ?kuր kq kuɰ} A:kuCBkuCZku~?"ufe\胊v@ul,qڿҿB?JkuV"Rku텿*u~ް%{l)卒m@Ay4t@ulN8V&?z?"kulC*kuH.kux?ku 2kuCku?ɛ]{B2 cI :F'ɚiI.\2=IIiJA&jw,6 AyUvBUIIeIeb5٢}8T= }L=9}Q > G٣@Gy > Nusing accuracyPremultiplier from config49?4Y# itB?"CX:C:4Will construct direction to contact in vehicle frame from tetrahedron phase data. ;AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 408.00 m.Bj5Jj5 ProNav: ac range: 408.000000 m, nav range: 285.138000 m, bearing: 128.114814 deg, approach rate: 0.158179 m/s, LOS rate: -0.138317 deg/s, cmd heading: 231.724222 deg, new cmd heading: 231.572114 deg. 2jڽHeadingCmd: 4.041696 target range: 408.000000 and range: 408.00 m. jU@jjjihhhhfffrfbf@>L?ɛ`{Bv 隍I GO\ɚiIE2=Itisrw,F Ab t@Yb[@b&U#9b|=ybH@?@ɭaM? Bi? ??ɨb t@b;b CyrvBrI)t txzA}Mb@Mb@Mb@yyy y)yY}#~j?zKjIK+9KKoK'/0/+#  G٣ym > Nusing accuracyPremultiplier from config49O?4Y# itB%?:R?KC;;Y4ÒB :AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242444EZj!%FNOT Ignoring new targets: 408.00 m.BjJj ProNav: ac range: 408.000000 m, nav range: 285.209686 m, bearing: 128.050960 deg, approach rate: 0.142297 m/s, LOS rate: -0.126719 deg/s, cmd heading: 231.572127 deg, new cmd heading: 231.380614 deg. 2jHeadingCmd: 4.038353 target range: 408.000000 and range: 408.00 m. j1:@jjjihh h h zBf ffrfbf@?ɛ]d{B]酜 aeIa sɚiI3=ITi:J J @Axw,$ A>ft@Y>B@> 9>Z=y>Hmx?`\ ?`;ܸ??X??ɨ>ft@>C;>CyFvBJIIRIRp5٢Z_= Z[=9Z:Q ^>\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj49fz?n4Yf( iftBlnn?fjCf*;fu*;fө4p v:AtZjFNOT Ignoring new targets: 408.00 m.BjnJjn- ProNav: ac range: 408.000000 m, nav range: 285.262024 m, bearing: 128.003909 deg, approach rate: 0.141456 m/s, LOS rate: -0.127145 deg/s, cmd heading: 231.380608 deg, new cmd heading: 231.239481 deg. 2jHeadingCmd: 4.035890 target range: 408.000000 and range: 408.00 m. j&@jjjihhhhfffrfbf  ?ɛf{BY 隵SI @ɚiI#4=Ii}r~w, A.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999234yޕwBޕI%Mb@Mb@Mb@!!! !)!Y%S㥛?~jtxMb?y%$?%Ļ%<%A !)% AI!!y!I5I5o5٢E|= E3=9MQ M>QQ UG٣U@Gy] ]>JuJu0Ju1JqJu\;Ju_:Ju3Jq }Nusing accuracyPremultiplier from configy49}焜?4Y}. i}tB$?:H?}C};};}ϱ4 :AEZjFNOT Ignoring new targets: 408.00 m.BjJj ProNav: ac range: 408.000000 m, nav range: 285.327423 m, bearing: 127.946374 deg, approach rate: 0.142668 m/s, LOS rate: -0.125484 deg/s, cmd heading: 231.239469 deg, new cmd heading: 231.066903 deg. 2j<HeadingCmd: 4.032878 target range: 408.000000 and range: 408.00 m. jW @jjjihhhhzBfffrfbfH@ɛi{B %I! %3лɚ!i!I%e4=I-i- E=>*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=2.250367zK%LK%9K!K%pK%G ~@<G B O >魅w,$ AJ"s@YJn @Js 9J=yJH |?"Mg?? ? U?ɨJ"s@Jr;;JCyR wBRIiVJ>IV4<I^I^m5٢f= ff=9f,8Q f>hh jG٣hyn( n> rNusing accuracyPremultiplier from configpv49rۄ?v4YrM3 irtBtzz?rCrn: IBgr:r4%’B -9A-EZjy}FNOT Ignoring new targets: 408.00 m.Bj Jj  ProNav: ac range: 408.000000 m, nav range: 285.376740 m, bearing: 127.901760 deg, approach rate: 0.136255 m/s, LOS rate: -0.123239 deg/s, cmd heading: 231.066912 deg, new cmd heading: 230.933095 deg. 2j'HeadingCmd: 4.030543 target range: 408.000000 and range: 408.00 m. j5@jjjihhhhfffrfbf@ɛ}l{B}U 隅ꋿI SɚiIsL5=HI IQIIwBI# =&I.I6I˱<:IrFIK+i[ Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7543488Ջw,w1 A6s@Y6E@6"96@=y6H`s.?* Jz?X?*??ɨ6s@6mو;4yj7wBn IIvIvk5٢~= ~H=9㱺Q >  G٣ y   > Nusing accuracyPremultiplier from config%49n̈́?%4Y8 itB!%-?ϮC*;u*;&45B 5.9A5EUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 408.00 m.BjmJjm ProNav: ac range: 408.000000 m, nav range: 285.433228 m, bearing: 127.850101 deg, approach rate: 0.141214 m/s, LOS rate: -0.129118 deg/s, cmd heading: 230.933094 deg, new cmd heading: 230.778147 deg. 2j9HeadingCmd: 4.027839 target range: 408.000000 and range: 408.00 m. j@jjjihhhhfffrfbf @ɛEn{BE AE͆II MRɚIiIIM5=IuWiu#w,|K A2s@Y2/@2$92=y2H :`?ݥm@˸?@E?@??ɨ2s@2ʈ;2CyRDwBRIeMb@Mb@Mb@aaa a)aYeV-?~jty&1|?ye|?eļe`;eA edA)evAIeAayeQAIuIui5٢< A=9jQ > G٣@Gyю > Nusing accuracyPremultiplier from config49?4Y= itB?:?C ;;ƃ4 8AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258519ZjFNOT Ignoring new targets: 408.00 m.BjM Jj M zKBoIK 9KKqK- ProNav: ac range: 408.000000 m, nav range: 285.481934 m, bearing: 127.798191 deg, approach rate: 0.115111 m/s, LOS rate: -0.122661 deg/s, cmd heading: 230.778158 deg, new cmd heading: 230.622457 deg. 2j-\5HeadingCmd: 4.025121 target range: 408.000000 and range: 408.00 m. j5̀@j1j1j1i9h9h9h9hE%{BfAfAfArfAbfM`Q @ɛ}p{B}~ 隅I bɚiIe6=IiJ4 IZHRHHI IqIIwBI&I.I6Iѱ<:IvF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:20:40.1165  TRx dataTimestamp_ set to:1736371241.492667 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511396JK KKK"KJ J *J J J $;J C:J J J U~II MG٣IyU U> ]Nusing accuracyPremultiplier from configYm49]?m4Y]B i]tBimu?]C]c2;]t2;]l̓4 n8AZj=FNOT Ignoring new targets: 408.00 m.Bj=} JjE} } ProNav: ac range: 408.000000 m, nav range: 285.526825 m, bearing: 127.749737 deg, approach rate: 0.111382 m/s, LOS rate: -0.120202 deg/s, cmd heading: 230.622457 deg, new cmd heading: 230.477119 deg. 2j}HeadingCmd: 4.022584 target range: 408.000000 and range: 408.00 m. j@jjjihhhhfffrfbf` @ɛ}r{B} y}WIy ɚiI6=Ii ?@Ww,?; A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:DAT read: 21:20:40.1165 LVL= 29872, 32753, 32754, 32755, AGC= 69, IDX= 420,-0.12, 0.801,-0.714,-0.080, 0.353, PHS= 0.535,-1.020,-0.437, RAW= 111.8, 13.5, CAL= 120.2, 11.0, ROT= 29.8, -11.0 RYgot valid direction response: 21:20:40.1165 LVL= 29872, 32753, 32754, 32755, AGC= 69, IDX= 420,-0.12, 0.801,-0.714,-0.080, 0.353, PHS= 0.535,-1.020,-0.437, RAW= 111.8, 13.5, CAL= 120.2, 11.0, ROT= 29.8, -11.0 VPDAT read: Bearing 29.8, -11.0 (Local) Z~Local bearing/azimuth received: Bearing 29.8, -11.0 (Local) bDAT read: Range 10 to 50 : 406.1 m (Round-trip 541.5 ms) speed 0.4 m/s b,DAT read: user:1681> fBDAT read: Tx time:21:20:41.2208 f$Ping request sent.j "C@)" D>I"%?i" D "̞ ?5E0% ]?)"I"cpi"-""X :publishing transmit ping timedFpublishing direction and range info 9"Ρ/^W׿IϿ ?y  ) I i ) I i "̞ ?5E0% ]?) I i ykwB)IMb@Mb@Mb@ )YCl? G٣y > Nusing accuracyPremultiplier from config49?4YH itB?:j?8C,;;xփ4  [8A Ek"uЂ?k"\T k  k" A:k" CBk"CZk"Z?""%yrb+GLYZe^v@"Ρ/^W׿IϿ ?Jk"-"Rk"X*"P>R&j@B1u@"$<ְ؋M? 肐'?"k"VC*k"k"͂?k"k. 2k";Ck k"k. k"KCk"eCk"m6@ addTargetRange:: Added new target pos. range: 406.100006 m, deltaT: 4.032274 s, deltaX: -1.899994 m, approachRate: -0.471197 m/s, rangeRepo size: 4  Added new target pos. range: 406.100006 m, bearing: 91.472630 deg, lat: 36.902997 deg, lon: -122.112218 deg, deltaT: 4.032274 s, deltaX: -1.899994 m, approachRate: -0.471197 m/s, posRepo size: 4 Zj]FNOT Ignoring new targets: 406.10 m.Bj]Jjam ProNav: ac range: 406.100006 m, nav range: 276.794861 m, bearing: 129.105840 deg, approach rate: 0.000000 m/s, LOS rate: -0.120202 deg/s, cmd heading: 230.477111 deg, new cmd heading: 230.285087 deg. 2jqHeadingCmd: 4.019233 target range: 406.100006 and range: 406.10 m. j@jjjihhhhW{Bfffrfay@bf ?ɛt{B%䓽 !- I) U/ɚYiYI]s7=Imiml=w,_ A69)s@Y6@6l296=y6Hh?@`.`?N?;h??ɨ69)s@6S;6Cy>twB>.IIFIF]5٢N@< Ne=9VQ V>TT ZG٣Z@GyZB Z> ^Nusing accuracyPremultiplier from config\fWill construct direction to contact in vehicle frame from tetrahedron phase data.%49^?-4Y^L i^tB)--?^TC^cn<^n<^܃4A e98AaZjFNOT Ignoring new targets: 406.10 m.BjJj ProNav: ac range: 406.100006 m, nav range: 276.824005 m, bearing: 129.061842 deg, approach rate: 0.084472 m/s, LOS rate: -0.127511 deg/s, cmd heading: 230.285073 deg, new cmd heading: 230.153093 deg. 2jHeadingCmd: 4.016929 target range: 406.100006 and range: 406.10 m. j@jj j i h h hhfffrfbf= >?ɛev{Be am?Ii mD ;ɚiiiIm7=IuV iu|}}Will construct direction to contact in vehicle frame from tetrahedron phase data.m G vA 6 Y vAy B[w, A6r@Y6N}@6|696E=y6H`|?dO M@̬?ݦ?7? ?ɨ6r@6;6 CyRwBR;I V=V=IZIZM5٢bP= bI=9f0Q f>dh jG٣hyj> j> rNusing accuracyPremultiplier from configlr49nT?v4YnQ in uBtvv?nsCn:nX:n4zB ~7A $$?ICg~E-B*** querying acoustic contact ***j)j)Zj15FNOT Ignoring new targets: 406.10 m.Bj=Jj=M ProNav: ac range: 406.100006 m, nav range: 276.856506 m, bearing: 129.011331 deg, approach rate: 0.083271 m/s, LOS rate: -0.129400 deg/s, cmd heading: 230.153087 deg, new cmd heading: 230.001571 deg. 2jMUHeadingCmd: 4.014285 target range: 406.100006 and range: 406.10 m. jUu@jQjQjihhhhff f rf bf E?ɛw{B {I UKGɚYiYI]j8=I5i҄'<)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.)9*F%?2F!:F!BF!JF!GA G B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242081Uw,U/ AzK.a3JK.h9K,K.sK.BK0:K2mAbr@YbMV@bT@9bƗ=ybH5 d?@h`gs?@Z?[?~?ɨbr@b;bCy wB HIMb@Mb@Mb@ )Y^I +? ףp= ~jth?yX?Q8D;A )` AIEAyAIII5٢\<= 9=9(Q > G٣yy0 > Nusing accuracyPremultiplier from config 49t?4YV iuB?:B%?C;;{4A E7AIZjFNOT Ignoring new targets: 406.10 m.Bjx Jjx I ProNav: ac range: 406.100006 m, nav range: 276.886658 m, bearing: 128.956549 deg, approach rate: 0.066157 m/s, LOS rate: -0.120187 deg/s, cmd heading: 230.001566 deg, new cmd heading: 229.837239 deg. 2jHeadingCmd: 4.011416 target range: 406.100006 and range: 406.10 m. j]@jjjihhh h `{Bf f f rfbf@?ɛy{BR 隭vI =VɚiIw8=Idi&~JJ.J1JJJV:J3JJJJ;J;}w,\ A>.or@Y>F@>f@9>~=y>HZ?8@^@r? H?0?`?ɨ>.or@>h;>CyJwBJNIIjIj_5٢r < r[=9rQ v>tt vG٣v@Gyz@ z> Nusing accuracyPremultiplier from config| 49~]g? 4Y~Z i~uB  ` ?~C~ :~:~4 T7AEZjAMFNOT Ignoring new targets: 406.10 m.BjMjJjUje ProNav: ac range: 406.100006 m, nav range: 276.911713 m, bearing: 128.910607 deg, approach rate: 0.069816 m/s, LOS rate: -0.128006 deg/s, cmd heading: 229.837232 deg, new cmd heading: 229.699418 deg. 2jemHeadingCmd: 4.009011 target range: 406.100006 and range: 406.10 m. jmI@jijijiiihihqhqhqfyfyfyrfybf}?ɛz{Bᶽ 隭?tI `ɚiIHI9=IiZ| Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000784fw, A64gr@Y6B@6d@96=y6H@X? `d\u??࿉??ɨ64gr@6C;6Cy>wB>SIDD Mb@Mb@Mb@    ) Y S?l~jthy ?  D A MA)  AI  y 3AI-I-a5٢=< =E=9=mQ E>AA EG٣AyM M> UNusing accuracyPremultiplier from configQe49UX?e4YU_ iU(uBe?e:eue?UүCU=;UY<;U;4q u77AqZjFNOT Ignoring new targets: 406.10 m.BjJj= ProNav: ac range: 406.100006 m, nav range: 276.943634 m, bearing: 128.859139 deg, approach rate: 0.074118 m/s, LOS rate: -0.119491 deg/s, cmd heading: 229.699426 deg, new cmd heading: 229.545039 deg. 2j==HeadingCmd: 4.006317 target range: 406.100006 and range: 406.10 m. jE3@jAjAjAiAhAhAhIhMI{BfIfqfqrfqbfuh@ɛ{{Bi rI !gnɚiI9=I6i I H I  I II zxBI &I .I 6I <:I \FВw, ANWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502356Kr@Y4@ C92=yH N?@]S@~?`a??`+?ɨKr@醈;Cy-wB-WIIEIEKk5٢M~{< UI=9UɺQ U>YY ]G٣Yyei e> mNusing accuracyPremultiplier from configiu49mUJ?u4Ym7d im1uBq}}?mCm@;mG;mZ4B 7AEZjFNOT Ignoring new targets: 406.10 m.BjyJjy ProNav: ac range: 406.100006 m, nav range: 276.974792 m, bearing: 128.808562 deg, approach rate: 0.079439 m/s, LOS rate: -0.128932 deg/s, cmd heading: 229.545036 deg, new cmd heading: 229.393324 deg. 2jHeadingCmd: 4.003669 target range: 406.100006 and range: 406.10 m. j@jjjihhhhfffrfbf@JJJJJ\;JJJJt<Jt<JJɛKP NqI izɚiI,:=Iiuw,9 A $I$::r@Y:,@:3E9:d=y:H@I?"M`(?`Ѵ? ??ɨ::r@:;:CyFwBF\IININe5٢V< VV=9ZٺQ Z>XX ZG٣Z@Gy^, ^> bNusing accuracyPremultiplier from config`f49b] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258198ܢw, rS AzK^RIK^9K\K^uK^n2 r@Yn@n;I9nՕ=ynH`;? S쫿> u?$??`?ɨn2 r@n;lyvwBvWI ~a=~R=}Mb@Mb@Mb@yyy y)yY}ʡE?~jt G٣yл > Nusing accuracyPremultiplier from config49-?4Ym iAuB?:?1Cw;;4 7A}IJEZjFNOT Ignoring new targets: 406.10 m.BjJj  ProNav: ac range: 406.100006 m, nav range: 277.037628 m, bearing: 128.706010 deg, approach rate: 0.072968 m/s, LOS rate: -0.119600 deg/s, cmd heading: 229.251065 deg, new cmd heading: 229.085697 deg. 5"$?I12j=)=HeadingCmd: 3.998300 target range: 406.100006 and range: 406.10 m. j=$@jAjAjAiAhAhAhihmZ{Bfifqfqrfqbfu] @ɛ}{B+- zqI aɚiI ;=I;i<Lw,Fm A6q@Y6@6RaM962=y6HE3? 5 ͝`?`i?? ?ɨ6q@6x;6Cy>wB>VIIFIFi5٢v vW=9zP.Q z>xx ~G٣|y~E ~>  Nusing accuracyPremultiplier from config 49E? 4Y r iHuB?OCa::K4B %7A%ŲEZjIMFNOT Ignoring new targets: 406.10 m.BjU~JjU~e ProNav: ac range: 406.100006 m, nav range: 277.066864 m, bearing: 128.657794 deg, approach rate: 0.082439 m/s, LOS rate: -0.135943 deg/s, cmd heading: 229.085692 deg, new cmd heading: 228.941061 deg. 2jemHeadingCmd: 3.995775 target range: 406.100006 and range: 406.10 m. jmȺ@jijijqiqhqhqhyhyfyfyfrfbf@ɛӷ 隽 rI ɚiIW{;=Idi Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 413.8 m (Round-trip 551.8 ms) speed 0.4 m/s  ,DAT read: user:1682> 5 BDAT read: Tx time:21:20:45.2709 = $Ping request sent.= < ;=9Q > G٣@Gyٻ >  Nusing accuracyPremultiplier from config 49 ?4Y Sw i QuB?:2? rC ; S; 4! %6A-ȲE addTargetRange:: Added new target pos. range: 413.799988 m, deltaT: 4.034958 s, deltaX: 7.699982 m, approachRate: 1.908318 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 406.10 m.Bj Jj  ProNav: ac range: 406.100006 m, nav range: 277.107483 m, bearing: 128.602913 deg, approach rate: 0.090925 m/s, LOS rate: -0.122833 deg/s, cmd heading: 228.941056 deg, new cmd heading: 228.776436 deg. 2jHeadingCmd: 3.992902 target range: 406.100006 and range: 413.80 m. j@jjjihhhh?{Bfffrfy@bfN?ɛA: 隝pI PɚiI2;=Ii% He K>Ia  Ie IIe xBIe # =&Ia .Ia 6Ie ı<:Ie kFlw,@ A2Will construct direction to contact in vehicle frame from tetrahedron phase data.^q@Y^P@^tV9^I=y^H t:?- @8? p˪?.?`M?ɨ^q@^ac;^CyjwBn[IprAIvIvX5٢~; ~Y=9bQ >  G٣ y 嗻  > Nusing accuracyPremultiplier from config49?4Y{ iXuB!%N%?C" ;C ;#4) -6A)ZjYeFNOT Ignoring new targets: 406.10 m.BjeJjeu ProNav: ac range: 406.100006 m, nav range: 277.142120 m, bearing: 128.555793 deg, approach rate: 0.094242 m/s, LOS rate: -0.128187 deg/s, cmd heading: 228.776435 deg, new cmd heading: 228.635095 deg. 2ju򯻝HeadingCmd: 3.990435 target range: 406.100006 and range: 413.80 m. jJc@jjjihhhhfffrfbfҤ?ɛY]w Y]pIa e[ɚaiaIeV<=ImlimE I w,z A>q@Y>d@>lY9>=y>H`<?` @E? /?xi? ?ɨ>q@>b;>CybwBbZIIjIjR5٢r rL=9vQ v>tt zG٣xyz. z> Nusing accuracyPremultiplier from config|49~? 4Y~ i~auB  s ?~C~:~:~*4 6A=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 406.10 m.BjU6JjU6e ProNav: ac range: 406.100006 m, nav range: 277.178802 m, bearing: 128.505499 deg, approach rate: 0.091331 m/s, LOS rate: -0.125205 deg/s, cmd heading: 228.635091 deg, new cmd heading: 228.484229 deg. 2jeګmHeadingCmd: 3.987802 target range: 406.100006 and range: 413.80 m. jm&8@jijijiiihqhqhqhyfyfyfyrfbf ?ɛ 隵6pI JɚiId<=Ii%p% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246304w, AzK~m$JK~s9K|K~wK~y wB aIMb@Mb@Mb@ )Y'1Z?{Gz G٣@Gy > Nusing accuracyPremultiplier from config49'僜?4Y ikuB"?:c?ҰC;;24 6A˲EZj%FNOT Ignoring new targets: 406.10 m.Bj%Jj% } $?Iy ProNav: ac range: 406.100006 m, nav range: 277.224487 m, bearing: 128.449500 deg, approach rate: 0.106048 m/s, LOS rate: -0.129969 deg/s, cmd heading: 228.484226 deg, new cmd heading: 228.316257 deg. 2jdHeadingCmd: 3.984870 target range: 406.100006 and range: 413.80 m. j@jjjihhhh${BfffrfbfjP?ɛ}|{B}å y}2mIy RɚiIy/==Ii])w, A2 q@Y2 @2b92=y2H`U6? 2? ??Ļ??ɨ2 q@2;0y< F=Fp=IJIJ\5٢R' R^=9VQ V>TT ZG٣XyZ Z> bNusing accuracyPremultiplier from config\b49^׃?f4Y^v i^uuBdff?^C^<;^];^84h j6Al)i m֐CGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750329vA Zj =Y=vAy=BUFNOT Ignoring new targets: 406.10 m.Bj]Jj]e ProNav: ac range: 406.100006 m, nav range: 277.261688 m, bearing: 128.401846 deg, approach rate: 0.092127 m/s, LOS rate: -0.117998 deg/s, cmd heading: 228.316258 deg, new cmd heading: 228.173316 deg. 2jmmHeadingCmd: 3.982376 target range: 406.100006 and range: 413.80 m. jm>~@jjjihhhhfffrfbf?ɛܸ *mI 4ɚ i I ==IUw@iU~@)Y*F?2F:FBFo0JF m$?IqGm ^< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006359G B O >J J 'J J J ;J :J J w, A 6lp@Y6&~@6d96`=y6HFU@Y?`Ò  D??@׈??ɨ6lp@6W7;6Cy<@Mb@Mb@Mb@ )Y}?5^I?Mb{GztyM"?ףA 7A)IAyAI-I-e5٢=p =A=9EAֺQ E>AA EG٣AyME M> Nusing accuracyPremultiplier from config49"ȃ?4Yҏ iuBR"?:?Cr;; @4B 6AβEZj9EFNOT Ignoring new targets: 406.10 m.BjEJjE} ProNav: ac range: 406.100006 m, nav range: 277.305267 m, bearing: 128.345460 deg, approach rate: 0.106599 m/s, LOS rate: -0.137905 deg/s, cmd heading: 228.173316 deg, new cmd heading: 228.004183 deg. 2j}IHeadingCmd: 3.979424 target range: 406.100006 and range: 413.80 m. j~@jjjihhhh7{Bfffrfbf@@ɛ{{BC mI tZɚ i I ==Ipi QIYH J>I  I I I # =&I .I 6I ~<:I 7F>w,W" A"Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508199tp@Y9~@ԉg9,8=yH j ?ڸE8)?H?C?d?ɨtp@ڵ;ywBeII5 I5f5٢E< EI=9MfκQ M>II UG٣U@GyU U> eNusing accuracyPremultiplier from configYe49]㹃?m4Y] i]uBimKm?]3C] :]*:]F4uB }6A}вEZjFNOT Ignoring new targets: 406.10 m.BjGJjG ProNav: ac range: 406.100006 m, nav range: 277.343872 m, bearing: 128.294635 deg, approach rate: 0.100475 m/s, LOS rate: -0.132259 deg/s, cmd heading: 228.004186 deg, new cmd heading: 227.851736 deg. 2jHeadingCmd: 3.976763 target range: 406.100006 and range: 413.80 m. jI~@jjjihhhhfffrfbf n@ɛz{B kI  >qɚ i I f>=Imi = $?IE Egew,5b< A6Jp@Y6h~@6k96T=y6HyX?yæ7]?@^?/?|?ɨ6Jp@6;6Cy>wB>kI)@ @DFAiYIVIVkf5٢Z< ^T=9^Q ^>`` bG٣`yf@ܻ f> jNusing accuracyPremultiplier from confighn49j櫃?n4YjX ijuBlrur?jRCj* ;j~ ;jM4t vp6AvӲE B*** querying acoustic contact ***j j Zj!%FNOT Ignoring new targets: 406.10 m.Bj- Jj- = ProNav: ac range: 406.100006 m, nav range: 277.381256 m, bearing: 128.244863 deg, approach rate: 0.096574 m/s, LOS rate: -0.128561 deg/s, cmd heading: 227.851737 deg, new cmd heading: 227.702439 deg. 2j=uEHeadingCmd: 3.974157 target range: 406.100006 and range: 413.80 m. jEX~@jAjAjAiAhAhIhIhIfIfQfQrfQbfU@ɛ=y{BE( IMkhII uɚiI>=IiX Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262263dMw,O=V AB6p@YB:~@B]m9B=yBHྊY?9@&Hz?`x? ??ɨB6p@B ;BCyJwBJnI]Mb@Mb@Mb@YYY Y)YY]{Gz?~jth?Mb`?y]#?]D;];]+A Y)] AI]/AYy] AImImY5zK}%CNK}9KyK}yK}BK:KrA٢#< ==9Q > G٣y{Ի > Nusing accuracyPremultiplier from config49K?4Y iuB#?:?vC;;EU4 ^6A IZjFNOT Ignoring new targets: 406.10 m.BjJj ProNav: ac range: 406.100006 m, nav range: 277.427399 m, bearing: 128.188678 deg, approach rate: 0.106844 m/s, LOS rate: -0.130075 deg/s, cmd heading: 227.702442 deg, new cmd heading: 227.533917 deg. 2jHeadingCmd: 3.971216 target range: 406.100006 and range: 413.80 m. jg(~@jjji!h!h!h!h-{Bf)f)f)rf)bf5  @ɛ]x{B] Y]gIa e5ǼɚaiaIe-?=ImOim?ww,Pp A:o@Y:~@:Gp9:=y:H@8K?m R)? ?`q?@?ɨ:o@:;:CyFwBFyIININ[W5٢V<= VZ=9VQ V>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f49b?f4Ybe ibuBdjn?bCb+Z;b7[;b[4rB r6AvֲEZj FNOT Ignoring new targets: 406.10 m.BjJj% ProNav: ac range: 406.100006 m, nav range: 277.467194 m, bearing: 128.139992 deg, approach rate: 0.106568 m/s, LOS rate: -0.130360 deg/s, cmd heading: 227.533914 deg, new cmd heading: 227.387876 deg. 2j%-HeadingCmd: 3.968667 target range: 406.100006 and range: 413.80 m. j-}@j)j1j1i1h1h1h9h9fAfAfArfAbfE`@ɛw{B$ 隕JbI ̼ɚiIa?=I!i U PDAT read: Bearing 27.3, -5.8 (Local) ] ~Local bearing/azimuth received: Bearing 27.3, -5.8 (Local)  DAT read: Range 10 to 50 : 411.8 m (Round-trip 549.1 ms) speed 0.5 m/s  ,DAT read: user:1683> - BDAT read: Tx time:21:20:49.3209 - $Ping request sent.5 R#Rx 1: Read range and direction messages.B`direction in FSK: [-0.283923,-0.286127,0.915161]B:publishing transmit ping timeIBFpublishing direction and range infoء9إ+ҿAOҿ^H?yإCءإyء ١)١I٥Ci٥q=*?٥z٥/ݤ٥V?٥> ڥ @)ڥ4Q=Iڥ>iڥ4QϽڡڡۥof?WSX%?)ۥtIۥiۥۥۡۡn:publishing transmit ping timeIrFpublishing direction and range infoء9إ+ҿAOҿ^H?yءءءء ١)١I١i١١١١~o@Y~G}@~q9~=y~H@)? ̕ _@ƾ?/?@ ??ɨ~o@~*;|y wB I١ ڡ)ڡIڡiڡڡڡۥof?WSX%?)ۡIۡiۡۡۡۡMb@Mb@Mb@ )YV-?I +~jth?y|?94D;AA  A) AIy AIIZ5٢ \<  )=9 Q > G٣@Gy > eNusing accuracyPremultiplier from configam49e|?m4Ye9 ieuBu?u:uOu?eCe;e;ehd4 5Ak7Y{?kh5 k kD A:kCBk|CZk(?"e2:]zt]%Ͼύw@Will construct direction to contact in vehicle frame from tetrahedron phase data.+ҿAOҿ^H?JkRk*6<8'4Y(w,[ AFӮo@YF}@Fu9F1=yFH@EC{?xq`Jo?`\??N?ɨFӮo@FFΈ;FCyb xBbII I J5٢=<= E[=9E0Q E>II MG٣I*JmC="Jiyus }> Nusing accuracyPremultiplier from configy49}o?4Y} i}uB{?}ٱC};}O;}j4 5AٲEZj!MFNOT Ignoring new targets: 411.80 m.BjUJjU ProNav: ac range: 411.799988 m, nav range: 219.934021 m, bearing: 96.284303 deg, approach rate: 0.441727 m/s, LOS rate: -0.137729 deg/s, cmd heading: 227.176887 deg, new cmd heading: 227.039067 deg. 2j HeadingCmd: 3.962579 target range: 411.799988 and range: 411.80 m. j}@jjjihhhhfffrfbfm?ɛ%s{BeHᄑ aezZIa m*ټɚiiiImF<@=Iu΄iu2 {!/w,v A6>fo@Y6}@6Vz962(>y6H`f\? _X v`+?O?g??ɨ6>fo@6?4;6CyB!xBBIIVIVD5٢f{= fS=9jIQ j>hh jG٣lynx= n> rNusing accuracyPremultiplier from configpv49ra?v4Yr iruBxzz?rCr*:rn:rq4~B ~65AڲE%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 411.80 m.Bj=Jj=M ProNav: ac range: 411.799988 m, nav range: 220.086060 m, bearing: 96.236545 deg, approach rate: 0.408980 m/s, LOS rate: -0.128378 deg/s, cmd heading: 227.039067 deg, new cmd heading: 226.895894 deg. 2jM5UHeadingCmd: 3.960080 target range: 411.799988 and range: 411.80 m. jUq}@jQjQjQiQhhhhfffrfbfx?ɛMq{BMu 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.USIq uuB޼ɚyiyI}c@=Ii6: t 6w,R A DIDZpZo@YZ*y}@Zo9Z>yZH@-[?S~u?J ?%? W?ɨZpZo@Z c;zKb||NKb9K`Kb{KbZCy5xBIMb@Mb@Mb@ )Yrh|?MbMbp?y?;A 7A)zAIy AII<5٢0= <=9eQ > G٣@Gyٺ > Nusing accuracyPremultiplier from config49Q?%4Y' iuB%?%:%_%?C;;Ly4) 54AQZjFNOT Ignoring new targets: 411.80 m.Bj Jj  ProNav: ac range: 411.799988 m, nav range: 220.256165 m, bearing: 96.182205 deg, approach rate: 0.377252 m/s, LOS rate: -0.120421 deg/s, cmd heading: 226.895893 deg, new cmd heading: 226.732997 deg. 2jI-HeadingCmd: 3.957237 target range: 411.799988 and range: 411.80 m.HUI>IQ IU IIUxBIU$ =&IQ.IQ6IUɱ<:IUmF jm`C}@jijijiiqhqhqhqhuI{Bfyfyfyrfybf )?ɛo{Biå NI :?ɚiI@=ITi"S i7/qo@Y>}@>9>=y>H`@e?1@[z`??X?`?ɨ>/qo@>/K;>CyJ9xBJIIRIRN5^Will construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.674293٢n,< n\=9r?xQ r>pp vG٣tyvq; v> ~Nusing accuracyPremultiplier from config|49~bD?4Y~\ i~vBI ?~6C~:~z:~4 4AݲEZjFNOT Ignoring new targets: 411.80 m.BjJj%U ProNav: ac range: 411.799988 m, nav range: 220.398087 m, bearing: 96.137108 deg, approach rate: 0.366177 m/s, LOS rate: -0.116280 deg/s, cmd heading: 226.732993 deg, new cmd heading: 226.597790 deg. 2jU]HeadingCmd: 3.954878 target range: 411.799988 and range: 411.80 m. j]}@jYjYjYiahahahqhqfqfqfyrfybf}`?ɛm{B  MI _'ɚi I A=IiV zCw,x Ay~LxB~IMb@Mb@Mb@ )YS? rhy&1|?y?C `;+A A)IAy AII Y5٢C2= :=9Q > G٣y > Nusing accuracyPremultiplier from config49k4?4Y! i vB?:;?XC ;;S4 4A Zj)5FNOT Ignoring new targets: 411.80 m.Bj=Jj=M ProNav: ac range: 411.799988 m, nav range: 220.558014 m, bearing: 96.083149 deg, approach rate: 0.393947 m/s, LOS rate: -0.132821 deg/s, cmd heading: 226.597796 deg, new cmd heading: 226.436036 deg. 2jUN]HeadingCmd: 3.952054 target range: 411.799988 and range: 411.80 m. j]u|@jYjYjYiYhYhahaheB{Bfafifirfibfm@ɛj{B 隝GI 1ɚiIcA=I@1i <)u|@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.179557*FI2FI:FIBFM0JFI aIazKUJQJKU]9KQKU|KUGmy<GqGqGI HQ IQ  IU 2IIU yBIU # =&IQ .IQ 6IU <:IU PFBIJIRIZIbIjIɔ4B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.430755?GIw,& AJo@YJ}@J#9JA=yJH q?`dv? 0?է?X?ɨJo@JI;JCy~ixB~II I J5٢%= %V=9-Q ->1A EG٣E@GyM7; M> ]Nusing accuracyPremultiplier from configYe49]E&?m4Y]` i]0vBimu?]vC]U\;]r;]4 4AEZjFNOT Ignoring new targets: 411.80 m.JK KKK"KJJ-JJJJч:JJJJJ;J;Bj Jj 5 ProNav: ac range: 411.799988 m, nav range: 220.700470 m, bearing: 96.035373 deg, approach rate: 0.364289 m/s, LOS rate: -0.122095 deg/s, cmd heading: 226.436030 deg, new cmd heading: 226.292794 deg. 2j5=HeadingCmd: 3.949554 target range: 411.799988 and range: 411.80 m. j=|@j9jAjAiAhAhAhIhIfIfIfQrfQbfUI@ɛh{B ?I PɚiI7A=I-5Zi5!!H1Pw,@ A2do@Y2:}@2H92=y2H`08d?ߤV`߆|޿?NF?R?i?ɨ2do@2&;2CyRlxBRIIZIZQ5٢bx< bP=9fdQ f>dd fG٣hyjWϻ j> rNusing accuracyPremultiplier from configlr49n?r4Yn inAvBtvGv?nCn:n:nڔ4x ~4A|B*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 411.80 m.Bj5SJj5SE ProNav: ac range: 411.799988 m, nav range: 220.843811 m, bearing: 95.987174 deg, approach rate: 0.372891 m/s, LOS rate: -0.125304 deg/s, cmd heading: 226.292801 deg, new cmd heading: 226.148299 deg. 2jEMHeadingCmd: 3.947032 target range: 411.799988 and range: 411.80 m. jM.|@jIjIjIiIhIhQhYhYfYfYfYrfabfe Z@ɛe{Bی 隝a>I ɚiI3A=Iiv! Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.186213 9 I9 WVw,Z A>n7o@Y>(V}@>9> =y>HmU?SnG ɿ?-R?/?@?ɨ>n7o@>>;>Cy^xBbIzKjIK+9KK}K"eMb@Mb@Mb@aaa a)aYe-?ye5?eLeeA e A)eAIeAayez AI}I}J5٢{>= ?=9޹Q > G٣yVһ > Nusing accuracyPremultiplier from config49i?4YV iOvB?:?Cc;5;W4B 3AEZjamFNOT Ignoring new targets: 411.80 m.BjmJjm ProNav: ac range: 411.799988 m, nav range: 221.000641 m, bearing: 95.931676 deg, approach rate: 0.353734 m/s, LOS rate: -0.125088 deg/s, cmd heading: 226.148301 deg, new cmd heading: 225.981927 deg. 2jHeadingCmd: 3.944129 target range: 411.799988 and range: 411.80 m. jl|@jjjihhhhl{BfZHRHAAH I  I KII EyBI $ =&I .I 6I <:I TFfQfQrfYbfe@ô @ɛb{BН 8I -gUɚ)i)I-nB=I5i55!\w,qt A2n@Y2}@2#.92=y2H@? L 1Ѯ?Ԃ??@(?ɨ2n@2/;2CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.690020yVxBVIIUIU[W5٢em8= eM=9mXQ m>iq uG٣u@Gyu }> Nusing accuracyPremultiplier from configy49}?4Y} i}]vB,?}ղC}:}\:}P4B ]3AEZjFNOT Ignoring new targets: 411.80 m.Bj9Jj9 ProNav: ac range: 411.799988 m, nav range: 221.146088 m, bearing: 95.879923 deg, approach rate: 0.379178 m/s, LOS rate: -0.134832 deg/s, cmd heading: 225.981931 deg, new cmd heading: 225.826773 deg. 2jHeadingCmd: 3.941421 target range: 411.799988 and range: 411.80 m. j=@|@jjjihhhhfffrfbf "@ɛ-`{B-! )5k3I1 5Sɚ1i1I5CPB=I=xi=&6"E%>*F?2F:FBF_0JF"G=G=]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiYDAT read: 21:20:52.2715 LVL= 26832, 32753, 32754, 32755, AGC= 68, IDX= 276,-0.17,-2.785, 1.789, 2.487, 2.969, PHS= 0.618,-1.133,-0.485, RAW= 111.5, 13.0, CAL= 120.0, 10.5, ROT= 30.0, -10.5 Ygot valid direction response: 21:20:52.2715 LVL= 26832, 32753, 32754, 32755, AGC= 68, IDX= 276,-0.17,-2.785, 1.789, 2.487, 2.969, PHS= 0.618,-1.133,-0.485, RAW= 111.5, 13.0, CAL= 120.0, 10.5, ROT= 30.0, -10.5 PDAT read: Bearing 30.0, -10.5 (Local) ~Local bearing/azimuth received: Bearing 30.0, -10.5 (Local) DAT read: Range 10 to 50 : 409.8 m (Round-trip 546.4 ms) speed 0.4 m/s  ,DAT read: user:1684> Gy  BDAT read: Tx time:21:20:53.3709  $Ping request sent.  `direction in FSK: [-0.355741,-0.245182,0.901850] :publishing transmit ping timeر  Fpublishing direction and range infoY9]luֿ bϿmu m?y]CY]hY Y)YI]Di]?5?]%]Q]?]Vh> ] @)]f;>I] ?i]f;YY]<6?$T¿H0?)]}I] hi]p"]TYYe :publishing transmit ping timeر e Fpublishing direction and range infoY9]luֿ bϿmu m?yYYYY Y)YIYiYYYYY Y)YIYiYYY]<6?$T¿H0?)YIYiYQicw,N AۉۉۉyޕxBޕIWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:20:53.3702 Mb@Mb@Mb@ )YʡE?i|?5Mb`y?qA A) AIAy AI=I=#U5٢m< m"=9uQ u>qy }G٣yy} }> Nusing accuracyPremultiplier from config49゜?4Y- invBk?:?C3;;C4B 3A EkY?k?$` k k A:kCBk~CZk ?"v 9b4pYQ@w@luֿ bϿmu m?Jkp"RkT*))7)@ Ťxk@Y1)bu@B?謍A)?D?"k[C*kLAkj?k 09 2kCkx?kk;Ck:\Ckl? addTargetRange:: Added new target pos. range: 409.799988 m, deltaT: 4.031085 s, deltaX: -2.000000 m, approachRate: -0.496144 m/s, rangeRepo size: 4 $?I Added new target pos. range: 409.799988 m, bearing: 86.665886 deg, lat: 36.904483 deg, lon: -122.112218 deg, deltaT: 4.031085 s, deltaX: -2.000000 m, approachRate: -0.496144 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 409.80 m.BjJj ProNav: ac range: 409.799988 m, nav range: 220.227783 m, bearing: 91.056393 deg, approach rate: 0.000000 m/s, LOS rate: -0.134832 deg/s, cmd heading: 225.826777 deg, new cmd heading: 225.613039 deg. 2j]HeadingCmd: 3.937690 target range: 409.799988 and range: 409.80 m. j]|@jajajaiahahahihm[{Bfififqrfu̜y@bfu ?ɛ]{B붔 .I 0ɚiIvB=Ii:"JKa*F?2F:FBFI5JFHI IkIIxyBI&I.I6I<:IKFe Will construct direction to contact in vehicle frame from tetrahedron phase data.G <G G sAG B O>ijw,! AJJ #J 1JJJ :J 3JJJJ ;J ;F~n@YFU|@Fkᆽ9F]=yFH?`޵" =?ٰ?M??ɨF~n@Fq#;FCyNxBNIIVIVM5٢^< ^r=9bQ b?dd fG٣dyf f? nNusing accuracyPremultiplier from confighn49jւ?r4Yj ijyvBpee?jCjEqw,V A:#n@Y:rB|@:9:=y:H>t?@5 7@ w??R? B?ɨ:#n@:m;8BWill construct direction to contact in vehicle frame from tetrahedron phase data.yFxBFI Na=LPRDAIRIR;5٢Z= ZL=9^-.Q ^>`` bG٣b@Gyb2c f> jNusing accuracyPremultiplier from configdj49fǂ?n4Yf ifvBlrr?f8CfB.;f.;f4t v2AvEUB*** querying acoustic contact ***jYjYZjFNOT Ignoring new targets: 409.80 m.BjE.JjE. ProNav: ac range: 409.799988 m, nav range: 220.514740 m, bearing: 90.966024 deg, approach rate: 0.362929 m/s, LOS rate: -0.114686 deg/s, cmd heading: 225.490909 deg, new cmd heading: 225.342103 deg. 2jjHeadingCmd: 3.932962 target range: 409.799988 and range: 409.80 m. j{@jjjihhhhfffrfbf?ɛZ{Beŝ 隍u(I ɚiIB=IjiU#fww, AzKKK+9KKK BK:rA:K:qA6m@Y6W |@6J96F=y6HQ?]} ( ?E?@)?~?ɨ6m@6BL;6CyFxBFIHH>I IIIyBI&I.I6I<:IMb@Mb@Mb@ )Yjt?v/Mbpy ?xi\A  A)AIAy\ AII:5٢60< ;=9Q > G٣y" > Nusing accuracyPremultiplier from config49E?4Y ivBn!?:%?[C ;@;41 =2A9ZjiuFNOT Ignoring new targets: 409.80 m.Bj!Jj! ProNav: ac range: 409.799988 m, nav range: 220.691177 m, bearing: 90.910610 deg, approach rate: 0.448804 m/s, LOS rate: -0.140845 deg/s, cmd heading: 225.342107 deg, new cmd heading: 225.175997 deg. 2jRHeadingCmd: 3.930063 target range: 409.799988 and range: 409.80 m. j%{@jjjihhhha{Bfffrfbf ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467012ɛX{B 隽&I  ɚiIU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718909}w, A6Vm@Y6{@6996W=y6Hb?Q _!@ڿ?`?F,??ɨ6Vm@6 ;6CyJxBJIIRIRGL5٢Z .= Z^=9^3;Q ^> f$?Idhh jG٣hyn n> rNusing accuracyPremultiplier from configpv49rn?v4Yr irvBtzz?ryCr;r;rDŽ4| ~m2AEZjFNOT Ignoring new targets: 409.80 m.Bj Jj  ProNav: ac range: 409.799988 m, nav range: 220.838104 m, bearing: 90.864309 deg, approach rate: 0.390447 m/s, LOS rate: -0.122959 deg/s, cmd heading: 225.175996 deg, new cmd heading: 225.037187 deg. 2jŨHeadingCmd: 3.927640 target range: 409.799988 and range: 409.80 m. jt^{@jjjihhhhfff1rf1bf= ?ɛW{Bh뤽 隭"I [ ɚiIp#C=IAi˺#^rw,A6m@Y6{@6g96V=y6Hg/?@-I@'@??? ?ɨ6m@6Ō;4yRxBRI)T TXZAuMb@Mb@Mb@qqq q)qYuMbX9?y&1~jtxyu!?u`euĻu uhA)uMAIu Aqyu3AIIQ5٢ <=9nr:Q > G٣@Gy > Nusing accuracyPremultiplier from config49?4YC ivBn"?:?C<;;΄4 u2AZjFNOT Ignoring new targets: 409.80 m.Bj[Jj[Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223126- ProNav: ac range: 409.799988 m, nav range: 221.012695 m, bearing: 90.809618 deg, approach rate: 0.419970 m/s, LOS rate: -0.131453 deg/s, cmd heading: 225.037193 deg, new cmd heading: 224.873250 deg. 2j-n5HeadingCmd: 3.924779 target range: 409.799988 and range: 409.80 m. j5/{@j1j1j9i9h9h9hAhEdzBfAfAfArfIbfM`^.@ɛU{Bp "I ɚiI!NC=I"i# Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474950}w,,A2~m@Y2e{@2U926P=y2HyT?Z9? ?@ ?#?ɨ2~m@2.͌;2CyNxBN IIZIZ@T5٢baP= bY=9b8Q b>dd fG٣dyf j> nNusing accuracyPremultiplier from confighr49j?r4YjO ijvBprv?jCj;j:j2Մ4zB z2AzEZj!%FNOT Ignoring new targets: 409.80 m.Bj-XJj-X ProNav: ac range: 409.799988 m, nav range: 221.163803 m, bearing: 90.762097 deg, approach rate: 0.401559 m/s, LOS rate: -0.126196 deg/s, cmd heading: 224.873255 deg, new cmd heading: 224.730791 deg. 2j7HeadingCmd: 3.922292 target range: 409.799988 and range: 409.80 m. j{@jjjihhhhfffrfbf !@ɛ=S{B= 9=7I9 E1ɚAiAIEuC=IMimw=$w,fFA2hTm@Y2"s{@2H792D=y2H ?_˟ 1I?`?*?N?ɨ2hTm@2Cp;2C>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.978973yBxBFIININ^S5٢R< VL=9V9Q V>XX ZG٣Xy^һ ^> bNusing accuracyPremultiplier from config`f49b2u?f4Yb ibvBdj<j?b۳Cb:b:b7܄4p r1ApZj  FNOT Ignoring new targets: 409.80 m.Bj=Jj=- ProNav: ac range: 409.799988 m, nav range: 221.325394 m, bearing: 90.711137 deg, approach rate: 0.402926 m/s, LOS rate: -0.126977 deg/s, cmd heading: 224.730791 deg, new cmd heading: 224.578022 deg. 2j-I-HeadingCmd: 3.919626 target range: 409.799988 and range: 409.80 m. j5'z@j1j1j1i1h1h9h9h9f9fAfArfAbfE 5b@ɛ]Q{BeDn 隝I ɚiJEJAJAJAJE;JAJAJAIC=IDi)~$~w,8`A6Lm@Y6={@696=y6HΟ?s[?@???ɨ6Lm@6\;4zKNN KKN9KLKNKNyTTH`IbC IbIIbyBI`&I`.I`6Ib<:IbZFBIJIRIZI$ =bIjIpc4Mb@Mb@Mb@ )Y?~jtxyf&?L\A A)AIy= AIID59չQ > G٣@Gy >  Nusing accuracyPremultiplier from config 49b?4Y ivB&?:?C5;(4;4! %1A-EEB*** querying acoustic contact ***jAjAZjYmFNOT Ignoring new targets: 409.80 m.Bj}Jj} ProNav: ac range: 409.799988 m, nav range: 221.511322 m, bearing: 90.653637 deg, approach rate: 0.416004 m/s, LOS rate: -0.128545 deg/s, cmd heading: 224.578027 deg, new cmd heading: 224.405672 deg. 2jpHeadingCmd: 3.916618 target range: 409.799988 and range: 409.80 m. jީz@jjjihhhhC{Bfffrfbf @ɛO{B뙽 隍IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:20:56.3196 TRx dataTimestamp_ set to:1736371257.621186checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486218 M:ɚiIC=Iuir$E>*Fe?2Fi:FiBFmJ5JFiGq GusA)= ːC ) A } Yy y} nBG E<Ga Bq O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.734932G؝w,zA 4I4fl@Yfd {@f7>9fVZ=yfH0@j?˟`y fm??,?E?ɨfl@f^;fCyrxBrIIzIzH5٢*  <9 9Q  > G٣y > %Nusing accuracyPremultiplier from config!549%S?54Y% i%vB155?%C%3;%3;%4A E1AAZjiuFNOT Ignoring new targets: 409.80 m.BjuwJjuw ProNav: ac range: 409.799988 m, nav range: 221.667404 m, bearing: 90.605182 deg, approach rate: 0.418399 m/s, LOS rate: -0.129799 deg/s, cmd heading: 224.405674 deg, new cmd heading: 224.260411 deg. 2j(HeadingCmd: 3.914083 target range: 409.799988 and range: 409.80 m. jTz@jjjihhhhfffrfbf@ɛM{B䦽 I ɚiIC=Im`i$ BDAT read: Tx time:21:20:57.4210 $Ping request sent. ڡڡۥ {Yo?j_uпc Ŀ)ۥ;=IۥG&>iۥ˞ۥղۡۡ:publishing transmit ping timeFpublishing direction and range infoء9إ*}l0?Ÿÿr΄?yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥ {Yo?j_uпc Ŀ)ۡIۡiۡۡۡۡJ} J} J} 0Jy J} ;J} z:J} ـ3Jy G ~<G B O >¤w,A2>l@Y2z@2 92=y2Hy?/Ae@ b??@1=?ӻ?ɨ2>l@2;2CybxBbIWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:20:57.4203 5Mb@Mb@Mb@111 1)1Y5S㥛?ˡE{Gzty5$&?5'5ף5A 5A)5AI5 A1y5G AIMIM0E5٢}< }5=9}eQ }> G٣y > Nusing accuracyPremultiplier from config49$@?4Y ivBz&?:E?EC;;4B 1AEkZh?k}  U$?IQk kA:k&CBkCZkC@"|>@'!tOȎ"y@*}l0?Ÿÿr΄?Jk˞Rkղ*PSf,dR@[uhVx@8Fωȿ. ?9w,AR@|l@YRz@R9Rg=yRH_9g?@tQR?d1? M? +?ɨR@|l@R6;RCyZxBZIIbIb@5٢j:< jk=9nQ n?lp rG٣r@Gyr r? zNusing accuracyPremultiplier from configtz49v1?~4Yv ivvB{?vaCv6;vZ4;v4  1AZj1=FNOT Ignoring new targets: 408.30 m.Bj=cJj=cM ProNav: ac range: 408.299988 m, nav range: 221.583267 m, bearing: 90.504024 deg, approach rate: 0.448270 m/s, LOS rate: -0.136727 deg/s, cmd heading: 224.074178 deg, new cmd heading: 223.942751 deg. 2jUUHeadingCmd: 3.908538 target range: 408.299988 and range: 408.30 m. jU~%z@jYjYjYiYhYhYhahafafafarfibfmR?ɛI{B@ 隥I sɚiI=D=I6iWT%pñw,weA6dl@Y6Bz@6~>96G@=y6H` b?F)`dIz?sD?%p??ɨ6dl@60;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yXX ZG٣\y^n b> fNusing accuracyPremultiplier from config`f49by!?j4Yb( ib wBhjj?bCb:be:br4t z1AzEZjIUFNOT Ignoring new targets: 408.30 m.Bj]Jje ProNav: ac range: 408.299988 m, nav range: 221.750076 m, bearing: 90.453056 deg, approach rate: 0.411689 m/s, LOS rate: -0.125696 deg/s, cmd heading: 223.942751 deg, new cmd heading: 223.789963 deg. JJJJJ;J:JJ2j=HeadingCmd: 3.905872 target range: 408.299988 and range: 408.30 m. j=y@jAjAjiiihqhqhhfffrfbfO?ɛE{BQ1 I  4ɚ i I XD=I%i%w,NAA6dAl@Y6`z@6PŠ96M=y6H@`iU?m#<R?T?`?%?ɨ6dAl@6R;6CjH@bHB<HDIFC IFIIFyBIF$ =&ID.ID6IF<:IFHFy~xB~IzK=jIK=h9K9K=K=Mb@Mb@Mb@ )Y!rh?:vMb`yl'?ԼA )IyAII٢ ; :=9cQ > G٣y > Nusing accuracyPremultiplier from config49?4Y0 iwB'?:C?C; ;4B 1AE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 408.30 m.BjJj%- ProNav: ac range: 408.299988 m, nav range: 221.939468 m, bearing: 90.397710 deg, approach rate: 0.440107 m/s, LOS rate: -0.128504 deg/s, cmd heading: 223.789960 deg, new cmd heading: 223.624061 deg. 2j5bHeadingCmd: 3.902976 target range: 408.299988 and range: 408.30 m. j]y@jjjihhhh{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.ɛC{Bފ I %ɚ!i!IED=IUXUiU% 9 I9 w,AJIk@YJ z@J9JC=yJH fW7?@뤾?]?׹? 3?ɨJIk@Jj;JCyRyBV#I\^@AIbIbaO5٢fI< jZ=9jQ j>hl nG٣n@Gyr] r> vNusing accuracyPremultiplier from configtz49v?z4Yvw iv*wBxzz?vƴCv :vX ;v 4 n1AZj)5FNOT Ignoring new targets: 408.30 m.Bj5aJj5a ProNav: ac range: 408.299988 m, nav range: 222.100739 m, bearing: 90.350222 deg, approach rate: 0.431964 m/s, LOS rate: -0.127103 deg/s, cmd heading: 223.624068 deg, new cmd heading: 223.481710 deg. 2juHeadingCmd: 3.900492 target range: 408.299988 and range: 408.30 m. jy@j j j i h h hhfffrfbfj?ɛm@{Bu quSIq ujɚqiqI}sD=I} ~iL&Ga Bi O >w,A:nk@Y:(y@: 9:7l=y:H@*`?@@㗿@C`?`Z? к?@?ɨ:nk@:Vʉ;:CyFyBF!IMb@Mb@Mb@ )Yx&?Mb`y7)?/A QA) AI AyQAI5I5G5٢Eջ EC=9Mt8Q M>II UG٣QyÙ U> eNusing accuracyPremultiplier from configYm49]8?m4Y]{ i]=wBm7)?m:mym?]C];]a;]4y }w1A}EZjFNOT Ignoring new targets: 408.30 m.Bj@ Jj@ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255133 ProNav: ac range: 408.299988 m, nav range: 222.289886 m, bearing: 90.298233 deg, approach rate: 0.449665 m/s, LOS rate: -0.123490 deg/s, cmd heading: 223.481713 deg, new cmd heading: 223.325878 deg. 2jHeadingCmd: 3.897772 target range: 408.299988 and range: 408.30 m. juy@jjjihhhhzBfffrfbfP@ $?IIgɛ%={B%, !%DI) -!ɚ)i)I5D=Iuiur&Gl o< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508223G B Om >J] J] !J] 1JY J] ;J] :J] 3JY J] pkAA EG٣AyMFb M> ]Nusing accuracyPremultiplier from configQe49Uށ?e4YUN iUNwBaee?U CU;US;U4q uD1AqZjFNOT Ignoring new targets: 408.30 m.BjJj ProNav: ac range: 408.299988 m, nav range: 222.472153 m, bearing: 90.247704 deg, approach rate: 0.450128 m/s, LOS rate: -0.124684 deg/s, cmd heading: 223.325876 deg, new cmd heading: 223.174414 deg. 2j#HeadingCmd: 3.895128 target range: 408.299988 and range: 408.30 m. jIy@jjjihhhhfffrfbfI[@ɛ:{B  T I  c.#ɚ i I D=Ii&}w,HA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011266Bj@YBx@B"ۊ9Be=yBHb?pf *5"5?W?D-?`J?ɨBj@B>;BCyJyBN2IIVIV~N5٢^= ^U=9^2Q b>`` bG٣b@Gyf< f> nNusing accuracyPremultiplier from configlr49nρ?r4Yn" in_wBtvv?n,Cn;n;n"4zB z1AzEZjFNOT Ignoring new targets: 408.30 m.Bj%Jj%5 ProNav: ac range: 408.299988 m, nav range: 222.644211 m, bearing: 90.199700 deg, approach rate: 0.447772 m/s, LOS rate: -0.124832 deg/s, cmd heading: 223.174409 deg, new cmd heading: 223.030509 deg. 2j5W=HeadingCmd: 3.892617 target range: 408.299988 and range: 408.30 m. j= y@j9j9jAiAhAhAhIhIfIfIfIrfQbf]>p@ɛ7{BS 隅I $ɚiI. E=Ii&;w,ʈbAZHRH?AHG>I IIIzBI&I.I6Iޱ<:IzFy)yB;IzK=BoIK=9K9K=K=BKA:KErA Mb@Mb@Mb@    ) Y uV?99 =G٣9y= E> MNusing accuracyPremultiplier from configAM49EJ?U4YET( iEuwBU(?U:Ud]?ERCE;E};E*4a e0AaB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 408.30 m.Bj Jj  ProNav: ac range: 408.299988 m, nav range: 222.851151 m, bearing: 90.145143 deg, approach rate: 0.457649 m/s, LOS rate: -0.120542 deg/s, cmd heading: 223.030511 deg, new cmd heading: 222.866991 deg. 2jtHeadingCmd: 3.889763 target range: 408.299988 and range: 408.30 m. jx@jjjihhhhzBfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.i%BDAT read: Rx Time:21:21:00.3675 ETRx dataTimestamp_ set to:1736371261.674698Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.542731ɛu2{Bux quiIq u&ɚyiyI}v!E=I-i6& $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784780Dew, a|A6xj@Y6wx@696p=y6Hń ?3ۖ` B@]x?{???ɨ6xj@6f;6Cy>#yB>7IIJIJ N5٢Rk Rg=9V3̺Q V>TT VG٣XyZ\ Z> ^Nusing accuracyPremultiplier from config\b49^C?b4Y^, i^wBdff?^pC^:^:^04h j0AjEZjIUFNOT Ignoring new targets: 408.30 m.BjUJjUm ProNav: ac range: 408.299988 m, nav range: 223.012177 m, bearing: 90.102270 deg, approach rate: 0.443956 m/s, LOS rate: -0.118117 deg/s, cmd heading: 222.866996 deg, new cmd heading: 222.738471 deg. 2jm uHeadingCmd: 3.887520 target range: 408.299988 and range: 408.30 m. jux@jqjjihhhhfffrfbf`@ɛE/{B5 I %m(ɚiIBAE=IRi% eBDAT read: Tx time:21:21:01.4710 e$Ping request sent.e)S?a= ӿ]()I=i@`:publishing transmit ping timeaFpublishing direction and range info93v?XQ"_?y )Ii )Ii)S?a= ӿ]()IiG 2<G B O >>Nw,@AynFyBnMI tv=Mb@Mb@Mb@ )Ysh|??~jt?y)?D=/A @)I AyA  AAI  9I9I dK5٢M-= M2=9MQ M>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:21:21:01.4703 yy }G٣}@Gy > Nusing accuracyPremultiplier from config49x?4Yz2 tIiwBm*?:?C;;84B M0A Ek- p?k-` k) k- A:k-YCBk-CZk-8@"->S%@J_IH*"j:y@-3v?XQ"_?Jk-@Rk-`*-k>I`CT@x@-O mŷ7?M?"k-@B*k-Lk-5Dp?k-8 2k-Ck-l͘{?k- k-Ck-WCk-? addTargetRange:: Added new target pos. range: 406.700012 m, deltaT: 4.048468 s, deltaX: -1.599976 m, approachRate: -0.395205 m/s, rangeRepo size: 4  Added new target pos. range: 406.700012 m, bearing: 122.558613 deg, lat: 36.904318 deg, lon: -122.112314 deg, deltaT: 4.048468 s, deltaX: -1.599976 m, approachRate: -0.395205 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 406.70 m.BjJj ProNav: ac range: 406.700012 m, nav range: 215.886551 m, bearing: 94.927541 deg, approach rate: 0.000000 m/s, LOS rate: -0.118117 deg/s, cmd heading: 222.738466 deg, new cmd heading: 222.568236 deg. 2j%HeadingCmd: 3.884548 target range: 406.700012 and range: 406.70 m. j%qx@j!j!j!i)h)h)h)h5{Bf1f1f1rf5@3ky@bf=R ?ɛ+{Bn  I  86*ɚ i I -QE=ICi%J= J= #J9 J9 J= T;J= :J9 J9 J= h<J= h<J= ;J= ;ww,rA 88f j@Yf+x@fDf9f=yfH@}7?A`n@d`)?ɱ? ??ɨf j@f;fCyr_yBr\IIzIz;5٢q= b=9UQ  >    G٣ y > UNusing accuracyPremultiplier from config!G49%?|uAA 5Y=|uAy=BU4Y%7 i%wBQUY]?%C%p=%Q=%/?4i m/Am EZjFNOT Ignoring new targets: 406.70 m.BjJjM ProNav: ac range: 406.700012 m, nav range: 216.043549 m, bearing: 94.880276 deg, approach rate: 0.421135 m/s, LOS rate: -0.126693 deg/s, cmd heading: 222.568230 deg, new cmd heading: 222.426538 deg. 2jM孻UHeadingCmd: 3.882076 target range: 406.700012 and range: 406.70 m. jUsx@jQjYjYiYhYhahahififfrfbf c?PExceeded connect timeout, disconnecting.ɛ]({B]n imIi mf+ɚiiiIm ^E=Iuȫiuk%_w,9A6i@Y6fw@6h96.=y6Hs?@᝿cZGll?.)??@w?ɨ6i@6ш;6Cy>uyBBjIIJIJ/5٢R\= RQ=9R'vQ R>TT VG٣TyVR Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data. fNusing accuracyPremultiplier from configdj49fm?j4Yf; ifwBhjj?f׵Cf:f:f F4a e/AaZjFNOT Ignoring new targets: 406.70 m.Bj3 Jj3  ProNav: ac range: 406.700012 m, nav range: 216.215256 m, bearing: 94.828371 deg, approach rate: 0.463696 m/s, LOS rate: -0.140056 deg/s, cmd heading: 222.426545 deg, new cmd heading: 222.270956 deg. 2j=HeadingCmd: 3.879360 target range: 406.700012 and range: 406.70 m. joGx@jjjihhhhfffrfbf 7?ɛ]%{B] Ye׾Ia e,ɚaiaIegE=ImEimq% IuWill construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH <H! I!  I% II% CzBI! &I! .I! 6I% <:I% ~FYw,A6i@Y6w@6<969=y6H` t?x[PX o`_?d?`W?[?ɨ6i@6x;4yNyBRsITTMb@Mb@Mb@ )Y/$? rh?~jt?y,?C =D<A I@)I Ay AII25٢= :=9Q > G٣@Gy > Nusing accuracyPremultiplier from config49n?4Y^A iwBG,?:?CD;~C;M4 K/AE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 406.70 m.Bj%"Jj%"zK5:IK59K1K5K5*9 M ProNav: ac range: 406.700012 m, nav range: 216.403137 m, bearing: 94.768942 deg, approach rate: 0.449726 m/s, LOS rate: -0.142131 deg/s, cmd heading: 222.270953 deg, new cmd heading: 222.092820 deg. 2jMûUHeadingCmd: 3.876251 target range: 406.700012 and range: 406.70 m. jUx@jjjihhh1h5{Bf9f9f9rfAbfE?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-Hь -B@=57ξI1 =Q.ɚ9i9IEWE=IM6 iU]%w,KA2i@Y2^w@2+92@=y2Hwl?܏O y`^?1??`ձ?ɨ2i@2;2CyNyBNIIZIZ?5٢b> b[=9bQ b>dd fG٣dyj߂ j> 5Nusing accuracyPremultiplier from configl=49n_?=4YnF inwBAE-E?nCn&_Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003222J J w,^Azi@Yz{w@z 9z;=yzH `<^?@HA@̇`g9?@?D?`3?ɨzi@z@;x I=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255210yޝyBޝI=Mb@Mb@Mb@999 9)9Y=#~j?Zd;O?~jt?y=%?=j<9=A =@)=hAI= A9y=AIUIUB5٢O= &=9:Q > G٣y_ > Nusing accuracyPremultiplier from config%49K?-4YK ixB-&?-:-J-?GC;; ]45B 5-A=EZjYeFNOT Ignoring new targets: 406.70 m.Bjm Jjm } ProNav: ac range: 406.700012 m, nav range: 216.771027 m, bearing: 94.650383 deg, approach rate: 0.415140 m/s, LOS rate: -0.135549 deg/s, cmd heading: 221.940700 deg, new cmd heading: 221.737457 deg. 2j} HeadingCmd: 3.870049 target range: 406.700012 and range: 406.70 m. jw@jjjihhhh({Bfffrfbf5@ɛ{Bڞ I 0ɚiI"E=IpiZ% w,(`1A2 fi@Y2ńw@2V䔽92%=y2HL?x/Η :?X? v?@I?ɨ2 fi@2ҋ;2CyRzBVIIdId٢rV> v~=9vlQ v ?|| G٣yV   ? %Nusing accuracyPremultiplier from config549??54YO i/xB1=z=?`C;;yb4Q U$-AQZj9EFNOT Ignoring new targets: 406.70 m.BjEB JjEB u ProNav: ac range: 406.700012 m, nav range: 216.894974 m, bearing: 94.609739 deg, approach rate: 0.371499 m/s, LOS rate: -0.121749 deg/s, cmd heading: 221.737461 deg, new cmd heading: 221.615599 deg. 2ju}HeadingCmd: 3.867922 target range: 406.700012 and range: 406.70 m. j}w@jyjjihhhhfffrfbf@ɛ{Bր I  (D1ɚ i I E=Ii%E>*Fm ?2Fi :Fi BFm 0JFi Gq  Gq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014218G 9)<GiBO>w,('PA*J>R="J<JBJB%J@J@JBT;JB:J@J@aF@aF@aF@aF@:h@Y:vw@:@˔9:I=y:H@` ?`9QN?8?ý??ɨ:h@:U;:CyR%zBRIInIn95٢vC:= v*=9v8Q v>xi uG٣}@Gyw_ > 5Nusing accuracyPremultiplier from config!E49%Q*?4Y%U i%QxB?%C%<%#<%k4B ,AEZj FNOT Ignoring new targets: 406.70 m.Bj <Jj < ProNav: ac range: 406.700012 m, nav range: 217.111725 m, bearing: 94.537808 deg, approach rate: 0.401460 m/s, LOS rate: -0.133094 deg/s, cmd heading: 221.615596 deg, new cmd heading: 221.400021 deg. 2j=HeadingCmd: 3.864159 target range: 406.700012 and range: 406.70 m. j=cNw@jjjihhhhfffrfbf @ % $?I!ɛ}{B},{l y}qI 7P2ɚiID=IRi% G٣y > Nusing accuracyPremultiplier from config49?4YI[ irxB"?:k?C;x;t4 +AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 406.70 m.BjJj ProNav: ac range: 406.700012 m, nav range: 217.298233 m, bearing: 94.468733 deg, approach rate: 0.372442 m/s, LOS rate: -0.137819 deg/s, cmd heading: 221.400022 deg, new cmd heading: 221.192975 deg. 2j+HeadingCmd: 3.860546 target range: 406.700012 and range: 406.70 m. j.w@jjjihhhhE{BfAfAfIrfIbfM` @ Iɛ{B%|a !-g=I) 53Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767319ɚ9iItD=I i\%  BDAT read: Tx time:21:21:05.4710  $Ping request sent. u d@)u >Iu I?iu q q u  d~?i{ϿIˎ%?)u 8Iu x'iu )u q q  :publishing transmit ping time  Fpublishing direction and range infoq 9u  ¯'ҿ5Csÿ+L?yq q q q q )q Iq iq q q q q q )q Iq iq q q u  d~?i{ϿIˎ%?)q Iq iq q q q JJJ0JJ;J~:Jـ3JG&;GBOE?%w,LAh@Y`v@ĕ9d=yH& ?ו`@8`^?`Z?ƽ?Y?ɨh@ ;CyzB ImMb@Mb@Mb@iii i)iYmףp= ?I + rh?ym?m94mC5٢ z=  =9 '\Q > G٣@Gy > eNusing accuracyPremultiplier from configam49e?m4YeSa iexBm-?u:u0 }?eCe<;et;e4B *AEkXӌ?kH k kA:k3CBkCZk=?"\C[Mً5M|/v@ ¯'ҿ5Csÿ+L?Jk)Rk*R܍B@3=d@Sʛu@M ?LP?ꉦ ?"k$C*kBk)3茜?k ~ 2k1Ckk ~ kk$Ck?addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 384.399994 m, deltaT: 4.031616 s, deltaX: -22.300018 m, approachRate: -5.531285 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 406.70 m.BjJj ProNav: ac range: 406.700012 m, nav range: 217.503021 m, bearing: 94.382915 deg, approach rate: 0.327467 m/s, LOS rate: -0.137099 deg/s, cmd heading: 221.192972 deg, new cmd heading: 220.935760 deg. 2j.HeadingCmd: 3.856056 target range: 406.700012 and range: 406.70 m. jv@j j j i h h h1h={Bf9f9f9rf=`fx@bfE`*R?ɛ{BhN 隵I D3ɚiIC=IViI%u Will construct direction to contact in vehicle frame from tetrahedron phase data.G ;G B O >+w,A2N_h@Y2~v@292=y2H4@?(\?`1?`??ɨ2N_h@2=;0y:zB:<IIVIV55٢by> bp=9fQ f?dd jG٣hyj j? nNusing accuracyPremultiplier from configlr49n퀜?r4Ynd inxBtv[ v?nCn ;n ;nq4x z*A~EZj%FNOT Ignoring new targets: 406.70 m.Bj%8+Jj%8+5 ProNav: ac range: 406.700012 m, nav range: 217.612549 m, bearing: 94.336892 deg, approach rate: 0.356426 m/s, LOS rate: -0.149691 deg/s, cmd heading: 220.935760 deg, new cmd heading: 220.797763 deg. 2j5vͻMHeadingCmd: 3.853648 target range: 406.700012 and range: 406.70 m. j+v@jjjihhhhfffrfbfk?ɛM{BUŲI Y]IY 3ɚiIC=I}iU=%z2w,ANZg@YNu@N29NW=yNH ]`t?@ꢒh_? ?t?Ӳ?ɨNZg@N`ĉ;NCyZzBZWIIbfIb5٢j= jJ=9j|%Q n>rWill construct direction to contact in vehicle frame from tetrahedron phase data.tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|49~k܀?4Y~qh i~xB    ?~"C~b;~T:~4 j)AZj9=FNOT Ignoring new targets: 406.70 m.BjEXJjEXU ProNav: ac range: 406.700012 m, nav range: 217.744507 m, bearing: 94.280623 deg, approach rate: 0.324845 m/s, LOS rate: -0.138437 deg/s, cmd heading: 220.797763 deg, new cmd heading: 220.629057 deg. 2jUeHeadingCmd: 3.850703 target range: 406.700012 and range: 406.70 m. jeqv@jajajaiihihihihifqfqfqrfqbf}o?ɛ{BHW: 隥I L3ɚiIjdC=Iȭi%H I  I II {BI &I .I 6I ű<:I eFBIJIRIZIbIjIM@4Z8w,gAf(g@Yfu@f9fɧ=yfHe?@)@ǒ`A H? ?o??ɨf(g@fA;fCynzBrYIuMb@Mb@Mb@qqq q)qYuA`"?&1~jtx?yu?uнu;uvA u3@)qIu AqyuAIOIq5٢v; >=9c;Q > G٣@Gyb > Nusing accuracyPremultiplier from config49ɀ?4Yk ixBN?:'?CC]u;)f;4 [)A EZjFNOT Ignoring new targets: 406.70 m.Bj+Jj+ ProNav: ac range: 406.700012 m, nav range: 217.859146 m, bearing: 94.219304 deg, approach rate: 0.252123 m/s, LOS rate: -0.134787 deg/s, cmd heading: 220.629057 deg, new cmd heading: 220.445198 deg. 2j HeadingCmd: 3.847495 target range: 406.700012 and range: 406.70 m. j Z=v@j)j)j)i1h1h1h1h=.|Bf9f9f9rf9bfEJ?zKmLKm]9KiKmKm7EWbS6BK}qA:K}pAɛ {B*8 IWill construct direction to contact in vehicle frame from tetrahedron phase data. h3ɚ iI+B=I[iC$ Will construct direction to contact in vehicle frame from tetrahedron phase data. ?w,ytA6Hg@Y6u@66*966=y6H{aX?`@s@?NA?b?@۴?ɨ6Hg@6O;6CyR{BRnIIZIZ25٢b= bY=9b};Q f>dd fG٣dyj+; j> -Nusing accuracyPremultiplier from configl549n?54Ynn inxB9=&=?n`CnTJ5 J5 J1 J1 J5 ;J5 :J1 J1 L Fw,UA `I`y~*{B~vIMb@Mb@Mb@ )Yv?Dly&1|y?O `` A @)AI AyGAII35٢9= ;=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y-r ixB?:*?C%;@#;24B (A$EUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254877ZjFNOT Ignoring new targets: 406.70 m.Bj*%Jj*% ProNav: ac range: 406.700012 m, nav range: 218.064957 m, bearing: 94.101302 deg, approach rate: 0.235667 m/s, LOS rate: -0.144398 deg/s, cmd heading: 220.284707 deg, new cmd heading: 220.091371 deg. 2j2ƻHeadingCmd: 3.841319 target range: 406.700012 and range: 406.70 m. j,u@jjjihhhh5I|Bf1f1f9rf9bf=`@ɛ {B̏+ =I %53ɚ!i!I%+B=IMGiMX$HiIi ImIIm{BIi&Ii.Ii6Imq<:Im(F*F2F:FBF`5JFzK ^MK S9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509915G% )<RK- ?JK- >G B O% >4Lw,r13AF>g@YFv@F_9F?K=yFHY@\?阿@ R?@]?? ?ɨF>g@F]);FCy^;{B^IIfIf;5٢~0= ~W=9 G٣@Gy%; %> 5Nusing accuracyPremultiplier from config)549-?=4Y-u i-xB9=g*=?-C-`;-;-娅4A MJ(AIZjiuFNOT Ignoring new targets: 406.70 m.Bju2Jj}2 ProNav: ac range: 406.700012 m, nav range: 218.158112 m, bearing: 94.044679 deg, approach rate: 0.257539 m/s, LOS rate: -0.156475 deg/s, cmd heading: 220.091371 deg, new cmd heading: 219.921575 deg. 2jֻHeadingCmd: 3.838356 target range: 406.700012 and range: 406.70 m. ju@jjjihhhhfffrfbf a1@ɛ {Bi$ LG=I 33ɚiI`A=Ixi %Sw,MA:g@Y:v@:lP9:+U=y:H@W?@񩚿@c@B? ?n'??ɨ:g@:x;:CyB4{BF|IININ.5٢R VP=9Vz];Q V>XX ZG٣XyZ: ^>fWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011739 jNusing accuracyPremultiplier from confighr49j?r4Yjw ijxBtv^*v?jCj>;j;?;j4zB zf(Az'EZjFNOT Ignoring new targets: 406.70 m.Bj%o(Jj%o(5 ProNav: ac range: 406.700012 m, nav range: 218.253723 m, bearing: 93.986832 deg, approach rate: 0.243495 m/s, LOS rate: -0.147256 deg/s, cmd heading: 219.921573 deg, new cmd heading: 219.748107 deg. 2j5ʻ=HeadingCmd: 3.835328 target range: 406.700012 and range: 406.70 m. j=vu@j9j9j9iAhAhIhIhIfQfQfQrfQbfU`oW@ɛ_' 隅+=I 3ɚiIfA=IiR%uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262967ZHa RHe @AHe F>Ia  Ie IIe |BIa &Ia .Ia 6Ie ѱ<:Ie mFDYw,fAJh@YJ0v@J}9J= =yJH>Q2?M$( ??>??ɨJh@Jۉ;JCyb0{BbzImMb@Mb@Mb@iii i)iYmA`"?x&I +ym?m7 m9m A m@)m@ImzAiymzAIiI5٢o ;=9N;Q > G٣yzF; > Nusing accuracyPremultiplier from config49m?4YI{ ixB?u:u)u?Co<@<h4 r(A*EZjFNOT Ignoring new targets: 406.70 m.BjF JjF  ProNav: ac range: 406.700012 m, nav range: 218.363785 m, bearing: 93.922451 deg, approach rate: 0.239665 m/s, LOS rate: -0.140122 deg/s, cmd heading: 219.748113 deg, new cmd heading: 219.555069 deg. 2jT HeadingCmd: 3.831959 target range: 406.700012 and range: 406.70 m. j >u@j j j1i1h1h1h9h=|Bf9f9fArfAbfE @ɛ{B5) 隽 =I Mi3ɚiI+A=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:21:08.3862 TRx dataTimestamp_ set to:1736371269.732780checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516061zK yJK 9K K K Ii%u@)E*Fy2Fy:FyBFyJFGrA GsA I G '$<} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766787G B O >.`w,ÀA2 h@Y2)v@2n92=y2HS? ? r?@/?ϵ?ɨ2 h@2;0y:4{B:|IIJIJ35٢R-< R]=9Z;Q Z>`` fG٣f@GynZ r> Nusing accuracyPremultiplier from config|49~\?%4Y~"~ i|)-)-?~C~<~<~4 b(AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 406.70 m.BjJj ProNav: ac range: 406.700012 m, nav range: 218.457901 m, bearing: 93.867506 deg, approach rate: 0.231723 m/s, LOS rate: -0.135220 deg/s, cmd heading: 219.555065 deg, new cmd heading: 219.390302 deg. 2jHeadingCmd: 3.829083 target range: 406.700012 and range: 406.70 m. ju@jjjih!h!h!h!f)fIfIrfIbfUS@ɛ& 隥1=I OD3ɚiI@=Ii=& =BDAT read: Tx time:21:21:09.4711 =$Ping request sent.ETfw,獚A *$?I, h@Y1v@@ 9=yHQ?4@o ? >???ɨ h@ω;Cy{BmI=Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:21:21:09.4704 Mb@Mb@Mb@ )YZd;O?Pny&1yj?` A @)IAyAII,5٢5; ==9=:Q =>AA EG٣AyEw: M> UNusing accuracyPremultiplier from configQ]49UD?]4YU7 iUxB] ?]:](e?U(CU;U;Uƅ4i (A-Ek?kQ k kA:kCBk !mw,<ABzg@YB4u@BY9Bb=yBH8h?K`#` ?@mH?@J?}?ɨBzg@Bu,;BCyJzBJXIIRIR\05٢Zͽ ^w=9^Q ^?`` bG٣`ybGU f? jNusing accuracyPremultiplier from configdn49f5?r4Yf҄ ifxBtv)z?fBCf+ Will construct direction to contact in vehicle frame from tetrahedron phase data.otw,A2g@Y2u@2H.92Ѿ=y2H@ruĝ?&|@ 0 ?` #?f?8?ɨ2g@2H;2Cy>zBB[IIJyIJ'5٢R< RL=9R :Q V>TT VG٣V@GyZʻ Z> ^Nusing accuracyPremultiplier from config\b49^#?b4Y^ i^xBdf<)f?^bC^X ;^v;^Ӆ4jB j8)Aj0EZj FNOT Ignoring new targets: 383.10 m.Bj euJj eu ProNav: ac range: 383.100006 m, nav range: 140.647873 m, bearing: 81.343717 deg, approach rate: 0.398657 m/s, LOS rate: -0.214540 deg/s, cmd heading: 218.990768 deg, new cmd heading: 218.746909 deg. 2j%<%HeadingCmd: 3.817854 target range: 383.100006 and range: 383.10 m. j%Wt@j)j)j)i)h)h)h1h1f1f1f9rf9bf=?*JC="J%=ɛ ]O6  #I  7A3ɚ iI@=Ii'H E>I  I I I &I .I 6I <:I FQ3zw,AFg@YFʶu@Fо9F=yFHy?kJ5j??`}? f?ɨFg@FI;DyNzBRLI-Mb@Mb@Mb@))) )))Y-X9v?ˡEL7A`堿y-?-什-+-I A -@)-QAI))y-AAEBAIExIE&5٢]`\ ]?=9]d:Q e>aa eG٣aymSߺ m> uNusing accuracyPremultiplier from configq}49u?}4Yuɋ iuxB?:g$?uCua;u;u.ۅ4 )A Zj1=FNOT Ignoring new targets: 383.10 m.Bj=QJj=QuWill construct direction to contact in vehicle frame from tetrahedron phase data.} ProNav: ac range: 383.100006 m, nav range: 140.825012 m, bearing: 81.262251 deg, approach rate: 0.399157 m/s, LOS rate: -0.183340 deg/s, cmd heading: 218.746903 deg, new cmd heading: 218.502815 deg. 2j}HeadingCmd: 3.813594 target range: 383.100006 and range: 383.10 m. jt@jjjihhhh{BfffrfbfU?zKJK9KKKBK:Kɛ5{B5r< 9=I9 =N`3ɚ9i9I=?=Ie im(w,͑A6~g@Y6fu@6Qv96}=y6H@?'{`@ !?`wŮ? 6??ɨ6~g@6;4y>zB>CII@IJIJS<5٢Rl  RX=9R;Q R>TT VG٣TyV Z> bNusing accuracyPremultiplier from config\b49^Y?b4Y^' i^xBdf$f?^C^G:^:^4h j)Aj3EzB*** querying acoustic contact ***jxjxZjYeFNOT Ignoring new targets: 383.10 m.Bje[Jjm[u ProNav: ac range: 383.100006 m, nav range: 140.981644 m, bearing: 81.190256 deg, approach rate: 0.417023 m/s, LOS rate: -0.191472 deg/s, cmd heading: 218.502820 deg, new cmd heading: 218.287074 deg. 2jgHeadingCmd: 3.809828 target range: 383.100006 and range: 383.10 m. j9s@jjjihhhhfffrfbf /@?ɛ#B GI U3ɚ i I Ա?=I|KiO) 9 IE Mg-Aw,mA6gg@Y6Nu@6o96=y6H `Q?e]sRJ@?t? ?@?ɨ6gg@6nW;6Cy>zBB9IrWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255554%Mb@Mb@Mb@!!! !)!Y%x&?ktZd;Oy%7)?% 0%j% A %@)%`@I%7A!y%fAI5I53A5٢M M@=9M{;Q M>QQ UG٣U@Gy]Y ]> eNusing accuracyPremultiplier from configam49e5?m4Ye iexBm)?u:uz u?eǸCe;e8;e=4]B ]*A]7EZjFNOT Ignoring new targets: 383.10 m.BjLJjL ProNav: ac range: 383.100006 m, nav range: 141.181641 m, bearing: 81.109551 deg, approach rate: 0.444360 m/s, LOS rate: -0.179058 deg/s, cmd heading: 218.287068 deg, new cmd heading: 218.045298 deg. 2jHeadingCmd: 3.805608 target range: 383.100006 and range: 383.10 m. js@jjjihhhh-{BfffrfbfƲ@HyIy I}II}|BIy&Iy.Iy6I}ӱ<:I}mFBI9JI9RI9ZI9bI9jI=Ý4ɛE {BED AE6Ii m3ɚiiiImه?=IiJ*G B O >?kw,wH8A6'g@Y6]Fu@60h96'=y6H@'k?{JM[@"a=??`܉??ɨ6'g@6;6CyBzBB.IITIT٢b$> bS=9f;Q f>dh jG٣hyj(% j> rNusing accuracyPremultiplier from configpv49r?v4Yr irxBtv z?rCr:r:r4| ~J*A|Zj!%FNOT Ignoring new targets: 383.10 m.Bj-&pJj-&p= ProNav: ac range: 383.100006 m, nav range: 141.363342 m, bearing: 81.035951 deg, approach rate: 0.518998 m/s, LOS rate: -0.209956 deg/s, cmd heading: 218.045292 deg, new cmd heading: 217.824776 deg. 2j=EHeadingCmd: 3.801759 target range: 383.100006 and range: 383.10 m. jEPs@jAjIjIiIhQhQhihqfqfqfyrfybf}@ɛ7N 隽 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015480ZSw,$RAN$f@YN u@N mc9N~c=yNH@T?@Ev>?i?Fӻ? ?ɨN$f@NW;NCyVzBV%IIbIbB5٢j jI=9jfV;Q j>lp rG٣pyvh v> zNusing accuracyPremultiplier from configx~49z[?~4Yz izxB ?z Cz;z%;z4  *A :EZj15FNOT Ignoring new targets: 383.10 m.Bj=YJj=YM ProNav: ac range: 383.100006 m, nav range: 141.553284 m, bearing: 80.958751 deg, approach rate: 0.467476 m/s, LOS rate: -0.189744 deg/s, cmd heading: 217.824773 deg, new cmd heading: 217.593488 deg. 2jM8UHeadingCmd: 3.797723 target range: 383.100006 and range: 383.10 m. jU s@jQjQjQiYhYhahahifififirfibfu@ɛ {BT2P ʽI S4ɚ i I Vf?=Ii{+Hu D>Iq  Iu IIu {BIu % =&Iq .Iq 6Iu ޱ<:Iu vF}w,lAy~zB~IMb@Mb@Mb@ )YS? rh? G٣@Gy > Nusing accuracyPremultiplier from config49?4Y͠ i yB,/?:f?0C;;4 *AZjFNOT Ignoring new targets: 383.10 m.Bj%JJj%J5 ProNav: ac range: 383.100006 m, nav range: 141.779922 m, bearing: 80.881724 deg, approach rate: 0.522875 m/s, LOS rate: -0.177426 deg/s, cmd heading: 217.593489 deg, new cmd heading: 217.362777 deg. 2j5󻝊=HeadingCmd: 3.793696 target range: 383.100006 and range: 383.10 m. j=r@j9j9j9i9hAhAhIhMzBfIuWill construct direction to contact in vehicle frame from tetrahedron phase data.}Aiy}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519622ffrfbfb @ɛE {BET ImnIi u4ɚqiqIuX?=I}Si}q,tiw, An8f@YnWt@n[9n=ynH@?OX@N?w?X??ɨn8f@nz;nCyzzBzIII@5٢ T=9%A;Q %>!! -G٣)y- -> =Nusing accuracyPremultiplier from config1=495?E4Y5G i5yBAEE?5RC5:5e:5f4I U*AU=EmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 383.10 m.BjgMJjgM ProNav: ac range: 383.100006 m, nav range: 141.979675 m, bearing: 80.812571 deg, approach rate: 0.519451 m/s, LOS rate: -0.179577 deg/s, cmd heading: 217.362779 deg, new cmd heading: 217.155613 deg. 2j{HeadingCmd: 3.790081 target range: 383.100006 and range: 383.10 m. jr@jjjihhhhfffrfbffL@ɛ {B[ uI !5ɚiIX?=Iir-GYBa}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:21:12.3975 LVL= 18304, 32753, 25074, 31331, AGC= 71, IDX= 48, 0.36,-0.892,-2.800,-2.352,-1.862, PHS= 1.058,-0.891,-0.493, RAW= 101.1, 3.7, CAL= 111.5, 1.6, ROT= 38.5, -1.6 Ygot valid direction response: 21:21:12.3975 LVL= 18304, 32753, 25074, 31331, AGC= 71, IDX= 48, 0.36,-0.892,-2.800,-2.352,-1.862, PHS= 1.058,-0.891,-0.493, RAW= 101.1, 3.7, CAL= 111.5, 1.6, ROT= 38.5, -1.6 PDAT read: Bearing 38.5, -1.6 (Local) ~Local bearing/azimuth received: Bearing 38.5, -1.6 (Local) DAT read: Range 10 to 50 : 391.6 m (Round-trip 522.2 ms) speed 0.7 m/s ,DAT read: user:1689> BDAT read: Tx time:21:21:13.5211 $Ping request sent.y y)yIyiyyyyy y)yIyiyyy}@#'8?YxǘԿ}&?)yIyiyyyy $?I ڑw,A24e@Y2s@2(Z92=y2HU ?۽nItR?A? ܡ??ɨ24e@2<};2CyNzBNInWill construct direction to contact in vehicle frame from tetrahedron phase data.rJDAT read: TxSync time:21:21:13.5204 Mb@Mb@Mb@ )YtV?333333?~jthy2?=D A Z@)3@I AyzAI I p;5٢=; =9=9=u:Q =>AA EG٣AyM]k M> Nusing accuracyPremultiplier from config49?4Y i)yB3?:U?zC;b;B 4 *AHI III{BI$ =&I.I6I<:I^Fkn\C?k?N k k^fA:kCBktCZkZ?"Xz3΂P@*tS@tix@zmƿ[bLtX=h?Jkd0,RkNn*nB7@U7J0[@Q lw@nƮ?4^*?D?"kQB*kOAk*2Q?k: 2kCk*2Q?k: kCk?BkY? addTargetRange:: Added new target pos. range: 391.600006 m, deltaT: 4.035931 s, deltaX: 8.500000 m, approachRate: 2.106081 m/s, rangeRepo size: 4 - Added new target pos. range: 391.600006 m, bearing: 78.043838 deg, lat: 36.904641 deg, lon: -122.113535 deg, deltaT: 4.035931 s, deltaX: 8.500000 m, approachRate: 2.106081 m/s, posRepo size: 4 Zj)-FNOT Ignoring new targets: 391.60 m.Bj5Jj1e ProNav: ac range: 391.600006 m, nav range: 113.623962 m, bearing: 78.043447 deg, approach rate: 0.000000 m/s, LOS rate: -0.179577 deg/s, cmd heading: 217.155619 deg, new cmd heading: 216.899147 deg. 2jamHeadingCmd: 3.785604 target range: 391.600006 and range: 391.60 m. jmWGr@jijijiiihqhqhqhuwzBfyfyfyrfyx@bf!?ɛ15 U 9eIa e5ɚiiiImS?=Iu^iu T._ӭw,3A2$Re@Y2ps@2\92% =y2H Q3 ?a`?̓?m??ɨ2$Re@20;0y:zB:IIBIB+5٢~5= ]=9 ݺQ  > G٣@Gy-D -> ENusing accuracyPremultiplier from config YIY9e49=*?m4Y=ɯ i=8yBquu?=C=;=;=4B *A@EZjFNOT Ignoring new targets: 391.60 m.BjhJjh ProNav: ac range: 391.600006 m, nav range: 113.835999 m, bearing: 77.971582 deg, approach rate: 0.600998 m/s, LOS rate: -0.203315 deg/s, cmd heading: 216.899146 deg, new cmd heading: 216.683954 deg. 2j HeadingCmd: 3.781848 target range: 391.600006 and range: 391.60 m. j r@jjjihhhhfffrfbf p?ɛU {BUdW QUXIQWill construct direction to contact in vehicle frame from tetrahedron phase data. 5ɚiIPP?=I i.m Will construct direction to contact in vehicle frame from tetrahedron phase data.dw,ΪAFd@YFr@F\9FH=yFHZ࿃?^葿Jr*@ya?咫?/5?>?ɨFd@Ft;FCyRzBV/II^{I^'5٢fP= fO=9fp7Q j>hh jG٣hynh n> rNusing accuracyPremultiplier from configpv49rq?v4Yr irIyBtzTz?rCr*:rL:rp4~B ~0*ABEZj)-FNOT Ignoring new targets: 391.60 m.Bj5kJj5kE ProNav: ac range: 391.600006 m, nav range: 114.061562 m, bearing: 77.894190 deg, approach rate: 0.601364 m/s, LOS rate: -0.205924 deg/s, cmd heading: 216.683954 deg, new cmd heading: 216.452238 deg. 2jER MHeadingCmd: 3.777804 target range: 391.600006 and range: 391.60 m. jMq@jIjIjQiQhQhQhQhYfYfYfarfabfeI?J3KO3 K(.KK"KJJ<JJJ;J:JJa@a@a@a@ɛ ^P !% I1 U66ɚYiYI]G?=Ie*X ieB/޺w,AyrzBr2IuMb@Mb@Mb@qqq q)qYuQ?ʡE?~jt?yu\/?u-=uD G٣y > Nusing accuracyPremultiplier from config49_?4Y@ icyB0?::?C;;!4B *AEEZjFNOT Ignoring new targets: 391.60 m.BjWJj W ProNav: ac range: 391.600006 m, nav range: 114.310287 m, bearing: 77.812399 deg, approach rate: 0.575415 m/s, LOS rate: -0.188807 deg/s, cmd heading: 216.452233 deg, new cmd heading: 216.207396 deg. 2j%HeadingCmd: 3.773531 target range: 391.600006 and range: 391.60 m. j%q@j!j!j!i!h)h)5Will construct direction to contact in vehicle frame from tetrahedron phase data.h9h=zBf9f9fArfAbfE 9?ɛL I ~6ɚiI^9?=I- i/EM >zK:KK+9KKK*F?2F:FBF3JF"G=G=G9f<GqBO]> e$?Ia Will construct direction to contact in vehicle frame from tetrahedron phase data.uw,eA2yc@Y23r@2V92%}=y2H '?Ӓ@5٢~,> U=9i;Q >    G٣ @Gy   > Nusing accuracyPremultiplier from config%49O?%4Y iyyB!% %?C ; ;(4) 5:)A5HEMB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 391.60 m.Bje[Jje[} ProNav: ac range: 391.600006 m, nav range: 114.528740 m, bearing: 77.738708 deg, approach rate: 0.570542 m/s, LOS rate: -0.192094 deg/s, cmd heading: 216.207398 deg, new cmd heading: 215.986749 deg. 2j}HeadingCmd: 3.769680 target range: 391.600006 and range: 391.60 m. joBq@jjjihhhhfffrfbfS?ɛ {Bd#> ҼI T6ɚiIH&?=IF iK,0 a Ia w,%A!A:qc@Y:+q@: P9:=y:Ho?le`l?D? ~??ɨ:qc@:;:CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255362yV{BV`I=Mb@Mb@Mb@999 9)9Y=v/?l?Zd;O?y=x)?===j<=MA =@)=3@I=A9y=@Y]AAI]I]s75٢m7= mD=9uz;Q u>qy }G٣yy}pq > Nusing accuracyPremultiplier from config49g>?4Y iyB*?:?)Cc;F;/4 (AZjFNOT Ignoring new targets: 391.60 m.BjhZJjhZ ProNav: ac range: 391.600006 m, nav range: 114.755646 m, bearing: 77.658735 deg, approach rate: 0.542836 m/s, LOS rate: -0.190945 deg/s, cmd heading: 215.986742 deg, new cmd heading: 215.747297 deg. 2j HeadingCmd: 3.765501 target range: 391.600006 and range: 391.60 m. jp@jjqjqiqhqhqhyh}zBfyfyfrfbf@C@HI III{BI% =&I.I6I:<:I Fɛa8 ֻI q6ɚiI?=I5!!i5w0GYBiOZ>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507633zKe JKe ]9Ka Ke Ke BKm qA:Ki ~w,;AB.c@YBLq@BJ9BЩ=yBH@m?2`+ B?M?ჸ?K?ɨB.c@B;BCyJ*{BJvIIVIV85٢b= bV=9b_g;Q b>dd fG٣dyjb j> $?I =Nusing accuracyPremultiplier from config1M495.?U4Y5{ i5yBY]]?5IC5;5C;564q uX(AuKEZjFNOT Ignoring new targets: 391.60 m.BjQJjQ ProNav: ac range: 391.600006 m, nav range: 114.962135 m, bearing: 77.585487 deg, approach rate: 0.518434 m/s, LOS rate: -0.183574 deg/s, cmd heading: 215.747303 deg, new cmd heading: 215.527954 deg. 2jHeadingCmd: 3.761672 target range: 391.600006 and range: 391.60 m. j>p@jjjihhhhfffrfbf F@ɛ {B-  =I%x`!i-߭0p@))EAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759962*F?2F:FBF_0JFGrA GG GB O- >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011908w,3TAVzb@YV4p@V7 G9V=yVH`8?G͑@q !f? ߨ?@Ѹ??ɨVzb@V;VCybQ{BbIIjIjB-5٢v= vH=9z#;Q z>xx zG٣~@Gy\ > Nusing accuracyPremultiplier from config 49 y?4Y G i yB%F%? lC 1; R; =4) -'A)ZjQ*JY"J]R=JaJeJe1JaJaJe|:Je3JamFNOT Ignoring new targets: 391.60 m.BjudJjud ProNav: ac range: 391.600006 m, nav range: 115.183731 m, bearing: 77.506313 deg, approach rate: 0.561272 m/s, LOS rate: -0.200151 deg/s, cmd heading: 215.527958 deg, new cmd heading: 215.290894 deg. 2j\ HeadingCmd: 3.757535 target range: 391.600006 and range: 391.60 m. jt{p@jjjihhhhfffrfbf f@ɛQU" QUH=IY ]H6ɚYiYI]>=IeA!ie0I III{BI$ =&I.I6I<:ISFBIiJIiRIiZIibIijIm 3GBO >`)w,nAyp{BIMb@Mb@Mb@ )Y#~j?{Gz?~jt?y%?#=<A @)IhAyIIy/5٢c= ==9Q > G٣y > Nusing accuracyPremultiplier from config496 ?4Y iyBF&?:k?CL;pJ;aE4B 2'A OEWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:21:21:16.4307 %TRx dataTimestamp_ set to:1736371277.800960-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516908)9 =C9GzK-]JK- 9K)K-K-RK5?JK5? MYIyM4BZjIUFNOT Ignoring new targets: 391.60 m.BjUDJjUD ProNav: ac range: 391.600006 m, nav range: 115.402527 m, bearing: 77.420151 deg, approach rate: 0.438150 m/s, LOS rate: -0.172215 deg/s, cmd heading: 215.290896 deg, new cmd heading: 215.032904 deg. 2ja컝HeadingCmd: 3.753032 target range: 391.600006 and range: 391.60 m. j1p@jjjihhhh2{Bfffrfbf @ɛ5 {B5 154=I9 =5ɚ9i9I=~>=IE!iEB1w,|Ayu{BuIII +5٢n> P=9Q > G٣y > Nusing accuracyPremultiplier from config49~?4Y$ iyB?Cu;;AL4 B&AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 391.60 m.BjňJjň ProNav: ac range: 391.600006 m, nav range: 115.602318 m, bearing: 77.341845 deg, approach rate: 0.611223 m/s, LOS rate: -0.239150 deg/s, cmd heading: 215.032906 deg, new cmd heading: 214.798393 deg. 2j $HeadingCmd: 3.748939 target range: 391.600006 and range: 391.60 m. jo@jjjihhhhfffrfbfࢡ@ɛIM? IM!>II Uo5ɚQiQIU~>=I]1"i] 1 BDAT read: Tx time:21:21:17.5211 $Ping request sent.R#Rx 1: Read range and direction messages.`direction in FSK: [-0.249503,-0.070660,0.965793] :publishing transmit ping timeؙ Fpublishing direction and range infoI9M:80Ͽc{ R?yMCIMXI Mr)MIMCiM\b?MsMKMI?M0 > MϢ?)M=IM;0?iMIIM8S? ҍԿk?)MEXIMڕ iM@f7M[|IIE:publishing transmit ping timeؙEFpublishing direction and range infoI9M:80Ͽc{ R?yIIII I)IIIiIIIII I)IIIiIIIM8S? ҍԿk?)IIIiIIIIJJJ0JJJ~:Jـ3J $?I 1w,[AF b@YFv+p@F=9F4=yFH\.c?@ V e?n? J%? ?NWill construct direction to contact in vehicle frame from tetrahedron phase data.ɨF b@F4;FCyZ{BZIMb@Mb@Mb@ )YRQ?I +/$?y"?9<A p@)@IAy@II*5٢=}= =@=9=@;Q E>AAHQIQ IU IIU |BIU% =&IQ.IQ6IU<:IUIF G٣@Gy > Nusing accuracyPremultiplier from config49 ~?4Y i zB"?:_$?ԺC<%<S4 %AREk}E?k} ky k}eA:k}CBk}2CZk}ޏ?"}1WI: v@}:80Ͽc{ R?Jk}@f7Rk}[|*}.afK@*}p\@OqMv@}ٶ`?p?/fU!?"k}>B*k}\Bk}/4?k}E 2k}Ck}~ ?k}E k}Ck}Bk}Ȫ?- addTargetRange:: Added new target pos. range: 379.000000 m, deltaT: 4.033754 s, deltaX: -12.600006 m, approachRate: -3.123643 m/s, rangeRepo size: 4 e Added new target pos. range: 379.000000 m, bearing: 64.399227 deg, lat: 36.904661 deg, lon: -122.113510 deg, deltaT: 4.033754 s, deltaX: -12.600006 m, approachRate: -3.123643 m/s, posRepo size: 4 ZjamFNOT Ignoring new targets: 379.00 m.BjmJji ProNav: ac range: 379.000000 m, nav range: 118.419716 m, bearing: 76.447006 deg, approach rate: 0.000000 m/s, LOS rate: -0.239150 deg/s, cmd heading: 214.798398 deg, new cmd heading: 214.461467 deg. 2jHeadingCmd: 3.743059 target range: 379.000000 and range: 379.00 m. jFo@jjjihhhhh{Bfffrfw@bf ]?ɛ- {B-b )-N>I) 54ɚ1i1I5F>=I=p"i= 1Zw,M2A LIROgva@Yvo@vA9vv=yvH BF?q9߻?@ :?L??ɨva@v;vCy{BIIkI 5٢%)= %^=9-w)Q ->)) 5G٣1y5J 5> ENusing accuracyPremultiplier from config9E49=~?M4Y=P i=zBIM$M?=C=:=:=!Z4Q ]N%AYZjFNOT Ignoring new targets: 379.00 m.BjdžJjdž ProNav: ac range: 379.000000 m, nav range: 118.584030 m, bearing: 76.370765 deg, approach rate: 0.508611 m/s, LOS rate: -0.235664 deg/s, cmd heading: 214.461465 deg, new cmd heading: 214.233062 deg. 2j!HeadingCmd: 3.739072 target range: 379.000000 and range: 379.00 m. jLo@jjjihhhhfffrfbf?ɛAؼ  ^>I  4ɚiII>=I"i82] Will construct direction to contact in vehicle frame from tetrahedron phase data.5>w,A6R`a@Y6 o@6oA96.=y6H_B?C`=1^? `.? ??ɨ6R`a@6e;6Cyb|Bb IInUIn5٢v= vO=9vNl9Q v>xx zG٣xyz| ~> Nusing accuracyPremultiplier from config 49~?4Y i/zB %?CV;YW; a4%B %$A-UEZjIUFNOT Ignoring new targets: 379.00 m.BjUrJjUre ProNav: ac range: 379.000000 m, nav range: 118.764168 m, bearing: 76.286527 deg, approach rate: 0.454558 m/s, LOS rate: -0.212244 deg/s, cmd heading: 214.233063 deg, new cmd heading: 213.980733 deg. 2jemHeadingCmd: 3.734668 target range: 379.000000 and range: 379.00 m. jmo@jijqjqiqhqhqhhfffrfbfg?ɛ̼  >I [C3ɚiI==I#i|F2E>*FU?2FQ:FYBF]P5JFYGq GunA $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.G~<HYIY I]FII]||BIY&IY.IY6I]<:I]=FGBO>Thw,A26 a@Y2'o@2D92;=y2H`jw?U fG?~?#??ɨ26 a@2:;0yB9|BBIMb@Mb@Mb@ )YS?V-Q?y/?hu<A @)@IhAy\@I-BI-5٢== =E=9=Q E>AA EG٣AyM,R M> UNusing accuracyPremultiplier from configQ49U~?4YU iU?zBG?:w*?U2CUI 5"2ɚ1i1I5k==IMUj#iMq2`Ow,h A:`@Y: o@:=9:_=y:HD?@yOG?t???ɨ:`@:iʉ;:CyF`|BF5IINzIN'5٢VT= VT=9V~;Q Z>XX ZG٣Z@Gy^ ^> fNusing accuracyPremultiplier from config`f49b ~?j4Yb ibNzBln*n?bPCb\G;bG;bo4p vk#AvXEZj FNOT Ignoring new targets: 379.00 m.Bj`Jj`% ProNav: ac range: 379.000000 m, nav range: 119.089035 m, bearing: 76.107413 deg, approach rate: 0.436502 m/s, LOS rate: -0.240206 deg/s, cmd heading: 213.702972 deg, new cmd heading: 213.444128 deg. 2j-$-HeadingCmd: 3.725303 target range: 379.000000 and range: 379.00 m. j-\kn@j1j1j1i1h1h1h9h9f9fAfArfAbfE@0?ɛqus y}>Iy }91ɚyiyI==IZ#i!2 I Rw,#A>Will construct direction to contact in vehicle frame from tetrahedron phase data.~`@Y~q o@~79~=y~H 5?@Ⱦ@+O û?e??%?ɨ~`@~ɉ;|y-t|B5AIHI III|BI&I.I6I<:IEFMb@Mb@Mb@ )YX9v?y&1Mb`?y?`役;A p@)I@IAy(AIUpIU#5٢m = u$=9u(>;Q }> G٣yG > Nusing accuracyPremultiplier from config49~?4Y" iWzB ?:.?yC;|;w4 #A[EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 379.00 m.BjJj  ProNav: ac range: 379.000000 m, nav range: 119.280540 m, bearing: 75.988299 deg, approach rate: 0.381992 m/s, LOS rate: -0.237214 deg/s, cmd heading: 213.444122 deg, new cmd heading: 213.087357 deg. 2j "HeadingCmd: 3.719076 target range: 379.000000 and range: 379.00 m. jWn@jjjihhh!h%K|Bf!f!f!rf)bf-r@ɛ] {Bea aeN>Ia e/ɚiiiIm<=Iu_$iun:3zK- 0(LK- 9K) K- K- ˣw,bg=A &$?I&Pg6I`@Y6n@6_)396}=y6H‡^?@* u V%ϻ?Wc?? ?ɨ6I`@61;6CyB|BBHIIRmIR!5٢b= b=9ffu;Q j?pp rG٣tyzI z ? ~Nusing accuracyPremultiplier from config|49~x~?4Y~9 i~]zB  . ?~C~;:~\:~C}4 "AZjFNOT Ignoring new targets: 379.00 m.BjGJjG ProNav: ac range: 379.000000 m, nav range: 119.401421 m, bearing: 75.913229 deg, approach rate: 0.361546 m/s, LOS rate: -0.224300 deg/s, cmd heading: 213.087354 deg, new cmd heading: 212.862376 deg. 2j%%HeadingCmd: 3.715149 target range: 379.000000 and range: 379.00 m. j%m@j)j)j)i)h)hQhahafafafarfibfm`@ɛ {Bb{ 隽>I m.ɚiI d<=IZ$ig3E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980628@w,DWA2`@Y2n@2l}092=y2H@?b$`:X /? ?@]?5?ɨ2`@2pΉ;0yB|BBKIIJ`IJ5٢f< fJ=9f:Q f>hh jG٣j@Gyj n> rNusing accuracyPremultiplier from configpv49rIY e-ɚaiaIe <=ImI$im=4I! I%II%=}BI!&I!.I!6I%<:I%AFGBO >Fw,#qA62`@Y6n@62.96=y6HF? _̻?ۥ?&??ɨ62`@6;6 CyN|BNWIUMb@Mb@Mb@QQQ Q)QYUMb?= ?=9n:Q > G٣y >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484163 =Nusing accuracyPremultiplier from config9E49=N~?E4Y= i9E$?E:E1M?=׻C=<;=;=4UB Uu"AUcEZjFNOT Ignoring new targets: 379.00 m.BjcJjc ProNav: ac range: 379.000000 m, nav range: 119.721840 m, bearing: 75.705284 deg, approach rate: 0.388969 m/s, LOS rate: -0.262960 deg/s, cmd heading: 212.577084 deg, new cmd heading: 212.239395 deg. 2jw4HeadingCmd: 3.704276 target range: 379.000000 and range: 379.00 m. jm@jjjihhhhP|Bff!f!rf!bf% @ɛ{B/ 隝>I *,ɚiI;=I %i5"w,rA2G`@Y2n@2V-92=y2H`p?.c Gӻ??@4>?@x?ɨ2G`@2;2CyLPIj}Ij(59vM:Q v>tt zG٣xyzr z> Nusing accuracyPremultiplier from config|49~,<~?4Y~ i~ezB  1 ?~C~:~;:~q4 ZjFNOT Ignoring new targets: 379.00 m.BjNJjN ProNav: ac range: 379.000000 m, nav range: 119.856972 m, bearing: 75.614090 deg, approach rate: 0.361348 m/s, LOS rate: -0.243583 deg/s, cmd heading: 212.239399 deg, new cmd heading: 211.966126 deg. 2j+'HeadingCmd: 3.699507 target range: 379.000000 and range: 379.00 m. jl@j j j i h h hhf1f9f9rf9bf=H@ɛU{BUdn Y]v>IY ]*ɚYiYI]O;=IZ%ie5 BDAT read: Tx time:21:21:21.5712 $Ping request sent.H(w,A6Will construct direction to contact in vehicle frame from tetrahedron phase data.FJDAT read: TxSync time:21:21:21.5705 HC>I IIIp}BI&I.I6I{<:I*FBIaJIaRIaZIe% =bIe% =jIe4y|BVIMMb@Mb@Mb@III I)IYMMbX9?y G٣@Gy > Nusing accuracyPremultiplier from config49<#~?4Y i`zB&?:g1?C[K;BI;4 y"AfEk=&xV?k=b k9 k=坕A:k=CBk=CZk=vʝ?"=ӟMrq;11Iy }?t)ɚiIy:=I%i7O0w, A:L`@Y:=kn@:"39:o}=y:H?vo{?b??@c?ɨ:L`@:鸈;8yN|BRHI\^AIbWIb5٢5狽 5r=95Q =>99 =G٣9yE>x E> MNusing accuracyPremultiplier from configIU49Md~?U4YM iM]zBY]1]?M:CMR;M;M4a e"AaB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 388.20 m.BjJj ProNav: ac range: 388.200012 m, nav range: 120.462387 m, bearing: 74.883672 deg, approach rate: 0.400334 m/s, LOS rate: -0.262435 deg/s, cmd heading: 211.607306 deg, new cmd heading: 211.345652 deg. 2j4HeadingCmd: 3.688678 target range: 388.200012 and range: 388.20 m. jKl@jjjihhhhfffrfbf` ?ɛ{BS 8=\>I (ɚiI͙:=I%i &i%7EE{>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{=GYBiO9>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991257'6w, A*JVa="JVa=y~|BIII\I45٢%x; %F=9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E49=}?M4Y=f i=ZzBQQU?=\C=-e;=L;=4Y e"AeiEZjFNOT Ignoring new targets: 388.20 m.BjꍻJjꍻ ProNav: ac range: 388.200012 m, nav range: 120.615234 m, bearing: 74.783832 deg, approach rate: 0.380369 m/s, LOS rate: -0.248144 deg/s, cmd heading: 211.345656 deg, new cmd heading: 211.046516 deg. 2jL*HeadingCmd: 3.683457 target range: 388.200012 and range: 388.20 m. jk@jjjihhhhfffrfbf?ɛ{Bp $?I E>I ]'ɚ i I <:=I a&i8Q99 =G٣=@Gy9 E> MNusing accuracyPremultiplier from configAM49E}?U4YEl iEWzBUi(?U:U.]?ECE;E;Eï4a e #AelEZjFNOT Ignoring new targets: 388.20 m.BjJj ProNav: ac range: 388.200012 m, nav range: 120.795738 m, bearing: 74.676964 deg, approach rate: 0.412662 m/s, LOS rate: -0.243953 deg/s, cmd heading: 211.046521 deg, new cmd heading: 210.726400 deg. 2jl'HeadingCmd: 3.677870 target range: 388.200012 and range: 388.20 m. j7bk@jjjihhhh{Bfffrfbf 7?ɛ}{B}ʕ y}>Iy &ɚiI&9=I}&iA:=Cw, A65_@Y6m@6D196M=y6Hd?X`? &?`#?@?ɨ65_@6 ;6 Cy^c|B^7Iib>Ib>If}If(5٢n. na=9r|:Q r>pp vG٣tyv v> ~Nusing accuracyPremultiplier from configx49z+}? 4Yz izUzB  / ?zCzoR;zR;z4 A#A!ZjAMFNOT Ignoring new targets: 388.20 m.BjMOJjMO] ProNav: ac range: 388.200012 m, nav range: 120.942863 m, bearing: 74.588418 deg, approach rate: 0.405231 m/s, LOS rate: -0.243586 deg/s, cmd heading: 210.726403 deg, new cmd heading: 210.461092 deg. 2j]+'eHeadingCmd: 3.673239 target range: 388.200012 and range: 388.20 m. jeYk@jajajiiihihihihqfqfqfyrfybf}?ɛ{B-炼 15>I1 5B0%ɚ1i1I59=I=\ 'i=n@;\(Jw,*AyMT|BU-IMb@Mb@Mb@ )YE?Q뱿{Gzy&?\ף7A -@)@IhAy(@I I +5٢ %=9Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=495ػ}?=4Y5 i5VzB='?=:E*E?5ȼC5$;5";54MB M}#AUoEZjy}FNOT Ignoring new targets: 388.20 m.BjJj ProNav: ac range: 388.200012 m, nav range: 121.161156 m, bearing: 74.475264 deg, approach rate: 0.442730 m/s, LOS rate: -0.229081 deg/s, cmd heading: 210.461091 deg, new cmd heading: 210.122244 deg. 2j7HeadingCmd: 3.667325 target range: 388.200012 and range: 388.20 m. jtj@jj!j!i!h!h!h)h-{Bf)f)f1rf1bf5 Cu@ɛ{B, 隭_>I #ɚiI,9=IAj'i< Y Ia zK MK 9K K K         BK qA:K qAQw,~VDA2_@Y2m@2#-92[=y2Hd?0??`?x?ɨ2_@2l;2CyNN|BN*IIVIV_,5٢f y jc==Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.7562449};Q }> G٣@Gy׼ > Nusing accuracyPremultiplier from config49}}?4Y iWzB9=+=?C,8<w7<ņ4A E#AErEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 388.20 m.Bjy~Jjy~5 ProNav: ac range: 388.200012 m, nav range: 121.332390 m, bearing: 74.385116 deg, approach rate: 0.423185 m/s, LOS rate: -0.222476 deg/s, cmd heading: 210.122246 deg, new cmd heading: 209.852184 deg. 2j5=HeadingCmd: 3.662611 target range: 388.200012 and range: 388.20 m. j=:hj@j9j9j9i9h9hAhAhAfAfIfirfibfu@ɛ{B% 隽O>I ]"ɚiI8=I z'i =f@Xw, bA6o^@Y6)l@6eN+96w=y6H!@?a1!?3h??`4?ɨ6o^@6~ވ;6 Cy>>|B> I)@ @IJIJ,5٢R V/=9V:Q V>x| ~G٣yZ > -Nusing accuracyPremultiplier from config!=49%4}?=4Y% i!9E,E?%C%\b;%TE;%f͆4I M#AIZjq}FNOT Ignoring new targets: 388.20 m.Bj}~Jj}~ ProNav: ac range: 388.200012 m, nav range: 121.527924 m, bearing: 74.281405 deg, approach rate: 0.447401 m/s, LOS rate: -0.236919 deg/s, cmd heading: 209.852180 deg, new cmd heading: 209.541552 deg. 2j"HeadingCmd: 3.657190 target range: 388.200012 and range: 388.20 m. jgj@jjjihhhhfffrfbf`A% @=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:21:24.4770 TRx dataTimestamp_ set to:1736371285.624487checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273159ZHRHAAɛ-!{B- 15>I1 =!ɚYiYIe8=IeO(imL?I}C I}II}=}BIy&Iy.Iy6I}ű<:I}^F*Fu?2Fq:FqBFu3JFq Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511175G ‹9=G B O >^w,"|A N$?ILZ^@YZ;;l@Z#(9Zi1=yZH@C ?V q?;?9?@?ɨZ^@ZU;Z CyddzKlLKs9KKKMb@Mb@Mb@ )Y/$?Q{Gzy1(?# )Iv@y@I-I-15٢=] =0=9E:Q E>Aa mG٣iym m> }Nusing accuracyPremultiplier from configq}49u |}?4Yu iu^zBc(?:(?u5Cu;u5;u[Ն4 #AuEZjFNOT Ignoring new targets: 388.20 m.BjjJjj% ProNav: ac range: 388.200012 m, nav range: 121.738647 m, bearing: 74.181195 deg, approach rate: 0.431871 m/s, LOS rate: -0.205021 deg/s, cmd heading: 209.541557 deg, new cmd heading: 209.241449 deg. 2j% -HeadingCmd: 3.651952 target range: 388.200012 and range: 388.20 m. j-i@j)j)j)i)h1h1h1h5g{Bf9f9fyrfybf} b@ɛ${BHr >IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766198  ɚAiAIMQ@8=I} f(ipo@ew,_AYgot valid direction response: 21:21:24.4770 LVL= 19856, 32753, 25202, 32755, AGC= 67, IDX= 269,-0.01, 2.784, 1.026, 1.253, 1.835, PHS= 1.037,-0.762,-0.585, RAW= 95.1, 3.7, CAL= 104.0, 1.8, ROT= 46.0, -1.8 PDAT read: Bearing 46.0, -1.8 (Local) ~Local bearing/azimuth received: Bearing 46.0, -1.8 (Local) &DAT read: Range 10 to 50 : 376.2 m (Round-trip 501.6 ms) speed 0.8 m/s &,DAT read: user:1692> JBDAT read: Tx time:21:21:25.5712 J$Ping request sent.Nqy }G٣}@Gy > Nusing accuracyPremultiplier from config49g}?4Y idzB?ZC::܆4 $?IQgB #AyEk%Q6i?k%# k! k%댗A:k%CBk%κCZk%]?"%ՕގNW\ @ |f1w@%8J`Ŀ).޳?]"?Jk%a@@Rk%*%%J@tN@el\v@%dLγ?DZ?dD C?"k%tB*k%PBk%ͷY?k%} 2k%JCk!k%: k%JCk%Bk%ޤ? addTargetRange:: Added new target pos. range: 376.200012 m, deltaT: 4.030214 s, deltaX: -12.000000 m, approachRate: -2.977509 m/s, rangeRepo size: 4  Added new target pos. range: 376.200012 m, bearing: 49.635557 deg, lat: 36.904671 deg, lon: -122.113535 deg, deltaT: 4.030214 s, deltaX: -12.000000 m, approachRate: -2.977509 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 376.20 m.BjJj ProNav: ac range: 376.200012 m, nav range: 119.845337 m, bearing: 73.799967 deg, approach rate: 0.000000 m/s, LOS rate: -0.205021 deg/s, cmd heading: 209.241452 deg, new cmd heading: 208.981667 deg. 2jHeadingCmd: 3.647418 target range: 376.200012 and range: 376.20 m. jMoi@jjj!i!h!h!h!h)f)f)f)rf-@3w@bf5*?ɛ'{B (>I ɚiI07=Ii(iߢAkw,t%AR ]@YR?k@Rb 9R=yRHh "S?@9@G`c? ?`? ?ɨR ]@R!;R Cy^I|B='IuMb@Mb@Mb@qqq q)qYu/$?Mb`?yqu;uu A u@)qIuI@qyu@Will construct direction to contact in vehicle frame from tetrahedron phase data.IiI5٢ < B=9;Q > G٣ y  > 5Nusing accuracyPremultiplier from config1=495S}?=4Y5L i5ozBE1(?E:E&E?5}C5];5;5L4i u#AqZjFNOT Ignoring new targets: 376.20 m.BjD|JjD| ProNav: ac range: 376.200012 m, nav range: 120.046974 m, bearing: 73.710221 deg, approach rate: 0.496353 m/s, LOS rate: -0.220549 deg/s, cmd heading: 208.981672 deg, new cmd heading: 208.712888 deg. 2j\HeadingCmd: 3.642727 target range: 376.200012 and range: 376.20 m. jq"i@jjj i h h hh5{Bfffrfbf?ɛe*{B蜼 隝>I ɚiI7=ID(i_}B=G1B9O]> Will construct direction to contact in vehicle frame from tetrahedron phase data.rw, A 88V\@YVnj@V[9V=yVH@?$`?8?˴??ɨV\@V ;VCybD|Bb$IIjVIj5٢r=w rs=9v ;Q v?tx zG٣xyzM ~? Nusing accuracyPremultiplier from config|49~0C}? 4Y~2 i~xzB  F' ?~C~:~z:~4 #A|E5B*** querying acoustic contact ***j1j1ZjIMFNOT Ignoring new targets: 376.20 m.BjU_{JjU_{e ProNav: ac range: 376.200012 m, nav range: 120.205444 m, bearing: 73.638676 deg, approach rate: 0.487416 m/s, LOS rate: -0.219766 deg/s, cmd heading: 208.712891 deg, new cmd heading: 208.498539 deg. 2jemHeadingCmd: 3.638986 target range: 376.200012 and range: 376.20 m. jm&h@jijijiiihihqhqhqfyfyfyrfybf7?ɛ,{BNj 隭>I AɚiI{7=I:)iR C7yw,A:4[@Y:j@:9:==y:H@?%} /߿ ?G?ݴ??ɨ:4[@:vƈ;: CyRT|BV.II^aI^k5٢f,$= fM=9f9Q f>hh jG٣j@Gyj n> vNusing accuracyPremultiplier from configpz49r/}?z4Yr irzBx~'~?rCrs;r‡;r4%B -b#A-EUWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.236483jHbHp<HIC III&I.I6I<:IPFBIJIRIZI& =bIjIU4Zj9=FNOT Ignoring new targets: 376.20 m.BjESJjESu ProNav: ac range: 376.200012 m, nav range: 120.394997 m, bearing: 73.551991 deg, approach rate: 0.405857 m/s, LOS rate: -0.185311 deg/s, cmd heading: 208.498546 deg, new cmd heading: 208.238904 deg. 2juZ}HeadingCmd: 3.634454 target range: 376.200012 and range: 376.20 m. j}h@jyjyjihhhhfffrfbf@?ɛE/{BE⇥ Ae>Ii m*ɚiiiIm17=Iu΄)iuCWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484491 I 2w,A2a[@Y2di@2k92=y2H`. !?a ߿?]̢?? ?ɨ2a[@2!;0yBs|BBAIzK5:IK1K1K5K5UMb@Mb@Mb@QQQ Q)QYUsh|??~jt?{Gzt?yU)?U G٣y > Nusing accuracyPremultiplier from config49}?4Yz izB*?:Z&?߽C;;4 "AZjFNOT Ignoring new targets: 376.20 m.BjJj ProNav: ac range: 376.200012 m, nav range: 120.603806 m, bearing: 73.461218 deg, approach rate: 0.582366 m/s, LOS rate: -0.252728 deg/s, cmd heading: 208.238903 deg, new cmd heading: 207.967056 deg. 2jq-HeadingCmd: 3.629710 target range: 376.200012 and range: 376.20 m. j+Mh@jjjihhhh{Bfffrf bf `n?ɛ1{B h 隵>I =ɚiI6=I)iR9D Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988565~w,.A2 Z@Y2i@2}D 92"=y2H@>J?`۬޿ ^???J?ɨ2 Z@2;2Cy>||B>FIIFIFv35٢N< RZ=9RQ;Q R>TT VG٣TyV V> ^Nusing accuracyPremultiplier from configXb49Z{ }?b4YZ# iZzBdf&f?ZCZB.;Z.;Z4h j"AjEZj FNOT Ignoring new targets: 376.20 m.Bj sJj s ProNav: ac range: 376.200012 m, nav range: 120.786873 m, bearing: 73.380928 deg, approach rate: 0.485353 m/s, LOS rate: -0.212543 deg/s, cmd heading: 207.967062 deg, new cmd heading: 207.726560 deg. 2jHeadingCmd: 3.625512 target range: 376.200012 and range: 376.20 m. jeh@jjjihhhhfffrfbf`@ =$?I9ɛM4{BM7? I]>Ia m,ɚiiIt6=IP*iDmWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243992HI IIIG}BI&I.I6I<:IZFpBw,k3A6}Z@Y6h@696A=y6H`,U?@Լ@E޿ ɾ??`^?`?ɨ6}Z@6h;6 Cyf|Bf\IeMb@Mb@Mb@aaa a)aYe#~j?Q?{Gz?ye%?eu G٣@Gy؇ > Nusing accuracyPremultiplier from config49|?4Y{' izB%?:(?#Cf;;4 3"AZjFNOT Ignoring new targets: 376.20 m.BjrJjr  ProNav: ac range: 376.200012 m, nav range: 120.989914 m, bearing: 73.288514 deg, approach rate: 0.466919 m/s, LOS rate: -0.212162 deg/s, cmd heading: 207.726557 deg, new cmd heading: 207.449781 deg. 2jHeadingCmd: 3.620682 target range: 376.200012 and range: 376.20 m. j@g@jjjih!h!h!h%{Bf)f)f)rf)bf5 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492530ɛ 7{B Կa  &>Ii mɚqiqIuo6=I}uf*i} Ee Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744545+w,MMA2(#Z@Y2Ah@2r92׬=y2HB?HݿF"@?@m?@ɑ??ɨ2(#Z@2:;2 Cy^|BbeIIzIz-5٢d= eR=9mŊ;Q m>iq uG٣qy}c }> Nusing accuracyPremultiplier from config49|?4Y* izBx(?DCe:* ; 4 !AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 376.20 m.BjqsJjqs ProNav: ac range: 376.200012 m, nav range: 121.175865 m, bearing: 73.203334 deg, approach rate: 0.465333 m/s, LOS rate: -0.212833 deg/s, cmd heading: 207.449784 deg, new cmd heading: 207.194636 deg. 2jHeadingCmd: 3.616229 target range: 376.200012 and range: 376.20 m. jJpg@jjjihhhhfffrfbf ?@ɛ=:{BEv6 AE@>IA EɚAiIIM}16=IUj*iUtYEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997310 $?IYw,9gAvnY@Yv(g@vlc9v=yvH Z^? ݿR8@?Y˝?`*?`?ɨvnY@vQ;v CWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:21:21:28.4750 -TRx dataTimestamp_ set to:1736371289.6498585checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251213y5|B=~III)5٢= <=9t;Q >H1I1 I5II5z}BI1&I1.I16I5<:I5zF)) 5G٣1yeNW e> uNusing accuracyPremultiplier from configiu49ml|?}4Ym. imzBy}(}?mkCmu:m:m4B P!AEZjFNOT Ignoring new targets: 376.20 m.BjE.nJjE.nU ProNav: ac range: 376.200012 m, nav range: 121.392616 m, bearing: 73.103307 deg, approach rate: 0.452038 m/s, LOS rate: -0.208234 deg/s, cmd heading: 207.194635 deg, new cmd heading: 206.895094 deg. 2jUUHeadingCmd: 3.611001 target range: 376.200012 and range: 376.20 m. j]g@jYjyjyiyhhhhfffrfbf( @ɛ>{BL?  d>I  4ɚ i I 5=I=+i=½E/`w,lAy |B IzKu"OKu9KqKuKupYL/}kbZN@=9," B   RK}?JK}?Mb@Mb@Mb@ )YZd;?{Gzt{Gz?y?ף C@)@I@y@IoI"5٢ < I=9Q > G٣@Gy > Nusing accuracyPremultiplier from config%49d|?%4Y_1 izB%?%:-*-?C;"\;A45B 55!A5EZjY]FNOT Ignoring new targets: 376.20 m.BjewJjewu ProNav: ac range: 376.200012 m, nav range: 121.550148 m, bearing: 73.026292 deg, approach rate: 0.443901 m/s, LOS rate: -0.216737 deg/s, cmd heading: 206.895091 deg, new cmd heading: 206.664345 deg. 2ju}HeadingCmd: 3.606973 target range: 376.200012 and range: 376.20 m. j}f@jyjyjyihhh h {BfffrfIbfU@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755190ɛB{B h>I ɚiI5=I G+i C*F  BDAT read: Tx time:21:21:29.5712  $Ping request sent. ۙ ۙ E :publishing transmit ping time E Fpublishing direction and range infoؙ 9؝ sT`Rx̔?C?yؙ ؙ ؙ ؙ ٙ )ٙ Iٙ iٙ GI BY O} >%w,^A١١١١ ڡ)ڡIڡiڡڡڡۥ;EQ?/xWݿ4N?)ۡIۡiۡۡۡۡrg8Y@Yr!Wg@rSټ9rTH=yrHy`-?ؑ&ݿU ?`)???ɨrg8Y@r;r C 5$?I5Rgy|BII}I(5٢5\= =B=9=);Q =>AA EG٣AyMO M> UNusing accuracyPremultiplier from configQ]49U֦|?]4YUm4 iUzBY]c+e?UCU;U;U#4  AEkl|?kM k kޙA:kYCBkCZkV?"sC3Jr[9@ٰI!w@sT`Rx̔?C?Jk(+@Rk>*`27I@ZlA@,i*پw@yk'??HJ+?z7O?"k B*kOBkZÍ?kR> 2kTCkZÍ?k! kTCkBkW? addTargetRange:: Added new target pos. range: 374.700012 m, deltaT: 4.036249 s, deltaX: -1.500000 m, approachRate: -0.371632 m/s, rangeRepo size: 4  Added new target pos. range: 374.700012 m, bearing: 33.953218 deg, lat: 36.904817 deg, lon: -122.113819 deg, deltaT: 4.036249 s, deltaX: -1.500000 m, approachRate: -0.371632 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 374.70 m.BjJj ProNav: ac range: 374.700012 m, nav range: 104.882347 m, bearing: 60.286358 deg, approach rate: 0.000000 m/s, LOS rate: -0.216737 deg/s, cmd heading: 206.664340 deg, new cmd heading: 206.374712 deg. 2jYeHeadingCmd: 3.601918 target range: 374.700012 and range: 374.70 m. jeԅf@jajajaiahahihihifqffrf@3kw@bf?ɛF{BP >I tɚiIb5=I+i`F*w,zA:Y@Y:-g@:Dм9:=y:H`F`?xݿ@D^ ׷?`q?|s?`?ɨ:Y@:y;8yn}BnImMb@Mb@Mb@iii iuWill construct direction to contact in vehicle frame from tetrahedron phase data.)iYmV-?)\(~jtx?ym?mGam;i i)m@Im3@iym=@IfI5٢= A=9)0;Q > G٣yKĻ > Nusing accuracyPremultiplier from config49s|?4Y6 izB?:0?ʾC ;U;*4) -W A1Zjy}FNOT Ignoring new targets: 374.70 m.Bj{Jj{ ProNav: ac range: 374.700012 m, nav range: 105.086441 m, bearing: 60.197949 deg, approach rate: 0.507722 m/s, LOS rate: -0.219506 deg/s, cmd heading: 206.374712 deg, new cmd heading: 206.110003 deg. 2jHeadingCmd: 3.597298 target range: 374.700012 and range: 374.70 m. j":f@jjjihhhh&|Bfffrfbfg? -$?I1ɛeJ{Bmӂ im >Ii m2ɚiiiIu5=Iu+i}`FzK !OK h9K K K  BKrA:K- Will construct direction to contact in vehicle frame from tetrahedron phase data.(w,^A>_X@Y>f@>.ؼ9>֮=y>H@`Q?m;@ܿ@4v??@ҵ? S?ɨ>_X@>͈;> Cyf.}BfIInnIn."5٢vA= vo=9z+?Q ~?  G٣@Gy-x -? MNusing accuracyPremultiplier from configA]49E|?e4YE9 iEzBae 1m?ECE;;E3{;E14uB uAuEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 374.70 m.Bj sJj s ProNav: ac range: 374.700012 m, nav range: 105.254333 m, bearing: 60.124775 deg, approach rate: 0.488321 m/s, LOS rate: -0.212488 deg/s, cmd heading: 206.110001 deg, new cmd heading: 205.890832 deg. 2jHeadingCmd: 3.593473 target range: 374.700012 and range: 374.70 m. jve@jjjihhhhfffrfbf?ɛM{B@p :  >I  ɚ i I 64=I?$,i*GԹw,C;AjHR<bHR<rWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.253908HIC I'II}BI& =&I.I6I<:Iy 4}BIMb@Mb@Mb@ )Y$C?Dl~jthy?OD A @)@I@yG@I EI 5٢%0< %!=9%Q ->)) -G٣)y5 5> =Nusing accuracyPremultiplier from config949=i|?4Y=; i=zB?:2?= C=o<=n<=94 AEZj%FNOT Ignoring new targets: 374.70 m.Bj%jJj-j5 ProNav: ac range: 374.700012 m, nav range: 105.487061 m, bearing: 60.018949 deg, approach rate: 0.452569 m/s, LOS rate: -0.205339 deg/s, cmd heading: 205.890834 deg, new cmd heading: 205.574061 deg. 2j= EHeadingCmd: 3.587944 target range: 374.700012 and range: 374.70 m. jEe@jAjAjAiIhIhIhIhU*|BfQfQfQrfQbf}@?ɛR{Bhӻ >I 8ɚiIz4=I ~,i SG<) e@)*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505170  $?I J J J 0J J ;J |:J ـ3J J cg<J dg<J ;J ;Gi GI BQ O} >ZQw,A @6{W@Y64 f@6396O=y6H?˔`~ۿ@X?@v?@(?.?ɨ6{W@62;4yVP}BVII^I^|+5٢j3= ju=9jI9 EtɚAiAIEQ14=IM,iM Hu Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009416 I =pw,2AJ J"@A:W@Y:e@:9:=y:H!?@)˖ۿ-ང?P?Ƌ?@M?ɨ:W@:;: CyFB}BFIININ05٢VM VN=9Z{;Q Z>XX ^G٣^@Gyb㣻 b> fNusing accuracyPremultiplier from configdj49fhF|?j4Yf? ifzBhjs3n?fECf:fe:fF4p rArEZj  FNOT Ignoring new targets: 374.70 m.BjuJju= ProNav: ac range: 374.700012 m, nav range: 105.823486 m, bearing: 59.862900 deg, approach rate: 0.462871 m/s, LOS rate: -0.214293 deg/s, cmd heading: 205.360415 deg, new cmd heading: 205.106676 deg. 2j=MHeadingCmd: 3.579787 target range: 374.700012 and range: 374.70 m. jM:e@jIjIjIiIhQhQhQhQfffrfbf@&@ɛZ{B   >I  M ɚiI3=Iz-i:^HU *Gu vA Y vAy %B"w, 9A6W@Y6Խe@6Ԧ96L=y6H``3?Z<ۿ?@ڔ??@F?ɨ6W@6ň;6CyBU}BBI=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.512477MMb@Mb@Mb@III I)IYMS?B`"۹I +yM?MνM94I M@)M@IM@IyM@IeIe"25٢u2= u>=9}'Z;Q }>y G٣yG̻ > Nusing accuracyPremultiplier from config49(1|?4YA izB?:6?gC;W;N4 DAZjFNOT Ignoring new targets: 374.70 m.BjほJjほ ProNav: ac range: 374.700012 m, nav range: 106.014145 m, bearing: 59.765082 deg, approach rate: 0.443470 m/s, LOS rate: -0.227115 deg/s, cmd heading: 205.106674 deg, new cmd heading: 204.813750 deg. 2jHeadingCmd: 3.574674 target range: 374.700012 and range: 374.70 m. jwd@jjjihhhh"|Bf f f rf bf  n@ }$?Iyɛ5_{B=ٖ 9=>I9 Ey& ɚAiAIE3=Iu?X-iuSHE >JMJMJM1JIJM;JM :JM3JIJMd<JMd<JMS;JMT;*F!2F):F)BF)JF)zKum$JKu9KqKuKuC%mBK:KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764240Gm E<Gy Gy GA BI Om >w,2RAFW@YFee@F19FV*=yFH&C?癿ۿ D?ԅ? ??ɨFW@F;F CybP}BfIInIn*5٢v:6 vS=9z\;Q z>xx ~G٣|y~ >  Nusing accuracyPremultiplier from config 49 |?4Y bC i zB6? C ; B; T4%B -TA-EEB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 374.70 m.BjJj ProNav: ac range: 374.700012 m, nav range: 106.186424 m, bearing: 59.676969 deg, approach rate: 0.445119 m/s, LOS rate: -0.227289 deg/s, cmd heading: 204.813754 deg, new cmd heading: 204.549846 deg. 2jHeadingCmd: 3.570068 target range: 374.700012 and range: 374.70 m. j|d@jjjihhhhfff!rf!bf% ޯ@ɛmd{Bm;: qu&>I  ɚiIe3=I-iFIZH RH H I  I FII ~BI % =&I .I 6I u<:I #F Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:21:32.4740  TRx dataTimestamp_ set to:1736371293.691454% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272205^w,ZlA>W@Y>Ie@>^9>=y>H`D?Ś ۿ@C?i?(??ɨ>W@>r?;)) -G٣5@Gy5 5> ]Nusing accuracyPremultiplier from configYe49]|?m4Y]F i]zBm "?u:u4u?]C]:;]9;]]4 AEZjFNOT Ignoring new targets: 374.70 m.Bj{Jj{  ProNav: ac range: 374.700012 m, nav range: 106.427673 m, bearing: 59.561610 deg, approach rate: 0.461439 m/s, LOS rate: -0.220148 deg/s, cmd heading: 204.549850 deg, new cmd heading: 204.204561 deg. 2j}HeadingCmd: 3.564042 target range: 374.700012 and range: 374.70 m. j}Cd@jyjyjyiyhhhhC|Bfffrfbf} @ɛ}k{BL: 隅$>I ɚiI+3=Iq.iJSw,‰AzKNK+9KKKA- RK2?JK2>UWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:21:32.4740 LVL= 21232, 31841, 23170, 32755, AGC= 68, IDX= 429, 0.06, 1.727,-0.041, 0.004, 0.601, PHS= 1.215,-0.595,-0.600, RAW= 89.9, -0.2, CAL= 97.5, -4.7, ROT= 52.5, 4.7 Ygot valid direction response: 21:21:32.4740 LVL= 21232, 31841, 23170, 32755, AGC= 68, IDX= 429, 0.06, 1.727,-0.041, 0.004, 0.601, PHS= 1.215,-0.595,-0.600, RAW= 89.9, -0.2, CAL= 97.5, -4.7, ROT= 52.5, 4.7 PDAT read: Bearing 52.5, 4.7 (Local) ~Local bearing/azimuth received: Bearing 52.5, 4.7 (Local) DAT read: Range 10 to 50 : 373.8 m (Round-trip 498.5 ms) speed -0.1 m/s ,DAT read: user:1694> BDAT read: Tx time:21:21:33.5713 $Ping request sent.=9;Q > G٣y > Nusing accuracyPremultiplier from config49"{?4Y=H izB5?ҿCe::Ue4 gAEkUI?kU kQ kUHA:kUCBkUCZkU>"UoZ$>_D@e%%w@UWC?@?JkU @RkU*U1+z_A@`) (@9?w@UI ɚiI2=I.].iJ< w,AFdUW@YFte@FA[9F>=yFH m?ࣜ=wۿX]߸?5?ވ??ɨFdUW@F;FCyrA}BvII=|I=b(5٢MTǼ M]=9u:Q u>qq }G٣yy} }> Nusing accuracyPremultiplier from config49_{?4Y"J izB5?C;;k4 AZjy}FNOT Ignoring new targets: 373.80 m.BjJj ProNav: ac range: 373.799988 m, nav range: 83.478333 m, bearing: 49.331948 deg, approach rate: 0.564403 m/s, LOS rate: -0.236942 deg/s, cmd heading: 203.901241 deg, new cmd heading: 203.649995 deg. 2j"HeadingCmd: 3.554363 target range: 373.799988 and range: 373.80 m. jzc@jjjihhhhfffrfbf'?HI III& =&I.I6IW<:I FMWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ}u{B0; 隭>I WɚiI!2=I.i-K $?I 1w,wA25W@Y2DTe@2ֱ922=y2H`U? LZۿܷ?U?I NnManaging dock network, ignoring radio surface power offUMb@Mb@Mb@QQQ Q)QYU}?5^I?EԸyUM"?UƽU̼UA Q)U@IU@QyUG@ImyIm'5٢}3 }H=9}`Q > G٣@Gy > Nusing accuracyPremultiplier from config49c{?4YL izBQ$?::6?Ca;{;r4 AEZjFNOT Ignoring new targets: 373.80 m.BjJj ProNav: ac range: 373.799988 m, nav range: 83.697968 m, bearing: 49.236322 deg, approach rate: 0.573912 m/s, LOS rate: -0.249218 deg/s, cmd heading: 203.649999 deg, new cmd heading: 203.363876 deg. 2j +HeadingCmd: 3.549369 target range: 373.799988 and range: 373.80 m. j(c@jjjih h h h%|Bfffrfbf@:?ɛEz{BE#F IM+>II M ]ɚIiIIM2=IU.i]!gL]Will construct direction to contact in vehicle frame from tetrahedron phase data.w,}A2V@Y2 e@2i=92f=y2H@6 ??ۿC?@vg??i?ɨ2V@2^t;2 CyB}BBIDFAIJ\IJ45٢f fV=9fq;Q f>hh jG٣hyn> n> vNusing accuracyPremultiplier from configtz49v{?z4YvM ivzBxz6~?v0Cv"IA MɚIiIIM`2=IUC/iUANMm Will construct direction to contact in vehicle frame from tetrahedron phase data.m T****** received valid address query ******m R****** received valid ping request ******u Querying Benthos address 50 with one ping in standard two-way mode.EGw,ANĮV@YN}d@N89Nҭ=yNHY @? Xڿ?f?_*?@"?ɨNĮV@N싉;N CyZ}BZIMMb@Mb@Mb@III I)IYMMbX?L7A`尿/$yM*?M+MM A M@)IIIIyMQ@IeiIe5٢uhټ u?=9u}6Q }>yy }G٣yy > Nusing accuracyPremultiplier from config49{?4YuP izB+?:g3?UCt;;4B c AEZjFNOT Ignoring new targets: 373.80 m.BjeJjem ProNav: ac range: 373.799988 m, nav range: 84.151871 m, bearing: 49.049876 deg, approach rate: 0.610285 m/s, LOS rate: -0.236742 deg/s, cmd heading: 203.094473 deg, new cmd heading: 202.806057 deg. 2jmy"uHeadingCmd: 3.539634 target range: 373.799988 and range: 373.80 m. ju[b@jqjqjyiyhyhyhh{Bfffrfbf.!?ɛ{B8jƻ >I ɚiI82=IMZ/iM RNzK {]LK 9K K K W*w,F AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0037746}V@Y6d@6-u96Li=y6H`ک?6Aڿ@`n?Z?"??ɨ6}V@6.";6 CyB}BBIIJIJ:5٢R< VY=9V;Q V>XX ZG٣Z@GyZ ^> bNusing accuracyPremultiplier from config`f49bه{?f4YbR ibzBdf3f?buCb:bq:b4l n4 AnEZjFNOT Ignoring new targets: 373.80 m.Bj Jj  ProNav: ac range: 373.799988 m, nav range: 84.371231 m, bearing: 48.964490 deg, approach rate: 0.583852 m/s, LOS rate: -0.226673 deg/s, cmd heading: 202.806061 deg, new cmd heading: 202.550572 deg. 2j%HeadingCmd: 3.535174 target range: 373.799988 and range: 373.80 m. j%L@b@j!j!j)i)h1h1hAhAfIfQfQrfYbf]q@ɛ5{B5\l 15>I9 = ɚ9i9I=2=IEi/iEU6OEq*F ?2F :F BF >1JF "G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256170 I!G=k%=G B O5 >J J J 1J J ;J |:J 3J rV w,A*'A67V@Y6Ud@6Z96.=y6H`"g?Vsڿ ?#\?;۸? ?ɨ67V@6x;6Cyb}BbI f=f=IjIj65٢rG rF=9v}~;Q v>tt zG٣xyz , > Nusing accuracyPremultiplier from config %49 q{?%4Y U i zB!-3-? C _m; m; ώ49 =t AAZjFNOT Ignoring new targets: 373.80 m.BjJj ProNav: ac range: 373.799988 m, nav range: 84.612000 m, bearing: 48.870414 deg, approach rate: 0.572466 m/s, LOS rate: -0.223044 deg/s, cmd heading: 202.550571 deg, new cmd heading: 202.269150 deg. 2jHeadingCmd: 3.530263 target range: 373.799988 and range: 373.80 m. ja@jjjihhhhfffrfbf@ɛ%{B%h !%>I) -eɚ)i)I-1=H]@>IY I] II]}BIY&IY.IY6I]6<:I] FI/0i @P Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759721  $?I Sg<w,@Ay|BIMb@Mb@Mb@ )YJ +? rh{Gzy(?C# )@I@y@II65٢, <=9Q > G٣y > Nusing accuracyPremultiplier from config49[{?4YW izB(?:V/ ?C;f;b4B  AEZj9=FNOT Ignoring new targets: 373.80 m.BjEA`JjEA`U ProNav: ac range: 373.799988 m, nav range: 84.869316 m, bearing: 48.786315 deg, approach rate: 0.601696 m/s, LOS rate: -0.196059 deg/s, cmd heading: 202.269154 deg, new cmd heading: 202.017621 deg. 2jU]HeadingCmd: 3.525873 target range: 373.799988 and range: 373.80 m. j]a@jYjYjaiahahahihm{Bfifqfrfbf T@ɛE{BE AEѬ>IA M1OɚIiIIM1=Iw0ilQew,ZAv^U@Yvc@v69v0=yvHB? ٿ j@3?ۆ?`?@?ɨv^U@vS;vCy|BIII45٢%< %W=9%h;Q ->)) -G٣-@Gy5̼ 5> =Nusing accuracyPremultiplier from config9E49=H{?E4Y=Z i=zBIM/M?=C=4;=55;=4Y ] AeE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 373.80 m.Bj_Jj_ $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265466 ProNav: ac range: 373.799988 m, nav range: 85.093712 m, bearing: 48.711652 deg, approach rate: 0.589406 m/s, LOS rate: -0.195595 deg/s, cmd heading: 202.017625 deg, new cmd heading: 201.794228 deg. 2j<HeadingCmd: 3.521974 target range: 373.799988 and range: 373.80 m. jha@jjjihhhhfffrfbf.G @ɛ {B  g>I CɚiI1=I0iRRIa IeIIe}BIa&Ia.Ia6IeA<:Ie FBIJIRIZIbIjIȢ14G>=GGU Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:21:21:36.4871 ] TRx dataTimestamp_ set to:1736371297.725012] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517183Ga Bq O >)9 A w,tAZ-Gdp  Y y B}-EU@Y}cc@}s&9}s=y}H`'T@?~T3ٿ ]1Ե?[΄?}??ɨ}-EU@};yyލ|BޕI-5only read 0 of 1 data item for altitude. Device response is::BD, +0.44,35 -0.05, 7.69, 0.00  5@5 5@5 5@5  5@5 I=I=:5٢Mf M7=9U6;Q U>QY ]G٣Yy]MA ]> mbBottom track data is 0.4 s old, using for 20.0 s. mNusing accuracyPremultiplier from configau49e 1{?u4Yek] iezB}+:y}:}I0}?eCeK;e>eS4  AZjFNOT Ignoring new targets: 373.80 m.Bj`Jj`u ProNav: ac range: 373.799988 m, nav range: 85.356728 m, bearing: 48.623536 deg, approach rate: 0.588177 m/s, LOS rate: -0.196443 deg/s, cmd heading: 201.794223 deg, new cmd heading: 201.530694 deg. 2ju}HeadingCmd: 3.517374 target range: 373.799988 and range: 373.80 m. j}a@jyjyjyiyhhhhfffrfbf @ɛ{BL ߫>I ɚiI1=I  1i ^SzK BIK h9K K K  " PDm &x#w,*A>Will construct direction to contact in vehicle frame from tetrahedron phase data.ZDAT read: 21:21:36.4871 LVL= 11888, 22801, 17842, 24915, AGC= 68, IDX= 51,-0.14,-0.184,-1.841,-1.875,-1.214, PHS= 1.118,-0.580,-0.664, RAW= 87.6, 1.5, CAL= 94.4, -1.9, ROT= 55.6, 1.9 ^Ygot valid direction response: 21:21:36.4871 LVL= 11888, 22801, 17842, 24915, AGC= 68, IDX= 51,-0.14,-0.184,-1.841,-1.875,-1.214, PHS= 1.118,-0.580,-0.664, RAW= 87.6, 1.5, CAL= 94.4, -1.9, ROT= 55.6, 1.9 bPDAT read: Bearing 55.6, 1.9 (Local) b~Local bearing/azimuth received: Bearing 55.6, 1.9 (Local) jDAT read: Range 10 to 50 : 383.7 m (Round-trip 511.6 ms) speed 0.4 m/s j,DAT read: user:1695> nWT@Ynb@nl9nø=ynHis&?hPW3ٿH v*?Y??N?ɨnWT@n;n C~BDAT read: Tx time:21:21:37.5713 $Ping request sent.O\\廿Y6?wq?y>ٿC<>p.>Y >E)>SaI?>z>)>E?y|BII-I-35>Pw< >B?)>I>Ulx?i>=<<>[?s{V#&be/?)>I>Ѽi> @>/.<<E:publishing transmit ping timeMFpublishing direction and range info<9>O\\廿Y6?wq?y<<<< <)ii mG٣iym u>>[?s{V#&be/?)ʋ?k>IU k< k>搏A:k>ٿCBk>CZk>@">ƈD pL@+}G1w@>O\\廿Y6?wq?Jk> @Rk>/.*>)F;I@ףc vd9?~ 4\L?"k>Kf*k> LBk>o苜?k>S! 2k>Ck>o苜?k>R> k>Ck>>{Bk>l~?] addTargetRange:: Added new target pos. range: 383.700012 m, deltaT: 4.047218 s, deltaX: 9.900024 m, approachRate: 2.446131 m/s, rangeRepo size: 4  Added new target pos. range: 383.700012 m, bearing: 355.964909 deg, lat: 36.904766 deg, lon: -122.114450 deg, deltaT: 4.047218 s, deltaX: 9.900024 m, approachRate: 2.446131 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 383.70 m.BjJj ProNav: ac range: 383.700012 m, nav range: 62.810669 m, bearing: 35.696578 deg, approach rate: 0.000000 m/s, LOS rate: -0.196443 deg/s, cmd heading: 201.530687 deg, new cmd heading: 201.283315 deg. 2jMHeadingCmd: 3.513057 target range: 383.700012 and range: 383.70 m. jM`@jQjQjQiQhQhQhYhYfYfYfarfe@3w@bfeN?ɛ{B 隝>I .ɚiI1=II1i`TG B O >)w,`˩A-llT@Y-%b@- 9-޵=y-H~ ?^>@ؿ_ĵ?Z??@m?ɨ-llT@-;-CyE|BAHYIY I]II]}BI]% =&IY.IY6I]R<:I] FquBAI}I}y/5٢Rj: >=9-;Q > G٣@Gy bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49{?4Yb izB9+:#1?GC6;?4  AEZjFNOT Ignoring new targets: 383.70 m.Bj>Jj> ProNav: ac range: 383.700012 m, nav range: 63.086231 m, bearing: 35.632892 deg, approach rate: 0.724866 m/s, LOS rate: -0.166795 deg/s, cmd heading: 201.283312 deg, new cmd heading: 201.093088 deg. 2j 仝 HeadingCmd: 3.509737 target range: 383.700012 and range: 383.70 m. j`@jjjihhhhfff!rf!bf%?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ{B4 w>I IXɚiI71=I/1iUJ J J 0J J ;J :J ـ3J J ` G٣y > Nusing accuracyPremultiplier from config49z?4Ye izBT:4?:,?kC ;;4 d AZjAMFNOT Ignoring new targets: 383.70 m.BjMJjM ProNav: ac range: 383.700012 m, nav range: 63.368256 m, bearing: 35.586109 deg, approach rate: 0.682093 m/s, LOS rate: -0.112645 deg/s, cmd heading: 201.093091 deg, new cmd heading: 200.953366 deg. 2jHeadingCmd: 3.507298 target range: 383.700012 and range: 383.70 m. jw`@jjjihhhh{Bfffrfbf7?ɛ {B(:û >I jɚiI1=I5$1i5}U7w,fA  0I4:S@Y:ca@:k/9:T=y:Hj?|)`'ؿ@U@޴???r?ɨ:S@:;8yF}BFIIRgIR5٢ZsI= Z[=9Zl:Q Z>\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj49fz?j4Yfh ifzBhn-n?fC=Will construct direction to contact in vehicle frame from tetrahedron phase data.f:fʕI )ɚiI1=*JC="J4=IE1iqV1=w,6XAJ S@YJ+a@JBT9J˭=yJH`YK?I׿`?yʁ? ?`6?ɨJ S@J;HyZ.}BZIEMb@Mb@Mb@AAA A)AYEM? rh?y&1|?yEn2?EC=9k8Q > G٣@Gy > Nusing accuracyPremultiplier from config49z?4Yk izB~2?:s/?C;v;4 AEZj9=FNOT Ignoring new targets: 383.70 m.BjE%JjE%U ProNav: ac range: 383.700012 m, nav range: 63.928162 m, bearing: 35.479880 deg, approach rate: 0.722812 m/s, LOS rate: -0.144274 deg/s, cmd heading: 200.816509 deg, new cmd heading: 200.636084 deg. 2jUƻ]HeadingCmd: 3.501760 target range: 383.700012 and range: 383.70 m. j]`@jYjYjYiYhahahahe{Bfififirfqbfu9?ɛ{B@< 隭>I jɚiI$1=I2ihVzK RIK K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996581Dw,A2R@Y2`@2&޻92=y2H4?b׿O ?{?kܵ??ɨ2R@2};2CyBB}BBIIJIJB-5٢fU= fV=9f;Q f>hh jG٣hyn ]> Nusing accuracyPremultiplier from configq49uz?4Yun iuzB/?uCuDZI  ɚiI|1=I%02iEBJw,+A>4R@Y>jS`@>˜9>~=y>H@)?; 4ֿ K?@s?@t??ɨ>4R@>U;>CyFV}BFIIRIR05٢VfC= ZL=9^V;Q ^>`` bG٣`ybv f> jNusing accuracyPremultiplier from configdn49f֛z?n4Yf/q ifzBprL0r?fCf2;f2;fb·4vB v AzEH~@>I| I~'II~}BI|&I|.I|6I~<:I~CFZj9=FNOT Ignoring new targets: 383.70 m.BjE)JjE)U ProNav: ac range: 383.700012 m, nav range: 64.451462 m, bearing: 35.371340 deg, approach rate: 0.708567 m/s, LOS rate: -0.147777 deg/s, cmd heading: 200.474972 deg, new cmd heading: 200.311791 deg. 2jUʻ]HeadingCmd: 3.496100 target range: 383.700012 and range: 383.70 m. j]_@jYjYjYiYhahahahafififirfibfm@@ɛ{B; 隕>I TɚiIk1=I_2irW - $?I) e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753307J J %J J J m;J :J J J a<J a<J ~;J ~;'Qw,DA6Q@Y6_@66\u96z=y6H`Q?$kbֿ?n? 9(?`3?ɨ6Q@6%;6CyZt}BZIUMb@Mb@Mb@QQQ Q)QYUm?MbP?=9';Q > G٣@GyYm > Nusing accuracyPremultiplier from config49z?4Ys izB.?:,2?C:;8;Շ4 A³EZjFNOT Ignoring new targets: 383.70 m.BjC2JjC2  ProNav: ac range: 383.700012 m, nav range: 64.734222 m, bearing: 35.304843 deg, approach rate: 0.665618 m/s, LOS rate: -0.155850 deg/s, cmd heading: 200.311785 deg, new cmd heading: 200.113167 deg. 2jջ-HeadingCmd: 3.492634 target range: 383.700012 and range: 383.70 m. j-O_@j)j)j)i1h1h1h9h=|Bf9f9fArfAbfEU?@ɛm{Bm: im>Iq uxɚqiyI} X1=I}g2iW  I! QWw,>^A::Q@Y:_@:xu*9: =y:H@s ?XX ^G٣\y^bC ^> fNusing accuracyPremultiplier from config`f49bipz?j4Yb9v ibzBhjv2j?b@Cb":b:bx܇4l rApZj  FNOT Ignoring new targets: 383.70 m.Bj2Jj2%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2567075 ProNav: ac range: 383.700012 m, nav range: 64.982574 m, bearing: 35.245874 deg, approach rate: 0.660023 m/s, LOS rate: -0.156118 deg/s, cmd heading: 200.113164 deg, new cmd heading: 199.936933 deg. 2j5Hֻ5HeadingCmd: 3.489558 target range: 383.700012 and range: 383.70 m. j=T_@j9j9j9i9h9hAhAhAfAfIfIrfIbfMi: @ɛu{B}l; y}S>I ߼ɚiID1=I2iWHA>I IFII~BI&I.I6I<:I;FWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:21:40.4704 TRx dataTimestamp_ set to:1736371301.768670checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509657]w,xAnOQ@YnJn_@n,9n=ynH ? Cտx?^?ѭ??ɨnOQ@n+;nCyv}BvIMb@Mb@Mb@ )YZd;O?Q~jtx?y~*?;A @)I@y@IpI#5٢m= 9=9k:Q > G٣y > Nusing accuracyPremultiplier from config49Xz?4Yx izB*?:5?eC;;34 AųEB*** querying acoustic contact *** $?ITgjjZjFNOT Ignoring new targets: 383.70 m.BjBJjB ProNav: ac range: 383.700012 m, nav range: 65.263443 m, bearing: 35.166557 deg, approach rate: 0.605883 m/s, LOS rate: -0.170364 deg/s, cmd heading: 199.936931 deg, new cmd heading: 199.700006 deg. 2j黝HeadingCmd: 3.485423 target range: 383.700012 and range: 383.70 m. j*_@jjjihh!hAhEh|BfIfIfIrfIbfU @ɛ{B; 隥>I xOܼɚiI31=I3iW Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: 21:21:40.4705 LVL= 13648, 24561, 21490, 24435, AGC= 67, IDX= 264,-0.03, 2.480, 0.982, 0.761, 1.622, PHS= 0.947,-0.593,-0.863, RAW= 82.0, 6.1, CAL= 87.3, 6.2, ROT= 62.7, -6.2 = Ygot valid direction response: 21:21:40.4705 LVL= 13648, 24561, 21490, 24435, AGC= 67, IDX= 264,-0.03, 2.480, 0.982, 0.761, 1.622, PHS= 0.947,-0.593,-0.863, RAW= 82.0, 6.1, CAL= 87.3, 6.2, ROT= 62.7, -6.2 E PDAT read: Bearing 62.7, -6.2 (Local) E ~Local bearing/azimuth received: Bearing 62.7, -6.2 (Local) bdw,eAzKN KKKKK&DAT read: Range 10 to 50 : 371.1 m (Round-trip 494.9 ms) speed 0.4 m/s *,DAT read: user:1696> .BDAT read: Tx time:21:21:41.5714 .$Ping request sent.. G٣@Gy > Nusing accuracyPremultiplier from config498Az?4Yz izB5?C:.:45B 5A5ȳEk5Ym?k53p k1 k5.A:k5CBk5FCZk5"@"5/u53Q:4YV@Y$yXv@5(ǿ֥L?ȷp?Jk5 @Rk5*5UU>U@p'd ?Rg}v@5!&IoO?';q?"k5*k5Bk5D- :?k5S 2k5Ck5ZÍ?k5d k5TCk5sBk5Xl> addTargetRange:: Added new target pos. range: 371.100006 m, deltaT: 4.033037 s, deltaX: -12.600006 m, approachRate: -3.124198 m/s, rangeRepo size: 4  Added new target pos. range: 371.100006 m, bearing: 339.369317 deg, lat: 36.904817 deg, lon: -122.114717 deg, deltaT: 4.033037 s, deltaX: -12.600006 m, approachRate: -3.124198 m/s, posRepo size: 4 Zj FNOT Ignoring new targets: 371.10 m.Bj Jj E ProNav: ac range: 371.100006 m, nav range: 60.886581 m, bearing: 13.241462 deg, approach rate: 0.000000 m/s, LOS rate: -0.170364 deg/s, cmd heading: 199.700005 deg, new cmd heading: 199.461302 deg. 2jAUHeadingCmd: 3.481256 target range: 371.100006 and range: 371.10 m. jU^@jYjYjYiahihihyhy Ifffrf1w@bf-?ɛU{BUq; Y隍>I yؼɚiI 1=IR3iXkw,uwA:P@Y:h^@:;jh9:ٿ=y:H5+;@?`Vտ `? G M?6?@?ɨ:P@:;:CyB}BF INANAIR=IRw 5٢%%< %T=9-&Q ->)) -G٣1y5t 5> =Nusing accuracyPremultiplier from config9E49=,z?M4Y=| i=zBIM:6M?=C=;=;=4Q UuA]˳EZjyFNOT Ignoring new targets: 371.10 m.BjqO:JjqO: ProNav: ac range: 371.100006 m, nav range: 61.140530 m, bearing: 13.256516 deg, approach rate: 0.768083 m/s, LOS rate: 0.045340 deg/s, cmd heading: 199.461304 deg, new cmd heading: 199.506276 deg. 2j:Will construct direction to contact in vehicle frame from tetrahedron phase data.HeadingCmd: 3.482041 target range: 371.100006 and range: 371.10 m. j^@jjjihhhhfffrfbf C?ɛ{BP< |>I  )ּɚiI"0=IE3i 7Xqw,'A6цP@Y6^@6,ֹ96=y6H2 ?`/8-տ q?e:?͸?`t?ɨ6цP@6{C;6CyV}BZI-eonly read 0 of 1 data item for BIT error. Device response is::TS,250108132248 +10.9, 0.0,1493.3, 0  m@m m@m m@m  u@u IuIu%.5٢H= E=9`:Q > G٣yvӻ > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49_z?4Y~ izB+::f6?CBM; >b4 !AZjFNOT Ignoring new targets: 371.10 m.Bj(*:Jj(*: ProNav: ac range: 371.100006 m, nav range: 61.416656 m, bearing: 13.272045 deg, approach rate: 0.664254 m/s, LOS rate: 0.037191 deg/s, cmd heading: 199.506274 deg, new cmd heading: 199.552654 deg. 2j0: HeadingCmd: 3.482851 target range: 371.100006 and range: 371.10 m. j ^@jjjih!h!h!h!f)f)f)rf)bf-?ɛ]{B]e< Y]>IY ]ҼɚaiaIe:0=Im83imuW $?I lxw,%AWill construct direction to contact in vehicle frame from tetrahedron phase data.:efP@Y:^@: 11 5G٣5@Gy5ɥ => EbBottom track data is 0.8 s old, using for 20.0 s. ENusing accuracyPremultiplier from configAM49EMz?M4YEҀ iEzBU :QUP:U6U?ECEa';EO?E4Y eAeγEZjFNOT Ignoring new targets: 371.10 m.Bj=#:Jj=#: ProNav: ac range: 371.100006 m, nav range: 61.677151 m, bearing: 13.286088 deg, approach rate: 0.664684 m/s, LOS rate: 0.035679 deg/s, cmd heading: 199.552651 deg, new cmd heading: 199.594600 deg. 2j:HeadingCmd: 3.483583 target range: 371.100006 and range: 371.10 m. j^@jjjihJJJ0JJm;J :Jـ3Ja@a@a@a@hhhfffrfbf ?ɛ {B 0<  5?I ϼɚiI0=I,3iWE->*F5?2F1:F1BF50JF1"GE=GE=HI III~BI&I.I6I<:I7FWill construct direction to contact in vehicle frame from tetrahedron phase data.GMF<G) B1 OM >>F~w,A !I!y-}B-&I        Mb@Mb@Mb@ )Yx&1?~jtxyA ?̽Ļ~A -@)I@I@y@II\05٢$; /=9Q >! %G٣!y% %>5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i5A =Nusing accuracyPremultiplier from config9E49=y?E4Y=6 i=zBET:EK"?M:M=M?=C=e ;=;=4Q UA]ѳEB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 371.10 m.BjM|JjM|] ProNav: ac range: 371.100006 m, nav range: 61.973667 m, bearing: 13.271446 deg, approach rate: 0.607020 m/s, LOS rate: -0.029831 deg/s, cmd heading: 199.594602 deg, new cmd heading: 199.550886 deg. 2j]ȣHeadingCmd: 3.482820 target range: 371.100006 and range: 371.10 m. j^@jjjihhhh|Bfffrfbf@*?ɛ{B1; ?I O˼ɚiI0=I093ibW sw,4A~N;P@Y~Z^@~EN:9~:=y~H> 4?β4ԿU n?X? ?ɨ~N;P@~;|yE ~BM<IIuIu*5٢_= ]=9;Q > G٣y > Nusing accuracyPremultiplier from config49Gy?4YJ izB=?4C;; 4 )AZjFNOT Ignoring new targets: 371.10 m.BjJj ProNav: ac range: 371.100006 m, nav range: 62.207092 m, bearing: 13.259471 deg, approach rate: 0.671855 m/s, LOS rate: -0.034336 deg/s, cmd heading: 199.550889 deg, new cmd heading: 199.515101 deg. 2jHeadingCmd: 3.482195 target range: 371.100006 and range: 371.10 m. jJ^@jjjihhh h f ffrfbf@A0@ɛ={BEĂ< IM ?II UjȼɚQiQI]o0=ImkC3iu(qWH I  I II ~BI & =&I .I 6I ]<:I Fxw,F0A6!,P@Y6J^@6p;96=y6H@]Ar?@Կ& c>?`nc`???ɨ6!,P@6B_;6CyR}BR.IIZIZ%.5٢zm zU=9~;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=2.498128-49 y?-4Y h i zB)-=5? SC t; ; 649 =AEԳEZjamFNOT Ignoring new targets: 371.10 m.BjmJjm} ProNav: ac range: 371.100006 m, nav range: 62.449944 m, bearing: 13.246921 deg, approach rate: 0.627941 m/s, LOS rate: -0.032324 deg/s, cmd heading: 199.515099 deg, new cmd heading: 199.477595 deg. 2j}xHeadingCmd: 3.481541 target range: 371.100006 and range: 371.10 m. j^@jjjihhhhfffrfbf`I@ɛ{BZFI< ?I ,żɚiIrO0=I$N3iGBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749939O>~w,!xJA6)P@Y6G^@6~!3;96/W=y6H@A?@`!ԿG?-dfv]??ɨ6)P@6;6CyF}BF2I%Mb@Mb@Mb@!!! !)!Y%+?p= ף~jty%v?%%D%A %@)%`@I!!y%=@I=I=45٢E< ME=9Mnd:Q M>QQ UG٣U@Gy]- ]> eNusing accuracyPremultiplier from configam49e.y?m4YeI iezBm!?m:m@u?euCe;ew;ev4B dA׳EZjFNOT Ignoring new targets: 371.10 m.BjJj ProNav: ac range: 371.100006 m, nav range: 62.710735 m, bearing: 13.222159 deg, approach rate: 0.631561 m/s, LOS rate: -0.059718 deg/s, cmd heading: 199.477601 deg, new cmd heading: 199.403623 deg. 2j#HeadingCmd: 3.480250 target range: 371.100006 and range: 371.10 m. ji^@jjjihhhQhU}BfQfYfYrfYbf]@@ɛ{BC2< 隭5?I ɚiI10=IMc3iW Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253733w,PdA*J"J%=J%J%J%0J!J%;J%t:J%ـ3J!y5}B5'II]I]B-5٢u; uG=9}Q }> G٣y > Nusing accuracyPremultiplier from config49y?4Y' izB?C+;},; 4 AZj1UFNOT Ignoring new targets: 371.10 m.Bje1Jje1 ProNav: ac range: 371.100006 m, nav range: 62.968254 m, bearing: 13.197910 deg, approach rate: 0.611519 m/s, LOS rate: -0.057348 deg/s, cmd heading: 199.403616 deg, new cmd heading: 199.331166 deg. 2jnHeadingCmd: 3.478985 target range: 371.100006 and range: 371.10 m. j^@jjjihhhhfffrf1bf5 * @ɛ{B< U>IQ U\ ɚQiYI]&0=I]x3ie`VҞw,k)~A Iy}B&IMb@Mb@Mb@ )YʡE?333333ÿ{Gzy?ף7A @)@I@y@II,5٢6 B=9Q >    G٣ y > Nusing accuracyPremultiplier from config%49$y?%4Yֆ izB%b"?-:-B-?CL;;'41 5A5ڳEZjimFNOT Ignoring new targets: 371.10 m.Bju౺Jju౺ ProNav: ac range: 371.100006 m, nav range: 63.232994 m, bearing: 13.165792 deg, approach rate: 0.643624 m/s, LOS rate: -0.077756 deg/s, cmd heading: 199.331162 deg, new cmd heading: 199.235212 deg. 2jtUHeadingCmd: 3.477310 target range: 371.100006 and range: 371.10 m. jA^@jjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757841hhhh%}BfffrfbfQB@ɛ{B4@< 隍v>I  ɚiIu/=Iu3iV  BDAT read: Tx time:21:21:45.5714  $Ping request sent. w,A% P@Y%)^@%iE;9%S=y%HF(?.ꣿ`YԿq?@1h@3??ɨ% P@%$r;%Cy޵}B޵III75٢  A=9,:Q > G٣@Gy؎ > Nusing accuracyPremultiplier from config49hy?4Y i~zBB?C < <d/4 AݳE $?Ik}t|F?k}IWc2 ky k}A:k} CBk}ǷCZk}F@"}E+YfJ\j\@d7u@}sM?¿&r?*4?Jk}`?Rk}'M*}8B@R@IӹKDKZiv@} K@?8Ι-ÿF@?"k}]*k}Bk}4)q?k}=l< 2k}Ckyk}S! kyk}~wBk}@  addTargetRange:: Added new target pos. range: 370.100006 m, deltaT: 4.032196 s, deltaX: -1.000000 m, approachRate: -0.248004 m/s, rangeRepo size: 4  Added new target pos. range: 370.100006 m, bearing: 322.783508 deg, lat: 36.904817 deg, lon: -122.114903 deg, deltaT: 4.032196 s, deltaX: -1.000000 m, approachRate: -0.248004 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 370.10 m.Bj%Jj!] ProNav: ac range: 370.100006 m, nav range: 61.873211 m, bearing: 358.063223 deg, approach rate: 0.000000 m/s, LOS rate: -0.077756 deg/s, cmd heading: 199.235211 deg, new cmd heading: 199.129752 deg. 2jY]HeadingCmd: 3.475470 target range: 370.100006 and range: 370.10 m. jen^@jajajaiahhhhfffrf!w@bf?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:21:45.5707 ɛ|By; a>I NɚiI/=I3iVw, AfP@YfU#^@f6:9f~=yfH@G@p?GKzԿ05?@fWA?)?ɨfP@f.;fCyr}BrIzWill construct direction to contact in vehicle frame from tetrahedron phase data.IVI5٢M W=9gQ > G٣y >  Nusing accuracyPremultiplier from config 49 1Ty?4Y  i ozBB? C G: : 64A E;AAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 370.10 m.Bjŵ:Jjŵ: ProNav: ac range: 370.100006 m, nav range: 62.115009 m, bearing: 358.092186 deg, approach rate: 0.665944 m/s, LOS rate: 0.079458 deg/s, cmd heading: 199.129753 deg, new cmd heading: 199.216305 deg. 2j Z;HeadingCmd: 3.476980 target range: 370.100006 and range: 370.10 m. jن^@jjjihhhhf f f rf bf SX?ɛ%|B-,,4< )]>IY eⴼɚiiiIm/=Iݘ3iyV˲w, ABP@YB#^@B99B)=yBHG ֕?EԿ` ? q8; c? [?ɨBP@Bz;BCyJ}BJI%Mb@Mb@Mb@!!! !)!Y%V-?A`"~jty%?%ٽ%D%A %-@)%`@I!!y%@I=pI=#5٢M#L MU=9M0Q M>QQ UG٣QyU+8 ]> mNusing accuracyPremultiplier from configiu49m@y?u4Ym imfzBuI?u:u>}?mCm~$;m";m<4 AEZjFNOT Ignoring new targets: 370.10 m.Bjs;Jjs;e ProNav: ac range: 370.100006 m, nav range: 62.347244 m, bearing: 358.134170 deg, approach rate: 0.623515 m/s, LOS rate: 0.112301 deg/s, cmd heading: 199.216305 deg, new cmd heading: 199.341788 deg. 2je$;mHeadingCmd: 3.479171 target range: 370.100006 and range: 370.10 m. ju^@jqjjihhhh|Bfffrfbf ?ɛ5 |B=; 9=A>I9 =;Tɚ9iAIEo/=IEt3iMHVG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246510w,AB9O@YB^@BD 9BE=yBHPI ?Cs Կ`߲?$? #??ɨB9O@B ;BCyJ}BJIIR\IR45٢Zh ZT=9^WQ ^>`` bG٣b@GyfǺ f> jNusing accuracyPremultiplier from confighn49j,y?r4Yj! ij]zBpv>v?j7CjA;jPB;jC4zB zAzEZj!%FNOT Ignoring new targets: 370.10 m.Bj-:Jj-:= ProNav: ac range: 370.100006 m, nav range: 62.582153 m, bearing: 358.176207 deg, approach rate: 0.607575 m/s, LOS rate: 0.108316 deg/s, cmd heading: 199.341789 deg, new cmd heading: 199.467425 deg. 2j=;MHeadingCmd: 3.481363 target range: 370.100006 and range: 370.10 m. jM^@jIjIjIiIhQhQhQhQfffrfbfr?ɛ|B@; 隥>I d민ɚiI/=I Q3iUI}C I}~II}x~BIy&Iy.Iy6I}x<:I}%FBI1JI1RI1ZI1bI1jI54*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498647)M= IGvA jYvAG;yBGi Bq O > I %w,ƇAy}BIMb@Mb@Mb@ )YMb?MbXy ?ʽ̼ @)v@I@y3@II<55٢ 9=9Q > G٣y > Nusing accuracyPremultiplier from config49dy?4Yn iMzB"?:=?ZCz;;4K4 RAuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751135ZjFNOT Ignoring new targets: 370.10 m.Bj;Jj;  ProNav: ac range: 370.100006 m, nav range: 62.855854 m, bearing: 358.229109 deg, approach rate: 0.594804 m/s, LOS rate: 0.114467 deg/s, cmd heading: 199.467424 deg, new cmd heading: 199.625441 deg. 2j ;HeadingCmd: 3.484121 target range: 370.100006 and range: 370.10 m. j^@jjjihhhh|BfffrfbfF?J J J J J ;J ~:J J J  fIi mFɚqiqIuԡ/=Iu#3i}UzK LMK h9K K K  RK ?JK ?ww,MARןO@YR]@R_99RYt=yRHW`1?dnSԿ@&:?k7`?0?ɨRןO@Rxʉ;RCyZ]}BZIIzIz>5٢Ƴ X=9:Q >)1 =G٣9yEBo E> MNusing accuracyPremultiplier from configIU49MGy?U4YM iM?zBQU>U?MyCMK ;M;MQ4a eAeEZjFNOT Ignoring new targets: 370.10 m.BjV ;JjV ; ProNav: ac range: 370.100006 m, nav range: 63.093178 m, bearing: 358.273424 deg, approach rate: 0.654851 m/s, LOS rate: 0.121819 deg/s, cmd heading: 199.625447 deg, new cmd heading: 199.757892 deg. 2j4;HeadingCmd: 3.486433 target range: 370.100006 and range: 370.10 m. j!_@jjjihhhhfffrfbf6@ɛE!|BE*; AE'>II MɚIiIIM/= $?II2iUHi Ii  Im YIIm ;~BIi &Ii .Ii 6Im <:Im .Fk6w,&93AVyO@YV]@VlQ:9Vr=yVH^] ?/.Կ*?`m J}?u?ɨVyO@V7{;VCyb>}BbI f=fp=nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507268IvIv75٢~{ ~L=9~ێ:Q ~> G٣@Gy Jû  > Nusing accuracyPremultiplier from config49Sx?%4Y i0zB!%3>%?C:;:;X4) 5PA5EZjYeFNOT Ignoring new targets: 370.10 m.Bje;Jjm;} ProNav: ac range: 370.100006 m, nav range: 63.340420 m, bearing: 358.318716 deg, approach rate: 0.622387 m/s, LOS rate: 0.113569 deg/s, cmd heading: 199.757898 deg, new cmd heading: 199.893243 deg. 2j};HeadingCmd: 3.488795 target range: 370.100006 and range: 370.10 m. jlH_@jjjihhhhfffrfbf~Y@ɛ'|B0ӱ >I wթɚiI/=IJ2iqTWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758484Jـ3K3 KKK"KJ% J% J! J! J% m;J% {:J! J! J% a<J% a<J% ;J% ;w, MA 6bO@Y6р]@6h:96pB=y6Ha ?`m] qԿ,}? Ou?@8?ɨ6bO@6|;6CyR*}BRImMb@Mb@Mb@iii i)iYmMb?y&1 rhym#?m`emCmMA i)iIm@iym@II:5٢< A=9 9Q > G٣yHX > Nusing accuracyPremultiplier from config49#x?4YO i%zB#?:9?C%;@;;`4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 370.10 m.Bj5+;Jj 5+; ProNav: ac range: 370.100006 m, nav range: 63.601814 m, bearing: 358.382552 deg, approach rate: 0.615454 m/s, LOS rate: 0.149683 deg/s, cmd heading: 199.893245 deg, new cmd heading: 200.083964 deg. 2js;%HeadingCmd: 3.492124 target range: 370.100006 and range: 370.10 m. j%~_@j!j!j!i!h)h)h)h-S|Bf1f1f1rf9bf=@@ɛ/|B {>I UɚiI^/=I2iS Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264864Dw,fAf_O@Yf;~]@fJR:9f*=yfH b?`Կ*1? [Jc??ɨf_O@f y;fCyr}BrIIzIz:5٢M  T=9 DQ  > G٣yֹ > 5Nusing accuracyPremultiplier from config)549-x?=4Y-Ԑ i-zBAE:E?-C-SM;-M;-f4UB UAUEZjFNOT Ignoring new targets: 370.10 m.Bj );Jj ); ProNav: ac range: 370.100006 m, nav range: 63.840832 m, bearing: 358.440428 deg, approach rate: 0.612609 m/s, LOS rate: 0.147782 deg/s, cmd heading: 200.083958 deg, new cmd heading: 200.256934 deg. 2j;HeadingCmd: 3.495143 target range: 370.100006 and range: 370.10 m. jl_@jjjihhhhfffrfqbfu`a @ɛ5|B Y>I ҪɚiI8/=IHo2iޥRI I-II}BI& =&I.I6I<:I4F*F?2F:FBF`0JFG GG]=GyBO]>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:21:48.4694 TRx dataTimestamp_ set to:1736371309.836557 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515553 I +1w,:΀AVZO@YVy]@Vt:9V=yVHb_?@`̣Կ`5)n?nA %?#?ɨVZO@V;Tyn|BnImMb@Mb@Mb@iii i)iYm/$?~jtZd;Oym1(?mļmji m@)m`@Im@iym@IIs75٢q A=9Q > G٣@Gyo/ > Nusing accuracyPremultiplier from config49nx?4Y izBh(?:6?Ce;;_n4MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.766570 d AEZjFNOT Ignoring new targets: 370.10 m.BjA;Jj%A;JJJ1JJ;Jz:J3JJpk<Jpk<J;J;e ProNav: ac range: 370.100006 m, nav range: 64.104721 m, bearing: 358.517053 deg, approach rate: 0.585323 m/s, LOS rate: 0.169260 deg/s, cmd heading: 200.256939 deg, new cmd heading: 200.485868 deg. 2jeR;HeadingCmd: 3.499139 target range: 370.100006 and range: 370.10 m. j_@jjjih h hh=|Bff9fYrfabfe7 @ɛ=|B  隍U8>I 3ɚiIh/=I-2iU^Q e BDAT read: Tx time:21:21:49.5714 e $Ping request sent.e w,AR)lO@YR]@R_9RX!>yRH` ?@"Կ@E#V?K#?@??ɨR)lO@RT;RCyz|BzII I B5٢ό K=96Q >!! %G٣!y-y+; -> uNusing accuracyPremultiplier from config1495x?4Y5  $?Ii5zB6?5!C5L<5J<5ku4  Akw?k-t k kDĕA:k&CBkCZkqa@"p>$`@]Oruu@͈#=а^?8G=W?Jk}?Rk*_ L@DCS%4Xv@P';?]ʿ1,?"k*kgBk/?kyƂ 2kbCko苜?kS kCkĄBk%@ addTargetRange:: Added new target pos. range: 370.299988 m, deltaT: 4.031652 s, deltaX: 0.199982 m, approachRate: 0.049603 m/s, rangeRepo size: 4  Added new target pos. range: 370.299988 m, bearing: 306.855850 deg, lat: 36.904766 deg, lon: -122.115233 deg, deltaT: 4.031652 s, deltaX: 0.199982 m, approachRate: 0.049603 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 370.30 m.BjJj= ProNav: ac range: 370.299988 m, nav range: 66.384224 m, bearing: 332.158471 deg, approach rate: 0.000000 m/s, LOS rate: 0.169260 deg/s, cmd heading: 200.485873 deg, new cmd heading: 200.693097 deg. 2j9EHeadingCmd: 3.502755 target range: 370.299988 and range: 370.30 m. jE%-`@jAjajaiihihihihifqfqfqrfu$w@bf}L?ɛB|Bo \>I kUɚiI 0=Ie1ieKgPH @>I  I II }BI % =&I .I 6I l<:I Fw,xA"Will construct direction to contact in vehicle frame from tetrahedron phase data.:sO@Y:c]@:9:G>y:H ^`r?@)Կ :6?`3S^? s]??ɨ:sO@:;:Cy~|B~sI  AAII_,5٢%B %J=9%@Q %>)) -G٣)y5: 5> =Nusing accuracyPremultiplier from config9E49=x?E4Y= i=yBAE6M?=DC=:=:={|4Y ]"!A]EZjFNOT Ignoring new targets: 370.30 m.Bj;Jj; ProNav: ac range: 370.299988 m, nav range: 66.574440 m, bearing: 332.318474 deg, approach rate: 0.518665 m/s, LOS rate: 0.435034 deg/s, cmd heading: 200.693101 deg, new cmd heading: 201.171725 deg. 2jG<HeadingCmd: 3.511109 target range: 370.299988 and range: 370.30 m. j`@jjjihhhhfffrfbfE?ɛH|Bk/ ,=I 줣ɚiIt&0=Ii1ii|)`@)*Fu?2Fq:FqBFu0JFq"G}=G}= $?IGݗWill construct direction to contact in vehicle frame from tetrahedron phase data.GqBO>J J J 0J J ;J y:J ـ3J J d<J d<J ;J ;Kw,RAy|BdI -a=-a=Mb@Mb@Mb@ )Ysh|?? rh?{Gzy)?C<# A @)v@Iy@IgI5٢*b ==9Q > G٣@Gy   > Nusing accuracyPremultiplier from config 49 ix?4Y s i yB*?:2%? hC -; ; 4-B -!A-EMB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 370.30 m.Bje;Jje;u ProNav: ac range: 370.299988 m, nav range: 66.767952 m, bearing: 332.500067 deg, approach rate: 0.448430 m/s, LOS rate: 0.419590 deg/s, cmd heading: 201.171720 deg, new cmd heading: 201.714904 deg. 2ju<}HeadingCmd: 3.520589 target range: 370.299988 and range: 370.30 m. j}UQa@jyjyjyihhhh|Bfffrfbfw?ɛN|BF_ Ƚ=I ɚiIQ0=I`0iiB0)UQa@)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:FIBFM0JFIG5ռGB zKKK9KKKBK-qA:K-nAO5O> $?Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261168w,=A "@^gwO@Y^ ]@^J9^U>y^H;^ ?@ ,Կ _t%? Ou?@??ɨ^gwO@^D;^Cye|Be[II}I} +5٢ Q=9Q > G٣y: > Nusing accuracyPremultiplier from config49=Ux?4Yɛ iyB2?Ch;;݊4 !AZjFNOT Ignoring new targets: 370.30 m.Bj;Jj; ProNav: ac range: 370.299988 m, nav range: 66.944160 m, bearing: 332.664059 deg, approach rate: 0.451521 m/s, LOS rate: 0.419110 deg/s, cmd heading: 201.714898 deg, new cmd heading: 202.205565 deg. 2jЏ< HeadingCmd: 3.529153 target range: 370.299988 and range: 370.30 m. j a@j j jiiihihqhqhqfqfqfyrfybf})?ɛT|Bfr =I 򁢼ɚiIUq0=IB0ii++)a@)jH)bH)H1I1 I5II5p}BI5& =&I1.I16I5d<:I5F*F?2F:FBFO1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511491GVG B O > I @w,aA6vO@Y6]@6wӻ96 >y6H`F^`4 ?+Կϱ?uz?Q??ɨ6vO@6;4yZ|BZ_IUMb@Mb@Mb@QQQ Q)QYUFx?A`"?~jthyU+?UY=UDUA U@)U3@IU@QyU@ImIm>5٢e< C=92Q > G٣Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763593y' > Nusing accuracyPremultiplier from config 49J?x? 4Y iyBP,?:/?C ;;44 !AEZjAMFNOT Ignoring new targets: 370.30 m.BjU;JjU;e ProNav: ac range: 370.299988 m, nav range: 67.125412 m, bearing: 332.849505 deg, approach rate: 0.431258 m/s, LOS rate: 0.440046 deg/s, cmd heading: 202.205565 deg, new cmd heading: 202.760383 deg. 2je Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015355Fw,&A2\O@Y2]@2*ۻ92~>y2H@H\?`/b7Կ xx ~G٣~@Gyb; >  Nusing accuracyPremultiplier from config 49 +x?4Y > i yBt/? C ; ; 4! %!A%EZjIMFNOT Ignoring new targets: 370.30 m.BjU;JjU;e ProNav: ac range: 370.299988 m, nav range: 67.285889 m, bearing: 333.012510 deg, approach rate: 0.432988 m/s, LOS rate: 0.438762 deg/s, cmd heading: 202.760381 deg, new cmd heading: 203.248219 deg. 2jeH I  I II Q}BI % =&I .I 6I <:I 6FBIJIRIZIbIjI>4 ~G  - YY1 y5 B- w,F7A"Will construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519248JO@YJl]@J.R9Jmr>yJHYY@#?@Σ@GIԿ s ?4}?`]??ɨJO@J;JCyV|BVgII^I^;5٢f< fJ=9jͳQ j>hh jG٣hyn5; r> vNusing accuracyPremultiplier from configpv49rx?z4Yr irzBxb/ ?rCr ;r&;r4 l!AZj9EFNOT Ignoring new targets: 370.30 m.BjE;JjE;U ProNav: ac range: 370.299988 m, nav range: 67.460983 m, bearing: 333.189254 deg, approach rate: 0.430849 m/s, LOS rate: 0.433776 deg/s, cmd heading: 203.248220 deg, new cmd heading: 203.777058 deg. 2jUٔ<]HeadingCmd: 3.556581 target range: 370.299988 and range: 370.30 m. j]c@jYjajaiahahahihifififirfqbfu&@ɛ-d|BUlm QU=IQ UɚYiYI] 0=Ie.iaieh~)ec@)a*F?2F:FBF_0JF e$?IiGu_NGYBaOY>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771700w,mQAy%|B%eI-Mb@Mb@Mb@))) )))Y-sh|??l?Mbp?y-)?-=-;- A ))-`@I-@)y-z@IEIEB5٢Mw U4=9UQ U>YY ]G٣aym m> Nusing accuracyPremultiplier from configy49}w?4Y}d i} zB +?:q-?}C};}@;}4 y!AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 370.30 m.Bj;Jj; ProNav: ac range: 370.299988 m, nav range: 67.650711 m, bearing: 333.391082 deg, approach rate: 0.418070 m/s, LOS rate: 0.443487 deg/s, cmd heading: 203.777055 deg, new cmd heading: 204.380819 deg. 2j.<HeadingCmd: 3.567118 target range: 370.299988 and range: 370.30 m. jKd@jjjihhhh |Bfff rf bf 6@UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023476ɛUj|BU~z Y]=IY ]1ɚYiYIe"0=I% -i!i%-)-Kd@))E1E1zK=LK=9K9K=K=(lvc | S c9{W 9 W  @ *F?2F:FBF3JF"GG> e$?Ia Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:21:52.4682  TRx dataTimestamp_ set to:1736371313.629776 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277593G bG B! JQ JU JU 1JQ JQ JU {:JU 3JQ O >_w,f-lAzO@Yz^@zw9z&>yzH@!Lp?ƄԿ2?s?GL??ɨzO@z⮈;xy|B zI ==II45٢m= mP=9uQ u>qq }G٣}@Gy}3Q< }> Nusing accuracyPremultiplier from config49w?4YM izB!-?9C;:~:4B  AEZjFNOT Ignoring new targets: 370.30 m.Bj;Jj; ProNav: ac range: 370.299988 m, nav range: 67.813217 m, bearing: 333.564068 deg, approach rate: 0.414111 m/s, LOS rate: 0.439757 deg/s, cmd heading: 204.380816 deg, new cmd heading: 204.898513 deg. 2j<HeadingCmd: 3.576154 target range: 370.299988 and range: 370.30 m. jd@jjjiH I  I I I &I .I 6I X<:I Fhhh!h!f!f!f)rf)bf- ] @ɛen|Bm< I d!w,؅A:*P@Y:I^@:)9:>y:H)A@M?٤ |Կ@"-$? ?R?`?ɨ:*P@:<;:Cyf|BfIMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781689%Mb@Mb@Mb@!!! !)!Y%Fx? G٣y< > Nusing accuracyPremultiplier from config49w?4Y i#zB,?:?-?dCA;-;_4  AZjFNOT Ignoring new targets: 370.30 m.Bj =;Jj =; ProNav: ac range: 370.299988 m, nav range: 68.026779 m, bearing: 333.788328 deg, approach rate: 0.423006 m/s, LOS rate: 0.442801 deg/s, cmd heading: 204.898517 deg, new cmd heading: 205.569155 deg. 2j<%HeadingCmd: 3.587859 target range: 370.299988 and range: 370.30 m. j%ze@j!j!j!i!h)h)h)h-J|Bf1f1f9rfAbfMc@ɛut|BuRX qu=Iq }.ɚyiyI}0=I;,iiJ)ze@)*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: 21:21:52.4682 LVL= 12384, 23537, 16002, 23795, AGC= 68, IDX= 432,-0.14,-0.573,-1.850,-2.210,-1.357, PHS= 0.872,-0.446,-0.856, RAW= 76.9, 5.6, CAL= 80.8, 5.6, ROT= 69.2, -5.6 - Ygot valid direction response: 21:21:52.4682 LVL= 12384, 23537, 16002, 23795, AGC= 68, IDX= 432,-0.14,-0.573,-1.850,-2.210,-1.357, PHS= 0.872,-0.446,-0.856, RAW= 76.9, 5.6, CAL= 80.8, 5.6, ROT= 69.2, -5.6 5 PDAT read: Bearing 69.2, -5.6 (Local) = ~Local bearing/azimuth received: Bearing 69.2, -5.6 (Local) U DAT read: Range 10 to 50 : 369.3 m (Round-trip 492.5 ms) speed 0.7 m/s ] ,DAT read: user:1699> e BDAT read: Tx time:21:21:53.5715 e $Ping request sent.e )\IDid;_?Z侩"[˫?+= J?)+=I#?i+Ƚ `$??YAk@<3}%Ÿ?)l@Ixƽi[@; :publishing transmit ping timea  Fpublishing direction and range info9(6A&?ſw8{?(/JJ?y )Ii )Ii `$??YAk@<3}%Ÿ?)IiG ^G G G B O >zK QK h9K K K i # M ~agqFklS<%rd[N:ʏ'w,JA 2$?I6Vgy}BII-I-D5٢=> E=9EQ E?II MG٣IyM U? Nusing accuracyPremultiplier from configQ49Ufw?4YUG iU,zB99=?U~CUmI ^ɚiI0=I,ii)f@)EEi>EE>JJJ0JJ;J :Jـ3J*F?2F:FBF`0JFG GrAG HI IIIz}BI&I.I6I<:IKFGqByO> Will construct direction to contact in vehicle frame from tetrahedron phase data.B-w,ޓA6GP@Y6_@6Dm96&>y6H"a?տ%???ļ??ɨ6GP@6';6CyB}BBIDFAIJzIJ'5٢foE= fR=9fk/Q f>hh jG٣j@Gyn.< n> vNusing accuracyPremultiplier from configtz49vbw?z4YvE iv9zB|~,~?vCvE;v;vSÈ4B A  EZj1=FNOT Ignoring new targets: 369.30 m.Bj=?;Jj=?;M ProNav: ac range: 369.299988 m, nav range: 88.998596 m, bearing: 331.562479 deg, approach rate: 0.446180 m/s, LOS rate: 0.395598 deg/s, cmd heading: 206.017179 deg, new cmd heading: 206.428317 deg. 2jMIy }ɚyiyI}0=I+iiV)(f@) ]$?IY*F?2F:FBF0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >?4w,HkA6lQ@Y6?_@6r968>y6Hi X?Yֿ``U??? ?ɨ6lQ@6E;4yR*}BRI5Mb@Mb@Mb@111 1)1Y5V-?Mb?~jt?y5-?5=5<5 A 5@)5`@I5I@1y5@QQItI$5٢B= 8=9\Q >    G٣ y < > Nusing accuracyPremultiplier from config%49 w?%4YM iJzB--?-:-/-?C ;" ;ˈ49 =vA9eB*** querying acoustic contact ***jajaZjimFNOT Ignoring new targets: 369.30 m.Bj};Jj}; ProNav: ac range: 369.299988 m, nav range: 89.187737 m, bearing: 331.712230 deg, approach rate: 0.426191 m/s, LOS rate: 0.336719 deg/s, cmd heading: 206.428316 deg, new cmd heading: 206.876606 deg. 2jg<HeadingCmd: 3.610678 target range: 369.299988 and range: 369.30 m. jYg@jjjihhhh|Bfffrfbf ?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛm|Bu% qu()>Iq uRgɚqiqI}0=I}\ +iiঽ)Yg@)*FE?2FI:FIBFM0JFI AIAzKM=PKM+9KIKMKM}{wyvqke[G>72420010-*-,*($" BKQ:KUrAG e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246132G B O >J J J J J m;J z:J J :w,FA6PR@Y6 6`@6u96'4&>y6H (@?~`uֿ$ O?@? ?t?ɨ6PR@6fb;6CyBW}BBIIJ_IJ5٢Z= Zb=9^vQ ^>\\ bG٣`yb< b> fNusing accuracyPremultiplier from configdj49f w?j4Yfָ ifXzBln8/n?fCfy;f;f_ш4p rAv EZj FNOT Ignoring new targets: 369.30 m.Bj>;Jj>; ProNav: ac range: 369.299988 m, nav range: 89.340698 m, bearing: 331.835047 deg, approach rate: 0.425917 m/s, LOS rate: 0.341393 deg/s, cmd heading: 206.876608 deg, new cmd heading: 207.244422 deg. 2jKj<HeadingCmd: 3.617098 target range: 369.299988 and range: 369.30 m.jHbHp<HI III}BI&I.I6IS<:I F j~g@jjjihhhhfffrfbf-?ɛ]|B]4܉ Ye2R>Ia eɚaiaIe0=Im-*imMWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498403GGBO> 5 $?I1 Aw,@A2R@Y2p`@2Hɼ92.>y2HU $(? y᣿<׿@SVK?0? ??ɨ2R@2XE;0y>z}B>IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749699=Mb@Mb@Mb@999 9)9Y=K7A`?~jtiq uG٣u@Gyu< u> Nusing accuracyPremultiplier from config-49\mw?-4Yl ifzB5+?5:525? C<<؈49 =3A=EZjFNOT Ignoring new targets: 369.30 m.Bj(;Jj(; ProNav: ac range: 369.299988 m, nav range: 89.532059 m, bearing: 331.971752 deg, approach rate: 0.417374 m/s, LOS rate: 0.297529 deg/s, cmd heading: 207.244427 deg, new cmd heading: 207.653659 deg. 2j0L<HeadingCmd: 3.624240 target range: 369.299988 and range: 369.30 m. jg@jjjihhhh(}Bfffrfbf%M?ɛ|BT 隕o>I fɚiI540=I(,*iViJ  $?I Gw, AzK6?NK69K4K6K6  BMS@YByBH h?@g׿0J&?`!U?`Ҁ?@q}?ɨBMS@B;BCyN}BRIIfIf\05٢n`> nT=9r뱻Q r>pt vG٣tyvľ< v> zNusing accuracyPremultiplier from configx~49z"Yw?4Yzʽ izszB#2?z+CzG;z;z߈4  PAZj1=FNOT Ignoring new targets: 369.30 m.Bj=h;Jj=h;M ProNav: ac range: 369.299988 m, nav range: 89.701897 m, bearing: 332.094442 deg, approach rate: 0.478730 m/s, LOS rate: 0.345176 deg/s, cmd heading: 207.653665 deg, new cmd heading: 208.021032 deg. 2jMlI їɚiIO/=I)iiB嗽)\h@)*F?2F:FBF_0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254647JiJiJEJAJAJAJE;JAJAJAG#/GBO>HI ILII'~BI& =&I.I6IH<:IF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505616Nw,8:AVAT@YVO`b@Vh9V@>yVHb?ʦߥؿ`@?+??`k?ɨVAT@V;VCyb}BbIIn~InE)5٢v^= vI=9zvQ z>xx zG٣xy~U= ~> Nusing accuracyPremultiplier from config 49Cw? 4Yc izB31?MCC::4 A%EZjFNOT Ignoring new targets: 369.30 m.Bj;Jj; ProNav: ac range: 369.299988 m, nav range: 89.878922 m, bearing: 332.225312 deg, approach rate: 0.423297 m/s, LOS rate: 0.312317 deg/s, cmd heading: 208.021034 deg, new cmd heading: 208.412866 deg. 2jWV<HeadingCmd: 3.637491 target range: 369.299988 and range: 369.30 m. jh@jjjihhhhfffrfbf@ɛ|BPXI; 隍>I $?I ɚiId/=IS)i!qGZTw,TABT@YBpb@B49BdD>yBHn@N?@}`Gٿ ?@E?b?e?ɨBT@Bm;BCyN}BN,I]Mb@Mb@Mb@YYY Y)YY]w/?/$ G٣@Gy}< > Nusing accuracyPremultiplier from config49G-w?4Y_ izBN(?:7?qC"\;Z;4 MAEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 369.30 m.Bj!;Jj!;  ProNav: ac range: 369.299988 m, nav range: 90.081291 m, bearing: 332.347142 deg, approach rate: 0.489430 m/s, LOS rate: 0.293981 deg/s, cmd heading: 208.412868 deg, new cmd heading: 208.777529 deg. 2j I<HeadingCmd: 3.643855 target range: 369.299988 and range: 369.30 m. j4i@jjjihhhh%}Bf!f!f!rf!bf- )@ɛ]|B]0; Y]5>IY eXɚaiaIe.=Im(imDzK}NMK} 9KyK}K})woM Will construct direction to contact in vehicle frame from tetrahedron phase data.I iI U BDAT read: Rx Time:21:21:56.4658 ] TRx dataTimestamp_ set to:1736371317.662071e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264639[w,nA>-U@Y>=c@> ;9>G>y>HWZ?qٿ`׸g??u?v`?ɨ>-U@>8e;pp rG٣pyv>< v> zNusing accuracyPremultiplier from configx~49zw?~4Yz5 izzB7?zCz3;zI;z4 AZjAEFNOT Ignoring new targets: 369.30 m.BjMͤ;JjMͤ;] ProNav: ac range: 369.299988 m, nav range: 90.263451 m, bearing: 332.457669 deg, approach rate: 0.475882 m/s, LOS rate: 0.288165 deg/s, cmd heading: 208.777532 deg, new cmd heading: 209.108442 deg. 2j]EI ɚiIc.=I((iOlBJbw,}AWill construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 21:21:56.4658 LVL= 13488, 29665, 21794, 26419, AGC= 62, IDX= 423, 0.10,-0.191,-1.746,-1.823,-1.169, PHS= 1.067,-0.530,-0.657, RAW= 86.2, 1.5, CAL= 92.7, -2.0, ROT= 57.3, 2.0 Ygot valid direction response: 21:21:56.4658 LVL= 13488, 29665, 21794, 26419, AGC= 62, IDX= 423, 0.10,-0.191,-1.746,-1.823,-1.169, PHS= 1.067,-0.530,-0.657, RAW= 86.2, 1.5, CAL= 92.7, -2.0, ROT= 57.3, 2.0 PDAT read: Bearing 57.3, 2.0 (Local) ~Local bearing/azimuth received: Bearing 57.3, 2.0 (Local) DAT read: Range 10 to 50 : 367.5 m (Round-trip 490.1 ms) speed 0.0 m/s ,DAT read: user:1700> BDAT read: Tx time:21:21:57.5715 $Ping request sent.{@? RvS?yC4s "U)3gI>iu?'1(?Pw< ?)5Ij?i5=~ ?r~_J?)ILмiB@Ǯ:publishing transmit ping timeFpublishing direction and range info9C>{@? RvS?y )Ii )Ii~ ?r~_J?)IiEMb@Mb@Mb@AAA A)AYEMb?/$y&1|yE#?E1E`EA E@)Ev@IEAAyAI]I]+5٢= =9Q > G٣y >  Nusing accuracyPremultiplier from config 49 v?4Y  i zB&?=:=;=? C ; ; -4EB E/AEEks?kS k kA:kCBk|CZko ?"#k}C|O@jni~|v@C>{@? RvS?JkB@RkǮ*"h F@rEF:@l'bmv@7Ծ?)R?ʉe?"kzA*k1BkuS?k 2kCkkkkBk¹@= addTargetRange:: Added new target pos. range: 367.500000 m, deltaT: 3.781831 s, deltaX: -1.799988 m, approachRate: -0.475957 m/s, rangeRepo size: 4 M Added new target pos. range: 367.500000 m, bearing: 31.207319 deg, lat: 36.904918 deg, lon: -122.115374 deg, deltaT: 3.781831 s, deltaX: -1.799988 m, approachRate: -0.475957 m/s, posRepo size: 4 ZjquFNOT Ignoring new targets: 367.50 m.Bj}Jjy ProNav: ac range: 367.500000 m, nav range: 90.533722 m, bearing: 332.598691 deg, approach rate: 0.000000 m/s, LOS rate: 0.288165 deg/s, cmd heading: 209.108441 deg, new cmd heading: 209.598185 deg. 2jHeadingCmd: 3.658178 target range: 367.500000 and range: 367.50 m. jj@jjjihhhh:~Bfffrfv@bfv1?ɛ|BC; 隕H>I KɚiI-=I(i1@>yJHp7j?ps|ڿy?s̢? ?/^?ɨJEV@J2;JCnWill construct direction to contact in vehicle frame from tetrahedron phase data.y~P~B~fIILI5٢]= G=9 Q > G٣@Gy6= > Nusing accuracyPremultiplier from config49v?4Y izB:?C::74 AEZjFNOT Ignoring new targets: 367.50 m.Bj ;Jj% ;5 ProNav: ac range: 367.500000 m, nav range: 90.733482 m, bearing: 332.706051 deg, approach rate: 0.534883 m/s, LOS rate: 0.286835 deg/s, cmd heading: 209.598179 deg, new cmd heading: 209.919545 deg. 2j5D<=HeadingCmd: 3.663787 target range: 367.500000 and range: 367.50 m. j=}{j@j9j9j9i9h9hAhAhAfIfIfIrfIbfM?ɛ|BZ]h< 隕H>I PɚiI-=I8'i<Will construct direction to contact in vehicle frame from tetrahedron phase data. Y IY pw,ARW@YRyRH(3?9@ۿDO ?` Ǥ?E?W?ɨRW@R̋;PyXXIjGIj5٢v vY=9~'Q >  G٣y- = 5> mNusing accuracyPremultiplier from configQ49Uv?4YUB iUzB9?UCU0I ɚiI+R,=Will construct direction to contact in vehicle frame from tetrahedron phase data.I -K'i 09 Will construct direction to contact in vehicle frame from tetrahedron phase data.vvw,A:uX@Y:-f@:C"/9:H>y:H4`E?`s ܿ%?@? l?[?ɨ:uX@:ms;:CyFX~BFkI-Mb@Mb@Mb@))) )))Y-Gz? ףp= ǿ{Gzy-p?-Q8-ף-A )))I-zA)y-AIE'IE5٢]K< ]A=9e>Q e>aa eG٣aym= m> $?I Nusing accuracyPremultiplier from configq49uv?4Yu iuuzB$?:x=%?u"Cu;u;u,4) -A-EEB*** querying acoustic contact ***jAjAZjq}FNOT Ignoring new targets: 367.50 m.Bj}=;Jj}=; ProNav: ac range: 367.500000 m, nav range: 91.132622 m, bearing: 332.911390 deg, approach rate: 0.541223 m/s, LOS rate: 0.260950 deg/s, cmd heading: 210.230941 deg, new cmd heading: 210.534205 deg. 2j3<HeadingCmd: 3.674515 target range: 367.500000 and range: 367.50 m. jA+k@jjjihhhh~Bfffrfbf?ɛ5|B5f+Q< 9=0>I9 =fɚ9i9I=+=IEt&zKm7NKm 9KiKmKm   BKq:KuoAiE;7jH! bH% <H) I)  I- II- %BI- % =&I) .I) 6I- a<:I- Fy }w,'A2}X@Y25f@2`492LF>y2H`#n?@U@Hܿ@?`?Ꙧ?`?^?ɨ2}X@2~ۋ;2CyZR~B^gIIfHIfW5٢n nS=9rmQ r>pp vG٣v@Gyv= v> zNusing accuracyPremultiplier from configx~49zv?~4Yz izjzB<?zACz* ;zm ;z4  A "EZj1=FNOT Ignoring new targets: 367.50 m.BjE;JjE;U ProNav: ac range: 367.500000 m, nav range: 91.327660 m, bearing: 333.007587 deg, approach rate: 0.538310 m/s, LOS rate: 0.264939 deg/s, cmd heading: 210.534202 deg, new cmd heading: 210.822173 deg. 2jU5<]HeadingCmd: 3.679541 target range: 367.500000 and range: 367.50 m. j]}k@jYjajaiahahahihifififirfqbfu ?ɛ|Bl_< 隥!>I ɚiI*=I&i5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990390JK KKK"KJ% J% @J! J! J% ;J% :J! J! J% ]<J% ]<J% ;J% ;w,BAy]T~B]hIMb@Mb@Mb@ )Y~jt?K7ɿˡEy?I'A @)`@IAypAI sI e$5٢%; %7=9%Q ->)) -G٣)y5 5> ENusing accuracyPremultiplier from config9E49=v?E4Y= i=RzBM#?M:M >M?=fC=7;=;=!4Y ]A]%EZjFNOT Ignoring new targets: 367.50 m.Bj;Jj; ProNav: ac range: 367.500000 m, nav range: 91.555656 m, bearing: 333.114488 deg, approach rate: 0.510480 m/s, LOS rate: 0.238753 deg/s, cmd heading: 210.822176 deg, new cmd heading: 211.142078 deg. 2j#<HeadingCmd: 3.685124 target range: 367.500000 and range: 367.50 m. jk@jjjihhhh}~Bfffrfbfw@ɛ|B(< >I :@ɚiIV'*=IF&i3 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496562G B O >ߊw,5-AFNZ@YFjmh@Fq59F>!E>yFH4@ ?`Ryg޿9?J?@w?``?ɨFNZ@F};Dy A~B ]III15٢-32 -B=9= Q =>99 =G٣9yE`= E> ]Nusing accuracyPremultiplier from configQm49Uyv?u4YUp iUI {ɚiIP^)=I5%i5u1 1 I1 ȑw,xGA1Z@Yi@ 79fC>yH ?ڪ޿ "q ?ߦ?@@?@Fc?ɨ1Z@;騽Cy&~BLI ==-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998308Mb@Mb@Mb@ )YQ?-ƿy(??5LA x@JuJu"JqJqJu;Ju:JqJqJucg<Judg<Ju;Ju;)I@I~AyAII*5٢b` (=9 G٣@GyѨ< > Nusing accuracyPremultiplier from config49n`v?4YX i!zB#?:9?ChI<'<14%B %jA-)EZjFNOT Ignoring new targets: 367.50 m.Bj;Jj; ProNav: ac range: 367.500000 m, nav range: 92.002213 m, bearing: 333.342406 deg, approach rate: 0.472680 m/s, LOS rate: 0.249926 deg/s, cmd heading: 211.453081 deg, new cmd heading: 211.824145 deg. 2j+<HeadingCmd: 3.697029 target range: 367.500000 and range: 367.50 m. jl@jjjihhhh0~Bf!f!f!rf!bf%@@ɛ|B; 隝>I uɚiIH(=I%i?#0 G٣y >  Nusing accuracyPremultiplier from config49Gv?4Y< izB%?C{W;I  CqɚiIt'=ZHIRHIHQIQ IUIIUBIQ&IQ.IQ6IU<:IU0FIu%iu+.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754247 $?I Wgrݠw,ϠAFѷ\@YFj@Fʃ49F;8>yFH\?@ k@??:?s?ɨFѷ\@F6;FCyR}BRII^I^B-5٢f f]=9j:Q j>hh nG٣lynB= n> rNusing accuracyPremultiplier from configpv49r4v?v4Yr iryBxz 8z?rCr;r,;r^@4 AZj!-FNOT Ignoring new targets: 367.50 m.Bj5;Jj5;E ProNav: ac range: 367.500000 m, nav range: 92.408730 m, bearing: 333.560869 deg, approach rate: 0.509959 m/s, LOS rate: 0.280928 deg/s, cmd heading: 212.189484 deg, new cmd heading: 212.478070 deg. 2jE@IA E^nɚiiiIu@K'=I$iWE- mBDAT read: Tx time:21:22:01.5715 m$Ping request sent.u Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:22:01.5708 w,%A2r<]@Y2*[k@2%292D6>y2H}J? R`V?@B? ?1v?ɨ2r<]@2;2Cyf}BfIhjA IMb@Mb@Mb@ )YZd;?:vy?TA K@)@IAyAI5I5y/5٢EE E4=9M:Q M>II UG٣U@GyUA< U> Nusing accuracyPremultiplier from configY49]v?4Y]{ i]yB"?:Q2?]C]f=;]:;]KH4  A/EklqF?k k k`͌A:kBkZk9Y?"/ΟRA刚bH@9v@!H:?x~?Jkh @Rk_"*[}A@?خC@&Ov@zj?4ǻ?߄r ?"kB*k4 Bk?kNϻ 2kCk/?kkk/Bk@ addTargetRange:: Added new target pos. range: 367.500000 m, deltaT: 4.034404 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 367.500000 m, bearing: 48.687094 deg, lat: 36.904758 deg, lon: -122.115374 deg, deltaT: 4.034404 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 367.50 m.BjJj ProNav: ac range: 367.500000 m, nav range: 77.093605 m, bearing: 327.832120 deg, approach rate: 0.000000 m/s, LOS rate: 0.280928 deg/s, cmd heading: 212.478074 deg, new cmd heading: 212.876775 deg. 2jHeadingCmd: 3.715401 target range: 367.500000 and range: 367.50 m. j m@jjjihhhh}Bf f f rf bf5D?zKFOK9KKKGAA?=:8421-+*(&# ɛ-|B5t 15N>I1 5kɚ9i9I=O&=I=V$iE# ,HA IA  IE IIE ~BIE & =&IA .IA 6IE <:IE 8FBIJIRIZIbI& =jIeR4 vG tA- A.w,jKA2i]@Y2!k@27922>y2Hi`l?MOq@?? f3?`s{?ɨ2i]@2p;2CyBz}B JYJtAyJ BJIIVIV,5٢Za. ^i=9^Q ^>`` bG٣`ybO< f> jNusing accuracyPremultiplier from configdn49fF v?n4Yf ifyBpr2r?f6Cf:,;f,;fnN4vB vAv3EZjFNOT Ignoring new targets: 367.50 m.Bj%;Jj%;5 ProNav: ac range: 367.500000 m, nav range: 77.228546 m, bearing: 327.963621 deg, approach rate: 0.405404 m/s, LOS rate: 0.394379 deg/s, cmd heading: 212.876779 deg, new cmd heading: 213.270587 deg. 2j5T<=HeadingCmd: 3.722274 target range: 367.500000 and range: 367.50 m. j=9n@j9jAjAiAhAhAhIhIfIfIfIrfQbfU?ɛ|BhT  >I (jɚi I 9-&=I #i1i5h䶼)=9n@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JF $?IG GB O] >e Will construct direction to contact in vehicle frame from tetrahedron phase data.w,A6U]@Y6 k@6[496/>y6H`6X?_ ?`ꗦ?`)?`À?ɨ6U]@6 ~;4y>J}BBI=Mb@Mb@Mb@999 9)9Y={Gz?V-Mby=#?=m=@= A =5@)=@I=A9y=p@IU\IU45٢eV m@=9m:Q m>qq uG٣qyu3$< }> Nusing accuracyPremultiplier from config49u?4Y iyB$?:+?YCP ; ;U4 AZjFNOT Ignoring new targets: 367.50 m.Bj;Jj; ProNav: ac range: 367.500000 m, nav range: 77.370850 m, bearing: 328.137583 deg, approach rate: 0.334817 m/s, LOS rate: 0.408552 deg/s, cmd heading: 213.270580 deg, new cmd heading: 213.791493 deg. 2j1<HeadingCmd: 3.731365 target range: 367.500000 and range: 367.50 m. jn@jjjihhhh|Bfffrfbf ?ɛ-|B-G 15=I1 =7 iɚ9i9I=v%=IEQ#iAiE"8׼)En@)A*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IGGBO>zK= EkMK= 9K9 K= K= @w,CAWill construct direction to contact in vehicle frame from tetrahedron phase data.y%}B%II5I5+5٢]Y ]K=9eQ m>ii mG٣m@Gyu u> }Nusing accuracyPremultiplier from configy49}u?4Y} i}yB?}zC}z;};}\4 A6EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 367.50 m.Bj;Jj; ProNav: ac range: 367.500000 m, nav range: 77.506187 m, bearing: 328.301644 deg, approach rate: 0.335163 m/s, LOS rate: 0.405584 deg/s, cmd heading: 213.791492 deg, new cmd heading: 214.282801 deg. 2j,<HeadingCmd: 3.739940 target range: 367.500000 and range: 367.50 m. j/[o@jjjihhhhfffrfbf?JeJeJe1JaJe5;Jey:Je3JaɛU|BUE Y]=IY ]]hɚYiYI]V=%=Ie"iaie21 jHbHHI IkIIY~BI&I.I6I<:I*F)m/[o@) E)E-nA*F?2F:FBF_0JFGrA GWill 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 Fټ m $?Ii G B O >]&w,A>d^@Y>l@>D&9>t#>y>H81{?]`(?%Ǥ?`T?@1?ɨ>d^@>kh;>CyJ|BJIIVIV:5٢^ ^U=9b`d fG٣dyf< f> nNusing accuracyPremultiplier from confighr49ju?r4Yj ijyBpr*v?jCj%;j%;jc4x z AxZj%FNOT Ignoring new targets: 367.50 m.Bj%;Jj%;5 ProNav: ac range: 367.500000 m, nav range: 77.633179 m, bearing: 328.457274 deg, approach rate: 0.332387 m/s, LOS rate: 0.406680 deg/s, cmd heading: 214.282801 deg, new cmd heading: 214.748918 deg. 2j5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229988Pw,A6^@Y6l@6#r96;>y6H#J?J@ࢺm??#?ɖ?ɨ6^@6;6Cy^|Bb~I I Mb@Mb@Mb@ )Yq= ףp?Q?X9vy+?u<` A K@)@I@y@II?5٢n ;=9k;Q > G٣yr; > Nusing accuracyPremultiplier from config49u?4Y& iyB+?:#?C ;f;Bk4  A9EZj!-FNOT Ignoring new targets: 367.50 m.Bj-;Jj-;E ProNav: ac range: 367.500000 m, nav range: 77.757072 m, bearing: 328.653632 deg, approach rate: 0.282498 m/s, LOS rate: 0.447013 deg/s, cmd heading: 214.748920 deg, new cmd heading: 215.337032 deg. 2jEcH ?>I  I -II }BI &I .I 6I 0<:I Fzw,8A:C^@Y:l@:9:9>y:H[ ?ݩz ???1?ɨ:C^@:͌;:Cy^|B^wIIdId٢r  rZ=9vĜ;Q v>tt zG٣z@Gyzs; z> Nusing accuracyPremultiplier from config|49~hu? 4Y~ i~yB  _# ?~C~:~~:~q4  AE>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734858*Fu?2Fq:FqBFu2JFq"G}=G}= $?IGgPExceeded connect timeout, disconnecting.GBO >] Will construct direction to contact in vehicle frame from tetrahedron phase data.a ie A} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991076cw,IhRAy~|B~iIMb@Mb@Mb@ )YV-?ʡE?:vyh1?-=T A 5@)@I`@y=@IIA5٢LN <=9Q > G٣y > Nusing accuracyPremultiplier from config49u?4Y iyB2?:'?C;%;ky4 '!A Zj)5FNOT Ignoring new targets: 367.50 m.Bj= <Jj= zK JQJK 9K K K BK qA:K ӌw,@lA2 _@Y2r*m@2̔ 92 >y2H@ ?!:`d`?Q?@{?͛?ɨ2 _@2;2CyN|BR`IWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:22:04.4941 TRx dataTimestamp_ set to:1736371325.725774checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493077IEIEL5٢  O=9w;Q > G٣y5< > Nusing accuracyPremultiplier from config49su?4Y iyB?*C;;k4 }B O!A@EJEJE!JE1JAJE;JE:JE3JAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 367.50 m.Bj0<Jj0< ProNav: ac range: 367.500000 m, nav range: 78.059120 m, bearing: 329.225534 deg, approach rate: 0.222318 m/s, LOS rate: 0.458773 deg/s, cmd heading: 216.470606 deg, new cmd heading: 217.050451 deg. 2jm<HeadingCmd: 3.788245 target range: 367.500000 and range: 367.50 m. j rr@j j j i h h)h)h)fifqfqrfqbf}8 @ZHRHAAH@>I III}BI&I.I5D6Ib<:IFɛ }B 괼 RI ZBmɚiI$=Iii%e)%rr@)!*F?2F:FBFJFGNGGrAGQBaO}{>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741886 I ww,'A2 9_@Y2Wm@2u92>y2H@?:8, t?@???ɨ2 9_@2r;2CyN|BNhIIVIVaO5٢^< ^X=9bX;Q b>`` fG٣f@Gyff; f> nNusing accuracyPremultiplier from confighn49jtu?r4Yj ijyBprr?jKCj;j~:j놉4t v!AxZj%FNOT Ignoring new targets: 367.50 m.Bj%u<Jj%u BDAT read: Tx time:21:22:05.5716 $Ping request sent.;O?l ?),I?i,>11?CWXգAԿ)DI>i2IR?52E:publishing transmit ping timeEFpublishing direction and range info9TA[?|uy?bI?y )Ii )Ii11?CWXգAԿ)Ii*Fu?2Fq:FqBFqJFqGy GyG S Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:22:05.5708 GQ Ba O} >w,MA "$?I"Xg^b_@Y^?m@^&q9^" >y^H@-?oSe>%$?lm?@?ޗ?ɨ^b_@^};^Cy|BoI]Mb@Mb@Mb@YYY Y)YY]`"??~jt?y]7?]>]D<]A ]@)]@I]@Yy]@III5٢< +=9:Q >    G٣ yЫ; > Nusing accuracyPremultiplier from config%49^u?E4Y/ iyBM:?M:MM?xC;;[4Q U A]CEk-G8e?k-X k) k-ĎA:k-YCBk-CZk-@"-d"[@HQڑ]@"v@-TA[?|uy?bI?Jk-2IR?Rk-52*-$21ѲHe=ZK(|/w@-Ɋ">DsyHѿ1op?"k-*k-Ek-$e?k- 2k-Ck-uS?k)k-Ck-X|Bk-c@addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 388.700012 m, deltaT: 4.030724 s, deltaX: 21.200012 m, approachRate: 5.259604 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 367.50 m.BjQ <JjQ <- ProNav: ac range: 367.500000 m, nav range: 78.250435 m, bearing: 329.650592 deg, approach rate: 0.208503 m/s, LOS rate: 0.490695 deg/s, cmd heading: 217.588271 deg, new cmd heading: 218.323979 deg. 2j-a<5HeadingCmd: 3.810472 target range: 367.500000 and range: 367.50 m. j5s@j1j1j1i1h9hahahm{Bfififqrfu@3Kx@bfu?ɛ(}B% !%~սI) -6pɚ)i)I-n#=I]@iaie4)es@)azK:IK9KKK4SoRK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP5JFGqHi Ii  Im IIm z}BIi &Ii .Ii 6Im p<:Im FG B O >w,Ayr|Bv~II~I~"25٢-= -k=95Q 5?11 =G٣9y= =? MNusing accuracyPremultiplier from configAM49E,Ou?M4YE iEyBQQU?ECE:E:EY4Y e AeFEZjFNOT Ignoring new targets: 367.50 m.Bj<Jj< ProNav: ac range: 367.500000 m, nav range: 78.325340 m, bearing: 329.824660 deg, approach rate: 0.230599 m/s, LOS rate: 0.535362 deg/s, cmd heading: 218.323978 deg, new cmd heading: 218.845667 deg. 2j<HeadingCmd: 3.819577 target range: 367.500000 and range: 367.50 m. jst@jjjihhhhfffrfbf~?ɛ,}BT xI  qɚiI<#=Iii)st@)uWill construct direction to contact in vehicle frame from tetrahedron phase data. =$?IA*F?2F:FBF_0JFG|G ?G>GBO- >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.JE JE JE 0JA JE m;JE {:JE ـ3JA JE a< @)@I@y@II45٢ = >=9IQ M>II UG٣U@GyQ U> eNusing accuracyPremultiplier from configYe49]:u?m4Y][ i]zBm>?m:mm?]C];]$;] 4y }AyZjFNOT Ignoring new targets: 367.50 m.Bj<Jj< ProNav: ac range: 367.500000 m, nav range: 78.424622 m, bearing: 330.051231 deg, approach rate: 0.224920 m/s, LOS rate: 0.512640 deg/s, cmd heading: 218.845668 deg, new cmd heading: 219.524486 deg. 2j<HeadingCmd: 3.831425 target range: 367.500000 and range: 367.50 m. j6u@jjjihhhh{Bfffrfbf?ɛ 2}B ꑼ ;I KqɚiIsm#=I%i!i%)%6u@)!E1E5oA*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G8 )I)GBOb>zK5 LK5 9K1 K5 K5 }wiZO7.& w,A2'`@Y2ߢn@2T\ 92V*/>y2HP@3?O`q&m?@j?`?Ã?ɨ2'`@2;2CyN#}BRIIZ~IZE)5٢b= b`=9bܲQ b>dd fG٣dyjL= j>rWill construct direction to contact in vehicle frame from tetrahedron phase data. rNusing accuracyPremultiplier from configlv49n*u?v4Yn in*zBxzz?nCn`e;ne;n94 [AIEZj)-FNOT Ignoring new targets: 367.50 m.Bj5 <Jj5 < ProNav: ac range: 367.500000 m, nav range: 78.501091 m, bearing: 330.233866 deg, approach rate: 0.215639 m/s, LOS rate: 0.514518 deg/s, cmd heading: 219.524493 deg, new cmd heading: 220.071848 deg. 2j<HeadingCmd: 3.840978 target range: 367.500000 and range: 367.50 m. ju@jjjih h h1h9f9f9f9rf9bfE?ɛ7}B 隍0I qɚiI}3#=IMii۟)u@)H%?>I! I%II%}BI!&I!.I!6I%\<:I%FBIJIRIZI& =bIjIͰ3)%= C*Fe?mG2Fa:FBFm0|uAJFA 5 Y5|uAy5/B@8 BWill construct direction to contact in vehicle frame from tetrahedron phase data.  $?I G vG G qAGa Bi O >w,Ӥ A6`@Y6o@6\962>y6H? @h?`Р?@G>?~?ɨ6`@6ʎ;6Cy>V}B>IIFIF:5٢N?= RL=9RA;Q R>TT VG٣TyV6< Z> ^Nusing accuracyPremultiplier from configXb49Zu?b4YZn iZFzBdfqj?Z CZX;ZY;Z44n{B nAnJEzB*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 367.50 m.Bj <Jj <% ProNav: ac range: 367.500000 m, nav range: 78.586525 m, bearing: 330.440150 deg, approach rate: 0.213889 m/s, LOS rate: 0.515881 deg/s, cmd heading: 220.071851 deg, new cmd heading: 220.690003 deg. 2j%<-HeadingCmd: 3.851767 target range: 367.500000 and range: 367.50 m. j-[v@j)j)j)i)h)h)h1h1f1f1f9rf9bf=X?ɛ<}BT  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.209858  I w,! A6Pa@Y6Ooo@6QB96{s9>y6Hg?A = j`7X?? ? u?ɨ6Pa@6W;6CyR}BRIeMb@Mb@Mb@aaa a)aYe(\?Zd;O?l?yez4?ej=e=e A e@)e@Ie@aye@I}I}85٢ > <=9::Q > G٣@GyQ< > Nusing accuracyPremultiplier from config498u?4Y ihzBA6?:?1CZ;X;˱4 AMEZjFNOT Ignoring new targets: 367.50 m.Bj' <Jj' <  ProNav: ac range: 367.500000 m, nav range: 78.688576 m, bearing: 330.651384 deg, approach rate: 0.235406 m/s, LOS rate: 0.486633 deg/s, cmd heading: 220.690010 deg, new cmd heading: 221.322863 deg. 2j <HeadingCmd: 3.862813 target range: 367.500000 and range: 367.50 m. jS8w@jjjihhhh%t|Bf!f!f!rf!bf-@Z@ɛUA}B] Y],=IY ]pɚaiaIe"=Iebiiima3)mS8w@)iE}N>E}>*F?2F:FBF@1JFG GrAGDGBO=>zK?MK 9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461685H I  I 9II ~BI &I .I 6D6I k<:I F'w,\; A2"a@Y2o@292Lx>>y2HG`?=#:7? ??in?ɨ2"a@2XԎ;2CyB}BB)IININ\05٢f2m> fW=9fUQ f>hh jG٣hyn < n> rNusing accuracyPremultiplier from configpv49rEt?v4Yrs irzBtzz?rSCrL:r:rl4| ~%A|ZjimFNOT Ignoring new targets: 367.50 m.Bju+<Jju+< ProNav: ac range: 367.500000 m, nav range: 78.777000 m, bearing: 330.835967 deg, approach rate: 0.228379 m/s, LOS rate: 0.476196 deg/s, cmd heading: 221.322868 deg, new cmd heading: 221.875977 deg. 2jg<HeadingCmd: 3.872466 target range: 367.500000 and range: 367.50 m. j}w@jjjihhhhfffrfbfD@ɛ-E}B-vI )-'>I) 5gn]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.713875ɚ1iaIe>"=Im7Iiiim)m}w@)q $?IYg*F ?2F :F BF _5JF G5 GBOM > Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970694J! J% @AJ5 J5 J5 1J1 J5 ;J5 x:J5 3J1 J5 ]<J5 ]<J5 ;J5 ;w,:U A20b@Y2Op@2Ԃ92C>y2H'1??a'Ph@2?Ϡ?D:?@kg?ɨ20b@2 ;2CyB+~BBOI=Mb@Mb@Mb@999 9)9Y=ʡE?V-?~jt?y=/?=<=== A =@)=@I=@9y=@IMIM25٢ek> eA=9eC Q e>ii mG٣qy}Ą< }> Nusing accuracyPremultiplier from config49t?4Y ! izB 0?:?xC;';ؿ4 +APEZjFNOT Ignoring new targets: 367.50 m.Bj<Jj< ProNav: ac range: 367.500000 m, nav range: 78.895302 m, bearing: 331.028947 deg, approach rate: 0.284480 m/s, LOS rate: 0.463362 deg/s, cmd heading: 221.875977 deg, new cmd heading: 222.454028 deg. 2j<HeadingCmd: 3.882555 target range: 367.500000 and range: 367.50 m. j{x@jjjihhhh}BfffrfbfT @ɛ-J}B-r: 15a>I1 5}kɚ9i9I=T!=IEiAiE)E{x@)A*F?2F:FBF5JFGٲGABQeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.217864Ou7> $?I!9w,o A2ib@Y2!p@2M92~F>y2H6q?``ޝi~???a?ɨ2ib@2p;2CzKBBIK@K@KBKByFp~BJzIbWill construct direction to contact in vehicle frame from tetrahedron phase data.bBDAT read: Rx Time:21:22:08.4617 fTRx dataTimestamp_ set to:1736371329.760677fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.470849II+5٢&> E=99Q > G٣y< > Nusing accuracyPremultiplier from config49t? 4Y% izB R?C};E;#lj4-yB 5 AuSEH@>I III~BI&I.I6I<:I4FZjFNOT Ignoring new targets: 367.50 m.Bj?;Jj?; ProNav: ac range: 367.500000 m, nav range: 79.010452 m, bearing: 331.218785 deg, approach rate: 0.261556 m/s, LOS rate: 0.430574 deg/s, cmd heading: 222.454029 deg, new cmd heading: 223.022694 deg. 2j%<%HeadingCmd: 3.892480 target range: 367.500000 and range: 367.50 m. j%fy@j)j)j)i)hIhIhQhQfQfQfYrfYbf] M @ɛO}BeH; im>Ii uvCgɚqiqIu0=!=I}Oiyi}])}fy@)E*F?2F:FBFH5JF!"G-=G-= yIyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.724070G% .qG B O% >#"w, AHFc@Yeq@U 9I>yH`?I \:a? I? ?\?ɨHFc@;Cy-~B-IIEwIE+&5٢Ud> UQ=9]Q ]>YY eG٣e@Gyec< e> mNusing accuracyPremultiplier from configiu49mt?}4Ym) imzBy}}?mCm;m;m͉4zB AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 367.50 m.Bjc <Jjc < ProNav: ac range: 367.500000 m, nav range: 79.116096 m, bearing: 331.395355 deg, approach rate: 0.287850 m/s, LOS rate: 0.480460 deg/s, cmd heading: 223.022697 deg, new cmd heading: 223.551685 deg. 2jޤ<HeadingCmd: 3.901713 target range: 367.500000 and range: 367.50 m. jy@jjjihhhhfffrfbf9@ɛR}B 4^< %>I! %Mcɚ!i!I%E =I- ji)i5翽)5y@)9*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.*J4="J%=G%?J J J 0J J m;J J ـ3J J a<J a<J J DAT read: 21:22:08.4617 LVL= 28848, 32753, 32754, 32755, AGC= 71, IDX= 111, 0.14, 2.856, 1.018, 1.321, 1.843, PHS= 1.100,-0.779,-0.525, RAW= 97.1, 2.3, CAL= 106.7, 0.1, ROT= 43.3, -0.1 Ygot valid direction response: 21:22:08.4617 LVL= 28848, 32753, 32754, 32755, AGC= 71, IDX= 111, 0.14, 2.856, 1.018, 1.321, 1.843, PHS= 1.100,-0.779,-0.525, RAW= 97.1, 2.3, CAL= 106.7, 0.1, ROT= 43.3, -0.1 PDAT read: Bearing 43.3, -0.1 (Local) ~Local bearing/azimuth received: Bearing 43.3, -0.1 (Local) DAT read: Range 10 to 50 : 364.4 m (Round-trip 485.9 ms) speed 0.9 m/s GBO%M>=,DAT read: user:1703> EBDAT read: Tx time:21:22:09.5716 M$Ping request sent.My6H?n`_ J?0x?0\?X?ɨ6dc@6ϩ;6CyB~BBImMb@Mb@Mb@iii i)iYmNbX9?A`"~jt?ym%?mYm G٣ys< > Nusing accuracyPremultiplier from config49Zt?4Y- izBL&?:%?Cl;;@Չ4-yB -A-VEk-&Av?k-U k) k-H A:k-3CBk-CZk-?"-75ZI~)sƋv@-eh¿`^z]ԗJܡ?Jk-VWBRk-6嶿*-!2!@tOX@p]d#u@-Xs?AAH&|t?Xᤫ?"k-B*k-O@k- Cv?k-V 2k-%Ck-?k- k)k-(HBk-Y)? addTargetRange:: Added new target pos. range: 364.399994 m, deltaT: 8.069990 s, deltaX: -3.100006 m, approachRate: -0.384140 m/s, rangeRepo size: 4 5 Added new target pos. range: 364.399994 m, bearing: 87.186193 deg, lat: 36.904486 deg, lon: -122.114604 deg, deltaT: 8.069990 s, deltaX: -3.100006 m, approachRate: -0.384140 m/s, posRepo size: 4 Zj9EFNOT Ignoring new targets: 364.40 m.BjEJjA ProNav: ac range: 364.399994 m, nav range: 50.039185 m, bearing: 37.902447 deg, approach rate: 0.000000 m/s, LOS rate: 0.480460 deg/s, cmd heading: 223.551682 deg, new cmd heading: 224.191444 deg. 2jHeadingCmd: 3.912879 target range: 364.399994 and range: 364.40 m. jlz@jjjihhhh~Bfffrf`fv@bf[?ɛuW}BujO< quj>Iq }r\ɚyiyI}=Iii=)lz@)*FM?2FI:FQBFQJFQzK]BoIK]9KYK]K]RKe>JKe?Will construct direction to contact in vehicle frame from tetrahedron phase data.H?>I IIIMBI&I.I6I <:I FG G ?G 7?Gy B O >t.w, A2]d@Y2r@2HD92G>y2Hu,?T`hY@?tǢ?@? ^?ɨ2]d@2ӌ;0y>@BVII^;I^ 5٢f:> fZ=9j߻Q j>hl nG٣lyn< r> vNusing accuracyPremultiplier from configpv49r5t?z4Yr1 irzB|%?rCrf;rf;rۉ4 xB A XEZj15FNOT Ignoring new targets: 364.40 m.Bj=wJj=wM ProNav: ac range: 364.399994 m, nav range: 50.278515 m, bearing: 37.875323 deg, approach rate: 0.691644 m/s, LOS rate: -0.078013 deg/s, cmd heading: 224.191438 deg, new cmd heading: 224.110454 deg. 2jM(VUHeadingCmd: 3.911465 target range: 364.399994 and range: 364.40 m. jUsUz@jQjQjQiQhYhYhYhYfafafarfabfm@#?ɛ[}B< 隝>I WɚiIV=IBir) Will construct direction to contact in vehicle frame from tetrahedron phase data.b5w, AVIe@YVhs@V:9VHBD>yVH:`^|? `50?.?`V]?@d?ɨVIe@V\;VCynsBnIMb@Mb@Mb@ )Yv?`"~jtx?y?;` A @)@I3@y@I5I5٢= ;=9lQ > G٣@Gy*< > Nusing accuracyPremultiplier from config49t?4Y14 izB?:e+?"C]$; #;`4 A[EZj!-FNOT Ignoring new targets: 364.40 m.Bj-Jj-= ProNav: ac range: 364.399994 m, nav range: 50.539848 m, bearing: 37.816026 deg, approach rate: 0.598778 m/s, LOS rate: -0.135162 deg/s, cmd heading: 224.110459 deg, new cmd heading: 223.933487 deg. 2j=EHeadingCmd: 3.908377 target range: 364.399994 and range: 364.40 m. jE"z@jIjIjIiIhQhQhYh]~BfYfYfYrfabfeJ?ɛ`}B< 隕?I aPɚiIy=Iir&ن;w,X A6f@Y6"t@6IN!96ҾH>y6H ?zZc“?s(??@\?ɨ6f@6 ;6CyNBR>IIZ,IZ5bWill construct direction to contact in vehicle frame from tetrahedron phase data.zKbJKbh9K`KbKbBKjrA:Kh٢n> r[=9rDQ r>pt vG٣tyv< v> ~Nusing accuracyPremultiplier from configx~49zrt?4Yz6 izzB*?z?Cz ;z ;z4  AJK3 K.KK"KJJJJJ;Jv:JJa@a@a@a@ZjFNOT Ignoring new targets: 364.40 m.BjJJjJ- ProNav: ac range: 364.399994 m, nav range: 50.762814 m, bearing: 37.768923 deg, approach rate: 0.562366 m/s, LOS rate: -0.118282 deg/s, cmd heading: 223.933489 deg, new cmd heading: 223.792802 deg. 2j-YjHabHe<Hu@>Iq IulIIuBIq&Iq.Iq6Iu<:Iu)FHeadingCmd: 3.905921 target range: 364.399994 and range: 364.40 m. jy@jjjihhhhfffrfbfgI?ɛUe}BURq< Y]s?IY ]nHɚYiYI]=Ie%ie$nBw,3 !A6f@Y6t@6T!96)L>y6H@!@7?`ms3J'@b?.?a?V?ɨ6f@6C;6Cy>B>MIIFaIFk5٢z|= zI=9zWQ z>|| ~G٣|y< >  Nusing accuracyPremultiplier from config 49 _t?4Y 9 i zB!%)%? _C H; !I; 4) -A-^EMB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 364.40 m.BjeLJjeLu ProNav: ac range: 364.399994 m, nav range: 51.006866 m, bearing: 37.720938 deg, approach rate: 0.635788 m/s, LOS rate: -0.124407 deg/s, cmd heading: 223.792801 deg, new cmd heading: 223.649537 deg. 2juª}HeadingCmd: 3.903421 target range: 364.399994 and range: 364.40 m. j}y@jyjyjyiyhhhhfffrfbf ?ɛi}B= ?I 9AɚiIθ=INi4:"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.Gmy㢽GABOF> I } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.190762Hw,$!AyBbIMb@Mb@Mb@ )YFx?(\ſI +y ?.9A )@I`@y@IZIQ5٢= ==9Q > G٣@Gy > Nusing accuracyPremultiplier from configm49jLt?m4Y}< izBu?u:}/}?C<ҙ<4wB AaEZjFNOT Ignoring new targets: 364.40 m.Bjb4Jjb4 ProNav: ac range: 364.399994 m, nav range: 51.246006 m, bearing: 37.649107 deg, approach rate: 0.527485 m/s, LOS rate: -0.157703 deg/s, cmd heading: 223.649531 deg, new cmd heading: 223.435044 deg. 2j uػHeadingCmd: 3.899677 target range: 364.399994 and range: 364.40 m. jPy@jjjihh!h!h%yBf)f1f1rf1bf=Q0@ɛo}B< 隥?I 1%8ɚiIX=IfiIy I}II}?BIy&Iy.Iy6I}P<:I}FBIJIRIZI- ~GbIE vAjIm3Y Y vAy BG (~G ?G ?G9 BI Oe >Nw,=!AyBuII-jI-h 5٢=,= =T=99Q E>AA EG٣AyI M> UNusing accuracyPremultiplier from config e$?IaQm49UY;t?m4YU> iUzBiqu?UCU;U;UF4y }AyZjFNOT Ignoring new targets: 364.40 m.BjDJjD ProNav: ac range: 364.399994 m, nav range: 51.458050 m, bearing: 37.585994 deg, approach rate: 0.581002 m/s, LOS rate: -0.172220 deg/s, cmd heading: 223.435049 deg, new cmd heading: 223.246489 deg. 2jb컝HeadingCmd: 3.896386 target range: 364.399994 and range: 364.40 m. je^y@jjjihhhhfffrfbf@@ɛ t}B D= "< ;%?I 0ɚiI7=IOi0P)e^y@)!5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.694685*F?2F:FBF4JFGmwlGABIOe4> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.9503608Uw,W!A:h@Y:Lw@:%9:R>y:H`4? G o?@Ա?H#?M?ɨ:h@:.;:CyFBFwIMb@Mb@Mb@ )YPn?Clǿ/$y?d;,A )Iv@y@I5ZI5Q5٢EJ< EJ=9M#;Q M>IQ UG٣QyUO= U> eNusing accuracyPremultiplier from configam49e,*t?m4Ye@ iezBm ?m:ms/m?eCe;ej;e\4y }A}dEZjFNOT Ignoring new targets: 364.40 m.BjL/JjL/ ProNav: ac range: 364.399994 m, nav range: 51.672222 m, bearing: 37.523879 deg, approach rate: 0.530639 m/s, LOS rate: -0.153259 deg/s, cmd heading: 223.246495 deg, new cmd heading: 223.060925 deg. 2j\һHeadingCmd: 3.893147 target range: 364.399994 and range: 364.40 m. jT)y@jjjihhhhBfffrfbfN @ɛy}B J = $?I Q'ɚiI=I`ij^[w,q!A2i@Y2Vw@2G92ՀO>y2H`@?䮻@>PV7.?L9? ?KS?ɨ2i@2;0RWill construct direction to contact in vehicle frame from tetrahedron phase data.VBDAT read: Rx Time:21:22:12.4592 VTRx dataTimestamp_ set to:1736371333.797142Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.452281zKjIK9KKK&5"BK!:K!y}B}yIJJJ1JJ;J|:J3JIaIk5HI IIIbBI&I.I6IY<:I F٢]; ]:=9e ;Q e>aa mG٣m@Gym< m> }Nusing accuracyPremultiplier from configq}49ut?4YuC iuzB.?uCu:u:u 4 ~AZjFNOT Ignoring new targets: 364.40 m.Bj#Jj# ProNav: ac range: 364.399994 m, nav range: 51.905190 m, bearing: 37.459945 deg, approach rate: 0.523612 m/s, LOS rate: -0.143051 deg/s, cmd heading: 223.060919 deg, new cmd heading: 222.869979 deg. 2jYĻHeadingCmd: 3.889815 target range: 364.399994 and range: 364.40 m. jx@jjjihh!h!h!f!f!f)rf1bf5` @ɛu}Bu = qu$?Iy }/ɚyiyI}=I,i ]$?IYUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.702839cbw,}!A2Wj@Y2^vx@2 92J>y2H`uT?`𕻿O`T}???&?`U[?ɨ2Wj@29 ;2CyBBBhIIJ[IJ5٢z6 ze=9z>V;Q z> G٣y G<  > Nusing accuracyPremultiplier from config549t?54YE izB9=.=?Cg;;M4A EAMgEeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 364.40 m.Bj}<Jj}< ProNav: ac range: 364.399994 m, nav range: 52.095520 m, bearing: 37.410469 deg, approach rate: 0.534140 m/s, LOS rate: -0.138341 deg/s, cmd heading: 222.869974 deg, new cmd heading: 222.722089 deg. 2j⽻HeadingCmd: 3.887234 target range: 364.399994 and range: 364.40 m. jpx@jjjihhhhfffrfbf@ɛ}B:d= ?I ɚiIC=IDWi BDAT read: Tx time:21:22:13.5733 $Ping request sent.E%m<Miw,W@!AFk@YFL!y@Fl9FiD>yFH`@ە?/@C@?` ?`3c?`Oe?ɨFk@F.;FCynBnSI}Mb@Mb@Mb@yyy y)yY}RQ?/$ƿ:vy}?}&1}T}vA }@)}@I}`@yy}z@IeI15٢Ŝ 8=9%;Q > G٣y< > UNusing accuracyPremultiplier from configI]49Ms?]4YMqH iMwzB ?:Y,?MCM+;Mx;MQ4 uAko?u?kz% k kl!A:k@CBkCZk?"ARo@0aSm,v@N۵.ɿ\#N^Q?Jk9~:Rk*pKq'?@&̯]@Ukgu@Y??}QK?+x=};?"k~B*k|@kAu?k' 2k7Ck Cv?kNϻ kk3Bk?U addTargetRange:: Added new target pos. range: 362.500000 m, deltaT: 4.033488 s, deltaX: -1.899994 m, approachRate: -0.471055 m/s, rangeRepo size: 4  Added new target pos. range: 362.500000 m, bearing: 88.100780 deg, lat: 36.904175 deg, lon: -122.114464 deg, deltaT: 4.033488 s, deltaX: -1.899994 m, approachRate: -0.471055 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 362.50 m.BjJj ProNav: ac range: 362.500000 m, nav range: 44.757153 m, bearing: 80.998715 deg, approach rate: 0.000000 m/s, LOS rate: -0.138341 deg/s, cmd heading: 222.722087 deg, new cmd heading: 222.523193 deg. 2jHeadingCmd: 3.883762 target range: 362.500000 and range: 362.50 m. jx@jjjihhhh-Bfffrf v@bf]P?ɛ}B<  T?I  5ɚ1i1I5=I=%i= JQJUJU0JQJQJUw:JUـ3JQHI IIIgBI&I.I6I9<:I F*FA2FA:FABFE_0JFAG ,G B O >pw,t!A 9A EG٣E@GyE E> UNusing accuracyPremultiplier from configI]49Ms?]4YMJ iM^zBaae?M(CMP;M0Q;M"4i uA}jEZjFNOT Ignoring new targets: 362.50 m.Bj0+Jj0+ ProNav: ac range: 362.500000 m, nav range: 44.870537 m, bearing: 80.790211 deg, approach rate: 0.326375 m/s, LOS rate: -0.598658 deg/s, cmd heading: 222.523192 deg, new cmd heading: 221.899286 deg. 2jmͼHeadingCmd: 3.872873 target range: 362.500000 and range: 362.50 m. j'w@jjjihhhhfWill construct direction to contact in vehicle frame from tetrahedron phase data.ffrfbf??lJTimed out from 2025-01-08T21:12:14.8Zq6lfCompleted lineCaptureHoming:MicromodemComms:CheckIn16 lAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInkVCompleted lineCaptureHoming:MicromodemCommsɛ}B= 隝 ?I U6ɚiIM=IBii-6<)'w@)E E *E"E*FE?2FI:FIBFIJFI Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm ;GI BY O} >vw,G!A6k@Y6y@696gT(>y6Hr?^鶿`@B@?? ^?`?ɨ6k@6k;6CyBBB(IMb@Mb@Mb@ )Y%C?HzGS㥫yZ?= /] A @)@II@y=@I5UI55٢ƽ 2=9b9Q > G٣y< > Nusing accuracyPremultiplier from config49s?4YM iBzB| ?:='?HCH%;#;*4  AZj9=FNOT Ignoring new targets: 362.50 m. M$?IM[gBjUJjUe ProNav: ac range: 362.500000 m, nav range: 45.028019 m, bearing: 80.547656 deg, approach rate: 0.341098 m/s, LOS rate: -0.523522 deg/s, cmd heading: 221.899281 deg, new cmd heading: 221.174202 deg. 2jemHeadingCmd: 3.860218 target range: 362.500000 and range: 362.50 m. jm w@jijijiiqhqhqhqhu~Bfyfyfyrfbf@k?5knAggregate::initialize lineCaptureHoming:MicromodemComms16 l~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6ɛ}B< 隽>I ɚiIu=IiiyE=) w@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:F9BF=o0JF9G{*<GBm Will construct direction to contact in vehicle frame from tetrahedron phase data.zK KK 9K K K H I  I II IBI &I .I 6I J<:I FO?~w,"!AF&5l@YFSz@F,%9F>yFH s!?y"C:??@ч?@`?ɨF&5l@F;FCyRLBRI Z=XI^LI^5٢l  %=9 ! G٣yIO< > %Nusing accuracyPremultiplier from config-49s?-4YQ i%zB)-'5?iC;;x34=uB =zA=nEZjFNOT Ignoring new targets: 362.50 m.BjJj $?I ProNav: ac range: 362.500000 m, nav range: 45.197243 m, bearing: 80.292074 deg, approach rate: 0.340574 m/s, LOS rate: -0.512447 deg/s, cmd heading: 221.174202 deg, new cmd heading: 220.410376 deg. 2jدHeadingCmd: 3.846887 target range: 362.500000 and range: 362.50 m. je3v@jjjihhhhfffrfbf` ?ɛ}B}< !%:>I! %sɚ!i)I-g=I-Pi1i5M=)5e3v@)1MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF`0JFG%%<G-?G->GB O= > Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J ;J y:J J J `l@Y]z@Ƽ9 >yHL '? @9G@h.?Ә?@J?w?ɨ>l@#;CyBIMb@Mb@Mb@ )Ykt?333333:vy ?TzA @)@I@y@II"25٢ 1=9g G٣@Gy.: > Nusing accuracyPremultiplier from config494s?4YU izB?:Z?C?';7;;4 A %B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 362.50 m.Bj=6 Jj=6 M ProNav: ac range: 362.500000 m, nav range: 45.389275 m, bearing: 80.066814 deg, approach rate: 0.419778 m/s, LOS rate: -0.490330 deg/s, cmd heading: 220.410382 deg, new cmd heading: 219.737494 deg. 2jMAUHeadingCmd: 3.835143 target range: 362.500000 and range: 362.50 m. jUru@jQjQjQiYhYhYhYhe}Bfafafirfibfmea@ɛ}Br< AE>IA MɚIiIIM=IUiQiUU)=)Uru@)Q I]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.*Fi2Fy:FyBF}_0JFyGMk%=G)B1OU>w, 1"A6?l@Y6{^z@6E96>y6H@@()?4-H ո ͺ?9?`xM??ɨ6?l@6;6Cy^~B^IIfIf<55٢R k=9%lI  @Cɚ iI=I"=iiĢ=)t@)zKBHK9KKK:HI I~II BI&I.I6Io<:IF*F?2F:FBF0JFG}z=GBO@> $?Im Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.705878杒w,J"A2 l@Y2(z@2in9230=y2H?@@H5\?ލ?F1?`?ɨ2 l@2;2CyB~BBIIJIJv35٢zF½ zM=9>  G٣ y   > Nusing accuracyPremultiplier from config49s?%4Ys\ iyB!%%?C;;H4) 5_A1ZjYeFNOT Ignoring new targets: 362.50 m.Bje Jje u ProNav: ac range: 362.500000 m, nav range: 45.701378 m, bearing: 79.704328 deg, approach rate: 0.419203 m/s, LOS rate: -0.484661 deg/s, cmd heading: 219.232502 deg, new cmd heading: 218.653807 deg. 2juOHeadingCmd: 3.816229 target range: 362.500000 and range: 362.50 m. j=t@jjjihhhhfffrfbf[@ɛ}B < y`>I ޻ɚiIn=Iii=)=t@)E*Fm?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=2.960183JJJ1JJ;Jz:J3JJ]<J]<J;J;GŠ}=GrAGrAGiByO> I ǘw,d"AWill construct direction to contact in vehicle frame from tetrahedron phase data.iBDAT read: Rx Time:21:22:16.4603 TRx dataTimestamp_ set to:1736371337.581375checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211642%k@Y%y@%9%=y%H!j?ֲa@9?? ,ν?`?ɨ%k@%8;%Cy=O~B=eIMb@Mb@Mb@ )YGz?I +ktyp?9 0A @)@I@y@II65٢f 3=9B5 G٣@Gy > Nusing accuracyPremultiplier from config49s? 4Ya iyB ?5:55?C7;v;P49 =nAEtEZjFNOT Ignoring new targets: 362.50 m.BjJj ProNav: ac range: 362.500000 m, nav range: 45.929089 m, bearing: 79.486152 deg, approach rate: 0.479976 m/s, LOS rate: -0.457598 deg/s, cmd heading: 218.653808 deg, new cmd heading: 218.002554 deg. 2jHeadingCmd: 3.804862 target range: 362.500000 and range: 362.50 m. j݂s@jjjihhhh|BfffrfbfU8 @ɛ}B*; q>I ٻɚiID==I؜iiB=)݂s@)!*F?2F:FBF0JFGj=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.461963Gy)Ž= ZHRH?AHI I!IIBI&I.I6Ib<:IFBIqJIqRIqZIqbIqjIuȗ3B! zK0N= GK9KKQ i Y y =BK]8!BK qA:K O >w,~"AB@Zk@YBxy@B▻9B=yBHE ?=D ? Or?@ѻ? f?ɨB@Zk@Bn;BCyJ~BJ9IIVIVS<5٢Z@S ^m= %$?I!9^k MNusing accuracyPremultiplier from configIU49M@ts?U4YMJe iMyBy}p?MCM;M;MV4 AZjFNOT Ignoring new targets: 362.50 m.BjJj E ProNav: ac range: 362.500000 m, nav range: 46.099102 m, bearing: 79.322730 deg, approach rate: 0.480277 m/s, LOS rate: -0.459953 deg/s, cmd heading: 218.002549 deg, new cmd heading: 217.514105 deg. 2jEԝMHeadingCmd: 3.796337 target range: 362.500000 and range: 362.50 m. jM1r@jIjQjQiQhYhYhYhYfafafarfabfm@ɛ}Bڹ :=I KػɚiI3=I(iis=)1r@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.714067) E*F 2F :F BF o0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:22:16.4603 LVL= 18784, 32753, 25314, 32755, AGC= 67, IDX= 429, 0.43,-0.338,-2.247,-1.781,-1.303, PHS= 1.053,-0.897,-0.481, RAW= 101.7, 3.7, CAL= 112.2, 1.6, ROT= 37.8, -1.6 - Ygot valid direction response: 21:22:16.4603 LVL= 18784, 32753, 25314, 32755, AGC= 67, IDX= 429, 0.43,-0.338,-2.247,-1.781,-1.303, PHS= 1.053,-0.897,-0.481, RAW= 101.7, 3.7, CAL= 112.2, 1.6, ROT= 37.8, -1.6 5 PDAT read: Bearing 37.8, -1.6 (Local) = ~Local bearing/azimuth received: Bearing 37.8, -1.6 (Local) M DAT read: Range 10 to 50 : 362.1 m (Round-trip 482.9 ms) speed 0.0 m/s U ,DAT read: user:1705>  BDAT read: Tx time:21:22:17.5733  $Ping request sent. ?)  G٣@GWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:22:17.5725 y > %Nusing accuracyPremultiplier from config-49]s?-4Yl iyB5/?5:5 5?3C;;`49 mBAmwEkP'wr?kld k kA~"A:k CBkγCZkG?"~T%JOvNPm@20v@NƿN*ܭɷbD`?Jk:})Rk#ȯ*Ln*GX@V'u@@{&Hi ??"kB*k?0kur?kH 2k!) -G٣)y-Y ->=Will construct direction to contact in vehicle frame from tetrahedron phase data. ENusing accuracyPremultiplier from configAM49EIs?M4YE"s iEyBQ]]?E_CEhH;EH;Ei4esB eWAe{EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 362.10 m.BjSJjS ProNav: ac range: 362.100006 m, nav range: 96.869728 m, bearing: 86.455274 deg, approach rate: 0.542909 m/s, LOS rate: -0.285584 deg/s, cmd heading: 216.706562 deg, new cmd heading: 216.301045 deg. 2jCHeadingCmd: 3.775165 target range: 362.100006 and range: 362.10 m. jOq@jjjihhhhfffrfbf ?ɛ}B, *=mI 1ٻɚiIy=Ie iJ J J% J% J! J! J% ;J% |:J! J! w,'"AybZ}BbIUMb@Mb@Mb@QQQ Q)QYUS?#~j?I +yU/=?U=U9U`@ Ub@)QIUC@QyU@ImIm15٢}C }E=9}Q }> G٣y > Nusing accuracyPremultiplier from config497s?4Y)y iyBf>?:D?C.+;(;p4 3A $?I\gZjFNOT Ignoring new targets: 362.10 m.BjpJjp ProNav: ac range: 362.100006 m, nav range: 97.110878 m, bearing: 86.343016 deg, approach rate: 0.581545 m/s, LOS rate: -0.270043 deg/s, cmd heading: 216.301040 deg, new cmd heading: 215.965106 deg. 2jT9 HeadingCmd: 3.769302 target range: 362.100006 and range: 362.10 m. j ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490492w,"AjH"<bH"<H$I$ I&eII&O~BI$&I$.I&5D6I&G<:I&FvQRh@Yv qv@v<9v3;=yvH H ? BF?`c?_?ɨvQRh@v;vCyUK}BUIzK]RIK]+9KYK]K]IuIu@5٢  I=9 G٣@GywQ > Nusing accuracyPremultiplier from config49v&s?4Y~ iyB?C:G:w4 mA~EZjYeFNOT Ignoring new targets: 362.10 m.BjehJjeh} ProNav: ac range: 362.100006 m, nav range: 97.344048 m, bearing: 86.230423 deg, approach rate: 0.556837 m/s, LOS rate: -0.268240 deg/s, cmd heading: 215.965104 deg, new cmd heading: 215.628140 deg. 2j}8HeadingCmd: 3.763421 target range: 362.100006 and range: 362.10 m. jp@jjjihhhhfffrfbf@ǹ?ɛ}B` Q I }ɚiI7=IC!im$]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.742644Nw,7#A2wg@Y2u@2m<92Z$=y2Hx?q8Ñ?J?`?ɨ2wg@2£;2CyN9}BRIIZIZ=X5٢z? zT=9zM G٣y   > Nusing accuracyPremultiplier from config49s?4Yk tIi|yB!%z%?C;;~4) -A)ZjQUFNOT Ignoring new targets: 362.10 m.Bju Jju  ProNav: ac range: 362.100006 m, nav range: 97.563789 m, bearing: 86.122035 deg, approach rate: 0.593781 m/s, LOS rate: -0.292226 deg/s, cmd heading: 215.628143 deg, new cmd heading: 215.303713 deg. 2jHHeadingCmd: 3.757759 target range: 362.100006 and range: 362.10 m. jp@jjjihhhhfffrfbf?ɛ}B} "I ɚiI=I!iQ&e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246534/w,*#AFuf@YFlt@F<9F]&=yFH@W? ,@؉?E/??ɨFuf@F ;FCyb:}BbIUMb@Mb@Mb@QQQ Q)QYU"~j?ʡE?QyUSC?U=UuU@ U@)U@IU@QyUQ@ImImJ5٢5; A=9s/ G٣y > Nusing accuracyPremultiplier from config49Gs?4YŠ ioyBE?:?C;;4 AEZjFNOT Ignoring new targets: 362.10 m.Bj⟻Jj⟻ ProNav: ac range: 362.100006 m, nav range: 97.819031 m, bearing: 86.003618 deg, approach rate: 0.604165 m/s, LOS rate: -0.279565 deg/s, cmd heading: 215.303709 deg, new cmd heading: 214.949390 deg. 2j?HeadingCmd: 3.751575 target range: 362.100006 and range: 362.10 m. jp@jjji h h h h{Bfffrfbf3@ɛ}BYǒ %I ]ɚ)i)I-R=I5"i5 (w,GD#A24me@Y2s@2<<926=y2H|1?v5?`|`??ɨ24me@22;0y:>}B:IIVIVS5٢f8< jW=9n9tt zG٣z@Gy~+ >%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751372 -Nusing accuracyPremultiplier from config549r?54Y| ibyB9=E?"C;U=;4MqB UAUEmB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 362.10 m.Bj%Jj%5 ProNav: ac range: 362.100006 m, nav range: 98.050232 m, bearing: 85.893478 deg, approach rate: 0.562759 m/s, LOS rate: -0.267456 deg/s, cmd heading: 214.949386 deg, new cmd heading: 214.619749 deg. 2j57]HeadingCmd: 3.745821 target range: 362.100006 and range: 362.10 m. j]o@jYjYjYiYhahahahafififirfibfm@ɛ}B= %I ɚiI=I,d"ix*lAw,n^#AyR}B I m$?IiMb@Mb@Mb@ )YK7A`?q= ףp?{GzyK?=#@ )@I@y\@IIN5٢-{.= 56=95Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configI49Mdr?4YMA iMUyB%M?:T?MOCM @ɛ}B 隍I ɚiI>=I "iIS, Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:22:20.4735  TRx dataTimestamp_ set to:1736371341.864554 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507533mw,Rx#AZHRH@AHI I II}BI&I.I6I<:IMFJRJPJPJPJRM;JPJPJPJR\`JK9KKK "@U*<G<) {upqpmkhihgc[TTPMPNLLMIC??@=9ac@Yuq@N=925=yH``?媿g7 ߃?Ȣ?@M?ɨac@ʓ;騕Cy~}BIIIDP5٢h= M=9 )I MG٣IyU砽 U> ]Nusing accuracyPremultiplier from configYe49]r?e4Y]D i]FyBam_m?]yC]:]:]4q uAuEZjFNOT Ignoring new targets: 362.10 m.BjJj ProNav: ac range: 362.100006 m, nav range: 98.569328 m, bearing: 85.636660 deg, approach rate: 0.629337 m/s, LOS rate: -0.320022 deg/s, cmd heading: 214.225004 deg, new cmd heading: 213.851345 deg. 2j[HeadingCmd: 3.732410 target range: 362.100006 and range: 362.10 m. jn@jjjihhhhfffrfbfW @ɛ}BGw `O=ZܽI ɚiIvG=IM?#iMc-/w,#AFb@YFp@F=9F3x,=yFH@n@*}? ߻^@ ?`4? ?ɨFb@F̴;FCyR}BRIdfAnWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:22:20.4735 LVL= 20464, 28433, 21730, 22339, AGC= 67, IDX= 68,-0.20, 0.541,-1.483,-1.164,-0.635, PHS= 1.264,-0.801,-0.531, RAW= 96.9, 0.7, CAL= 106.0, -3.0, ROT= 44.0, 3.0 Ygot valid direction response: 21:22:20.4735 LVL= 20464, 28433, 21730, 22339, AGC= 67, IDX= 68,-0.20, 0.541,-1.483,-1.164,-0.635, PHS= 1.264,-0.801,-0.531, RAW= 96.9, 0.7, CAL= 106.0, -3.0, ROT= 44.0, 3.0 %PDAT read: Bearing 44.0, 3.0 (Local) -~Local bearing/azimuth received: Bearing 44.0, 3.0 (Local) =DAT read: Range 10 to 50 : 372.0 m (Round-trip 496.0 ms) speed 0.4 m/s E,DAT read: user:1706> MBDAT read: Tx time:21:22:21.5717 M$Ping request sent.M G٣@Gy > Nusing accuracyPremultiplier from config49Rr?4Y i6yB=?C<<L4 Akn u?kn[i kl kn#A:knCBknCZknբ?"nU0QD:w@nݰd ^?JknyARkn*no#@v/#w?@}(w@n$?]p?tUä?"knA*knAknIu?knmd 2knCklklklknBkn??] addTargetRange:: Added new target pos. range: 372.000000 m, deltaT: 4.032073 s, deltaX: 9.899994 m, approachRate: 2.455311 m/s, rangeRepo size: 4 I Added new target pos. range: 372.000000 m, bearing: 72.888507 deg, lat: 36.904147 deg, lon: -122.113892 deg, deltaT: 4.032073 s, deltaX: 9.899994 m, approachRate: 2.455311 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 372.00 m.BjJj ProNav: ac range: 372.000000 m, nav range: 98.832108 m, bearing: 85.499971 deg, approach rate: 0.000000 m/s, LOS rate: -0.320022 deg/s, cmd heading: 213.851351 deg, new cmd heading: 213.324666 deg. 2j=HeadingCmd: 3.723218 target range: 372.000000 and range: 372.00 m. j=3In@j9j9j9i9hAhAhQhQfQfQfrf@w@bf (?ɛ }B J  ZI  ɚiQIUF=I]#i].Xw,#A6a@Y6o@6k#=96==y6HG)?G6ZNق?@ l@z?`?ɨ6a@6;6CyF}BF)I-Mb@Mb@Mb@))) )))Y-y&1?K?Mb?y-`E?-^=-<) -@)-@I-@)y-@IE|IEb(5٢u=> u@=9} ;Q }>y G٣y > Nusing accuracyPremultiplier from config49Cr?4Y i.yBF?:?C;;ͪ4 AE9GtAWill construct direction to contact in vehicle frame from tetrahedron phase data.AZj 5bY5tAy5B=FNOT Ignoring new targets: 372.00 m.Bj=BٻJjEBٻHiIi Im@IIm~BIi&Ii.Ii6Imb<:ImFBIJIRIZI% =bI% =jIԔ4 ProNav: ac range: 372.000000 m, nav range: 99.071793 m, bearing: 85.365905 deg, approach rate: 0.680804 m/s, LOS rate: -0.379882 deg/s, cmd heading: 213.324662 deg, new cmd heading: 212.923442 deg. 2jZHeadingCmd: 3.716215 target range: 372.000000 and range: 372.00 m. jxm@jjjihhhh{Bfffrfbf =?J#K+(3 K+(.K#K#"K#J J J J J J z:J J J J J ;J ;ɛu}Bu y} Iy }/ɚyiI=IIw,#A6D)a@Y6Go@6#=96/=y6Hp@?:`w@ ? s`??ɨ6D)a@6;6CyR&~BRLIIZIZ3A5٢b> b[=9bk9Q b>dd fG٣dyj)Ƽ j> rNusing accuracyPremultiplier from configlv49nr?v4Ynl in'yBtv[v?nCn;n2:n94| ~A~EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 372.00 m.Bj-c»Jj-c»= ProNav: ac range: 372.000000 m, nav range: 99.275642 m, bearing: 85.250608 deg, approach rate: 0.602190 m/s, LOS rate: -0.339897 deg/s, cmd heading: 212.923443 deg, new cmd heading: 212.578268 deg. 2j=DiEHeadingCmd: 3.710191 target range: 372.000000 and range: 372.00 m. jEsm@jAjAjIiIhIhIhIhQfQfQfQrfQbf?ɛ=}BE" AE5=IA EAɚAiIIMJ=IM$iQiUQ=)Usm@)q*F ?2F :F BF0JFG1=GBOH>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. $?I w,P#A2`@Y2rn@2˅'=927H=y2H ܘ`t?,G` i?:錄 ?_?ɨ2`@2%;2CyNQ~BRgI V=V!?5Mb@Mb@Mb@111 1)1Y5V-?{Gz?Q?y5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247373 G٣@Gyh > Nusing accuracyPremultiplier from config49Dwr?4Y i!yB >=? :   ?C;Y;޸4oB 6AEZj9EFNOT Ignoring new targets: 372.00 m.BjEJjEm ProNav: ac range: 372.000000 m, nav range: 99.490211 m, bearing: 85.111135 deg, approach rate: 0.492077 m/s, LOS rate: -0.319166 deg/s, cmd heading: 212.578272 deg, new cmd heading: 212.160764 deg. 2jm [uHeadingCmd: 3.702904 target range: 372.000000 and range: 372.00 m. jual@jqjyjyiyhyhhhz|Bfffrfbf@?ɛ}B =I ɚiI=IT#%i/[<J ;J ;zKU sMKU 9KQ KU KU BKa :Ke pAG Л= IGBO>w,$A>`@Y>-n@>X*=9>i=y>Haq? 찿@@~?4\.??ɨ>`@>H{;>CyJ~BJIIRIRV85٢ZSF> Z5=9^c:Q ^>\\ bG٣`ybg b> rNusing accuracyPremultiplier from configlz49n`r?~4Yn inyB| ?nICn;n˚;n4 AEZj1=FNOT Ignoring new targets: 372.00 m.BjEAJjEAU ProNav: ac range: 372.000000 m, nav range: 99.709763 m, bearing: 84.966964 deg, approach rate: 0.483709 m/s, LOS rate: -0.316934 deg/s, cmd heading: 212.160770 deg, new cmd heading: 211.729218 deg. 2jUY]HeadingCmd: 3.695372 target range: 372.000000 and range: 372.00 m. j]l@jYjYjYiYhahahahafififirfibfm?ɛ}Bdy; 隵+>I  ɚ9i9I=n=IE%iAiEp`=)El@)ImWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752887EXR=*F)2F):F)BF-0JF)G3;=GBOg> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002486*J% C="J% 4=w,#$A)_@Ym@nP/=9=yHz@t3?`ZKaٟ?@W西 {?{?ɨ)_@;Cym~BmIII55٢> := =$?II9;Q > G٣y8 > Nusing accuracyPremultiplier from config49nIr?4Y iyB!?uC;;Ȋ4 AEZjFNOT Ignoring new targets: 372.00 m.BjJj󷻝 ProNav: ac range: 372.000000 m, nav range: 99.931793 m, bearing: 84.819724 deg, approach rate: 0.486106 m/s, LOS rate: -0.321645 deg/s, cmd heading: 211.729212 deg, new cmd heading: 211.288482 deg. 2j \HeadingCmd: 3.687680 target range: 372.000000 and range: 372.00 m. jl@jjjihhhhf!f!f!rf!bf%]@ɛ~B/; k>I ɚiI)=I&ib0Jw,;$Aft^@Yf,l@f%2=9fg=yfH@;?5 ?@B`C??ɨft^@f ;fCy2BIzK KK9KKKEMb@Mb@Mb@AAA A)AYEV-?MbI +?yE-?EE9 u#=9}ǽ:Q }>yy G٣@Gyɼ > Nusing accuracyPremultiplier from config491r?4YI iyB-?:&?CQ;;ъ4 AZjFNOT Ignoring new targets: 372.00 m.Bj%Jj% $?I^g ProNav: ac range: 372.000000 m, nav range: 100.121780 m, bearing: 84.669081 deg, approach rate: 0.398011 m/s, LOS rate: -0.314989 deg/s, cmd heading: 211.288487 deg, new cmd heading: 210.837424 deg. 2j,XHeadingCmd: 3.679807 target range: 372.000000 and range: 372.00 m. jk@jjjihhh h }Bf f f rfbf@Z@ɛ=~B=bJ< 9=>IA E2߻ɚAiAIEr=IM&iM11w,uU$AJs^@YJzl@J0=9J鋢=yJH`,@@?s +@?@0G??ɨJs^@JbV;JCyZBZ$IIbIby/5٢j\m> ji=9nvQ n>lp rG٣pyri r> zNusing accuracyPremultiplier from configtz49v r?~4Yvq iv yB|~8'~?vCv ;v ;v>׊4 fA EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010418B*** querying acoustic contact ***jjZj =FNOT Ignoring new targets: 372.00 m.Bj=Jj=m ProNav: ac range: 372.000000 m, nav range: 100.260429 m, bearing: 84.558663 deg, approach rate: 0.366167 m/s, LOS rate: -0.291206 deg/s, cmd heading: 210.837421 deg, new cmd heading: 210.506630 deg. 2juGuHeadingCmd: 3.674034 target range: 372.000000 and range: 372.00 m. ju_#k@jyjyjyiyhyhyhhfffJ@AJ?ArfbfQ}@ɛ~BF< )-3>I) -mջɚ)i)I- =IEV&im1M Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:21:22:24.4681 ] TRx dataTimestamp_ set to:1736371345.646198e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265129Yw,Șo$AJG^@YJcfl@J2.=9J:=yJH U8F?6@c? ?7?ɨJG^@J?;JCyVBV?IMb@Mb@Mb@ )YV-?sh|?I +?y?QA C@)QAI-@y@II"25٢[= <=9ȺQ > G٣yRʻ > Nusing accuracyPremultiplier from config49 r?4YO iyBu?:}.?Cc;;ފ4 A EZj15FNOT Ignoring new targets: 372.00 m.Bj=Jj=M ProNav: ac range: 372.000000 m, nav range: 100.392426 m, bearing: 84.424320 deg, approach rate: 0.323414 m/s, LOS rate: -0.328731 deg/s, cmd heading: 210.506635 deg, new cmd heading: 210.104143 deg. 2jMaUHeadingCmd: 3.667009 target range: 372.000000 and range: 372.00 m. jUGj@jQjQjQiYhYhYhYh]s~Bfafafarfabfm@ @ɛ ~BI ʻɚiI=Ioo'ii=)Gj@)*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=3.515440ZHRHAAHI I@IIBI& =&I.I6I<:I(FzKJK9KKK&,  GG?G? IGa Bq O >e Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:22:24.4681 LVL= 12528, 32433, 20978, 32755, AGC= 60, IDX= 397, 0.13,-1.692,-2.893, 3.120,-2.736, PHS= 1.132,-0.110,-0.430, RAW= 78.8, -8.3, CAL= 88.9, -17.1, ROT= 61.1, 17.1 1"w,Ȋ$AYgot valid direction response: 21:22:24.4681 LVL= 12528, 32433, 20978, 32755, AGC= 60, IDX= 397, 0.13,-1.692,-2.893, 3.120,-2.736, PHS= 1.132,-0.110,-0.430, RAW= 78.8, -8.3, CAL= 88.9, -17.1, ROT= 61.1, 17.1 &PDAT read: Bearing 61.1, 17.1 (Local) *~Local bearing/azimuth received: Bearing 61.1, 17.1 (Local) :DAT read: Range 10 to 50 : 369.1 m (Round-trip 492.2 ms) speed 0.5 m/s ^,DAT read: user:1707> zBDAT read: Tx time:21:22:25.5717 $Ping request sent.gy?d7j.?^F{?yC0~ Q)I<i`?GὩ(ܾx ?V ?)ΘI?iΘ>w?& S1f¿)7In>i?B=:publishing transmit ping timeر=Fpublishing direction and range info9>gy?d7j.?^F{?y )Ii )Iiw?& S1f¿)Iiy B bII5I5/5٢= )=9Q > G٣@Gy > Nusing accuracyPremultiplier from config49^q?4Y iyBe?Cfq<q<p4i mAikD]q?k k k*$A:kCBkHCZkL)@"VwE@@ڒ6Z@(Uv@>gy?d7j.?^F{?Jk?RkB*kx)VVq䩑\v@--s#لqϿ9F?"kW*kakh+\q?kqeJ 2kCkkkkBkD?% addTargetRange:: Added new target pos. range: 369.100006 m, deltaT: 3.781581 s, deltaX: -2.899994 m, approachRate: -0.766873 m/s, rangeRepo size: 4 5 Added new target pos. range: 369.100006 m, bearing: 268.862801 deg, lat: 36.904147 deg, lon: -122.113892 deg, deltaT: 3.781581 s, deltaX: -2.899994 m, approachRate: -0.766873 m/s, posRepo size: 4 Zjy}FNOT Ignoring new targets: 369.10 m.BjJj ProNav: ac range: 369.100006 m, nav range: 100.541786 m, bearing: 84.273397 deg, approach rate: 0.000000 m/s, LOS rate: -0.328731 deg/s, cmd heading: 210.104146 deg, new cmd heading: 209.590626 deg. 2jHeadingCmd: 3.658046 target range: 369.100006 and range: 369.10 m. joj@jjjihhhhfffrfw@bf@?ɛM~BM< IMl>II MWɚqiqIuC^=I}F(i}2M)w,$AUWill construct direction to contact in vehicle frame from tetrahedron phase data.y]B]uIMb@Mb@Mb@ )YB`"?ףp= ÿQ?y?u<A )AIZ@yG@I]I5٢= C=9Q > G٣y > ENusing accuracyPremultiplier from configAM49Eq?M4YEN iExBUN?U:U&7U?E%CE ;ET;E4 XAEZjFNOT Ignoring new targets: 369.10 m.BjoJjoE ProNav: ac range: 369.100006 m, nav range: 100.632004 m, bearing: 84.145087 deg, approach rate: 0.224494 m/s, LOS rate: -0.318997 deg/s, cmd heading: 209.590625 deg, new cmd heading: 209.206044 deg. 2jEZMHeadingCmd: 3.651334 target range: 369.100006 and range: 369.10 m. jMvi@jIjIjIiIhQhQhYh]~BfYfYfarfabfeAQ?ɛ~B%< )=隕>I ɚiI=I?p(i4Will construct direction to contact in vehicle frame from tetrahedron phase data.H @>I  I II BI % =&I .I 6I /<:I F-0w,$A:]@Y:k@:=9:E^=y:H6b 6_?u@"Zy?2j`??ɨ:]@:*;8yFBFIzKN[BLKN59KLKNKNRKV?JKV?IVgIV5٢^q= bw=9bDwQ b?dd fG٣dyf@ f? pIp nNusing accuracyPremultiplier from confighv49jq?v4Yj ijxBxz7z?j=Cj/t;jst;je4| ~AZj!%FNOT Ignoring new targets: 369.10 m.Bj-õJj-õ= ProNav: ac range: 369.100006 m, nav range: 100.700081 m, bearing: 84.046177 deg, approach rate: 0.218894 m/s, LOS rate: -0.317818 deg/s, cmd heading: 209.206044 deg, new cmd heading: 208.909517 deg. 2j=ZEHeadingCmd: 3.646159 target range: 369.100006 and range: 369.10 m. jEZi@jAjAjIiIhIhIhIhQfQfQfYrfYbf]?ɛ~BI= 隅?I !ɚiI؋=I (ii'=)Zi@)*F-?2F1:F1BF5_0JF1uWill construct direction to contact in vehicle frame from tetrahedron phase data.G %=G!G%nAGBO5> Will construct direction to contact in vehicle frame from tetrahedron phase data.W6w,$A2]@Y2ԩk@2 =92,=y2H`7k`Q?ou@#aอ?B `t??ɨ2]@2;2CyjBjIJrJr JpJpJr;Jrun:JpJpI BI 5٢< E=94Q %>!! %G٣%AGy-- -> 5Nusing accuracyPremultiplier from config1=495q?=4Y5M i5xBAE7E?5\C5P ;5 ;54MmB MAMEmB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 369.10 m.Bj6Jj6 ProNav: ac range: 369.100006 m, nav range: 100.787857 m, bearing: 83.918754 deg, approach rate: 0.211227 m/s, LOS rate: -0.306367 deg/s, cmd heading: 208.909518 deg, new cmd heading: 208.527588 deg. 2jARHeadingCmd: 3.639493 target range: 369.100006 and range: 369.10 m. jth@jjjihhhhfffrfbf '?ɛ ~B v<  ?I  ŕɚiI5=IA2)i:5 G٣y: > Nusing accuracyPremultiplier from config49q?4Y{ ixB ?:\=?{C;;4jH<bH<HI IIIIBI&I.I6I<:I,FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.689434BIJIRIZIbIjI4 AEZjFNOT Ignoring new targets: 369.10 m.Bj`Jj%` ProNav: ac range: 369.100006 m, nav range: 100.858505 m, bearing: 83.784294 deg, approach rate: 0.154799 m/s, LOS rate: -0.294412 deg/s, cmd heading: 208.527588 deg, new cmd heading: 208.124497 deg. 2j JHeadingCmd: 3.632458 target range: 369.100006 and range: 369.10 m. j0zh@jjjihhhhyBfffrfbfE?ɛ~Bʹ< !%?IA EɚIiIIM=IM)iU6GABIOe? Dw,%ABh]@YBk@B\ =9B:=yBHt@C?``hg :h@? ?X?ɨBh]@B Ќ;@yN BN~IIVIVy/5٢^G  b6=9bɺQ b>dd fG٣dyfv j> nNusing accuracyPremultiplier from configlr49n,q?r4Yn inxBpr}=r?nCnP:n.:nW 4x z AxZjFNOT Ignoring new targets: 369.10 m.Bj%魻Jj-魻= ProNav: ac range: 369.100006 m, nav range: 100.928894 m, bearing: 83.650559 deg, approach rate: 0.160163 m/s, LOS rate: -0.304089 deg/s, cmd heading: 208.124497 deg, new cmd heading: 207.723580 deg. 2j=PEHeadingCmd: 3.625460 target range: 369.100006 and range: 369.10 m. jEh@jAjAjAiAhAhIhIhIfQfQfQrfQbf]`ȿ@ɛ}!~B*< 隅>I HpɚiIs=I+*i78 I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.445608TKw,e.%Ay~B~lIMb@Mb@Mb@ )YV-?!rh̿{Gzy|>lgף Z@)I@yz@II75٢i ;=9Q > G٣AGy > Nusing accuracyPremultiplier from config495q?4Ya ixBT ?:A?C;1;4 AEZj1=FNOT Ignoring new targets: 369.10 m.Bj=֫Jj=֫M ProNav: ac range: 369.100006 m, nav range: 100.982948 m, bearing: 83.518702 deg, approach rate: 0.123240 m/s, LOS rate: -0.300465 deg/s, cmd heading: 207.723579 deg, new cmd heading: 207.328225 deg. 2jM4NUHeadingCmd: 3.618560 target range: 369.100006 and range: 369.10 m. jU}g@jQjYjYiYhYhYhaheVBfafafarfibfmm@@ɛ%~Bp;< 隝>I /VɚiI=I8*ia9Sw,M%AB &]@YBDk@B<9BV=yBH@))?7@Jxy n?@~?f?ɨB &]@BTj;@yZB^VIIvIv:5٢-͝ -3=9-Q ->11 5G٣1y= => MNusing accuracyPremultiplier from configAU49E[lq?U4YE iExBQUAU?ECEl;E;E4a eAeEZjFNOT Ignoring new targets: 369.10 m.BjlJjl ProNav: ac range: 369.100006 m, nav range: 101.038948 m, bearing: 83.381072 deg, approach rate: 0.122739 m/s, LOS rate: -0.301486 deg/s, cmd heading: 207.328220 deg, new cmd heading: 206.915568 deg. 2jNHeadingCmd: 3.611358 target range: 369.100006 and range: 369.10 m. j} g@jjjihhhhfffrfbfT@ɛ*~B4< )>I ԙ=ɚiI=I9*i; $?I EYw,f%A6m\@Y6%k@6n<96 =y6H൑@`?7]N2?q ?`%?ɨ6m\@6;4yRBV*IMMb@Mb@Mb@III I)IYM\(\?|?5^ʿV-yM>MRMM7A M@)MAIM@IyM@IuIuP@5٢ $  ==9Will construct direction to contact in vehicle frame from tetrahedron phase data.!i%A-BDAT read: Rx Time:21:22:28.4522 5TRx dataTimestamp_ set to:1736371349.678692=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.456182Q U>QY ]G٣Yy]ʻ ]> mNusing accuracyPremultiplier from configam49eXq?m4Ye ie}xBF?:6@?eCe9kIA E(ɚAiAIm/=Iml+iu>Iq  Iu IIu :BIq &Iq .Iq 6Iu 1<:Iu F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.705558G }z=G B O >-0`w,ʀ%A2\@Y2j@2 <92=4=y2H`?@?5K? X? ^?ɨ2\@2;0y>VB>IIJIJS<5٢Rk Rd=9RDQ V>TT VG٣VAGyZC5 Z> Nusing accuracyPremultiplier from config| 49~Iq? 4Y~ i~fxB =$?I9=v@E?~C~<~;~(4I MAMEzKBIK9KKKBKqA:KrAZjFNOT Ignoring new targets: 369.10 m.BjiJji ProNav: ac range: 369.100006 m, nav range: 101.145081 m, bearing: 83.149416 deg, approach rate: 0.135226 m/s, LOS rate: -0.296221 deg/s, cmd heading: 206.533186 deg, new cmd heading: 206.220979 deg. 2jKKHeadingCmd: 3.599235 target range: 369.100006 and range: 369.10 m. jYf@jjjihhhhfffrfbfm@ɛ-3~B5t< 15q>I1 5`ɚ9i9I=(=I=+iEǟ? BDAT read: Tx time:21:22:29.5718 $Ping request sent.%m69?4|[QNq?)%f I%.Xi%@%\!!:publishing transmit ping timeFpublishing direction and range info!9%l=9.Q > G٣y3 > Nusing accuracyPremultiplier from config49p6q?4Yc iMxB@?,C4;4;L04 9Ak]/ ~?k]M kY k]腋%A:k]CBk]SCZk]@"] =E]3H@&-]u@]l< 隵S>I oɚiId=I(0,iAހlw,iq%A6,\@Y6 ߿`Ѭ?x4s??ɨ6,\@6;4y^~B^IMb@Mb@Mb@ )YHzG?K7A`ſ~jty= ?+DIA Q@)hAIy@II<55٢> G=9}HQ > G٣y= > Nusing accuracyPremultiplier from config49<#q?4Y i-xB8?::?JC&;X%;74  rA EZj1=FNOT Ignoring new targets: 357.10 m.Bj=n^Jj=n^M ProNav: ac range: 357.100006 m, nav range: 35.802715 m, bearing: 69.542527 deg, approach rate: 0.318490 m/s, LOS rate: -0.777855 deg/s, cmd heading: 205.849184 deg, new cmd heading: 204.911709 deg. 2jMu]HeadingCmd: 3.576384 target range: 357.100006 and range: 357.10 m. j]zd@jYjajaiahahahihmB~Bfififirfqbfu@h?ɛ<~B; 隥>I CM ɚiI=I;<-iiݛ=)zd@)H@>I IrIIBI&I.I6Ic<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFm_5JFiJJ JJJ-;Jbl:JJJ0WG =G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.ksw,V%A:![@Y:٫i@:2(<9:=y:H; ?@|K5߿@It?`zė?*?ɨ:![@:;:CyF~~BFIININ55٢V* V\=9ZQ Z>X\ ^G٣^AGy^%ż b> fNusing accuracyPremultiplier from config`f49bBq?j4Yb ibxBhjE;j?bdCb ;b ;b=4p rqApZjFNOT Ignoring new targets: 357.10 m.Bj{JJj{J ProNav: ac range: 357.100006 m, nav range: 35.914852 m, bearing: 69.265986 deg, approach rate: 0.288029 m/s, LOS rate: -0.708087 deg/s, cmd heading: 204.911713 deg, new cmd heading: 204.084742 deg. 2j򼝊HeadingCmd: 3.561951 target range: 357.100006 and range: 357.10 m. jc@jjjihhhhfffrfbf?ɛeA~Be I ; ae0t=Ia m2ɚiiiIm=I(.ii=)c@)*FM?2FI:FIBFM 5JFIG/=GBOI>Will construct direction to contact in vehicle frame from tetrahedron phase data. 9 IA “yw,k+%A:Z@Y:{i@:&y<9:5Z=y:H>?Z n޿@c ? f??ɨ:Z@:;:CyJ,~BJPIMb@Mb@Mb@ )Y7A`?)\(~jty?GόWill construct direction to contact in vehicle frame from tetrahedron phase data.3A h@)AI@yp@IUIU35٢e0 e2=9mp(Q m>iq uG٣qy} }> Nusing accuracyPremultiplier from config49Op?4Y4 iwB?:4?CT;R;F4 AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 357.10 m.Bj#[Jj#[ ProNav: ac range: 357.100006 m, nav range: 36.088673 m, bearing: 68.927883 deg, approach rate: 0.395888 m/s, LOS rate: -0.766339 deg/s, cmd heading: 204.084741 deg, new cmd heading: 203.075427 deg. 2j{HeadingCmd: 3.544335 target range: 357.100006 and range: 357.10 m. jbb@jjjihhhh}Bfffrfbf@?ɛ=E~B= r 9=pżI9 EɚAiAIEF=IMSI/iIiMܹ=)Ubb@)Q*F?2F:FBF4JFG6=jH <bH H) I)  I- II- bBI) &I) .I) 6I- )<:I- F 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 >J J J 2J J ;J lm:J c3J J X<J X<J ;J ;n{w,&A2x_Z@Y20~h@2<92=y2H *6?}ժ-޿` +@/5?ϷQ?&?ɨ2x_Z@2ᰋ;2Cy^}Bb'IdfAIjIj~N5 ~$?I٢8 c=9Q >!! %G٣!y%G̼ -> 5Nusing accuracyPremultiplier from config)=49-p?=4Y- i-wB9=5=?-C-* ;- ;-OL4I MAMEZjFNOT Ignoring new targets: 357.10 m.BjQJjQ- ProNav: ac range: 357.100006 m, nav range: 36.224155 m, bearing: 68.663459 deg, approach rate: 0.376840 m/s, LOS rate: -0.732732 deg/s, cmd heading: 203.075430 deg, new cmd heading: 202.285178 deg. 2j-ozK5RIK59K1K5K5O3UHeadingCmd: 3.530542 target range: 357.100006 and range: 357.10 m. j]ha@jYjYjqiqhqhqhyhyfyfyfrfbf3?ɛI~Ba I 6@ ɚiI§=IL+0ii=)ha@)*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993891G =GBOc>Ww,&A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244907y=}B=I*Jy"JyIUIU@T5٢=L C=9Q > G٣AGy > Nusing accuracyPremultiplier from config49 p?4Y iwB?C:G:S4 AZjFNOT Ignoring new targets: 357.10 m.BjOJjO ProNav: ac range: 357.100006 m, nav range: 36.382561 m, bearing: 68.358660 deg, approach rate: 0.378071 m/s, LOS rate: -0.724303 deg/s, cmd heading: 202.285177 deg, new cmd heading: 201.374842 deg. 2j  HeadingCmd: 3.514654 target range: 357.100006 and range: 357.10 m. j `@j jjihhhhfff!rf!bf%a@ɛmM~Bm.u quj8Iq }ɚyiyI}=I/1ii=)`@) $?I*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497026G% Ȅ=G B! OM >Όw,55&A %vAA m YmvAym B}xX@Y}f@}<9}=y}H Z?|ܿ`1@(? <{?4?ɨ}xX@}P;}Cyޕ:}BޕImMb@Mb@Mb@iii i)iYm#~j?~jt{Gzym%?mm#mA m;@)mQAIm@iym(@I}I}^5٢N ;=9jQ > G٣y > Nusing accuracyPremultiplier from configHA>IC III~BI&I.I6ID<:I FBIyJIyRIyZIybIyjI}2449p?4Y iwB|&?:/?CA<<F[4 }AEZj!%FNOT Ignoring new targets: 357.10 m.Bj-@IJj-@IE ProNav: ac range: 357.100006 m, nav range: 36.583344 m, bearing: 68.044603 deg, approach rate: 0.452435 m/s, LOS rate: -0.703793 deg/s, cmd heading: 201.374836 deg, new cmd heading: 200.437925 deg. 2jMuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748942HeadingCmd: 3.498302 target range: 357.100006 and range: 357.10 m. j-_@jjjihhhh|BfffrfbfS@ɛuQ~Bu夼 y}Iy }%i&ɚyiyI}2=JJJ0JJ-;Js:Jـ3JJ0W<J1W<Jy;Jy;I;2ii_=)-_@)*F]?2Fa:FaBFaJFa IG]B=G1B9Oe>zKuNKuh9KqKuKu+l@' Mhi2rZJ;2) % Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000839w,}O&AZ/W@YZe@Z~9<9ZK=yZH|`?-S@[ۿ@)ը?ՆG>??ɨZ/W@Z?;ZCyj}BjI r=r=IvIvb5٢~$ ~h=9~fQ > G٣y   > Nusing accuracyPremultiplier from config49]p?4Y9 iwB!%/%?C" ;e ;la4-lB -eA-EZjQUFNOT Ignoring new targets: 357.10 m.Bj]mQJjemQ ProNav: ac range: 357.100006 m, nav range: 36.743626 m, bearing: 67.791154 deg, approach rate: 0.465194 m/s, LOS rate: -0.732384 deg/s, cmd heading: 200.437925 deg, new cmd heading: 199.680943 deg. 2jPHeadingCmd: 3.485090 target range: 357.100006 and range: 357.10 m. j _@jjjihhhhfffrfbf@ɛT~BN Q=I u}4ɚ i I 5E =I 3ii"=) _@)*FQ2FQ:FQBFUo0JFQ}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252784JAAJBAG-=Gi Bq O > $?I w,i&Ay5|B5uIWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:22:32.4520 TRx dataTimestamp_ set to:1736371353.708736checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505982Mb@Mb@Mb@ )YV-? rh?L7A`堿yh1?C =+A h@)@I@y@I I a5٢ 9=9%Q %>!! -G٣-AGy- 5> =Nusing accuracyPremultiplier from config1=495p?E4Y5 i5ywBE1?E:E)E?5,C5!;5 ;5)i4Q UG AQuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 357.10 m.Bj?Jj? ProNav: ac range: 357.100006 m, nav range: 36.982323 m, bearing: 67.491237 deg, approach rate: 0.537191 m/s, LOS rate: -0.670608 deg/s, cmd heading: 199.680949 deg, new cmd heading: 198.787082 deg. 2j漝HeadingCmd: 3.469489 target range: 357.100006 and range: 357.10 m. j ^@jjjihhhh|Bfffrfbfv @ɛX~B% 隭 ȾI JɚiIm =I4ii=) ^@)*F?2F:FBFJFGu=GyGyG1B9OUu>ZH?ARH?AHI I'II}BI$ =&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756734JK3 KT.KK"KJ J J J J e ;J r:J J J U<J U<J ;J ;ɠw,QM&A2FU@Y2 d@2<92W[=y2H@1?s@.ڿ@+l?`B``f?`?ɨ2FU@2Q;2C B$?I@yR|BRRIIZIZm5٢f& fd=9fbQ f>l| ~G٣|y >  Nusing accuracyPremultiplier from config 49 p?4Y # i iwB=*=? LC F; y; o4A E*!AE´EzKuOKus9KqKuKu ZjFNOT Ignoring new targets: 357.10 m.Bj5Jj55 ProNav: ac range: 357.100006 m, nav range: 37.175121 m, bearing: 67.238937 deg, approach rate: 0.486382 m/s, LOS rate: -0.633188 deg/s, cmd heading: 198.787082 deg, new cmd heading: 198.034152 deg. 2j5Fټ=HeadingCmd: 3.456348 target range: 357.100006 and range: 357.10 m. j=4]@j9j9j9i9h9hAhAhAfAfIfirfqbf}@ɛ[~Bxt -I I+dɚiI!=I4ii=)4]@)Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 21:22:32.4520 LVL= 14480, 26897, 26738, 32147, AGC= 63, IDX= 423, 0.03, 0.152,-1.450,-1.683,-0.804, PHS= 1.044,-0.599,-0.882, RAW= 82.2, 4.9, CAL= 87.4, 4.0, ROT= 62.6, -4.0 UYgot valid direction response: 21:22:32.4520 LVL= 14480, 26897, 26738, 32147, AGC= 63, IDX= 423, 0.03, 0.152,-1.450,-1.683,-0.804, PHS= 1.044,-0.599,-0.882, RAW= 82.2, 4.9, CAL= 87.4, 4.0, ROT= 62.6, -4.0 *Fe?2Fi:FiBFm0JFiPDAT read: Bearing 62.6, -4.0 (Local) ~Local bearing/azimuth received: Bearing 62.6, -4.0 (Local) DAT read: Range 10 to 50 : 357.0 m (Round-trip 476.0 ms) speed 0.2 m/s ,DAT read: user:1709> BDAT read: Tx time:21:22:33.5718 $Ping request sent. w,*&A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&JDAT read: TxSync time:21:22:33.5710 >T@Y>c@>ޙ<9>YH=y>Hb=?/RٿN]0?`;?`?ɨ>T@>=Y;>CyNu|BNBITTIZIZ_5٢r,{ rH=9vDQ v>tt zG٣xyzq z> ENusing accuracyPremultiplier from configAM49E2pp?M4YEu iEVwBIM+M?EpCE;E;Ev4 !Ak%)#?k%':k k! k%i&A:k%CBk%FCZk%7@"%wAM^U@YBNTu@% Ŀ=c2?Cj3?Jk%Jk @Rk%h碿*%ΕR@0BE鸛6u@%jh?GҘ{_|?"k%/*k%Bk%O?k%q,s 2k%Ck%Iu?k%/i k!k%؄Ak%<- addTargetRange:: Added new target pos. range: 357.000000 m, deltaT: 4.033478 s, deltaX: -0.100006 m, approachRate: -0.024794 m/s, rangeRepo size: 4 ] Added new target pos. range: 357.000000 m, bearing: 329.840989 deg, lat: 36.904165 deg, lon: -122.115029 deg, deltaT: 4.033478 s, deltaX: -0.100006 m, approachRate: -0.024794 m/s, posRepo size: 4 ZjYeFNOT Ignoring new targets: 357.00 m.BjeJja ProNav: ac range: 357.000000 m, nav range: 16.605686 m, bearing: 1.054010 deg, approach rate: 0.000000 m/s, LOS rate: -0.633188 deg/s, cmd heading: 198.034150 deg, new cmd heading: 197.277908 deg. 2jHeadingCmd: 3.443149 target range: 357.000000 and range: 357.00 m. j\\@jjjihhhhfffrfPv@bfs?ɛ]^~B]G aetIa e|ɚaiaIep"= u$?Iu`gI(5iiWr=)\\@)E[1= Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fi 2Fi :Fi BFm m0JFi G %=GaByO>g=w,&AH I  III[}BI &I .I 6I<:I FFK"T@YFAb@FɊ<9FD:=yFHmy?@@ؿ ^;? Y:V? O?ɨFK"T@F;DyjW|Bj/I5Will construct direction to contact in vehicle frame from tetrahedron phase data.}Mb@Mb@Mb@yyy y)yY}Zd;?333333?Mby}9?}=}}hA }@)}`@I}@yy}=@II\5٢Zr #=9hpQ > G٣AGy׼ > Nusing accuracyPremultiplier from config49Up?4Y iJwB:?:8)?C;p;T4kB !AƴEZj FNOT Ignoring new targets: 357.00 m.Bjh<Jjh<% ProNav: ac range: 357.000000 m, nav range: 16.925920 m, bearing: 1.615706 deg, approach rate: 0.676355 m/s, LOS rate: 1.163872 deg/s, cmd heading: 197.277911 deg, new cmd heading: 198.930632 deg. 2j%G=HeadingCmd: 3.471994 target range: 357.000000 and range: 357.00 m. j(5^@jjjihhhhk{Bfffrfbfh?ɛ}a~Br 隍I H ɚiIF#=I-4ii=)(5^@) )I)zKAMK9KKK&?W~HG&RK?JK?EEXR=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF `0JF G ,A=GBO>}w,9&Ayz6|BzIII=X5٢5s =+=9=Q =>AA EG٣AyE E> UNusing accuracyPremultiplier from configQ]49U;p?]4YU_ iU=wBYY]?UCU\:Ui:U4Will construct direction to contact in vehicle frame from tetrahedron phase data.a }"A ɴEZjQUFNOT Ignoring new targets: 357.00 m.Bj]<Jje w,&Ayr@|Bv!I}Mb@Mb@Mb@yyy y)yY}S?Zd;?{Gzty}/=?}=}ף}A }@)}QAI}@yy}@IIN5٢< D=9Q > G٣y > Nusing accuracyPremultiplier from config49G%p?4Y i8wB??:c%?Cw;;4 U"A̴E B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 357.00 m.Bj%N<Jj-N<= ProNav: ac range: 357.000000 m, nav range: 17.510643 m, bearing: 2.650034 deg, approach rate: 0.689271 m/s, LOS rate: 1.268074 deg/s, cmd heading: 200.475833 deg, new cmd heading: 201.980548 deg. 2j=Y=EHeadingCmd: 3.525226 target range: 357.000000 and range: 357.00 m. jELa@jAjAjAiAhAhIhIhM~{BfIfQfQrfQbfU ?ɛ%g~B%M4 !% I! -ƭɚ)i)I-$=jHu<bHup<HyIy I}II}}BIy&Iy.Iy6I}J<:I}FIK`1ii<)La@)El>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FE?2FA:FABFM?5JFIG=GBO%n> ]$?IazKe NKe s9Ka Ke Ke e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996268/w,('AFV>Q@YF]_@F K<9F"=yFH?˛`տН? 鏿;??ɨFV>Q@FC;DyRG|BR%IIIm5٢=t< =O=9ELaQ E>AA EG٣MAGyMUPExceeded connect timeout, disconnecting. u> Nusing accuracyPremultiplier from config49Pp?4Y i3wBG(?C;;4 ;"AϴEZj-FNOT Ignoring new targets: 357.00 m.Bj5 <Jj= w,('AeWP@Yev^@e~|<9e =yeHT9? Bxտ@6`^?YТ?~?ɨeWP@e<;eCyUh|BU:IMb@Mb@Mb@ )Y ףp= ?rh|?{Gzt?yQ8?=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498747ף;QA @)AIy@I I a5٢t= 0=9Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1E495o?E4Y5 i1E:?E:E(E?5DC5#9;57;54Q U!AQZjFNOT Ignoring new targets: 357.00 m.Bj%<Jj%HU B>IQ  IU IIU |BIQ &IQ .IQ 6IU <:IU 4F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750391ow,B'A6AyO@Y6]@6fx<96#u =y6H )]=!?@Y-ԿY?  ??ɨ6AyO@6^;6CyN|BNLIIVIVa5 b$?I`٢f= fy=9jbQ j?hh nG٣lyn ) r? vNusing accuracyPremultiplier from configpv49ro?z4Yr ir2wBxz)z?rcCr:r :r4 A!AҴEZjFNOT Ignoring new targets: 357.00 m.Bjj<Jjj< ProNav: ac range: 357.000000 m, nav range: 18.299101 m, bearing: 3.855677 deg, approach rate: 0.657466 m/s, LOS rate: 0.926133 deg/s, cmd heading: 204.618261 deg, new cmd heading: 205.543076 deg. 2j = HeadingCmd: 3.587404 target range: 357.000000 and range: 357.00 m. j e@jjjihhhh!f!f!f!rf!bf-3@ɛ]n~B]4 Y]-IY eXջɚaiaIe0'=Imy:-iiim|)me@)i*F?2F:FBF_0JFzKEJKE9KAKEKERKU>JKU?G%<GBOA>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002492 UnManaging dock network, ignoring radio surface power offw,\'A2ξN@Y2\@2xo<92A.=y2H zn?@|ӿju@~? ͥ??ɨ2ξN@2;0yN|BR]IIZIZ Y5٢b8= bK=9bݧQ b>dd fG٣fAGyj j> nNusing accuracyPremultiplier from confighr49jo?r4Yjc ihpru*v?jCj ;j`;j4zjB ~ A~մEZj!%FNOT Ignoring new targets: 357.00 m.Bj-<Jj-<5 ProNav: ac range: 357.000000 m, nav range: 18.568644 m, bearing: 4.217537 deg, approach rate: 0.713742 m/s, LOS rate: 0.944282 deg/s, cmd heading: 205.543082 deg, new cmd heading: 206.612774 deg. 2j="=EHeadingCmd: 3.606073 target range: 357.000000 and range: 357.00 m. jEf@jAjAjAiAhAhIhIhIfIfQfQrfQbfU7 @]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.254591ɛmo~Bm~ imIq uaɚqiyI}'=IU+ii)f@)JJ J1JJ-;Jun:J3J $?I*F-?2F):F)BF-`0JF)G GBOEQ> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506330w,|v'A)6Ž= 4fvGt -Y)y5B=F5N@Y=S\@=$0f<9=aI=y=H@֎C?󬜿ҿˇ`p?Ō@l6?@?ɨ=F5N@=;9yM|BUsI-Mb@Mb@Mb@))) )))Y-I +?MbX9?:v?y-94?-ʡ=-T<-hA -@)-QAI-@)y-@IEIEZ5٢U0= ]3=9etQ e>ai mG٣iym m> }Nusing accuracyPremultiplier from configq49uŵo?4Yu iu5wBb5?:.?uCu;u#;u4 B AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 357.00 m.BjH<JjH< ProNav: ac range: 357.000000 m, nav range: 18.874475 m, bearing: 4.543649 deg, approach rate: 0.669619 m/s, LOS rate: 0.702448 deg/s, cmd heading: 206.612772 deg, new cmd heading: 207.575157 deg. 2j <HeadingCmd: 3.622870 target range: 357.000000 and range: 357.00 m. jg@jjjihhZH@ARHHI III}BI&I.I6IX<:IFBI CJI CRIZI$ =bI$ =jIד3hh+|Bff!f!rf!bf% @ɛUq~BUz QU0־IQ ]AɚYiYI](=Ie*ie<zK :IK s9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=4.010458w,X'ANy N@YN1(\@N U<9Nm=yNHi ? ve=9z7?Q z>xx ~G٣|y} }> Nusing accuracyPremultiplier from config49Xo?4Y i9wB.?CP::A4iB XAٴEZj FNOT Ignoring new targets: 357.00 m.Bj5]=<Jj5]=JJJ0JJ ;JJـ3J I ]w,B'A:M@Y\@C5<9=yH`-?)8ҿ`&9?^u? ?ɨ:M@;ym%}BuIWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.5147685Mb@Mb@Mb@111 1)1Y5Dl?Zd;O?Zd;O?y5O-?5j<5j<5A 5@)5AI11y5f@IMIMV5٢]v= )=9~Q > G٣ AGy > Nusing accuracyPremultiplier from config%49o?-4Y] iAwB--?-:-4-?C;;41 =A=ܴEZjFNOT Ignoring new targets: 357.00 m.Bj<Jj< ProNav: ac range: 357.000000 m, nav range: 19.443962 m, bearing: 5.034601 deg, approach rate: 0.651508 m/s, LOS rate: 0.471423 deg/s, cmd heading: 208.333173 deg, new cmd heading: 209.026317 deg. 2jġ<HeadingCmd: 3.648197 target range: 357.000000 and range: 357.00 m. j|i@jjjihhhh|Bfffrfbf%t@ɛmt~Bul quIq u1ɚqiIa)=I)il6 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.766652w,'A |$?Iag6,N@Y6QK\@6 <96=y6H` 1?ҿ@Ii?`Ptf?@?ɨ6,N@6FZ;4y^o}BbIIjIjP5٢%ja> %x=9%Q %?)) -G٣)y-< 5? =Nusing accuracyPremultiplier from config1E4958vo?E4Y5- i5HwBAE3M?5C5:5\:54Nj4Q UAQZjyFNOT Ignoring new targets: 357.00 m.Bjv <Jjv < ProNav: ac range: 357.000000 m, nav range: 19.649687 m, bearing: 5.183198 deg, approach rate: 0.687240 m/s, LOS rate: 0.491201 deg/s, cmd heading: 209.026315 deg, new cmd heading: 209.467428 deg. 2j<HeadingCmd: 3.655896 target range: 357.000000 and range: 357.00 m. j4i@jjjihhhhfffrfbfա@ɛu~B 炾I IɚiIT.*=I )i i  ) 4i@)*F?2F:FBF`5JFGzKRIK 9KKKRK?JK>GaBiO8>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.018537'"w,p'A23N@Y2\@22ʥ;92$>y2H~r2? cӿ`B6L?@t`?`վ?ɨ23N@2s;2CyR}BRIIZIZR5٢v^= vN=9v Q z>xx zG٣xy~< ~> Nusing accuracyPremultiplier from config 49`o? 4Y iQwBz3?GY>GӋGqBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.522461Lw,v'Ay }B IMb@Mb@Mb@ )Y r?/$/$?y#?,<A ~@)AI`@yzAIIN5٢= ;=9Q > G٣ AGy >  Nusing accuracyPremultiplier from config 49Io?4YD iVwB$?:9?`Cx;;Ջ4! %2A%EEB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 357.00 m.Bje;Jje;u ProNav: ac range: 357.000000 m, nav range: 20.187983 m, bearing: 5.487112 deg, approach rate: 0.632931 m/s, LOS rate: 0.258338 deg/s, cmd heading: 210.027648 deg, new cmd heading: 210.366978 deg. 2juK1<}HeadingCmd: 3.671596 target range: 357.000000 and range: 357.00 m. j}oj@jyjyjyihhhh}BjH1bH5<H9I9 I=-II=}BI9&I9.I96I=*<:I= Ffffrfbf@ɛw~B\5 1I XɚiI*=I+'i|I0zK] JQJK] 9KY K] K] BKm rA:Ki  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.0264213w,@(A2P@Y26^@2X92<5>y2HDWz?@ǫԿ,?Yk???ɨ2P@2͉;2CyR}BR1IIrIr~N5٢v> P=9Q > G٣yzi= > Nusing accuracyPremultiplier from config495o?4Y i]wBj8?C: :܋4jB jAZj%FNOT Ignoring new targets: 357.00 m.Bj%;Jj%;= ProNav: ac range: 357.000000 m, nav range: 20.439819 m, bearing: 5.604167 deg, approach rate: 0.635776 m/s, LOS rate: 0.291869 deg/s, cmd heading: 210.366971 deg, new cmd heading: 210.713803 deg. 2j=NH If w,+(A BP@Y _@ 49 \H>y H@eK? տ`Ά`?Y??b?ɨ BP@ pF; Cy]~BeEIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.533616Mb@Mb@Mb@ )YCl?y&1{Gzt?yd?`役ף;A @) AIAy AIIB5٢= )=9,Q > G٣y< >  Nusing accuracyPremultiplier from config 49 o?4Y C i WwB?:>? C ); \(; 4) -A-EZjIUFNOT Ignoring new targets: 357.00 m.Bj]:Jj]:m ProNav: ac range: 357.000000 m, nav range: 20.734053 m, bearing: 5.657951 deg, approach rate: 0.615264 m/s, LOS rate: 0.110871 deg/s, cmd heading: 210.713808 deg, new cmd heading: 210.872872 deg. 2jm.;mHeadingCmd: 3.680426 target range: 357.000000 and range: 357.00 m. juk@jqjqjqiqhyhyhh~Bfffrfbf@w@ɛy~B+n 隽jI o ɚiI3+=I&i5*I!  I% xII% n~BI! &I! .I! 6I% M<:I% FU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=6.782364GY GI BY Ou >J J J 0J J M;J r:J ـ3J J \<J \< y$?I J ;J ;Gw,]E(Ay]J~B]bIIuIuMD5٢> }=9Q  ? G٣ AGy  ? ]Nusing accuracyPremultiplier from configQ]49U o?e4YU/ iUSwBiim?UCU6;U6;U&4 (AEZjFNOT Ignoring new targets: 357.00 m.Bj:Jj: ProNav: ac range: 357.000000 m, nav range: 20.947350 m, bearing: 5.695994 deg, approach rate: 0.601153 m/s, LOS rate: 0.106127 deg/s, cmd heading: 210.872870 deg, new cmd heading: 210.985835 deg. 2j;HeadingCmd: 3.682398 target range: 357.000000 and range: 357.00 m. jgk@jjjih h hhfffrfbf@ɛAED AE?II ua ɚqiqIu{>+=I}Ns&iyi .)gk@)zKBIK9KKKRK5 ?JK5?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.035601*F?2F:FBFJFGb!GBO>ow,1_(A6FES@Y6ca@6u965l>y6Hµb? k3`׿'`??[B?@%?ɨ6FES@6Y;6CyRY~BRkIIZIZ3A5٢f= fW=9jQ j>hh nG٣lyn)= n> vNusing accuracyPremultiplier from configpv49rn?z4YrV irOwBxz8<z?rCrP:r:r`4| A%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=7.286495Zj15FNOT Ignoring new targets: 357.00 m.Bj=$C;Jj=$C;U ProNav: ac range: 357.000000 m, nav range: 21.166172 m, bearing: 5.756171 deg, approach rate: 0.626866 m/s, LOS rate: 0.170608 deg/s, cmd heading: 210.985841 deg, new cmd heading: 211.164505 deg. 2jU,;]HeadingCmd: 3.685516 target range: 357.000000 and range: 357.00 m. j]~k@jYjYjYiahahahahifqffrfbf U@ɛz~B3  c=TI  ^ ɚ i I $+=I7@&iE'< }x$?Iyi) ~k@)*F2F:FBFJFG,GyBOb>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.538666w, y(A64T@Y6b@6+Ҽ967y>y6H`,v,?M3Sؿ?@D?`?`D ?ɨ64T@6*};4yRt~BR|I]Mb@Mb@Mb@YYY Y)YY]AA EG٣AyMv6= M> ]Nusing accuracyPremultiplier from configQ]49UOn?e4YUj iU[<J;J;*F?2F:F!BF!JF!"G->G->GA G B) OE >zKm JKm h9Ki Km Km  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.042417$w,(A6U@Y6c@696;>y6HG7Ԭ?@2ڿ 22 ?b???ɨ6U@6C+;6CyB~BBIIJIJP@5٢E= M[=9U}Q }>yy G٣ AGyoL= > Nusing accuracyPremultiplier from config49Mn?4Yt i,wB=?C :.:4  AEZj9=FNOT Ignoring new targets: 357.00 m.BjE:JjE:U ProNav: ac range: 357.000000 m, nav range: 21.662458 m, bearing: 5.837462 deg, approach rate: 0.583557 m/s, LOS rate: 0.110039 deg/s, cmd heading: 211.276397 deg, new cmd heading: 211.405590 deg. 2jU ;}HeadingCmd: 3.689723 target range: 357.000000 and range: 357.00 m. j}n$l@jyjyjyiyhyhhhfffrfbfrT @ɛ-}~B- QIY*J"J=*w,)ˬ(A6W@Y61e@696>y6H":?l``7ۿL??p? E?ɨ6W@6<;6Cy^~B^IIfIfD5٢n; rQ=9vlQ v>tt vG٣tyzY= z> Nusing accuracyPremultiplier from config|49~n?4Y~! i~wB!-<-?~:C~b;~;~4Q ]AaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.549070ZjAmFNOT Ignoring new targets: 357.00 m.Bju0 ;Jju0 ; ProNav: ac range: 357.000000 m, nav range: 21.888178 m, bearing: 5.892198 deg, approach rate: 0.514335 m/s, LOS rate: 0.123437 deg/s, cmd heading: 211.405584 deg, new cmd heading: 211.568097 deg. 2jm;HeadingCmd: 3.692560 target range: 357.000000 and range: 357.00 m. jRl@jjjihhhhfffrfbf7!@ɛ~B 隍HI III/BI&I.I6I<:I FBIJIRIZIbIjI=4E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=8.798348*FI 2FI :FI BFM _0JFQ G] rA G] rA E v$?IA J J J J J ;J v:J J J Y<J Y<J );J );G=oS׽GAGEsAGB O->3w,(A6lY@Y6g@6KD96L>y6Hg ?{Oݿ E@.??? ?ɨ6lY@6;6CyB~BBIUMb@Mb@Mb@QQQ Q)QYUV-?xƿ/$yU ?UK7U,UA U@)QIUAQyUAIiIi٢4< =9Q > G٣y7= > Nusing accuracyPremultiplier from config49n?4Y # ivB0?:<?aC;;4 AEZjFNOT Ignoring new targets: 357.00 m.Bj.;Jj.; ProNav: ac range: 357.000000 m, nav range: 22.187017 m, bearing: 5.962179 deg, approach rate: 0.661992 m/s, LOS rate: 0.152935 deg/s, cmd heading: 211.568101 deg, new cmd heading: 211.775216 deg. 2j; HeadingCmd: 3.696175 target range: 357.000000 and range: 357.00 m. j !l@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=9.050652ɛ5~B5(޻ 15u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=9.302458 U u$?IQ J J AA%9w,](ABMZ@YBh@BlV9B->yBH$ ?1³`mE޿`s?٪?p??ɨBMZ@Bƫ;BCyN~BNIIZIZB5٢b bY=9b/GQ b>dd fG٣f AGyj9= j> nNusing accuracyPremultiplier from configlr49nn?v4YnS$ invBtv;v?n}Cn/;n}0;n@4x zA|Zj%FNOT Ignoring new targets: 357.00 m.Bj%H1;Jj%H1;5 ProNav: ac range: 357.000000 m, nav range: 22.404396 m, bearing: 6.021282 deg, approach rate: 0.575644 m/s, LOS rate: 0.154993 deg/s, cmd heading: 211.775220 deg, new cmd heading: 211.950808 deg. 2j5;=HeadingCmd: 3.699239 target range: 357.000000 and range: 357.00 m. j=Wl@jAjAjAiAhAhAhIhIfIfIfQrfQbfU"@ɛ~BX ~<隥iI  I II WBI &I .I 6I @<:I FG% G- ?G- >G B! O= >@w,T)A*Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=9.806452>q[@Y>vi@>ie9>#>y>H@ ?@/ ߿` ~?`a?G?\?ɨ>q[@>ō;>CyJ~BJI !I)J-J-J)J)J-;J-q:J)J)J- f<J- f<J-;J-;UMb@Mb@Mb@QQQ Q)QYU(\?Zd;Oǿi|?5yU?Uj G٣y'< > Nusing accuracyPremultiplier from config49yn?4Y& ivBq?::?C;;4  ?AEMB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 357.00 m.Bj^B;Jj^B; ProNav: ac range: 357.000000 m, nav range: 22.693129 m, bearing: 6.108478 deg, approach rate: 0.569940 m/s, LOS rate: 0.169929 deg/s, cmd heading: 211.950810 deg, new cmd heading: 212.209067 deg. 2j=;HeadingCmd: 3.703747 target range: 357.000000 and range: 357.00 m. j1 m@jjjihhhh Bfffrfbf`P#@ɛ~B= 9=I9 Eq ɚAiAIE}7(=IM%iMFGFw,)A2K\@Y2Ejj@2mp92]{>y2HG,?@V߿c@x?P ?{ ??ɨ2K\@2;0y<<IFIFJH5٢f: fn=9fTQ j?ll nG٣pyr= r? vNusing accuracyPremultiplier from configtz49vin?U4YvA' ivvBQ]9]?vCvfLw,6)Af\@Yfk@fyw9fxp>yfH+?=2`1=|? z? ?@?ɨf\@f4;fCyrs~Br{IMb@Mb@Mb@ )Ykt?#~jĿV-y ?%mA @)AIzAy=AIIjC5٢R :=9Q > G٣AGy< > Nusing accuracyPremultiplier from config49Tn?4Y%) ivB?:6?Ca;;,4 AZj!-FNOT Ignoring new targets: 357.00 m.Bj5ݒ;Jj5ݒ;E ProNav: ac range: 357.000000 m, nav range: 23.143318 m, bearing: 6.283830 deg, approach rate: 0.591211 m/s, LOS rate: 0.256800 deg/s, cmd heading: 212.399977 deg, new cmd heading: 212.729814 deg. 2jE=0!Tw,P)AR]@YRTk@Rx9Rd>yRH7`r?2tL/? ?hG?@&?ɨR]@R;RCy%V~B%iII5I5D5EWill construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Response Not Received M*response not receivedU,DAT read: user:1710> UBDAT read: Tx time:21:22:44.5219 ]$Ping request sent.]9A EG٣AyE< E> UNusing accuracyPremultiplier from configI49M>n?4YM5+ iMtvBr6?MCM%Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:22:44.5211  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250976 Y IY J 3K K /.KK"KJU JU JU 0JQ JU e ;JU ~o:JU ـ3JQ ae @ae @ae @ae @Zw,vj)AJ^@YJ#l@J4z9JX>yJH C? ﭿ}? N=?3?`:?ɨJ^@J;JCyR<~BVZIIZIZ05٢ T=9DQ %>)) -G٣)y5ߨ< 5? MNusing accuracyPremultiplier from configIU49M.n?U4YM, iM`vBY]6]?MCM;M;M:4a m_AmEZjFNOT Ignoring new targets: 357.00 m.Bj;Jj; ProNav: ac range: 357.000000 m, nav range: 23.604931 m, bearing: 6.491482 deg, approach rate: 0.611232 m/s, LOS rate: 0.274034 deg/s, cmd heading: 213.086534 deg, new cmd heading: 213.346497 deg. 2j<<HeadingCmd: 3.723599 target range: 357.000000 and range: 357.00 m. jqOn@jjjihhhhfffrfbfE'@ɛ~B,{ ̨I  ɚiI%=I C#i HI II  IM IIM MBII &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=0.754063 ] q$?IY yaw,rn)Ab V^@Ybtl@bc"9buD>ybH2-6? R@0??[?Y?ɨb V^@bc;bCyn/~BnRIuMb@Mb@Mb@qqq q)qYu7A`?Sÿv/yu?uuxiuن@ u@)u`@IuAqyuf@II?5٢ A=9"jQ > G٣AGyP@< > Nusing accuracyPremultiplier from config49n?4Y. iLvB?:A4?9C;;A4i mAiB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 357.00 m.Bje;Jje; ProNav: ac range: 357.000000 m, nav range: 23.854057 m, bearing: 6.620120 deg, approach rate: 0.562576 m/s, LOS rate: 0.287455 deg/s, cmd heading: 213.346491 deg, new cmd heading: 213.728369 deg. 2jGE<HeadingCmd: 3.730264 target range: 357.000000 and range: 357.00 m. jn@jjjihhh!h%yBf!f)f)rf)bf-7'@ɛ/~BH 隽\9I 1 ɚiI$=Ic#iU1gw,,)A2^@Y2nl@2|92C;>y2H!?㦿É :??L?Dg?ɨ2^@2cI;2Cy:~B:@IIJIJ995٢r rX=9v;Q v>tx zG٣xyzt; z> Nusing accuracyPremultiplier from config|49~+n? 4Y~0 i~9vB  (4 ?~VC~:~:~H4hB AEZjAEFNOT Ignoring new targets: 357.00 m.BjMg;JjMg;] ProNav: ac range: 357.000000 m, nav range: 24.079380 m, bearing: 6.734985 deg, approach rate: 0.635011 m/s, LOS rate: 0.320686 deg/s, cmd heading: 213.728367 deg, new cmd heading: 214.069733 deg. 2j]\J=J=J=1J9J=;J=p:J=3J9GGiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512506i]mw,o)Ay~}B~*IMb@Mb@Mb@ )YV-?+X9vy?\A )I@IAyAIIF5٢$ ;=9Q > G٣y > Nusing accuracyPremultiplier from config49m?4Y3 i6vBd?:,?yC<;{;$P4  AZjAEFNOT Ignoring new targets: 357.00 m.BjE<JjM<] ProNav: ac range: 357.000000 m, nav range: 24.335348 m, bearing: 6.936682 deg, approach rate: 0.586189 m/s, LOS rate: 0.457042 deg/s, cmd heading: 214.069740 deg, new cmd heading: 214.668441 deg. 2j]Ԝ|)@ɛ}B 隭DI = ɚiI5#=I@V"iih)vo@)HI III%BI&I.I6I<:I F*F?2F:FBF0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763728G6G B O >Dtw,)Ay }B II%I%)M5٢-@ 5V=91Q 5>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014235AI MG٣MAGyI M> ]Nusing accuracyPremultiplier from configQe49Um?e4YU6 iU4vBaae?UCUs;U;UV4q uAuEZjFNOT Ignoring new targets: 357.00 m.Bj:<Jj:< ProNav: ac range: 357.000000 m, nav range: 24.560522 m, bearing: 7.110448 deg, approach rate: 0.586467 m/s, LOS rate: 0.448426 deg/s, cmd heading: 214.668447 deg, new cmd heading: 215.184952 deg. 2j<HeadingCmd: 3.755686 target range: 357.000000 and range: 357.00 m. j(]p@jjjihhhhfffrfbf&A*@ɛ}B.# XI  ɚiI"=I%!i!i% )%(]p@))zKyJK+9KKKRK?JK?*F?2F:FBF`5JFGGGyBO@> o$?IbgWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266102JM JM JI JI JM ;JM ~o:JI JI ozw,)A2_@Y2F'm@2!_92m$>y2HJ?`8 `I? ?@[o??ɨ2_@2;2Cy>}B>IIFIFR5٢b bQ=9f×dh jG٣hyj< n> vNusing accuracyPremultiplier from configpv49r6m?v4YrA9 ir0vBxzp,z?rCr:rF;r]4| :AEZj!-FNOT Ignoring new targets: 357.00 m.Bj-;<Jj-;<= ProNav: ac range: 357.000000 m, nav range: 24.789383 m, bearing: 7.287481 deg, approach rate: 0.589680 m/s, LOS rate: 0.451930 deg/s, cmd heading: 215.184946 deg, new cmd heading: 215.711127 deg. 2jEjH <bH <H I  I II ~BI &I .I 6I W<:I FBIJIRIZIbIjI<3 n$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774466Uw,*A @yU}BUIMb@Mb@Mb@ )YPn?X9v/$y$?A )@I AyAIIW5٢ 57  7=9Q > G٣y% %> -Nusing accuracyPremultiplier from config!549%Ym?54Y%= i%4vB5`$?5:5'=?%C%;%;%le4A EAAmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 357.00 m.Bj<Jj< ProNav: ac range: 357.000000 m, nav range: 25.053249 m, bearing: 7.538338 deg, approach rate: 0.590583 m/s, LOS rate: 0.555549 deg/s, cmd heading: 215.711130 deg, new cmd heading: 216.455729 deg. 2j<HeadingCmd: 3.777865 target range: 357.000000 and range: 357.00 m. jq@jjjihh!h!h%}Bf!f)f)rf)bfU+@ɛS 隝PI ɚiI|!=I+W iiqN)q@)*F2F:FBFP5JFG}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026025GBO>zKM KM 9KI KM KM +7860($ BKU rA:KU rAw,s*ABy_@YBm@B0nN9BS>yBH^|K?`㤿Dy@?@ʩ?AA EG٣AyE< M> UNusing accuracyPremultiplier from configIU49Mèm?]4YM5@ iM7vBY]C'e?MCM;M-;Mk4i mAm EZjFNOT Ignoring new targets: 357.00 m.Bj8 <Jj8 < ProNav: ac range: 357.000000 m, nav range: 25.276247 m, bearing: 7.749840 deg, approach rate: 0.596016 m/s, LOS rate: 0.560304 deg/s, cmd heading: 216.455730 deg, new cmd heading: 217.084612 deg. 2jD<HeadingCmd: 3.788841 target range: 357.000000 and range: 357.00 m. j`|r@jjjihhhhfffrfbf ի,@ɛ}Bt  I  +ɚiIW!=I-Ti)i5zX)5`|r@)9 em$?IaWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:22:47.3986 TRx dataTimestamp_ set to:1736371368.586298checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281372*F?2F:FBF_0JFJJ JJJ;Jun:JJGGG>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533430્w,W9*Ab_@Ybm@b+uF9b,>ybH@@g?`奿ch?`)̨?|? ǖ?ɨb_@bu;`y~}BIMb@Mb@Mb@ )YQ?:v?{Gzy(?T<# A )IhAy @IIQ5٢M <=9t;Q > G٣AGy,< > Nusing accuracyPremultiplier from config49Nm?4YXD iAvB)?:"?C';;es4 AZj)-FNOT Ignoring new targets: 357.00 m.Bj5:<Jj5:5,DAT read: user:1711> =BDAT read: Tx time:21:22:48.5220 =$Ping request sent.E)) 5G٣1y5 5>]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiYmJDAT read: TxSync time:21:22:48.5212 Nusing accuracyPremultiplier from config49m?4YIH iKvB??C};;qz4! %A%Ek5wGz?k5Ձz k1 k5E*A:k5&CBk5CZk5?"5j=9Yp0J@dL&-u@50m 2?5Tݵ?Jk5O[@Rk5겿*5pC@__p":@S'u@58?+??)ݔ?"k5A*k5<Bk5-3^z?k5 2k5GCk5-3^z?k1k1k5Bk55= addTargetRange:: Added new target pos. range: 354.299988 m, deltaT: 14.878678 s, deltaX: -2.700012 m, approachRate: -0.181469 m/s, rangeRepo size: 4  Added new target pos. range: 354.299988 m, bearing: 33.786779 deg, lat: 36.904287 deg, lon: -122.115029 deg, deltaT: 14.878678 s, deltaX: -2.700012 m, approachRate: -0.181469 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 354.30 m.BjzKMLKM9KIKMKMJjM ProNav: ac range: 354.299988 m, nav range: 39.235550 m, bearing: 5.433310 deg, approach rate: 0.000000 m/s, LOS rate: 0.652198 deg/s, cmd heading: 217.914208 deg, new cmd heading: 218.736250 deg. 2jQUHeadingCmd: 3.817668 target range: 354.299988 and range: 354.30 m. j]Tt@jYjYjYiYhYhYhahafffrf$v@bf?ɛ%}B-`w )-ŽI1 5Hɚ9i9I=X =Ie iiim)mTt@)i*F92F9:F9BF9JF9 el$?Imcg Will construct direction to contact in vehicle frame from tetrahedron phase data.G] tLVG1 BA Ou >Ϛw,Ym*AfR`@Yfpn@f89f>yfH&?@ۨ|f?`G?`??9?ɨfR`@f;fCyr}BrII-I-995٢=5 EF=9EdII MG٣IyM< U> ]Nusing accuracyPremultiplier from configYe49]pm?e4Y]*L i]TvBaeI"e?]`C]:]T:]I4q uAqZjFNOT Ignoring new targets: 354.30 m.Bjx <Jjx < ProNav: ac range: 354.299988 m, nav range: 39.461159 m, bearing: 5.616818 deg, approach rate: 0.603085 m/s, LOS rate: 0.487739 deg/s, cmd heading: 218.736248 deg, new cmd heading: 219.283608 deg. 2j]<HeadingCmd: 3.827221 target range: 354.299988 and range: 354.30 m. j0t@jjjihhhhfffrfbf?ɛ3 ͽI Nɚ i I 9 =I.iin)0t@)*F?2F:FBFn0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.GdeGBOH>ZHa RHe ?AHm B>Ii  Im IIm ~BIi &Ii .Ii 6Im x<:Im &F 9 I9  Will construct direction to contact in vehicle frame from tetrahedron phase data.Ew,n2*AJ~J~J|J|J~e ;J~3g:J|J|J~U)) 5G٣5AGy5 5> =Nusing accuracyPremultiplier from config9E49=\m?E4Y=P i=evBM.?M:MM?=C=;=(;=ۈ4UfB ]A]EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 354.30 m.Bj <Jj < ProNav: ac range: 354.299988 m, nav range: 39.713715 m, bearing: 5.837485 deg, approach rate: 0.571582 m/s, LOS rate: 0.496233 deg/s, cmd heading: 219.283606 deg, new cmd heading: 219.941365 deg. 2jG<HeadingCmd: 3.838701 target range: 354.299988 and range: 354.30 m. jGu@jjjih hhh}Bfffrfbfi?ɛ}B&x ~I LɚiI[=Inriiܫ)Gu@)EV>E>*F5?2F1:F9BF=`0JF9GA GErAmWill 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.zK} BJK} h9Ky K} K} G] мG9 BQ O >Fݧw,H*A2y`@Y20o@2792^,+>y2H0|=?@ `)c??F??ɨ2y`@2Cl;2Cy:}B>IIRIRv35٢Zܘ ^e=9^B:Q ^>`` bG٣`yf< f> jNusing accuracyPremultiplier from confighn49jLm?n4YjT ijtvBlr@r?jCj;jB;j4t vAvEZjFNOT Ignoring new targets: 354.30 m.BjP<JjP<- ProNav: ac range: 354.299988 m, nav range: 39.920666 m, bearing: 6.019986 deg, approach rate: 0.595199 m/s, LOS rate: 0.522157 deg/s, cmd heading: 219.941367 deg, new cmd heading: 220.486014 deg. 2j--<5HeadingCmd: 3.848207 target range: 354.299988 and range: 354.30 m. j5Iv@j9j9j9i9hAhAhQhQ k$?Ifffrfbf?ɛj 隽ɽI ɚiID=Iii|)Iv@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475341)*F2F:FBF0JFG#GBOb> Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙ i՝ A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731997 w,*AZba@YZo@Z69Zp/>yZH`V?@@a/? ,צ???ɨZba@Z;ZCyf}BjIMb@Mb@Mb@ )Y/$?T㥛 ?{Gzt?y&1?=ף; A @)Iyp@IIDP5٢:= ;=9 ,:Q > G٣y< > Nusing accuracyPremultiplier from config498m?4YY ivB1?:?C;;4 AZjFNOT Ignoring new targets: 354.30 m.Bj%:<Jj%:<5 ProNav: ac range: 354.299988 m, nav range: 40.174179 m, bearing: 6.259657 deg, approach rate: 0.577841 m/s, LOS rate: 0.542841 deg/s, cmd heading: 220.486020 deg, new cmd heading: 221.200457 deg. 2j5F<=HeadingCmd: 3.860676 target range: 354.299988 and range: 354.30 m. j=Rw@j9j9j9i9hAhAhAhE}BfQfQfQrfQbfU`Gx?ɛ}}Bp 隅XI ɚiId=Id iid㭽)Rw@)HI IxIIn~BI&I.I6I><:I F*F%?2F!:F!BF%`5JF! i$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980188*J"JR=JJ J0JJ%;Jlm:Jـ3JJ<J<J;J;G GA BQ Ou > w,е*A6Cb@Y6 p@6ܧ.9647>y6H{2 ??@K{S ?Jӥ??v?ɨ6Cb@6L!;4y>}B> IIFIFH5٢R= R^=9V2;Q Z>XX ZG٣ZAGy^< ^> fNusing accuracyPremultiplier from config`f49b(m?f4Yb$^ ibvBhjXj?bCbC:b:b.4=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.231434y }RAEZjFNOT Ignoring new targets: 354.30 m.Bj<Jj< ProNav: ac range: 354.299988 m, nav range: 40.386829 m, bearing: 6.461156 deg, approach rate: 0.547275 m/s, LOS rate: 0.515845 deg/s, cmd heading: 221.200457 deg, new cmd heading: 221.801749 deg. 2j<HeadingCmd: 3.871171 target range: 354.299988 and range: 354.30 m. jCw@jjjihhhhfff!rf!bf%h@ɛ}B[Q MI iɚiIAx=Iq^ii=)Cw@)zKM:IKM9KIKMKMRK] ?JK]?*F?2F:FBFO5JF IGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484541G B O >ww,*A6b@Y6p@6 *96>>y6H ,s? w*P???|?k?ɨ6b@6b;6Cy>}B>IIJIJdK5٢R>&= RJ=9V6;Q V>TX ZG٣XyZ԰< Z> bNusing accuracyPremultiplier from config\b49^m?f4Y^b i^vBdff?^C^:^~:^94h nAlZj|FNOT Ignoring new targets: 354.30 m.Bj%$<Jj %$< ProNav: ac range: 354.299988 m, nav range: 40.618641 m, bearing: 6.681904 deg, approach rate: 0.606254 m/s, LOS rate: 0.574025 deg/s, cmd heading: 221.801746 deg, new cmd heading: 222.460182 deg. 2j%<%HeadingCmd: 3.882663 target range: 354.299988 and range: 354.30 m. j-}x@j)j)j)i)h)h)h1h1f1f1f9rf9bf=@g@ɛe}Beʫ@ imXIi m:ɚiiiIm=Iu*iqiö)}x@))*F?2F:FBF_0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.738044G5G B jH1 bH5 4=H= A>I9  I= ~II= x~BI9 &I9 .I9 6I= x<:I= &FO] > h$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987199w,'l+AF7c@YF7q@Ffw&9FDD>yFH0M?`?oaPH@?`uͤ?2l? b?ɨF7c@F\o;DyR}BR*IJ\J^BAJbJbJb1J`Jb;Jb~o:Jb3J`JbY<JbY<Jb;Jb;UMb@Mb@Mb@QQQ Q)QYUn?Mb? rh?yUV.?U=UC    G٣ y< 5> =Nusing accuracyPremultiplier from config9E49=m?E4Y=Bh i=vBM(/?M:MNM?=8C=;=;="4Q UzA]EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 354.30 m.Bjl<Jjl< ProNav: ac range: 354.299988 m, nav range: 40.874115 m, bearing: 6.925663 deg, approach rate: 0.558487 m/s, LOS rate: 0.529544 deg/s, cmd heading: 222.460177 deg, new cmd heading: 223.186842 deg. 2j<HeadingCmd: 3.895345 target range: 354.299988 and range: 354.30 m. jVMy@jjjihhh h U}Bfffrfbf ` @ɛe}Be ae;Ia e;ɚiiiI=I_ii!)VMy@)*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=3.239276Ge .qzK RIK 9K K K BK qA:K Ga Bi O >+w,=E"+A2c@Y2q@2$92wK>y2Hm@?2쵿c}9Q?`Е?>?RX?ɨ2c@2i;2Cy> ~B>;IIFIFF5٢N= Nd=9N:Q R>PP RG٣RAGyV< V> ZNusing accuracyPremultiplier from configX^4 AIA9Zl?E4YZwl iZvBIMM?ZWCZ¡w,J=+Ar5d@Yrr@ra$9ryT>yrH [H?'@ z@/C??Y?`I?ɨr5d@rO ;rCyz~B~HI-=only read 2 of 4 data items for beam range. Device response is::RA, 0.00, 89.38, 77.82  =@= =@= =@=  =@= IEIE=5٢U6= U7=9]2G9Q ]>YY ]G٣aye)= e> ubBottom track data is 0.4 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi}49ml?}4Ymq imvB}+:{:?m~Cm);m>m4gB A EZjFNOT Ignoring new targets: 354.30 m.Bj%<Jj%< ProNav: ac range: 354.299988 m, nav range: 41.321453 m, bearing: 7.360735 deg, approach rate: 0.592969 m/s, LOS rate: 0.579606 deg/s, cmd heading: 223.756191 deg, new cmd heading: 224.484808 deg. 2j<HeadingCmd: 3.917999 target range: 354.299988 and range: 354.30 m. jz@jjjiH1I1 I5II5~BI5% =&I1.I16I5(<:I5 FBIJIRIZIbIjIӝ4hhhhfffrfbf-@ g$?Idgɛ}BN 隍dd=I ɚiI=I5_ii)z@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 21:22:51.3963 LVL= 19328, 32753, 22482, 31715, AGC= 68, IDX= 412,-0.46, 1.865, 0.221, 0.302, 0.891, PHS= 1.061,-0.623,-0.592, RAW= 90.9, 1.9, CAL= 98.5, -1.0, ROT= 51.5, 1.0 uYgot valid direction response: 21:22:51.3963 LVL= 19328, 32753, 22482, 31715, AGC= 68, IDX= 412,-0.46, 1.865, 0.221, 0.302, 0.891, PHS= 1.061,-0.623,-0.592, RAW= 90.9, 1.9, CAL= 98.5, -1.0, ROT= 51.5, 1.0 PDAT read: Bearing 51.5, 1.0 (Local) ~Local bearing/azimuth received: Bearing 51.5, 1.0 (Local) DAT read: Range 10 to 50 : 352.6 m (Round-trip 470.2 ms) speed 0.4 m/s ,DAT read: user:1712> BDAT read: Tx time:21:22:52.4720 $Ping request sent.@=L99:publishing transmit ping timeةFpublishing direction and range info99=׽AA`H?~.?y9999J]J] J]0JYJ]-;J]un:J]ـ3JYJ]0W<J]1W<J];J];*F}?2Fy:FyBFyJFy 9)9I9i99999 9)9I9i999=2fϦ?m߿Px^?)9I9i9999G G B O >P|w,W+AVWill construct direction to contact in vehicle frame from tetrahedron phase data.ZJDAT read: TxSync time:21:22:52.4712 y%L~B%dII5I5S<5٢e= eJ=9mQ m>ii uG٣qyu u> bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49l?4Yv i wB :K:?Ce;[?P4 A#Ek}wٵs?k}.ж ky k}]4H+A:k}LCBk}CZk}Mx?"}0Eoz@@zu@}׽AA`H?~.?Jk}_>@Rk}L*}}G5@/݂P@pVsu@}p[@?'?\`?"k}B*k}بAk}s?k}ܪ 2k}Ckykyk}GCk}2&Bk}>} addTargetRange:: Added new target pos. range: 352.600006 m, deltaT: 4.035992 s, deltaX: -1.699982 m, approachRate: -0.421205 m/s, rangeRepo size: 4  Added new target pos. range: 352.600006 m, bearing: 72.277696 deg, lat: 36.904287 deg, lon: -122.115029 deg, deltaT: 4.035992 s, deltaX: -1.699982 m, approachRate: -0.421205 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 352.60 m.BjJj ProNav: ac range: 352.600006 m, nav range: 41.549545 m, bearing: 7.581829 deg, approach rate: 0.000000 m/s, LOS rate: 0.579606 deg/s, cmd heading: 224.484809 deg, new cmd heading: 225.225103 deg. 2jHeadingCmd: 3.930920 target range: 352.600006 and range: 352.60 m. j0{@jjjihhhhfffrf v@bf`?zKMKKMs9KIKMKMRK]?JK]>ɛm}Bmܺ qu=Iq urkɚqiqIu7=I}iyiͽ)0{@)*FI2FI:FIBFU`0JFQG=.q f$?IGBO%o>UWill construct direction to contact in vehicle frame from tetrahedron phase data.w,Hp+AJf@YJ1t@J^.9JW>yJH.@$? `E3B?#ʥ? ? HC?ɨJf@Jl;JCyri~BruIIzIz75٢=  P=9 ˻Q  >  G٣AGy'F= > %bBottom track data is 1.2 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config!-49%gl?-4Y%{ i%$wB5915$:5a5?%C%?';%R?%49 =AAZjamFNOT Ignoring new targets: 352.60 m.Bjm$<Jjm$< ProNav: ac range: 352.600006 m, nav range: 41.763393 m, bearing: 7.794690 deg, approach rate: 0.579234 m/s, LOS rate: 0.573606 deg/s, cmd heading: 225.225105 deg, new cmd heading: 225.860390 deg. 2j<HeadingCmd: 3.942008 target range: 352.600006 and range: 352.60 m. jI|@jjjihhhhfffrfbf ?ɛ}BV2: >I jɚiI=Iiig)I|@)*Fi2Fi:FqBFu0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.GU GYG]rAG1ZH9RH=AAHAIA IEIIE~BIE$ =&IA.IA6IE[<:IEFBYOu> I ] Will construct direction to contact in vehicle frame from tetrahedron phase data. w,2̊+AZdf@YZt@Z[29ZLY>yZH@? 3KW?Q??@?ɨZdf@Z);ZCyf~BfI e e ee ee  e e mMb@Mb@Mb@iii i)iYmv/?Mbp:v?ymx)?mmT=9UQ U>aa eG٣y< > Nusing accuracyPremultiplier from config49l?4Y i7wBT:)?:?C(;o;Ȍ4 A&EB*** querying acoustic contact ***jjZj!EFNOT Ignoring new targets: 352.60 m.BjM<JjM<] ProNav: ac range: 352.600006 m, nav range: 42.020794 m, bearing: 8.003859 deg, approach rate: 0.557371 m/s, LOS rate: 0.450155 deg/s, cmd heading: 225.860395 deg, new cmd heading: 226.484031 deg. 2jex<HeadingCmd: 3.952892 target range: 352.600006 and range: 352.60 m. j/|@jjjihhhhb~Bfffrfbfy?ɛ%}B-XG; )- ?>I) -ɚ)i)I5=I5#i1i=p)=/|@)*F5?2F1:F1BF5p0JF1Will 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 JK K K K BK :K nAG] G1 B9 O] >w,돤+A 6e$?I4:bSg@Y:ru@:29:Y>y:H`˕`r8?@,oE?`&N?@???ɨ:bSg@:;8yF~BFIINsINe$5٢V= V_=9Z8Q Z?XX ZG٣Xy^< ^? bNusing accuracyPremultiplier from config`j49bl?n4YbT ibFwB9=R=?bCbyI Dɚ i I _=J=J9J9J9J= ;J9J9J9aU@aU@aU@aU@I]iYi]8)]}@)a*F?2F:FBF52JFG ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749485G B O- >w,+AyU~BUIHB>I IIIMBI&I.I6I0<:I F5Mb@Mb@Mb@111 1)1Y5RQ?J +aa eG٣eAGym m> uNusing accuracyPremultiplier from configq}49ul?}4YuȈ iuRwB}#?:!?u,Cu&;u;u֌4 A)EZjFNOT Ignoring new targets: 352.60 m.Bjz;Jjz; ProNav: ac range: 352.600006 m, nav range: 42.476078 m, bearing: 8.342997 deg, approach rate: 0.583227 m/s, LOS rate: 0.399503 deg/s, cmd heading: 226.959290 deg, new cmd heading: 227.495905 deg. 2j<HeadingCmd: 3.970553 target range: 352.600006 and range: 352.60 m. j~@jjjihhhh~Bfffrfbf?ɛ%}B-gn< )->I) -O ɚ)i1I5=I5,i9i=Y=ν)=~@)9 Md$?IIEQ*F?2F:FBFQ5JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003611G9 G B! OE >sw,I+A2Ih@Y2v@20*92%Z>y2H`Yw?&a? O^? ???ɨ2Ih@2I;0yBBBIIJIJ45RWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257340٢Vs= Zk=9ZH;Q Z?X\ ^G٣\yb= b? fNusing accuracyPremultiplier from configdj49fyl?j4YfD if[wBhj( j?fICf:f:f܌4p rApZjFNOT Ignoring new targets: 352.60 m.Bj`;Jj`;- ProNav: ac range: 352.600006 m, nav range: 42.671360 m, bearing: 8.483938 deg, approach rate: 0.560701 m/s, LOS rate: 0.402822 deg/s, cmd heading: 227.495911 deg, new cmd heading: 227.916791 deg. 2j-:<5HeadingCmd: 3.977898 target range: 352.600006 and range: 352.60 m. j5~@j1j1j1i1h1hhhfffrfbf@ɛ5}B5\< 9=>I9 =ɚ9i9I=6=IEщiAiE)M~@)IzKBIK+9KKKRK>JK>*F?2F:FBF^0JFGYĽGBOA> III]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510444J] J] J] 1JY J] e ;J] d:J] 3JY @w,#+A6i@Y6w@6N(96<[>y6Hn ?q`O @?C?>=?A=?ɨ6i@6;6CyB9BBIIJIJ75٢R= VK=9Ve:Q V>TX ZG٣XyZ< Z> bNusing accuracyPremultiplier from config\b49^hl?f4Y^\ i^ewBdfbf?^iC^;:^~:^4jeB nGAn-EZjimFNOT Ignoring new targets: 352.60 m.Bju&;Jju&; ProNav: ac range: 352.600006 m, nav range: 42.896152 m, bearing: 8.649068 deg, approach rate: 0.541141 m/s, LOS rate: 0.395432 deg/s, cmd heading: 227.916787 deg, new cmd heading: 228.409568 deg. 2j<HeadingCmd: 3.986499 target range: 352.600006 and range: 352.60 m. j"@jjjihhhhfffrfbfC@ɛ-}B-h< )->I1 5ԅɚiI"9=Iii)"@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761752*F?2F:FBF`0JFjH<bH<HI I@IIBI&I.I6IB<:I F 5 c$?I= egGM JʽGQ GU sAG! B1 OM >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013258w,o ,Ay>BIMb@Mb@Mb@ )Yrh|?Mby&1|y?`EA 5@)@I@y@II(*5٢I< 8=9Q > G٣AGy > Nusing accuracyPremultiplier from config49PUl?4YQ idwB?:#?C;[;4 1AZj)5FNOT Ignoring new targets: 352.60 m.Bj5;Jj5;M ProNav: ac range: 352.600006 m, nav range: 43.144421 m, bearing: 8.800758 deg, approach rate: 0.577947 m/s, LOS rate: 0.351088 deg/s, cmd heading: 228.409572 deg, new cmd heading: 228.862012 deg. 2jMpI ~ɚiIi=I%{i!imĹ)m.@)iEyEy*F?2F:FBF_0JF"G =G =GQ½GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266224BOg>zK JK ]9K K K  ! I)  w,/%,AJ@k@YJr_y@JN)9Jo^>yJHI?`S >`)@P?`M(?? (8?ɨJ@k@JX;JCyRnBVIXXI^I^*5٢f> f]=9jQ j>hh nG٣lyr= r> vNusing accuracyPremultiplier from configtz49vEl?z4Yv ivcwB|~)"~?vCv;v;v54 rA0E%B*** querying acoustic contact ***j!j!Zj1EFNOT Ignoring new targets: 352.60 m.BjM;JjM;m ProNav: ac range: 352.600006 m, nav range: 43.349670 m, bearing: 8.933146 deg, approach rate: 0.553124 m/s, LOS rate: 0.355080 deg/s, cmd heading: 228.862017 deg, new cmd heading: 229.257294 deg. 2jms<< >IWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:21:22:55.3439 -TRx dataTimestamp_ set to:1736371376.6614335checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519704 uɚqiqIuC=I ii) @)J3KO3 K(.KK"KJ%J% J%0J!J%;J%un:J%ـ3J!*F-?2F):F)BF)JF1GMG) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769973]5w,?,AHI IrIIBI&I.I6I<:I FyޕmBޕI b$?I-Mb@Mb@Mb@))) )))Y-Zd;?Mb~jty-?--ļ-\A -K@))I-QA)y-zAIEIE_,5٢UѺ U'=9]Q ]>Ya eG٣aye m> uNusing accuracyPremultiplier from configiu49m0l?}4Ym imVwB}m?}:}O%}?mCm ;mX;m4 uAZjFNOT Ignoring new targets: 352.60 m.Bj;Jj; ProNav: ac range: 352.600006 m, nav range: 43.625450 m, bearing: 9.087342 deg, approach rate: 0.564950 m/s, LOS rate: 0.313881 deg/s, cmd heading: 229.257294 deg, new cmd heading: 229.716946 deg. 2jiW<HeadingCmd: 4.009317 target range: 352.600006 and range: 352.60 m. jSL@jjjihhhhYBfffrfbf@ɛ}B< I !ɚiI=Iib4 BDAT read: Tx time:21:22:56.4221 $Ping request sent.i%k?%MB%%"?%¸= %Cw?)%=I%SFG?i%!!%/?Nٿ@pqw?)%7ӾI%Ti%G@%!!:publishing transmit ping time؁Fpublishing direction and range info!9%2Zȿ mhj?zNj?y!!!! !)!I!i!!!!! !)!I!i!!!%/?Nٿ@pqw?)!I!i!!!*F5?2F1:F1BF1JF1G9 G=sA!G G?G?GBO>w,Y,A6l@Y6`{@6M)96_>y6H`V3?ڮ @,V? :=??`6?ɨ6l@6}Č;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.BJDAT read: TxSync time:21:22:56.4213 yJBJ%IIRIR05٢fݝ= f=9f,Q f ?hh jG٣jAGyjԨ= ~ ? Nusing accuracyPremultiplier from config 49$"l? 4YԞ iNwB#?C::b4Y ]A]3Ek]L^m?k]*| kY k]DŽJ,A:k]YCBk]%CZk]"?"]9yP@e+?u@]2Zȿ mhj?zNj?Jk]G@Rk]*]!r@ ,<[@WSt@]8ՠ ?Xa?J.Ti?"k]B*k]5@k])m?k]wh 2k]CkYk] k]Ck]5QBk]?= addTargetRange:: Added new target pos. range: 350.700012 m, deltaT: 4.036158 s, deltaX: -1.899994 m, approachRate: -0.470743 m/s, rangeRepo size: 4 M Added new target pos. range: 350.700012 m, bearing: 87.106671 deg, lat: 36.904287 deg, lon: -122.114777 deg, deltaT: 4.036158 s, deltaX: -1.899994 m, approachRate: -0.470743 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 350.70 m.BjJj ProNav: ac range: 350.700012 m, nav range: 52.302402 m, bearing: 34.228288 deg, approach rate: 0.000000 m/s, LOS rate: 0.313881 deg/s, cmd heading: 229.716938 deg, new cmd heading: 230.045419 deg. 2jHeadingCmd: 4.015050 target range: 350.700012 and range: 350.70 m. jJ{@jjjihhhhfffrf@3u@bf?ɛIM< UAIQ UR ݻɚQiQIUC=I] )i]; IBw,js,A2m@Y2j{@2O192L>y2Hgy?r`/? (? `?U?ɨ2m@21;2CyRBR)IiV=IVa= Z=Z=IZvIZ%5٢fw< jJ=9jBQ j>ll nG٣lyrY< r> vNusing accuracyPremultiplier from configtz49vl?z4Yvr ivDwBxz&#z?v Cve:v.:v`4 AZjFNOT Ignoring new targets: 350.70 m.Bj%yJj%y ProNav: ac range: 350.700012 m, nav range: 52.548325 m, bearing: 34.226945 deg, approach rate: 0.625931 m/s, LOS rate: -0.003403 deg/s, cmd heading: 230.045416 deg, new cmd heading: 230.041404 deg. 2j|HeadingCmd: 4.014980 target range: 350.700012 and range: 350.70 m. jz@jjjihhhhfffrfbfc?ɛ%}B-VE< )->I) ->һɚ)i)I5=I5G*i= HyIy I}II} BIy&Iy.Iy6Iy:IyBIAJIARIAZIAbIAjIEV4 IE Will construct direction to contact in vehicle frame from tetrahedron phase data.J9 J= @A*#w,|H,A22n@Y2P|@2:o492~M>y2H`@e?7`k?@ ?s}?S?ɨ22n@2v;2CyRBPEMb@Mb@Mb@AAA A)AYEK?QMbyE^?E\EEA E@)AIAAyE@IeTIe5٢m9 u@=9uQ u>yy }G٣y< > Nusing accuracyPremultiplier from config49k?4YJ i6wB?:o#?*C;;4 A6EZjFNOT Ignoring new targets: 350.70 m.BjJj񸝊 ProNav: ac range: 350.700012 m, nav range: 52.811401 m, bearing: 34.224242 deg, approach rate: 0.645563 m/s, LOS rate: -0.006598 deg/s, cmd heading: 230.041400 deg, new cmd heading: 230.033333 deg. 2j鐹HeadingCmd: 4.014839 target range: 350.700012 and range: 350.70 m. jy@jjjihhhhOBff f rf bf ?ɛ < >I ƻɚiI,=I,i; zK ]JK 9K K K BK :K rA _$?I _)w,Q,AV]n@YV|@Vc59VL>yVH?2 y.md?@D?`d?T?ɨV]n@V;VCybBb#IIjSIj75٢vż vR=9z^NQ z>|| ~G٣AGy <  > Nusing accuracyPremultiplier from config-49k?-4Y i)wB)5"5?JC2d;ax;4A E AM9E}B*** querying acoustic contact ***jyjyWill 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.ZjFNOT Ignoring new targets: 350.70 m.Bj%7Jj%7] ProNav: ac range: 350.700012 m, nav range: 53.054024 m, bearing: 34.224478 deg, approach rate: 0.585760 m/s, LOS rate: 0.000567 deg/s, cmd heading: 230.033340 deg, new cmd heading: 230.034044 deg. 2j}7HeadingCmd: 4.014852 target range: 350.700012 and range: 350.70 m. jy@jjjihhhhfffrfbf?ɛQl< 隥>I 40ɚiIU?=Ia,i ?F0w,&,AHI III0BI% =&I.I6I<:I Futo@Yu}@uK19uJ>yuH L` #?ib1M!?'?`#? X?ɨuto@u;uCyޭBޭ$I)  I Mb@Mb@Mb@ )Y`"?S㥛~jty?$/A @)@IAyIIB-5٢Ʀ; 1=9;Q > G٣y< > Nusing accuracyPremultiplier from config49k?4Y' iwB?:a!?mC;;4 AZjFNOT Ignoring new targets: 350.70 m.Bj9Jj9- ProNav: ac range: 350.700012 m, nav range: 53.332466 m, bearing: 34.231264 deg, approach rate: 0.638217 m/s, LOS rate: 0.015472 deg/s, cmd heading: 230.034050 deg, new cmd heading: 230.054300 deg. 2j-):5HeadingCmd: 4.015205 target range: 350.700012 and range: 350.70 m. j5|@j1j1j1i1h9h9h9hEHBfAfAfArfAbfM*_?ɛq}< y}>Iy ꯻ɚiIAY=I&iUf6w,,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255504>?o@Y>~@>}:*9>#J>y>H #lM? IF/?@E??`Z?ɨ>?o@>W˖;>CyRqBRIIZIZ,5٢E@a Ef=9E;Q E>II UG٣QyU< ]> eNusing accuracyPremultiplier from configam49ek?m4Ye ie wBqu u?eCe;:e\:e#4}dB }ZA}>EZjFNOT Ignoring new targets: 350.70 m.Bj9Jj9 ProNav: ac range: 350.700012 m, nav range: 53.548649 m, bearing: 34.238336 deg, approach rate: 0.609377 m/s, LOS rate: 0.019854 deg/s, cmd heading: 230.054295 deg, new cmd heading: 230.075426 deg. 2jZ:HeadingCmd: 4.015574 target range: 350.700012 and range: 350.70 m. j@jjjihhhhfffrfbf`ԇ@ɛ }B  <  >I ɚiI=I% i%?׏y6Hp@7t?' +U?mI?`+?1^?ɨ6op@6^;6Cy>fB>IIFIF|+5٢N RU=9R;Q R>TT ZG٣ZAGyZ< Z> bNusing accuracyPremultiplier from config\b49^k?f4Y^# i^vBdfl f?^C^:^:^*4h nAlZjFNOT Ignoring new targets: 350.70 m.Bjq9Jjq9 ProNav: ac range: 350.700012 m, nav range: 53.780960 m, bearing: 34.247601 deg, approach rate: 0.603875 m/s, LOS rate: 0.023981 deg/s, cmd heading: 230.075414 deg, new cmd heading: 230.103091 deg. 2j:HeadingCmd: 4.016057 target range: 350.700012 and range: 350.70 m. j@jjjihhh!h!f!f!f)rf)bf-(@ɛ]< 隝0>I pɚiI=IiI! I%II%+BI!&I!.I!6I%<:I% F I fg*F5?2F1:F1BF50JF1% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011546J% J% J! J! J% -;J% r:J! J! J% 0W<J% 1W<J% ;J% ;G] GQ Ba O} > Dw,a-A6sq@Y6*%@6+96C>y6HF9 %?@:{/?f?M?Ie?ɨ6sq@6<;6CyJBBNIiRx>IR%=%Mb@Mb@Mb@!!! !)!Y%333333?B`"۹L7A`堿y%?%ν%+%A %@)%@I%v@!y%@IEIE_,5٢U U/=9];Q ]>YY eG٣ayeJ< e> uNusing accuracyPremultiplier from configq}49uk?}4Yu iuvB?:?uCuh;u ;u24 AAEZjFNOT Ignoring new targets: 350.70 m.BjN:JjN: ProNav: ac range: 350.700012 m, nav range: 54.062878 m, bearing: 34.275796 deg, approach rate: 0.607670 m/s, LOS rate: 0.060457 deg/s, cmd heading: 230.103090 deg, new cmd heading: 230.187234 deg. 2j%;HeadingCmd: 4.017525 target range: 350.700012 and range: 350.70 m. j@jjjihhhh~BfffrfbfQ @ɛ}B< h>I ɚiI=I i  ]$?I zK5 BoIK5 s9K1 K5 K5 BK= rA:K9 21Jw,¿*-ABuq@YB,@B 9B_>>yBH *?7@`?? ?m?ɨBuq@Br;BC^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515238y=+B=IIMIM<55٢}_ }H=9;Q > G٣y< > Nusing accuracyPremultiplier from config49k?4Y ivBT?CE<<94 tA%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 350.70 m.Bj=%:Jj=%:E ProNav: ac range: 350.700012 m, nav range: 54.309227 m, bearing: 34.302050 deg, approach rate: 0.589844 m/s, LOS rate: 0.062574 deg/s, cmd heading: 230.187238 deg, new cmd heading: 230.265641 deg. 2jM+;HeadingCmd: 4.018894 target range: 350.700012 and range: 350.70 m. jǚ@jjjihhhhfffrfbf@k @ɛM}BM͖< QU>IQ UɚQiQIUu0=I](ieU/I)  I- II- BI- $ =&I) .I) 6I- <:I- FO} >*Qw,D-A I ]q@Y]@]9]o8>y]H"?倽@O:)i?`z??v?ɨ]q@];]Cym BmIMb@Mb@Mb@ )YV-?V-y&1y|?m` A @)@I3@y3@II65٢5貼 50=9=;Q =>9A EG٣EAGyE%t< M> UNusing accuracyPremultiplier from configI]49M k?]4YMw iMvB]V ?]:]a]?MCMf;M;Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:22:59.2927 LVL= 30320, 32753, 32754, 32755, AGC= 65, IDX= 437,-0.08,-1.850, 2.884,-3.086,-2.616, PHS= 0.855,-0.736,-0.473, RAW= 98.9, 4.9, CAL= 108.7, 3.2, ROT= 41.3, -3.2 Ygot valid direction response: 21:22:59.2927 LVL= 30320, 32753, 32754, 32755, AGC= 65, IDX= 437,-0.08,-1.850, 2.884,-3.086,-2.616, PHS= 0.855,-0.736,-0.473, RAW= 98.9, 4.9, CAL= 108.7, 3.2, ROT= 41.3, -3.2 PDAT read: Bearing 41.3, -3.2 (Local) ~Local bearing/azimuth received: Bearing 41.3, -3.2 (Local) DAT read: Range 10 to 50 : 349.8 m (Round-trip 466.5 ms) speed 0.1 m/s  ,DAT read: user:1714>  BDAT read: Tx time:21:23:00.3721 $Ping request sent.6i?kֱ k k֌L-A:kCBkCZkp?"PH|-m]:qu@bȿ /#=b?Jk ;Rk쯿*_ceW.2[@lZt@|;Ȕ[֒?k?"kB*k+kz%1i?kB 2k(Cks?kܪ kCkBk?] addTargetRange:: Added new target pos. range: 349.799988 m, deltaT: 4.031742 s, deltaX: -0.900024 m, approachRate: -0.223235 m/s, rangeRepo size: 4 m Added new target pos. range: 349.799988 m, bearing: 93.750347 deg, lat: 36.904107 deg, lon: -122.114348 deg, deltaT: 4.031742 s, deltaX: -0.900024 m, approachRate: -0.223235 m/s, posRepo size: 4 ZjiFNOT Ignoring new targets: 349.80 m.BjJj ProNav: ac range: 349.799988 m, nav range: 73.342354 m, bearing: 70.077516 deg, approach rate: 0.000000 m/s, LOS rate: 0.062574 deg/s, cmd heading: 230.265648 deg, new cmd heading: 230.367867 deg. 2jHeadingCmd: 4.020678 target range: 349.799988 and range: 349.80 m. jd@jj!j!i!h!h!h)h-T~Bf)fifqrfuu@bfu ׿?ɛ}Bhu< >I yɚiIR =Iir;iJo)d@)9*F5 ?2F9 :F9 BF9 JF9 e Will construct direction to contact in vehicle frame from tetrahedron phase data.a ia G]K7 \$?IzKm$JK9KKKG)B1OU?SYw,g-ABOr@YB7@B9B2>yBHph?@XOI??q9??ɨBOr@Bf;BCyJBNI)` `IfcIfN5٢nfq n3=9r.;Q r>pp rG٣tyvJ< v> ~Nusing accuracyPremultiplier from configx-49zvk?54Yz izvB15 =?z5Cz I ҈kɚiIʽ =I%ni%:|;i-/:)-@)Y*F 2F :F BF `0JF GGBOf>m Will construct direction to contact in vehicle frame from tetrahedron phase data.g0`w,ˀ-AZHRH@AHI IrIIBI&I.I6IͰ<:I F 1I1y~BIMb@Mb@Mb@ )Yp= ף?~jt/$y%?ļ3 A @)I@yG@I-fI-5٢=m U=9UQ ]>Ya eG٣aye m> uNusing accuracyPremultiplier from configiu49m)dk?}4YmF imvB}R%?}:}}?m_Cm;m;mR4 JAGEZjFNOT Ignoring new targets: 349.80 m.BjdJjd ProNav: ac range: 349.799988 m, nav range: 73.909515 m, bearing: 69.884853 deg, approach rate: 0.635842 m/s, LOS rate: -0.200125 deg/s, cmd heading: 230.082845 deg, new cmd heading: 229.792094 deg. 2jX HeadingCmd: 4.010629 target range: 349.799988 and range: 349.80 m. jW@jjjihhhh}BfffrfbfQG?ɛ}BGi< ɋ>I "ZɚiI =Iqi<<;il;)W@Will construct direction to contact in vehicle frame from tetrahedron phase data.)9EAJJ JJJJbl:JJJJJ4;J4;*F2F:FBF_0JFG G ?G ?G B O >Cfw,-AVWill construct direction to contact in vehicle frame from tetrahedron phase data.fOs@Yf!@f(¼9f,o#>yfHC] 6q?  `?}D? BV?`?ɨfOs@f;dyr~BrIIUoIU"5٢]ȷ ew=9eКI1 56Pɚ1i1I5ʢ =I=fi=S;i=}<)==@)A*F2F:FBF0JF [$?IG7GYBaO8>zKk3IK 9KKKEWill construct direction to contact in vehicle frame from tetrahedron phase data.lw,-AFps@YFۀ@F9F/>yFH@A?`/  %Ε??I?&?ɨFps@F;FCyr~BvIiz=Iz> za=zR=I~I~v35٢ <  Q=9R3 G٣y7< > -Nusing accuracyPremultiplier from config!-49%]Jk?54Y%{ i%vB1=r=?%C%6D;%D;%_4A EAMKEB*** querying acoustic contact ***j9GjvA uYuvAyueBZjFNOT Ignoring new targets: 349.80 m.Bj>Jj> ProNav: ac range: 349.799988 m, nav range: 74.343224 m, bearing: 69.755939 deg, approach rate: 0.567774 m/s, LOS rate: -0.166793 deg/s, cmd heading: 229.614349 deg, new cmd heading: 229.406497 deg. 2j仝HeadingCmd: 4.003899 target range: 349.799988 and range: 349.80 m. j@jjjihhhhfffrfbf?ɛ}B^5]< 隝#>I AɚiI& =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.Iie Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003827sw,f-A*JR="JJ~J~ J~0J|J~e ;J~un:J~ـ3J|J~U<J~U<J~;J~;s@Y@^9>yH=?`뺿@2K? ??E?ɨs@w;騅Cyޥ~BޥI]Mb@Mb@Mb@YYY Y)YY]q= ףp? rh?{Gzty]+?]C =]ף]zA Y)YI]@Yy]\@IuIuB5٢ 5=9 G٣yr: > Nusing accuracyPremultiplier from config492;k?4Y ivB+?: ?C$;/#;og4 AZjFNOT Ignoring new targets: 349.80 m.Bj+Jj+ ProNav: ac range: 349.799988 m, nav range: 74.635399 m, bearing: 69.691393 deg, approach rate: 0.681600 m/s, LOS rate: -0.149987 deg/s, cmd heading: 229.406493 deg, new cmd heading: 229.213612 deg. 2jͻHeadingCmd: 4.000532 target range: 349.799988 and range: 349.80 m. j\@j j j i h h hh}Bfffrf!bf%4@ɛM}BM_< QUn>IQ Uix5ɚQiQIU =I]i] I zK5 VBJK5 h9K1 K5 K5 PM%$Ryw,2v-AJ֠s@YJ߀@J.C9J}>yJH> ׎?@@7`A?`e?@_??ɨJ֠s@Jb;JCy^~B^IInIn:5٢z zh=9~6. G٣AGy ;  > Nusing accuracyPremultiplier from config49g/k?4Y ivB% %?C;:;m4) -*A-NEZjQ]FNOT Ignoring new targets: 349.80 m.Bj]!Jj]!m ProNav: ac range: 349.799988 m, nav range: 74.862617 m, bearing: 69.641511 deg, approach rate: 0.645181 m/s, LOS rate: -0.141209 deg/s, cmd heading: 229.213608 deg, new cmd heading: 229.064416 deg. 2jmHeadingCmd: 3.997928 target range: 349.799988 and range: 349.80 m. j@jjjihhh Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508544h1f1f1f9rf9bf=1@ɛ}B4L< 隅;V>I #+ɚiISx =IAil Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759073Rڀw,.AHNA>IL IN3IINBIL&IL.IL6IN#<:IN F Iyu~BuI)y yy}AMb@Mb@Mb@ )YGz?Zd;?MbP?y0?y=:A @)@Iy@II<5٢-= -*=95Q 5>11 5G٣1y= E> MNusing accuracyPremultiplier from configIU49Mk?U4YM5 iMvB]T1?]:] ]?M CM ;M ;Mu4a eAaZjY]FNOT Ignoring new targets: 349.80 m.BjeJjeu ProNav: ac range: 349.799988 m, nav range: 75.186035 m, bearing: 69.580506 deg, approach rate: 0.637441 m/s, LOS rate: -0.119719 deg/s, cmd heading: 229.064409 deg, new cmd heading: 228.882185 deg. 2juS}HeadingCmd: 3.994748 target range: 349.799988 and range: 349.80 m. j}@jyjjihhhho}Bfffrfbf h@ɛ}B,C< e>I gɚiI =IuiPw,g.A6)Cs@Y6@6 E96S>y6H@oc@u?`|ש`0 c?@t?@N?`?ɨ6)Cs@6 Nusing accuracyPremultiplier from config49k?4Yy ivB) ?)C;1;|4aB AOEZjIMFNOT Ignoring new targets: 349.80 m.BjuJju ProNav: ac range: 349.799988 m, nav range: 75.421417 m, bearing: 69.535384 deg, approach rate: 0.700348 m/s, LOS rate: -0.133836 deg/s, cmd heading: 228.882180 deg, new cmd heading: 228.747236 deg. 2jHeadingCmd: 3.992393 target range: 349.799988 and range: 349.80 m. j\@jjjihhhhfffrfbf` @ɛ]}B]xs< ]<]i>IY e~ɚaiaIe =IuYiu:-w,tC7.A2yr@Y2@292>y2H 9K_?`츿S ]?r\?@i?@]?ɨ2yr@2ڍ;2Cy>~B>IIFIF>5٢NF= NX=9RPT VG٣VAGyVH V> ZNusing accuracyPremultiplier from configXf49Zk?j4YZ iZvBprr r?ZJCZ ;Z;Z4 {A RE%B*** querying acoustic contact ***j!j!ZjqFNOT Ignoring new targets: 349.80 m.BjTJjT ProNav: ac range: 349.799988 m, nav range: 75.671249 m, bearing: 69.486904 deg, approach rate: 0.611726 m/s, LOS rate: -0.118313 deg/s, cmd heading: 228.747243 deg, new cmd heading: 228.602284 deg. 2jeHeadingCmd: 3.989862 target range: 349.799988 and range: 349.80 m. jY@jjjihhhhfffrfbff&@ɛe}Bes< ae{>IiWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:23:03.2409 LVL= 23808, 32753, 29874, 32755, AGC= 70, IDX= 418,-0.11,-0.826,-2.508,-2.019,-1.570, PHS= 0.832,-0.891,-0.452, RAW= 104.2, 6.6, CAL= 114.3, 4.7, ROT= 35.7, -4.7 Ygot valid direction response: 21:23:03.2409 LVL= 23808, 32753, 29874, 32755, AGC= 70, IDX= 418,-0.11,-0.826,-2.508,-2.019,-1.570, PHS= 0.832,-0.891,-0.452, RAW= 104.2, 6.6, CAL= 114.3, 4.7, ROT= 35.7, -4.7 PDAT read: Bearing 35.7, -4.7 (Local) ~Local bearing/azimuth received: Bearing 35.7, -4.7 (Local) DAT read: Range 10 to 50 : 348.4 m (Round-trip 464.6 ms) speed 0.2 m/s ,DAT read: user:1715> BDAT read: Tx time:21:23:04.3221 $Ping request sent.I I'IIBI$ =&I.I6Iذ<:I F IG :^<U Will construct direction to contact in vehicle frame from tetrahedron phase data.] JDAT read: TxSync time:21:23:04.3213 G B O >w,Q.A6ƕr@Y6?Z@6F;96=y6H`A?V Sr?`?+?ɨ6ƕr@6;6CyR~BRIiV=IV= V=V=Mb@Mb@Mb@ )Y(\?i|?5?I +?yz4?q=94<7A K@)@I@y@I I 45٢=< =3=9='AA EG٣AyMX M> uNusing accuracyPremultiplier from configQ}49Uj?}4YU iUvB!5?:= ?UtCU;U;U4 YAk+f?kXN k kǺ>.A:k3CBkCZk{?"}B,T#l%Gt@k=EͿܴxT?Jk'Rkv*$T.jl@c]@Cq٩yt@/H[c?a?"kB*krkše?k#6 2kCk)m?kB kCkBk6? addTargetRange:: Added new target pos. range: 348.399994 m, deltaT: 3.784054 s, deltaX: -1.399994 m, approachRate: -0.369972 m/s, rangeRepo size: 4  Added new target pos. range: 348.399994 m, bearing: 97.350700 deg, lat: 36.903948 deg, lon: -122.113905 deg, deltaT: 3.784054 s, deltaX: -1.399994 m, approachRate: -0.369972 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 348.40 m.BjJj ProNav: ac range: 348.399994 m, nav range: 110.852562 m, bearing: 85.318066 deg, approach rate: 0.000000 m/s, LOS rate: -0.118313 deg/s, cmd heading: 228.602279 deg, new cmd heading: 228.448072 deg. 2jHeadingCmd: 3.987171 target range: 348.399994 and range: 348.40 m. j-@jjjihh hhq}Bfffrf`fu@bf@7?ɛx< 隍>I MɚiIs =IiwzK5 WMK5 9K1 K5 K5 RKM >JKM >O@w,&j.AJTr@YJ9@J5r;9Ju =yJHξ_??0]jR+? ANt??ɨJTr@J4a;JCy^~B^IIfIf%.5٢n>< rc=9r%tt vG٣tyv5 v> ~Nusing accuracyPremultiplier from configx49z6j?4Yzk izvBr ?zCz:z.:z損4  2AUEZj9=FNOT Ignoring new targets: 348.40 m.BjEgJjEgU ProNav: ac range: 348.399994 m, nav range: 111.070770 m, bearing: 85.250313 deg, approach rate: 0.653256 m/s, LOS rate: -0.202435 deg/s, cmd heading: 228.448067 deg, new cmd heading: 228.245209 deg. 2jU ]HeadingCmd: 3.983630 target range: 348.399994 and range: 348.40 m. j]~@jYjYjYiYhahahahafififirfibfm@4?ɛ}B< 隥c>I ׺ɚiIN =I+iw,.Abo.r@Yb&@b<9bQ=ybH74?@vP> ? ??ɨbo.r@b;bCynBnIMb@Mb@Mb@ )Y/$?:v? G٣AGy֝ > Nusing accuracyPremultiplier from config49rj?4Y ivB1?: ?C ;;Z4 AZj!%FNOT Ignoring new targets: 348.40 m.Bj-TJj-T= ProNav: ac range: 348.399994 m, nav range: 111.356972 m, bearing: 85.159824 deg, approach rate: 0.590273 m/s, LOS rate: -0.186148 deg/s, cmd heading: 228.245210 deg, new cmd heading: 227.974443 deg. 2j=EHeadingCmd: 3.978905 target range: 348.399994 and range: 348.40 m. jE`~@jAjAjAiAhIhIhIhM}BfQfQfQrfQbfU?ɛ< 隅>I s0ɚiI+ =IUyiRM Will construct direction to contact in vehicle frame from tetrahedron phase data.K w,.A: q@Y:l @:)CC<9:n=y:H`$?6e?`W?@?h`j??ɨ: q@:4;:CyB6BBI)H HLNAIRoIR"5٢Zl= Z_=9ZH' G٣y| > -Nusing accuracyPremultiplier from config!-49%Nj?-4Y% i%vB15P 5?%C%n:%7:%49 =1AEXEZjimFNOT Ignoring new targets: 348.40 m.BjuUJjuU ProNav: ac range: 348.399994 m, nav range: 111.580185 m, bearing: 85.089143 deg, approach rate: 0.591365 m/s, LOS rate: -0.186882 deg/s, cmd heading: 227.974448 deg, new cmd heading: 227.762831 deg. 2jAHeadingCmd: 3.975211 target range: 348.399994 and range: 348.40 m. ji~@jjjihhhhfffrfbf?ɛ}BS< 9>I jɚiIH =Iصi;G B O >Bw,>ͻ.A6Lq@Y6@69<965=y6H ?N;(`#?@ ' 9?`?ɨ6Lq@6u;4yBbBBIIJIJ:5٢R>= VJ=9VTX ZG٣XyZV1 Z> bNusing accuracyPremultiplier from config\b49^j?f4Y^ i^vBdf f?^C^. ;^ ;^֦4n_B ntArZE~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 348.40 m.BjUJjU% ProNav: ac range: 348.399994 m, nav range: 111.812401 m, bearing: 85.015275 deg, approach rate: 0.588577 m/s, LOS rate: -0.186838 deg/s, cmd heading: 227.762835 deg, new cmd heading: 227.541692 deg. 2j%9-HeadingCmd: 3.971352 target range: 348.399994 and range: 348.40 m. j-*~@j)j)j)i)h1h1h1h1f9f9f9rf9bf=q?ɛiue< qu.>Iq uZɚqiqI}=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.i%B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259439Bw,w.A6cq@Y6@6L<96=y6H@9?༁` z&? 9?`?ɨ6cq@6?;6CyBhBBIMb@Mb@Mb@ )Yw/?{Gz?~jt?y&?ף<<A @)@Ip@y@I-I-6=5٢=d< =C=9EAA MG٣M AGyM_A M> Nusing accuracyPremultiplier from config49-j?4Y ivB'?:?(Cn;;{4 \AZj!%FNOT Ignoring new targets: 348.40 m.Bj-XJj-X=PExceeded connect timeout, disconnecting.E ProNav: ac range: 348.399994 m, nav range: 112.047417 m, bearing: 84.932242 deg, approach rate: 0.537871 m/s, LOS rate: -0.189636 deg/s, cmd heading: 227.541687 deg, new cmd heading: 227.293112 deg. 2jM%MHeadingCmd: 3.967013 target range: 348.399994 and range: 348.40 m. jM}@jQjQjQiYhYhYhahe}Bfafafirfibfmx@ɛ 0< 隝>I 5ɚiI=I*<i 5U$?I9zK} RIK} s9Ky K} K} ,Iw,V.A2p@Y2o@2x<92=y2H?@@?C@;cF? v??ɨ2p@2o;2CVWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769253yrBr%Iiz;>Izp= %=%a=I5I5S<5٢u•= uG=Jـ3K(3 KKK"KJJ JJJ ;JOj:JJ9u G٣yx > Nusing accuracyPremultiplier from config49ӡj?4Y ivB8?JC;h;4! %A%]EZjFNOT Ignoring new targets: 348.40 m.Bj%TJj%T ProNav: ac range: 348.399994 m, nav range: 112.264626 m, bearing: 84.854823 deg, approach rate: 0.521373 m/s, LOS rate: -0.185472 deg/s, cmd heading: 227.293109 deg, new cmd heading: 227.061302 deg. 2jHeadingCmd: 3.962967 target range: 348.399994 and range: 348.40 m. jB}@jjjihhhhfff rf)bf5@ɛ}B(H< 隅/>I !ɚiI=Is~i=UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020231jH <bH <H I  I eII BI &I .I 6I <:I FBIJIRIZI$ =bIjI\74 9 I9 7w,oJ /Af߈p@Yf~@fz<9fS1=yfHi? Zf? ??ɨf߈p@fڢ;fCy~B~7IMb@Mb@Mb@ )YNbX9?{Gzy&1?y%?ף`e<~A @)I@Iy\@II15٢= E=9d G٣y > Nusing accuracyPremultiplier from config49j?4Y$ ivB%?:?lCD;;4 kAZjFNOT Ignoring new targets: 348.40 m.Bj% rJj% r5 ProNav: ac range: 348.399994 m, nav range: 112.468193 m, bearing: 84.771659 deg, approach rate: 0.518922 m/s, LOS rate: -0.211612 deg/s, cmd heading: 227.061306 deg, new cmd heading: 226.812268 deg. 2j5:=HeadingCmd: 3.958621 target range: 348.399994 and range: 348.40 m. j= Z}@j9j9jAiAhAhAhIhM]~BfIfIfQrfQbfU @ɛR< !%>I! %0G=9ɚ!i!I-=I-i5) -nManaging dock network, ignoring radio surface power offU Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:21:23:07.1881 ] TRx dataTimestamp_ set to:1736371388.516738e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524706Zw, #/A=p@Y=z&~@=G=9=l=y=H@ۘu? p V`?N`? ?ɨ=p@=ߑ;=CyލBލIIII٢= L=9$ G٣!AGyT > Nusing accuracyPremultiplier from config49Tj?4Y) ivB?C:L: T$?IÍ4`B A`EZjFNOT Ignoring new targets: 348.40 m.Bj% lJj% l5 ProNav: ac range: 348.399994 m, nav range: 112.669304 m, bearing: 84.688548 deg, approach rate: 0.500248 m/s, LOS rate: -0.206364 deg/s, cmd heading: 226.812264 deg, new cmd heading: 226.563377 deg. 2j5 =HeadingCmd: 3.954277 target range: 348.399994 and range: 348.40 m. jE}@jAjAjAiAhAhAhIhIfIfIfQrfQbfU@% @ɛ}B= 隍>I { :ɚiI=I i |w,|| ~G٣|y᫼ >  Nusing accuracyPremultiplier from config 49 tj?4Y p. i vB? C ; ; @ʍ4! %A!EB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 348.40 m.Bj]-pJj]-pm ProNav: ac range: 348.399994 m, nav range: 112.859367 m, bearing: 84.609074 deg, approach rate: 0.503009 m/s, LOS rate: -0.209978 deg/s, cmd heading: 226.563372 deg, new cmd heading: 226.325351 deg. 2jmuHeadingCmd: 3.950123 target range: 348.399994 and range: 348.40 m. ju|@jqjqjyiyhyhyhhfffrfbf@ɛ}B= 隽>I l:ɚiIй=IPi9 BDAT read: Tx time:21:23:08.2722 $Ping request sent. |?)=I*?i=*?_yӿ2?)*៾Iz i2.:publishing transmit ping timeFpublishing direction and range info9 8eпJ,UI)l?y )I S$?IGBO)>i )Ii=*?_yӿ2?)Ii Will construct direction to contact in vehicle frame from tetrahedron phase data.*J "J p=J J J 1J J E ;J =h:J 3J J qP    G٣ y ;E  > ENusing accuracyPremultiplier from config9E49=bj?M4Y=3 i=vBMl?M:MM?=C=4;=;=э4}^B }VA}dEkMgk?kM`;5 kI kMtFA/A:kM&CBkMCZkMC?"M\ U3m@&ju]t@M 8eпJ,UI)l?JkM2RkM.*M xMO@h?qpX@o(t@Mh`2? ?)}r ?"kMB*kM@kMKk?kM4# 2kMCkMKk?kIkM(CkM=BkM\?E addTargetRange:: Added new target pos. range: 346.299988 m, deltaT: 4.039775 s, deltaX: -2.100006 m, approachRate: -0.519832 m/s, rangeRepo size: 4 } Added new target pos. range: 346.299988 m, bearing: 87.405337 deg, lat: 36.903890 deg, lon: -122.113905 deg, deltaT: 4.039775 s, deltaX: -2.100006 m, approachRate: -0.519832 m/s, posRepo size: 4 Zjy}FNOT Ignoring new targets: 346.30 m.BjJj ProNav: ac range: 346.299988 m, nav range: 112.620804 m, bearing: 87.745283 deg, approach rate: 0.000000 m/s, LOS rate: -0.209978 deg/s, cmd heading: 226.325353 deg, new cmd heading: 226.031326 deg. 2jHeadingCmd: 3.944991 target range: 346.299988 and range: 346.30 m. jz|@jjjihhhh~Bfffrf̤u@bf@?ɛE}Be= img>Ii mK:ɚiiiIm=Iuiu^R zK :IK 9K K K RK ?JK ?ow, p/A2n@Y2|@2L1$=92u=y2H` @?6@)y!?@@??ɨ2n@2&;0BWill construct direction to contact in vehicle frame from tetrahedron phase data.ynBnjII~hI~5٢ +=  [=9 ;Q > G٣y%v %> ENusing accuracyPremultiplier from config1U495xSj?U4Y56 i5vBaem?5C5;5;5w؍4 AZjFNOT Ignoring new targets: 346.30 m.BjJj ProNav: ac range: 346.299988 m, nav range: 112.771904 m, bearing: 87.656674 deg, approach rate: 0.422827 m/s, LOS rate: -0.247626 deg/s, cmd heading: 226.031327 deg, new cmd heading: 225.765857 deg. 2j)HeadingCmd: 3.940357 target range: 346.299988 and range: 346.30 m. j.|@jjjihhhhfffrfbf;?ɛ}BR"= 隭?I :ɚiI=Ii\ I tw,/A5|n@Y54|@5b/=95-=y5H1"`y?=1"',? ꥿?;?ɨ5|n@5೑;5CyMBMrIMb@Mb@Mb@ )YA`"?|?5^~jtxy?ҽĻA @)AIy@IXIn5٢ q< :=9*;Q > G٣"AGy %> -Nusing accuracyPremultiplier from config!549%Aj?54Y%: i%vB5Y?5:5O =?%C%;%l;%4A EAEgEZjamFNOT Ignoring new targets: 346.30 m.Bju,Jju, ProNav: ac range: 346.299988 m, nav range: 112.937607 m, bearing: 87.552342 deg, approach rate: 0.389850 m/s, LOS rate: -0.245100 deg/s, cmd heading: 225.765851 deg, new cmd heading: 225.453320 deg. 2j5(HeadingCmd: 3.934903 target range: 346.299988 and range: 346.30 m. jr{@jjjihhhh~Bfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ}Bi= 隝?I ;ɚiIk=ICJi = Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i9 Ow,O/AB!cn@YBف|@B9=9B^=yBH/n?/}W 4h?8$`` bG٣`yfл f> jNusing accuracyPremultiplier from confighr49j2j?r4YjT> ijvBprs r?j+Cj$5;jg5;j\4x zAxZjFNOT Ignoring new targets: 346.30 m.Bj%OJj%O- ProNav: ac range: 346.299988 m, nav range: 113.073990 m, bearing: 87.466487 deg, approach rate: 0.379069 m/s, LOS rate: -0.238343 deg/s, cmd heading: 225.453316 deg, new cmd heading: 225.196061 deg. 2j5#5HeadingCmd: 3.930413 target range: 346.299988 and range: 346.30 m. j5{@j9j9j9i9hAhAhAhAfIfIfIrfIbfMo? mR$?IiɛM}BM+%= IU?Iq }';ɚyiyI}=IԓiM Gi Bq O >.w,#./A:mn@Y:J|@:I=9:-=y:H2* ?-⺿`@2@Y? :Y3? 6?ɨ:mn@:ȥ;:CyBBBvIIJIJ05٢R< VK=9VTX ZG٣XyZ: ^> fNusing accuracyPremultiplier from configdj49fE"j?j4Yf%B ifvBlng n?fJCf;fc;fi4p rAvjEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 346.30 m.BjJj- ProNav: ac range: 346.299988 m, nav range: 113.227547 m, bearing: 87.370391 deg, approach rate: 0.380771 m/s, LOS rate: -0.237964 deg/s, cmd heading: 225.196063 deg, new cmd heading: 224.908168 deg. 2j-P#5HeadingCmd: 3.925388 target range: 346.299988 and range: 346.30 m. j59{@j1j1j1i1h1h1hhfffrfbf @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}BG= ?I D;ɚiI =I5%i5 J J J J J J q:J J J J J ;J ;w,0/AyBkIMb@Mb@Mb@ )YbX9?QQ UG٣U#AGyU ]> eNusing accuracyPremultiplier from configYe49]j?m4Y]F i]vBm?m:m$u?]mC];];]a4y }A}mEZjFNOT Ignoring new targets: 346.30 m.BjJj ProNav: ac range: 346.299988 m, nav range: 113.385529 m, bearing: 87.256828 deg, approach rate: 0.345915 m/s, LOS rate: -0.248309 deg/s, cmd heading: 224.908171 deg, new cmd heading: 224.567962 deg. 2ji*HeadingCmd: 3.919450 target range: 346.299988 and range: 346.30 m. jFz@jjjihhhh6Bfffrfbf @ɛM}BM= IU?IQ U`+`;ɚQiQIUGI =I]nGi] AIAzK &KK +9K K K )XS !)*.0&pR6 |vrqjd`^XUbdME@;RK ?JK ?w,/A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715672:zn@Y:t|@:\`=9:LG=y:H#J?ؼ @7/ Ǡ? `]?f?ɨ:zn@:;:Cy^B^VIIjIj,5٢r' r]=9rrtt vG٣tyzL; z> ~Nusing accuracyPremultiplier from configx49zui?4YzI iztvB$ ?zCz`;z;z4 AZj9=FNOT Ignoring new targets: 346.30 m.BjE%JjE%U ProNav: ac range: 346.299988 m, nav range: 113.509735 m, bearing: 87.168157 deg, approach rate: 0.348540 m/s, LOS rate: -0.248550 deg/s, cmd heading: 224.567959 deg, new cmd heading: 224.302240 deg. 2jU*]HeadingCmd: 3.914813 target range: 346.299988 and range: 346.30 m. jeJz@jajajaiahahahihifififqrfqbfus@ɛ]}B]|= e!=e>Ia ev;ɚaiaIe =Imkimb jH <bH <H A>I  I II :BI $ =&I .I 6I <:I F 5 P$?I1 w, 0AyBIIMb@Mb@Mb@ )Yd;O?~jtÿQuWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:23:11.1360 TRx dataTimestamp_ set to:1736371392.298428checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222788y?uIA $@)AIy@II\05٢z$ %=9Q > G٣y > Nusing accuracyPremultiplier from config490i?4Y+M iTvB?:%?C;f;L4_B ApEZjFNOT Ignoring new targets: 346.30 m.Bj8Jj8- ProNav: ac range: 346.299988 m, nav range: 113.677780 m, bearing: 87.044969 deg, approach rate: 0.337340 m/s, LOS rate: -0.246927 deg/s, cmd heading: 224.302238 deg, new cmd heading: 223.933225 deg. 2j-v)5HeadingCmd: 3.908372 target range: 346.299988 and range: 346.30 m. j="z@j9jIjQiQhYJJ J0JJJlm:Jـ3JJJJ;J;hYhahe2Bfafafirfibfm @ɛ}BY= ">I w;ɚiIV =IiI w,,&0A I^ćn@Y^||@^%m=9^d=y^H@&?۽4 `+x?`3?`?ɨ^ćn@^;\yfBj2Iin>In;IrzIr'5٢z߽ zs=9~KvB)-%-?CQ;|<. 4 AZjFNOT Ignoring new targets: 346.30 m.Bj yJj y ProNav: ac range: 346.299988 m, nav range: 113.792198 m, bearing: 86.961668 deg, approach rate: 0.299360 m/s, LOS rate: -0.217728 deg/s, cmd heading: 223.933230 deg, new cmd heading: 223.683579 deg. 2jl-HeadingCmd: 3.904015 target range: 346.299988 and range: 346.30 m. j-ay@j)j)j)i1h1h1h1h9f9f9f9rf9bfE @ɛ}B6 = ;>I -;ɚiIb* =IUDi9! 9 I } Yy y} B.w,@0ABn@YB^|@B*\r=9B=yBH`I?%@(?F H??ɨBn@Bz;BCynBn$IIvIv35٢Oa J=9 M;Q  > G٣yr: > %Nusing accuracyPremultiplier from config!-49%mi?-4Y%MS i%"vB)5%5?%C%~:=Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 21:23:11.1360 LVL= 25584, 32753, 32322, 32755, AGC= 67, IDX= 412,-0.06, 3.038, 1.238, 1.644, 2.235, PHS= 0.891,-0.950,-0.594, RAW= 100.5, 7.8, CAL= 110.1, 6.5, ROT= 39.9, -6.5 }Ygot valid direction response: 21:23:11.1360 LVL= 25584, 32753, 32322, 32755, AGC= 67, IDX= 412,-0.06, 3.038, 1.238, 1.644, 2.235, PHS= 0.891,-0.950,-0.594, RAW= 100.5, 7.8, CAL= 110.1, 6.5, ROT= 39.9, -6.5 PDAT read: Bearing 39.9, -6.5 (Local) ~Local bearing/azimuth received: Bearing 39.9, -6.5 (Local) DAT read: Range 10 to 50 : 344.7 m (Round-trip 459.6 ms) speed 0.2 m/s ,DAT read: user:1717> BDAT read: Tx time:21:23:12.2222 $Ping request sent. =I 1;ɚiI =IUi]a& G٣%AGyB > Nusing accuracyPremultiplier from config49i?4YX iuB?:,#?CV;;z4 AkƆj?kM1N: k k:kBkZkh?"N8SU)"7(t@pϿ\@.t?JkRk*[Ui^@F_MV@uy!t@h9A~?VZ??"klB*k"@ks?j?kB,* 2kcCks?j?k4# kklBk?ZjEFNOT Ignoring new targets: 344.70 m.BjMJjM] ProNav: ac range: 344.700012 m, nav range: 114.009583 m, bearing: 88.257475 deg, approach rate: 0.348088 m/s, LOS rate: -0.244225 deg/s, cmd heading: 223.430705 deg, new cmd heading: 222.997448 deg. 2j]'HeadingCmd: 3.892040 target range: 344.700012 and range: 344.70 m. j.y@jjjihhhh~Bfffrfbf`?ɛ~B.<  >I  [G;ɚ i I + =IiHQw,~0AB On@YBm|@Bz*v=9B<-=yBH1@>?@I`IA?K?@m?ɨB On@BI;@yJ BNIIVpIV#5٢^d; ^[=9^;Q b>`` bG٣`yfX: f> jNusing accuracyPremultiplier from confighn49ji?n4Yj[ ijuBpr-#r?j2Cjl;j|;j!4t vAvwEB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 344.70 m.Bj%IJj-I= ProNav: ac range: 344.700012 m, nav range: 114.141289 m, bearing: 88.165433 deg, approach rate: 0.388980 m/s, LOS rate: -0.271521 deg/s, cmd heading: 222.997453 deg, new cmd heading: 222.721649 deg. 2j=W:=HeadingCmd: 3.887226 target range: 344.700012 and range: 344.70 m. jEPx@jAjAjAiAhAhAhIhIfIfIfQrfQbfU?ɛ~BOx< ρ>I x;ɚ i I ] =IdWi1IC IlIIBI% =&I.I6I{<:I%F*F]?2FY:FaBFaJFi- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247606G C=G G qAGQ BY O} >?%w,`0ABoJn@YB&i|@BC(z=9B=yBH` 3@?@fD x?@@D?`g?ɨBoJn@B;@yN~BNI-Mb@Mb@Mb@))) )))Y-rh|?bX9ȶ:vy-?-E)-zA ))-AI-@)y-@IMeIM15٢]ý ]>=9];Q e>aa eG٣aym. u> }Nusing accuracyPremultiplier from configy49}gi?4Y}` i}uB?:?}SC}#;}v";})4 mAZjFNOT Ignoring new targets: 344.70 m.BjJj ProNav: ac range: 344.700012 m, nav range: 114.309807 m, bearing: 88.063934 deg, approach rate: 0.391613 m/s, LOS rate: -0.235522 deg/s, cmd heading: 222.721650 deg, new cmd heading: 222.417605 deg. 2j!HeadingCmd: 3.881920 target range: 344.700012 and range: 344.70 m. j_qx@jjjihhhh~Bfffrfbf@?ɛ  ~B < #V>I ;ɚiI* =IUi]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498653GYW=GBO`> L$?I,w,Ʀ0A:Hn@Y:7|@:7R=9:|=y:HD? (S X?@`X??ɨ:Hn@:*c;8bWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750288zKfMKfh9KdKfKf $9EGIE@;:8681,+(%%#! yn~BnIir,>Ir>IvIv75٢T Q=9 ;Q  >    G٣ &AGy0 > Nusing accuracyPremultiplier from config%49{i?%4Yc iuB)--?rC::W045^B 5)A5{EZjYeFNOT Ignoring new targets: 344.70 m.Bje2Jje2u ProNav: ac range: 344.700012 m, nav range: 114.462372 m, bearing: 87.971876 deg, approach rate: 0.392296 m/s, LOS rate: -0.236398 deg/s, cmd heading: 222.417611 deg, new cmd heading: 222.141805 deg. 2ju<"}HeadingCmd: 3.877106 target range: 344.700012 and range: 344.70 m. j}"x@jyjjihhhhfffrfbfI ʹ;ɚiIz =I4i I H I  I 'II BI &I .I 6I a<:I F2w,`0ABm@YB{@B=9B?=yBH V^p?`@os@Sؕ?@P,L?I?ɨBm@B(;BCyޝ~BޥII5I5s75٢mݽ u5=9}z";Q > G٣yx > Nusing accuracyPremultiplier from config49mi?4Yqh iyuB<?Cu::b84 A~EZjFNOT Ignoring new targets: 344.70 m.Bj~Jj~- ProNav: ac range: 344.700012 m, nav range: 114.641609 m, bearing: 87.863222 deg, approach rate: 0.388546 m/s, LOS rate: -0.235168 deg/s, cmd heading: 222.141808 deg, new cmd heading: 221.816360 deg. 2j5d!5HeadingCmd: 3.871426 target range: 344.700012 and range: 344.70 m. j5qw@j9j9j9i9h9h9hAhAfAfAfIrfIbfM @ɛu~Bu.uQ< }3B=}=Iy } ;ɚyiyI}z =IEZivu Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.50634759w,0A 6K$?I4Zqqm@YZ({@Z䧃=9ZG=yZH@S{?@ @@=b?r@=T??ɨZqqm@Z*;ZCyj=~BjZIMb@Mb@Mb@ )Yx&1?l{Gzy!?ף A p@)I@yAI I S<5٢T E=9Р:Q > G٣yf > Nusing accuracyPremultiplier from config49]i?4Yl i_uB!?:?C ;i ;t?4 AZjFNOT Ignoring new targets: 344.70 m.Bj Jj ] ProNav: ac range: 344.700012 m, nav range: 114.819122 m, bearing: 87.772067 deg, approach rate: 0.438599 m/s, LOS rate: -0.224876 deg/s, cmd heading: 221.816363 deg, new cmd heading: 221.543324 deg. 2jeTeHeadingCmd: 3.866660 target range: 344.700012 and range: 344.70 m. je]ww@jijijiiihqhqhqhu=~Bfyfyfyrfybf}R@ɛM~BM < IMT!=II U)&;ɚQiQI]aA=I]XieAI/ @w,L71Ay]~B]BI)a aImIm<5٢}ܽ a=9Q > G٣y > Nusing accuracyPremultiplier from config49lOi?4Yp iGuB?C^;:E4\B AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 344.70 m.Bj Jj  ProNav: ac range: 344.700012 m, nav range: 114.978340 m, bearing: 87.690674 deg, approach rate: 0.438582 m/s, LOS rate: -0.223895 deg/s, cmd heading: 221.543319 deg, new cmd heading: 221.299480 deg. 2jHeadingCmd: 3.862405 target range: 344.700012 and range: 344.70 m. j1w@jjjih h h h fffrfbfC)@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026590ɛm~Bm7&; uJ$?IyHIC IIIBI&I.I6IZ<:IF  @I  p;ɚ iI4=IiJ J AA8Fw,1Ay]}B]"IMb@Mb@Mb@ )YE?/$? rhy&?<CA @)AIyIIjC5٢  A=9Q > G٣'AGy! %> 5Nusing accuracyPremultiplier from config)=49-?i?=4Y-Ev i-/uB=&?E:EXE?-C-;-;-1M4I M`AIZjy}FNOT Ignoring new targets: 344.70 m.BjoJjo ProNav: ac range: 344.700012 m, nav range: 115.187637 m, bearing: 87.601827 deg, approach rate: 0.494289 m/s, LOS rate: -0.209446 deg/s, cmd heading: 221.299481 deg, new cmd heading: 221.033426 deg. 2jHeadingCmd: 3.857761 target range: 344.700012 and range: 344.70 m. jv@jjjihhhh}BfffrfIbfUu @ɛ~B||: 隝tkI ;ɚiIn=I&:i BDAT read: Tx time:21:23:16.1722 JJJ1JJ-;J3g:J3JG!B)OE>LYMw,/71A%$Ping request sent.%W׿is=?)۵I۵i۵6:۵۱۱E:publishing transmit ping timeEFpublishing direction and range infoر9ص_0kſs?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱ5у=91=yH <?!`%`Ӌ?@=w?u?ɨ,k@Q;Cyޥ}BޥIڱڱ۵BN|?>W׿is=?)۱I۱i۱۱۱۱IIJH5٢   #=9%9Q > G٣y2 > Nusing accuracyPremultiplier from config 49+i? 4Y| iuB?"C<<GV4 AEk qh?k k kE61A:kCBkCZkX?"B/LӉ w1*0$u@_0kſs?Jk6:Rk*pUPbJ@7c2u@+Gzf #`?`?"kDWB*k5kԠph?k 2kICkkB,* kcCk[Bk;9? addTargetRange:: Added new target pos. range: 343.399994 m, deltaT: 3.795973 s, deltaX: -1.300018 m, approachRate: -0.342473 m/s, rangeRepo size: 4  Added new target pos. range: 343.399994 m, bearing: 92.364308 deg, lat: 36.903854 deg, lon: -122.114183 deg, deltaT: 3.795973 s, deltaX: -1.300018 m, approachRate: -0.342473 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 343.40 m.BjJj ProNav: ac range: 343.399994 m, nav range: 90.678513 m, bearing: 87.386610 deg, approach rate: 0.000000 m/s, LOS rate: -0.209446 deg/s, cmd heading: 221.033432 deg, new cmd heading: 220.679716 deg. 2j HeadingCmd: 3.851588 target range: 343.399994 and range: 343.40 m. j iv@jjjihhhhfffArfE`fvu@bfEɩ?ɛ ~B] ٽI ;ɚiIe=Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:23:16.1715 IKif!I III~BI$ =&I.I6I<:I FE% D=*F 2F :F BF `0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G=GBO?&Ww,]1A @J*j@YJx@J{=9Jc(=yJH p@2?7ݲ G? |[?J?ɨJ*j@J1;JCyR}BVI5Mb@Mb@Mb@111 1)1Y5/$?i|?5?I +y5,?5q=5941 5@)5dAI5@1y5pAIMIM,5٢eW e=9e0Q m>ii mG٣u(AGyu u> }Nusing accuracyPremultiplier from configy49}*i?4Y}w i}tB,?:?}OC};};}U_4 AZjFNOT Ignoring new targets: 343.40 m.BjJj ProNav: ac range: 343.399994 m, nav range: 90.947777 m, bearing: 87.246858 deg, approach rate: 0.567704 m/s, LOS rate: -0.293774 deg/s, cmd heading: 220.679710 deg, new cmd heading: 220.261702 deg. 2jIHeadingCmd: 3.844292 target range: 343.399994 and range: 343.40 m. jv@jjjihhhh}Bfffrfbf?ɛ$~B I h;ɚiI=Ii4]" Will construct direction to contact in vehicle frame from tetrahedron phase data.zKM JQJKM 9KI KM KM Q]w,w1ARK?JK?6]j@Y6:x@6v=96f7=y6HW]?~ Sw ?Ю`2? ?ɨ6]j@6 ;4yBM}BBIIJIJ25٢R)" RW=9V 7Q V>TT VG٣T)` `y^ּ b>mG|uA Y|uAyB Nusing accuracyPremultiplier from config492 i?%4Y itB!%9%?pCl= <"f4}]B }AEZjFNOT Ignoring new targets: 343.40 m.BjՉJjՉ ProNav: ac range: 343.399994 m, nav range: 91.148796 m, bearing: 87.141125 deg, approach rate: 0.459215 m/s, LOS rate: -0.241007 deg/s, cmd heading: 220.261703 deg, new cmd heading: 219.945207 deg. 2jf%%HeadingCmd: 3.838768 target range: 343.399994 and range: 343.40 m. j%`u@j)j)j)i)h)h)h1h1f1f1f9rf9bf=?ɛ'~B{ cYI hݭ;ɚ!i!I%] =I5Uqi5#I IFII~BI&I.I6I <:I FBIJIǟCRIZI% =bI% =jIw4G g\=G ?G ?G B O >7dw,毑1AyC}BIWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y"~?/$? G٣y > Nusing accuracyPremultiplier from config49h?4Y itBC5?:;?C;f;In4  AJ5J5J1J1J5 ;J5w:J1J1J5QE 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. i Im mg_jw,$1A2h@Y2yv@2l=92=y2H``?-`.Ň?Q~Ͳ? ?ɨ2h@2M;2CyN}BNIIVIVJ5٢^g޽ bt=9bIQ b?dd fG٣f)AGyf j? nNusing accuracyPremultiplier from confighr49jh?r4Yj ijtBprv?jCj;j;j t4z[B zcAzEZj!%FNOT Ignoring new targets: 343.40 m.Bj-FJj-F= ProNav: ac range: 343.399994 m, nav range: 91.591766 m, bearing: 86.920493 deg, approach rate: 0.554988 m/s, LOS rate: -0.281994 deg/s, cmd heading: 219.564258 deg, new cmd heading: 219.284962 deg. 2j=AEHeadingCmd: 3.827245 target range: 343.399994 and range: 343.40 m. jEt@jAjAjAiAhIhIhIhIfQfQfQrfbfZC?ɛ+~Bfq !%I! %;ɚ!i!I%=I-!.i-k%Eqw,V1A6h@Y63v@6~g=96=y6HS`?>4cw?묿`/G?5?ɨ6h@6;4yB}BBIIJIJA5٢R? RL=9RV7Q V>TT VG٣TyZм Z> ^Nusing accuracyPremultiplier from config\b49^}h?b4Y^/ i^tBdfBf?^C^ ;^ ;^{4h jvAh G$?I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206714HI III}BI% =&I.I6I <:I FZj%FNOT Ignoring new targets: 343.40 m.Bj%Jj% ProNav: ac range: 343.399994 m, nav range: 91.809624 m, bearing: 86.807911 deg, approach rate: 0.510509 m/s, LOS rate: -0.263191 deg/s, cmd heading: 219.284958 deg, new cmd heading: 218.948016 deg. 2j4HeadingCmd: 3.821364 target range: 343.399994 and range: 343.40 m. j9t@jjjihhhhfffrfbfѫ@ɛ5.~B5P 15`I1 =;ɚ9i9I==IE|iE?5&J3K3 K.KK"KJU JU JQ JQ JU ;JU v:JQ JQ JU X<JU X<JU );JU );trww,><1A6g@Y6u@6şa=967Z=y6H8_?@@~@#̔?R0??ɨ6g@6uE;6Cyb}BbIifY>Ifp;UMb@Mb@Mb@QQQ Q)QYU-?Mb?Mb`?yU?5?U=U;UdA U@)UAIU3@QyUAImImG5٢a 7=9FRQ > G٣ye >  Nusing accuracyPremultiplier from config 49Lh?4Y_ itB6?:?C;F;킎4! %A%EZjQUFNOT Ignoring new targets: 343.40 m.Bj]㪻Jj]㪻m ProNav: ac range: 343.399994 m, nav range: 92.056480 m, bearing: 86.681922 deg, approach rate: 0.587040 m/s, LOS rate: -0.298805 deg/s, cmd heading: 218.948011 deg, new cmd heading: 218.571064 deg. 2jmM}HeadingCmd: 3.814785 target range: 343.399994 and range: 343.40 m. jo%t@jjjihhhh}Bfffrfbf@ɛ0~Bu I ;ɚiI=IEii<)o%t@) F$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711402*F2F:FBFJFGi=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961019}w, 1A:f@Y:u@:Y=9:p=y:H@V(?@JֺH?8@?A?ɨ:f@:9;:CzKBRIKB9K@KB KB){l:! yJ|BNIIVIVE5٢^mN ^`=9b5Q b>`` bG٣f*AGyfi f> jNusing accuracyPremultiplier from confighn49j[h?=4Yj` ijtB9EE?j'Cjhw,2AKf@Yt@bQ=9zx=yHz-?(aN?`7`\? ?ɨKf@(;騕Cyޥ}BޥI5Mb@Mb@Mb@111 1)1Y55٢]h< ]2=9eQ e>aa eGmWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:21:23:19.0326 }TRx dataTimestamp_ set to:1736371400.376761}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.466218٣ay y > Nusing accuracyPremultiplier from config49h?4Y~ itB4?:?QC[;;f4 AEB*** querying acoustic contact ***jjZjJ-J-J-0J)J-E ;J-p:J-ـ3J)J-qP<J-qP<J-;J-;FNOT Ignoring new targets: 343.40 m.BjZJjZ ProNav: ac range: 343.399994 m, nav range: 92.502266 m, bearing: 86.444837 deg, approach rate: 0.548046 m/s, LOS rate: -0.297867 deg/s, cmd heading: 218.262397 deg, new cmd heading: 217.861565 deg. 2jlLHeadingCmd: 3.802402 target range: 343.399994 and range: 343.40 m. jZs@jjjihhhh}Bfffrfbf @ɛm4~BmB' iuLIq u 5;ɚqiqIu=I)ikY'ȯw,,2A5`f@Y5.t@5F=95=y5H`?:#`+T?Ш?2?ɨ5`f@5;1yޅ}BޅI) IIB5٢'= V=9Q > G٣y > Nusing accuracyPremultiplier from config49h?4Yj itB?sC;;4 AZjFNOT Ignoring new targets: 343.40 m.Bj夻Jj夻- ProNav: ac range: 343.399994 m, nav range: 92.700516 m, bearing: 86.335915 deg, approach rate: 0.525909 m/s, LOS rate: -0.288326 deg/s, cmd heading: 217.861560 deg, new cmd heading: 217.535496 deg. 2j-E5HeadingCmd: 3.796711 target range: 343.399994 and range: 343.40 m. j5Or@j1j1j1i9h9h9h9h9fAfAfArfAbfMi@ɛ5~BG 隍I ɢw;ɚiI]=If"i"' BDAT read: Tx time:21:23:20.1223 $Ping request sent.:w,sF2A BE$?IFngZe@YZJs@Z ;=9Z*=rWill construct direction to contact in vehicle frame from tetrahedron phase data.pirAvJDAT read: TxSync time:21:23:20.1215 H!I! I%II%z}BI!&I!.I!6I%`<:I%FyZH@`d?$@.|?vt??ɨZe@Zt;ZCy޽}B޽III>5٢n  G=9ӻQ > G٣+AGyx > Nusing accuracyPremultiplier from config49h? 4Y i}tB  p ?C::$4ZB AEk}[n?k6: k kS82A:kCBkөCZkio?"NFӦ5@%u@%޲ [jk?&?Jk\+@RkVc*:\1@dE z:8@=Ju@ª?:"?D1?"kA*kAken?ko6 2kCkj?kE kCkBkw,ha2A65e@Y6YTs@6̮'=963=y6H`@ u?@OE:=Q?Y@ٶ?h?ɨ65e@6P,;6CyV }BVI=Mb@Mb@Mb@999 9)9Y=9v?ˡE?~jt?y=4?='==D<=3 A =@)= AI=v@9y=QAIUIU65٢e/= eJ=9meFQ m>ii uG٣qyu u> }Nusing accuracyPremultiplier from configy49}wqh?4Y} i}wtBR5?:2?}C}#;}p;}54 PAZjFNOT Ignoring new targets: 342.00 m.BjJj ProNav: ac range: 342.000000 m, nav range: 92.145943 m, bearing: 85.476935 deg, approach rate: 0.526709 m/s, LOS rate: -0.321264 deg/s, cmd heading: 217.166520 deg, new cmd heading: 216.792634 deg. 2j{\HeadingCmd: 3.783745 target range: 342.000000 and range: 342.00 m. j(r@jjjihhhh~Bf f frfbf;p? C$?Iɛ58~B5n 9=ыI9 =X;ɚ9i9I==mWill construct direction to contact in vehicle frame from tetrahedron phase data.I-i5( Will construct direction to contact in vehicle frame from tetrahedron phase data.'w,_{2A6Id@Y6r@67=96|=y6H_`bM?@} uVZ@?ཅ?`T?ɨ6Id@6\r;6CyB1}BBIiJ4=IJl>IRIR"25٢Z0= ZW=9Z%Q Z>zK^:IK^9K\K^K^dd fG٣dyjz j> nNusing accuracyPremultiplier from configlr49n&`h?r4Yn\ instBtvv?nCne:n:n嬎4x zAzEZj%FNOT Ignoring new targets: 342.00 m.Bj%6Jj%65 ProNav: ac range: 342.000000 m, nav range: 92.338531 m, bearing: 85.358486 deg, approach rate: 0.504865 m/s, LOS rate: -0.309863 deg/s, cmd heading: 216.792636 deg, new cmd heading: 216.438033 deg. 2j5T=HeadingCmd: 3.777556 target range: 342.000000 and range: 342.00 m. j=|q@j9j9jAiAhAhAhAhIfIfIfIrfIbfU q?ɛ9~BT  I  \XL;ɚ i I ,=I9\ i;)<:I FGGBO>*w,I2Am,d@Ymr@m=9m=ymHXx J.?ӷ`V@ov?b` ??ɨm,d@m ;mߐCyޅF}BޅIWill construct direction to contact in vehicle frame from tetrahedron phase data.-Mb@Mb@Mb@))) )))Y-Cl?I + rh?y-/?-94-C<-I A -I@)- AI-A)y-AIEvIE%5٢U8= U2=9]&˻Q ]>YY ]G٣e,AGyeo- e> uNusing accuracyPremultiplier from configq}49uJh?}4Yu> iuotB/?: ?uCu;uU;JJ@Auᴎ4 AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 342.00 m.BjeJje  ProNav: ac range: 342.000000 m, nav range: 92.544121 m, bearing: 85.211266 deg, approach rate: 0.417002 m/s, LOS rate: -0.297945 deg/s, cmd heading: 216.438040 deg, new cmd heading: 215.997372 deg. 2j zL HeadingCmd: 3.769865 target range: 342.000000 and range: 342.00 m. jyEq@jjjihhhh[~BfAfAfArfAbfM@y?ɛ;~B4G 隕FtI .=;ɚiIuh=I< i_)8w,I2A6Cd@Y6~br@6U< =964=y6H 4@X? -t>H^?F9?@?ɨ6Cd@6;6CyR[}BRIIZIZ35٢bJh= bi=9bGQ f>dd jG٣hynQ. n> 5Nusing accuracyPremultiplier from config)549-9h?=4Y- i-ltB9= E?-'C-u;-;-14I MiAIZjq}FNOT Ignoring new targets: 342.00 m.Bj˻Jj˻ ProNav: ac range: 342.000000 m, nav range: 92.706314 m, bearing: 85.095006 deg, approach rate: 0.497423 m/s, LOS rate: -0.355929 deg/s, cmd heading: 215.997370 deg, new cmd heading: 215.649204 deg. 2jEtHeadingCmd: 3.763789 target range: 342.000000 and range: 342.00 m. jp@jjjihhhhfffrfbfV?ɛ<~Bo aI B3;ɚiI=I=!ii>t<)p@)*F?2F:FBF_0JFGiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004084G)B1OM1>;GJJ J0JJ ;JOj:Jـ3Ja@a@a@a@vA }aY}vAy}BzKUyJKQKQKUKU I "w,2AH(I( I*II*}BI(&I(.I(6I*8<:I* FBI JI RI ZI bI jI >4>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.263520nd@Yn!r@n=9n=ynH ?%@$`u^?>`h?v?ɨnd@n(;nCyvq}BvI)| |II"25٢7T= E=9Q > G٣y% %> 5Nusing accuracyPremultiplier from config)=49-&h?=4Y-Z i-jtBAE)!E?-KC-M;-=7;-@Ž4I MAMEZjqFNOT Ignoring new targets: 342.00 m.BjJj ProNav: ac range: 342.000000 m, nav range: 92.887299 m, bearing: 84.965038 deg, approach rate: 0.447873 m/s, LOS rate: -0.320999 deg/s, cmd heading: 215.649207 deg, new cmd heading: 215.260069 deg. 2jL\HeadingCmd: 3.756997 target range: 342.000000 and range: 342.00 m. jrp@jjjih h h h1fQfQfQrfQbf]`@ɛ>~B*3 隅LI  (;ɚiIV=I!i#*Jw,e2Ajc@YjSq@jp<9jƹ=yjH~`\?@ګ> X/?@j??ɨjc@j};jCy }BIMb@Mb@Mb@ )Y/$?Zd;Q?y1(?yu< A v@) AIAyfAII05٢= ?=9Q M> ]A$?IYaa eG٣e-AGymS- m> uNusing accuracyPremultiplier from configq}49uh?}4Yu[ iuetB(?:T&?upCun;u;u ʎ4 AZjFNOT Ignoring new targets: 342.00 m.Bj7Jj7 ProNav: ac range: 342.000000 m, nav range: 93.060989 m, bearing: 84.818792 deg, approach rate: 0.389514 m/s, LOS rate: -0.327355 deg/s, cmd heading: 215.260064 deg, new cmd heading: 214.822153 deg. 2j`HeadingCmd: 3.749354 target range: 342.000000 and range: 342.00 m. jjo@jjjihhhh~Bfffrfbf`@ɛ5?~B= 9=o1I9 E&;ɚAiAIE =IUK*"iQi] =)]jo@)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768335*F?2F:FBFJFG P=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=3.020158J J J 1J J J 3g:J 3J }B>IIFIF,5٢R; R`=9R{Q R>TT VG٣TyV*4 Z? ^Nusing accuracyPremultiplier from configXb49Zh?b4YZt iZbtB`b&b?ZCZ ;Z\ ;ZЎ4jYB jAjEZjAEFNOT Ignoring new targets: 342.00 m.BjM׶JjM׶zK]BHK]9KYK]K]u ProNav: ac range: 342.000000 m, nav range: 93.196007 m, bearing: 84.704931 deg, approach rate: 0.379660 m/s, LOS rate: -0.319706 deg/s, cmd heading: 214.822154 deg, new cmd heading: 214.481070 deg. 2jui[HeadingCmd: 3.743401 target range: 342.000000 and range: 342.00 m. jo@jjjihhhhfffrfbf@ɛA~Bi) h0I ^;ɚiI%h=I%ԋ"i%f+1gw,3A?c@YZ^q@D<9c=yH "` ?@ C`>? d>&??ɨ?c@2;騕Cyޭ}Bޭ Ii>I< =Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523516uMb@Mb@Mb@qqq q)qYu~jt?EԸ:v?yu$?uƽuT G٣y{ > Nusing accuracyPremultiplier from config49g?4Y. i[tB&?:j*?C>;9;[؎4 AEB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 342.00 m.Bj»Jj» ProNav: ac range: 342.000000 m, nav range: 93.362434 m, bearing: 84.546357 deg, approach rate: 0.358265 m/s, LOS rate: -0.340748 deg/s, cmd heading: 214.481068 deg, new cmd heading: 214.006208 deg. 2jiHeadingCmd: 3.735113 target range: 342.000000 and range: 342.00 m. j o@jjjihhhh.Bfffrfbf& @ɛ]D~B]}˻ Y]IY e~;ɚaiaIe:=Im#ims, G B O5 >= BDAT read: Tx time:21:23:24.0723 = $Ping request sent.= ?`?ɨ6c@6N;6Cy%}B%II5I5%.5٢} N=9)Q > G٣.AGy > Nusing accuracyPremultiplier from config49#g?4Yc iVtB*?Cq:q:ߎ4Q ]AYkDV/p?kb k k*3A:kCBkCZk>"+ZAfC@WɃu@V;)1tsZX1?F爟?Jkn<@Rk6f*9@6]$5$@\Co1u@s7?i?KKC?"k!A*kLAkw>p?k6W3 2kBCkk kBCk9hBk? addTargetRange:: Added new target pos. range: 340.200012 m, deltaT: 3.790149 s, deltaX: -1.799988 m, approachRate: -0.474912 m/s, rangeRepo size: 4 M Added new target pos. range: 340.200012 m, bearing: 21.586060 deg, lat: 36.903863 deg, lon: -122.114597 deg, deltaT: 3.790149 s, deltaX: -1.799988 m, approachRate: -0.474912 m/s, posRepo size: 4 ZjIUFNOT Ignoring new targets: 340.20 m.BjUJjQ ProNav: ac range: 340.200012 m, nav range: 58.056503 m, bearing: 80.972438 deg, approach rate: 0.000000 m/s, LOS rate: -0.340748 deg/s, cmd heading: 214.006205 deg, new cmd heading: 213.561056 deg. 2jHeadingCmd: 3.727344 target range: 340.200012 and range: 340.20 m. ǰn@jjjihhhhfffrf@3Cu@bfi?Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:23:24.0715 ɛ-F~B-p_ 15I1 5d;ɚ1i1I=v=I=#iaie0=)ěn@)aJJ J0JJJOj:Jـ3J*F?2F:FBF0JFG GsAzK}RIK}9KyK}K}BKrA:KrAG "= ) I) G B O >H9 I9  I= FII= ~BI9 &I9 .I9 6I= !<:I= Fnw,5J3A6Will construct direction to contact in vehicle frame from tetrahedron phase data.Bb@YBop@B_<9B=yBH?`:>X?`g˖7?@;?ɨBb@B(;BCy%}B% II5;I5 5٢e; e^=9m*Q m>ii uG٣qyu&Ȼ u> Nusing accuracyPremultiplier from configy49}g?4Y}) i}StB*?}C}:}:}4 AEZjFNOT Ignoring new targets: 340.20 m.BjJj ProNav: ac range: 340.200012 m, nav range: 58.193119 m, bearing: 80.788477 deg, approach rate: 0.415850 m/s, LOS rate: -0.558650 deg/s, cmd heading: 213.561055 deg, new cmd heading: 213.010486 deg. 2jHeadingCmd: 3.717734 target range: 340.200012 and range: 340.20 m. j\m@jjjihhhhfffrf bf s?ɛH~B I ;ɚiI=IY0$iiK=)\m@))E9E=rA*F?2F:FBF@5JFG{/=GyBOh>%Will construct direction to contact in vehicle frame from tetrahedron phase data.*w,Zd3Ay~}B)  Mb@Mb@Mb@ ) >$?IY/$?(\¿~jtx?y?z;vA A) AI Ay\AIWI5٢t: B=9Q > G٣y   > Nusing accuracyPremultiplier from config49g?4Y iItB%!?%:%0%?C;3;4) -A)ZjQ]FNOT Ignoring new targets: 340.20 m.Bj]Jje} ProNav: ac range: 340.200012 m, nav range: 58.333000 m, bearing: 80.566002 deg, approach rate: 0.330875 m/s, LOS rate: -0.524979 deg/s, cmd heading: 213.010487 deg, new cmd heading: 212.344694 deg. 2j}$HeadingCmd: 3.706114 target range: 340.200012 and range: 340.20 m. j0m@jjjihhhh]BfffrfbfX?uWill construct direction to contact in vehicle frame from tetrahedron phase data.yi}AɛK~B, ZI ~:ɚiI9 =I$iiQpr=)0m@))*F?2F:FBF5JFG -=G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J ;J un:J J w,}3A6db@Y6Ap@6Py<96(V=y6H [`? T^C@K? .`??ɨ6db@6+$;4y^}B^IIjDIj5٢r< r\=9vqQ v>tt vG٣xyzz z> mNusing accuracyPremultiplier from configizKyK}9KyK}K}RK?JK?49m@g?4Ym5 imBtB0?m5Cm;m;m4ZB AEZjFNOT Ignoring new targets: 340.20 m.Bj Jj  ProNav: ac range: 340.200012 m, nav range: 58.458889 m, bearing: 80.364641 deg, approach rate: 0.326584 m/s, LOS rate: -0.521249 deg/s, cmd heading: 212.344694 deg, new cmd heading: 211.741936 deg. 2jݲHeadingCmd: 3.695594 target range: 340.200012 and range: 340.20 m. jl@jjjihhhhfff!rf!bf%HI IeIIO~BI&I.I6I<:I F}Will construct direction to contact in vehicle frame from tetrahedron phase data.kw,wؗ3AWill construct direction to contact in vehicle frame from tetrahedron phase data.-b@YKp@s<9Aм=yH@+`L?!@hH?~ΐ? N?ɨ-b@E;ߐCy-}B-IMb@Mb@Mb@ )Y^I +?MbX9ĿyX?!A A)3 AIMAyAIRI5٢ -=9`Q > G٣/AGy >  Nusing accuracyPremultiplier from config 49g?4Y i7tB?:F2?ZC;;4 %A%EEB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 340.20 m.Bj]Jj]u ProNav: ac range: 340.200012 m, nav range: 58.601025 m, bearing: 80.125158 deg, approach rate: 0.311865 m/s, LOS rate: -0.524182 deg/s, cmd heading: 211.741929 deg, new cmd heading: 211.025264 deg. 2ju޳}HeadingCmd: 3.683086 target range: 340.200012 and range: 340.20 m. j}k@jyjyjyiyhyhh!h%Bf!f!f)rf)bf-j?ɛuQ~Bu0g y}XIy !j:ɚiI =Ih&ii=)k@)*Fy2Fy:FyBFyJFy 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 q=G ?G >G B O >Iw,3A6a@Y6qp@6̌q<96e=y6H *?W1?@{C L@*?Q1@ ??ɨ6a@6ԍ;6Cy>}B> IiB >IBJ>IJwIJ+&5٢RKV< Ry=9VQ V?TT ZG٣XyZpP Z? -Nusing accuracyPremultiplier from config!549%)vg?54Y% i%/tB1525?%uC%G:%{;%4A EAAZjimFNOT Ignoring new targets: 340.20 m.BjuJju ProNav: ac range: 340.200012 m, nav range: 58.707249 m, bearing: 79.946328 deg, approach rate: 0.312019 m/s, LOS rate: -0.524340 deg/s, cmd heading: 211.025265 deg, new cmd heading: 210.489760 deg. 2j쳼HeadingCmd: 3.673739 target range: 340.200012 and range: 340.20 m. jk@jjjihhhhfffrfbfE@ɛT~Bf) gI :ɚiIQ#!=I)'ii7=)k@)*Fu?2Fq:FqBFuk0JFqGM}z=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216111G BOE0>JJ JJJJlm:JJzK BoIK S9K K K  <$?I H I C I kII Y~BI % =&I .I 6I <:I Fw,3AWill construct direction to contact in vehicle frame from tetrahedron phase data.iA"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466498:a@Y:o@:m<9:,=y:H >R?`Y1?@M?o@]??ɨ:a@:r;:CyN}BNIIVzIV'5٢~^W D=9 -Q  > %G٣!y- -> =Nusing accuracyPremultiplier from config1=4954bg?E4Y5 i5&tBAE2E?5C5:5u:54I EAEZj1=FNOT Ignoring new targets: 340.20 m.Bj= JjE u ProNav: ac range: 340.200012 m, nav range: 58.833515 m, bearing: 79.733826 deg, approach rate: 0.292833 m/s, LOS rate: -0.491767 deg/s, cmd heading: 210.489765 deg, new cmd heading: 209.853655 deg. 2juuHeadingCmd: 3.662637 target range: 340.200012 and range: 340.20 m. j}hj@jyjyjyihhhhfffrfbf @ɛW~B) o4IA Mp:ɚIiIIM!=IU'iQiU@I=)Uhj@)Y*F?2F:FBF%l0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.729334*J"Ja=Ge =G9 BI Oe >9w,W3A6:a@Y6;Yo@6eg<96y=y6Hp?@Z@^@?`?@?ɨ6:a@6/;6CyB}BFI %;$?I!UMb@Mb@Mb@QQQ Q)QYUd;O?ˡEĿ G٣0AGy > Nusing accuracyPremultiplier from config49Ng?4Y itB?:A4?CN;;,4 AEZjI]FNOT Ignoring new targets: 340.20 m.BjeJjm ProNav: ac range: 340.200012 m, nav range: 58.955490 m, bearing: 79.519749 deg, approach rate: 0.300621 m/s, LOS rate: -0.526524 deg/s, cmd heading: 209.853655 deg, new cmd heading: 209.212782 deg. 2jHeadingCmd: 3.651452 target range: 340.200012 and range: 340.20 m. jci@jj j i h h)h1h5bBf1f1f9rf9bf=h&@UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.970351ɛ[~BD[ 隵{ZI ݘ:ɚiI!=ISn(ii~=)ci@)*F2F:FBFo0JFG:=GyBO>) 5 GI Y 7Y y B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222190rw,L33Aynf}BrI)t tIzIz +5٢ ^  S=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-49%x;g?-4Y% i% tB)15?%C%C:%:%4 <AzKyJK9KKKDx-NO)mT@,!Up6 ZjFNOT Ignoring new targets: 340.20 m.Bj%Jj%E ProNav: ac range: 340.200012 m, nav range: 59.069416 m, bearing: 79.321875 deg, approach rate: 0.290056 m/s, LOS rate: -0.502815 deg/s, cmd heading: 209.212779 deg, new cmd heading: 208.620324 deg. 2jMmHeadingCmd: 3.641112 target range: 340.200012 and range: 340.20 m. jmi@jyjyjihhhhfffrfbf@'9 @ɛ_~BZ 隥xI }:ɚiIoG"= %9$?I!I)iiI=)i@)HI IeIIO~BI&I.I6I <:I FBIIJIMŠCRIIZIM$ =bIM$ =jIMާ4]Will construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:21:23:26.9288 mTRx dataTimestamp_ set to:1736371408.197654uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.476358*Fy2Fy:FyBF}0JFyG \=G B O >w,g 4A[`@Ymzn@lW<9=yH ڮ ? !@߫?`:?@?ɨ[`@7;JqJqJ}J} J}1JyJ} ;J}un:J}3JyJ}Q G٣yռ > Nusing accuracyPremultiplier from config49"g?4Y isBe?:g2?C&;a; 4 [AEeB*** querying acoustic contact ***jajaZjquFNOT Ignoring new targets: 340.20 m.Bj}Jj} ProNav: ac range: 340.200012 m, nav range: 59.230934 m, bearing: 79.062430 deg, approach rate: 0.311794 m/s, LOS rate: -0.499464 deg/s, cmd heading: 208.620328 deg, new cmd heading: 207.844166 deg. 2jc-HeadingCmd: 3.627565 target range: 340.200012 and range: 340.20 m. j-*h@j1j1j9iyhhhhiBf 1I9ffIrfIbf}`@ɛ=d~B=Nlo 9EIA M4:ɚIiIIM"=Iu)iyi} =)}*h@) Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:23:26.9288 LVL= 13952, 26097, 17618, 28883, AGC= 63, IDX= 420, 0.04,-2.220, 2.335, 2.263, 3.047, PHS= 1.104,-0.666,-0.787, RAW= 86.7, 3.8, CAL= 93.0, 2.0, ROT= 57.0, -2.0  Ygot valid direction response: 21:23:26.9288 LVL= 13952, 26097, 17618, 28883, AGC= 63, IDX= 420, 0.04,-2.220, 2.335, 2.263, 3.047, PHS= 1.104,-0.666,-0.787, RAW= 86.7, 3.8, CAL= 93.0, 2.0, ROT= 57.0, -2.0  PDAT read: Bearing 57.0, -2.0 (Local)  ~Local bearing/azimuth received: Bearing 57.0, -2.0 (Local) *F ?2F :F BF _0JF "G =G = DAT read: Range 10 to 50 : 339.2 m (Round-trip 452.3 ms) speed -0.1 m/s  ,DAT read: user:1721>  BDAT read: Tx time:21:23:28.0223  $Ping request sent. NW w,34Af_@Yfm@f~V<9f f=yfHX P^? c@o`` Ѫ?]Ê`s(?`?ɨf_@f;dy~}B~II5I5,5٢EP E=9EQ M?II G٣1AGyټ ? Nusing accuracyPremultiplier from config49g?4Y isB2?Co7<.<%4YB PAEkU'y?kU## kQ kU/4A:kUCBkUoCZkU@"UTAI"4yTL@8t@UL*ÿLa?L ?+?JkU @RkUxޫ*U1YlL@7 !5lt@UtIc?Z w ~t?"kU*kUfBkU.fz?kU:# 2kUCkUen?kUo6 kQkUa BkUc_?m addTargetRange:: Added new target pos. range: 339.200012 m, deltaT: 4.066046 s, deltaX: -1.000000 m, approachRate: -0.245939 m/s, rangeRepo size: 4 } Added new target pos. range: 339.200012 m, bearing: 358.064052 deg, lat: 36.903960 deg, lon: -122.114954 deg, deltaT: 4.066046 s, deltaX: -1.000000 m, approachRate: -0.245939 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 339.20 m.BjJj% ProNav: ac range: 339.200012 m, nav range: 34.595440 m, bearing: 49.997381 deg, approach rate: 0.000000 m/s, LOS rate: -0.499464 deg/s, cmd heading: 207.844159 deg, new cmd heading: 207.318661 deg. 2j!-HeadingCmd: 3.618393 target range: 339.200012 and range: 339.20 m. j-g@j)j1j1i1h1h1h9h9fYfYfarfe@33u@bfe/?ɛg~B̼ 隵?I  :ɚiI)#=I*iin=)g@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:23:28.0215 *F?2F:FBF_5JFzK>OK+9KKK 8$?I G 蘸=H) I)  I- LII- '~BI) &I) .I) 6I- <:I- FG B O >T9w,M4A^&_@Y^]Em@^|O<9^?=y^H ?/ԧ' {?``X$?`?ɨ^&_@^Q;^Cyf}BjIvWill construct direction to contact in vehicle frame from tetrahedron phase data.i%=I<I_I5٢E, EK=9EیQ E>II MG٣IyUڼ U> ]Nusing accuracyPremultiplier from configYe49]g?e4Y] i]sBam3m?]1C]C:]":]q,4q uAuEZjFNOT Ignoring new targets: 339.20 m.Bj$Jj$U ProNav: ac range: 339.200012 m, nav range: 34.798138 m, bearing: 49.798571 deg, approach rate: 0.588403 m/s, LOS rate: -0.573753 deg/s, cmd heading: 207.318658 deg, new cmd heading: 206.725726 deg. 2j]ļ]HeadingCmd: 3.608045 target range: 339.200012 and range: 339.20 m. je4f@jajajaiahahahihifififqrfbf?ɛj~Bx#׼ %oI! %q9ɚ!i!I%#=I-5+i)i5=)54f@)q*F ?2F :F BF b0JF *J=C="J=R=J]J] JYJYJ]e ;J]bl:JYJYWill construct direction to contact in vehicle frame from tetrahedron phase data.J]U<J]U<J]4;J]4;G- e=G! B1 OU >@dw,(dg4A 4I4y=|B=|I-Mb@Mb@Mb@))) )))Y- ףp= ?Q rhy-Q?--C-A - A)-I AI-A)y-G AI=I=/5٢mѽ }9=9}Q }> G٣y > Nusing accuracyPremultiplier from config49f?4Y4 isBr?:s1?TC;; ;344 AEZjFNOT Ignoring new targets: 339.20 m.BjJj ProNav: ac range: 339.200012 m, nav range: 35.034519 m, bearing: 49.587475 deg, approach rate: 0.532644 m/s, LOS rate: -0.472458 deg/s, cmd heading: 206.725729 deg, new cmd heading: 206.096739 deg. 2jHeadingCmd: 3.597067 target range: 339.200012 and range: 339.20 m. jW6f@jjjihhh h ~Bf ffrfbfZ?ɛEo~BE=^ AE;IA E4ɚIiIIM&$=IU^+iQi]=)]W6f@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG 蘸=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.L w,>4A6Z]@Y6k@6v<96L8=y6H a@?@I˟\E? ?c?ɨ6Z]@6;6ސCyF|BF`IIN[IN5٢V Vl=9V&Q Z?XX ZG٣Z2AGy^. ^? bNusing accuracyPremultiplier from config`j49bQf?j4Yb ibsBhj2n?boCb0;bO;b;:4p r7 AtZj  FNOT Ignoring new targets: 339.20 m.BjT JjT % ProNav: ac range: 339.200012 m, nav range: 35.216484 m, bearing: 49.418389 deg, approach rate: 0.527088 m/s, LOS rate: -0.487250 deg/s, cmd heading: 206.096737 deg, new cmd heading: 205.592115 deg. 2j%2-HeadingCmd: 3.588259 target range: 339.200012 and range: 339.20 m. j- e@j)j)j1i1h1h1h1h9f9f9fArfAbfE/?ɛus~Bu zK=FKK=9K9K=K=RKE?JKE? QUIQ ] йɚYiYI]¤$=Iey,iiV=) e@) ]7$?I]pg*F ?2F:FBF`0JFZHRH?AHIC III}BI&I.I6IG<:IFGe =G!B9OeU>Will construct direction to contact in vehicle frame from tetrahedron phase data.iA`z&w,+4Au]@Yu#k@u <9u)1=yuH`)8?`>`ތ@cנ? FB#?@ ?ɨu]@uW;uߐCMWill construct direction to contact in vehicle frame from tetrahedron phase data.J[3K[3 K[/.KSKS"KSJ J J J J J 3g:J J J J J ;J ;y|BII) AMb@Mb@Mb@ )YʡE?~jt{Gzy?ף` A A) AIMAyAII75٢ !=9 Q  >    G٣y > Nusing accuracyPremultiplier from config%49f?%4Yp isB-?-:-.-?C1;;9C49 = AEĵEZjamFNOT Ignoring new targets: 339.20 m.BjmJju ProNav: ac range: 339.200012 m, nav range: 35.504021 m, bearing: 49.193674 deg, approach rate: 0.558326 m/s, LOS rate: -0.432807 deg/s, cmd heading: 205.592109 deg, new cmd heading: 204.923455 deg. 2jHeadingCmd: 3.576589 target range: 339.200012 and range: 339.20 m. jd@jjjihhhh~Bfffrfbf m?ɛx~B I lɚiIP%=I8-iio=)d@) E6$?II*FU?2FQ:FQBF]_0JFY Will construct direction to contact in vehicle frame from tetrahedron phase data.G= w=G B! O= >,w,k4Ay?|B!II5I5s75٢EK E~=9MQ M?II UG٣QyU U? eNusing accuracyPremultiplier from configYe49]f?e4Y]| i]sBiim?]C]2;] ;]H4 !A]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 339.20 m.BjuaJjua㻝 ProNav: ac range: 339.200012 m, nav range: 35.679207 m, bearing: 49.058744 deg, approach rate: 0.518744 m/s, LOS rate: -0.397581 deg/s, cmd heading: 204.923461 deg, new cmd heading: 204.520664 deg. 2jmHeadingCmd: 3.569559 target range: 339.200012 and range: 339.20 m. jsd@jjjihhhhfffrfbf`l@ɛ|~BA3 I 8ܧɚiIn%=I -ii=)sd@)*F?2F:FBFo0JFeWill 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}=GABIOmV>zKuJKKKKBKqA:K 1 I1 H I  I II p}BI $ =&I .I 6I :<:I F3w,4AB[[@YBMzi@B%<9B9-=yBH?l` ߿`j?@޹ O?A?ɨB[[@B;BݐCbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.501350y|B II!I!٢e mH=9m=t;Q u>y G٣3AGyK > Nusing accuracyPremultiplier from config49f?4Y isBi0?C4;3;O4ZB Y"AǵEZjFNOT Ignoring new targets: 339.20 m.Bj %Jj % ProNav: ac range: 339.200012 m, nav range: 35.908066 m, bearing: 48.872900 deg, approach rate: 0.585747 m/s, LOS rate: -0.472621 deg/s, cmd heading: 204.520671 deg, new cmd heading: 203.966711 deg. 2j-%HeadingCmd: 3.559891 target range: 339.200012 and range: 339.20 m. j%@c@j!j!j!i!h)h)h)h)f1f1frfbf@ɛ~B00 }I j9ɚiIΚ&=IvJ.ii, =)@c@)*F?2F:FBF0JFJ=J=J=0J9J= ;J=v:J=ـ3}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755498J9J=Q<J=Q<J=);J=);G Ҵ=Ga Bq O > % 5$?I) _9w,4AN`Z@YNh@N4<9NH(=yNHd.@C?ޝO޿ *@? <??ɨN`Z@N[;Ly^{BbIijG>Ij= j=jp=Mb@Mb@Mb@ )YPn?:vQy$?ԼurA A) AIAyAII65٢E E==9M ;Q M>IQ ]G٣Yy]S e> mNusing accuracyPremultiplier from configau49e͊f?u4Ye3 iesBuF$?u:u,}?eCe;e;eiW4 ,#AʵEZjFNOT Ignoring new targets: 339.20 m.BjJjờ ProNav: ac range: 339.200012 m, nav range: 36.161453 m, bearing: 48.703675 deg, approach rate: 0.595357 m/s, LOS rate: -0.394823 deg/s, cmd heading: 203.966715 deg, new cmd heading: 203.462612 deg. 2j{HeadingCmd: 3.551092 target range: 339.200012 and range: 339.20 m. jEc@jjjihhhh}Bfffrfbf@ɛ~BtA &I ɚiIc'=I%.i!i%'=)%Ec@))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006101*F?2F:FBFi2JFGR=G9BIOeU> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258786[@w,5A6ܫY@Y6g@6 =<96N"=y6H`9a`M?l>jݿ`]ݗ?`_@Q? ?ɨ6ܫY@6g;4yB{BBIIRIR995٢f| ff=9f%:Q f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv49rzyf?v4Yr irsBxz,z?rCr":r:r]4| ~#A|Zj!%FNOT Ignoring new targets: 339.20 m.Bj-Jj-仝E ProNav: ac range: 339.200012 m, nav range: 36.370079 m, bearing: 48.561105 deg, approach rate: 0.588836 m/s, LOS rate: -0.400087 deg/s, cmd heading: 203.462606 deg, new cmd heading: 203.037359 deg. 2jEIMHeadingCmd: 3.543670 target range: 339.200012 and range: 339.20 m. jMb@jIjIjQiQhQhQhhfffrfbf} @ɛ ~B ] k=|4I1 5G8ɚ9i9I=/(=IE6T/iAiM=)Mb@)IzKUKU+9KQKUKURK]?JK]? 4$?I*F-?2F):F)BF-:5JF)jHqbHu<HI III}BI&I.I6IK<:IFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:23:30.8782 TRx dataTimestamp_ set to:1736371412.265170checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510857GmJ=GA BQ Ou >RFw,a5Ay}{BޅIIIE5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775211٢ =9Q > G٣4AGy E> MNusing accuracyPremultiplier from configIU49M^f?U4YM iMsBQQ]?M>CM&:M2:M.g4 3$?I $A͵EZjamFNOT Ignoring new targets: 339.20 m.BjuջJjuջ ProNav: ac range: 339.200012 m, nav range: 36.692993 m, bearing: 48.343924 deg, approach rate: 0.560623 m/s, LOS rate: -0.373737 deg/s, cmd heading: 203.037359 deg, new cmd heading: 202.391578 deg. 2j?HeadingCmd: 3.532399 target range: 339.200012 and range: 339.20 m. jb@jj!j!i!h!h)h)h)f1fqfqrfybf}@ɛ~B= T>I rɚiIP)=I 0iia=)b@)M Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:23:30.8782 LVL= 15056, 29425, 19762, 32755, AGC= 63, IDX= 415,-0.18,-2.694, 2.172, 1.832, 2.703, PHS= 0.974,-0.485,-0.874, RAW= 78.5, 4.6, CAL= 82.8, 3.5, ROT= 67.2, -3.5  Ygot valid direction response: 21:23:30.8782 LVL= 15056, 29425, 19762, 32755, AGC= 63, IDX= 415,-0.18,-2.694, 2.172, 1.832, 2.703, PHS= 0.974,-0.485,-0.874, RAW= 78.5, 4.6, CAL= 82.8, 3.5, ROT= 67.2, -3.5  PDAT read: Bearing 67.2, -3.5 (Local)  ~Local bearing/azimuth received: Bearing 67.2, -3.5 (Local)  DAT read: Range 10 to 50 : 338.7 m (Round-trip 451.6 ms) speed 0.0 m/s  ,DAT read: user:1722>  BDAT read: Tx time:21:23:31.9724  $Ping request sent. 5AFBxW@YFe@F|8H<9FG]"=yFH?ǜ#ۿ`t}9?`I? ?ɨFBxW@Ft;Dybn{BfI)h hjAjAWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yw/?~jt? rhy&?<C AJJJJJe ;Jq:JJa@a@a@a@ A)IAyzAI5I5=5٢E 9=9:Q > G٣y >  Nusing accuracyPremultiplier from config 49wHf?4YH isB '?:*?dCe;;"o4 %AEеEk?kʯG k k@15A:kYCBk/CZk>@"z铬I "Y@WnQs@YDi6gÿ&&Xs?E4?Jk%@Rk*#S˻"kT@|N6J/t@7'Щ?2Kњ= ǿv]D?"ks*kYBk:*?k}R 2kCkw>p?k6W3 kk?Bk> addTargetRange:: Added new target pos. range: 338.700012 m, deltaT: 4.044591 s, deltaX: -0.500000 m, approachRate: -0.123622 m/s, rangeRepo size: 4 - Added new target pos. range: 338.700012 m, bearing: 323.255639 deg, lat: 36.904010 deg, lon: -122.115128 deg, deltaT: 4.044591 s, deltaX: -0.500000 m, approachRate: -0.123622 m/s, posRepo size: 4 Zj)-FNOT Ignoring new targets: 338.70 m.Bj5Jj1e ProNav: ac range: 338.700012 m, nav range: 32.562462 m, bearing: 21.691790 deg, approach rate: 0.000000 m/s, LOS rate: -0.373737 deg/s, cmd heading: 202.391578 deg, new cmd heading: 201.893020 deg. 2jamHeadingCmd: 3.523698 target range: 338.700012 and range: 338.70 m. jmDa@jijijiiqhqhqhqhY}Bfffrf@3+u@bf? Iɛ~Bi IHI ϘɚiIK*=Ip0i i eFp=) Da@) zK=:IK=9K9K=K=HIC IRII|BI% =&I.I5D6I <:I FBIiJIiRIiZIm% =bIm% =jIm?4*F2F:FBF0JFG=GYBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.lUw,X5A6#V@Y6d@6)<96=y6H ?Qi ڿ @{ ?ڃP?_?ɨ6#V@6Ì;6ېCy^O{B^IIfIf3A5٢zn zc=9~Q ~? G٣y ? Nusing accuracyPremultiplier from config 49 7f?%4Y  i xsB!%W+%? C C; mC;  u4) -%A1MB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 338.70 m.Bje:Jje:u ProNav: ac range: 338.700012 m, nav range: 32.782402 m, bearing: 21.724847 deg, approach rate: 0.682163 m/s, LOS rate: 0.101841 deg/s, cmd heading: 201.893015 deg, new cmd heading: 201.991520 deg. 2juȋ;}HeadingCmd: 3.525417 target range: 338.700012 and range: 338.70 m. j}oa@jyjyjyiyhhhhfffrfbf@(?ɛ~B PI bɚiI+=IE0i-E>*Fu?2Fq:FqBFu@2JFq"G}=G}> 2$?IG Υ= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989775G B O >\w,r5A68U@Y6d@6<96A"=y6H 0-?@38ڿ@R,}?0F? 3?ɨ68U@6%V;6ܐCy>A{B>IMb@Mb@Mb@ )Y/$?J +?Mby,?H=I A A)3 AIAyAII(*5٢{ 9=9Q > G٣5AGyN > Nusing accuracyPremultiplier from config49!f?4Y issB,?:\)?C;;|4YB %AԵEZj FNOT Ignoring new targets: 338.70 m.Bj;Jj;- ProNav: ac range: 338.700012 m, nav range: 33.078316 m, bearing: 21.784652 deg, approach rate: 0.671292 m/s, LOS rate: 0.134456 deg/s, cmd heading: 201.991520 deg, new cmd heading: 202.169329 deg. 2j-;5HeadingCmd: 3.528520 target range: 338.700012 and range: 338.70 m. j5Ga@j1j1j1i1h1h9h9h=K}BfAfAfArfAbfE g?ɛ~B}w TI xJɚiI,=InL0i͕. 1 I9 zK K h9K K K )}bw,M5AH}?>Iy I}II}+|BIy&Iy.Iy6I} <:I} FV7)U@YVGc@V#S<9V;-=yVHY r?p`}ٿT##?Uʁdz?T?ɨV7)U@Vm;VߐCyb!{BbqIif=If= jp=ja=InInB-5٢v vY=9vQ v>xx zG٣xy~ ~> Nusing accuracyPremultiplier from config 49f? 4Y insB '*?C:;W4 G&A׵EZjAEFNOT Ignoring new targets: 338.70 m.BjM;JjM;] ProNav: ac range: 338.700012 m, nav range: 33.330215 m, bearing: 21.829275 deg, approach rate: 0.670408 m/s, LOS rate: 0.117861 deg/s, cmd heading: 202.169324 deg, new cmd heading: 202.302179 deg. 2j]ơ;eHeadingCmd: 3.530839 target range: 338.700012 and range: 338.70 m. jeEa@jajajaiahihihihifqfqfqrfqbf}e?ɛU~BU^K Y]~]IY ]2ͻɚYiYIe-=Ieo&0iel/ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748923J J ?A%iw,]5ABpT@YBbb@Bd<9B A4=yBH@~-?љؿ`Sx,? ??ɨBpT@B6;BܐCyV{BVoI v0$?ItMb@Mb@Mb@ )Y|?5^?333333?MbP?y2?=: A ) AIAy AII85٢bλ <=9j9Q > G٣yӼ > Nusing accuracyPremultiplier from config 497e?4Y imsB3?:(?Clf;d;4) -R&A1Zjq}FNOT Ignoring new targets: 338.70 m.Bj}k%;Jjk%; ProNav: ac range: 338.700012 m, nav range: 33.634773 m, bearing: 21.894005 deg, approach rate: 0.686669 m/s, LOS rate: 0.144622 deg/s, cmd heading: 202.302185 deg, new cmd heading: 202.494615 deg. 2j;HeadingCmd: 3.534198 target range: 338.700012 and range: 338.70 m. jL0b@jjjihhhhR}Bfffrfbf~?ɛU~BU4 Y]^IY ]j&ɚYiYI]3!.=Ieh/ieB/d pw,*85A6uS@Y6,a@6<96B=y6H ^2?pD?ؿ` /Ҥ?@p>??ɨ6uS@6;6ݐCyB{BBlIIJIJMD5٢R@ R_=9VQ V>TX ZG٣Z6AGyZݼ Z> Nusing accuracyPremultiplier from config%49e?%4Y i!%])%?C ; ;4) 5e&A5ڵE]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.250063ZjiuFNOT Ignoring new targets: 338.70 m.Bju;Jju; ProNav: ac range: 338.700012 m, nav range: 33.895977 m, bearing: 21.944173 deg, approach rate: 0.706061 m/s, LOS rate: 0.134564 deg/s, cmd heading: 202.494618 deg, new cmd heading: 202.643962 deg. 2j;HeadingCmd: 3.536804 target range: 338.700012 and range: 338.70 m. j[b@jjjihhJJ JJJ ;Jun:JJhhfffrfbf:@ɛ~BΑ `I ڢɚiI/=I/i/HI III{BI$ =&I.I6I<:I FzKRKKKKK Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5018067vw,5A228S@Y2Va@2{;92 T=y2H r`g?M׿@G?f|~??ɨ228S@2;2ېCyV&{BVtI)X X^A^AIbIb:5٢E<  D=9 MQ  > G٣y > %Nusing accuracyPremultiplier from config!-49%}e?54Y%m i!15)5?%5C%0;%1;%4EZB E5&AEݵEeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 338.70 m.Bju ;Jj} ; ProNav: ac range: 338.700012 m, nav range: 34.179512 m, bearing: 21.993302 deg, approach rate: 0.701543 m/s, LOS rate: 0.120552 deg/s, cmd heading: 202.643967 deg, new cmd heading: 202.790134 deg. 2jw;HeadingCmd: 3.539356 target range: 338.700012 and range: 338.70 m. j̈́b@jjjihhhhfffrfbfp@ɛ~BM ]I 6 ɚiIb0=I/i. .$?I Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005906Jd|w,5A2R@Y2j`@2(̷;92M-o=y2H >?,!M׿ɪ? }v1??ɨ2R@2&;2ܐCy~"{B~qIMb@Mb@Mb@ )YI +?ʡE?y&1|?y94?=`;` A MA)3 AIzAy AIIB5٢2 >=9YQ > G٣y~ > Nusing accuracyPremultiplier from config49øe?4Y"$ ipsBN5?:I*?\C(;;4 I&AZj)FNOT Ignoring new targets: 338.70 m.Bjl;Jjl; ProNav: ac range: 338.700012 m, nav range: 34.482285 m, bearing: 22.042240 deg, approach rate: 0.706262 m/s, LOS rate: 0.113151 deg/s, cmd heading: 202.790133 deg, new cmd heading: 202.935655 deg. 2jO;HeadingCmd: 3.541895 target range: 338.700012 and range: 338.70 m. jjb@jjjihhhhi}Bfffrfbf  @ɛ ~B W _I ɚiI51=IeKq/imo-jH <bH <H >>I  I II {BI % =&I .I 6I )<:I FIw, 6AzK.JK. 9K,K.K.:hR@Y:C`@:S;9:=y:HmH?w ֿV?Usj ??ɨ:hR@:e;8yzE{BzIII:5٢,= W=9̻Q >!! %G٣%7AGy% -> 5Nusing accuracyPremultiplier from config)549-e?=4Y-`' i-tsB9=*=?-~C- ;-\ ;-4A M%AMEZjiuFNOT Ignoring new targets: 338.70 m.Bju:Jj}: ProNav: ac range: 338.700012 m, nav range: 34.750473 m, bearing: 22.082139 deg, approach rate: 0.707049 m/s, LOS rate: 0.104378 deg/s, cmd heading: 202.935657 deg, new cmd heading: 203.054431 deg. 2jD;HeadingCmd: 3.543968 target range: 338.700012 and range: 338.70 m. jab@jjjihhhhfffrfbf o @ɛ~B⮘ IWI ɚiIS 2=ITO/i*, Will construct direction to contact in vehicle frame from tetrahedron phase data.e DAT read: 21:23:34.8270 LVL= 14160, 29553, 22178, 28483, AGC= 63, IDX= 433, 0.00,-0.754,-1.995,-2.777,-1.643, PHS= 0.978,-0.304,-1.137, RAW= 67.0, 5.1, CAL= 68.5, 5.3, ROT= 81.5, -5.3 m Ygot valid direction response: 21:23:34.8270 LVL= 14160, 29553, 22178, 28483, AGC= 63, IDX= 433, 0.00,-0.754,-1.995,-2.777,-1.643, PHS= 0.978,-0.304,-1.137, RAW= 67.0, 5.1, CAL= 68.5, 5.3, ROT= 81.5, -5.3 u PDAT read: Bearing 81.5, -5.3 (Local) u ~Local bearing/azimuth received: Bearing 81.5, -5.3 (Local)  DAT read: Range 10 to 50 : 337.8 m (Round-trip 450.4 ms) speed 0.2 m/s  ,DAT read: user:1723>  BDAT read: Tx time:21:23:35.9224  $Ping request sent.  G٣y > Nusing accuracyPremultiplier from config49e?4Yq+ i~sBz3?:6-?C;};߯4   Ek@"݃?k k k8#6A:kCBkCZk@".+:GQR Od@zGr@%ƪ,!?T?Jkk?Rka* 2W@z\Z@os@?dy?y"տh.X}?"kH*kBk?k70 2ktCk.fz?k:# kCkyBk;Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:23:35.9216  addTargetRange:: Added new target pos. range: 337.799988 m, deltaT: 3.781004 s, deltaX: -0.900024 m, approachRate: -0.238038 m/s, rangeRepo size: 4 - Added new target pos. range: 337.799988 m, bearing: 309.108588 deg, lat: 36.904279 deg, lon: -122.115274 deg, deltaT: 3.781004 s, deltaX: -0.900024 m, approachRate: -0.238038 m/s, posRepo size: 4 Zj15FNOT Ignoring new targets: 337.80 m.Bj]JjYm ProNav: ac range: 337.799988 m, nav range: 62.394577 m, bearing: 0.259677 deg, approach rate: 0.000000 m/s, LOS rate: 0.104378 deg/s, cmd heading: 203.054434 deg, new cmd heading: 203.227515 deg. 2jqHeadingCmd: 3.546989 target range: 337.799988 and range: 337.80 m. jc@jjjihhhh}Bfffrfu@bf ?ɛ~Bt !%WI! %o/ɚ!i!I%23=I-/i-a^+}w,5AF6A ~,$?I~rgyMj{BMII]YI]5٢mS= mZ=9uQ }>yy }G٣yy > Nusing accuracyPremultiplier from config49te?4YV. isB?CP:~:^4 )%AZjFNOT Ignoring new targets: 337.80 m.Bj̥;Jj̥; ProNav: ac range: 337.799988 m, nav range: 62.631428 m, bearing: 0.359173 deg, approach rate: 0.692730 m/s, LOS rate: 0.289903 deg/s, cmd heading: 203.227511 deg, new cmd heading: 203.524870 deg. 2jF<HeadingCmd: 3.552179 target range: 337.799988 and range: 337.80 m. jVc@jjjihhhhff f rf bf H?ɛ5~B=* 9=NI9 =Z8ɚ9iAIE3=IM.iM_*II IMIIM{BII&II.II6IMG<:IMF*F?2F:FBFP5JFzK5k3IK1K1K5K5BKErA:KAG'GqByO:>Will construct direction to contact in vehicle frame from tetrahedron phase data.#w,_6A:Q@Y:`@:u9:R=y:H@Z~? >ֿ@Q?|?`??ɨ:Q@:?;:ېCy^{B^IIzIz?15٢ .=  R=9bQ > G٣8AGy > %Nusing accuracyPremultiplier from config!-49%_e?-4Y%W1 5tIi%sB15h-5?%C%];%;%'4=YB En$AEEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 337.80 m.Bj;Jj;-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.*J]R="J]p=J}J} J}0JyJ} ;J}un:J}ـ3JyJyaJyaJ};aJ};au ProNav: ac range: 337.799988 m, nav range: 62.879356 m, bearing: 0.461598 deg, approach rate: 0.623463 m/s, LOS rate: 0.256550 deg/s, cmd heading: 203.524870 deg, new cmd heading: 203.830929 deg. 2j}0<}HeadingCmd: 3.557521 target range: 337.799988 and range: 337.80 m. j}lc@jjjihhhhfffrfbf|? +$?Iɛ~BF} )DI CɚiIV4=I%Iq.i%#((ɝw,[y6A)( ,^;Gj|uAt aY|uAy^ B-Q@Y-}`@-99-Nv=y-Hj`hv?1mֿd@Q?@8?J??ɨ-Q@-;-ܐCyE{BEIMb@Mb@Mb@ )Y> ףp=?Zd;O?I +?y1?j<9<A A)I Ay AI5GI55٢E< E8=9MQ M>Ya mG٣iy}n }> Nusing accuracyPremultiplier from config49Ge?4Yv4 isB2?:'0?C.';%;ŏ4 K$AEZjFNOT Ignoring new targets: 337.80 m.Bj>;Jj>; ProNav: ac range: 337.799988 m, nav range: 63.169285 m, bearing: 0.566926 deg, approach rate: 0.658771 m/s, LOS rate: 0.238227 deg/s, cmd heading: 203.830931 deg, new cmd heading: 204.145463 deg. 2j~#<HeadingCmd: 3.563010 target range: 337.799988 and range: 337.80 m. j]d@jjjihhhh%~Bfffrf bf u ?ɛ~B %BI /MɚiI5=IX.i  'ZHI RHI HQ IQ  IU IIU |BIQ &IQ .IQ 6IU ><:IU FBIɟCJIɟCRIZIbIjIɺ4zK BoIK +9K K K RK ?JK ?w,*6ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.731121y}{B}III*5٢6> S=9Q > G٣y > Nusing accuracyPremultiplier from config492e? 4Y%7 isB!)-?Kުw,ȕ6A:aQ@Y:_@:h9:=y:HJ\?E_dֿ* Yp?o ? ξ?+?ɨ:aQ@:Y;:ڐCy^{B^IEMb@Mb@Mb@AAA A)AYEkt?X9vZd;O?yE 0?EEjyy }G٣}9AGy}Ė > Nusing accuracyPremultiplier from config49e?4YL9 isBg0?:M5?^C;;ҏ4 "AEZjFNOT Ignoring new targets: 337.80 m.Bj D;Jj D; ProNav: ac range: 337.799988 m, nav range: 63.675869 m, bearing: 0.727598 deg, approach rate: 0.624653 m/s, LOS rate: 0.171468 deg/s, cmd heading: 204.413888 deg, new cmd heading: 204.625552 deg. 2jZ;HeadingCmd: 3.571390 target range: 337.799988 and range: 337.80 m. jd@jjjihhhh~Bf)f)f)rf)bf5@@ɛ}~B}} y}{-Iy j_ɚiIu6=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235259I-i[l#= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486668#ñw,4d6A 6)$?I8ZQ@YZ_@Z}9ZV>yZH`T c?|jֿS@?@??`?ɨZQ@Z;ZܐCy|BI = II_,5٢%Q= %O=9- Q ->)) 5G٣1y5M: 5> ENusing accuracyPremultiplier from config9E49=Fe?M4Y=v; i=sBIMK5M?=C=:=:=rُ4UZB U"A]EZjFNOT Ignoring new targets: 337.80 m.BjX;JjX; ProNav: ac range: 337.799988 m, nav range: 63.934711 m, bearing: 0.798362 deg, approach rate: 0.693856 m/s, LOS rate: 0.188923 deg/s, cmd heading: 204.625555 deg, new cmd heading: 204.836987 deg. 2j<HeadingCmd: 3.575080 target range: 337.799988 and range: 337.80 m. jd@jjjihhhhfffrfbf@ @ɛ~B~ 隝&I CgɚiI@7=IQ-i!w,K>6A6JR@Y6%`@696)L>y6H @ڏ?` Bֿ}?d/? K? ?ɨ6JR@6;6ڐCyB@|BB!IIJwIJ+&5 RnManaging dock network, ignoring radio surface power off٢V= VR=9VQ Z>XX ZG٣Xy^; ^> fNusing accuracyPremultiplier from config`j49bd?j4Yb= ibsBln"5n?bCbG;b%H;b<4p r!AtB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 337.80 m.Bj%O;Jj-O;e ProNav: ac range: 337.799988 m, nav range: 64.190437 m, bearing: 0.868318 deg, approach rate: 0.666307 m/s, LOS rate: 0.181549 deg/s, cmd heading: 204.836991 deg, new cmd heading: 205.046023 deg. 2je0;mHeadingCmd: 3.578728 target range: 337.799988 and range: 337.80 m. jm e@jijijiiqhqhqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993617h!h!f)*J9"J=<J]J]JYJYJ] ;J]~o:JYJYJ]$S<J]$S<J];J];ffrfbf b@ u($?Iqɛ-~B5\ 15 I9 =pɚ9i9I=s7=Im-imI Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242620w,6Ay\|B2IMb@Mb@Mb@ )Yq= ףp?MbX9Mb?y+?ʡ<A A) AIE Ay AIbI5٢v= 9=9Q > G٣:AGy > Nusing accuracyPremultiplier from config49xd?4Y~? isB,?:9?Cl;;4 b!AEZj)-FNOT Ignoring new targets: 337.80 m.BjQ;JjQ; ProNav: ac range: 337.799988 m, nav range: 64.480515 m, bearing: 0.927561 deg, approach rate: 0.659278 m/s, LOS rate: 0.134040 deg/s, cmd heading: 205.046022 deg, new cmd heading: 205.222950 deg. 2j;HeadingCmd: 3.581816 target range: 337.799988 and range: 337.80 m. jzw,I7A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746766FR@YF`@F9F>yFH~]$?J׿0o ?U4?g|? ?ɨFR@FZ;FېCy |B JIIEoIE"5٢U= UR=9}Q }>y G٣y< > Nusing accuracyPremultiplier from config49d?4Y8A isB 9?C>;p;4  AEZj FNOT Ignoring new targets: 337.80 m.Bj=;Jj=;} ProNav: ac range: 337.799988 m, nav range: 64.737915 m, bearing: 0.981855 deg, approach rate: 0.643045 m/s, LOS rate: 0.135100 deg/s, cmd heading: 205.222951 deg, new cmd heading: 205.385186 deg. 2j}o;HeadingCmd: 3.584648 target range: 337.799988 and range: 337.80 m. jje@jjjihhhhfffrfbf@ɛ~B `[  I fɚiI6p8=I]ش,ie=Ea*F?2F:FBF0JF"G=G=%Will construct direction to contact in vehicle frame from tetrahedron phase data.JiJmJm0JiJiJms:Jmـ3JiJiJiJmy;Jmy; a Ii  DAT read: 21:23:38.7761 LVL= 16032, 25073, 21186, 27523, AGC= 64, IDX= 442,-0.06,-1.352,-2.126,-2.902,-1.994, PHS= 0.730,-0.085,-0.912, RAW= 59.8, 3.8, CAL= 60.2, 3.4, ROT= 89.8, -3.4  Ygot valid direction response: 21:23:38.7761 LVL= 16032, 25073, 21186, 27523, AGC= 64, IDX= 442,-0.06,-1.352,-2.126,-2.902,-1.994, PHS= 0.730,-0.085,-0.912, RAW= 59.8, 3.8, CAL= 60.2, 3.4, ROT= 89.8, -3.4  PDAT read: Bearing 89.8, -3.4 (Local)  ~Local bearing/azimuth received: Bearing 89.8, -3.4 (Local)  DAT read: Range 10 to 50 : 337.2 m (Round-trip 449.6 ms) speed 0.2 m/s  ,DAT read: user:1724>  BDAT read: Tx time:21:23:39.8724  $Ping request sent. %a %R)%kG ]I%@i%H:?%{%xi%0?%ԇ= %|?)%s=I%y?i%s!!%B3?  L26?)%ԔI%i%?%\p!!m :publishing transmit ping timeؑ u Fpublishing direction and range info!9%X0)j )ߡ?8D?y!!!! !)!I!i!!!!! !)!I!i!!!%B3?  L26?)!I!i!!G B O >!!A,w,.7A 1cS@Y a@ W9 Z>y H @?@׿ GC ??I?@)??ɨ 1cS@ R; אCyE|BEWIMb@Mb@Mb@ )YNbX9?T㥛 ~jtx?y%?;A A) AI Ay AIlIK!5mWill construct direction to contact in vehicle frame from tetrahedron phase data.mAimA٢,= *=9tQ > G٣y< > Nusing accuracyPremultiplier from config49d?4YB isB(?:<?C;;9;84I Mw AMEkMISi?kM` kI kM%7A:kMCBkMpCZkM2@"M(N@ .tъh@ m3{q@MX0)j )ߡ?8D?JkM?RkM\p*MpIkӁX@0kD_K9vr@M2 ?8_׿tKC?"kM*kMBkMQC?kM 2kM~CkM:*?kM}R kMCkMwBkM|@% addTargetRange:: Added new target pos. range: 337.200012 m, deltaT: 4.031720 s, deltaX: -0.599976 m, approachRate: -0.148814 m/s, rangeRepo size: 4 5 Added new target pos. range: 337.200012 m, bearing: 308.320265 deg, lat: 36.904473 deg, lon: -122.115949 deg, deltaT: 4.031720 s, deltaX: -0.599976 m, approachRate: -0.148814 m/s, posRepo size: 4 Zj1=FNOT Ignoring new targets: 337.20 m.Bj]JjYm ProNav: ac range: 337.200012 m, nav range: 104.733238 m, bearing: 325.775212 deg, approach rate: 0.000000 m/s, LOS rate: 0.135100 deg/s, cmd heading: 205.385182 deg, new cmd heading: 205.586336 deg. 2jiuHeadingCmd: 3.588158 target range: 337.200012 and range: 337.20 m. juce@jqjqjqihhhhBfffrf@3u@bf ø?ɛ~BJ _A=EI ׃ɚiI)8=I%Q{,i%LEG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. ] %$?Ia )w,I7A:&S@Y:a@:49:`>y:H` WG?@"ؿ9i??n? ?ɨ:&S@:>;:ڐCyB|BBgIIN^IN5٢V= Z=9ZfQ Z?\\ ^G٣^;AGy^< ^? fNusing accuracyPremultiplier from config`j49bޘd?j4YbC ibsBhj<n?b-Cb;b;b4p r ApZj  FNOT Ignoring new targets: 337.20 m.Bj;Jj; ProNav: ac range: 337.200012 m, nav range: 104.875427 m, bearing: 325.853999 deg, approach rate: 0.499035 m/s, LOS rate: 0.276141 deg/s, cmd heading: 205.586331 deg, new cmd heading: 205.822370 deg. 2j=<HeadingCmd: 3.592278 target range: 337.200012 and range: 337.20 m. je@jjjihhhhfffrfbfD?ɛ~Bn I [ɚiI8=I%7,i- C;w,b7Ay|BvI %=%R=I-EI-5٢uZc= }A=9Q > G٣y > Nusing accuracyPremultiplier from config49d?4YFE isB?QCC:G ;4[B AEWill construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***j $$?IJ=ـ3K=3 K=.K9K9"K9J%J% J!J!J%e ;J%bl:jJ!J!J%U<J%U<Zj1=FNOT Ignoring new targets: 337.20 m.BjEw;JjEw;] ProNav: ac range: 337.200012 m, nav range: 105.072853 m, bearing: 325.962858 deg, approach rate: 0.393893 m/s, LOS rate: 0.216782 deg/s, cmd heading: 205.822368 deg, new cmd heading: 206.148329 deg. 2j]<J%4;J%4;HeadingCmd: 3.597967 target range: 337.200012 and range: 337.20 m. jEf@jjjihhhhfffrfbfΜ?ɛ-~B-R? )-I1 5ɚ1i1I58=I=+i=Zw,5|7ABLlT@YBb@B~0T9B >yBHu[?ؿ ?`?? ?ɨBLlT@B;BܐCyN|BNyI5Mb@Mb@Mb@111 1)1Y5?ˡEĿaa eG٣ayel< m> uNusing accuracyPremultiplier from configq}49uald?}4YuCF iusB}n%?:??urCu<;u;u 4 AEZjFNOT Ignoring new targets: 337.20 m.Bj/;Jj/; ProNav: ac range: 337.200012 m, nav range: 105.261406 m, bearing: 326.056702 deg, approach rate: 0.588404 m/s, LOS rate: 0.292329 deg/s, cmd heading: 206.148332 deg, new cmd heading: 206.429359 deg. 2jH<HeadingCmd: 3.602872 target range: 337.200012 and range: 337.20 m. jtf@jjjihhhhBfffrfbfl?ɛ~BF\ 8I =ɚiI<8=I B+i zI IIIz}BI&I.I6I.<:I F*F?2F:FBF4JFzK BIK K K #K  Will construct direction to contact in vehicle frame from tetrahedron phase data.խ Aiխ A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.682953G% ,$=G) G) GB!O=>7w,b7AZ}T@YZ4b@Zc]9Z*#>yZH_c?@Y*ٿgi? ?CW?ȋ?ɨZ}T@Z;ZؐCyv|Bv}II~aI~k5٢ |`<  3=9 5Q  > G٣ %Nusing accuracyPremultiplier from config!-49%Sd?-4Y%sG i%sB)58?5?%C%:%:%4 AZjFNOT Ignoring new targets: 337.20 m.BjS;JjS;  ProNav: ac range: 337.200012 m, nav range: 105.478157 m, bearing: 326.165461 deg, approach rate: 0.458578 m/s, LOS rate: 0.229628 deg/s, cmd heading: 206.429354 deg, new cmd heading: 206.754957 deg. 2j <HeadingCmd: 3.608555 target range: 337.200012 and range: 337.20 m. jf@jjjihhh!h!f!f!f!rf)bf-%?ɛ~BF 隥#I ~ɚiI_8=I%-+i =dw,U7A2NU@Y2lc@2e92%>y2H@F?"`Jٿ U?? ?H?ɨ2NU@28;0y>|B>IDFAMMb@Mb@Mb@III I)IYMrh|?Qſ rhyM?M(MCMA MQA)M AIIIyM AIeVIe5٢m/< uD=}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.1867269ϣQ > G٣y< > Nusing accuracyPremultiplier from config49=d?4YH isB!?:??C7!;";B4 bAEZjFNOT Ignoring new targets: 337.20 m.Bj;Jj; ProNav: ac range: 337.200012 m, nav range: 105.673294 m, bearing: 326.263154 deg, approach rate: 0.483137 m/s, LOS rate: 0.241429 deg/s, cmd heading: 206.754962 deg, new cmd heading: 207.047497 deg. 2j%<HeadingCmd: 3.613661 target range: 337.200012 and range: 337.20 m. j7Fg@jj jihhhhBfff!rf!bf%N@ɛM~B-N 9EIi #GvAɚiIF8= G YvAy?BI-~*i-j4G &G ?G >GBO>kxw, 7A6RU@Y6 c@65|m96&>y6H-B?H}ڿ`?D? ??ɨ6RU@6};6ېCyV|BVzII^eI^15٢f f2=9jQ j>hl nG٣lyn< n> vNusing accuracyPremultiplier from configpz49r%d?z4YrI irsBxz>z?rCr';r{;r?"4 AEZj15FNOT Ignoring new targets: 337.20 m.Bj=Ä;Jj=Ä;M ProNav: ac range: 337.200012 m, nav range: 105.884209 m, bearing: 326.369743 deg, approach rate: 0.460272 m/s, LOS rate: 0.232143 deg/s, cmd heading: 207.047499 deg, new cmd heading: 207.366627 deg. zKMBoHKM9KIKM$KM2jMQ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.945177 !$?I 'w,7A>TV@Y>sd@> _u9>!F'>y>H`:?(jڿ` ?/?n?q?ɨ>TV@>8; G٣=AGyY< > Nusing accuracyPremultiplier from config49\d?4YJ isB?:>?Cn;;)4\B AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 337.20 m.Bjg;Jjg;- ProNav: ac range: 337.200012 m, nav range: 106.081139 m, bearing: 326.468836 deg, approach rate: 0.453988 m/s, LOS rate: 0.228017 deg/s, cmd heading: 207.366633 deg, new cmd heading: 207.663357 deg. 2j-|<5HeadingCmd: 3.624409 target range: 337.200012 and range: 337.20 m. j5Rg@j1j1j1i1h9h9hhBfffrfbf @ɛ~B=rnM 9=I9 EGɚAiAIEzf8=IMd)*iM փw,Z8A6V@Y6d@6&{96j(>y6Ht3? ڿ` }@O?v?dd fG٣dyj(< j> nNusing accuracyPremultiplier from configJvJvJtJtJv ;Jv~o:JtJtl~49nIc?4YnK insB >?nCn;n;nN04  AZj1  $?I=FNOT Ignoring new targets: 337.20 m.Bj;Jj;  ProNav: ac range: 337.200012 m, nav range: 106.248383 m, bearing: 326.553822 deg, approach rate: 0.448451 m/s, LOS rate: 0.227524 deg/s, cmd heading: 207.663350 deg, new cmd heading: 207.917905 deg. 2j %<HeadingCmd: 3.628852 target range: 337.200012 and range: 337.20 m. j?h@j!j!j!i!h!h!h)h)f)f)f)rf1bf5 @ɛ~Bρ] AI 6]ɚiIN8=I)iY vw,7 8A2PW@Y2oe@2ɀ92\'>y2Hc`̭?]< ;fۿ wa@7?}?D?ق?ɨ2PW@2U;0yB|BBlIIZeIZ15٢jD nI=9r`Q r>tx zG٣xy~K< >  Nusing accuracyPremultiplier from config 493c?4Y$M isB=??C::y74! %A% EZjIUFNOT Ignoring new targets: 337.20 m.BjU;JjU; ProNav: ac range: 337.200012 m, nav range: 106.432373 m, bearing: 326.648386 deg, approach rate: 0.451877 m/s, LOS rate: 0.231846 deg/s, cmd heading: 207.917911 deg, new cmd heading: 208.201111 deg. 2j< HeadingCmd: 3.633795 target range: 337.200012 and range: 337.20 m. j h@j j j ihh1h9h9f9f9f9rfAbfE @ɛ~B&a I ŠɚiI38=I%)i% *F%?2F!:F!BF-0JF)]BDAT read: Tx time:21:23:43.8225 e$Ping request sent.ee Will construct direction to contact in vehicle frame from tetrahedron phase data. w,]:8Ayn|Bn`IMb@Mb@Mb@ )Y5^I ?(\¿L7A`堿y?z+A QA)IAyAINI5٢5 ==9Q > G٣>AGy > Nusing accuracyPremultiplier from config49c?4YN isB?:6;?aCX%; #;>4 K Akwlo?kmig k k'8A:kLCBk$CZk @"gC rd@I*r@Unݽ_v?h?9̅?Jk?Rkc*gbDY@@SC Xhs@0 K\?]!ο~9?"kx*kBk?kP7v 2kܺCk?kP7v kܺCk BkM@U addTargetRange:: Added new target pos. range: 336.600006 m, deltaT: 4.030509 s, deltaX: -0.600006 m, approachRate: -0.148866 m/s, rangeRepo size: 4 } Added new target pos. range: 336.600006 m, bearing: 322.384696 deg, lat: 36.904552 deg, lon: -122.116183 deg, deltaT: 4.030509 s, deltaX: -0.600006 m, approachRate: -0.148866 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 336.60 m.BjJj5 ProNav: ac range: 336.600006 m, nav range: 126.023521 m, bearing: 321.043739 deg, approach rate: 0.000000 m/s, LOS rate: 0.231846 deg/s, cmd heading: 208.201105 deg, new cmd heading: 208.503535 deg. 2j9MHeadingCmd: 3.639073 target range: 336.600006 and range: 336.60 m. jMh@jijijiiihihqhqhuBfqfyfyrf} u@bf}p?ɛ~Bd I ɚiIS8=I#9)iG| H I  I II }BI &I .I 6I W<:I FG B O >{w,S8A6!X@Y6U@f@6u!96;>y6H 1u?$?}ܿm;@????ɨ6!X@6]m;6ِCy>|BBQIIJ@IJ 5٢V} V\=9VQ Z>XX ^G٣\y^ = ^> fNusing accuracyPremultiplier from config`f49bc?f4YbO ibsBhjp:j?b~CbK ;b;buE4l r ArEZj FNOT Ignoring new targets: 336.60 m.Bjv~;Jjv~;- ProNav: ac range: 336.600006 m, nav range: 126.163490 m, bearing: 321.125160 deg, approach rate: 0.382861 m/s, LOS rate: 0.222467 deg/s, cmd heading: 208.503532 deg, new cmd heading: 208.747524 deg. 2j-<5HeadingCmd: 3.643332 target range: 336.600006 and range: 336.60 m. j5X,i@j1j1j1i1h9h9h9h9fAfAfArfAbfEW?ɛm~BuzKJK9KK&KWill construct direction to contact in vehicle frame from tetrahedron phase data. !I ɚiI%' 8=I%\(i%t Will construct direction to contact in vehicle frame from tetrahedron phase data.*J "J p= $?I w,am8AbgX@Ybcf@b9b >ybH G٣y8< > Nusing accuracyPremultiplier from config497c?4Y R isB,?:~5?C;U;3M4 [B  A E-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 336.60 m.Bj=;Jj=;U ProNav: ac range: 336.600006 m, nav range: 126.313286 m, bearing: 321.227272 deg, approach rate: 0.338366 m/s, LOS rate: 0.230382 deg/s, cmd heading: 208.747520 deg, new cmd heading: 209.053489 deg. 2jU<]HeadingCmd: 3.648672 target range: 336.600006 and range: 336.60 m. j]փi@jYjYjYiYhYhahihmBfififqrfqbfuB?ɛ~BJar I %ɚ!i!I%7=I-ߛ(i- u!w,8ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.425319JbJb Jb1J`JbM;Jbbl:Jb3J`v1X@Yvf@vEÑ9vy!>yvHৈ@c?^Wܿ Vj?x4? ??ɨv1X@vY;vېCyh|B:I !I!IrI#5٢5" 5T=9Q*Q > G٣?AGy3< > Nusing accuracyPremultiplier from config49c?4YT isB55?CG;^;&T4  9!A ZjquFNOT Ignoring new targets: 336.60 m.Bj} ;Jj} ; ProNav: ac range: 336.600006 m, nav range: 126.447212 m, bearing: 321.319005 deg, approach rate: 0.325985 m/s, LOS rate: 0.223048 deg/s, cmd heading: 209.053485 deg, new cmd heading: 209.328391 deg. 2j<HeadingCmd: 3.653470 target range: 336.600006 and range: 336.60 m. jri@jjjihhhhffZHRHHI III}BI&I.I6I5<:I Ffrfbf?ɛU~B]B} aesIa \VɚiI7=IDM(iy(w,8A29Y@Y2$g@2ʑ92!>y2Hu C?N@ܿ#B?h5?@??ɨ29Y@2J;2ڐCyNI|BN'IiV>IV>I\I\٢fM fQ=9f* Q j>hh jG٣hyng< n> rNusing accuracyPremultiplier from configpv49rbc?v4YrU irsBxz4z?rCr: ;r ;rZ4| ~!A~EZj!%FNOT Ignoring new targets: 336.60 m.Bj-;Jj-;= ProNav: ac range: 336.600006 m, nav range: 126.572975 m, bearing: 321.405766 deg, approach rate: 0.347338 m/s, LOS rate: 0.239382 deg/s, cmd heading: 209.328387 deg, new cmd heading: 209.588409 deg. 2jEI$5 Will construct direction to contact in vehicle frame from tetrahedron phase data.1 i1 = checking for new query: numPingsReceived=0, elapsed TxPingTime=2.180530&.w,[8Ay=4|B=IMb@Mb@Mb@ )YZd;? ףp= y&1y?Q8`A `@)IAy AIhI5٢; 9=9Q  >    G٣ y > %Nusing accuracyPremultiplier from config!-49%mc?-4Y%X i%sB-?-:-/5?%C% ;%;%vb49 = "A=EZjaeFNOT Ignoring new targets: 336.60 m.Bjm;Jjm;} ProNav: ac range: 336.600006 m, nav range: 126.703575 m, bearing: 321.515906 deg, approach rate: 0.294553 m/s, LOS rate: 0.248152 deg/s, cmd heading: 209.588412 deg, new cmd heading: 209.918488 deg. 2jN*<HeadingCmd: 3.663769 target range: 336.600006 and range: 336.60 m. j0{j@jjjihhhh*Bfffrfbf1@ɛ~B ?)I G) B9 OU >H ;>I  I II p}BI &I .I 6I %<:I F5w,78A2Y@Y2g@2{|92L!>y2H`-N?`~ݿ~?`{k?:?@ׄ?ɨ2Y@2,;2ِCyR"|BRIIZvIZ%5٢b/F ba=9f'Q f>dh jG٣j@AGyj< j> rNusing accuracyPremultiplier from configlr49n\c?v4Yn;[ insBtzo.z?nCnk4;n5;nh4 U"AZjFNOT Ignoring new targets: 336.60 m.Bj;Jj; ProNav: ac range: 336.600006 m, nav range: 126.808762 m, bearing: 321.606381 deg, approach rate: 0.276823 m/s, LOS rate: 0.237908 deg/s, cmd heading: 209.918488 deg, new cmd heading: 210.189685 deg. 2jF#<HeadingCmd: 3.668502 target range: 336.600006 and range: 336.60 m. jj@jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.684368hh1f1f9f9rf9bf=>@ɛ~Bm4 隭.I \ɚzKKKh9KK(KBKpA:KqAiIm7=IuV'iu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.936850 I J J J 0J J e ;J |:J ـ3J J a% J Uy H = ?1ݿT9(?`U?` $??ɨ Y@ %; אCy|BIMb@Mb@Mb@ )Y"~j?~jtyS#?DA v@)MAIAy AIqI#5٢ļ :=9Q > G٣y< > Nusing accuracyPremultiplier from config49Gc?4Y^ isB[#?:)?ACS;;xp4\B "AE%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 336.60 m.Bj5i;Jj5i;E ProNav: ac range: 336.600006 m, nav range: 126.921318 m, bearing: 321.722012 deg, approach rate: 0.266456 m/s, LOS rate: 0.273491 deg/s, cmd heading: 210.189687 deg, new cmd heading: 210.536268 deg. 2jE; Bw,9A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.440074 F$?ID>#DZ@Y>bh@>薽9>*!>y>H *`0^?3޿`*?ز?@?@ك?ɨ>#DZ@>{ ;>ڐCyV|BVIIbuIbH%5٢j  j]=9j Q j>lA EG٣Ay]qO< ]> mNusing accuracyPremultiplier from configam49e{5c?m4Yea iesBqu)u?e`Ce:e:e7w4 "AZjFNOT Ignoring new targets: 336.60 m.Bj;Jj;% ProNav: ac range: 336.600006 m, nav range: 127.019623 m, bearing: 321.823741 deg, approach rate: 0.249521 m/s, LOS rate: 0.258012 deg/s, cmd heading: 210.536264 deg, new cmd heading: 210.841212 deg. 2j%1<-HeadingCmd: 3.679873 target range: 336.600006 and range: 336.60 m. j- k@j)j)j)i)h)h1hIhIfQfqfqrfybf}@R @ɛ ~B5曽 AED9jHQbHU4<HqIq IuIIu=}BIq&Iq.Iq6Iu<:Iu FBIJIRIZIbIjIVN4II {ƼɚiI7=I&i;i+S) k@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iMDAT read: 21:23:46.6749 LVL= 15584, 26961, 22482, 24355, AGC= 62, IDX= 426, 0.02, 2.558, 1.189, 0.486, 1.414, PHS= 1.232,-0.178,-0.931, RAW= 70.0, -1.3, CAL= 75.4, -5.8, ROT= 74.6, 5.8 ]Ygot valid direction response: 21:23:46.6749 LVL= 15584, 26961, 22482, 24355, AGC= 62, IDX= 426, 0.02, 2.558, 1.189, 0.486, 1.414, PHS= 1.232,-0.178,-0.931, RAW= 70.0, -1.3, CAL= 75.4, -5.8, ROT= 74.6, 5.8 ePDAT read: Bearing 74.6, 5.8 (Local) e~Local bearing/azimuth received: Bearing 74.6, 5.8 (Local) uDAT read: Range 10 to 50 : 336.1 m (Round-trip 448.2 ms) speed 0.0 m/s u,DAT read: user:1726> }BDAT read: Tx time:21:23:47.7725 }$Ping request sent.}i-?E6Vna?޹ q?)4QϽIr?i4Q=Z\R?7C۱!h)_IIG G B O >[KHw,"9AB&Z@YBݣh@BdY9B`F">yBH?9Ճ9:޿@D?&?$?@?ɨB&Z@B3;@yr|BrII-I-)5٢]b; ]B=9]9Q e>aa eG٣eAAGym < m> uNusing accuracyPremultiplier from configq49uP"c?4Yud iusBK)?uCuL&BkM̳@ addTargetRange:: Added new target pos. range: 336.100006 m, deltaT: 3.780171 s, deltaX: -0.500000 m, approachRate: -0.132269 m/s, rangeRepo size: 4 ] Added new target pos. range: 336.100006 m, bearing: 316.866617 deg, lat: 36.904552 deg, lon: -122.116183 deg, deltaT: 3.780171 s, deltaX: -0.500000 m, approachRate: -0.132269 m/s, posRepo size: 4 ZjYeFNOT Ignoring new targets: 336.10 m.Bjm }$?IyWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:23:47.7717 JJJ1JJ-;J~o:J3JJ0W<J1W<J;J;JjiM ProNav: ac range: 336.100006 m, nav range: 127.122505 m, bearing: 321.930748 deg, approach rate: 0.000000 m/s, LOS rate: 0.258012 deg/s, cmd heading: 210.841219 deg, new cmd heading: 211.177716 deg. 2jI]HeadingCmd: 3.685746 target range: 336.100006 and range: 336.10 m. j]Ek@jYjYjYiYhahahhfff rfu@bf`?ɛ~B}= 隵9I ̼ɚiI7=Ip<&iXi;i<)Ek@)*F?2F:FBFp0JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >'Ow,?9A6Z@Y6th@6/[96r">y6H`6?]胿{޿௓ W?f?`)?ށ?ɨ6Z@6g;6אCy>{B>I F=Fa=uMb@Mb@Mb@qqq q)qYu/$?:v?yu1(?u G٣y$< > Nusing accuracyPremultiplier from config49 c?4Y i itBR(?:&?C*$;";S4 #A"EZjFNOT Ignoring new targets: 336.10 m.Bj ;Jj ; ProNav: ac range: 336.100006 m, nav range: 127.231262 m, bearing: 322.056982 deg, approach rate: 0.257948 m/s, LOS rate: 0.299143 deg/s, cmd heading: 211.177715 deg, new cmd heading: 211.556086 deg. 2jLM<-HeadingCmd: 3.692350 target range: 336.100006 and range: 336.10 m. j-wOl@j)j)j)i)h)h1h1h5d~Bf1f9f9rf9bf=`%-?ɛ~BZy   >I  uмɚ i I 7=I=%ii z)wOl@) $?I EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_5JFHI III}BI&I.I6I5<:I FG  G B O > Vw,SY9AJM[@YJ/i@Jo9J,>RWill construct direction to contact in vehicle frame from tetrahedron phase data.yJH``l? kC޿ӌ@h?`*]?@0?%?ɨJM[@J6;J֐CyZ|BZIIbJIb:5٢jT= jY=9n$Q n>pp rG٣pyr(< v>  Nusing accuracyPremultiplier from configx49zb?%4Yzfl iz&tB!%m&%?zCzb;z;z댐4) -"A1ZjQ]FNOT Ignoring new targets: 336.10 m.Bje;Jje;m ProNav: ac range: 336.100006 m, nav range: 127.320267 m, bearing: 322.160799 deg, approach rate: 0.233575 m/s, LOS rate: 0.272256 deg/s, cmd heading: 211.556080 deg, new cmd heading: 211.867310 deg. 2ju:<}HeadingCmd: 3.697782 target range: 336.100006 and range: 336.10 m. j}vl@jyjyjyiyhyhhhfffrfbf?zKK+9KK*K E(:EE w }y)BKrA:KɛE~BE IM9II M2ռɚIiIIM7=Iu>w%i};i}~)}vl@)y*F?2F:FBFS3JF IG-]Will construct direction to contact in vehicle frame from tetrahedron phase data.J}J} J}0JyJ}M;J}un:J}ـ3JyJ}\<J}\<J};J};G B O5 >2\w,*s9A26R[@Y2pi@2892>y2HtEW?>o"޿_z@?`G?X??ɨ26R[@2F;2ؐCyn|BnI}Mb@Mb@Mb@yyy y)yY}Fx?A`"?~jtx?y}+?}Y=};}A }3@)}AI}` Ayy} AI7I 5٢W< >=9 Q > G٣BAGym< > Nusing accuracyPremultiplier from config49Ob?4Yp iDtBQ,?:#?C ;12;{4[B "A&EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 336.10 m.Bjl;Jjl;  ProNav: ac range: 336.100006 m, nav range: 127.413795 m, bearing: 322.284196 deg, approach rate: 0.207459 m/s, LOS rate: 0.273509 deg/s, cmd heading: 211.867304 deg, new cmd heading: 212.237218 deg. 2j ;<=HeadingCmd: 3.704238 target range: 336.100006 and range: 336.10 m. jE=m@jQjQjQiQhQhQhYh][~BfYfYfarfabfe?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 7I ˏڼɚ i I ބ7=Iw %icK;i-)=m@)*F?2F:FBF2JF"G=G=G G B $?I O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755425}cw,9ANݱ[@YNi@Nv悔9N>yNH@-? q@5<߿"_@:??n? q?ɨNݱ[@Ng;NאCyV|BZ I)\ \IfYIf5٢rr< rW=9v}Q v>tt vG٣xyz{< z> ]Nusing accuracyPremultiplier from configYe49]b?e4Y]gt i]_tBamb#m?]C]:]:]C4q um"AqZHRH?AH:>I III }BI' =&I.I6IA<:I FZjFNOT Ignoring new targets: 336.10 m.BjԪ;JjԪ; ProNav: ac range: 336.100006 m, nav range: 127.496742 m, bearing: 322.394926 deg, approach rate: 0.223897 m/s, LOS rate: 0.298699 deg/s, cmd heading: 212.237214 deg, new cmd heading: 212.569185 deg. 2jL<HeadingCmd: 3.710032 target range: 336.100006 and range: 336.10 m. j+qm@jjjihhhhfffrfbf`E?ɛ-~B-. )-H6I) 5"޼ɚ1i1I5d7=I=$i=4;i=T)=+qm@)AEQEQ*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007157GzK=OK=]9K9K=+K=|P2" F{L vQ8*-eukf^WI9-! GBO>Hiw,9Ar@[@Yri@rUѩ9rL>yrH ?~sA]߿@S``?3?`?ཁ?ɨr@[@r;rؐCy-2|B-I yItgITI5٢L= >=98Q > G٣y; >Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259998J1J1J=J=J=1J9J=-;J=~o:J=3J9J=0W<J=1W<J=;J=; Nusing accuracyPremultiplier from config49b?4Yx itB <#?5C;;;4=\B ="A=)EZjaFNOT Ignoring new targets: 336.10 m.Bj;Jj;= ProNav: ac range: 336.100006 m, nav range: 127.594093 m, bearing: 322.524890 deg, approach rate: 0.212293 m/s, LOS rate: 0.283194 deg/s, cmd heading: 212.569188 deg, new cmd heading: 212.958775 deg. 2juZB<HeadingCmd: 3.716832 target range: 336.100006 and range: 336.10 m. jm@jjjihhhh!f)f1frfbfy"@ɛ ~B p  1I  ?ɚiIE7=I#?$iQ;in+)m@)*FI2FI:FQBFQJFQGY G]sA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511712Gm oGI BQ Ou >pw,`#9AFk\@YF!%j@F9F>yFH` ?|u ߿@F?@Q??&?ɨFk\@F3;DyNW|BR/I5Mb@Mb@Mb@111 1)1Y5Q?kt?{Gz?y5\/?5 0=5ף<5AA 5@)5 AI5vA1y5 AIEdIE5٢U = U>=9]1Q ]>Ya eG٣eCAGyeZ; e> uNusing accuracyPremultiplier from configq}49uϫb?}4Yu| iutB}/?:G$?uWCu;u;u4 !A,EZjFNOT Ignoring new targets: 336.10 m.Bj;Jj;M ProNav: ac range: 336.100006 m, nav range: 127.684074 m, bearing: 322.637992 deg, approach rate: 0.233176 m/s, LOS rate: 0.292886 deg/s, cmd heading: 212.958769 deg, new cmd heading: 213.297834 deg. 2jMI Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015284jvw,K9A6I\@Y6gj@696D!>y6H@?<=y5߿3@?%}?$?~?ɨ6I\@6B;6אCyRz|BREIiV)>IVC=IZHIZW5٢%= %N=9%ܺQ ->)) -G٣)y5k(< 5> =Nusing accuracyPremultiplier from config9E49=͘b?E4Y= i=tBIM$M?=zC=\:=~:=4Q U AQzK]NK]s9KYK],K]ZjFNOT Ignoring new targets: 336.10 m.Bj;Jj; ProNav: ac range: 336.100006 m, nav range: 127.774178 m, bearing: 322.751904 deg, approach rate: 0.223530 m/s, LOS rate: 0.282395 deg/s, cmd heading: 213.297833 deg, new cmd heading: 213.639322 deg. 2jA<HeadingCmd: 3.728710 target range: 336.100006 and range: 336.10 m. j.n@jjjihhhhf f f rf bf@ɛ}~B}B. y} Iy CɚiI7=I|#i_;i;V<).n@)*Fm?2Fi:FiBFmo0JFi U$?IYWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267458*J54="J5%=G+G B! Oe >~ }w,<9Ay~|B~QIMb@Mb@Mb@ )Y/$?/$?I +?y&1?<9<&A @)AIrAyG AI;I 5٢:= ?=9Q > G٣y > Nusing accuracyPremultiplier from config49b? 4Y itB R1? : & ?C;;~4! % A-/EMB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 336.10 m.Bje;Jje;}Will construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:21:23:50.6242 TRx dataTimestamp_ set to:1736371431.936730checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520395 ProNav: ac range: 336.100006 m, nav range: 127.882370 m, bearing: 322.874875 deg, approach rate: 0.254994 m/s, LOS rate: 0.289579 deg/s, cmd heading: 213.639329 deg, new cmd heading: 214.007924 deg. 2jF<HeadingCmd: 3.735143 target range: 336.100006 and range: 336.10 m. j o@jjjihhhh~BfffrfbfM @ɛ~B|q 0I }wɚiI6=I #i;i T) o@)*F?2F:FBF0JF"G=G=G%:GABIOeV> Q IQ - Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771385Jm Jm Jm 0Ji Jm ;Jm lm:Jm ـ3Ji au @au @au @au @w, :AjHbHp;H9>IC III[}BI&I.I6IC<:I F~\@Y~j@~9~G$>y~H U?>@` ?@?<_?` y?ɨ~\@~v;|yE|BMkII1I&5٢+= @=9}Q > G٣DAGy< > Nusing accuracyPremultiplier from config49rnb?4Y i uB%?C;;4  A2EZjFNOT Ignoring new targets: 336.10 m.Bjm;Jj m; ProNav: ac range: 336.100006 m, nav range: 127.988792 m, bearing: 322.997993 deg, approach rate: 0.250237 m/s, LOS rate: 0.289254 deg/s, cmd heading: 214.007927 deg, new cmd heading: 214.376969 deg. 2jF<-HeadingCmd: 3.741584 target range: 336.100006 and range: 336.10 m. j-vo@j)j)j)i)h1h1h1h1f9f9f9rf9bf="@ɛeBm} iuIq ujɚqiqIu6=I}"i}o;i}+I)vo@)*F ?2F :F BF 0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:23:50.6242 LVL= 17136, 24353, 21186, 25187, AGC= 64, IDX= 435, 0.08, 2.213, 0.736, 0.328, 1.123, PHS= 1.178,-0.340,-0.798, RAW= 77.2, -0.4, CAL= 83.2, -5.0, ROT= 66.8, 5.0 Ygot valid direction response: 21:23:50.6242 LVL= 17136, 24353, 21186, 25187, AGC= 64, IDX= 435, 0.08, 2.213, 0.736, 0.328, 1.123, PHS= 1.178,-0.340,-0.798, RAW= 77.2, -0.4, CAL= 83.2, -5.0, ROT= 66.8, 5.0 PDAT read: Bearing 66.8, 5.0 (Local) ~Local bearing/azimuth received: Bearing 66.8, 5.0 (Local) DAT read: Range 10 to 50 : 335.6 m (Round-trip 447.5 ms) speed -0.1 m/s ,DAT read: user:1727> BDAT read: Tx time:21:23:51.7225 $Ping request sent.  E $?IA !w,*:AnWill construct direction to contact in vehicle frame from tetrahedron phase data.rJDAT read: TxSync time:21:23:51.7217 q,]@Y 'Kk@ &9 $>y H7m{?;1?>?=??o? w?ɨ q,]@ G; ՐCyE|BEI)I IQUAI7I 5٢J> \=9dQ > G٣y?m< > Nusing accuracyPremultiplier from config49W\b?4YE i-uB:%?C2;B;nƐ4 @Akw,GD:A6m]@Y6Ok@6 96ͼ+>y6HZ ?⃿Z`&??G?`wl?ɨ6m]@6{X;6אCy>}BBIMb@Mb@Mb@ )Yn?y&1|?{Gz?yV.?`;ף<A @)AI AyAI-0I-5٢=u= =Q=9=Q E>AA EG٣AyM[&< M> UNusing accuracyPremultiplier from configQ]49U>Ib?]4YU iUNuBek.?m:m=&m?UCUxP;UN;UF͐4u]B uAu5EZj=FNOT Ignoring new targets: 335.60 m.BjEݷ;JjEݷ;M ProNav: ac range: 335.600006 m, nav range: 128.178711 m, bearing: 323.213802 deg, approach rate: 0.290421 m/s, LOS rate: 0.321496 deg/s, cmd heading: 214.755436 deg, new cmd heading: 215.084715 deg. 2jU\<}HeadingCmd: 3.753937 target range: 335.600006 and range: 335.60 m. j}@p@jyjyjyihhhh~Bfffrfbf(? $?IɛB#͏ I ɚiI6=I 7!i i ^V) @p@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.JK KKK"KJ%J%J!J!J%;J%~o:J!J!*F ?2F :F BF 5JF GsA GH-8>I) I-II-}BI)&I).I)6I-R<:I-FBIJIŞCRIZI' =bI' =jI4G- _NG B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.!w,`]:A6^@Y6/l@6r96g)>y6H/?? {x??n?ɨ6^@6;6֐Cyb;}BbIIj"Ij5٢v[> vQ=9zQ z>xx ~G٣|y~< >  Nusing accuracyPremultiplier from config 49K6b?4Y iouB%?)C::Ԑ4%[B %A%7EZjIMFNOT Ignoring new targets: 335.60 m.BjUȧ;JjUȧ;m ProNav: ac range: 335.600006 m, nav range: 128.275696 m, bearing: 323.323706 deg, approach rate: 0.259087 m/s, LOS rate: 0.293377 deg/s, cmd heading: 215.084720 deg, new cmd heading: 215.414178 deg. 2jmWI $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.eMw,Cw:A 6-^@Y6l@6W96Y*>y6H ?& c+?qշ?@?@El?ɨ6-^@6a;6ԐCy^^}BbIMMb@Mb@Mb@III I)IYMq= ףp?y&1y&1?yM+?M`弹M`e= uB=9u]Q > G٣EAGy)< > %Nusing accuracyPremultiplier from config!-49% b?-4Y%W i%uBE+?E:MQ(M?%OC%ߡ;%;%ې4U\B UfA]:EuWill construct direction to contact in vehicle frame from tetrahedron phase data.}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 335.60 m.Bj;Jj; ProNav: ac range: 335.600006 m, nav range: 128.395584 m, bearing: 323.443530 deg, approach rate: 0.269217 m/s, LOS rate: 0.268819 deg/s, cmd heading: 215.414181 deg, new cmd heading: 215.773310 deg. 2j}8<HeadingCmd: 3.765955 target range: 335.600006 and range: 335.60 m. jgq@jjjihhhh@Bfffrfbf `X?ɛB>q ԾI +dɚiIH5=IM!ib;iB)gq@) *F?2F:FBFJF IugGSG 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.JM JM JI JI JM ;JM s:JI JI ZH9 RH9 HA IA  IE 9IIE ~BIA &IA .IA 6IE <:IE ?F4w,0:A6_@Y60m@6[96*>y6H(@L?+ @e`2 G٣y<  > Nusing accuracyPremultiplier from config 49 b?4Y  i uB!%'%? nC B; *C; >4) 5A5=EZjQ]FNOT Ignoring new targets: 335.60 m.Bjed;Jjed;u ProNav: ac range: 335.600006 m, nav range: 128.494400 m, bearing: 323.543840 deg, approach rate: 0.271318 m/s, LOS rate: 0.275209 deg/s, cmd heading: 215.773312 deg, new cmd heading: 216.074008 deg. 2ju<<}HeadingCmd: 3.771203 target range: 335.600006 and range: 335.60 m. j}c[q@jyjyjyiyhhhhfffrfbf)?ɛ BRt þI ɚiI4=IR iG;iN9)c[q@)*F?2F:FBF`0JF"G=G>GmLG!B9OM1>Will construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.999907zK:IK 9KK/KRK?JK? $?I `w,n:A.}_@Y.m@. 9.+>y.HXx?N3`8 ,GJ?F?C?cj?ɨ.}_@.-`;,y>}B>IIF+IF~5٢f =rWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253864 jL=9Z9Q %>)1 5G٣1y=&< => ENusing accuracyPremultiplier from configAM49Ea?M4YE. iEuBIMc'U?ECE;E<;Em4Y ]AYZj%FNOT Ignoring new targets: 335.60 m.Bj%ϔ;Jj-ϔ; ProNav: ac range: 335.600006 m, nav range: 128.603516 m, bearing: 323.655929 deg, approach rate: 0.253514 m/s, LOS rate: 0.260202 deg/s, cmd heading: 216.074004 deg, new cmd heading: 216.409983 deg. 2j2<HeadingCmd: 3.777067 target range: 335.600006 and range: 335.60 m. jvq@jjjihhhhfffrfbf@@ɛ% B=] A隍GI ɚiIP4=I?d iW;in8)]vq@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503644E B=*F= ?2F9 :F9 BF= 4JF9 IG;,BEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756659JeJeJaJaJe-;Jew:JaJaGyBO ?w,:AR_@YRn@Rm9RA,>yRH ?| Gk`$Y?ķ?yV?{i?ɨR_@RG;RՐCy^}B^I)` `HI I~IIx~BI( =&I.I6I <:I FMb@Mb@Mb@ )Yx&?S㥫{Gz?y7)?/]#<A @)AIyAI,I5٢R=  =9Q > G٣FAGyS< > Nusing accuracyPremultiplier from config49a?4Y iuB)?:^)?CB;A;r4 A@EZj!-FNOT Ignoring new targets: 335.60 m.Bj-;Jj-;= ProNav: ac range: 335.600006 m, nav range: 128.765717 m, bearing: 323.808293 deg, approach rate: 0.292625 m/s, LOS rate: 0.274532 deg/s, cmd heading: 216.409981 deg, new cmd heading: 216.866488 deg. 2j=h<r@jIjIjIiIhIhIhQhUBfQfQfYrfYbf] @ɛB P 隕^I n ɚiIl3=Ii;i<)>r@)E;=*F5?2F1:F1BF5_0JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007721G] w:zK JK h9K K 0K G1 B9 O] >w,:AN|L`@YN2kn@NV9N->yNH@?wB W?4? ? g?ɨN|L`@N;NאC f$?Idyj ~Bj:II1I&5٢%> %V=9-޺Q ->11 5G٣9yEa< E> UNusing accuracyPremultiplier from configIe49Ma?e4YM iMvBae)e?MCME;ME;M&4u]B uAuCEZjFNOT Ignoring new targets: 335.60 m.Bj;Jj;E ProNav: ac range: 335.600006 m, nav range: 128.873520 m, bearing: 323.910252 deg, approach rate: 0.281115 m/s, LOS rate: 0.265651 deg/s, cmd heading: 216.866484 deg, new cmd heading: 217.172100 deg. 2jEP6^w,Ѱ;AB`@YBan@BP9Bc[->yBH Ax`K?a@ۺ`}?`?x?Og?ɨB`@B`;@yj&~BnLIMb@Mb@Mb@ )Yw/? rhMbpy&?CA @)I` AyAIIv4 $?I٢n= '=9vQ >99 =G٣EGAGyM-S< M> UNusing accuracyPremultiplier from configQ]49U}a?]4YU0 iUvBe'?e:e)e?U CU;U{;U4i uMAqB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 335.60 m.BjD;JjD; ProNav: ac range: 335.600006 m, nav range: 129.017517 m, bearing: 324.041526 deg, approach rate: 0.286617 m/s, LOS rate: 0.261001 deg/s, cmd heading: 217.172094 deg, new cmd heading: 217.565470 deg. 2j3<HeadingCmd: 3.797234 target range: 335.600006 and range: 335.60 m. js@jjjihhhhBfffrfbf{ @ɛBBC vmI ɚ i I F2=IiX;iLo>)s@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768778*F?2F:FBF`0JFjH<bH4<HI III~BI' =&I.I6I1<:I FG G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: 21:23:54.5732 LVL= 19712, 30481, 29890, 29859, AGC= 67, IDX= 408,-0.12, 0.982,-0.589,-0.824,-0.092, PHS= 1.162,-0.450,-0.735, RAW= 82.0, 0.3, CAL= 88.3, -4.0, ROT= 61.7, 4.0 } Ygot valid direction response: 21:23:54.5732 LVL= 19712, 30481, 29890, 29859, AGC= 67, IDX= 408,-0.12, 0.982,-0.589,-0.824,-0.092, PHS= 1.162,-0.450,-0.735, RAW= 82.0, 0.3, CAL= 88.3, -4.0, ROT= 61.7, 4.0  PDAT read: Bearing 61.7, 4.0 (Local)  ~Local bearing/azimuth received: Bearing 61.7, 4.0 (Local)  DAT read: Range 10 to 50 : 334.8 m (Round-trip 446.4 ms) speed 0.2 m/s  ,DAT read: user:1728>  BDAT read: Tx time:21:23:55.6726  $Ping request sent. y5HjDD?Zޓ w@:?f? ?g?ɨ5|pa@5v;5ՐCzKjIK]9KK1Ky%H~B%aIi-=I)I],I]5٢m= m@=9m,9Q m> G٣y< > Nusing accuracyPremultiplier from config49a?4Y i0vB)?/C;;' 4 AFEku(u?ku: kq ku1;A:kufCBku?CZkuL3>"uhҺ9RbT@SݩI;t@u[(6-?}\4?Jku?Rku*u03N@Klx%@+jt@uzA n?!ڔ?jh[0q?"ku{-A*ku)uBku7Wu?kuP 2kuDCkuNv{?ku! kuCkuBku@ addTargetRange:: Added new target pos. range: 334.799988 m, deltaT: 4.030907 s, deltaX: -0.800018 m, approachRate: -0.198471 m/s, rangeRepo size: 4 m Added new target pos. range: 334.799988 m, bearing: 10.032206 deg, lat: 36.904317 deg, lon: -122.116080 deg, deltaT: 4.030907 s, deltaX: -0.800018 m, approachRate: -0.198471 m/s, posRepo size: 4 ZjimFNOT Ignoring new targets: 334.80 m.BjuJjq  $?Ivg  ProNav: ac range: 334.799988 m, nav range: 102.865982 m, bearing: 319.736454 deg, approach rate: 0.000000 m/s, LOS rate: 0.261001 deg/s, cmd heading: 217.565472 deg, new cmd heading: 217.913058 deg. 2jHeadingCmd: 3.803300 target range: 334.799988 and range: 334.80 m. jFis@jjjAiAhAhIhQhQfYffrft@bfګ?ɛB: NI aɚiI~1=I=oi=oq;iE/*)EFis@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ;J:JJJ=[[Kw,;;A6$a@Y6o@6Ľ96E6>y6H'k?˜.`?w?t?X?ɨ6$a@6;6אCyR~~BRI5Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y}?5^I?sh|?y&1yM"?`erA @)@I AyAIUIU4٢e= e?=9mQ m>qq uG٣qy}e< }> Nusing accuracyPremultiplier from config49Ba?4Y i>vB#?:#*?RC$;t;4\B AJEZj!%FNOT Ignoring new targets: 334.80 m.Bj-;Jj-;= ProNav: ac range: 334.799988 m, nav range: 102.968170 m, bearing: 319.876406 deg, approach rate: 0.254321 m/s, LOS rate: 0.347960 deg/s, cmd heading: 217.913060 deg, new cmd heading: 218.332492 deg. 2j=ni!i%2)%6s@)!*F?2F:FBFb0JFGu;+ IGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.H 7>I  I II 9BI ( =&I .I 6I <:I F.w,U;Ayr~BrIIzIz4٢-== -a=9-Q 5>99 =G٣=HAGyE E> MNusing accuracyPremultiplier from configIU49Mya?U4YM³ iMJvBYY]?MoCMu;M;M4a eAaZjFNOT Ignoring new targets: 334.80 m.BjA;JjA; ProNav: ac range: 334.799988 m, nav range: 103.055977 m, bearing: 319.995774 deg, approach rate: 0.247493 m/s, LOS rate: 0.336163 deg/s, cmd heading: 218.332488 deg, new cmd heading: 218.690281 deg. 2jf<HeadingCmd: 3.816865 target range: 334.799988 and range: 334.80 m. jGt@jjjihhhhff f rfbf@?ɛmB h1 # I >ɚiID0=I/i%H;i%I)%Gt@)!MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFzKBIK9KK2KG- + $?I G B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J M;J v:J J J \<J \<J );J );pXw,o;Ab c@Yb(q@b[½9by.>ybHF.?咘@@>;?'B?@?@d?ɨb c@bJl;b֐Cyj~BjI)t txzAII4٢-L= 5J=9=;Q =>AI MG٣IyMI@= M> ]Nusing accuracyPremultiplier from configQe49Ufa?e4YU iUXvBae(e?UCU;Ui:U4q uAuMEZjFNOT Ignoring new targets: 334.80 m.Bj;Jj; ProNav: ac range: 334.799988 m, nav range: 103.150085 m, bearing: 320.129853 deg, approach rate: 0.231586 m/s, LOS rate: 0.329647 deg/s, cmd heading: 218.690281 deg, new cmd heading: 219.092146 deg. 2j;b<HeadingCmd: 3.823879 target range: 334.799988 and range: 334.80 m. jpt@jjjihhhhfffrfbf=@?ɛ BZ% ۽I ɚiIa/=IDeii&)pt@))EuR>Eu>) C*F?2F:F--GBF-0=vAJFAUA YvAyB]Will construct direction to contact in vehicle frame from tetrahedron phase data.GmgIGQBYOu>|@w,q;A 0I46vc@Y6dq@6Ľ96->y6Hʯ ?`O`w!bV?`쯷?R?@g?ɨ6vc@6;6ԐCyF~BJIUMb@Mb@Mb@QQQ Q)QYU~jt? ףp=  G٣yك< > Nusing accuracyPremultiplier from config49Ta?4Y4 iavBi?:~)?C;;5&4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 334.80 m.Bj;Jj; ProNav: ac range: 334.799988 m, nav range: 103.244728 m, bearing: 320.260349 deg, approach rate: 0.229704 m/s, LOS rate: 0.316431 deg/s, cmd heading: 219.092142 deg, new cmd heading: 219.483263 deg. 2j)Y<HeadingCmd: 3.830706 target range: 334.799988 and range: 334.80 m. jH*u@jjj i h h h h Bfffrfbf`?ɛE$BE" IM~II MA9ɚIiIIMa.=IUmiYi]> )]H*u@)YWill 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)5JFZHiRHm@AHyIy I}'II}BIy&Iy.Iy6I}<:I} FBIEĞCJIARIAZIE( =bIE( =jIEĪ4GIGBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003221nw,_;A2|c@Y22 r@2ȹ92t^,>y2H~@=?/ # ^?0?9[?k?ɨ2|c@2A;2ҐCyJ~BNIITIT٢^= ^W=9^;Q ^>`` bG٣bIAGybĝ< f> nNusing accuracyPremultiplier from configlr49nBa?r4Yn) injvBpr)v?nCn:n:n,4z]B zaAzPEZjFNOT Ignoring new targets: 334.80 m.Bj%E;Jj%E;5 ProNav: ac range: 334.799988 m, nav range: 103.331024 m, bearing: 320.380992 deg, approach rate: 0.226910 m/s, LOS rate: 0.316959 deg/s, cmd heading: 219.483266 deg, new cmd heading: 219.844888 deg. 2j5Y<=HeadingCmd: 3.837017 target range: 334.799988 and range: 334.80 m. j=u@j9j9jAiAhAhAhIhIfIfQfQrfQbf]@ɛ'B!T 隅zI oɚiI2.=zK-jIK-9K)K-3K-RK=?JK= ?IEiE/;iE)Eu@)A U $?IQ*F?2F:FBF_0JFG5)GYBaO:>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255276JJJ1JJ;Jw:J3JJ`<J`<J;J;jw,&;Ay~~B~IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507233Mb@Mb@Mb@ )Y333333?bX9ȶ{Gzy?EףA )v@I AypAI,I5٢ [=  7=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-49%.a?-4Y% i%svB-]?-:-)-?%C% ;%{;%44Q UA]SEZjyFNOT Ignoring new targets: 334.80 m.Bj;Jj; ProNav: ac range: 334.799988 m, nav range: 103.430992 m, bearing: 320.519840 deg, approach rate: 0.223126 m/s, LOS rate: 0.309606 deg/s, cmd heading: 219.844883 deg, new cmd heading: 220.261018 deg. 2jzT<HeadingCmd: 3.844280 target range: 334.799988 and range: 334.80 m. jv@jjjihhhhBfffrfbf @ɛ+B  0DI ,ɚiIg-=Ii;iv8)v@)E *F?2F:FBFJF"G=G= E $?IAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759208GM WDG9 H 6>I  I YII BI &I .I 6I <:I FB O >{w,;AyvBvII~1I~&5٢-T= -Y=91Q 5>11 5G٣1y9 E> MNusing accuracyPremultiplier from configAM49Ea?U4YEv iE{vBQQU?ECE:E:E4;4a eAaZjFNOT Ignoring new targets: 334.80 m.Bjڳ;Jjڳ; ProNav: ac range: 334.799988 m, nav range: 103.515999 m, bearing: 320.637051 deg, approach rate: 0.228263 m/s, LOS rate: 0.314480 deg/s, cmd heading: 220.261020 deg, new cmd heading: 220.612359 deg. 2jW<HeadingCmd: 3.850412 target range: 334.799988 and range: 334.80 m. j'mv@jjjihhhhfffrfbfߐ@ɛ/B0 I !ɚiI,=Ii^;i  L) 'mv@) *F2F:FBFJF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012586Gm3G)B9OM1>zKJK9KK4KBK:KrA 9 I9  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J M;J J ـ3J J \<J \<J J ; BDAT read: Rx Time:21:23:58.5215 % TRx dataTimestamp_ set to:1736371439.756343% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271984w,;ANd@YN s@NKN9NE+>yNH@C࡜?ROr@[,?"?F?n?ɨNd@N2;Ly#BII-I-Y4٢ejN= eG=9u}$ G٣y= > Nusing accuracyPremultiplier from config496 a?4Y ivB(?/Cr;;B4  `A VEZjFNOT Ignoring new targets: 334.80 m.Bj;Jj; ProNav: ac range: 334.799988 m, nav range: 103.607948 m, bearing: 320.768793 deg, approach rate: 0.209695 m/s, LOS rate: 0.300176 deg/s, cmd heading: 220.612364 deg, new cmd heading: 221.007232 deg. 2jN<HeadingCmd: 3.857304 target range: 334.799988 and range: 334.80 m. jv@jjjih hhhfffrfbf`n% @ɛu4B}D 隵I ɚiI+=IAiu;i;()v@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515359*FE?2FA:FABFAJFAG 8G B O >  $?I! w,* yH#`?TUuY?̵?&? 5q?ɨWe@j;騥АCy0BIAWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:23:58.5215 LVL= 16336, 31393, 23794, 31539, AGC= 67, IDX= 423, 0.27, 1.079,-0.514,-0.658,-0.028, PHS= 1.194,-0.440,-0.634, RAW= 84.5, -1.4, CAL= 91.7, -6.6, ROT= 58.3, 6.6 Ygot valid direction response: 21:23:58.5215 LVL= 16336, 31393, 23794, 31539, AGC= 67, IDX= 423, 0.27, 1.079,-0.514,-0.658,-0.028, PHS= 1.194,-0.440,-0.634, RAW= 84.5, -1.4, CAL= 91.7, -6.6, ROT= 58.3, 6.6 PDAT read: Bearing 58.3, 6.6 (Local) ~Local bearing/azimuth received: Bearing 58.3, 6.6 (Local) DAT read: Range 10 to 50 : 333.6 m (Round-trip 444.8 ms) speed 0.3 m/s ,DAT read: user:1729> BDAT read: Tx time:21:23:59.6226 $Ping request sent.?iڕ=ڑڑەG?oɘ<⚋")ەIە' ]G٣]JAGye*I< e> uNusing accuracyPremultiplier from configi49m]`?4Ym imvB`?:B'?mXCmK;m;mK4 +Ak n?kG k k:""Ew%u0ȾP@kEft@Ɔ8B^-?9dfN?Jk?Rkg*OE@`JK9KK5KRB ;[~o;#  $?I BaO?$V w,Z+y6Hf?`-?`댵??@r?ɨ6e@6;6ӐCyB<BBIIJIJ4٢R= R]=9VF-;Q V>XX ZG٣XyZ< ^> bNusing accuracyPremultiplier from config\b49^`?f4Y^ i^vBdf&f?^sC^2;^u;^Q4n^B nAnYEzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 333.60 m.Bj ;Jj ; ProNav: ac range: 333.600006 m, nav range: 76.117081 m, bearing: 343.712964 deg, approach rate: 0.452308 m/s, LOS rate: 0.363811 deg/s, cmd heading: 221.494483 deg, new cmd heading: 221.845318 deg. 2jy<HeadingCmd: 3.871931 target range: 333.600006 and range: 333.60 m. jw@jjjihhh)h)f)f)f1rf1bf5?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.JJ@AɛU=BU 隍dI ɚiIXn*=IQiXc;iZ7)w@)*F]?2FY:FaBFaJFa Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.742199GU ^D8G) B9 O] >6w,E    G٣ KAGy  > Nusing accuracyPremultiplier from config%495`?%4Y_ ivB%C?%:-%-?C];;Y45]B 5A=[EZjaeFNOT Ignoring new targets: 333.60 m.Bjm;Jjm; }$?I}wg ProNav: ac range: 333.600006 m, nav range: 76.292442 m, bearing: 343.857484 deg, approach rate: 0.392510 m/s, LOS rate: 0.322733 deg/s, cmd heading: 221.845323 deg, new cmd heading: 222.277877 deg. 2j}]<HeadingCmd: 3.879481 target range: 333.600006 and range: 333.60 m. jjIx@jjjihhhhBfffrfbfD?ɛBBqR @ S`w,5^y:H N"?HW`F? ?j?Cy?ɨ:Kf@:º;:ѐCyFXBF IININ4٢V = Vb=9ZƺQ Z>XX ZG٣Xy^2< ^> bNusing accuracyPremultiplier from config`f49b0`?f4YbM ibvBhje%j?bCb :bq:b`4vWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.246635x zAz^EZjFNOT Ignoring new targets: 333.60 m.Bjư;Jjư; ProNav: ac range: 333.600006 m, nav range: 76.432938 m, bearing: 343.974610 deg, approach rate: 0.371451 m/s, LOS rate: 0.309096 deg/s, cmd heading: 222.277879 deg, new cmd heading: 222.628606 deg. 2j!T<HeadingCmd: 3.885602 target range: 333.600006 and range: 333.60 m. jx@jjjihh!h!h!f!f)f)rf)bf-?ɛ]FB]Y ]<]Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497538*JR="JR=w,xybH*@@d?y? ߰?@w?ɨb˓f@b;bԐCylBIImIm4٢7= ;=9L:Q > G٣y"< m> Nusing accuracyPremultiplier from config49`?4Y ivB%?C ;;h4 9AaEZj)EFNOT Ignoring new targets: 333.60 m.BjM;JjM;] ProNav: ac range: 333.600006 m, nav range: 76.612953 m, bearing: 344.125035 deg, approach rate: 0.393714 m/s, LOS rate: 0.328222 deg/s, cmd heading: 222.628609 deg, new cmd heading: 223.078813 deg. 2j]AaJ J &J J J ;J 0:J J r$w,Y96'>y6H`@ g?Y ^G@,?@?\?`"w?ɨ6 g@6;6ՐCZH@RH@HF5>ID IFIIF0BIF) =&ID.ID6IFl<:IFFyVmBTuMb@Mb@Mb@qqq q)qYu`"?+ G٣LAGy< > Nusing accuracyPremultiplier from config49П`?4YH ivB/?:$?Cy;;n4 8AZj FNOT Ignoring new targets: 333.60 m.Bj;Jj;- ProNav: ac range: 333.600006 m, nav range: 76.764114 m, bearing: 344.251276 deg, approach rate: 0.412661 m/s, LOS rate: 0.343951 deg/s, cmd heading: 223.078814 deg, new cmd heading: 223.456785 deg. 2j- l<5HeadingCmd: 3.900057 target range: 333.600006 and range: 333.60 m. j5y@j9j9j9i9h9h9hAhEBfAfAfIrfIbfM @ɛuQB}6 y}x M $?II zK5 m$JK5 h9K1 K5 7K5 *w,Ԃy2H`|A?`+T@qB@?n?c?pu?ɨ2wg@2W;2ӐCyNfBRI)T TIZIZv4٢bS b[=9b;Q f>dd fG٣dyj< j> nNusing accuracyPremultiplier from configlr49n`?r4Ynw invBtvx$v?n Cni:n:nAu4x zQAxB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 333.60 m.Bj߰;Jj߰;E ProNav: ac range: 333.600006 m, nav range: 76.912071 m, bearing: 344.375743 deg, approach rate: 0.368341 m/s, LOS rate: 0.309268 deg/s, cmd heading: 223.456783 deg, new cmd heading: 223.829462 deg. 2jE?T%2w,y6H S?@0? ?zQ?` t?ɨ6g@ LIL6B;4yfnBfI =@= =@= =@=  =@= IEIEY4٢U< U0=9]Q;Q ]>Ya eG٣aye$< e> ubBottom track data is 0.5 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi}49mn|`?}4Ymy imvB}+::#?m/Cm';m>m{4^B 4AdEZjFNOT Ignoring new targets: 333.60 m.Bj;Jj; ProNav: ac range: 333.600006 m, nav range: 77.095123 m, bearing: 344.531146 deg, approach rate: 0.418872 m/s, LOS rate: 0.354759 deg/s, cmd heading: 223.829466 deg, new cmd heading: 224.294558 deg. 2jws<HeadingCmd: 3.914679 target range: 333.600006 and range: 333.60 m. jz@jjjihhhhfffrfbfO@ɛ\BM БiɚaiaIe j&=I}iyi}P)}z@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009715JmJmJm1JiJm5;Jmt:Jm3JiE<HIII IMIIM:BII&II.II6IM8<:IM FBIJIRIZIbIjIۿ4*F?2F:FBFS5JFG NG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262551J8w,qII MG٣MMAGyU U> bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49Mk`?4Y ivB :h:?NCZ;_?|4 zAgEZjFNOT Ignoring new targets: 333.60 m.Bjx;Jjx; ProNav: ac range: 333.600006 m, nav range: 77.255745 m, bearing: 344.666501 deg, approach rate: 0.396036 m/s, LOS rate: 0.333042 deg/s, cmd heading: 224.294560 deg, new cmd heading: 224.699772 deg. 2jd<HeadingCmd: 3.921751 target range: 333.600006 and range: 333.60 m. jz@jjjihhh h f f f rfbf`y @ɛebBe imIi mlɚiiiIm%=Iu!iyi}j)}z@)yEE*E"E $?IzKRIK9KK8KE!E%sA=Will construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:21:24:02.4703 ]TRx dataTimestamp_ set to:1736371443.782519echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518035*F?2F:FBFB5JFG lQG B! Oe >?w,yjH`? It`< w?Yt?@)?Wq?ɨjh@jt;jԐCyvbBvIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769880        Mb@Mb@Mb@ )Y)\(?{Gz~jtyG!?#A @)@IAypAI I %4٢#< /=9i;Q >!! %G٣!y-u= -> 5Nusing accuracyPremultiplier from config1=495W`?=4Y5 i5vB=T:E!?E:EE?5sC5 ;5;54I MgAiZjFNOT Ignoring new targets: 333.60 m.Bj;Jj;M ProNav: ac range: 333.600006 m, nav range: 77.430725 m, bearing: 344.839342 deg, approach rate: 0.363590 m/s, LOS rate: 0.358334 deg/s, cmd heading: 224.699768 deg, new cmd heading: 225.217107 deg. 2jMu- Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: 21:24:02.4704 LVL= 12496, 32593, 22946, 29267, AGC= 64, IDX= 426,-0.07,-0.965,-2.570,-2.633,-1.994, PHS= 1.117,-0.529,-0.642, RAW= 86.7, 0.6, CAL= 93.5, -3.3, ROT= 56.5, 3.3 JK 3 K .-KK"KJm Jm Jm 0Ji Jm m;Jm z:Jm ـ3Ji  Ygot valid direction response: 21:24:02.4704 LVL= 12496, 32593, 22946, 29267, AGC= 64, IDX= 426,-0.07,-0.965,-2.570,-2.633,-1.994, PHS= 1.117,-0.529,-0.642, RAW= 86.7, 0.6, CAL= 93.5, -3.3, ROT= 56.5, 3.3  PDAT read: Bearing 56.5, 3.3 (Local)  ~Local bearing/azimuth received: Bearing 56.5, 3.3 (Local)  DAT read: Range 10 to 50 : 332.6 m (Round-trip 443.5 ms) speed 0.0 m/s jH! bH% <H) I)  I) I) I) &I) .I) 6I- <:I- FM ,DAT read: user:1730> U BDAT read: Tx time:21:24:03.5727 U $Ping request sent.U y2H@I>?X+1L????p?ɨ2li@2ǻ;2ՐCyBpBBIIJIJ4٢^ = S=9tf;Q > G٣yT< > Nusing accuracyPremultiplier from config49G`?4Y ivB??C3;3;U4 3AjEk]]_+Wm?k]0^ kY k]*=A:k]LCBk]'CZk]t C?"]_8>d2`K@75g,jt@] _񃷿9?Jm?Jk]@Rk]ɰ*]C@6C@.߾t@]z+?dRV?>U2O?"k]yB*k]Bk]{bnm?k]bq 2k]Ck]7Wu?k]P k]Ck]lBk]M> addTargetRange:: Added new target pos. range: 332.600006 m, deltaT: 4.031780 s, deltaX: -1.000000 m, approachRate: -0.248029 m/s, rangeRepo size: 4  Added new target pos. range: 332.600006 m, bearing: 43.655033 deg, lat: 36.904162 deg, lon: -122.115210 deg, deltaT: 4.031780 s, deltaX: -1.000000 m, approachRate: -0.248029 m/s, posRepo size: 4 Zj-FNOT Ignoring new targets: 332.60 m.Bj5Jj1E ProNav: ac range: 332.600006 m, nav range: 66.712212 m, bearing: 11.511572 deg, approach rate: 0.000000 m/s, LOS rate: 0.358334 deg/s, cmd heading: 225.217100 deg, new cmd heading: 225.637354 deg. 2jAmHeadingCmd: 3.938115 target range: 332.600006 and range: 332.60 m. jm |@jijqjqiqhqhqhyhyfyfyfyrft@bf`?ɛnB ;I rpɚiI-$=IiiR) |@) Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:24:03.5719 *F2F:FBFJF yIyG jzK BoHK h9K K 9K G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.Lw,r2=ABi@YBYx@B29BZ1>yBH̳6h?`W_@#??@?o?ɨBi@B|;BҐCyJQBJIIVIV4٢Z ^Z=9^;Q ^>`` bG٣`yf< f> jNusing accuracyPremultiplier from configdn49f28`?n4Yf ifvBlnr?fCfA;fh;f4m]B mAmkEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 332.60 m.Bj ;Jj ; ProNav: ac range: 332.600006 m, nav range: 66.922417 m, bearing: 11.604214 deg, approach rate: 0.565298 m/s, LOS rate: 0.248355 deg/s, cmd heading: 225.637348 deg, new cmd heading: 225.914397 deg. 2jq*<HeadingCmd: 3.942950 target range: 332.600006 and range: 332.60 m. jKY|@jjj!i!h!h!h!h)f)f)fIrfIbfM?ɛsBr 隝I ɚiIJ $=IiiU;iH)KY|@)Ee>E>*Fm?2Fq:FqBFqJFyG GrAG|[GYBiO|>Will construct direction to contact in vehicle frame from tetrahedron phase data.՝Ai՝AT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. e $?Ie xgRw,L=A2Wj@Y2ux@2s!922V&>y2Hƍ ? +`V` @?߲??(~?ɨ2Wj@2;2ԐCybbBbI)d dhjAMb@Mb@Mb@ )Y(\?y&1:vy'?`弹T+A @)@IAyAI Ie4٢= ;=9ںQ > G٣NAGy< > Nusing accuracyPremultiplier from config49%`?4Yw ivB'?:(?C&;;4 eAnEZjFNOT Ignoring new targets: 332.60 m.Bj ;Jj ;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974033E ProNav: ac range: 332.600006 m, nav range: 67.174011 m, bearing: 11.721125 deg, approach rate: 0.578045 m/s, LOS rate: 0.267601 deg/s, cmd heading: 225.914394 deg, new cmd heading: 226.263811 deg. 2jE7<]HeadingCmd: 3.949049 target range: 332.600006 and range: 332.60 m. je6|@jaH4>I III&I.I4D6I<:I FJJJ1JJ;JJ3JJ`9Yw,[f=AN5k@YNyTy@N9NU->yNHAC?,_ ~?P?"?9v?ɨN5k@ND0;NАCyV\BV IIfIf&4٢n l nW=9n;Q n>pp rG٣pyv= v> zNusing accuracyPremultiplier from configx~49z`?~4Yz izvBF?zCz:z:z(4  {A ZjI $?IFNOT Ignoring new targets: 332.60 m.Bjա;Jjա;U ProNav: ac range: 332.600006 m, nav range: 67.391266 m, bearing: 11.824587 deg, approach rate: 0.596115 m/s, LOS rate: 0.282969 deg/s, cmd heading: 226.263813 deg, new cmd heading: 226.573195 deg. 2jU2B"`w,=A5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726678yލnBލIMb@Mb@Mb@ )YB`"?I +?Mby.?94<A p@)@IAyzAI(I)5٢k= 0=9Q > G٣OAGy > Nusing accuracyPremultiplier from config49`?4Y iwB.?:?C/;^;I4^B 8AqEZj FNOT Ignoring new targets: 332.60 m.Bj;Jj;- ProNav: ac range: 332.600006 m, nav range: 67.659325 m, bearing: 11.968594 deg, approach rate: 0.580290 m/s, LOS rate: 0.310510 deg/s, cmd heading: 226.573193 deg, new cmd heading: 227.003495 deg. 2j-U<5HeadingCmd: 3.961958 target range: 332.600006 and range: 332.60 m. j5}@j1j1j9i9h9h9hAhEZBfAfAfIrfIbfMR?ɛuBug y} Iy }ɚyiyI},"=I%i%};i%rJ)%}@))E9 I*F2F:FBF0JF"G=GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978677ZH RH ?AH 5>I  I II 5BI &I .I 5D6I <:I FG= \GG1 B9 O] >Ifw,_=AVk@YVz@V9VF1>yVHd$?@)J#Vv ?d?.? s?ɨVk@V*;VѐCynbBnIiz)>Izp> ~p=|I  I <4٢- -h=9-y11 5G٣1y=5 = => ENusing accuracyPremultiplier from configAM49El_?M4YE iEwBIUU?E=CEn:E ;Es4Y ]fAYZjFNOT Ignoring new targets: 332.60 m.Bj=;Jj=;u ProNav: ac range: 332.600006 m, nav range: 67.861275 m, bearing: 12.079050 deg, approach rate: 0.547495 m/s, LOS rate: 0.298560 deg/s, cmd heading: 227.003495 deg, new cmd heading: 227.333874 deg. 2juL<}HeadingCmd: 3.967725 target range: 332.600006 and range: 332.60 m. j}3}@jyjyjyiyhhhhfffrfbf`@ɛBq < I ɚiI`A"=I0i ;i>/)3}@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.231974*F%?2F!:F!BF%_5JF! $?IGe ،LG9 BI Oe >zK} ~MK} h9Ky K} ;K}  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482574J1 J5 ?Arlw,5=AJ}J}JyJyJ}5;J}y:JyJyJ}Vc<J}Wc<J};J};VLl@YV7kz@VI9VP2>yVHW7?@`5BY?`M?87?r?ɨVLl@VY;VӐCybfBbIIj+Ij~5٢r< rO=9v9;Q v>tx zG٣xyzS< z> ENusing accuracyPremultiplier from configA]49E_?]4YE8 iE-wBaee?E`CE";EU;E4i m\AmtEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 332.60 m.Bj;Jj; ProNav: ac range: 332.600006 m, nav range: 68.092056 m, bearing: 12.205714 deg, approach rate: 0.581976 m/s, LOS rate: 0.318332 deg/s, cmd heading: 227.333872 deg, new cmd heading: 227.712568 deg. 2jwZ< HeadingCmd: 3.974334 target range: 332.600006 and range: 332.60 m. j }[~@j j j i h hYhahafafifirfibfv@ɛB+ 隽\I  ɚiIUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734567 I Xsw,5 =A:l@Y:Nz@::|9:R)3>y:HU?@-2d;@S?9?%=?s?ɨ:l@:3;:ҐCy^zBbIMMb@Mb@Mb@III I)IYMX9v?y&1?yM3?M` G٣yz\< > Nusing accuracyPremultiplier from config49Z_?4Y iAwB3?:?C;D;4]B AuEZjFNOT Ignoring new targets: 332.60 m.Bj;Jj; ProNav: ac range: 332.600006 m, nav range: 68.330826 m, bearing: 12.343514 deg, approach rate: 0.588360 m/s, LOS rate: 0.338371 deg/s, cmd heading: 227.712565 deg, new cmd heading: 228.124513 deg. 2j8h<HeadingCmd: 3.981524 target range: 332.600006 and range: 332.60 m. jI~@jjjihhhhBfffrfbf`.@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986582ɛB% !%ȟI! % ɚ!i)I-!=H]4>IY I]II]0BIY&IY.I]4D6I]2<:I] FImNigh;i>)I~@)EE*FE?2FA:FABFM_0JFIGQ GQGm ?0Gq Gq GI m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239469BY O >zyw,!=A6'l@Y6{@6M\v962>y6H@'r?ы`Z?Ʈ?)?@7u?ɨ6'l@6(q;6ѐCyRBR&I)X XI-0I-5 M$?II٢U = ]L=9eKj;Q e>ii mG٣mPAGyuU< u> Nusing accuracyPremultiplier from config49$_?4Y: iUwB}?CVk;;^;Ǒ4 AxEZjFNOT Ignoring new targets: 332.60 m.BjN;JjN; ProNav: ac range: 332.600006 m, nav range: 68.563118 m, bearing: 12.477930 deg, approach rate: 0.573980 m/s, LOS rate: 0.331009 deg/s, cmd heading: 228.124507 deg, new cmd heading: 228.526383 deg. 2j+c<HeadingCmd: 3.988538 target range: 332.600006 and range: 332.60 m. j4D@jjjihh h h f ffrfbfB @ɛmBu= quIq uT ɚqiyI}5!=I}i;iE)4D@)zKmJKm9KiKm<Km*Fa2Fa:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:24:06.4192 TRx dataTimestamp_ set to:1736371447.812560checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491984J J !J 0J J ;J :J ـ3J J  f<J  f<J ;J ;G- lL=) C GG) 1 I Ba %Y y BO >= (@E Bmw,>AWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743140y-B-0IMb@Mb@Mb@ )Y333333?Mb?y&1|?y9?@=`;E A C@)@Iy@I#I5٢3= '=9Q > G٣y > Nusing accuracyPremultiplier from config49|_?4Y% irwB9? :  ?C9;;=Б4^B A{E -$?I-ygZjIUFNOT Ignoring new targets: 332.60 m.BjU;JjU;} ProNav: ac range: 332.600006 m, nav range: 68.847885 m, bearing: 12.649299 deg, approach rate: 0.588021 m/s, LOS rate: 0.352398 deg/s, cmd heading: 228.526382 deg, new cmd heading: 229.038348 deg. 2j}q<HeadingCmd: 3.997473 target range: 332.600006 and range: 332.60 m. j@jjjihhhh Bfffrfbf@+@ɛmB}! y}:I S ɚiIF =IIiifde)@)*F5?2F1:F1BF1JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.= DAT read: 21:24:06.4192 LVL= 24016, 32753, 32754, 32755, AGC= 59, IDX= 430, 0.23,-1.429,-3.012,-2.997,-2.393, PHS= 1.052,-0.572,-0.607, RAW= 88.9, 1.6, CAL= 96.1, -1.7, ROT= 53.9, 1.7 jHE <bHA HM 3>II  IM IIM 5BII &II .II 6IM +<:IM FBI)JI)RI)ZI-) =bI-) =jI-,'4u Ygot valid direction response: 21:24:06.4192 LVL= 24016, 32753, 32754, 32755, AGC= 59, IDX= 430, 0.23,-1.429,-3.012,-2.997,-2.393, PHS= 1.052,-0.572,-0.607, RAW= 88.9, 1.6, CAL= 96.1, -1.7, ROT= 53.9, 1.7 } PDAT read: Bearing 53.9, 1.7 (Local) } ~Local bearing/azimuth received: Bearing 53.9, 1.7 (Local)  DAT read: Range 10 to 50 : 331.7 m (Round-trip 442.3 ms) speed 0.4 m/s  ,DAT read: user:1731>  BDAT read: Tx time:21:24:07.5227  $Ping request sent. w,>AVm@YVR{@V'h9V:90>yVH Vn #?9&~?_?H?`y?ɨVm@V ;VӐCynBnDIIz"Iz5٢m= m}=9ug%A:k ٥CBk CZk ux?" ]B7nE@ۧmt@ vc0L?utN?Jk @Rk x'* K7=@q - I@+xit@ "s4nj?hHT?tׁ?"k \HB*k Ak U@i?k I 2k BCk Tn?k g k k FMBk o> addTargetRange:: Added new target pos. range: 331.700012 m, deltaT: 4.033852 s, deltaX: -0.899994 m, approachRate: -0.223110 m/s, rangeRepo size: 4 % Added new target pos. range: 331.700012 m, bearing: 59.744516 deg, lat: 36.903976 deg, lon: -122.115141 deg, deltaT: 4.033852 s, deltaX: -0.899994 m, approachRate: -0.223110 m/s, posRepo size: 4 Zj)MFNOT Ignoring new targets: 331.70 m.BjUJjQe ProNav: ac range: 331.700012 m, nav range: 51.318466 m, bearing: 24.679358 deg, approach rate: 0.000000 m/s, LOS rate: 0.352398 deg/s, cmd heading: 229.038345 deg, new cmd heading: 229.408496 deg. 2jamHeadingCmd: 4.003933 target range: 331.700012 and range: 331.70 m. j9 @jjjihhhhfffrf@3t@bf ?ɛ B T  zK yJK ]9K K =K  Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J ;J w:J J J cg<J cg<J ;J ;w, y5>Ay~BTIi %=I =II4٢]]= ]K=9eQ e>aa mG٣mQAGym m> uNusing accuracyPremultiplier from configq}49up_?}4Yu' iuwB?uCuI;u;uܑ4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 331.70 m.Bj ;Jj ; ProNav: ac range: 331.700012 m, nav range: 51.578144 m, bearing: 24.809503 deg, approach rate: 0.697913 m/s, LOS rate: 0.348019 deg/s, cmd heading: 229.408487 deg, new cmd heading: 229.796952 deg. 2jn<HeadingCmd: 4.010714 target range: 331.700012 and range: 331.70 m. jW@jjjihhhhfffrfbfٟ?ɛMBM,| IMV=II MɚQiI& =I-piin)W@)*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 ******=Querying Benthos address 50 with one ping in standard two-way mode.GbG B O > ) I) =w,RO>A:pn@Y:8|@:e9:#2>y:H' ? !3 Gq?@e?T?w?ɨ:pn@:K;:АCyFBFbIMb@Mb@Mb@ )Y +?&1?I +?y6?P=94<\ A -@)I@y(@I-I-4٢Eg= EL=9M;Q M>II UG٣QyUK< U> eNusing accuracyPremultiplier from configam49e_?m4Ye\- iewBmE7?m:m9u?e>Ce;e;e4y }LA}~EZjFNOT Ignoring new targets: 331.70 m.Bjپ;Jjپ; ProNav: ac range: 331.700012 m, nav range: 51.837448 m, bearing: 24.944161 deg, approach rate: 0.645833 m/s, LOS rate: 0.333706 deg/s, cmd heading: 229.796961 deg, new cmd heading: 230.198906 deg. 2je<HeadingCmd: 4.017729 target range: 331.700012 and range: 331.70 m. j<@jjjihhhh<Bfyfyfyrfybf\ ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.967476HIC III?BI* =&I.I6I<:I FɛMBU6 QU=IQ U ɚQiQI]=I]>ie/{;ieW)e<@)a*FE?2FA:FIBFM0JFIGm tlGA BI e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223559O} >Bԙw,9i>ABPExceeded connect timeout, disconnecting. f$?Idn@YG|@$a91>yH.?8@).~`NC? ? ?x?ɨn@^$;y% B%II5I5D4٢E{= EJ=9E1;Q M>II MG٣IyUy< U> eNusing accuracyPremultiplier from configYe49]hs_?e4Y]63 i]wBimm?]cC]:]:]4u]B uA}EZjFNOT Ignoring new targets: 331.70 m.Bj;Jj; ProNav: ac range: 331.700012 m, nav range: 52.098209 m, bearing: 25.080231 deg, approach rate: 0.643647 m/s, LOS rate: 0.334185 deg/s, cmd heading: 230.198904 deg, new cmd heading: 230.605063 deg. 2jYe<HeadingCmd: 4.024817 target range: 331.700012 and range: 331.70 m. jNˀ@jjjihhhhfffrfbf]1?ɛBy̼  &=I  l>ɚiIe=Ii!i%b^)%Nˀ@)!*F?2F:FBF^5JFG GqAzK:IK9KK>KG}D[Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.477009JJ$J1JJ;J':J3JJ`<J`<J;J;GQBaO}Y>侠w, >A%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730343uSo@Yur}@uV9ur0>yuH6?@{ @UT`?۪?K?={?ɨuSo@uь;uѐCyލ BލIMb@Mb@Mb@ )Y@5^I ? rh?y&1?yb0?C =`e< A C@)@Iv@y@I.I5٢= 4=9;Q > G٣RAGyx< > Nusing accuracyPremultiplier from config49_b_?4Yr9 iwB0?:?C ;;4 AEZjFNOT Ignoring new targets: 331.70 m.Bj-ɰ;Jj-ɰ;= ProNav: ac range: 331.700012 m, nav range: 52.381790 m, bearing: 25.220918 deg, approach rate: 0.626479 m/s, LOS rate: 0.309120 deg/s, cmd heading: 230.605054 deg, new cmd heading: 231.024823 deg. 2j=%T<=HeadingCmd: 4.032144 target range: 331.700012 and range: 331.70 m. jER@jAjAjAiAhAhIhIhMBfIfQfQrfQbfU ip?ɛB 隍>I hɚiI=Iies;iś\ $?Izg)R@)!*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979321ZHRH@AHI III]BI&I.I6If<:I FG YG B O >w,>A6o@Y6}@6M9640>y6H ϰ [W?j@x 1_?`p?? |?ɨ6o@6];4yJ;BJIIRIR_4٢ZB> ^r=9^^;Q ^?`` bG٣`ybl< f? nNusing accuracyPremultiplier from confighn49jU_?r4Yj$> ijwBpr`r?jCj:j:j4x zAxZjFNOT Ignoring new targets: 331.70 m.Bj%J;Jj%J;5 ProNav: ac range: 331.700012 m, nav range: 52.593903 m, bearing: 25.326810 deg, approach rate: 0.626986 m/s, LOS rate: 0.311744 deg/s, cmd heading: 231.024810 deg, new cmd heading: 231.341201 deg. 2j5U<=HeadingCmd: 4.037666 target range: 331.700012 and range: 331.70 m. j=4@j9j9j9i9h9hAhAhAfAfIfIrfQbfU@8m@ɛ}B}ѐ 隅M>I  ɚiI=I i Xm;i 5Z) 4@)*F?2F:FBF_0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232421 unManaging dock network, ignoring radio surface power off IG|[GB O >zK- k3IK- 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=2.483343 w,>A2)p@Y2H~@2X-E92/>y2H@1z?*` T:?@;?? ~?ɨ2)p@2:;2ϐCy:HB:IIF IF4٢J= NM=9N;Q N>PP RG٣PyV,< V> ZNusing accuracyPremultiplier from configXf49ZF_?f4YZC iZxBhnr?ZCZ ;Z;Z4z^B ~AE-B*** querying acoustic contact ***j)j)ZjFNOT Ignoring new targets: 331.70 m.Bj;Jj; ProNav: ac range: 331.700012 m, nav range: 52.842045 m, bearing: 25.451702 deg, approach rate: 0.586494 m/s, LOS rate: 0.293801 deg/s, cmd heading: 231.341212 deg, new cmd heading: 231.714123 deg. 2jI<HeadingCmd: 4.044174 target range: 331.700012 and range: 331.70 m. ji@jjjihhhhfffrfbf@ɛeBm a i隕%e>I XɚiI,=IKid;i%Y)i@)E9E=rA*F?2F:FBFJFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.736740G- A,[G1 G5 > $?I G! B1 OU >Pw,$>A:Åp@Y:y~@:j?9:90>y:H@f̖?e0s?0?@I?(~?ɨ:Åp@:;8yFaBFI%Mb@Mb@Mb@!!! !)!Y%L7A`?~jt?Mb?y%+'?%D<%<% A %-@)%@I%I@!y%@I=I=4٢M(= M?=9MP;Q U>QQ UG٣USAGy]$W< ]> eNusing accuracyPremultiplier from configam49e7_?m4Ye0I ie$xBu?'?u:uu?eCe/;e;e94y }AZjFNOT Ignoring new targets: 331.70 m.Bj;Jj; ProNav: ac range: 331.700012 m, nav range: 53.097565 m, bearing: 25.570476 deg, approach rate: 0.635476 m/s, LOS rate: 0.293968 deg/s, cmd heading: 231.714113 deg, new cmd heading: 232.068715 deg. 2jI<HeadingCmd: 4.050363 target range: 331.700012 and range: 331.70 m. j@jjjihhhhBfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987567JJ J2JJ5;J:Jc3Ja@a@a@a@HI IIIBI) =&I.I6I<:I FɛB~5j E>I fɚiIS=I-i-Y ];i=+ ])=@)Q*F2F:FBFJFG- XG B O= >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:21:24:10.3672 U TRx dataTimestamp_ set to:1736371451.597150] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240972A I{gnp@Yn@n479n#0>ynHf;?O= @1? ?@?~?ɨnp@nw;nΐCyzyBzII  I 4٢= M=9%.;Q %>!! %G٣)y-m< -> 5Nusing accuracyPremultiplier from config1=4957)_?=4Y5]N i57xBAE E?5C5>;5O;5/4I M&AMEZjFNOT Ignoring new targets: 331.70 m.Bj[;Jj[; ProNav: ac range: 331.700012 m, nav range: 53.335468 m, bearing: 25.682135 deg, approach rate: 0.596342 m/s, LOS rate: 0.278642 deg/s, cmd heading: 232.068709 deg, new cmd heading: 232.402188 deg. 2j:?<HeadingCmd: 4.056183 target range: 331.700012 and range: 331.70 m. jÁ@jjjihhhhfffrfbf7 @ɛB  >I :rɚiIZJ=I4iTVV;iX)Á@)*Fm?2Fq:FqBFun0JFqzK]FJK]+9KYK]@K]BKmrA:KmrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491370GI]GiBqO>8 w,d?AWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:24:10.3672 LVL= 16336, 31137, 22450, 32755, AGC= 66, IDX= 426, 0.17,-2.249, 2.401, 2.597, 3.125, PHS= 0.997,-0.677,-0.532, RAW= 94.5, 2.7, CAL= 103.2, 0.5, ROT= 46.8, -0.5 Ygot valid direction response: 21:24:10.3672 LVL= 16336, 31137, 22450, 32755, AGC= 66, IDX= 426, 0.17,-2.249, 2.401, 2.597, 3.125, PHS= 0.997,-0.677,-0.532, RAW= 94.5, 2.7, CAL= 103.2, 0.5, ROT= 46.8, -0.5 ehq@Ye@eE19ep0>mPDAT read: Bearing 46.8, -0.5 (Local) m~Local bearing/azimuth received: Bearing 46.8, -0.5 (Local) }DAT read: Range 10 to 50 : 330.3 m (Round-trip 440.4 ms) speed 0.4 m/s ,DAT read: user:1732> BDAT read: Tx time:21:24:11.4727 yeH/? >ɹc ?@?@;???ɨehq@e;eАCyޕBޕ I$Ping request sent.i :@ 0<  :publishing transmit ping timeرFpublishing direction and range info 9 ͖L¿Hڄ??y   I!   ) I i      ) I i    ?'#4ۿemݧ?) I i    MMb@Mb@Mb@III I)IYMMbX9?I +~jtx?yM!?M9M;M A M@)M@IIIyM@II٢X= =97;Q > G٣yK< %> -Nusing accuracyPremultiplier from config!-49%_?54Y%T i%GxB5!?5:5}?%;C%,<%,<%4]B oAEk Ga?k =L k  k ?A:k &CBk CZk ?" huGQud[%@4Ōɼkt@ ͖L¿Hڄ??Jk :@Rk 0<* 0y@š5S@ )t@ +=?n#w?"?"k B*k @k a?k ޮ 2k Ck {bnm?k bq k k rBk PD? addTargetRange:: Added new target pos. range: 330.299988 m, deltaT: 3.784491 s, deltaX: -1.400024 m, approachRate: -0.369937 m/s, rangeRepo size: 4  Added new target pos. range: 330.299988 m, bearing: 85.378316 deg, lat: 36.903934 deg, lon: -122.114931 deg, deltaT: 3.784491 s, deltaX: -1.400024 m, approachRate: -0.369937 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 330.30 m.BjJj ProNav: ac range: 330.299988 m, nav range: 60.523945 m, bearing: 43.937103 deg, approach rate: 0.000000 m/s, LOS rate: 0.278642 deg/s, cmd heading: 232.402186 deg, new cmd heading: 232.876609 deg. 2jHeadingCmd: 4.064464 target range: 330.299988 and range: 330.30 m. j@jjjihhhhBf!f!f!rf%̤t@bf-?ɛB< 隕>I ɚiIB=I i5K;i^)@)E R>E >jHbH<Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:24:11.4719 JJJ1JJ;J:J3JH2>I IYIIBI* =&I.I6I!<:I F*Fe ?2Fa :Fa BFm _0JFi Gq  Gu sAG ;XG G GaBiO>Uw,f"?AJ@q@YJ@J'+9J0>yJH? `4krV? Yc?4?`o?ɨJ@q@J|ˍ;HybBf:IInIn4٢= X=9&;Q > G٣TAGyG< > Nusing accuracyPremultiplier from config49_?4YBY iRxBd?YC:e:4^B  AEWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 330.30 m.Bj_%:Jj_%:5 ProNav: ac range: 330.299988 m, nav range: 60.752510 m, bearing: 43.949208 deg, approach rate: 0.685059 m/s, LOS rate: 0.036145 deg/s, cmd heading: 232.876611 deg, new cmd heading: 232.912790 deg. 2j5r:}HeadingCmd: 4.065095 target range: 330.299988 and range: 330.30 m. j}B@jjjihhhhfffrfbf@?ɛ B  κ >I ɚ9i9I===IM iMbE;iMIg>)MB@)Q $?I*F2F:FBF`0JFGU ]} Will construct direction to contact in vehicle frame from tetrahedron phase data.zK :IK 9K K AK GQ BY Ou >uw,HyH? %IHB?ǥ? ?r?ɨ'r@M;騍ѐCyޥBޥQIII4٢= H=9Q > G٣y?< > Nusing accuracyPremultiplier from config49^?4YE^ i^xB&?zC:a:%4 5 AB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 330.30 m.Bj-a#:Jj-a#:= ProNav: ac range: 330.299988 m, nav range: 61.010574 m, bearing: 43.963691 deg, approach rate: 0.639029 m/s, LOS rate: 0.035710 deg/s, cmd heading: 232.912784 deg, new cmd heading: 232.956046 deg. 2jE:]HeadingCmd: 4.065850 target range: 330.299988 and range: 330.30 m. j]r@jYjajaiahihihyhyfffrfbf]?ɛB a>I -9ɚ1i1I5=Iu iu<>;i}<)r@)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]?2FY:FYBF]o0JFa $?IG]6I@G1BIOm>T\w,{V?A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.203015J6J6+J60J4J6t;J6Ȇ:J6ـ3J4HJ1>IH IJIIJBIH&IH.IH6IJ<:IJ FBIeCJIeCRIaZIe* =bIe* =jIe4y]ŀB]cI%Mb@Mb@Mb@!!! !)!Y%7A`?v/Mbp?y%?%xi%;% A %5@)%@I%3@!y%@IEIE 4٢MÈ= UB=9UQ ]>Ya eG٣aym m> uNusing accuracyPremultiplier from configq}49u^?}4Yub iufxB}<?:?uCuo;u;ua,4  AEZjFNOT Ignoring new targets: 330.30 m.Bj?Jj? ProNav: ac range: 330.299988 m, nav range: 61.259819 m, bearing: 43.963478 deg, approach rate: 0.590640 m/s, LOS rate: -0.000503 deg/s, cmd heading: 232.956060 deg, new cmd heading: 232.955423 deg. 2jHeadingCmd: 4.065839 target range: 330.299988 and range: 330.30 m. j[@jjjihhhhJBfffrfbf?ɛB`8r: !%#>I! %ɚ!i!I%k!=I- i5˷8;i5 >)5[@)1EA*F?2F:FBF1JF"G=GR=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.455932GM lL=Gm ?Gm ? I GA BQ Om >߆w,Xp?A6js@Y6߀@6s'961>y6H+;?ԾA???`~?ɨ6js@6;6ΐCyF݀BFIiJ=IJ> LLIRIRa4٢ZH> Zi=9b;Q b>`` bG٣fUAGyf= f> jNusing accuracyPremultiplier from confighn49jd^?n4Yjf ijlxBprr?jCj ;j ;j24t v AtZjFNOT Ignoring new targets: 330.30 m.Bj.]9Jj.]9- ProNav: ac range: 330.299988 m, nav range: 61.467197 m, bearing: 43.967729 deg, approach rate: 0.591575 m/s, LOS rate: 0.012086 deg/s, cmd heading: 232.955432 deg, new cmd heading: 232.968142 deg. 2j-:5HeadingCmd: 4.066061 target range: 330.299988 and range: 330.30 m. j5,@j1jAjAiAhAhIhIhIfIfQfQrfQbfU@2$?ɛB̋; %>I! %ɚ!i!I%4=I-] i-W4;i-]̼)-,@)1UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.708153zKea3JKe+9KaKeBKe*F?2F:FBF@5JFG1G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962358Dow,*6?A 2$?I4>*Gt@Y>2@>79>>0>y>H ? VFb`Qk?8Z??1?ɨ>*Gt@>;>ϐCybBbIMb@Mb@Mb@ )Yn?ʡE{GzyV?# A @)@Iy@I I4٢ = :=9;Q > G٣y{< > Nusing accuracyPremultiplier from config49l^?4Y.k ikxB?:4?C;I;+:4  AEZj!-FNOT Ignoring new targets: 330.30 m.Bj5Jj5E ProNav: ac range: 330.299988 m, nav range: 61.713062 m, bearing: 43.966820 deg, approach rate: 0.560630 m/s, LOS rate: -0.002063 deg/s, cmd heading: 232.968136 deg, new cmd heading: 232.965421 deg. 2jEDMHeadingCmd: 4.066014 target range: 330.299988 and range: 330.30 m. jM@jIjIjIiQhQhQhYh]dBfYfYfYrfabfe`e@ɛBka; 隕?I "ɚiI>=I" i-1;i5H)5@)9*F?2F:FBF4JFG:4ZHARHAeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.212295HM0>II IMIIMBJJ%J1JJ;J:J3JJpw,?A2jt@Y2@2E92/>y2H] ?ּ*WO ??K? ?ɨ2jt@2=;2АCyFBFIIN IN4٢r~= rY=9v|;Q v>tt zG٣xyzm< ~> Nusing accuracyPremultiplier from config 49^? 4Yo ijxB ?C:":@4 @ AZjAEFNOT Ignoring new targets: 330.30 m.BjM?]8JjM?]8] ProNav: ac range: 330.299988 m, nav range: 61.924530 m, bearing: 43.967961 deg, approach rate: 0.562156 m/s, LOS rate: 0.003022 deg/s, cmd heading: 232.965431 deg, new cmd heading: 232.968842 deg. 2je9eHeadingCmd: 4.066073 target range: 330.299988 and range: 330.30 m. jeF@jijijiiihihihqhqfqfyfyrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463569ɛMBMD< IM?Iy ɚiIq=I) iQ/;i\4)F@)E)E-sA iIu|g*F?2F:FBF_0JFG GG'мGGsAm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715667G B zK RIK K K CK ] ^ PwW& O >!w,?A2ku@Y2 Ł@292.>y2H ?DW`R9`??@ ??ɨ2ku@2;2ΐCyBBBI)D DININ|4٢V» VN=9VF;Q V>XX ZG٣ZVAGy^ < ^> bNusing accuracyPremultiplier from config`f49b]^?f4Yb2s ibhxBdfj?b Cb:b:bG4n]B nA AnEZj!%FNOT Ignoring new targets: 330.30 m.Bj-9Jj-9= ProNav: ac range: 330.299988 m, nav range: 62.146881 m, bearing: 43.970787 deg, approach rate: 0.555213 m/s, LOS rate: 0.007033 deg/s, cmd heading: 232.968846 deg, new cmd heading: 232.977295 deg. 2j=r9EHeadingCmd: 4.066221 target range: 330.299988 and range: 330.30 m. jE{@jAjIjIiIhIhIhQhQfQfQfYrfYbf]'H@ɛB2 < 隅H?I cɚiI=I i.;ic.){@)*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970922G~GBO%M> ]$?IYH= />I9  I= II= GBI= , =&I9 .I9 6I= <:I= Fw,?AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219394Ru@YR@Ri 9R->yRHsT`%:?cཿ{5?`Z?@?v?ɨRu@R;PynBnIMb@Mb@Mb@ )YK7A`?ʡE/$y ?- -@)Iy@I I4٢ ;  6=9Uζ;Q ]>ai mG٣iyu/< u> Nusing accuracyPremultiplier from config49 ^?4Yw i_xB ?:?,C: <&<O4^B = AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 330.30 m.Bjf8Jjf8 ProNav: ac range: 330.299988 m, nav range: 62.400562 m, bearing: 43.971815 deg, approach rate: 0.522824 m/s, LOS rate: 0.002109 deg/s, cmd heading: 232.977288 deg, new cmd heading: 232.980358 deg. 2jH8 HeadingCmd: 4.066274 target range: 330.299988 and range: 330.30 m. j @j j j i hhhh{Bfffrfbf ; @ɛBǁ; 隕t?I cɚiIu]=I i\.;iN:)@)*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:24:14.3153 TRx dataTimestamp_ set to:1736371455.629908checking for new query: numPingsReceived=0, elapsed TxPingTime=3.473481 Q IY G .-G ?G >GY Bi O >w,?A>GSv@Y>8@>9>)>y>H@-Y?`ә ?ɲ?#?`F?ɨ>GSv@>;>͐Cy``IjIj49r;Q r>tt vG٣tyv< z> ~Nusing accuracyPremultiplier from configx49zf^?4Yzq{ izXxBK ?zECz;z);zU4 ZjAEFNOT Ignoring new targets: 330.30 m.BjM8JjM8] ProNav: ac range: 330.299988 m, nav range: 62.594467 m, bearing: 43.973613 deg, approach rate: 0.595725 m/s, LOS rate: 0.005508 deg/s, cmd heading: 232.980348 deg, new cmd heading: 232.985727 deg. 2j]q9eHeadingCmd: 4.066368 target range: 330.299988 and range: 330.30 m. je@jajajaiahihihihififqfqrfqbfu@ @ɛBW< 隭?I TmɚiI-=IT iw.;io;)@)EV>E>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.723357*F92F9:FABFEr0JFA"GM=GM=J 3K 3 K A.KK"KJUJU'JU0JQJU;JU:JUـ3JQam@am@am@am@zK^9OK9KKDKGMG!B1OM1> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:24:14.3154 LVL= 22320, 32753, 32690, 32755, AGC= 66, IDX= 419, 0.49, 0.977,-0.729,-0.441, 0.205, PHS= 0.860,-0.887,-0.649, RAW= 97.2, 8.3, CAL= 106.2, 7.7, ROT= 43.8, -7.7  Ygot valid direction response: 21:24:14.3154 LVL= 22320, 32753, 32690, 32755, AGC= 66, IDX= 419, 0.49, 0.977,-0.729,-0.441, 0.205, PHS= 0.860,-0.887,-0.649, RAW= 97.2, 8.3, CAL= 106.2, 7.7, ROT= 43.8, -7.7  PDAT read: Bearing 43.8, -7.7 (Local)  ~Local bearing/azimuth received: Bearing 43.8, -7.7 (Local)  DAT read: Range 10 to 50 : 328.8 m (Round-trip 438.4 ms) speed 0.4 m/s  ,DAT read: user:1733> - BDAT read: Tx time:21:24:15.4228 5 $Ping request sent.w, @A ,I,Rqv@YRf@R|ϼ9RJr$>yRH` gv?o@5ܱ ??@v??ɨRqv@Rq;RΐCy^B^Iib=Ib< @?) >IEC?i 7Җ1?z?ؿf =r?)˾IEiFlE:publishing transmit ping timeYEFpublishing direction and range info9D!п/K-t^J ?yMb@Mb@Mb@ )Ii )Ii7Җ1?z?ؿf =r?)Ii )YMbX?sh|?I +y ?9 A @)@I@y@II4٢-p -<95;Q 5>11 5G٣=WAGy=;< => Nusing accuracyPremultiplier from configA49EȊ^?4YE^ iENxB{ ?:?EfCE-T<.jT댇s@D!п/K-t^J ?JkFRkl*\%@B 1EZ@us@=>ס?#t?T߷M?"k.B*k*Akb?kTf 2kCkU@i?kI kBCk{BkP? addTargetRange:: Added new target pos. range: 328.799988 m, deltaT: 4.031846 s, deltaX: -1.500000 m, approachRate: -0.372038 m/s, rangeRepo size: 4  Added new target pos. range: 328.799988 m, bearing: 84.196609 deg, lat: 36.903819 deg, lon: -122.114819 deg, deltaT: 4.031846 s, deltaX: -1.500000 m, approachRate: -0.372038 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 328.80 m.BjJjH.>IC III[BI- =&I.I6IF<:I F ProNav: ac range: 328.799988 m, nav range: 62.764885 m, bearing: 58.778665 deg, approach rate: 0.000000 m/s, LOS rate: 0.005508 deg/s, cmd heading: 232.985730 deg, new cmd heading: 232.994488 deg. 2j=Will construct direction to contact in vehicle frame from tetrahedron phase data.=HeadingCmd: 4.066521 target range: 328.799988 and range: 328.80 m. jE @jAjAjAiAhAhAhIhMkBfIfIfQrf]̌t@bf]C?ɛB; 隭}?I zɚiIMo=I i/;i#<) @)*Fi2Fi:FiBFm_0JFiG 9G G rAGq By O > w,Cs(@AWill construct direction to contact in vehicle frame from tetrahedron phase data.Ev@YE㈂@Ef9EG!>yEH@?`e伿@<`l?`? ??ɨEv@Eٍ;E͐Cy}B}III4٢\ I=9о;Q > $?I G٣y'< > %Nusing accuracyPremultiplier from config!-49%Z}^?-4Y% i%DxBQU@U?%C%;%;%e4Y ] AYZjFNOT Ignoring new targets: 328.80 m.BjJj ProNav: ac range: 328.799988 m, nav range: 62.986137 m, bearing: 58.731124 deg, approach rate: 0.594726 m/s, LOS rate: -0.127341 deg/s, cmd heading: 232.994500 deg, new cmd heading: 232.852379 deg. 2jɮHeadingCmd: 4.064041 target range: 328.799988 and range: 328.80 m. j @j)j)j)i)h)h1h1h1f1f9f9rf9bf= _P?ɛeB2< 隍>I ɚiI=IxiA@1;iĶ<) @)*F%?2F!:F!BF%q0JF!GO;GBOj>Will construct direction to contact in vehicle frame from tetrahedron phase data.JJ)JJJ;J:JJzK k3IK K K EK Fw,PB@AyBIIIa4٢%g %V=9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E49=8q^?E4Y= i=I1 5߼ɚ9i9I==I=*iE2;iE<)E`@)AEY=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F:FBF3JFG1 G5nA $?IGM)<G! B1 OU >Hm />Im C Ii Ii Im , =&Ii .Ii 6Im "<:Im F Will construct direction to contact in vehicle frame from tetrahedron phase data.xw,d\@ARw@YRۂ@RPͣ9RI,>yRH3? kй ik`Iʸ?Py???ɨRw@Rò;RΐCyb؀BbyI)d dUMb@Mb@Mb@QQQ Q)QYUQ?T㥛 Zd;OyU\?UUjUvA U-@)U@IU@QyUQ@ImIm34٢}W E=9i;Q > G٣XAGy< > Nusing accuracyPremultiplier from config49d^?4Y i3xBb?:$?C;{;Ss4 6 AEB*** querying acoustic contact ***jjZjyFNOT Ignoring new targets: 328.80 m.BjǺJjǺ ProNav: ac range: 328.799988 m, nav range: 63.416115 m, bearing: 58.650250 deg, approach rate: 0.527055 m/s, LOS rate: -0.087220 deg/s, cmd heading: 232.724762 deg, new cmd heading: 232.610564 deg. 2jooHeadingCmd: 4.059820 target range: 328.799988 and range: 328.80 m. j @jjjihhhhCBfffrfbf?ɛB ; 隭{>I ۼɚ i I 1a=IKiIz6;i <) @)*F?2F:FBFk2JFEWill 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.Gᜆ<GB IO%>w,u@AN w@YNa@NF9N >yNH8? `^ V?Ȑ? @+?ܴ?ɨN w@Nߎ;NːCyVҀBZrIIb)Ib5٢j- jV=9nlp rG٣pyr8< r> vNusing accuracyPremultiplier from configtz49v X^?z4YvX iv*xB|~~?vCv ;vX;vz4]B ^ A EZj9EFNOT Ignoring new targets: 328.80 m.BjEqغJjEqغU ProNav: ac range: 328.799988 m, nav range: 63.628254 m, bearing: 58.615805 deg, approach rate: 0.584666 m/s, LOS rate: -0.094614 deg/s, cmd heading: 232.610562 deg, new cmd heading: 232.507573 deg. 2jU݁]HeadingCmd: 4.058022 target range: 328.799988 and range: 328.80 m. j]Rہ@jYjajaiahahahihifififirfqbfu?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722146ɛB ; 隵K>JJ#J1JJ$ ;J:J3JI prټɚiI!=Iuii}s9;i}/v<)}Rہ@)yzKBIK9KKFK 4bm$`Y:# )%%= -C;GvAA  Y vAyB*F-?2F):F)BF-_4JF)GUT<G) ] Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976957B O > I }g#w,֏@A2w@Y2/@2lV92>y2H@P~?;E  U ?ފ??h?ɨ2w@2;2͐CybÀBb_IMMb@Mb@Mb@III I)IYMOn?ˡEI +yM?M'M9MA I)M~@IM@IyMp@IaIa٢um u@=9} ;Q }> G٣y; > Nusing accuracyPremultiplier from config49J^?4Y i"xB ?: ?CZ8;6;o4^B  AEZjFNOT Ignoring new targets: 328.80 m.Bj㢺Jj㢺 ProNav: ac range: 328.799988 m, nav range: 63.879887 m, bearing: 58.585517 deg, approach rate: 0.593895 m/s, LOS rate: -0.071204 deg/s, cmd heading: 232.507562 deg, new cmd heading: 232.417055 deg. 2jwCHeadingCmd: 4.056443 target range: 328.799988 and range: 328.80 m. ja΁@jjjihhh h Bf f f rfbfKr@ɛ5B=  9=m>I9 =ּɚ9iAIE=IEiM%=;iM[ =)Ma΁@)EEqAH%.>I%C I%II%LBI!&I!.I!6I%<:I% FBIJIRIZI, =bI, =jI15Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226384*F?2F:FBF3JF"G=G>G}<G1BAO]w>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e Aie Am checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478712)w,l@AN6w@YNv@N|*9NK>yNHb ?츿Ygb?O?`=?U?ɨN6w@N8;N̐CybBbAIif,>Ifp< j=j=In+In~5٢v( vQ=9zL;Q z>x| ~G٣~YAGy~G >  Nusing accuracyPremultiplier from config 49 1>^?4Y N i xB6? C : : ?4! % A! M$?IIZjFNOT Ignoring new targets: 328.80 m.BjJj ProNav: ac range: 328.799988 m, nav range: 64.110786 m, bearing: 58.557651 deg, approach rate: 0.560087 m/s, LOS rate: -0.067350 deg/s, cmd heading: 232.417049 deg, new cmd heading: 232.333752 deg. 2j8=HeadingCmd: 4.054989 target range: 328.799988 and range: 328.80 m. j=x@j9jAjAiAhIhIhIhIfQfQfQrfybf}@ɛB@ r>I IVԼɚiI =IŚiA;i =)x@)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729723JJAAJJ3JJJ;J:JJzK 9NK ]9K K GK G +V<G B O5 >n0w,Ƌ@Ay%B%<II=1I=&5٢ C=9Q > G٣y > Nusing accuracyPremultiplier from config490^?4Yn ixB?6C::4  AZjFNOT Ignoring new targets: 328.80 m.BjJj ProNav: ac range: 328.799988 m, nav range: 64.359322 m, bearing: 58.527883 deg, approach rate: 0.626611 m/s, LOS rate: -0.074762 deg/s, cmd heading: 232.333748 deg, new cmd heading: 232.244788 deg. 2j;MHeadingCmd: 4.053436 target range: 328.799988 and range: 328.80 m. j@jjjihhhhfffrfbf'@Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984694 aIiɛB `>I ZѼɚiI߾=I%6i%DF;i%=)-@))*F?2F:FBFJFH ->I  I II .BI - =&I .I 6I @<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:24:18.2633  TRx dataTimestamp_ set to:1736371459.409687 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235631G 3;=G B O >*7w,wi@AF|w@YFւ@F 9F;=yFH[?<淿@?ٷv?t? ?ɨF|w@FC;F͐CyRBV)I5Mb@Mb@Mb@111 1)1Y5}?5^I?I +{Gzy5M"?5945ף53A 5@)5@I5@1y5@IM&IMF5٢]r ]M=9eGaa mG٣iym= m> }Nusing accuracyPremultiplier from configq}49u0$^?}4Yuɥ iu xBh"?:O ?uVCu:;u;u4 ?AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 328.80 m.Bj_Jj_ ProNav: ac range: 328.799988 m, nav range: 64.611198 m, bearing: 58.508204 deg, approach rate: 0.628936 m/s, LOS rate: -0.048946 deg/s, cmd heading: 232.244791 deg, new cmd heading: 232.185985 deg. 2j]HeadingCmd: 4.052410 target range: 328.799988 and range: 328.80 m. jX@jjjihhhhBfffqrfqbfu > @ɛBX 隭@>I CмɚiI{=Ii"I;i=)X@)Ea>E>*Fm?2Fi:FiBFm`0JFiGq GurA%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486353 ]$?IYG- =G B O5 >t-=w,JE@A2Xw@Y2k@2 T92=y2Hp`?4`@Ա?;j?@@?O?ɨ2Xw@2;0y>B>I)@ @DFAIJ;IJ 5٢R0 RW=9V;Q V>TT VG٣VZAGyZ Z> bNusing accuracyPremultiplier from config\b49^^?f4Y^ i^xBdf f?^uC^:^:^44h jAlWill construct direction to contact in vehicle frame from tetrahedron phase data.*JC="J=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743445ZjFNOT Ignoring new targets: 328.80 m.BjcLJjcLzK5k3IK5h9K1K5HK5='} ProNav: ac range: 328.799988 m, nav range: 64.851669 m, bearing: 58.488815 deg, approach rate: 0.556102 m/s, LOS rate: -0.044672 deg/s, cmd heading: 232.185997 deg, new cmd heading: 232.128045 deg. 2jDHeadingCmd: 4.051399 target range: 328.799988 and range: 328.80 m. j@jjjihhhhfffrfbf`@ɛ}B} }=隅W>I m4μɚiiiIm=Iuiu[N;iu<)u@)y*F2F:FBFJF- Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:24:18.2633 LVL= 18768, 32753, 25250, 32755, AGC= 67, IDX= 414,-0.04, 1.594,-0.062, 0.295, 0.895, PHS= 0.787,-0.909,-0.603, RAW= 99.8, 9.3, CAL= 109.0, 8.5, ROT= 41.0, -8.5  Ygot valid direction response: 21:24:18.2633 LVL= 18768, 32753, 25250, 32755, AGC= 67, IDX= 414,-0.04, 1.594,-0.062, 0.295, 0.895, PHS= 0.787,-0.909,-0.603, RAW= 99.8, 9.3, CAL= 109.0, 8.5, ROT= 41.0, -8.5  PDAT read: Bearing 41.0, -8.5 (Local)  ~Local bearing/azimuth received: Bearing 41.0, -8.5 (Local) - DAT read: Range 10 to 50 : 327.3 m (Round-trip 436.4 ms) speed 0.4 m/s = ,DAT read: user:1734> a Ia  BDAT read: Tx time:21:24:19.3728 GE e[= $Ping request sent. - "?)- >I- 07?i- ) ) - OX6r?ī|տb{q?)- I- .&i- =- Ԥ) ) 5 :publishing transmit ping timeع = Fpublishing direction and range info) 9- tǺѿ^q{O?y) ) ) ) ) )) I) i) ) ) ) ) ) )) I) i) ) ) - OX6r?ī|տb{q?)) I) i) ) ) ) GQ Ba O} >'Dw,mAA%0w@Y%s@%9%*=y%H?@Bа?P? ??ɨ%0w@%3;%ΐCyE}BE IMb@Mb@Mb@ )Yoʡ?I +?:vy-?94<TA C@)@Ih@y@Ie<Ie 5٢u% u#=9}`;Q }>yy G٣jHbHH,>I III BI&I.I6I-<:I Fy- > Nusing accuracyPremultiplier from config49p^?4Y> iwB-?: ?Cw<w<41 5A5EeWill construct direction to contact in vehicle frame from tetrahedron phase data.JJ)JJJ$ ;J:JJJs?bc(?>)mY?"k=.B*k=IY ]o̼ɚYiYI]=IeIieQ;ie.<)e@)i*F-?2F):F)BF)JF) Will construct direction to contact in vehicle frame from tetrahedron phase data.G N< 5 $?I1 G B O >f"Kw,p.AAfŌv@YfU@f9f=yfHm?%Vү?8C?v?@?ɨfŌv@f(;f̐CyroBrII5"I55٢E ET=9Eh:Q > G٣y" > Nusing accuracyPremultiplier from config49]?4Y iwBJ ?Ce&<v&<֬4 wAZjYFNOT Ignoring new targets: 327.30 m.Bj$Jj$ ProNav: ac range: 327.299988 m, nav range: 80.750710 m, bearing: 81.171578 deg, approach rate: 0.635571 m/s, LOS rate: -0.227559 deg/s, cmd heading: 232.062671 deg, new cmd heading: 231.810223 deg. 2j+HeadingCmd: 4.045852 target range: 327.299988 and range: 327.30 m. jw@jjjihh hhfffrfbfW?ɛBŸ& M>I 08˼ɚiI =Iz0ivT;i<)w@)E!*F?2F:FBF0JF"GG=Will construct direction to contact in vehicle frame from tetrahedron phase data.zKLKs9KKIKG <G B O >Rw,fHAA:, v@Y:q@:QN:9:3=y:H C`k? +`b? R}??ɨ:, v@: q;:ΐCyFhBFIiJR=IJa> J=Jp=IRIRB4٢V* ZU=9Z;Q Z>`d fG٣j[AGyr{ v> Nusing accuracyPremultiplier from configx 49z]?4Yz] izwB!% %?zCz;zD;z{4) -A5EEWill construct direction to contact in vehicle frame from tetrahedron phase data.Zj QIU~geFNOT Ignoring new targets: 327.30 m.BjyJjy ProNav: ac range: 327.299988 m, nav range: 80.979530 m, bearing: 81.088581 deg, approach rate: 0.603496 m/s, LOS rate: -0.218280 deg/s, cmd heading: 231.810227 deg, new cmd heading: 231.561941 deg. 2j%]HeadingCmd: 4.041518 target range: 327.299988 and range: 327.30 m. jeT@jajijiiqhqhqhqhqfyfyfrfbfqP?ɛ BC D<>I ɼɚiI6=IywiW;iź<) T@))H+>I IIIBI. =&I.I3D6I<:I FEiWill construct direction to contact in vehicle frame from tetrahedron phase data.J J 1J J J ;J :J J J w<J w<J =;J >;*F% ?2F! :F) BF- `0JF) GM<G1BAO]?gYw,^hAABu@YB@B>;9Bj=yBH etR?e/s O|:?g@??ɨBu@BX;B̐CyVfBVIMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YtV?+?Mby2?=hA Z@)Iy@II 4٢   =9 X;Q  > G٣yq > %Nusing accuracyPremultiplier from config!-49%]?-4Y% i%wB52?5:5 5?%C%;%';%4 E$?IAI UAQuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 327.30 m.Bj|sJj|s ProNav: ac range: 327.299988 m, nav range: 81.322609 m, bearing: 80.975112 deg, approach rate: 0.646356 m/s, LOS rate: -0.212872 deg/s, cmd heading: 231.561936 deg, new cmd heading: 231.222970 deg. 2jHeadingCmd: 4.035602 target range: 327.299988 and range: 327.30 m. j#@jjjihhhh~Bfffrfbf :?ɛ BWW 4>Iq uȼɚqiqI}v=I}fi}XZ;iF<)#@)Euy=*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.*J R="J a=GM ~<G! zK- BHK- 9K) K- JK- BA O] >F`w,CAA2u@Y26ց@2;92(=y2H ~L??` `j`?Oy?@?ɨ2u@2;0yRcBRIIZ3IZ 5٢b bd=9bdd fG٣dyj) n> zNusing accuracyPremultiplier from configt 49v]? 4Yv ivwB %?v4Cv;vZ;v@Ò45_B 5A5EZjFNOT Ignoring new targets: 327.30 m.BjbJjb ProNav: ac range: 327.299988 m, nav range: 81.550659 m, bearing: 80.899544 deg, approach rate: 0.600437 m/s, LOS rate: -0.198408 deg/s, cmd heading: 231.222968 deg, new cmd heading: 230.996899 deg. 2j*%HeadingCmd: 4.031656 target range: 327.299988 and range: 327.30 m. j%T@j!j!j!i!h)h)h)h)f1f1fqrfybf`>?ɛBT *>I tǼɚiI=I i#];i<)T@)EE*E"EuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.934277 aIi*F 2F :F BF o0JF ZH RH AAH *>I  I lII ̀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=2.184845Je Je 3Ja Ja Je !;Je :Ja Ja Je x<Je x<Je ;Je ;G <G B O>gw,ȟAAy_BIMb@Mb@Mb@ )YzG?V-?Mbpy 7?m=QA p@)@I;@yI+I~5٢ v %=9Q > G٣\AGy > Nusing accuracyPremultiplier from config49Ŀ]?4Y iwB7?:B ?aC;-;˒4^B AEZj)5FNOT Ignoring new targets: 327.30 m.Bj5qJj5qE ProNav: ac range: 327.299988 m, nav range: 81.874435 m, bearing: 80.799738 deg, approach rate: 0.688007 m/s, LOS rate: -0.211242 deg/s, cmd heading: 230.996888 deg, new cmd heading: 230.698660 deg. 2jEUHeadingCmd: 4.026451 target range: 327.299988 and range: 327.30 m. jU؀@jQjQjQiQhYhYhYh]~BfafafarfabfeI@ɛBNc >I QƼɚiI=I%Vni%`;i-$<)-؀@))*F?2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.437235 $?IGG ?G?G B O >mw,AA6u@Y6@60<96ο=y6H?}@5^)? xo??ɨ6u@6;6͐CyR]BRIIZ&IZF5٢ba b]=9b8Idd fG٣dyjb j> nNusing accuracyPremultiplier from configlr49n]?v4Yn inwBtv z?nCn1;n1;nPҒ4| ~AWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.688968Zj15FNOT Ignoring new targets: 327.30 m.BjEohJjEohU ProNav: ac range: 327.299988 m, nav range: 82.115913 m, bearing: 80.724127 deg, approach rate: 0.650895 m/s, LOS rate: -0.203209 deg/s, cmd heading: 230.698655 deg, new cmd heading: 230.472488 deg. 2jUu UHeadingCmd: 4.022504 target range: 327.299988 and range: 327.30 m. j]Z@jYjYjYiYhahahahififqfqrfqbfu3C@%9G9Q .YyBɛB^a 4>I  ZżɚiI:X=Iioc;i <)Z@))zK>`JKh9KKKK*F?2F:FBF45JFWill construct direction to contact in vehicle frame from tetrahedron phase data.AiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.945192G 7< I gGQ B O% >Jtw,vkAAy^B%IMMb@Mb@Mb@III I)IYMS?Q?~jth?yM:?M\=MD;MA M@)M@IIIyM@Im=Imw 5٢Z; /=9Q > G٣y > Nusing accuracyPremultiplier from config49]?4Yc iwB{;?:?C;;ڒ4H)>I ISIIBI/ =&I.I6I<:IFBIœCJIœCRIZI. =bI. =jI`5 AEZjAEFNOT Ignoring new targets: 327.30 m.BjM)dJjM)de ProNav: ac range: 327.299988 m, nav range: 82.431313 m, bearing: 80.629711 deg, approach rate: 0.668907 m/s, LOS rate: -0.199472 deg/s, cmd heading: 230.472494 deg, new cmd heading: 230.190334 deg. 2jemHeadingCmd: 4.017579 target range: 327.299988 and range: 327.30 m. jm@jijijiiqhqhqhqh}Bfyfyfyrfybf@ @ɛB2f >I TļɚiI=Iif;i <)@)EN>E%>-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:21:24:22.2112 5TRx dataTimestamp_ set to:1736371463.440728=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.194067JUJU6JU0JQJU;JU{:JUـ3JQJUs<JUs<JU;JU;*F?2F:FBF4JFG N<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.444874@zw,EAA $I$J_t@YJS?@J^<9Je=yJH@ ?>?ԋF? \?ɨJ_t@J č;J̐CyZcBZI ^p=^=IbIb4٢j = jo=9j|I BbüɚiI^=I5;i=ai;i=/<)=r@)9*F ?2F :FBF_0JFG%Vv<G1G1GBO5q>=Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 21:24:22.2112 LVL= 19184, 30769, 24306, 32307, AGC= 65, IDX= 427, 0.05, 2.423, 0.661, 1.008, 1.555, PHS= 0.956,-0.846,-0.550, RAW= 98.8, 5.3, CAL= 108.5, 3.8, ROT= 41.5, -3.8 Ygot valid direction response: 21:24:22.2112 LVL= 19184, 30769, 24306, 32307, AGC= 65, IDX= 427, 0.05, 2.423, 0.661, 1.008, 1.555, PHS= 0.956,-0.846,-0.550, RAW= 98.8, 5.3, CAL= 108.5, 3.8, ROT= 41.5, -3.8 PDAT read: Bearing 41.5, -3.8 (Local) ~Local bearing/azimuth received: Bearing 41.5, -3.8 (Local) DAT read: Range 10 to 50 : 325.6 m (Round-trip 434.2 ms) speed 0.3 m/s ,DAT read: user:1735> BDAT read: Tx time:21:24:23.3244 $Ping request sent.YY eG٣aye1A e> mNusing accuracyPremultiplier from configiu49m]?4Ym imwB ?mCmjI ɚiI=Ii=l;i=@<)=G@)9*F?2F:FBF4JFjHbH<H I C I LII BI 0 =&I .I 6I Q<:I FE Will construct direction to contact in vehicle frame from tetrahedron phase data.G <G B O >Rw,i$BAFts@YFɀ@Fw<9FzA=yFHO0?V F@?U`??ɨFts@Fl;FʐCyNrBNI-Mb@Mb@Mb@))) )))Y-bX9?&1?{Gzt?y-E6?-P=-ף;-@ -@)-@I-Z@)y-3@IEIEJ4٢]$< ]0=9]O9Q ]>aa eG٣aye4 m> uNusing accuracyPremultiplier from configq}49u&z]?}4Yu iq6?: ?u Cu;u8;u4 ^AEZjFNOT Ignoring new targets: 325.60 m.BjꌻJjꌻ ProNav: ac range: 325.600006 m, nav range: 83.163239 m, bearing: 80.676793 deg, approach rate: 0.731901 m/s, LOS rate: -0.246399 deg/s, cmd heading: 229.685410 deg, new cmd heading: 229.388753 deg. 2j)HeadingCmd: 4.003589 target range: 325.600006 and range: 325.60 m. jg@jjjihhhhBfffrfbf@ ?ɛBOD 隽6>I ɚiI=Iin;i<)g@)!Will construct direction to contact in vehicle frame from tetrahedron phase data. I*F?2F:FBF_0JFGHn<GqByO\> Will construct direction to contact in vehicle frame from tetrahedron phase data.J J /J J J ;J ڈ:J J a @a @a @a @ӎw,->BA6"s@Y6Р@6e3<968=y6HGo?C²ޞKfä?A`?8?ɨ6"s@6;6ɐCyB{BBIDDIJIJ4٢RF= RW=9R:Q V>TT VG٣V^AGyZW Z> bNusing accuracyPremultiplier from config`f49bl]?f4Yb ibwBdfW f?bCCb:b":bv4l nAnEZjFNOT Ignoring new targets: 325.60 m.Bj ]xJj ]x ProNav: ac range: 325.600006 m, nav range: 83.406288 m, bearing: 80.594235 deg, approach rate: 0.641114 m/s, LOS rate: -0.217135 deg/s, cmd heading: 229.388761 deg, new cmd heading: 229.141811 deg. 2j]eHeadingCmd: 3.999279 target range: 325.600006 and range: 325.60 m. je0@jajajaiahihihihifqfqfqrfqbf@D?ɛBA F>I QɚiIg=I+ip;i<)0@)zKuk3IKu+9KqKuMKu*FU?2FQ:FQBFUo0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IG<GBO >w, XBA6˺r@Y6l@6 <96- =y6H 8.a?,`|} ?!}z??ɨ6˺r@6l;6ʐCyBBBIH*>IC IYIIBI/ =&I.I6I<:I F5Mb@Mb@Mb@111 1)1Y5X9v?Mb?Mbp?y53?5@=5;5A 5@)5@I11y5p@IMIMN4٢]t= ]?=9]%9Q ]>aa eG٣ayms m> uNusing accuracyPremultiplier from configi49m]]?4Ym imwB4?: ?mjCm+Iy ɚiIq=Izir;i<)@)*Fe?2Fa:FaBFen0JFaG %<M Will construct direction to contact in vehicle frame from tetrahedron phase data.Ga Bi I O > w,qBA2or@Y2 G@2<92j=y2Hϳ>F?ݳe?+E??ɨ2or@2;0yFBF"IIN0IN5٢V< VV=9Zv;Q Z>XX ZG٣Xy^>E ^> bNusing accuracyPremultiplier from config`f49beP]?f4Yb ibwBhjV j?bCb:b:b4Y ]kAY}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 325.60 m.BjzJjz ProNav: ac range: 325.600006 m, nav range: 83.913635 m, bearing: 80.417967 deg, approach rate: 0.631329 m/s, LOS rate: -0.219249 deg/s, cmd heading: 228.864012 deg, new cmd heading: 228.614609 deg. 2jxHeadingCmd: 3.990078 target range: 325.600006 and range: 325.60 m. jo]@jjjihhhhfffrf bf #o?ɛB,ƻ 隝tm>I ɚiIϹ=IFit;i:Z<)o]@)*F2F: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.JJ0J1JJD#;J_:J3JzK]JKKKNKG)ş<G B O >oϢw,ɋBA64r@Y6)@6^<96Mĸ=y6H 0?@ Q?b@v?8?ɨ64r@6;6ȐCyBBB1IiF0>IF> J=J=~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258873 $?I!I-MI-5٢g= <=9*^;Q > G٣_AGy > Nusing accuracyPremultiplier from config49@]?4Y iwB ?C%< << 4  AEZj!MFNOT Ignoring new targets: 325.60 m.Bj]'oJje'o- ProNav: ac range: 325.600006 m, nav range: 84.187584 m, bearing: 80.322362 deg, approach rate: 0.601065 m/s, LOS rate: -0.209083 deg/s, cmd heading: 228.614614 deg, new cmd heading: 228.328734 deg. 2j5}uHeadingCmd: 3.985088 target range: 325.600006 and range: 325.60 m. ju @jqjyjyi9h9hAhAhAfAfIfIrfIbfMN@ɛBy 8>I ɚiI{*=Ii|w;i(<) @)ZHRH@AH I  I fII ȀBI . =&I .I 6I V<:I  F*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510811G G B O > :w,xBA6 r@Y6H@6#<96I=y6Ht9"?@_Dt?J~ ???ɨ6 r@6;;6ʐCyBBB:IeMb@Mb@Mb@aaa a)aYe!rh??{Gz?yel'?e G٣y > Nusing accuracyPremultiplier from config49`2]?4Y iwB'?:?Cyc;b;4  AEZj9MFNOT Ignoring new targets: 325.60 m.BjUJjUe ProNav: ac range: 325.600006 m, nav range: 84.429443 m, bearing: 80.231831 deg, approach rate: 0.616936 m/s, LOS rate: -0.230265 deg/s, cmd heading: 228.328730 deg, new cmd heading: 228.057917 deg. 2jeHeadingCmd: 3.980361 target range: 325.600006 and range: 325.60 m. j>~@jjjihhhhBfffrfbf@ɛeB IgWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764291ؕ# $>I .ɚ i I Pk=Ixai=|y;iE<)E>~@)Q*F?2F:FBF0JFG <E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016284JK O3 K (.KK"KJ J 'J 0J J <;J :J ـ3J G B O >Rw,zBA6r@Y6,@6hn<96L =y6H3j? % @K@?b8?d?ɨ6r@6{;6ːCyNBRGIIZ?IZZ 5٢r_= rX=9v'H;Q v>tt zG٣xyzغ z> %Nusing accuracyPremultiplier from config!549%G%]?54Y% i!155?%C%0;%V;%B4a e| AeöEZjFNOT Ignoring new targets: 325.60 m.BjqJjq ProNav: ac range: 325.600006 m, nav range: 84.647751 m, bearing: 80.150509 deg, approach rate: 0.568982 m/s, LOS rate: -0.211406 deg/s, cmd heading: 228.057913 deg, new cmd heading: 227.814577 deg. 2jHeadingCmd: 3.976115 target range: 325.600006 and range: 325.60 m. jx~@jjji h h h h fffrfbf @ɛIMpȺ IM>IQzKujIKuh9KqKuOKu %Oɚ!i!I%B=I- i-|;iM<)Mx~@)Q*F?2F:FBF5JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268230G5<G B O >Gw,TBAH(>I IIIBI/ =&I.I6I:I FFq@YF@Fٳ<9Fʇ=yFH`?j_5 -z"?@z%g??ɨFq@F;FʐCyRBRSITT-jonly read 0 of 1 data item for BIT error. Device response is::TS,25010813253262,35.0, 0.0,1493.3, 0  j@j j@j j@j  j@j InDIn5٢vA= vJ=9v:Q z>xx zG٣z`AGy~ ~>  bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49y]?4YE iwB+::?CR<>4 . AZjFNOT Ignoring new targets: 325.60 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:24:26.1608 TRx dataTimestamp_ set to:1736371467.476746 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519927BjkJjk% ProNav: ac range: 325.600006 m, nav range: 84.877144 m, bearing: 80.065156 deg, approach rate: 0.555988 m/s, LOS rate: -0.206315 deg/s, cmd heading: 227.814580 deg, new cmd heading: 227.559214 deg. 2j% -HeadingCmd: 3.971658 target range: 325.600006 and range: 325.60 m. j-/~@j)j1j1i1hQhQhYhYfYfYfarfabfe\ @ɛB@ ;>I >ɚiI=Ii;i<)/~@)*F?2F:FBF^0JFG+^<G?G ? q Iq G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771420O >T{w,-ZBAm=q@Ym@m<9m =ymH@`z ?H@30`9?`zs`6w?[?ɨm=q@m];iyBUII =I w 5٢; 7=9%l ;Q %>)) -G٣)y-{ 5> =bBottom track data is 0.8 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E495]?E4Y5C" i5wBM :IMT:MM?5=C5R6;5IY?5%4Q U% A]ƶEuB*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 325.60 m.Bjx}Jjx} ProNav: ac range: 325.600006 m, nav range: 85.132942 m, bearing: 79.970375 deg, approach rate: 0.599870 m/s, LOS rate: -0.221601 deg/s, cmd heading: 227.559213 deg, new cmd heading: 227.275728 deg. 2jHeadingCmd: 3.966710 target range: 325.600006 and range: 325.60 m. j}@jjjihhhhfffrfbf̵@ɛB h E>I @+ɚiIWU=I #Ai #B;i><)}@))i iWill construct direction to contact in vehicle frame from tetrahedron phase data.J5J5,J1J1J5;J5L:J1J1EDAT read: 21:24:26.1607 LVL= 20976, 27441, 19426, 31715, AGC= 68, IDX= 422, 0.37, 1.965, 0.137, 0.420, 1.002, PHS= 1.051,-0.818,-0.585, RAW= 96.6, 4.0, CAL= 105.8, 2.3, ROT= 44.2, -2.3 MYgot valid direction response: 21:24:26.1607 LVL= 20976, 27441, 19426, 31715, AGC= 68, IDX= 422, 0.37, 1.965, 0.137, 0.420, 1.002, PHS= 1.051,-0.818,-0.585, RAW= 96.6, 4.0, CAL= 105.8, 2.3, ROT= 44.2, -2.3 UPDAT read: Bearing 44.2, -2.3 (Local) ]~Local bearing/azimuth received: Bearing 44.2, -2.3 (Local) eDAT read: Range 10 to 50 : 324.1 m (Round-trip 432.2 ms) speed 0.4 m/s u,DAT read: user:1736> uBDAT read: Tx time:21:24:27.2744 }$Ping request sent.} U $?IQ /cw,;5CA&Will construct direction to contact in vehicle frame from tetrahedron phase data.*JDAT read: TxSync time:21:24:27.2736 :q@Y:@:<9:^@=y:H?rʵ |(ݥ?`7@?@?ɨ:q@:ї;8yfĀBfaIIn)In5٢-Z= -[=95;Q 5>11 =G٣9y=>y => mbBottom track data is 1.2 s old, using for 20.0 s. mNusing accuracyPremultiplier from configau49e\?u4YeS' iewBu9qu,:u}?e]Ce';e?e(4  Ak% _?k%g k! k%ABA:k% CBk%CZk%*~?"%O ;KgRiacs@%[_ƿ?F(_fX?Jk% HRk%4*%$MW!@"XO.#L@bBks@%d܎e?a9?b[b?"k%aB*k% Ak%Ÿ_?k%ܿ\ 2k%Ck%a?k!k!k%Bk%w? addTargetRange:: Added new target pos. range: 324.100006 m, deltaT: 4.036383 s, deltaX: -1.500000 m, approachRate: -0.371620 m/s, rangeRepo size: 4 ] Added new target pos. range: 324.100006 m, bearing: 81.240414 deg, lat: 36.903597 deg, lon: -122.114549 deg, deltaT: 4.036383 s, deltaX: -1.500000 m, approachRate: -0.371620 m/s, posRepo size: 4 ZjquFNOT Ignoring new targets: 324.10 m.Bj}Jjy ProNav: ac range: 324.100006 m, nav range: 84.954651 m, bearing: 81.511962 deg, approach rate: 0.000000 m/s, LOS rate: -0.221601 deg/s, cmd heading: 227.275733 deg, new cmd heading: 226.983083 deg. 2jHeadingCmd: 3.961602 target range: 324.100006 and range: 324.10 m. j}@jjjihhhhfffrfAt@bf5?ɛ15( 15>I9 =⫰ɚ9i9I=2=IEДiEz;iERk=)E}@)iH%,>I! I%II%BI%. =&I!.I!6I%<:I% FBIJIRIZI/ =bI/ =jIźa5*F?2F:FBF JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G <G B O >w,>'CABq@YB@B`<9Bg=yBH@?? 0BajI?˖>?`q?ɨBq@Bҵ;@yNȀBNfI u u uu uu  u } }Mb@Mb@Mb@yyy y)yY}K?y&1{Gzt?y}^?}`e}ף;}zA }@)}`@I}~@yy}@II4٢ǐ< C=9YQ > G٣aAGy; > Nusing accuracyPremultiplier from config49\?4Y2, iwBT:j?:?}C,;;/4_B  AɶEZjFNOT Ignoring new targets: 324.10 m.Bj)Jj) ProNav: ac range: 324.100006 m, nav range: 85.162491 m, bearing: 81.417742 deg, approach rate: 0.561276 m/s, LOS rate: -0.253821 deg/s, cmd heading: 226.983087 deg, new cmd heading: 226.701120 deg. 2j1. IHeadingCmd: 3.956681 target range: 324.100006 and range: 324.10 m. jC:}@jjjihhhh.Bf mWill construct direction to contact in vehicle frame from tetrahedron phase data.f frfbfN?ɛB<; D>I ɚiI=Iqi HK;i =) C:}@) *F?2F:FBFJFG sc=G G qAG B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J $ ;J J 3J kw,ACAy||II4٢U : UQ=9]Q ]>YY ]G٣aye e> mNusing accuracyPremultiplier from configiu49mW\?u4Ym0 imwByy}?mCm ;m;m64^B  AʶEZjFNOT Ignoring new targets: 324.10 m.BjtJjt ProNav: ac range: 324.100006 m, nav range: 85.358398 m, bearing: 81.329450 deg, approach rate: 0.526742 m/s, LOS rate: -0.236850 deg/s, cmd heading: 226.701123 deg, new cmd heading: 226.436855 deg. 2j"HeadingCmd: 3.952069 target range: 324.100006 and range: 324.10 m. j|@jjjihhhhfffrfbf?ɛ u; >I %Ҭɚ!i!I%c&=I-1i-3?;i-m =)-|@))*F?2F:FBF0JFzKm$JK 9KKQK $?IgWill construct direction to contact in vehicle frame from tetrahedron phase data.ՍAiՍAGu=GQBO- >H! I!  I% II% BI% - =&I! .I% 4D6I% &<:I% Fw,[CAyrрBrqImMb@Mb@Mb@iii i)iYmd;O?ktMb`?ym?m 0m;mA m@)mv@IiiymQ@II4٢X*= F=9Q > G٣y > Nusing accuracyPremultiplier from config49\?4Y;5 iwB$?:*?C;p;=4 i AWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 324.10 m.Bj Jj  ProNav: ac range: 324.100006 m, nav range: 85.551392 m, bearing: 81.233301 deg, approach rate: 0.466347 m/s, LOS rate: -0.231807 deg/s, cmd heading: 226.436849 deg, new cmd heading: 226.149058 deg. 2jHeadingCmd: 3.947046 target range: 324.100006 and range: 324.10 m. je|@jj j i h h)h1h5II UQ8ɚQiQIU7u=I]Qi]c=;i]0=)]e|@)a*F?2F:FBF0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.G =G B O >:w,){uCA6q@Y6_@66<96IC=y6H@ ?0+.v? ,f@9?)?ɨ6q@60;6ȐCy>ҀB>sIIF<IF 5٢N < R\=9R;Q R>TT VG٣VbAGyV< Z> ^Nusing accuracyPremultiplier from configXb49Z\?b4YZA9 iZwB`bb?ZCZt;Z;ZWD4j_B j` AjͶEZj|FNOT Ignoring new targets: 324.10 m.Bj5Jj5 ProNav: ac range: 324.100006 m, nav range: 85.725876 m, bearing: 81.147387 deg, approach rate: 0.470447 m/s, LOS rate: -0.231173 deg/s, cmd heading: 226.149052 deg, new cmd heading: 225.891835 deg. 2j%HeadingCmd: 3.942556 target range: 324.100006 and range: 324.10 m. j%R|@j!j!j!i!h!h!h)h)f)f)f1rf1bf5PO?ɛim|E; im>Ii u[ɚqiqIu&=Ii;iK=)R|@)*F?2F:FBFP5JF"G=G=G,=G ?G6?Will construct direction to contact in vehicle frame from tetrahedron phase data.GABIOm5>zK- N KK- h9K) K- RK-  $?I 1w,zRCA"Will construct direction to contact in vehicle frame from tetrahedron phase data.Fq@YF@F}<9F=yFH@[?@& :?:E?d?ɨFq@FX;FƐCyn΀BnmIIz5Iz5٢ C  D=9;Q > G٣y > Nusing accuracyPremultiplier from config49\?4Y= iwB?C::K4  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 324.10 m.Bj}Jj} ProNav: ac range: 324.100006 m, nav range: 85.929245 m, bearing: 81.047620 deg, approach rate: 0.469775 m/s, LOS rate: -0.229912 deg/s, cmd heading: 225.891841 deg, new cmd heading: 225.593252 deg. 2j HeadingCmd: 3.937345 target range: 324.100006 and range: 324.10 m. jv{@jjj!i!h)h1h9h9f9fAfIrfIbfU J@ɛ!Bt ; 隭7>I u쥼ɚyiyI=I?"i.;iX=)v{@)H+>I IIIBI, =&I.I3D6I<:I F*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.JJ3J0JJ $;J:Jـ3JJ|w,0CAVq@YVȯ@Vv<9V?̼=yVH` ?H/i/?Rǎ?>?ɨVq@Vb{;VɐCyfȀBjfIuMb@Mb@Mb@qqq q)qYuS?DlMbpyu?uOuuA u@)u@Iuh@qyu@IFIt5٢MӼ A=9T;Q > G٣y > Nusing accuracyPremultiplier from config49\?4YA iwB1?::?C;; S4  AжEZjFNOT Ignoring new targets: 324.10 m.BjÆJj Æ YIY ProNav: ac range: 324.100006 m, nav range: 86.107407 m, bearing: 80.951272 deg, approach rate: 0.436635 m/s, LOS rate: -0.235639 deg/s, cmd heading: 225.593253 deg, new cmd heading: 225.304810 deg. 2j!HeadingCmd: 3.932311 target range: 324.100006 and range: 324.10 m. j{@jjjihhhhHBfffrfbf@ɛ="B= : AE>IA E-ɚAiAIEU=UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755444ImtiuIq;iuna=)u{@)q*F-?2F):F)BF-2JF)GH=GBOf> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007426 w,V CA23Iq@Y2g@2<92>b=y2H!?е@V =Y?@G¶?@T?ɨ23Iq@2l<;2ʐCyBŀBBbIiFY>IF< Fa=FR=IJ8IJ@ 5٢R~ R\=9Ve9;Q V>TT ZG٣XyZ0A Z> bNusing accuracyPremultiplier from config\f49^U\?f4Y^E i^wBdff?^.C^:^:^Y4h n AlZjFNOT Ignoring new targets: 324.10 m.BjJJjJ ProNav: ac range: 324.100006 m, nav range: 86.269516 m, bearing: 80.863269 deg, approach rate: 0.417218 m/s, LOS rate: -0.226067 deg/s, cmd heading: 225.304814 deg, new cmd heading: 225.041302 deg. 2j%HeadingCmd: 3.927712 target range: 324.100006 and range: 324.10 m. j_{@jjjihhhhfffrfbf` @ɛ-#B-$S; )-J>I) 5áɚiI]=Ii;iKa=)_{@)zK=VBJK9K9K=SK=*F)2F1:F1BF5_0JF9 ]$?IY]Will construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:21:24:30.1087 uTRx dataTimestamp_ set to:1736371471.257957}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262597Gm R`U=G G rAGi B O >H '>I C I I I / =&I .I 6I <:I FXw,CA6p@Y6@6<96=y6H? ?7@@< _?`4yٵ??ɨ6p@6h];4y^B^^IMMb@Mb@Mb@III I)IYMgfffff?/$MbpyM3?MII M;@)MQAIM~@IyM@IeRIe5٢um u>=9u:Q u>yy }G٣}cAGyB6 > Nusing accuracyPremultiplier from config49B\?4YI iwB?:??NC;; a4  AӶEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511488ZjFNOT Ignoring new targets: 324.10 m.BjQJjQ ProNav: ac range: 324.100006 m, nav range: 86.458626 m, bearing: 80.755399 deg, approach rate: 0.455656 m/s, LOS rate: -0.259341 deg/s, cmd heading: 225.041305 deg, new cmd heading: 224.718407 deg. 2j1HeadingCmd: 3.922076 target range: 324.100006 and range: 324.10 m. jK{@jjji h h h h QBfJeJe*Je1JaJe;JeC:Je3JaJe/r<Je0r<Je;Je;ffrfbf`{ @ɛ%BH: >I  -ɚ i I ]=Iujiul3;iud=)uK{@)y*F?2F:FBFJF QIYG- va=} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766762G) BI O > w,CA6*p@Y6~@6<96%=y6Ha@٪? `iܠ?@$4??ɨ6*p@6I;6ȐCyBBBZIIJ?IJZ 5٢R RX=9Vu:Q V>TT VG٣XyZx ^> bNusing accuracyPremultiplier from config`f49b{\?f4YbM ibwBhjj?bjCb:b:bg4l n AlZj FNOT Ignoring new targets: 324.10 m.Bj Jj% ProNav: ac range: 324.100006 m, nav range: 86.624702 m, bearing: 80.660096 deg, approach rate: 0.441311 m/s, LOS rate: -0.252761 deg/s, cmd heading: 224.718401 deg, new cmd heading: 224.433042 deg. 2j%w--HeadingCmd: 3.917095 target range: 324.100006 and range: 324.10 m. j-z@j)j)j)i)h)h1h1h1f1ffrfbf u@ɛ&Bf; ;>I p̝ɚiIZ=I%ni%[/;i%f6b=)%z@)!*F?2F:FBFf0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 21:24:30.1087 LVL= 16304, 32753, 22994, 32755, AGC= 64, IDX= 417,-0.23,-2.050, 2.395, 2.603,-3.117, PHS= 1.155,-0.724,-0.566, RAW= 94.4, 1.5, CAL= 102.9, -1.5, ROT= 47.1, 1.5 5Ygot valid direction response: 21:24:30.1087 LVL= 16304, 32753, 22994, 32755, AGC= 64, IDX= 417,-0.23,-2.050, 2.395, 2.603,-3.117, PHS= 1.155,-0.724,-0.566, RAW= 94.4, 1.5, CAL= 102.9, -1.5, ROT= 47.1, 1.5 =PDAT read: Bearing 47.1, 1.5 (Local) =~Local bearing/azimuth received: Bearing 47.1, 1.5 (Local) UDAT read: Range 10 to 50 : 322.5 m (Round-trip 430.1 ms) speed 0.4 m/s U,DAT read: user:1737> ]BDAT read: Tx time:21:24:31.2229 ]$Ping request sent.*JeC="Je%=mؼi57@f:publishing transmit ping timeYFpublishing direction and range info9R$XYV뾿.?ea?y )Ii )Ii0"?qۿgS.?)IiGGBO>zK JK 9K K TK  E $?IA w,DAWill construct direction to contact in vehicle frame from tetrahedron phase data.6;p@Y6Y~@6V<96=y6HG?O>@l? W?W?ɨ6;p@6k;6ǐCyNBRPITTIbZIbQ5٢  D=9 :Q  > G٣yRk > %Nusing accuracyPremultiplier from config!-49%Qk\?-4Y%Q i%wB)--?%C%:%:%n49 =F A=ضEkt!P_?kiS k k%DA:k@CBk"CZkc?"#yCc>%@/CLs@R$XYV뾿.?ea?Jk57@Rkf*bdT@!@ƣ?@|([ t@ImC ImIImBIi&Ii.Ii6Im<:Im Fɛ'B ?=隍>I rɚiI=Iis;i޾a=)Rz@)*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JyJ}-JyJyJyJ}ч:JyJyJyJyJ};J};G G ?G ?G B O >i w,u+DAFţo@YF|}@F<9F =yFHY?ӳv W`? \nM??ɨFţo@F|;FȐCyRBR=I5Mb@Mb@Mb@111 1)1Y5(\?333333{Gzy5z?55#5A 5$@)5AI5@1y53@ IIIIU?IUZ 5٢e e<=9mKQ u>qq uG٣udAGy} }> Nusing accuracyPremultiplier from config49Z\?4YU i{wB?:}?C/;;v4  AB*** querying acoustic contact ***jjZjimFNOT Ignoring new targets: 322.50 m.Bju]Jju] ProNav: ac range: 322.500000 m, nav range: 78.125465 m, bearing: 82.222835 deg, approach rate: 0.432529 m/s, LOS rate: -0.289149 deg/s, cmd heading: 224.100966 deg, new cmd heading: 223.724124 deg. 2jpFHeadingCmd: 3.904723 target range: 322.500000 and range: 322.50 m. jy@jjjihhWill 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 t?ɛ5(B5\ 1]|>IY ]ɚYiaIe9=I8ii_#Y=)y@)*F2F:FBFo0JF G- vAA m YYm vAyu BG 6a=u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994203G B O >Ew,WEDA2Oo@Y2yn}@2s<923=y2H>?&pY?`__? ?ɨ2Oo@2K ;2ǐCyRBR+IIZ$IZd5٢bx bW=9f1:Q f>dh jG٣hyj] j> rNusing accuracyPremultiplier from configpv49rrL\?v4YrY irnwBtzz?rCr:r :r1}4`B <A۶EZjFNOT Ignoring new targets: 322.50 m.BjJj ProNav: ac range: 322.500000 m, nav range: 78.289085 m, bearing: 82.112735 deg, approach rate: 0.433650 m/s, LOS rate: -0.291193 deg/s, cmd heading: 223.724130 deg, new cmd heading: 223.394525 deg. 2jGHeadingCmd: 3.898970 target range: 322.500000 and range: 322.50 m. jy@jjjihhhhfffrfbf!?ɛ*B: \>I >ɚ!i!I%=I%i-L;i--\=)-y@))zK5JK559K1K5UK5*F?2F:FBF_5JF ]$?I]gWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245378GW=GB OE >H I  I II BI - =&I .I 6I ǰ<:I FBIJIRIZI- =bI. =jIŤ5pw, 2_DA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.497595M|n@YM3}@M<9M=yMH,#?ww;@_?@o\@ }? ;?ɨM|n@M1;IyeBe#I m=m=JJJJJ;JJJJp<Jp<JJMb@Mb@Mb@ )YK?l񲿸Qy^?uA Q@)I@y@IIH4٢QѼ ,=9%㮷Q %>)) -G٣-eAGy5,3 5> =Nusing accuracyPremultiplier from config9E49=9\?E4Y=^ i=\wBM?M:MM?=C=Iy  ɚiI/ =IiI;id=) y@) 9I9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749387E ;=*F ?2F :F BF _0JF G  G qAG@Z=G G qAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005138GBO? w,JDA>KKn@Y>j|@>_~=9>G=y>H: 1?rv0<z? /ݱ??ɨ>KKn@>!;)) -G٣)y5İ 5> =Nusing accuracyPremultiplier from config9E49=%\?E4Y=c i=HwBimhm?=C=t;=;=34q uAu޶EZjFNOT Ignoring new targets: 322.50 m.BjJj ProNav: ac range: 322.500000 m, nav range: 78.723824 m, bearing: 81.821159 deg, approach rate: 0.448016 m/s, LOS rate: -0.301677 deg/s, cmd heading: 222.965009 deg, new cmd heading: 222.522230 deg. 2j OHeadingCmd: 3.883746 target range: 322.500000 and range: 322.50 m. jJx@jjj i hhhhfffrfbf @ɛ--B-@ )-2>I1 5$ɚ1i1I5 =IjiS_;iY=)Jx@)Eu&t@=zKjIK9KKVK }$?Iy*F ?2F :F BF p0JF MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254268G b=G B O} >&w,ݲDAH)>I IIIBI/ =&I.I6IͰ<:I Fy]rB]IMb@Mb@Mb@ )YK7A?V-:vy "?mT h@)zAI@yz@I;I 5٢  :=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)549-u\?54Y-Ch i-8wB5"?=:=u=?-5C-R;-;-ŕ4A EsAAZjimFNOT Ignoring new targets: 322.50 m.BjuJj} ProNav: ac range: 322.500000 m, nav range: 78.931534 m, bearing: 81.690238 deg, approach rate: 0.489331 m/s, LOS rate: -0.307617 deg/s, cmd heading: 222.522236 deg, new cmd heading: 222.130511 deg. 2jSHeadingCmd: 3.876909 target range: 322.500000 and range: 322.50 m. jFx@jjjihhhh BfffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505464bf -@ɛ.BoH 隭>I ȔɚiIZ!=Ioi ;iu=)Fx@)EE*E"E qIq*F 2F :F BF b0JF ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757372G- `hZ=G5 ?G5 >GBOE>-w,nDA6vm@Y6{@6׾=96 =y6H K`%? W@Ĵ@'??@D?ɨ6vm@6{;4y>_B>IIFTIF5٢N RB=9Rv:Q R>TT VG٣VfAGyV Z> ^Nusing accuracyPremultiplier from config\b49^;\?b4Y^l i^(wB`fJf?^WC^\:^;:^ 4h jAjE~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 322.50 m.Bj Jj % ProNav: ac range: 322.500000 m, nav range: 79.131500 m, bearing: 81.561771 deg, approach rate: 0.473559 m/s, LOS rate: -0.303465 deg/s, cmd heading: 222.130511 deg, new cmd heading: 221.746090 deg. 2j%CP%HeadingCmd: 3.870199 target range: 322.500000 and range: 322.50 m. j-Yw@j)j)j)i)h)h)h1h1f1f9f9rf9bf=ߌ@ɛm/Bm.= q =I ,ɚiI!=I\ni[;iiZ=)Yw@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009675*F?2F:FBF`5JFJUJU+JQJQJU<;JUȆ:JQJQae@ae@ae@ae@G}xd=GyBO=>zKE yJKE 9KA KE WKE  m $?Ii } Will construct direction to contact in vehicle frame from tetrahedron phase data.y i} A BDAT read: Rx Time:21:24:34.0550  TRx dataTimestamp_ set to:1736371475.292841 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262647 4w,sDA:m@Y:H{@:c1=9:`=y:H`: s?"4@`8?xE `` bG٣dyfZ f> jNusing accuracyPremultiplier from configh49j[?%4Yj"q ijwB!--?jxCj7>I  I rII ҀBI - =&I .I 6I <:I  F =I 樓ɚiI$"=IiF;iZ=)Fw@)*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513470G ghs=G G sAG B q Iq O >M;w,HjDAUl@YUQz@Uj=9U2=yUH %O?0ٱ e??TK?`:?ɨUl@U\;UŐCymABmIWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:24:34.0550 LVL= 13440, 29361, 19234, 32755, AGC= 59, IDX= 427, 0.26, 1.579,-0.305,-0.265, 0.403, PHS= 1.263,-0.661,-0.672, RAW= 89.7, 0.7, CAL= 97.2, -3.0, ROT= 52.8, 3.0 Ygot valid direction response: 21:24:34.0550 LVL= 13440, 29361, 19234, 32755, AGC= 59, IDX= 427, 0.26, 1.579,-0.305,-0.265, 0.403, PHS= 1.263,-0.661,-0.672, RAW= 89.7, 0.7, CAL= 97.2, -3.0, ROT= 52.8, 3.0 PDAT read: Bearing 52.8, 3.0 (Local) ~Local bearing/azimuth received: Bearing 52.8, 3.0 (Local)  DAT read: Range 10 to 50 : 321.0 m (Round-trip 428.0 ms) speed 0.4 m/s  ,DAT read: user:1738> BDAT read: Tx time:21:24:35.1729 $Ping request sent. G٣y5? > Nusing accuracyPremultiplier from config49[?4YGw iwB&#? :   ?C;;4 A=Ek|(Kd?kQ k kDA:kCBkcCZkS93>"]Y?[[$,B@0s@j@?NX??Jk$e@Rkĵ*f9@&@@qs@T9??,?"k@*khAk4Zd?k  2kCkkܿ\ kCkrBkY? addTargetRange:: Added new target pos. range: 321.000000 m, deltaT: 3.783743 s, deltaX: -1.500000 m, approachRate: -0.396433 m/s, rangeRepo size: 4  Added new target pos. range: 321.000000 m, bearing: 10.028100 deg, lat: 36.903562 deg, lon: -122.114861 deg, deltaT: 3.783743 s, deltaX: -1.500000 m, approachRate: -0.396433 m/s, posRepo size: 4 Zj  FNOT Ignoring new targets: 321.00 m.Bj5Jj1M ProNav: ac range: 321.000000 m, nav range: 60.526741 m, bearing: 78.489874 deg, approach rate: 0.000000 m/s, LOS rate: -0.293368 deg/s, cmd heading: 221.373712 deg, new cmd heading: 220.882566 deg. 2jIuHeadingCmd: 3.855128 target range: 321.000000 and range: 321.00 m. jukv@jqjqjqiqhyhyhyh}Bfffrft@bf&7?ɛm1Bm潄 qupM6Cw,x EA6&l@Y6Dz@6D<96B=y6H'?_@X=`8!?Z'w?:?ɨ6&l@6ߘ;6ȐCy>!B>I J$?ILzKRRIKR+9KPKRXKRI^II^5٢j9 jm=9jc@Q j?ll nG٣ngAGyrΤ r? vNusing accuracyPremultiplier from configtz49vQ[?z4Yvz ivvBxz~?vCv:v:vٳ4aB AEZj)-FNOT Ignoring new targets: 321.00 m.Bj5޻Jj5޻E ProNav: ac range: 321.000000 m, nav range: 60.696102 m, bearing: 78.366124 deg, approach rate: 0.532882 m/s, LOS rate: -0.388284 deg/s, cmd heading: 220.882567 deg, new cmd heading: 220.512357 deg. 2jEHyIy I}@II}BI}/ =&Iy.Iy6I}:<:I} Fm Will construct direction to contact in vehicle frame from tetrahedron phase data.^TIw,!'EAyrBrIMb@Mb@Mb@ )Yx&?/$Qy7)?A )AIy@ISI75٢ؼ 8=9Q %>!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=495[?=4Y5% i5vBEX)?E:EE?5C5'!;5r;54I M0AIZjq}FNOT Ignoring new targets: 321.00 m.Bj}ϻJj}ϻ ProNav: ac range: 321.000000 m, nav range: 60.932823 m, bearing: 78.204294 deg, approach rate: 0.533791 m/s, LOS rate: -0.363499 deg/s, cmd heading: 220.512357 deg, new cmd heading: 220.028765 deg. 2jwyHeadingCmd: 3.840226 target range: 321.000000 and range: 321.00 m. jEu@jjjihhhhsBfffrf $?Igbf@~?ɛ3B_^ 隵AI ɚiI$=IpYi߿;iπ=)Eu@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF05JFG VGPw,4+AEA6*Ek@Y6cy@6<96~=y6HMK?@G8/?Y`?z?ɨ6*Ek@6s؎;6ŐCy> B>}IIJ&IJF5٢Nb Rd=9RxVQ R>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b49^%[?b4Y^I i^vBdff?^C^:;^:;^4l nArE~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 321.00 m.BjѻJjѻ% ProNav: ac range: 321.000000 m, nav range: 61.123077 m, bearing: 78.071667 deg, approach rate: 0.528135 m/s, LOS rate: -0.367019 deg/s, cmd heading: 220.028766 deg, new cmd heading: 219.632129 deg. -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.2j={MHeadingCmd: 3.833304 target range: 321.000000 and range: 321.00 m. jUTu@jQjQjQiQhQhYhYhYfafafarfibfmH?JJ&JJJt;J0:JJɛ15ż 15 I1 =^ɚ9i9I=V%=IEiAiE#Od=)ETu@)IEUY>EU>*F?2F:FBF_0JF"G=G=Gp=GBO>> qIqzK=BoIK=9K9K=YK=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499292jVw,ZEAH5,>I1 I5II5BI5, =&I1.I16I5;<:I5 Fk@Y%y@-<9w=yH`^?o]@?@<??ɨk@Ǐ;ȐCy%B-mI)1 1Mb@Mb@Mb@ )Y rh?Mb`?y&1yC+?;`eA @)I@yp@IAI=5٢bd +=9Q > G٣hAGyX > Nusing accuracyPremultiplier from config49[?4Y ivBM+?:?.CB<<-ʓ4 AZjFNOT Ignoring new targets: 321.00 m.Bj OJj O ProNav: ac range: 321.000000 m, nav range: 61.384941 m, bearing: 77.902165 deg, approach rate: 0.524429 m/s, LOS rate: -0.338009 deg/s, cmd heading: 219.632123 deg, new cmd heading: 219.125800 deg. 2jgEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751518eHeadingCmd: 3.824467 target range: 321.000000 and range: 321.00 m. jet@jajajaiahihihihmvBfqfqfqrfqbfuQ?ɛ4B˼ 隥 ۽I BɚiI%&=I[i};iz=)t@)*Fu?2Fq:FqBFqJFq m $?Im gGU }= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004209G) B9 O >u\w, |uEA6j@Y6ux@6<96K=y6Hzj?@J{wW?Sl??ɨ6j@60N;4yBBBXIIJmIJ!5٢Vƽ Vo=9VH9Q V?XX ZG٣XyZD_ ^? bNusing accuracyPremultiplier from config`f49b[?f4Yb& ibvBhjj?bKCb2;b,3;b(Г4rbB rArEZj  FNOT Ignoring new targets: 321.00 m.Bj#ڻJj#ڻ% ProNav: ac range: 321.000000 m, nav range: 61.572727 m, bearing: 77.780499 deg, approach rate: 0.590513 m/s, LOS rate: -0.381423 deg/s, cmd heading: 219.125801 deg, new cmd heading: 218.761922 deg. 2j%₼-HeadingCmd: 3.818116 target range: 321.000000 and range: 321.00 m. j-\t@j)j)j)i)h1h1h1h1fffrfbf@ɛ  9  5I 5ɚ1i1I5/&=I=i9iEC=)E\t@)A*F?2F:FBF`0JF)Ž= -GvA YvAyBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255280*Jy"J}R=JK KKK"KJJ"J1JJT;J:J3JG.u=GBO >  I Jcw,REAzK~BIK|K|K~ZK~BK-qA:K)y-B5IIIElIEK!5٢U^ U@=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu49mz[?u4YmC imvBqq}?moCm ;m;mד4aB AEZjFNOT Ignoring new targets: 321.00 m.BjɻJjɻ ProNav: ac range: 321.000000 m, nav range: 61.806522 m, bearing: 77.630303 deg, approach rate: 0.551233 m/s, LOS rate: -0.352787 deg/s, cmd heading: 218.761916 deg, new cmd heading: 218.313042 deg. 2jrHeadingCmd: 3.810281 target range: 321.000000 and range: 321.00 m. js@jjjihhhhfffrfbf@ɛ 5B   (I   ɚiIc'=IDi!i%[=)%s@)!]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507714*F?2F:FBF0JFH+>I III]BI- =&I.I6IX<:I FBIJIRIZIbI- =jIƕ5G}=G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759393iw,/EA "@^i@Y^Ow@^"<9^=y^HM? a` ]&?ÖbL? ??ɨ^i@^w;^ǐCyrBr>IMb@Mb@Mb@ )YtV?Mb?:vy2?=T )zAI@yf@I\I45٢/ C=9nQ > G٣iAGy} > Nusing accuracyPremultiplier from config49}h[?4Y ivB2?:4?C;;ޓ4 QAE $?IZjFNOT Ignoring new targets: 321.00 m.BjJj ProNav: ac range: 321.000000 m, nav range: 62.051949 m, bearing: 77.483280 deg, approach rate: 0.553913 m/s, LOS rate: -0.330510 deg/s, cmd heading: 218.313036 deg, new cmd heading: 217.873720 deg. 2jb=HeadingCmd: 3.802614 target range: 321.000000 and range: 321.00 m. j=^s@j9j9j9i9h9hAhAhEHBfAfIfIrfIbfM @ɛ 隝;I 2kɚiI-(=IiF;i~=)^s@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011518*Fm?2Fq:FqBFu~0JFqG]=Ge?Ge>GB!OEs>ڹpw, EAbWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263764yjBj3IIrfIr5٢~5 ~X=9Q >  G٣ y   > Nusing accuracyPremultiplier from config49X[?%4Y ivB!!%?C;;4) 5A1UB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 321.00 m.BjevӻJjevӻ} ProNav: ac range: 321.000000 m, nav range: 62.274208 m, bearing: 77.351344 deg, approach rate: 0.625109 m/s, LOS rate: -0.369750 deg/s, cmd heading: 217.873718 deg, new cmd heading: 217.479328 deg. 2j}}HeadingCmd: 3.795730 target range: 321.000000 and range: 321.00 m. j?r@jjjihhhhfffrfbfm @ɛͭ "MI ɚiI(=Iv2iip4=)?r@)*FU?2FQ:FQBFU_5JFQ $?IzKuRIKu 9KqKu[KuGyRK?JK?GIBYuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:21:24:38.0038 }TRx dataTimestamp_ set to:1736371479.324769}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516551O>}vw,[ EAH@I@ IBIIB?BI@&I@.I@6IB8<:IB Fh@Yv@W<9f=yH+?%%?*?@?ɨh@Տ;yB IMb@Mb@Mb@ )Y"~?J +?Mby3?H=3A @)hAI@yIuIH%5٢U~ ])=9] Q ]>aa eG٣aym% m> uNusing accuracyPremultiplier from configq}49uSD[?}4Yu iuvBj4?:?uCu51;u/;u4bB AEZjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767436FNOT Ignoring new targets: 321.00 m.BjŻJjŻ ProNav: ac range: 321.000000 m, nav range: 62.562111 m, bearing: 77.184241 deg, approach rate: 0.596532 m/s, LOS rate: -0.344641 deg/s, cmd heading: 217.479329 deg, new cmd heading: 216.980341 deg. 2jlHeadingCmd: 3.787021 target range: 321.000000 and range: 321.00 m. j^r@jjjihhhhBfffrfbf N@ɛ)- )-3lI) 5}aɚ1i1J=J='J=0J9J=t;J=:J=ـ3J9J="n  BDAT read: Tx time:21:24:39.1229  $Ping request sent. }w,qEA5h@Y5Y/v@5d<95=y5H@]?@@W|? EҰ??ɨ5h@5;5ȐCyMyBMIIeoIe"5٢} X=9]GQ > G٣jAGyͼ > eNusing accuracyPremultiplier from configam49ew3[?m4Ye ievBquru?eCe\:e:e4y }-AyklQn?kKa k kEA:kCBkCZkP@"E|G2P@PKK]s@k ¿%6?Ee?Jk6 @RkҴ*{N@N>zùɣs@H/? k)ul?"k*k.pBkqUn?kc 2k CkkZ= kk@Bkp?U addTargetRange:: Added new target pos. range: 320.000000 m, deltaT: 4.031430 s, deltaX: -1.000000 m, approachRate: -0.248051 m/s, rangeRepo size: 4  Added new target pos. range: 320.000000 m, bearing: 353.292750 deg, lat: 36.903562 deg, lon: -122.115157 deg, deltaT: 4.031430 s, deltaX: -1.000000 m, approachRate: -0.248051 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 320.00 m.BjJj ProNav: ac range: 320.000000 m, nav range: 37.563438 m, bearing: 67.990544 deg, approach rate: 0.000000 m/s, LOS rate: -0.344641 deg/s, cmd heading: 216.980343 deg, new cmd heading: 216.547216 deg. 2jHeadingCmd: 3.779462 target range: 320.000000 and range: 320.00 m. jq@jjjihhhhfffrf%t@bf%?ɛq" 隽;rI "ɚiIbn*=I= ii_t=)q@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:24:39.1221 *Fm?2Fi:FqBFuO5JFqGEPă=GBO-> $?I dw,LmFAF\xg@YFu@F7<9F-=yFHp?@뫿``?`f@o??ɨF\xg@zKNyJKNs9KLKN\KNBKRrA:KPF9;FŐCyZrBZIIfFIft5٢n! nZ=9nQ r>pp rG٣pyv;˼ v> zNusing accuracyPremultiplier from configx~49zG$[?~4Yz izvB ?z&Cz" ;zu ;z4  LA EZj15FNOT Ignoring new targets: 320.00 m.Bj=!Jj=!M ProNav: ac range: 320.000000 m, nav range: 37.791821 m, bearing: 67.835716 deg, approach rate: 0.685729 m/s, LOS rate: -0.462069 deg/s, cmd heading: 216.547213 deg, new cmd heading: 216.085547 deg. 2jMUHeadingCmd: 3.771404 target range: 320.000000 and range: 320.00 m. jU^q@]Will construct direction to contact in vehicle frame from tetrahedron phase data.jYjajaiahahahihifififirfqbfu`\8?ɛ4v 隝xI GRɚiI*=I ii)r=)^q@)*FM?2FI:FIBFM_0JFIjHbH<HI III%BI&I.I6Ir<:I FGx=GiBqO> Will construct direction to contact in vehicle frame from tetrahedron phase data.J J 0J 1J J ;J _:J 3J J p<J p<J X;J X;ٌw,-@,FA6f@Y6t@6k<96 =y6H&(?Ǫ z8.v3?} ??ɨ6f@6;4yBoBBI )I)5Mb@Mb@Mb@111 1)1Y5"~?V-?{Gzty15m=5ף5A 1)5zAI5@1y5\@IM^IM5٢]Oջ ]B=9eKʻQ e>aa mG٣iym m> Nusing accuracyPremultiplier from configq49uK[?4Yu iuvB4?:?uLCui Will construct direction to contact in vehicle frame from tetrahedron phase data.Dww,%FFAJ+f@YJJt@JJI<9J~=yJH K?Ψ s? 3) ֯??ɨJ+f@J;JȐCyVtBVIIb8Ib@ 5٢jF< jS=9j'Q n>ll nG٣nkAGyrw r> vNusing accuracyPremultiplier from configtz49v[?z4Yv ivvB|~~?voCv ;vK ;v8 4  BA E-B*** querying acoustic contact ***j)j)ZjYeFNOT Ignoring new targets: 320.00 m.BjeJjm} ProNav: ac range: 320.000000 m, nav range: 38.312057 m, bearing: 67.487437 deg, approach rate: 0.669130 m/s, LOS rate: -0.446949 deg/s, cmd heading: 215.547069 deg, new cmd heading: 215.047873 deg. 2j}^HeadingCmd: 3.753294 target range: 320.000000 and range: 320.00 m. j5p@jjjihhhhfffrfbf@X"?ɛAE IM9vII M(ɚQiQIUCY,=I]!iYi]j=)]5p@)Y $?Ig*F?2F:FBFJFGKXi=GBOE>zKBoJK9KK]KuWill construct direction to contact in vehicle frame from tetrahedron phase data.qiq}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 II BI &I .I 6I <:I Fw,B`FAyMb@Mb@Mb@ )Y G٣y > Nusing accuracyPremultiplier from config49XZ?4Y i|vB34?:?C<;j;4cB FAJ5J5,J50J1J5;J5L:J5ـ3J1J5s<J5s<J5;J5;EZj)-FNOT Ignoring new targets: 320.00 m.Bj5Jj5ໝm ProNav: ac range: 320.000000 m, nav range: 38.617950 m, bearing: 67.289545 deg, approach rate: 0.612091 m/s, LOS rate: -0.392844 deg/s, cmd heading: 215.047878 deg, new cmd heading: 214.458926 deg. 2ju͆}HeadingCmd: 3.743014 target range: 320.000000 and range: 320.00 m. j}o@jyjyjyihhhhBfffrfbfti?ɛ4BW 隕cuI hɚiI$-=I("ii=)%o@)! $?I*F?2F:FBFJF nManaging dock network, ignoring radio surface power offe Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001264G 0i=G G G B O5 >JKw,,{FA6id@Y6ir@6"<96Зs=y6H@.@C? kGP z1?]@m??ɨ6id@6\;6ƐCyBBB"IININ*5٢R@< R<9VNԻQ V>TX ZG٣XyZ ^> bNusing accuracyPremultiplier from config\f49^Z?f4Y^ i^zvBhjj?^C^CE;^E;^4l rApZj  FNOT Ignoring new targets: 320.00 m.BjeJje% ProNav: ac range: 320.000000 m, nav range: 38.848736 m, bearing: 67.131285 deg, approach rate: 0.699727 m/s, LOS rate: -0.476985 deg/s, cmd heading: 214.458924 deg, new cmd heading: 213.986974 deg. 2j%-HeadingCmd: 3.734777 target range: 320.000000 and range: 320.00 m. j-o@j)j)j)i)h1h1h1h1f9f9f9rf9bf=1@ɛ)- )5,gI1 5Ԥɚ1i1I5-=I=#i9i=2C=)=o@)A*F ?2F :FBFo0JFGv=Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258599GBO@> IzKM jIKM 59KI KM ^KM 3w,ѕFA.Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509454:c@Y:q@:!<9:t=y:H๰S? ( ɞ?`9??ɨ:c@:;8yX\)\ \``IfnIf."59}WQ > G٣lAGy > Nusing accuracyPremultiplier from config49lZ?4Y iyvB\?C:n:Z4 AEZjFNOT Ignoring new targets: 320.00 m.BjJj- ProNav: ac range: 320.000000 m, nav range: 39.123482 m, bearing: 66.941037 deg, approach rate: 0.627106 m/s, LOS rate: -0.431189 deg/s, cmd heading: 213.986972 deg, new cmd heading: 213.420256 deg. 2j-=HeadingCmd: 3.724886 target range: 320.000000 and range: 320.00 m. j=dn@jAjAjAiIhIhIhYhYfYfYfarfabfe@@ɛ* 隍 fI oɚiIH.=I,#ii;hO=)dn@)H)I) I)I)I-. =&I).I)6I-6<:I- F*F)2F):F1BF9JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761261JuJu!JqJqJu;Ju:JqJqJuok<Jupk<Ju;Ju;G] [=G9 BI Om > $?I Xw,tFAF'c@YFFq@F T<9FVw=yFH@@ ?ȥ$`R?q @ܮ??ɨF'c@Fs;FŐCyRBV9I=Mb@Mb@Mb@999 9)9Y=M?y&1?~jtx?y=n2?=`e==;=A =@)=AI=I@9y=AIU}IU(5٢e6= e<9e5Q m>ii mG٣iyuԼ u> Nusing accuracyPremultiplier from config49Z?4Y izvB3?:?C;,3;Y&4 |AZjFNOT Ignoring new targets: 320.00 m.BjJj ProNav: ac range: 320.000000 m, nav range: 39.374432 m, bearing: 66.760032 deg, approach rate: 0.638134 m/s, LOS rate: -0.457339 deg/s, cmd heading: 213.420257 deg, new cmd heading: 212.880719 deg. 2jHeadingCmd: 3.715469 target range: 320.000000 and range: 320.00 m. j@m@jjjihhhqh}tBfyfyfyrfybf`x@ɛ3Bc ?I ݤɚiIT.=IuU$iiK=)@m@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.013523*F2F:FBF0JFGeap=G!B1OMR>e;Gy OYy+ B% Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:21:24:41.9529 U TRx dataTimestamp_ set to:1736371483.112999U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271413@w,tFA2Zb@Y2p@2e<92`r=y2HJ? T2?PG?@`?ɨ2Zb@2^a;2ƐCy>BB@IIJzIJ'5٢zA< ~R=9~tQ > G٣y DѼ  > Nusing accuracyPremultiplier from config49Z?4YZ i{vB!%e%?(C; ;(-4) -QA-EMB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 320.00 m.BjecJjecu ProNav: ac range: 320.000000 m, nav range: 39.617939 m, bearing: 66.582475 deg, approach rate: 0.624392 m/s, LOS rate: -0.452485 deg/s, cmd heading: 212.880713 deg, new cmd heading: 212.351334 deg. 2juD}HeadingCmd: 3.706230 target range: 320.000000 and range: 320.00 m. j}2m@jyjjihhhhfffrfbf @ɛ r3I ɚiIV/=I$iiI=)2m@) $?I*FM?2FQ:FQBFU@5JFQzK]BoIK]9KYK]_K]}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517484GuJR=GYByO>H) I)  I- II- BI) &I) .I) 6I- 8<:I- FBIJIRIZIbIjI>/5nw,>^FAyޕBޕRIi%>IC= ==Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778787UMb@Mb@Mb@QQQ Q)QYUQ?X9v?~jt?yU(?U G٣mAGy > Nusing accuracyPremultiplier from config49Z?4Y ivB,)?:?TC9;;A64 AZjFNOT Ignoring new targets: 320.00 m.BjJj ProNav: ac range: 320.000000 m, nav range: 39.920475 m, bearing: 66.346679 deg, approach rate: 0.581944 m/s, LOS rate: -0.450127 deg/s, cmd heading: 212.351333 deg, new cmd heading: 211.649343 deg. 2juHeadingCmd: 3.693978 target range: 320.000000 and range: 320.00 m. j"jl@jjjih h h h Bfffrfbf"@ɛE2BE( IMPII MɚIiIIU/= aIegIm%iiimv=)m"jl@)q*F?2F:FBF1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:24:41.9529 LVL= 12064, 22609, 21474, 25251, AGC= 66, IDX= 434, 0.41,-0.911,-2.167,-2.475,-1.603, PHS= 0.780,-0.516,-0.875, RAW= 78.1, 8.2, CAL= 82.3, 10.9, ROT= 67.7, -10.9  Ygot valid direction response: 21:24:41.9529 LVL= 12064, 22609, 21474, 25251, AGC= 66, IDX= 434, 0.41,-0.911,-2.167,-2.475,-1.603, PHS= 0.780,-0.516,-0.875, RAW= 78.1, 8.2, CAL= 82.3, 10.9, ROT= 67.7, -10.9  PDAT read: Bearing 67.7, -10.9 (Local)  ~Local bearing/azimuth received: Bearing 67.7, -10.9 (Local)  DAT read: Range 10 to 50 : 319.2 m (Round-trip 425.7 ms) speed 0.4 m/s  ,DAT read: user:1740>  BDAT read: Tx time:21:24:43.0730  $Ping request sent. څ 'ܷ?)څ B>Iڅ E>?iڅ Bځ ځ ۅ ٍ7?\v'bvb&?)ۅ 4;Iۅ ۴iۅ k @ۅ b\ہ ہ = :publishing transmit ping time = Fpublishing direction and range info؁ 9؅ exlrO˿e?㼂+?y؁ ؁ ؁ ؁ ف )ف Iف iف ف ف ف ف ځ )ځ Iځ iځ ځ ځ ۅ ٍ7?\v'bvb&?)ہ Iہ iہ ہ ہ ہ G 5PK=GQ Ba O} >㬾w,FAy-B-iII=~I=E)5٢U= =9Q  ? G٣y  ? Nusing accuracyPremultiplier from config49ŁZ?4Yp ivB?oC4n<i<;4dB JA EkV{?kl k k4LFA:kCBk~CZkw@"p_@QX@KUwr@exlrO˿e?㼂+?Jkk @Rkb\*Fvvj]Y@3;˛kr@irW?See6?"kg*kBk{?kH& 2kCk4Zd?k  kk`Ak5> addTargetRange:: Added new target pos. range: 319.200012 m, deltaT: 4.036210 s, deltaX: -0.799988 m, approachRate: -0.198203 m/s, rangeRepo size: 4  Added new target pos. range: 319.200012 m, bearing: 344.610967 deg, lat: 36.903686 deg, lon: -122.115476 deg, deltaT: 4.036210 s, deltaX: -0.799988 m, approachRate: -0.198203 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 319.20 m.BjJj ProNav: ac range: 319.200012 m, nav range: 31.047104 m, bearing: 15.556311 deg, approach rate: 0.000000 m/s, LOS rate: -0.450127 deg/s, cmd heading: 211.649339 deg, new cmd heading: 211.155074 deg. 2j HeadingCmd: 3.685351 target range: 319.200012 and range: 319.20 m. j k@j jjih1h9h9h9fAfAfArfE@3s@bfEa?ɛ1BWill construct direction to contact in vehicle frame from tetrahedron phase data. 隽>ڽI ɚiIs0=IB&iijR=)k@JJ+JJJJȆ:JJa-@a-@a-@a-@)1*F?2F:FBF?5JFGKXi= -$?I1GBO>ьw,VGGAWill construct direction to contact in vehicle frame from tetrahedron phase data.i6`@Y6n@6;96s=y6H? @O?` p+??ɨ6`@6ə;6ŐCzKN:IKN9KLKN`KN   yVBVxIIb5Ib5٢؁= Y=9 7Q  >  G٣y > %Nusing accuracyPremultiplier from config%49%qZ?-4YD ivB)-q -?CC::oB4 AZj FNOT Ignoring new targets: 319.20 m.Bj5<Jj5I III0BI- =&I.I6IE<:I F*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G x=G B O > ! I! }w,$1GAFC`@Yan@GS;9~=yH$Ȕ?`qꢿޞש`T?vj`qٯ??ɨFC`@;Cy=B=IAAMb@Mb@Mb@ )YS㥛?~jth{Gz?y$?D#<A )zAIv@yAI-2I-5٢=M= =8=9EMQ E>AA EG٣MnAGyMW M> UNusing accuracyPremultiplier from configQe49U\Z?e4YU` iUvBm$?m:m$m?UCUr;Uq;U0J4y }A} EZjFNOT Ignoring new targets: 319.20 m.Bj;Jj; ProNav: ac range: 319.200012 m, nav range: 31.549171 m, bearing: 15.870757 deg, approach rate: 0.641725 m/s, LOS rate: 0.361327 deg/s, cmd heading: 211.629846 deg, new cmd heading: 212.090873 deg. 2jw<HeadingCmd: 3.701684 target range: 319.200012 and range: 319.20 m. jdl@jjjihhhh Bfffrfbf0?ɛ /B ̼ xiI vɚiI.1=IR7%ii%G<)%dl@)!5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF`0JFGva=GBOa> Will construct direction to contact in vehicle frame from tetrahedron phase data.JA JA JA JA JA JA JA JA w,7JGA6S_@Y6 m@6l;96j=y6H@e?t@n@@{-?@lc?@?ɨ6S_@6;6ŐCyBBBIIJ-IJ`5٢fs= fe=9jQ j>hh nG٣y%0 %> -Nusing accuracyPremultiplier from config)549-FLZ?54Y- i-vB1=$=?-C-J;-^;-P4MeB M(AMEmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 319.20 m.Bj;Jj; ProNav: ac range: 319.200012 m, nav range: 31.774536 m, bearing: 15.993538 deg, approach rate: 0.616010 m/s, LOS rate: 0.333227 deg/s, cmd heading: 212.090870 deg, new cmd heading: 212.456595 deg. 2jd<HeadingCmd: 3.708067 target range: 319.200012 and range: 319.20 m. jPm@jjjihhhhfffrfbf3? $?Iɛ.B I  ɚiI}1=I$i!;i=nG<)Pm@)*F?2F:FBFn0JFGml=G!B1OM0>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.RK}?JK}>H I  I II IBI &I .I 6I &<:I FHw,dGABl_@Ym@~8;9W|=yH&;?` AD mΩ?g@ ?_?ɨBl_@;ƐCy'BIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747535Mb@Mb@Mb@ )Y-?Zd;O:v?y5?j<T<3A 3@)I@yGAI]I5٢.= 9=9U:Q > G٣yg > Nusing accuracyPremultiplier from config49]8Z?4Y ivB?:h)?C==%X4  AZjYFNOT Ignoring new targets: 319.20 m.Bj>y;Jj>y; ProNav: ac range: 319.200012 m, nav range: 32.036812 m, bearing: 16.096161 deg, approach rate: 0.561502 m/s, LOS rate: 0.217905 deg/s, cmd heading: 212.456599 deg, new cmd heading: 212.761946 deg. 2j<HeadingCmd: 3.713397 target range: 319.200012 and range: 319.20 m. jJm@jjjihhhh7BfffrfbfY?ɛE-BEK IM/II MɚIiIIU1=IUlw$iU6;i]:k; $?I)]Jm@)*F12F1:F1BF5`0JF1M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000560G <G B! O= >Sw,İ~GA2_@Y2 m@28=;922؀=y2H T @ ?"qsl?gI?`?ɨ2_@2ؓ;2ŐCyR:BRIIZ_IZ5٢b= b`=9bD9Q f>dd fG٣dyj㑼 j> nNusing accuracyPremultiplier from configlr49n'Z?r4Yn invBtv)v?nCn~:n:n^4x zTAzEZj!%FNOT Ignoring new targets: 319.20 m.Bj-!;Jj-!;E ProNav: ac range: 319.200012 m, nav range: 32.257961 m, bearing: 16.178691 deg, approach rate: 0.670550 m/s, LOS rate: 0.248522 deg/s, cmd heading: 212.761950 deg, new cmd heading: 213.007839 deg. 2jE* I] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503085w,]GA6^@Y6l@zKZ NKZ9KXKZbKZBKbqA:K`62;96ϖ=y6Hh?¢@@U?4^f ߏ??ɨ6^@6;6ÐCyBBII5wI5+&5٢= = EB=9E ùQ E>AI MG٣MoAGyU U> ]Nusing accuracyPremultiplier from configYe49] Z?e4Y] i]vBae*e?]2C]:]P:]e4q uAqZjFNOT Ignoring new targets: 319.20 m.Bjx;Jjx; ProNav: ac range: 319.200012 m, nav range: 32.514145 m, bearing: 16.270897 deg, approach rate: 0.608399 m/s, LOS rate: 0.217252 deg/s, cmd heading: 213.007837 deg, new cmd heading: 213.282275 deg. 2j<HeadingCmd: 3.722478 target range: 319.200012 and range: 319.20 m. j=n@jjjihhhhfffrfbf@Ӥ@ɛ+B􂑼 7=I EɚiIa2=Iu#i};i}`E)=n@)ZHARHAHQIQ IUIIUmBIQ&IQ.IQ6IU;<:IU F*F]?2FY:FYBF]`5JFaG5;GB)OiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755141 } $?I +w,bfGA2{^@Y2l@2;92"=y2H`0q?P⣿! ?@O~c?@?ɨ2{^@2̮;2CyBHBBI]Mb@Mb@Mb@YYY Y)YY]`"?ʡEMb?y]?]-] G٣y > Nusing accuracyPremultiplier from config49Z?4Y ir?:.?RC;D;m4 AEZjFNOT Ignoring new targets: 319.20 m.BjZ;JjZ; ProNav: ac range: 319.200012 m, nav range: 32.758614 m, bearing: 16.324675 deg, approach rate: 0.594034 m/s, LOS rate: 0.129700 deg/s, cmd heading: 213.282274 deg, new cmd heading: 213.442404 deg. 2j; HeadingCmd: 3.725273 target range: 319.200012 and range: 319.20 m. j jn@j j j i hhhhgBfffrfbf% @ɛIU6 Q]l=IY ]᪼ɚYiYI]2=Ie״#ie`;ie獼)ejn@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008045*FU?2FQ:FQBFUA5JFQGmg;GI BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:24:45.9010  TRx dataTimestamp_ set to:1736371487.140661 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260155J% J% %J! J! J% ;J% :J! J! 'w,AGA6K]^@Y6|l@6ů:96=y6H8`?`:`J%Y?[}?`7?ɨ6K]^@6A;6ŐCyfLBfI)h hllIroIr"5٢vȝ< zT=9zQ z>|| ~G٣|y >  Nusing accuracyPremultiplier from config 49  Y?4Y  i /? -$?I) oC ; ; s41 =A=EUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 319.20 m.Bjmf;Jjmf;} ProNav: ac range: 319.200012 m, nav range: 32.987858 m, bearing: 16.373611 deg, approach rate: 0.591413 m/s, LOS rate: 0.125368 deg/s, cmd heading: 213.442401 deg, new cmd heading: 213.588187 deg. 2j};HeadingCmd: 3.727817 target range: 319.200012 and range: 319.20 m. jn@jjjihhhhfffrfbf` @ɛ*BH  =I uɚiI2=I(#id;i)n@)EE*FU?2FQ:FQBFU_0JFQG-2FGB O%,>Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511022zKغKKs9KKcKHY IY  I] !II] BIY &IY .IY 6I] u<:I] Fw,e5GAE>^@YE\l@EQ:9Eƫ=yEH)A`:?@+Ӧ ((?=JOr? 3?ɨE>^@E,݋;EÐCy]MB]IuWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:24:45.9010 LVL= 16048, 27809, 25442, 31443, AGC= 63, IDX= 417,-0.03,-1.637,-2.867, 2.726,-2.418, PHS= 0.869,-0.403,-1.143, RAW= 68.7, 7.7, CAL= 69.8, 10.9, ROT= 80.2, -10.9 Ygot valid direction response: 21:24:45.9010 LVL= 16048, 27809, 25442, 31443, AGC= 63, IDX= 417,-0.03,-1.637,-2.867, 2.726,-2.418, PHS= 0.869,-0.403,-1.143, RAW= 68.7, 7.7, CAL= 69.8, 10.9, ROT= 80.2, -10.9 PDAT read: Bearing 80.2, -10.9 (Local) ~Local bearing/azimuth received: Bearing 80.2, -10.9 (Local) DAT read: Range 10 to 50 : 317.9 m (Round-trip 423.9 ms) speed 0.2 m/s ,DAT read: user:1741> UBDAT read: Tx time:21:24:47.0230 ]$Ping request sent.]ul ubc)uzIu?iuv^?uVξuMu.z?u > uI?)qIu$+?iqqquFD)?33C@9?)uMeIuS5 iu?uhqq:publishing transmit ping timeYFpublishing direction and range infoq9uToOȿ/A'V+?{?yqqqq q)qIqiqqqqq q)qIqiqqquFD)?33C@9?)qIqiqqqq-Mb@Mb@Mb@))) )))Y-`"?X9vMbP?y)--:-A -3@)-AI-hA)y-AI]TI]5٢m8; m=9ֺQ > G٣pAGy] > Nusing accuracyPremultiplier from config49Y?4Y ivB?:2?C;;}4! %A!ku-}V?kujK kq ku?GA:kuCBkuٝCZku8/@"u[d/N6ub@䢢$Gq@uToOȿ/A'V+?{?Jku?Rkuh*u-~¯\@QA0q@u;N=?t̿|0?"kut*ku~Bkusn?ku)X 2kuCkuqUn?kuc ku CkuBku@ addTargetRange:: Added new target pos. range: 317.899994 m, deltaT: 3.780451 s, deltaX: -1.300018 m, approachRate: -0.343879 m/s, rangeRepo size: 4 % Added new target pos. range: 317.899994 m, bearing: 327.990494 deg, lat: 36.903976 deg, lon: -122.115628 deg, deltaT: 3.780451 s, deltaX: -1.300018 m, approachRate: -0.343879 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 317.90 m.BjUJjQe ProNav: ac range: 317.899994 m, nav range: 64.346428 m, bearing: 356.347963 deg, approach rate: 0.000000 m/s, LOS rate: 0.125368 deg/s, cmd heading: 213.588184 deg, new cmd heading: 213.808664 deg. 2jaHeadingCmd: 3.731665 target range: 317.899994 and range: 317.90 m. jn@jjjihhhhBfffrf`fs@bf`'?ɛE)BE AEx=II MɚIiIIM93=IeL#im;imHμ)mn@)i% Will construct direction to contact in vehicle frame from tetrahedron phase data.5 JDAT read: TxSync time:21:24:47.0222 *F 2F :F BF 2JF ) %=  G) A X Y y =BG='GAGAGB O%>akw,HA6K^@Y6jl@6 a^96e=y6H=`?`I@ ?`! ?8?\?ɨ6K^@6K;4yBSBBIIN1IN&5٢VK = Vp=9Z$Q Z?XX ^G٣\y^*; ^? bNusing accuracyPremultiplier from config`f49bEY?f4Yb ibvBhj2j?bCb;b{;be4nfB rArEZj FNOT Ignoring new targets: 317.90 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.BjH;JjH; ProNav: ac range: 317.899994 m, nav range: 64.528519 m, bearing: 356.418354 deg, approach rate: 0.600027 m/s, LOS rate: 0.231299 deg/s, cmd heading: 213.808663 deg, new cmd heading: 214.019240 deg. 2j<HeadingCmd: 3.735340 target range: 317.899994 and range: 317.90 m. jo@jjjihhhhf)f1f1rf9bfEư?ɛej =IJ%J%J!J!J%;J%w:J!J! EKQɚAiAIE=`3=I#i ;i0X)o@) -$?I-g*Fq2Fq:FyBF}f4JFyGMG)B9OUu>e Will construct direction to contact in vehicle frame from tetrahedron phase data.zK JQJK 9K K dK }w,HAjH<bH4<H+>I I:IIBI&I.I6I۱<:IXFBIiJIiRIiZIibIijIm(4 hj@%:S^@Y%ql@%T9%8=y%H;`?2:`k?nj?a\??ɨ%:S^@%n;%CyQBIi!! %G٣!y%: -> Nusing accuracyPremultiplier from config49 Y?4Yl ivB2?C};;~4 A!EZjFNOT Ignoring new targets: 317.90 m.BjEf;JjMf;Will construct direction to contact in vehicle frame from tetrahedron phase data.% ProNav: ac range: 317.899994 m, nav range: 64.785973 m, bearing: 356.517297 deg, approach rate: 0.527391 m/s, LOS rate: 0.201877 deg/s, cmd heading: 214.019237 deg, new cmd heading: 214.314883 deg. 2j% u Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >) w,V~:HAyUOBUIMb@Mb@Mb@ )Y +?&1MbP?y?н A @)AIAyIU'IU5٢mq3 m?=9mQ m>qq uG٣uqAGyu }> Nusing accuracyPremultiplier from config49Y?4Y ivB?:0?CΗ<3<4! %A!ZjIUFNOT Ignoring new targets: 317.90 m.BjUS;JjUS; ProNav: ac range: 317.899994 m, nav range: 65.010536 m, bearing: 356.611122 deg, approach rate: 0.551504 m/s, LOS rate: 0.229628 deg/s, cmd heading: 214.314889 deg, new cmd heading: 214.595390 deg. 2j<HeadingCmd: 3.745396 target range: 317.899994 and range: 317.90 m. jo@jjjihhhhBfffrfbf@@b?ɛIM8v IMЙ=II u9ɚqiqIu3=I}"k"i}Ж;i})}o@)*F?2F:FBF_0JFGermWill construct direction to contact in vehicle frame from tetrahedron phase data.iiiJJBAG9BIO}> I w,?7THA:Ԕ^@Y:l@:9:1=y:H@*[?%E@|?@?^?x?ɨ:Ԕ^@:fԋ;:ÐCyFCBFIINSIN75٢Vg Vm=9Z[Q Z?X\ ^G٣\y^=< b? fNusing accuracyPremultiplier from config`f49bY?j4Yb ibvBhjU0j?bCbq:b+*Fm?2Fi:FiBFiJFiH,>I IFIIBI+ =&I.I4D6Ic<:IFGG B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990340Jـ3Km3 KS}-KK"KJ J J J J J {:J J J dy:H@`]?@g@ @60?FN?!?ࣿ?ɨ:^@:;:CyR;BRIEMb@Mb@Mb@AAA A)AYE$C?+ÿS㥛yE?EE/ݼE A E@)EAIEAAyE\AI]dI]5٢m m?=9u{Q u>qy }G٣yy}8< > Nusing accuracyPremultiplier from config49?uY?4Y isvBZ?:4?4CxP;9O;@4 \AZjFNOT Ignoring new targets: 317.90 m.Bj6f;Jj6f; ProNav: ac range: 317.899994 m, nav range: 65.443970 m, bearing: 356.773938 deg, approach rate: 0.589507 m/s, LOS rate: 0.201266 deg/s, cmd heading: 214.828560 deg, new cmd heading: 215.082212 deg. 2j <HeadingCmd: 3.753893 target range: 317.899994 and range: 317.90 m. j?p@jjjihhhhBff f rf bf  "@ɛ H=I *ɚiI3=I!imÐ;im)u?p@)q*F?2F:FBFk0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239985GW GqAGrAG B O >!w,!HA6XC_@Y6bm@6`96e>y6H%?@X3uCl? ̂?@??ɨ6XC_@6a;6ĐCy.BII-kI- 5=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.491054٢U UL=9UhQ U>YY ]G٣]rAGyen< e> mNusing accuracyPremultiplier from configiu49m^aY?u4Ym& imbvBq}y4}?mTCm;m< ;m?4hB A'E*J"J4=ZjFNOT Ignoring new targets: 317.90 m.Bjb;Jjb; ProNav: ac range: 317.899994 m, nav range: 65.675117 m, bearing: 356.853993 deg, approach rate: 0.574834 m/s, LOS rate: 0.198387 deg/s, cmd heading: 215.082206 deg, new cmd heading: 215.321526 deg. 2j&<HeadingCmd: 3.758070 target range: 317.899994 and range: 317.90 m. j6p@jjjihhhhfffrfbfIY@ɛZ2 `8zK ANK h9K K fK .@:0!  !:FC7,  BK :K H I  I @II BI , =&I .I 6I <:I F= (w,DHAv1_@Yvm@v`l!9v| >yvH@c]5?갿U ۾?v-?@?9?ɨv1_@vط;vCyBII_I5٢% %M=9%޺Q %>)) -G٣)y5M< 5> =Nusing accuracyPremultiplier from config9E49=MY?E4Y=> i=QvBAM4M?=tC=:=:=24Q UHAU*EZjy}FNOT Ignoring new targets: 317.90 m.Bjf;Jjf; ProNav: ac range: 317.899994 m, nav range: 65.904350 m, bearing: 356.934056 deg, approach rate: 0.580201 m/s, LOS rate: 0.201939 deg/s, cmd heading: 215.321522 deg, new cmd heading: 215.560875 deg. 2j <HeadingCmd: 3.762247 target range: 317.899994 and range: 317.90 m. jp@jjjihhhhfffrfbf.@ɛ9E3 隕PI Ķ]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.998741ɚJJJ1JJ5;Jv:J3JJVc<JWc<J);J);i!I%%=4=I- W!i5;i5|)5p@)1 )I1*F?2F:FBF0JFG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246910*7.w,ßHA>_@Y>}n@>J:9>z>y>H[?@ꇱ4~~?]???@ͫ?ɨ>_@>; G٣yc< > Nusing accuracyPremultiplier from config498Y?4Y i?vB ?:~0?C;;4 AZjFNOT Ignoring new targets: 317.90 m.Bj%;Jj%;] ProNav: ac range: 317.899994 m, nav range: 66.145248 m, bearing: 357.031583 deg, approach rate: 0.567380 m/s, LOS rate: 0.228865 deg/s, cmd heading: 215.560879 deg, new cmd heading: 215.852391 deg. 2j]EU>*F?2F:FBF_5JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:21:24:49.8502 eTRx dataTimestamp_ set to:1736371491.172588echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.499904G {GG> % $?I! G B O >C5w,wHA:A`@Y:s`n@:*U9:>y:H`z?@D㱿ޝ:d?s?R??ɨ:A`@: <;8yFBFeIINsINe$5٢V V]=9ZQ Z>X\ ^G٣^sAGy^{M< b> fNusing accuracyPremultiplier from config`j49b&Y?j4Yb. ib/vBlv-0v?bCb^;b^;b4ziB zA~-EB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 317.90 m.Bj-ׂ;Jj-ׂ;= ProNav: ac range: 317.899994 m, nav range: 66.355118 m, bearing: 357.117006 deg, approach rate: 0.563857 m/s, LOS rate: 0.228781 deg/s, cmd heading: 215.852392 deg, new cmd heading: 216.107849 deg. 2j=u Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J ;J |:J J J f<J f<J ;J ; DAT read: 21:24:49.8502 LVL= 13696, 24561, 20386, 28371, AGC= 63, IDX= 443,-0.09, 2.586, 1.627, 1.096, 1.996, PHS= 0.678,-0.321,-0.903, RAW= 68.7, 7.9, CAL= 69.8, 11.3, ROT= 80.2, -11.3 % Ygot valid direction response: 21:24:49.8502 LVL= 13696, 24561, 20386, 28371, AGC= 63, IDX= 443,-0.09, 2.586, 1.627, 1.096, 1.996, PHS= 0.678,-0.321,-0.903, RAW= 68.7, 7.9, CAL= 69.8, 11.3, ROT= 80.2, -11.3 - PDAT read: Bearing 80.2, -11.3 (Local) 5 ~Local bearing/azimuth received: Bearing 80.2, -11.3 (Local) = DAT read: Range 10 to 50 : 317.3 m (Round-trip 423.1 ms) speed 0.0 m/s E ,DAT read: user:1742> M BDAT read: Tx time:21:24:50.9730 M $Ping request sent.M y )} I>Iy i} Iy y } Ed\?=P.?)} ceeI} M i} q?} y y u :publishing transmit ping timeI u Fpublishing direction and range infoy 9} 8*lȿ<)V/?$?yy y y y y )y Iy iy y y y y y )y Iy iy y y } Ed\?=P.?)y Iy iy y y y I H;w,SHA6N`@Y6n@62o96gz>y6H?@pM`?? z?צ?ɨ6N`@6C;6CyBBB\ImMb@Mb@Mb@iii i)iYm"~j?KMbymS#?m^mmrA i)mAImAiymAIoI"5٢ *=9TQ > G٣y  &<  > 5Nusing accuracyPremultiplier from config1U495:Y?U4Y5 i5vB]/%?]:]+]?5C5`;5;5Ĕ4a eAe0EkY]C}?k k keHA:kCBkCZkbϻ@"''F#Nꞈ/b@5":q@8*lȿ<)V/?$?Jkq?Rk*>)N[@"/HKNr@ƍy?K6ÿz?"kTD*kVBkU}?kEE 2kqCk{?kH& kCkBkU_@ addTargetRange:: Added new target pos. range: 317.299988 m, deltaT: 4.033570 s, deltaX: -0.600006 m, approachRate: -0.148753 m/s, rangeRepo size: 4  Added new target pos. range: 317.299988 m, bearing: 336.272670 deg, lat: 36.904329 deg, lon: -122.115884 deg, deltaT: 4.033570 s, deltaX: -0.600006 m, approachRate: -0.148753 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 317.30 m.BjJjM ProNav: ac range: 317.299988 m, nav range: 108.988441 m, bearing: 346.231931 deg, approach rate: 0.000000 m/s, LOS rate: 0.228781 deg/s, cmd heading: 216.107855 deg, new cmd heading: 216.445824 deg. 2jIUHeadingCmd: 3.777692 target range: 317.299988 and range: 317.30 m. jUq@jQjQjQiQhYhYhYh]QBfafafarfs@bf`$?ɛM)BML QUXIQ UjɚQiQIU4=I]Y i]Y;iҜ)q@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:24:50.9722 *F?2F:FBF05JFG= GE rAGA G B O% >V0Bw,8. IA:p`@Y:&n@:N9:>y:H৉ƿ? `@@6@? ?˭?(?ɨ:p`@:ۊ;:ÐCyFBF:IIRFIRt5٢Z( Zx=9^ʻQ ^?`` bG٣`ybo< f? jNusing accuracyPremultiplier from configdj49faX?n4Yf> ifvBtv+v?fCf3;f;;f2ʔ4| ~A~1E%Will construct direction to contact in vehicle frame from tetrahedron phase data.Zj15FNOT Ignoring new targets: 317.30 m.Bj=k;Jj=k;M ProNav: ac range: 317.299988 m, nav range: 109.149017 m, bearing: 346.302912 deg, approach rate: 0.505910 m/s, LOS rate: 0.223304 deg/s, cmd heading: 216.445826 deg, new cmd heading: 216.658455 deg. 2jM@zK :IK 9K K hK BK- rA:K- qAHa Ia  Ie IIe rBIe + =&Ia .Ia 6Ie <:Ie FiHw,J#IA^a@Y^?;o@^۠9^>y^HOx@?`Ͱ@/`" ? 3?`? ;?ɨ^a@^P;\ymBm(IIeI15٢y 8=96Q > G٣tAGys< > Nusing accuracyPremultiplier from config%49X?%4Y ivB!%c+-? D < <є41 UAU4EZjFNOT Ignoring new targets: 317.30 m.BjAo;JjAo;Will construct direction to contact in vehicle frame from tetrahedron phase data.M ProNav: ac range: 317.299988 m, nav range: 109.367386 m, bearing: 346.399731 deg, approach rate: 0.472715 m/s, LOS rate: 0.209172 deg/s, cmd heading: 216.658450 deg, new cmd heading: 216.948325 deg. 2jM<HeadingCmd: 3.786463 target range: 317.299988 and range: 317.30 m. jgUr@JJJ0JJ;Js:Jـ3JJY<JY<Jy;Jy;jAjAjAiAhIhIhIhIfQfQfQrfQbfU? iIqɛ*B HI ɚiI  /5=I Oi|;ic% )gUr@)*F5?2F1:F1BF1JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data.GU G GGi |uA Y |uAy oBBO%>"8Pw,p@IAy`BIMb@Mb@Mb@ )YZd;O?+y&1y~*?`A ;@)AIAyAIVI5٢N 1=9Q > G٣y > Nusing accuracyPremultiplier from config49X?4Y iuB*?:2&?!D;#; ڔ4 AZj)5FNOT Ignoring new targets: 317.30 m.Bj57;Jj57;M ProNav: ac range: 317.299988 m, nav range: 109.586670 m, bearing: 346.513518 deg, approach rate: 0.497068 m/s, LOS rate: 0.257412 deg/s, cmd heading: 216.948323 deg, new cmd heading: 217.288995 deg. 2jM0 sI %bɚ!i!I%f5=I-hi-Vy;i-!)-Ҷr@)1*F2F:FBFJFUWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IGt G B O >LVVw,hZIA2za@Y20 p@2Lݼ928[>y2H@_<`n7?Y M ` 7???@?ɨ2za@2;2CyR>BVIiZ>IZ> Z=Za=\^DAbWill construct direction to contact in vehicle frame from tetrahedron phase data.IfIf*5٢j n]=9nQ n>pp rG٣pyv = v> ~Nusing accuracyPremultiplier from configx49zX?4YzF izuB d% ?z1Dz;z;z4jB TA7E5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 317.30 m.BjM;JjM;] ProNav: ac range: 317.299988 m, nav range: 109.760406 m, bearing: 346.605474 deg, approach rate: 0.468459 m/s, LOS rate: 0.247557 deg/s, cmd heading: 217.288999 deg, new cmd heading: 217.564430 deg. 2j])IMC IMIIMDBII&II.II6IM3<:IM FBIJIRIZI+ =bI+ =jIÑT4*Fm?2Fi:FiBFuo0JFqG5G B)O]3>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. I g1\w,ZtIANb@YNyNH-@L?}'=ac@Y?{?w??ɨNb@Nx;NCyj$BnIMb@Mb@Mb@ )Y/$?:v?{Gzy&1?T<ףA Q@)zAIy\AInI."5٢Fs <=9NQ > G٣uAGyL; > Nusing accuracyPremultiplier from config49~X?4Y iuBA1?:m ?DD;D;4 A:EZjFNOT Ignoring new targets: 317.30 m.Bj%;Jj%;5 ProNav: ac range: 317.299988 m, nav range: 109.954765 m, bearing: 346.725053 deg, approach rate: 0.448915 m/s, LOS rate: 0.275706 deg/s, cmd heading: 217.564434 deg, new cmd heading: 217.922532 deg. 2j57=<=HeadingCmd: 3.803466 target range: 317.299988 and range: 317.30 m. j=ks@j9jAjAiAhAhAhIhMBfQfQfQrfYbf]`ܿ@ɛ+B* 隅I 'CɚiI5=Ii};ih)ks@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240692*FA2FA:FABFM0JFIGmGuqAGqGA BQ Om >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491728J J J J J e ;J bl:J J a @a @a @a @hcw,LIA $?I:[b@Y:zp@:%m9:7>y:Hg?⮿:z@ʛ? eL?`'?` ?ɨ:[b@:;:ÐCyjBjIII*5٢a V=9ϻQ >99 =G٣9yE < E> MNusing accuracyPremultiplier from configIU49MxX?U4YM'% iMuBQ}/ }?MUDM;M;M4 LAZjFNOT Ignoring new targets: 317.30 m.Bj;Jj; ProNav: ac range: 317.299988 m, nav range: 110.126671 m, bearing: 346.831036 deg, approach rate: 0.437392 m/s, LOS rate: 0.269239 deg/s, cmd heading: 217.922527 deg, new cmd heading: 218.239976 deg. 2j8< HeadingCmd: 3.809006 target range: 317.299988 and range: 317.30 m. j s@j j jihh9h9h9fAfAfArfAbfM@ɛ0k8 隽I ?wɚiI5=IXi;iK)s@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743179GZH) RH) H1 I1  I5 II5 BI1 &I1 .I1 6I5 A<:I5 FzK BoHK 9K K jK G B O >niw, *IA2Fb@Y2p@292>y2H3y?򷮿 '`#X??  ?@u?ɨ2Fb@2沊;2CyR~BRI)\ \``IjIj65٢vXȼ vM=9zlQ z> G٣y; > Nusing accuracyPremultiplier from config49X?4Y) iuB ?hD;a<4EWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998629ukB }xA=E 5$?I9ZjFNOT Ignoring new targets: 317.30 m.Bj;Jj ; ProNav: ac range: 317.299988 m, nav range: 110.312614 m, bearing: 346.945653 deg, approach rate: 0.394111 m/s, LOS rate: 0.242522 deg/s, cmd heading: 218.239980 deg, new cmd heading: 218.583246 deg. 2jp&<%HeadingCmd: 3.814997 target range: 317.299988 and range: 317.30 m. j%(t@j!jijiiqhqhqhqhyfyfyfyrfybf@@ɛ  4  .I  #ɚiI!6=IiD;iL")(t@)A*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:24:53.8000  TRx dataTimestamp_ set to:1736371494.956759 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252415GE G B! OE >&spw,IABb@YBp@Bt>9Bw>yBHഓ?DY`?@ơ?!? ?ɨBb@B!;BCyN~BNI-Mb@Mb@Mb@))) )))Y-bX9?T㥛 ?y&1|y-E6?-=-`-A -$@)-QAI-A)y-AIE~IEE)5٢U UE=9] Q ]>YY eG٣evAGye < e> uNusing accuracyPremultiplier from configiu49mvX?}4Ym. imvB}6?}:}}?mzDm;m;m4 AZjFNOT Ignoring new targets: 317.30 m.BjW;JjW; ProNav: ac range: 317.299988 m, nav range: 110.479080 m, bearing: 347.063415 deg, approach rate: 0.500884 m/s, LOS rate: 0.353802 deg/s, cmd heading: 218.583252 deg, new cmd heading: 218.936000 deg. 2jr<HeadingCmd: 3.821154 target range: 317.299988 and range: 317.30 m. jʍt@jjjihhhhfBfffrfbf| @ɛ%G  .I   ɚiIiI6=Iiik*)}ʍt@)EUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499192*Fu?2Fq:FqBFuP5JFqJJJJJ;Jt:JJ 9I=gGMGU?GU>G BO=r>vw,IAJb@YJq@JZ9J>yJH`?ۣ௱,H?`>?&?!?ɨJb@JE;HfWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.753874y~BIII?15٢U|# U>=9]Q ]>YY eG٣aye; e> mNusing accuracyPremultiplier from configi49m>bX?4Ym3 tIimvBk?mDmT - BDAT read: Tx time:21:24:54.9231 - $Ping request sent.-  ^direction in FSK: [-0.145880,0.393586,0.907640] :publishing transmit ping time)  Fpublishing direction and range infoy9}H-¿6g0?~ %b ?y}Cy}F}v }2_)}3pI};i}$F?}Т} K}?}%= }?)}|٠=I}?i}|٠yy}#v?jhd`Uֵ?)}RI}鮽i}~?}yy :publishing transmit ping time)  Fpublishing direction and range infoy9}H-¿6g0?~ %b ?yyyyy y)yIyiyyyyy y)yIyiyyy}#v?jhd`Uֵ?)yIyiyyyy|w,yIAyi%=I%= -p=-=Mb@Mb@Mb@ )YA`"? ףp= ?:v?y9?Q=T<+A ;@)AIy\AII15٢o >=9Q > G٣y  > =Nusing accuracyPremultiplier from config1=495NX?=4Y5w9 i5(vBE:?E:EkE?5D5;5;5 4I UAUEEk9v?k{s k k,fIA:kCBktCZkl@"!G& 3_@Qq@H-¿6g0?~ %b ?Will construct direction to contact in vehicle frame from tetrahedron phase data.Jk~?Rk*bW@rZ"?LMjr@+?Btih?"k*kBkglw?kJ+y 2kCkkJ+y kCkPBk@ addTargetRange:: Added new target pos. range: 317.100006 m, deltaT: 4.031314 s, deltaX: -0.199982 m, approachRate: -0.049607 m/s, rangeRepo size: 4 M Added new target pos. range: 317.100006 m, bearing: 341.343682 deg, lat: 36.904329 deg, lon: -122.115966 deg, deltaT: 4.031314 s, deltaX: -0.199982 m, approachRate: -0.049607 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 317.10 m.BjUJjQ ProNav: ac range: 317.100006 m, nav range: 112.656876 m, bearing: 343.719542 deg, approach rate: 0.000000 m/s, LOS rate: 0.286536 deg/s, cmd heading: 219.324396 deg, new cmd heading: 219.694258 deg. 2jHeadingCmd: 3.834388 target range: 317.100006 and range: 317.10 m. jfu@jjjihhhhBfffrfs@bf5[?ɛ5*B5B? 15FI9 =ɚ9i9I=`6=IEiEiʑ;iM/)Q)Mfu@)I*F?2F:FBF01JFGO:GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J ;J u:J 3J 9 IA w,dXJA6"c@Y6Aq@6-96>y6H` ?U|c?@?R?`?ɨ6"c@6;6Cyr~BrIIz|Izb(5٢E = Mj=9M|Q M?QQ UG٣UwAGy} *< }> Nusing accuracyPremultiplier from config49A?X?4Y> iщw,w/)JAV+7c@YVUq@VL89V.>yVH@N? @ rI?G?M? ޙ?ɨV+7c@V8;VCyfBfIIvmIv!5٢ .= O=9 ۻQ  > G٣ynG; > Nusing accuracyPremultiplier from config49-X?4YJC iUvB?D;;D4lB 'AHEZjFNOT Ignoring new targets: 317.10 m.Bj;Jj;MWill construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 317.100006 m, nav range: 112.938515 m, bearing: 343.958242 deg, approach rate: 0.376540 m/s, LOS rate: 0.318221 deg/s, cmd heading: 220.024968 deg, new cmd heading: 220.409449 deg. 2jdZ< $?IeHeadingCmd: 3.846871 target range: 317.100006 and range: 317.10 m. je!3v@jijjihhhhffafirfibfmB?ɛq7 隽I QɚiIĝ6=Ieim;im-j)m!3v@)i*F?2F:FBFJFGSGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.kw,CJA24Tc@Y2rq@2r0G92>y2H@}`?N{ d Jl? ? ?0?ɨ24Tc@2c;2Cy>.BBI)D DFAFAMb@Mb@Mb@ )Y~jt?&1?y&1?y;?=`e<A @)QAIAy=AI-TI-5٢== =G=9E Q E>AA MG٣IyM]; M> ]Nusing accuracyPremultiplier from configQ]49UHX?e4YUH iUovBe}=?e:ee?UDUv;U;U3 4i uAqZjFNOT Ignoring new targets: 317.10 m.Bj%;Jj%;U ProNav: ac range: 317.100006 m, nav range: 113.085625 m, bearing: 344.086504 deg, approach rate: 0.362691 m/s, LOS rate: 0.315812 deg/s, cmd heading: 220.409453 deg, new cmd heading: 220.793735 deg. 2jUX<]HeadingCmd: 3.853578 target range: 317.100006 and range: 317.10 m. j]v@jYjYjYiYhahahaheBfififirfbf 3?ɛ)BfC: 蒾I ¼ɚiI6=I ~i i pP{) v@)*F?2F:FBFo0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJ ;Jq:Jـ3J $?IGlSG B O >iw,G\JA6Kc@Y6q@6 J96$>y6HU?֪`NE?@>??ϓ?ɨ6Kc@6j;6CyBHBBIIJ|IJb(5RWill construct direction to contact in vehicle frame from tetrahedron phase data.٢V= VT=9ZQ Z>XX ^G٣^xAGy5)< 5> =Nusing accuracyPremultiplier from config9E49=k X?E4Y= N i=vBIMM?=D= ;=G ;=1'4Q UEAeKEZjFNOT Ignoring new targets: 317.10 m.Bj;Jj; ProNav: ac range: 317.100006 m, nav range: 113.233475 m, bearing: 344.215746 deg, approach rate: 0.384372 m/s, LOS rate: 0.335555 deg/s, cmd heading: 220.793733 deg, new cmd heading: 221.180945 deg. 2jIf<HeadingCmd: 3.860336 target range: 317.100006 and range: 317.10 m. jw@jjjihhhhfffrfbf@H?ɛ/ sI ļɚiI|6=IiiX)w@)HI III&I.I6I<:I F*Fu?2Fq:FqBF}/2JFyzK BoIK ]9K K mK RK% ?JK%?GMlG BO5->eWill construct direction to contact in vehicle frame from tetrahedron phase data. I w,vJA2c@Y2Jr@2N925!>y2H@A?2?ɿ?m??ɨ2c@2>;2CyBqBBI Mb@Mb@Mb@    ) Y 7A`?(\µ?I +?y 6? = 9< rA @) v@I zA y AI}I}-5٢= ==9\Q > G٣y@< > Nusing accuracyPremultiplier from config49W?4YhS ivB7?:?DD;;z.4 ALEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 317.10 m.Bj;Jj;  ProNav: ac range: 317.100006 m, nav range: 113.387627 m, bearing: 344.344762 deg, approach rate: 0.369277 m/s, LOS rate: 0.308644 deg/s, cmd heading: 221.180950 deg, new cmd heading: 221.567468 deg. 2j S< HeadingCmd: 3.867082 target range: 317.100006 and range: 317.10 m. jE~w@jjjihhhhBff!f!rf!bf%`@ɛ](B]n Y]`IY eIƼɚaiaIeuY6=Impim%H;im)mE~w@)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:FBF_5JF)Ž= ېCGvA YvAyBG|GBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.a ia m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.432343 $?I gw,ᛐJAy~B~8Ii!>Ip< = =II)5٢%> %Q=9-Q ->)) 5G٣1y5 5> ENusing accuracyPremultiplier from configAM49EW?M4YEsX iEvBIIM?EDEq:E:ER54Y ]A]OEZjFNOT Ignoring new targets: 317.10 m.Bj;Jj; ProNav: ac range: 317.100006 m, nav range: 113.532913 m, bearing: 344.465598 deg, approach rate: 0.372800 m/s, LOS rate: 0.309663 deg/s, cmd heading: 221.567471 deg, new cmd heading: 221.929509 deg. 2jT<HeadingCmd: 3.873401 target range: 317.100006 and range: 317.10 m. jw@jjjihhhhfffrfbf`3@ɛQ% \*I ǼɚiI(6=I9i_0;i ď)w@) *F?2F:FBFB5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.683645H.>I IlIIBI&I.I6I%<:I FBIuȝCJIuȝCRIqZIu* =bIu* =jIu;5G G B O >zK JK ػ9K K nK 1w,]ªJA^d@Y^r@^'Z9^'>y^H@o T?eW`L?A?`?#?ɨ^d@^7؊;^ÐCyfBfPIIroIr"5٢v7= zK=9zQ z>|| ~G٣~yAGyf< >  Nusing accuracyPremultiplier from config 49 fW?4Y ] i vB?? !D * ; m ; V<4! %4A!ZjIMFNOT Ignoring new targets: 317.10 m.BjU;JjU;e ProNav: ac range: 317.100006 m, nav range: 113.679939 m, bearing: 344.589847 deg, approach rate: 0.366172 m/s, LOS rate: 0.309044 deg/s, cmd heading: 221.929512 deg, new cmd heading: 222.301771 deg. 2jeT@ u$?IqJJ JJJ;JYk:JJJMw,JA6d@Y6r@6Cb96+>y6HxU`u? Exu+? D?`7P??ɨ6d@6CC;6CyRBRnI5Mb@Mb@Mb@111 1)1Y5Gz?I +?I +?y50?594=15\ A 5$@)5`@I5A1y1IMfIM5٢]= ]D=9exQ e>aa mG٣iymEI< m> uNusing accuracyPremultiplier from configq49uW?4Yub iuvB1?:n?u4DuM ;u;uC4mB sAREZjFNOT Ignoring new targets: 317.10 m.Bj|;Jj|; ProNav: ac range: 317.100006 m, nav range: 113.839653 m, bearing: 344.710010 deg, approach rate: 0.382808 m/s, LOS rate: 0.287608 deg/s, cmd heading: 222.301771 deg, new cmd heading: 222.661751 deg. 2jbE<HeadingCmd: 3.886181 target range: 317.100006 and range: 317.10 m. j/x@jjjihhhhBfffrfbf@~h @ɛ&B 7=I \ȼɚiI5=Ihii#C)/x@)*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.439442 iIqG(GABIOmV>Cw,wJA.Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: 21:24:57.7485 LVL= 14512, 30193, 24434, 28115, AGC= 64, IDX= 424,-0.15, 2.599, 1.292, 1.031, 1.779, PHS= 0.908,-0.440,-0.751, RAW= 79.8, 3.7, CAL= 84.4, 1.7, ROT= 65.6, -1.7 NYgot valid direction response: 21:24:57.7485 LVL= 14512, 30193, 24434, 28115, AGC= 64, IDX= 424,-0.15, 2.599, 1.292, 1.031, 1.779, PHS= 0.908,-0.440,-0.751, RAW= 79.8, 3.7, CAL= 84.4, 1.7, ROT= 65.6, -1.7 RPDAT read: Bearing 65.6, -1.7 (Local) R~Local bearing/azimuth received: Bearing 65.6, -1.7 (Local) ZDAT read: Range 10 to 50 : 315.9 m (Round-trip 421.2 ms) speed 0.1 m/s ^,DAT read: user:1744> ^BDAT read: Tx time:21:24:58.8731 b$Ping request sent.byH1`֡?<`(4z?(?`m?`Zz?ɨSe@w;Cy5B5I)9 9EAEAIMiIM5٢]k> ]J=9]wQ e>aa eG٣aym< m> uNusing accuracyPremultiplier from configq}49utW?}4Yutg iuwB?uFDuz:u:uJ4 AHI III+BI&I.I6I<:I Fk.]n?k.IK| k, k. 7JA:k.CBk.ۜCZk.>".H pEn`orW:V@ifr@.{:[?]+ c?Jk.@Rk.*?*.EhQ@Ħ;!@tInw,7UJA2y2H?N5@#4@3?`{"?f?"s?ɨ29A EG٣EzAGyEGt< M>mWill construct direction to contact in vehicle frame from tetrahedron phase data. }Nusing accuracyPremultiplier from configy49}ڛW?4Y}ul i}6wB)?:?}YD};}0;}R4 AUEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 315.90 m.Bj%;Jj-;5 ProNav: ac range: 315.899994 m, nav range: 114.179970 m, bearing: 344.950849 deg, approach rate: 0.420926 m/s, LOS rate: 0.279575 deg/s, cmd heading: 223.041767 deg, new cmd heading: 223.413439 deg. 2j=?<=HeadingCmd: 3.899300 target range: 315.899994 and range: 315.90 m. j="y@jjjihhhhQBfffrfbf ?ɛE$BE AEKw,KAb;'f@YbEt@b9bM1>ybH%?@wFc@#??c? u?ɨb;'f@b1;bCyQBIIQIT5٢%a;> %u=9%3Q %?)) -G٣)y5< 5? =Nusing accuracyPremultiplier from config9E49=W?E4Y=o i=IwBIMhM?=gD=;=y;=X4UnB UAUXEZjFNOT Ignoring new targets: 315.90 m.Bjz;Jjz; ProNav: ac range: 315.899994 m, nav range: 114.309120 m, bearing: 345.037406 deg, approach rate: 0.403483 m/s, LOS rate: 0.270110 deg/s, cmd heading: 223.413439 deg, new cmd heading: 223.672815 deg. 2j_9<HeadingCmd: 3.903827 target range: 315.899994 and range: 315.90 m. jMy@jjjihhhhfffrfbf@5?ɛVq =I 5ȼɚiI!4=IhGivZ;i) My@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996318E-B=jH%<bH!H)I) I-II-gBI)&I).I)6I-I<:I- F*FE?2FA:FABFAJFAzK K K K pK G G B O >=w,h#/KA6Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250557 \I`bf@Ybht@bă9b!6>ybH @?`߯@`<@r?u? ?n?ɨbf@bB;bCJK3 K.KK"KJlJnJlJlJlJnb:JlJlJlJlJn?;Jn?;ybBIi =I II MG٣IyU;< U> eNusing accuracyPremultiplier from configY49]vW?4Y]u i]hwB?]}D];];]a4 ]AZEZj FNOT Ignoring new targets: 315.90 m.Bj ;Jj;M ProNav: ac range: 315.899994 m, nav range: 114.514969 m, bearing: 345.176307 deg, approach rate: 0.383026 m/s, LOS rate: 0.257989 deg/s, cmd heading: 223.672808 deg, new cmd heading: 224.088753 deg. 2je1Oz@jijijiiihihihqhqfqfqfyrfybfDV?ɛ#Bx P=I EƼɚiIYG3=IwiM;i4o)>Oz@)  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499814E% =*F 2F :F BF JF GGGGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752612BO?}w,PKA $?I g%g@Y%du@%q.9%=>y%HAt?@v@OL?°?@Vt? kc?ɨ%g@%+*;%Cy=B=IMb@Mb@Mb@ )Yx&1?V-Mbp?y!?m;A @)I3Ay\AI I 4٢= =9wQ >!! %G٣-{AGy-= 5> =Nusing accuracyPremultiplier from config1E495aW?E4Y5>z i5ywBE8"?M:M5"M?5D5o;5;5Gj4Q U`AU]EZjyFNOT Ignoring new targets: 315.90 m.Bj';Jj'; ProNav: ac range: 315.899994 m, nav range: 114.713753 m, bearing: 345.292850 deg, approach rate: 0.421716 m/s, LOS rate: 0.246815 deg/s, cmd heading: 224.088753 deg, new cmd heading: 224.437772 deg. 2jc)<HeadingCmd: 3.917178 target range: 315.899994 and range: 315.90 m. j z@jjjihhhhԀBfffrfbf@ ?ɛ"BB ?>I żɚiIsx2=IlivD;i$k) z@)EE*E "E Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005335*F92F9:F9BFAJFAH />I  I @II BI ) =&I .I 6I /<:I FzK jIK +9K K qK RK JK ?G} GY By O >aw,)mKAzBh@Yz`v@z9zDR?>yzHAy?t@h@(f? ʹ?@?E`?ɨzBh@z;zCy B 2IIKI5٢->> -D=95:Q 5>11 =G٣9y=< => MNusing accuracyPremultiplier from configAM49EOW?U4YEA~ iEwBQU!U?EDE;E;Eq4]oB ]Ae`EWill construct direction to contact in vehicle frame from tetrahedron phase data. $?Ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.261873ZjFNOT Ignoring new targets: 315.90 m.BjO;JjO; ProNav: ac range: 315.899994 m, nav range: 114.882988 m, bearing: 345.393477 deg, approach rate: 0.407333 m/s, LOS rate: 0.241843 deg/s, cmd heading: 224.437776 deg, new cmd heading: 224.739209 deg. 2j%<J J J J J J `:J J J J J Y;J Z;MHeadingCmd: 3.922439 target range: 315.899994 and range: 315.90 m. jM> {@jQjQjYiYhhhhff!f)rf1bf]@@ɛae8 imy>Ii müɚiiiImP1=Iwie:;iB`)> {@)*F 2F :FBFJFGلyGBO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507863w,;KA6h@Y6w@6X96mA@>y6H`?@,+ `e]??#?^?ɨ6h@6i;6CyNBRII5Mb@Mb@Mb@111 1)1Y5333333?:v~jty5?5Խ5D5A 1)5v@I11y5AI}RI}5٢= E=99Q > G٣y< > Nusing accuracyPremultiplier from config49j=W?4Y iwB?:%?DK;I;x4  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 315.90 m.Bjy;Jjy;  ProNav: ac range: 315.899994 m, nav range: 115.057343 m, bearing: 345.484481 deg, approach rate: 0.419008 m/s, LOS rate: 0.218369 deg/s, cmd heading: 224.739206 deg, new cmd heading: 225.011803 deg. 2j <HeadingCmd: 3.927197 target range: 315.899994 and range: 315.90 m. j1W{@jjjihhh!h%Bf!f!f)rf)bf-@ɛ]!B]i e:CIa e6¼ɚaiaIe0=Imim"(5;imwK)u1W{@)q*F2F:FBF0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763177GlG?G?GBO>w,4KAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015986>i@Y>Cw@>d9>z@>y>HWU:? %`KE0`/@??@V?`^?ɨ>i@>؋;`` bG٣b|AGyf< f> jNusing accuracyPremultiplier from confighn49j-W?n4Yj ijwBpr$r?jDj ;j~ ;j_4t vK AvcEZj%FNOT Ignoring new targets: 315.90 m.Bj%|;Jj%|;5 ProNav: ac range: 315.899994 m, nav range: 115.214401 m, bearing: 345.567703 deg, approach rate: 0.417240 m/s, LOS rate: 0.220785 deg/s, cmd heading: 225.011799 deg, new cmd heading: 225.261123 deg. 2j5<=HeadingCmd: 3.931548 target range: 315.899994 and range: 315.90 m. j=}{@j9jAjAiAhAhAhIhIfIfIfIrfQbfU @ZHYRH]?AHaIa IeIIeBIa&Ia.Ia6Ie=<:Ie Fɛ!%D !%>I! -ɚ)i)I-0=I59i5C.;iU9)U}{@)Y*F2F:FBF1JFzKRIKh9KKrKBKqA:KrAGlQGBOE> $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.268153kw,KAy~ЀB~oIMb@Mb@Mb@ )YbX9?Pn~jtyE?ļAA @)@IAyAIMI5٢3= ;=9Q > G٣y > Nusing accuracyPremultiplier from config49W?4Yq iwB?:'?D!;;4  AG Y y ;B5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:21:25:01.6969 =TRx dataTimestamp_ set to:1736371503.020803Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.521114ZjFNOT Ignoring new targets: 315.90 m.BjW;JjW; ProNav: ac range: 315.899994 m, nav range: 115.401566 m, bearing: 345.658859 deg, approach rate: 0.387971 m/s, LOS rate: 0.188649 deg/s, cmd heading: 225.261128 deg, new cmd heading: 225.534149 deg. 2jw<HeadingCmd: 3.936313 target range: 315.899994 and range: 315.90 m. j{@jjjihhhhBfffrfbf^v @ɛAe`ʖ im>Ii mGɚiiiIm /=Iu&3iu’&;i}O){@)*F}?2F:FBF0JF I G dL Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773010JM JM JM 1JI JM =;JM c:JM 3JI a] @ae @ae @ae @G B O >w,rKA6j@Y6~x@6Ђ96E>>y6H Zdԯ?c`@?@W??b?ɨ6j@6b;6CyB߀BBI Fa=DHHIJQIJT5٢RȨ= V]=9V;Q V>XX ^G٣\yfxZ= j> Nusing accuracyPremultiplier from configI49M# W?4YM iMwB@&?MDMϺI bɚiI0.=I{ix!;i):3|@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 21:25:01.6969 LVL= 16112, 28913, 25330, 28307, AGC= 63, IDX= 422,-0.18, 0.224,-1.362,-1.501,-0.890, PHS= 1.202,-0.425,-0.614, RAW= 84.6, -1.9, CAL= 92.1, -7.4, ROT= 57.9, 7.4 Ygot valid direction response: 21:25:01.6969 LVL= 16112, 28913, 25330, 28307, AGC= 63, IDX= 422,-0.18, 0.224,-1.362,-1.501,-0.890, PHS= 1.202,-0.425,-0.614, RAW= 84.6, -1.9, CAL= 92.1, -7.4, ROT= 57.9, 7.4 PDAT read: Bearing 57.9, 7.4 (Local) ~Local bearing/azimuth received: Bearing 57.9, 7.4 (Local) DAT read: Range 10 to 50 : 314.7 m (Round-trip 419.7 ms) speed 0.0 m/s ,DAT read: user:1745> BDAT read: Tx time:21:25:02.8231 $Ping request sent.Ep Eb)EnIE?iE#ۙ?EپHaIa IeIIeBIa&Ia.Ia6Ie6<:Ie FBI!JI!RI!ZI%) =bI!jI% 4E/E?E E?)E AIEY?iE A>AAE?:?nf|⿴ )EOIEs=iE1j?EAA:publishing transmit ping timeعFpublishing direction and range infoA9EٵaZ\c?jV?yAAAA A)AIAiAAAAA A)AIAiAAAE?:?nf|⿴ )AIAiAAAAEy=*F) 2F) :F) BF5 l0JF1 G9  G= rAzK :IK K K sK U}*  } $?Iy  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:25:02.8223 JQJUBAGmNGQBO?w,KAQxk@Yy@р9M<>yH/?`n? ~? [?@e?ɨQxk@;CyBIuMb@Mb@Mb@qqq q)qYuʡE?7A`¿Q롿yu-?uu\uA u@)u@Iu3AqyuAI>I 5٢<  =9:Q > G٣}AGy< > Nusing accuracyPremultiplier from config49V?4Y iwwB5?:'?DN;M;4oB P AgEkPN_?kx k k#KA:kYCBkCCZk?"o)qJ5O@Cs@ٵaZ\c?jV?Jk1j?Rk*!ŗ}:@82@os@ΘGܵ?Lb-?lU?"kdA*kAkfmQ_?k}0S 2kCkglw?kkklBkC @M addTargetRange:: Added new target pos. range: 314.700012 m, deltaT: 4.036077 s, deltaX: -1.199982 m, approachRate: -0.297314 m/s, rangeRepo size: 4  Added new target pos. range: 314.700012 m, bearing: 34.615281 deg, lat: 36.904198 deg, lon: -122.115966 deg, deltaT: 4.036077 s, deltaX: -1.199982 m, approachRate: -0.297314 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 314.70 m.BjJj ProNav: ac range: 314.700012 m, nav range: 101.711685 m, bearing: 343.846451 deg, approach rate: 0.000000 m/s, LOS rate: 0.218517 deg/s, cmd heading: 225.781274 deg, new cmd heading: 226.154136 deg. 2jHeadingCmd: 3.947134 target range: 314.700012 and range: 314.70 m. jٝ|@jjjihhhhBfffrf@3s@bfN[?ɛ)-@y9 15>I1 5`ɚ1i1I={-=I=܁i=;iE>[)Eٝ|@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.Ee<*F2F:FBFo0JFG&GQ Bi O >w,TLA2k@Y2z@2g928>y2H?;4&k(?(m?/?`Qj?ɨ2k@2o;2C PIPyVBVIIb1Ib&5٢ '=  j=9 uQ  > G٣y< > %Nusing accuracyPremultiplier from config!-49%V?-4Y% i%nwB)5&'5?%DEWill construct direction to contact in vehicle frame from tetrahedron phase data.% ;%c;%4MpB U AUjEmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 314.70 m.Bj;Jj; ProNav: ac range: 314.700012 m, nav range: 101.853798 m, bearing: 343.930665 deg, approach rate: 0.455348 m/s, LOS rate: 0.269457 deg/s, cmd heading: 226.154134 deg, new cmd heading: 226.406423 deg. 2j8<JJJ0JJ];J e:Jـ3JHeadingCmd: 3.951538 target range: 314.700012 and range: 314.70 m. j|@jjjihhhhfffrfbf ?ɛy}A < y}>Iy  ɚiI0,=I9i;i)|@)EE*E"E*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.jH <bH <H 0>I  I II LBI ( =&I .I 6I 1<:I FG5 xG zKMqLKM9KIKMtKMBiO> w,;-LAF{l@YFz@F^9FE8>yFH @VD?򶴿US`A@]?(/? ?k?ɨF{l@F<;Dy``IjIj_49r;Q r>tt vG٣tyv< z> ~Nusing accuracyPremultiplier from configx49zV?4Yz~ izbwB& ?zDz ;z-;z4qB  AmEZj1=FNOT Ignoring new targets: 314.70 m.BjE;JjE;U ProNav: ac range: 314.700012 m, nav range: 102.043716 m, bearing: 344.044359 deg, approach rate: 0.406729 m/s, LOS rate: 0.243034 deg/s, cmd heading: 226.406428 deg, new cmd heading: 226.746871 deg. 2jU&<]HeadingCmd: 3.957479 target range: 314.700012 and range: 314.70 m. e$?Ieg j]XG}@jijijiiihihihqhyfyffrfbfE?%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245301ɛ!BK; 隅>I ɚiI1+=I\iķ;i)XG}@)*F?2F:FBFP5JF"G=G >GGyBO^> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496447~w,aGLAyBIMb@Mb@Mb@ )Y"~?K7A{Gzy? #A p@)IAyzAII4٢"  <9Q > G٣ ~AGy   > Nusing accuracyPremultiplier from config49dV?4Y1 iWwB%?%:%R$%?%D;@;4) - A1ZjQ]FNOT Ignoring new targets: 314.70 m.Bj];Jje;m ProNav: ac range: 314.700012 m, nav range: 102.214127 m, bearing: 344.153525 deg, approach rate: 0.389972 m/s, LOS rate: 0.249401 deg/s, cmd heading: 226.746872 deg, new cmd heading: 227.073818 deg. 2ju)+<}HeadingCmd: 3.963186 target range: 314.700012 and range: 314.70 m. j}֤}@jyjyjihhhhBfffrfbfN?ɛ; X>I %`ɚiIA*=Izi ;iV)֤}@) u$?Iq*Fu?2Fq:FyBF}3JFyMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.748802JJJ1JJu;J]:J3JGUG) B1 OU >w,DaLA:wm@Y:-{@:r9:64>y:Ht`?@󇵿@`t?`nM?`w?Ar?ɨ:wm@:8;8NWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.000313yVBVII^5I^5٢n? n^=9n<4pp rG٣pyv2@= v> zNusing accuracyPremultiplier from configxH1>I I!II`BI) =&I.I6I?<:I F49z'V?4Yzc izMwB?#?z3Dz\I1 =ɚ9i9I=(_)=IE<+iEx;iE Ƽ)Ey}@)I*F?2F:FBF_0JFGGGqAzKJKh9KKuKh4C+ ydR@4)$RK?JK?GBOe> YIYUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.2525355w,{LA @2n@Y2`=|@2Ue922>y2H`~D`?@a`ѽ?`ҭ?`I+?`#w?ɨ2n@2;0yRBVIEMb@Mb@Mb@AAA A)AYE5^I ?V-ktyE?EE 0ErA E@)AIAAyAI]LI]5٢m>ż mB=9m;Q m>qq uG٣qy}i< }> Nusing accuracyPremultiplier from config49V?4YQ i@wBS?:8!?DD;{;c4 B AZjFNOT Ignoring new targets: 314.70 m.Bj;Jj; ProNav: ac range: 314.700012 m, nav range: 102.514763 m, bearing: 344.358228 deg, approach rate: 0.405648 m/s, LOS rate: 0.283438 deg/s, cmd heading: 227.352313 deg, new cmd heading: 227.687019 deg. 2jB<HeadingCmd: 3.973888 target range: 314.700012 and range: 314.70 m. j/T~@jjjihhhh߀Bfffrfbfླྀ@ɛ"B}; =>I )ɚiIn(=Iio;igKü)/T~@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506026*F2F:FBFJFG GGW G B O > M $?II e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757085J J J 0J J ;J Y:J ـ3J $w,LAfzn@Yf0|@f9zX9f%0>yfH@?@k  ? ? ?{?ɨfzn@fg;fCy~ۀB~~IIJI:5٢5↽ 5N=9=pAA EG٣EAGyM< M> UNusing accuracyPremultiplier from configQ]49U;V?e4YU iU4wBae e?USDUK,;UK,;UU•4mrB m AusEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 314.70 m.Bj};Jj};- ProNav: ac range: 314.700012 m, nav range: 102.664291 m, bearing: 344.463768 deg, approach rate: 0.373349 m/s, LOS rate: 0.263134 deg/s, cmd heading: 227.687020 deg, new cmd heading: 228.003177 deg. 2j54<]HeadingCmd: 3.979406 target range: 314.700012 and range: 314.70 m. j]~@jYjYjYiahahahahafififirfibfuj@ɛw; X>I UɚiI'=I qi 8;i 6)-~@)1*F?2F:FBFJFGVGYBiOZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008521ZHyRH}AAHyIy I}'II}fBI}( =&Iy.I}5D6I}<:I} F++w,׮LAzK#NK+9KKvK BK$:K$ xI|y=ԀB=uIIM0IM5٢]  ]H=9]Q ]>aa eG٣aye m> uNusing accuracyPremultiplier from configi}49m^yV?}4Ym im'wByy}?mcDmm ;m ;myɕ4  A%Will construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:21:25:05.6462 5TRx dataTimestamp_ set to:1736371506.802767Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.265091Zji*Jq"Ju%=FNOT Ignoring new targets: 314.70 m.Bj;Jj; ProNav: ac range: 314.700012 m, nav range: 102.818230 m, bearing: 344.571848 deg, approach rate: 0.359416 m/s, LOS rate: 0.251968 deg/s, cmd heading: 228.003176 deg, new cmd heading: 228.326926 deg. 2j,< HeadingCmd: 3.985057 target range: 314.700012 and range: 314.70 m. j + @j j jihhhhfffrf!bf%@7{ @ɛ#Bcg; 隽>I SɚiI?'=Ii:io)+ @)*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512886G vżG B O >2w,LA>Fno@Y>}@>B9>,>y>H=?A@_ T@ ? P?w??ɨ>Fno@>'";>CyJ̀BJlI%Mb@Mb@Mb@!!! !)!Y%Gz?x&ly%p?%7%% A %b@)%@I%hA!y%@I5I5٢C A=9O G٣y= > Nusing accuracyPremultiplier from config 49hV? 4Yv iwB?:?tD_;;Е4 ) A%vEZjIMFNOT Ignoring new targets: 314.70 m.Bj]u;Jj]u;m ProNav: ac range: 314.700012 m, nav range: 102.961655 m, bearing: 344.693963 deg, approach rate: 0.358777 m/s, LOS rate: 0.305045 deg/s, cmd heading: 228.326927 deg, new cmd heading: 228.692756 deg. 2jmYQI CɚiIm^&=Iip):ig)s@) $?Ig*F?2F:FBF0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.767930"GG=Ge GA BI Oe >0;8w,/LA6o@Y6b}@6A996`+>y6Hϩ]?@|`4/?1&?C?`?ɨ6o@6;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.nDAT read: 21:25:05.6462 LVL= 15600, 32753, 23746, 32755, AGC= 65, IDX= 430, 0.18,-0.799,-2.522,-2.570,-1.936, PHS= 1.225,-0.539,-0.638, RAW= 87.3, -0.5, CAL= 94.6, -5.2, ROT= 55.4, 5.2 rYgot valid direction response: 21:25:05.6462 LVL= 15600, 32753, 23746, 32755, AGC= 65, IDX= 430, 0.18,-0.799,-2.522,-2.570,-1.936, PHS= 1.225,-0.539,-0.638, RAW= 87.3, -0.5, CAL= 94.6, -5.2, ROT= 55.4, 5.2 vPDAT read: Bearing 55.4, 5.2 (Local) v~Local bearing/azimuth received: Bearing 55.4, 5.2 (Local) ~DAT read: Range 10 to 50 : 314.1 m (Round-trip 418.9 ms) speed 0.0 m/s %,DAT read: user:1746> -BDAT read: Tx time:21:25:06.7732 -$Ping request sent.- G٣AGy`k< > Nusing accuracyPremultiplier from config497XV?4Y iwBb?D2;;Qؕ4 ~ AxEkBcp]?kB k@ kB)LA:kB CBkBCZkB3 o?"BQt}.$6ߖuH@$;TYs@Bao Y?OH1?JkB5@RkBT*BѪ5@BKN6V=@ps@B?"1??sɇ?"kBA*kBAkBt}]?kB#7 2kB-CkBhwn?kBaz kBCkB2BkB > addTargetRange:: Added new target pos. range: 314.100006 m, deltaT: 4.032106 s, deltaX: -0.600006 m, approachRate: -0.148807 m/s, rangeRepo size: 4  Added new target pos. range: 314.100006 m, bearing: 53.500772 deg, lat: 36.903974 deg, lon: -122.115529 deg, deltaT: 4.032106 s, deltaX: -0.600006 m, approachRate: -0.148807 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 314.10 m.BjJj ProNav: ac range: 314.100006 m, nav range: 75.599594 m, bearing: 8.996300 deg, approach rate: 0.000000 m/s, LOS rate: 0.305045 deg/s, cmd heading: 228.692751 deg, new cmd heading: 229.128125 deg. 2jHeadingCmd: 3.999040 target range: 314.100006 and range: 314.10 m. jF@jjjih h h h fffrfs@bf,+?ɛ$B/ 隭ם>I ƠɚiIv%=Io/io:i}9)F@)zKKKh9KKwKRK?JK? $?I*Fu?2Fq:FyBF}o0JFy=Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:JV:JJJ=[>w,?LAv:p@YvY~@vq,9v7$>yvHɃ?+ B``K?ˑ? |?@?ɨv:p@)%= ֐Cv;vC-G|uAA Y|uAyBE@MnByލBލPI%Will construct direction to contact in vehicle frame from tetrahedron phase data.UMb@Mb@Mb@QQQ Q)QYUNbX9?y&1V-yU%?U`eUU A U5@)U@IUQAQyU@Im"Im5٢> (=9;Q > G٣y Nusing accuracyPremultiplier from config498FV?4Y iwB%?:?DW;;4  A{EZj1UFNOT Ignoring new targets: 314.10 m.Bj];Jj];m ProNav: ac range: 314.100006 m, nav range: 75.846405 m, bearing: 9.141288 deg, approach rate: 0.560272 m/s, LOS rate: 0.328058 deg/s, cmd heading: 229.128121 deg, new cmd heading: 229.561662 deg. 2jm$aI ɚiI %=I%ti!i%'Ǽ)- 6@))*F?2F:FBF}0JF a Ia  Will construct direction to contact in vehicle frame from tetrahedron phase data.G- nG B O >Ew,EMAB`p@YB~~@B&9B#>yBHZv@@?R`P ? 9פ?_??ɨB`p@Bxʌ;BCy^B^AIib4=Ib< b=bp=If=Ifw 5٢d =9ɖ;Q ?    G٣ y5K; 5? =Nusing accuracyPremultiplier from config9E49=:V?E4Y= i=wBAEE?=D=:=:=;4  FAMB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 314.10 m.Bje;Jje; ProNav: ac range: 314.100006 m, nav range: 76.006958 m, bearing: 9.235382 deg, approach rate: 0.480242 m/s, LOS rate: 0.280856 deg/s, cmd heading: 229.561674 deg, new cmd heading: 229.843357 deg. 2j@<HeadingCmd: 4.011523 target range: 314.100006 and range: 314.10 m. jf^@jjijiiihqhqhqhqfyfyfyrfybf}@+?ɛ&B >I :ɚiI$$=Ibi%ni:i%ټ)%f^@)!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_5JFHI IIIGBI&I.I6Iz<:IFBIJIRIZI( =bI( =jIү4G a.ʼG B O > I zK jIK 59K K xK Lw,e2MABnp@YB$~@B9B #>yBH xa$? L;??`-G?>?ɨBnp@BH;BCy^BbDIIjHIjW5rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.239141٢vo< zL=9z;Q z>x| ~G٣~AGy< >  Nusing accuracyPremultiplier from config 49 +V?4Y  i wBP? D C: : (4%sB %3A%~E*J9"J=R=JMJMJIJIJM;JMZ:JIJIJM>@<JM?@<JM;JM;ZjFNOT Ignoring new targets: 314.10 m.BjA;JjA; ProNav: ac range: 314.100006 m, nav range: 76.209557 m, bearing: 9.354226 deg, approach rate: 0.532759 m/s, LOS rate: 0.311684 deg/s, cmd heading: 229.843351 deg, new cmd heading: 230.198930 deg. 2jU<HeadingCmd: 4.017729 target range: 314.100006 and range: 314.10 m. j=@jjjihhhhfffrfbf?ɛ'B%_ !%̅>I! %Ɲɚ!i)I-c$=I:i?:if)=@)*F?2F:FBF55JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491076G ޼G B O >Rw, @LMA6p@Y6@6"96I">y6H Dp?,<@? ?1(??ɨ6p@6;6Cy>B>1I=Mb@Mb@Mb@999 9)9Y=HzG?S㥛?ii mG٣iyu^;< u> }Nusing accuracyPremultiplier from configy49}V?4Y} i}wBq*?:B?}D}/;};}z4 AZjFNOT Ignoring new targets: 314.10 m.Bj;Jj; ProNav: ac range: 314.100006 m, nav range: 76.418617 m, bearing: 9.492735 deg, approach rate: 0.512784 m/s, LOS rate: 0.338807 deg/s, cmd heading: 230.198931 deg, new cmd heading: 230.613316 deg. 2jh<HeadingCmd: 4.024961 target range: 314.100006 and range: 314.10 m. j|̀@jjjihhhh'Bfffrfbf4?ɛ%(B- 15k> =$?I9IA ED7ɚAiAIE#=IMiIiM“)M|̀@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743295*F?2F:FBF_0JFGfG?G>GBOB> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995054H% 2>I!  I% II% .BI! &I! .I! 6I% <:I% FYw,I0fMAE*q@YE6I@E9EE}!>yEH`,?Vk`"[? {??%?ɨE*q@E;ECy]B].I)a aI}qI}#5٢: G=9];Q > G٣yt!< > Nusing accuracyPremultiplier from config49oV?4YV iwB?Dg;o;4tB AEZjq}FNOT Ignoring new targets: 314.10 m.Bj}Q;JjQ; ProNav: ac range: 314.100006 m, nav range: 76.624771 m, bearing: 9.629403 deg, approach rate: 0.482172 m/s, LOS rate: 0.318791 deg/s, cmd heading: 230.613305 deg, new cmd heading: 231.022198 deg. 2jZ<HeadingCmd: 4.032098 target range: 314.100006 and range: 314.10 m. j@jjjihhhhfffrfbf@ɛ=)B=|u AEd>IA MɚIiIIMqE#=IUiUu:iU\)U@)YEi*F2F:FBFJF"G=Gp= %$?I%gzKBoIK9KKyKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247135JIJMAAJUJUJQJQJUu;JUs:JQJQJUB<JUB<JUy;JUy;GG B OU >Q@_w,MAyvBv0IMb@Mb@Mb@ )YV-?X9v?~jtxyh1?}=Ļ A )I@y@IiI5٢S; J=9Q > G٣AGy > Nusing accuracyPremultiplier from config49qV?4YI i#wB2?: ?D;;4sB AEZj FNOT Ignoring new targets: 314.10 m.Bj 1;Jj1;% ProNav: ac range: 314.100006 m, nav range: 76.826477 m, bearing: 9.774718 deg, approach rate: 0.518798 m/s, LOS rate: 0.372775 deg/s, cmd heading: 231.022187 deg, new cmd heading: 231.456978 deg. 2j%<%HeadingCmd: 4.039686 target range: 314.100006 and range: 314.10 m. j-E@j)j)j)i)h)h)h1h5Bf9f9f9rf9bf="@]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499150ɛ( Tf>I 6ɚiI"=I }i i-n#)-E@)1*F?2F:FBF`0JF IG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751808)fw,ؙMA:q@Y:Ŭ@:ݼ9:>y:H@?`u2@@xP?5??@f?ɨ:q@:;8yFBF/IINuINH%5٢V V\=9VeXX ZG٣Xy^х< ^> fNusing accuracyPremultiplier from configdj49fU?j4Yf if,wBln n?fDf;f;fD 4p rApZj  FNOT Ignoring new targets: 314.10 m.Bjl;Jjl;% ProNav: ac range: 314.100006 m, nav range: 77.012550 m, bearing: 9.909405 deg, approach rate: 0.499853 m/s, LOS rate: 0.360939 deg/s, cmd heading: 231.456970 deg, new cmd heading: 231.860048 deg. 2j%w<-HeadingCmd: 4.046721 target range: 314.100006 and range: 314.10 m. j-~@j)j1j1i1h1h1h9h9f9f9fArfAbfM@ɛ}*B} y隅Nb>I ݕɚiIz"=I:"iiN#)~@)*F?2F:FBF0JFGGqAGrAGBO>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.003690ZHRHHI IIIBI&I.I6I<:I F  I zK5 k3IK5 h9K1 K5 zK5  (Rlw,}MA2q@Y2;@2̼92>y2H`?`N칿 -̾?*??`?ɨ2q@21;2CyBBB2IiF>IF4=bWill construct direction to contact in vehicle frame from tetrahedron phase data.bBDAT read: Rx Time:21:25:09.6295 fTRx dataTimestamp_ set to:1736371510.832513fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.256015IJnIJ."5٢rJ< rG=9r;Q r>tt vG٣tyzv < z> ~Nusing accuracyPremultiplier from configx49zU?4Yz iz4wB  ?zDzK ;z ;zk4tB AEJ%J%J!J!J%;J%V:J!J!J%A<J%A<J%e;J%e;MB*** querying acoustic contact ***jIjIZj9=FNOT Ignoring new targets: 314.10 m.BjM;JjM; ProNav: ac range: 314.100006 m, nav range: 77.216537 m, bearing: 10.056974 deg, approach rate: 0.493411 m/s, LOS rate: 0.356003 deg/s, cmd heading: 231.860060 deg, new cmd heading: 232.301590 deg. 2jRt<HeadingCmd: 4.054428 target range: 314.100006 and range: 314.10 m. j߽@jjjihhhhfffrfbf 4 @ɛ}+B(bi 隅0f>I ##ɚiIcE"=Ii(:i]3)߽@)EQEQ*F2F:FBFo0JFG GuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.507021Ge  GY Bi O >9sw,MABq@YB @B7{9Ba!>yBH `?`b<`?ܮ?@|?O?ɨBq@B;;BCy^Bb7IUMb@Mb@Mb@QQQ Q)QYU(\?~jt?Mbp?yUz4?U=U;UvA Q)QIU@QyUQ@Ie|Ieb(5٢u< }A=9}d;Q }> G٣AGy; > $?I Nusing accuracyPremultiplier from config49U?4Yp iCwB5?:O ?!Dx<f<4i mAqZjWill construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 21:25:09.6295 LVL= 20368, 31681, 21714, 29587, AGC= 66, IDX= 275, 0.14,-2.458, 2.780, 2.344, 2.490, PHS= 1.422, 0.336,-0.150, RAW= 72.4, -22.2, CAL= 86.4, -29.8, ROT= 63.6, 29.8 5Ygot valid direction response: 21:25:09.6295 LVL= 20368, 31681, 21714, 29587, AGC= 66, IDX= 275, 0.14,-2.458, 2.780, 2.344, 2.490, PHS= 1.422, 0.336,-0.150, RAW= 72.4, -22.2, CAL= 86.4, -29.8, ROT= 63.6, 29.8 =PDAT read: Bearing 63.6, 29.8 (Local) =~Local bearing/azimuth received: Bearing 63.6, 29.8 (Local) MDAT read: Range 10 to 50 : 339.1 m (Round-trip 452.2 ms) speed 0.4 m/s U,DAT read: user:1747> ]BDAT read: Tx time:21:25:10.7232 ]$Ping request sent.]??aƾ ?)%Iq?i%?FNOT Ignoring new targets: 314.10 m.Dҏ?q必q*ؿ)TI0B>iuE?:publishing transmit ping timeYFpublishing direction and range info9q?[#L`p?X?y )Ii )IiDҏ?q必q*ؿ)IiBjT;JjT;  ProNav: ac range: 314.100006 m, nav range: 77.429466 m, bearing: 10.215556 deg, approach rate: 0.441019 m/s, LOS rate: 0.327552 deg/s, cmd heading: 232.301591 deg, new cmd heading: 232.776018 deg. 2j`<HeadingCmd: 4.062708 target range: 314.100006 and range: 314.10 m. j@jjjihhhh Bfffrf1u@bf3?ɛ!-P )-l>I) -Kɚ1i1I5!=I5Li=a:i}zE)@)*F?2F:FBFm0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:25:10.7224 H 1>I  I II BI &I .I 4D6I <:I FGU 2G B! O= >yw,YMA574r@Y5w)@595X#>y5H`?@rhVQr^?@kҕ?S? )?ɨ574r@5q;5CyeBmLIIudIu5٢= ;=9P;Q > G٣y< > Nusing accuracyPremultiplier from config49cU?4Y iPwB ?5D::v4  AEk%9BN?k%}}? k! k%*MA:k%CBk%aCZk%yq@"%[z^@/#5]@<0?pr@%q?[#L`p?X?Jk%uE?Rk%*%Nx/65M`!H70Ӄs@%Ҍ-4}\ؿmw?"k%l*k%1k%uN?k%/W 2k%KCk%fmQ_?k!k%-Ck%Bk%R>addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 339.100006 m, deltaT: 3.782532 s, deltaX: 25.000000 m, approachRate: 6.609329 m/s, rangeRepo size: 4Zj!%FNOT Ignoring new targets: 314.10 m.Bj%T;Jj-T;5 ProNav: ac range: 314.100006 m, nav range: 77.646355 m, bearing: 10.376976 deg, approach rate: 0.570924 m/s, LOS rate: 0.423723 deg/s, cmd heading: 232.776016 deg, new cmd heading: 233.258909 deg. 2j=fI! %֐ɚ!i!I%ɰ!=I-7 i)i-V)5F@)1 $?I*F?2F:FBF2JFzK-.ELK- 9K)K-{K-GlL=G?G?Will construct direction to contact in vehicle frame from tetrahedron phase data.GBOe>JaKe3 Ke.-KaKa"KaJJJJJ;JS:JJJE<JE<J;J; PExceeded connect timeout, disconnecting.ɹw,= NAyrBrNI)x x|~AWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y9v?X9v? G٣y > Nusing accuracyPremultiplier from config497U?4YK i^wB5?:e ?HD;;&4  AEZjFNOT Ignoring new targets: 314.10 m.Bj%;Jj%;5 ProNav: ac range: 314.100006 m, nav range: 77.854240 m, bearing: 10.524191 deg, approach rate: 0.516999 m/s, LOS rate: 0.365138 deg/s, cmd heading: 233.258910 deg, new cmd heading: 233.699369 deg. 2j5z<=HeadingCmd: 4.078824 target range: 314.100006 and range: 314.10 m. j=@jAjAjAiAhAhAhIhMBfIfIfIrfQbfU`?ɛ,B@: >I dɚ i I  e!=I5D i1i5o)5@)9*F2F:FBFD5JF IgGBD- Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,CNA6r@Y6TU@6}96>y6H `4?ֺ@mV`r?qݔ?@?,?ɨ6r@6]g;6Cy>ÀBB`IIJWIJ5٢Rr= R^=9R&;Q V>TT VG٣VAGyZm< Z> bNusing accuracyPremultiplier from config\b49^uU?b4Y^ i^kwBdf f?^XD^:^:^-4]uB ] A]EZjFNOT Ignoring new targets: 314.10 m.Bj;Jj; ProNav: ac range: 314.100006 m, nav range: 78.042213 m, bearing: 10.657767 deg, approach rate: 0.488103 m/s, LOS rate: 0.346017 deg/s, cmd heading: 233.699376 deg, new cmd heading: 234.099132 deg. 2jwm<HeadingCmd: 4.085801 target range: 314.100006 and range: 314.10 m. jᾂ@jjjihhhhfffrfbf?ɛAEdY; IMD>II M1=ɚIiIIMJ!=IU iYi]r)eᾂ@)aWill construct direction to contact in vehicle frame from tetrahedron phase data.jH<bHH2>I III&I.I5D6I4<:I F*F?2F:FBF1JFGcGaByO^> I zK JK 9K K |K <|Xt:  57, = Will construct direction to contact in vehicle frame from tetrahedron phase data. w,Ͽ6NA*JR="J4=Vr@YVho@V"9V7h#>yVH ͔@?/黿~@? B?@l]? U?@Q?ɨVr@VF;TybπBboIIjGIj5٢rl= rF=9ri:Q r>tt vG٣tyz6; z> ~Nusing accuracyPremultiplier from config|49~EU?4Y~2 i~ywB   ?~kD~;~:~544 * A5B*** querying acoustic contact ***j1j1ZjAMFNOT Ignoring new targets: 314.10 m.BjU;JjU; ProNav: ac range: 314.100006 m, nav range: 78.252083 m, bearing: 10.806708 deg, approach rate: 0.531066 m/s, LOS rate: 0.375876 deg/s, cmd heading: 234.099133 deg, new cmd heading: 234.544746 deg. 2j<HeadingCmd: 4.093578 target range: 314.100006 and range: 314.10 m. j@jjjihhhhfffrfbf5'? nManaging dock network, ignoring radio surface power offɛls; P>I %@ɚ!i)Iu =I " ii*)@)1eG}vAA  YvAyB*FU?2FY:FYBF]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.G= lG B O >w,פPNA $?I $$Bs@YB-@B9B(>yBH@RzP?MA`!W?`{?`??ɨBs@B v;BCyRހBRI-eonly read 2 of 4 data items for bottom velocity. Device response is::BS, +708, +12,A  m@m m@m m@m  m@m IugIu5٢o= @=9;Q > G٣yg#< > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49U?4Y iwB+:r: ?~D9; >A:4  AZjFNOT Ignoring new targets: 314.10 m.Bj;Jj;  ProNav: ac range: 314.100006 m, nav range: 78.469406 m, bearing: 10.960965 deg, approach rate: 0.509091 m/s, LOS rate: 0.360356 deg/s, cmd heading: 234.544735 deg, new cmd heading: 235.006216 deg. 2j Ow<HeadingCmd: 4.101632 target range: 314.100006 and range: 314.10 m. j@@jjjihh!h)h)f)f1f1rf1bf= ?ɛYeD3; ae>Ia e~ЈɚaiiIm2k =Iu iqiư)u@@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002666J=J=J9J9J=;J=Y:J9J9aU@aU@aU@aU@*F-?2F1:F1BF5_0JF1G 1|GBOI>H I  I II BI &I .I 6I 8<:I FBIQ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254698JIQRIQZIQbIQjIU3 w, zjNARqes@YR€@RІ9R .>yRH@U0h?˾`@?ِ?֥? ވ?ɨRqes@RB;RCy^B^IIj[Ij5٢ro> rU=9r{;Q r>tt vG٣vAGyz`z< z> bBottom track data is 0.8 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config| 49~U?4Y~ i~wB :D:9 ?~D~;;~O?~>4! % A%EZjIMFNOT Ignoring new targets: 314.10 m.BjM;JjU;e ProNav: ac range: 314.100006 m, nav range: 78.663124 m, bearing: 11.098974 deg, approach rate: 0.506858 m/s, LOS rate: 0.360206 deg/s, cmd heading: 235.006209 deg, new cmd heading: 235.419208 deg. 2je4wI KɚiI =Iv( ii){@) $?I!*F5?2F1:F9BF=m0JF9zKHNK9KK}K /G`p~yvpljid`^\YUTRPKHBB@746Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509068J=@AJ9GUwGQBqO>w,uVNA67s@Y6w@6962>y6H-?@``? ?:??ɨ67s@6ь;6Cy^B^IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763473 ] ] ee ee  e e eMb@Mb@Mb@aaa a)aYeFx?Mbpy&1?ye+?ee`e G٣y_< > Nusing accuracyPremultiplier from config49%sU?4Y iwBT:+?:?D=;;F4  AZjFNOT Ignoring new targets: 314.10 m.Bj;Jj;  ProNav: ac range: 314.100006 m, nav range: 78.901398 m, bearing: 11.240232 deg, approach rate: 0.519345 m/s, LOS rate: 0.306958 deg/s, cmd heading: 235.419217 deg, new cmd heading: 235.841703 deg. 2j R<HeadingCmd: 4.116214 target range: 314.100006 and range: 314.10 m. j@jjjihhhh%vBf!f!f!rf!bf-@ɛ8< >I ɚiI=I- i-Ģ:i-`)-@))*F?2F:FBF_0JF I - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014520J] J] J] 1JY J] ;J] ^:J] 3JY G% 憽G9 BA O] >l1w,|+NA6zUt@Y6:@6(\q966>y6H` ? yG?=+?@h? |?ɨ6zUt@6;4yBBBI)D DIJWIJ5٢R= Vp=9VZ ;Q V?TX ZG٣XyZB< Z? bNusing accuracyPremultiplier from config`f49bfU?f4Yb ibwBhjHj?bDb:b:bL4nvB r ArEZj FNOT Ignoring new targets: 314.10 m.Bj n;Jj n;% ProNav: ac range: 314.100006 m, nav range: 79.078232 m, bearing: 11.346111 deg, approach rate: 0.519318 m/s, LOS rate: 0.310247 deg/s, cmd heading: 235.841706 deg, new cmd heading: 236.158631 deg. 2j%T<%HeadingCmd: 4.121746 target range: 314.100006 and range: 314.10 m. j-W@j)j)j)i)h)h)h1h1f1f1fArfAbfM}e @ɛIu< >I sɚiIC=IU i:i)W@) E1E1*F2F:FBF1JFZH1RH5@AHE3>IEC IEIIE3BIA&IA.IA6IE<:IE FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267580GtGBO> Ig= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i9 E BDAT read: Rx Time:21:25:13.5601 E TRx dataTimestamp_ set to:1736371514.872812M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519779zKM NKM 9KI KM ~*J] C="JY q^w,NAKu2/0-*))$#   Zt@YZс@Z(e9Z.*;>yZH`U}? 6`O,'\ ΀? g?dC?v?ɨZt@Z\;ZCyf"BfIIn_In5٢v.d= vF=9z:Q z> G٣AGy=-< => eNusing accuracyPremultiplier from configYe49]WU?m4Y]b i]wBimm?]D]:]:]T4q } AyB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 314.10 m.Bj;Jj;U ProNav: ac range: 314.100006 m, nav range: 79.296600 m, bearing: 11.478293 deg, approach rate: 0.496972 m/s, LOS rate: 0.299996 deg/s, cmd heading: 236.158626 deg, new cmd heading: 236.554073 deg. 2j]M<]HeadingCmd: 4.128647 target range: 314.100006 and range: 314.10 m. j]@jajajaiahahahihifffrfbf 9 @ɛ-BC< &>I &zɚiIc=I iI:i-f)-@))*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770585Ge GI By O > $?I 'Dw,NA:Qu@Y:Ձ@:Y9:>>y:HG~`+?_f?c4?@,?`q?ɨ:Qu@:;:CyJ3BJIUMb@Mb@Mb@QQQ Q)QYUp= ף?~jt~jth?yU%?UUD;U A U@)U@IU@QyQImVIm5٢}= }B=9:Q > G٣y< > Nusing accuracyPremultiplier from config49IIU?4Y iwBh%?:6?D#;^;8[4  AEZjFNOT Ignoring new targets: 314.10 m.Bj=;Jj=; ProNav: ac range: 314.100006 m, nav range: 79.507248 m, bearing: 11.595210 deg, approach rate: 0.531410 m/s, LOS rate: 0.294171 deg/s, cmd heading: 236.554067 deg, new cmd heading: 236.903885 deg. 2jI< HeadingCmd: 4.134753 target range: 314.100006 and range: 314.10 m. j O@j j j i hhhhBfff!rf!bf%@ @ɛ<Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJ;JJـ3JEDAT read: 21:25:13.5602 LVL= 13920, 30033, 19442, 24211, AGC= 63, IDX= 235, 0.48,-2.547, 2.717, 2.415, 2.593, PHS= 1.231, 0.170,-0.181, RAW= 76.2, -18.7, CAL= 89.2, -26.8, ROT= 60.8, 26.8 UYgot valid direction response: 21:25:13.5602 LVL= 13920, 30033, 19442, 24211, AGC= 63, IDX= 235, 0.48,-2.547, 2.717, 2.415, 2.593, PHS= 1.231, 0.170,-0.181, RAW= 76.2, -18.7, CAL= 89.2, -26.8, ROT= 60.8, 26.8 ]PDAT read: Bearing 60.8, 26.8 (Local) ]~Local bearing/azimuth received: Bearing 60.8, 26.8 (Local) eDAT read: Range 10 to 50 : 324.6 m (Round-trip 432.8 ms) speed 0.2 m/s m,DAT read: user:1748> uBDAT read: Tx time:21:25:14.6733 u$Ping request sent.uf?z4?nL!?yLC 隕?I ZsɚiI_=I i?`:iB)x)O@)`6Qu K)^I?ih?{.>X9;? SF?)|Iԇ?i|>M?ZeQPԿ)VCI_:>iN?4:publishing transmit ping timeqFpublishing direction and range info9T>f?z4?nL!?y )Ii )IiM?ZeQPԿ)Ii*F?2F:FBF`5JFG  G rAG sAH5 4>I1  I5 II5 VBI1 &I1 .I1 6I5 P<:I5 F Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:25:14.6725 G B O >nw, NA 6.$v@Y6r!@6S96RA>y6HA`%?4¿@?r}??m?ɨ6.$v@6;6CyB=BBIIJXIJn5٢bZ= bW=9fp:Q f>dd fG٣dyj< j> ~Nusing accuracyPremultiplier from config|49~;U?4Y~$ i~wB   ?~D~P:~:~a4  A9k%Z+N?k% k! k%NA:k%LCBk%.CZk%Ӯ@"%maqTW@YX@(?sr@%T>f?z4?nL!?Jk%N?Rk%4*%2*5 0rWXWs@%}` STҿlLL?"k%#*k%Ьk%hN?k%lt 2k% Ck%t}]?k!k!k%Ak%? addTargetRange:: Added new target pos. range: 324.600006 m, deltaT: 7.820334 s, deltaX: 10.500000 m, approachRate: 1.342654 m/s, rangeRepo size: 4  Added new target pos. range: 324.600006 m, bearing: 257.263263 deg, lat: 36.903498 deg, lon: -122.115529 deg, deltaT: 7.820334 s, deltaX: 10.500000 m, approachRate: 1.342654 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 324.60 m.BjJj% ProNav: ac range: 324.600006 m, nav range: 29.843298 m, bearing: 32.807611 deg, approach rate: 0.000000 m/s, LOS rate: 0.294171 deg/s, cmd heading: 236.903882 deg, new cmd heading: 237.257292 deg. 2j!-HeadingCmd: 4.140921 target range: 324.600006 and range: 324.60 m. j-m@j)j)j)i)h1h1h1h9f9f9f9rf=It@bfE^? }$?Iyɛ~< 隽?I \plɚiI\=I iWB:i4n)m@)EV>E>*F?2F:FBF4JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.JJ?AzK}#,MK}h9KyK}K}GmلyGI By O >iUw,OA6v@Y6e@6cm96>>y6H qR? {n!?衍?~?q?ɨ6v@6;6Cy>IBBI=Mb@Mb@Mb@999 9)9Y=MbX9?333333y&1|y=!?==`= A =@)=@I99y=@]Will construct direction to contact in vehicle frame from tetrahedron phase data.Ie,Ie5٢u5R= u@=9u lQ }>yy G٣AGyb< > Nusing accuracyPremultiplier from config49N,U?4Y) iwB"?:?D;;Li4wB p AEZjFNOT Ignoring new targets: 324.60 m.BjG;JjG; ProNav: ac range: 324.600006 m, nav range: 30.103764 m, bearing: 32.932420 deg, approach rate: 0.641494 m/s, LOS rate: 0.304729 deg/s, cmd heading: 237.257303 deg, new cmd heading: 237.628485 deg. 2j"Q<HeadingCmd: 4.147399 target range: 324.600006 and range: 324.60 m. j@jjjihhhh݀Bfff rf bf  k?ɛ5.B5:z< 9=^ ?I9 =[eɚ9i9I=f=IEiMu%:iMNj)M@)*F?2F:FBF_0JF iIiGo Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >J J J J J =;J Z:J J w,sOA:2w@Y:@:n9:rGB>y:H!$u?o¿l`u`? Ս? #?@&l?ɨ:2w@:M;:CyFTBFIININ4٢Z\\ ^G٣`yb)< b> fNusing accuracyPremultiplier from configdj49fU?j4Yf. ifwBlnn?fDf\ ;f;fo4p r AtZj  FNOT Ignoring new targets: 324.60 m.Bj ;Jj ;5 ProNav: ac range: 324.600006 m, nav range: 30.337633 m, bearing: 33.046490 deg, approach rate: 0.617959 m/s, LOS rate: 0.299087 deg/s, cmd heading: 237.628483 deg, new cmd heading: 237.968052 deg. 2j5BM<=HeadingCmd: 4.153326 target range: 324.600006 and range: 324.60 m. j= @j9j9j9i9hAhAhAhAfIfIfIrfIbfM`m?ɛy}< y}?I :^ɚiI>=IOiv :ib) @)*F92F9:F9BF9JF9jH<bHH5>I IGIIBI' =&I.I6I<:I FmWill construct direction to contact in vehicle frame from tetrahedron phase data.GUjGe ?Ge ?G1B9 YIYOe> Will construct direction to contact in vehicle frame from tetrahedron phase data.(w,T9OAzKJ3KK+9K KKNw@YN@Ny9NCD>yNHݡ˗? U¿7z?@!? [?Si?ɨNw@Nߍ;LyZ]BZIIb Ibe4٢j7= jH=9j=˺Q n>ll rG٣pyr< r> vNusing accuracyPremultiplier from configtz49vU?z4Yv3 ivwB|?vDv6;v 7;vw4  A E%B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 324.60 m.Bj=;JjE;M ProNav: ac range: 324.600006 m, nav range: 30.589029 m, bearing: 33.171006 deg, approach rate: 0.614144 m/s, LOS rate: 0.301684 deg/s, cmd heading: 237.968053 deg, new cmd heading: 238.338525 deg. 2jU O E $?IA ۑw,*SOAy=gB=)IMb@Mb@Mb@ )Y\(\?)\(II MG٣MAGyM M> ]Nusing accuracyPremultiplier from configYe49]9T?e4Y]8 i]wBe|?e:mAm?](D][;]!;]~4y }AyZjFNOT Ignoring new targets: 324.60 m.Bj;Jj; ProNav: ac range: 324.600006 m, nav range: 30.860415 m, bearing: 33.272739 deg, approach rate: 0.601900 m/s, LOS rate: 0.223648 deg/s, cmd heading: 238.338522 deg, new cmd heading: 238.641035 deg. 2j|<HeadingCmd: 4.165072 target range: 324.600006 and range: 324.60 m. jEH@jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999897hhBfffrfbf$@ɛ0B%< !%q?I! %RMɚ!i)I-=I5+i5ݑ9i5t)5EH@)1*F?2F:FBFj0JFG\`G H I  I lII BI &I .I 6I ><:I FB O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252190Ȼw,mOA6Iy@Y6@6J96BE>y6H8?Uÿ i6?\? |?h?ɨ6Iy@6э;6CyNmBR1IIZQIZT5٢b>= bf=9fhh jG٣hyjz= n> rNusing accuracyPremultiplier from configpv49reT?v4Yr< irwBtvz?r6Dr:r:r(4| ~RAZj!-FNOT Ignoring new targets: 324.60 m.Bj-6;Jj56;E ProNav: ac range: 324.600006 m, nav range: 31.073790 m, bearing: 33.360430 deg, approach rate: 0.600674 m/s, LOS rate: 0.245163 deg/s, cmd heading: 238.641045 deg, new cmd heading: 238.902308 deg. 2jE@(zKJQJK59KKK)! ! G u Yy y} Bw,OA2y@Y2@2992̀C>y2H@B@'?jfÿ`i+h^?@W4?`I?`j?ɨ2y@2Ѝ;2CynsBr8Iiv>Iv==Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755925Mb@Mb@Mb@ )Y^I +?~jtS㥛yX?Ľ/ݼ\ A @)@I@y3@IUI5٢< ;=9;Q > G٣y< > Nusing accuracyPremultiplier from config49eT?4YB i{wBt?:?GDF;5;ˌ4xB %AEZj!%FNOT Ignoring new targets: 324.60 m.Bj-;Jj; ProNav: ac range: 324.600006 m, nav range: 31.330385 m, bearing: 33.480992 deg, approach rate: 0.587952 m/s, LOS rate: 0.273989 deg/s, cmd heading: 238.902313 deg, new cmd heading: 239.261034 deg. 2j <<HeadingCmd: 4.175893 target range: 324.600006 and range: 324.60 m. jꠅ@jjjihh hh Bfffrfbfq@ɛe2Bm0< iu ?Iq u<ɚqiqIub=I}i}b8i}f*)}ꠅ@)EEsA I*F ?2F :F BF 0JF GξuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008450G B O >}w,DOA6dVz@Y6:@6S,96C>y6H ъ@0P?Jÿ,`̼? 0?`=?Fk?ɨ6dVz@6ݨ;6CyBlBB0IINPIN5٢V V^=9V ;Q V>XX ZG٣Xy^;< ^> bNusing accuracyPremultiplier from config`f49bT?f4YbaF iblwBhjj?bUDb\:b\:b64l nZAlZjFNOT Ignoring new targets: 324.60 m.Bj6;Jj6; ProNav: ac range: 324.600006 m, nav range: 31.545650 m, bearing: 33.584375 deg, approach rate: 0.561647 m/s, LOS rate: 0.267894 deg/s, cmd heading: 239.261035 deg, new cmd heading: 239.569063 deg. 2j7<HeadingCmd: 4.181269 target range: 324.600006 and range: 324.60 m. j̅@jjjihhhhfffrfbfg @ɛ}3B}6_= 隅?I !5ɚiI=Iʅi7i)5̅@)AZHyRHyHI IIIBI&I.I6I<:I FBIEÞCJIEÞCRIAZIE' =bIE' =jIE]4UWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:21:25:17.4910 eTRx dataTimestamp_ set to:1736371518.654350mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263495*FM?2FI:FIBFM_5JFIG%QGBO-p> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511812*J "J R=J% J% J! J! J% u;J% _:J! J! J% B<J% B<J% t;J% u;w,$OA2z@Y2@2YJ%92J[A>y2H2D~?2ÿ@? 4? e?@m?ɨ2z@2;2CyRfBR(IIZAIZ=5٢bf bH=9fC:Q f>dd jG٣jAGyj< j> rNusing accuracyPremultiplier from configlr49n:T?v4YnHK in\wBtvwz?neDnN3;np3;nT4| AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 324.60 m.Bj;Jj;zKBHK9KKKBKrA:K ProNav: ac range: 324.600006 m, nav range: 31.783882 m, bearing: 33.701766 deg, approach rate: 0.582522 m/s, LOS rate: 0.284891 deg/s, cmd heading: 239.569076 deg, new cmd heading: 239.918605 deg. 2jC<HeadingCmd: 4.187370 target range: 324.600006 and range: 324.60 m. j@j j j i h h hhfff!rf!bf% v @ɛ4Bj@< ?I /-ɚiIl=I!iFUPiN)@)*F?2F:FBF4JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767120G ;+GA By $?I gO >w,qOA6a{@Y6ׄ@6 )96s@>y6H@`?Hÿ ஭? Ń??_o?ɨ6a{@6;6Cy>mB>1I5Mb@Mb@Mb@111 1)1Y5Q?RQQy5?5½55/ A 1)5@I5@1y5=@ImWIm5٢}c= }?=9}:Q > G٣yw< > Nusing accuracyPremultiplier from config49ZT?4YTP iJwB?:?uD);;ʡ4 WAEZjFNOT Ignoring new targets: 324.60 m.BjK;JjK;  ProNav: ac range: 324.600006 m, nav range: 32.027279 m, bearing: 33.823541 deg, approach rate: 0.589156 m/s, LOS rate: 0.292522 deg/s, cmd heading: 239.918618 deg, new cmd heading: 240.281161 deg. 2j H<HeadingCmd: 4.193697 target range: 324.600006 and range: 324.60 m. j2@jjjihhhh%Bf!f!f!rf!bf- @ɛ]5Be= ae.?Ia eT@%ɚaiaIm=Im,imTiu u )u2@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:25:17.4910 LVL= 21744, 32753, 25234, 32755, AGC= 65, IDX= 247, 0.11,-2.945, 1.781, 2.012, 2.592, PHS= 0.834,-0.763,-0.583, RAW= 95.9, 6.8, CAL= 104.7, 6.0, ROT= 45.3, -6.0 Ygot valid direction response: 21:25:17.4910 LVL= 21744, 32753, 25234, 32755, AGC= 65, IDX= 247, 0.11,-2.945, 1.781, 2.012, 2.592, PHS= 0.834,-0.763,-0.583, RAW= 95.9, 6.8, CAL= 104.7, 6.0, ROT= 45.3, -6.0 PDAT read: Bearing 45.3, -6.0 (Local) ~Local bearing/azimuth received: Bearing 45.3, -6.0 (Local) =DAT read: Range 10 to 50 : 310.1 m (Round-trip 413.5 ms) speed 0.3 m/s ,DAT read: user:1749> BDAT read: Tx time:21:25:18.5733 $Ping request sent.?ٵ= ڵ?)ڵPw=IڵgJ?iڵPwֽڱڱ۵|2t?L&]ٿ _?)۵O׾I۵%i۵E@۵A۱۱}:publishing transmit ping timeء}Fpublishing direction and range infoر9صKC̿e ?߷o1?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵|2t?L&]ٿ _?)۱I۱i۱۱۱۱GGBO>>Hq Iq  Iu IIu BIq &Iq .Iq 6Iu "<:Iu Fm Will construct direction to contact in vehicle frame from tetrahedron phase data. w,]POA6I!|@Y6 @6]965@>y6HC@?ÿ>r1?`K??`ii uG٣y1< > Nusing accuracyPremultiplier from config49BT?4Y.U i9wBd?D;;稖4yB AEkt@?R?kx? k keOA:k CBkCZk0?"1_~̛FQCP @=~r@KC̿e ?߷o1?JkE@RkA*(^oX>F8V@V^ir@hU[)W?M1?"kB*k8k1:R?kB/ 2kִCk1:R?k}0S kkAkq? addTargetRange:: Added new target pos. range: 310.100006 m, deltaT: 4.031731 s, deltaX: -14.500000 m, approachRate: -3.596470 m/s, rangeRepo size: 4  Added new target pos. range: 310.100006 m, bearing: 94.788053 deg, lat: 36.903191 deg, lon: -122.115439 deg, deltaT: 4.031731 s, deltaX: -14.500000 m, approachRate: -3.596470 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 310.10 m.BjJj ProNav: ac range: 310.100006 m, nav range: 27.076933 m, bearing: 105.958099 deg, approach rate: 0.000000 m/s, LOS rate: 0.292522 deg/s, cmd heading: 240.281165 deg, new cmd heading: 240.654423 deg. 2j%HeadingCmd: 4.200212 target range: 310.100006 and range: 310.10 m. j%#h@j!j!j)i)h)h1h1h9f9f9fArfEas@bfE@-?ɛm6Bu<< quW?Iq ucɚyiyI}Q=I}oOi2Gi/h)#h@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JAAJAAJJJJJ;J]:JJJE<JE<J;J;*F2F:FBFJFzK jIK 9K K K RK?JK?G |G B! OM >cw,.PABl^|@YB>@B(9BZ0>yBH(@? p¿Mvc@'?Z? ?`?ɨBl^|@B;BCyNWBNI%Will construct direction to contact in vehicle frame from tetrahedron phase data.mMb@Mb@Mb@iii i)iYm +?A`"~jtym?mYmļm A m@)iIiiym@I}QI}T5٢) E=9RQ > G٣AGy< > Nusing accuracyPremultiplier from configU49aT?U4YFZ i-wBU?]:] ]?D<<4a e AaZjFNOT Ignoring new targets: 310.10 m.BjpJjp% ProNav: ac range: 310.100006 m, nav range: 27.224726 m, bearing: 105.561036 deg, approach rate: 0.357141 m/s, LOS rate: -0.954285 deg/s, cmd heading: 240.654421 deg, new cmd heading: 239.469877 deg. 2j%#-HeadingCmd: 4.179538 target range: 310.100006 and range: 310.10 m. jMƾ@jIjIjIiIhQhQhQhUBfYfYfYrfYbf] V? -$?I1ɛm8Bm.< im?Iq uɚqiqIu;=I}Qiyi}Bi)}ƾ@)*F=?2F9:F9BF9JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.G OG B O >w,%"PA6|@Y6o@6%96x0>y6H 0 .?`#¿hg:uٸ? ??=?ɨ6|@6{;4ybPBb IIj Ij4٢r rV=9rk9Q v>tt zG٣xy~< ~> Nusing accuracyPremultiplier from config 49@T? 4Y_ i#wBv ?D2::4 H A!ZjAMFNOT Ignoring new targets: 310.10 m.BjMJjM] ProNav: ac range: 310.100006 m, nav range: 27.366608 m, bearing: 105.191600 deg, approach rate: 0.404154 m/s, LOS rate: -1.046884 deg/s, cmd heading: 239.469875 deg, new cmd heading: 238.367457 deg. 2je3eHeadingCmd: 4.160297 target range: 310.100006 and range: 310.10 m. je'!@jijijiiihihihqhqfyfyfrfbf?ɛ9B, = 隵k ?I ^_ɚiIS=Ihii]F<)'!@)EjHbH=H!I! I!I!I!&I!.I!6I%5<:I% F*FU?2FQ:FQBFUo0JFQGY GY5Will construct direction to contact in vehicle frame from tetrahedron phase data.G=5mG BO5.> I Will construct direction to contact in vehicle frame from tetrahedron phase data. i AJ J J J J J Z:J J J J J ;J ;gFw,;PA6}@Y6ח@6i"96]0>y6H@b@5?`9¿`| [?@WP?/??ɨ6}@6j;4yRCBRIIZ@IZ 5٢vt vJ=9z9Q z>xx zG٣xy]@< ]> mNusing accuracyPremultiplier from configam49e6T?u4Yedd iewBqu& u?eDe/;eU;e4  AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 310.10 m.BjJjzKBoHK]9KKKu ProNav: ac range: 310.100006 m, nav range: 27.523355 m, bearing: 104.795171 deg, approach rate: 0.368685 m/s, LOS rate: -0.927119 deg/s, cmd heading: 238.367455 deg, new cmd heading: 237.185118 deg. 2j}}HeadingCmd: 4.139661 target range: 310.100006 and range: 310.10 m. j}x@jjjihhhhfffrfbf ?ɛ:Bw< b?I ɚ i I +=Iciib<)x@)*F?2F:FBF0JFEWill 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.GM Rn I G! B) O >Y.w,UPAy;BIMb@Mb@Mb@ )Y^I +?~jt~jtyX?ļ A )@I@y@ILI5٢e  e5=9eQ e>ii mG٣mAGym u> }Nusing accuracyPremultiplier from configy49}5T?4Y}9j i}wB?: ?}D};};}Ŗ4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985572  AZjFNOT Ignoring new targets: 310.10 m.BjJj ProNav: ac range: 310.100006 m, nav range: 27.701759 m, bearing: 104.393371 deg, approach rate: 0.409840 m/s, LOS rate: -0.917088 deg/s, cmd heading: 237.185122 deg, new cmd heading: 235.987669 deg. 2jXHeadingCmd: 4.118762 target range: 310.100006 and range: 310.10 m. j̃@jjjihh h h Bfffrfbf B@ɛUIQ ] ɚYiYI]'O=Ie"P iaie=:=)ẽ@)a*F?2F:FBF0JFG]GyBO]>H 6>I  I II BI &I .I 6I M<:I FM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238124Xw,[oPA6}@Y6@6-ѻ96e->y6H`KD?`:¿`߿?%z??@?ɨ6}@6B;;6C R$?IPy^6B^IIf]If5٢v ve=9v"xx zG٣xy~< ~> Nusing accuracyPremultiplier from config 49uT? 4Yn i wB ?DGD;E;˖4! % A!ZjIMFNOT Ignoring new targets: 310.10 m.BjUŀJjUŀe ProNav: ac range: 310.100006 m, nav range: 27.848936 m, bearing: 104.074206 deg, approach rate: 0.417524 m/s, LOS rate: -0.900646 deg/s, cmd heading: 235.987680 deg, new cmd heading: 235.035337 deg. 2jemHeadingCmd: 4.102140 target range: 310.100006 and range: 310.10 m. jmD@jijijqiqhyhhhfffrfbf`-@ɛ>BOo< G>I eɚiI=I iiFu=)D@)EE*F?2F:FBF@5JF"G=G=GӔ<GABIOm5>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489945zKRIK9KKK^qTrQ7& ?"w,oPA~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741434yE)BEIeMb@Mb@Mb@aaa a)aYeS?I +?Qye/?e94 G٣y > Nusing accuracyPremultiplier from config49!jT?4Ywu iwBA?:?DB;;Ӗ4zB  AEZjFNOT Ignoring new targets: 310.10 m.BjsJjs  ProNav: ac range: 310.100006 m, nav range: 28.055082 m, bearing: 103.681908 deg, approach rate: 0.451249 m/s, LOS rate: -0.852412 deg/s, cmd heading: 235.035333 deg, new cmd heading: 233.867260 deg. 2j@HeadingCmd: 4.081754 target range: 310.100006 and range: 310.10 m. j@jjjihh!h!h%Bf!f)f)rf)bf5@9@ɛ]@B]{l< Y]>IY ]1ɚaiaIew=IeB ii Igim=)@)*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993557JJJJJ=;J\:JJa@a@a@a@G )ş<G B O >j(w,JPAy B II%\I%45٢5 5d=91Q 5>99 =G٣=AGyA E> MNusing accuracyPremultiplier from configIU49MaT?U4YMz iMwBQY]?MDMxL;MM;Mږ4i m AiZj FNOT Ignoring new targets: 310.10 m.BjeJje- ProNav: ac range: 310.100006 m, nav range: 28.217581 m, bearing: 103.378421 deg, approach rate: 0.432319 m/s, LOS rate: -0.802760 deg/s, cmd heading: 233.867262 deg, new cmd heading: 232.962123 deg. 2j- 5HeadingCmd: 4.065956 target range: 310.100006 and range: 310.10 m. j=P@j9j9j9i9h9h9hAhAfAfAfIrfIbfMǾ @ɛAB< 隅>I  ޻ɚiI==I![ ii=)P@)ZHRHHI IMIIBI&I.I Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:25:21.3892 TRx dataTimestamp_ set to:1736371522.684752checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2467126I:<:I F*FM?2FI:FIBFM_0JFIG%l<GBO J> $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497492.w,)PA2 ~@Y2@2̏920>y2H`u߿ l? @ ߿Z?`Q?)?`?ɨ2 ~@29;0ynBnIIvbIv5٢E4 MI=9MTQQ UG٣Qy}R_< >~G M?YQyUBzKu4NKqKqKuKu 0+ Nusing accuracyPremultiplier from config)49-^VT?4Y- i-vB!%-?-D-m<-R<-4a 0 AB*** querying acoustic contact ***jjZjMFNOT Ignoring new targets: 310.10 m.Bj]JJjJ} ProNav: ac range: 310.100006 m, nav range: 28.415411 m, bearing: 103.019312 deg, approach rate: 0.392915 m/s, LOS rate: -0.708264 deg/s, cmd heading: 232.962125 deg, new cmd heading: 231.892430 deg. 2j 󼝊HeadingCmd: 4.047287 target range: 310.100006 and range: 310.10 m. j_@jjjihhhhfffrfbf5@Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 21:25:21.3892 LVL= 24112, 32753, 26866, 32755, AGC= 66, IDX= 421,-0.14,-1.678, 3.025,-2.911,-2.369, PHS= 0.779,-0.842,-0.545, RAW= 99.9, 8.2, CAL= 109.4, 7.2, ROT= 40.6, -7.2 UYgot valid direction response: 21:25:21.3892 LVL= 24112, 32753, 26866, 32755, AGC= 66, IDX= 421,-0.14,-1.678, 3.025,-2.911,-2.369, PHS= 0.779,-0.842,-0.545, RAW= 99.9, 8.2, CAL= 109.4, 7.2, ROT= 40.6, -7.2 ]PDAT read: Bearing 40.6, -7.2 (Local) e~Local bearing/azimuth received: Bearing 40.6, -7.2 (Local) mDAT read: Range 10 to 50 : 308.8 m (Round-trip 411.8 ms) speed 0.1 m/s u,DAT read: user:1750> }BDAT read: Tx time:21:25:22.4733 }$Ping request sent.} f?)>I g5?iB?2տCc@8?)ĊI.AiJ;vY:publishing transmit ping timeyFpublishing direction and range info9yoDпcϬ!m̈?y )Ii )IiB?2տCc@8?)Iiɛ5DB5o< 1=>I9 =&ϻɚ9i9I==IEiAiE=)E_@)IE}e>Ey y I *F ?2F :F BF _5JF G  G G (=G B O >N~5w,x PAv}@Yv1@v^';9v" >yvH7l?`7@`߿:?@jd@#? ?ɨv}@v ;vCy%B%I]Mb@Mb@Mb@YYY Y)YY]RQ?Mb?~jtxy]"?]=]Ļ]vA ]-@)]@IYYy]Q@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:21:25:22.4725 JKm3 KS}-KK"KJJJJJu;J`:JJIaIk5٢M~ U.=9Um;Q U>YY ]G٣Yy] e> Nusing accuracyPremultiplier from configa49euKT?4YeQ ievB"?:?eDe;eY;ep4  AEkM2Q?kMRs kI kMBPA:kMfCBkMVCZkMb?"MeHS֎`1Ykr@MyoDпcϬ!m̈?JkMJ;RkMvY*Md," =Z`W@YGBXr@M_0o)L2? 2bj?"kM۾B*kMkM],Q?kM@ 2kMCkM],Q?kM#7 kM CkMrBkM?} addTargetRange:: Added new target pos. range: 308.799988 m, deltaT: 3.780021 s, deltaX: -1.300018 m, approachRate: -0.343918 m/s, rangeRepo size: 4  Added new target pos. range: 308.799988 m, bearing: 95.673148 deg, lat: 36.903162 deg, lon: -122.115332 deg, deltaT: 3.780021 s, deltaX: -1.300018 m, approachRate: -0.343918 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 308.80 m.BjJj ProNav: ac range: 308.799988 m, nav range: 38.611763 m, bearing: 104.212180 deg, approach rate: 0.000000 m/s, LOS rate: -0.708264 deg/s, cmd heading: 231.892436 deg, new cmd heading: 231.078187 deg. 2jHeadingCmd: 4.033075 target range: 308.799988 and range: 308.80 m. j@jjjihhhhpBfffrfLs@bfgb?ɛMFBM< IM>II UaǻɚQiQIUՆ=I]iyi}C=)}@)*F?2F:FBF_0JFH I  I 4II pBI &I .I 6I {<:I FBIqJIqRIqZIqbIqjIu44% Will construct direction to contact in vehicle frame from tetrahedron phase data.G F=G B O >H;w,PA IbD}@Ybȱ@bQ;9bLZ>ybHLO?V+`?.t??j@D ??ɨbD}@b;`yjBnII _I 5٢ v=9%:Q %?!! -G٣-AGy-(ż -? Nusing accuracyPremultiplier from config14953CT?4Y5= i5vBv?5"D5h<5;5=4  AZjFNOT Ignoring new targets: 308.80 m.Bj:Jj:5 ProNav: ac range: 308.799988 m, nav range: 38.769020 m, bearing: 104.003968 deg, approach rate: 0.494724 m/s, LOS rate: -0.652368 deg/s, cmd heading: 231.078195 deg, new cmd heading: 230.456119 deg. 2j5߼=HeadingCmd: 4.022218 target range: 308.799988 and range: 308.80 m. j=@j9j9jAiAhAhAhAhIfIfIfIrfIbf] ?ɛGB۵< !>I ОɚiIQ=IiiD=)@)*F%?2F!:F!BF!JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.G"==GBOi>zKYKK]9KKKBw, QAnWill construct direction to contact in vehicle frame from tetrahedron phase data.y5B5I=A=A5Mb@Mb@Mb@111 1)1Y5v/?ˡE?Mb`y5x)?5'=55IA 5Z@)5@I5@1y5@IE9IE 5٢U ; ]8=9eQ e>aa mG٣iym u> }Nusing accuracyPremultiplier from configq}49u7T?4Yu. iq)?:?u5Du;u;u4  AEZjFNOT Ignoring new targets: 308.80 m.Bj9Jj9  ProNav: ac range: 308.799988 m, nav range: 38.992546 m, bearing: 103.718186 deg, approach rate: 0.510929 m/s, LOS rate: -0.649484 deg/s, cmd heading: 230.456129 deg, new cmd heading: 229.603766 deg. 2j ޼HeadingCmd: 4.007342 target range: 308.799988 and range: 308.80 m. j%<@jjj! 5$?I=gi!hAhAhIhUTBfQfYfarfbf2?ɛ5JB5ؔ< 15L>I9 =ɚ9i9I]=Imkiiim; >)m%<@)i*F12F1:F1BF=`0JF9G ;=GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ;Jb:JJHw,$QA6 |@Y6;@6L <96 =y6H ?` 86 ??i`? W?ɨ6 |@6a;4y>BBIIJ3IJ 5٢b= fh=9fewhh jG٣hyj] j> Nusing accuracyPremultiplier from config|49~|.T? 4Y~ i~vB   ?~DD~:~ :~;4{B & A%EZjQUFNOT Ignoring new targets: 308.80 m.Bj]8Jj]8m ProNav: ac range: 308.799988 m, nav range: 39.168068 m, bearing: 103.488365 deg, approach rate: 0.496165 m/s, LOS rate: -0.646745 deg/s, cmd heading: 229.603776 deg, new cmd heading: 228.917437 deg. 2jmݼuHeadingCmd: 3.995363 target range: 308.799988 and range: 308.80 m. ju@jqjqjqihhhhff!f!rf!bf%@?jH]<bH]<ɛKB< Ϊ>I >+ɚiI=I ki i5i>)=@)9HI III[BI& =&I.I6I*<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.*FE?2FA:FABFE0JFA !I!Ge W=GA BY O} > Will construct direction to contact in vehicle frame from tetrahedron phase data.]Nw,m>QA6E{@Y6汄@6o\<96;w=y6Hb&@?`&;J 1! ?@ȍi?@?ɨ6E{@6#;4yBBBIIJ~IJE)5٢R0< RL=9V KTT ZG٣ZAGyZ Z> bNusing accuracyPremultiplier from config\b49^#T?f4Y^ i^vBdff?^TD^L:^L:^%4h j AlZj|FNOT Ignoring new targets: 308.80 m.Bj:Jj : ProNav: ac range: 308.799988 m, nav range: 39.362358 m, bearing: 103.231085 deg, approach rate: 0.493837 m/s, LOS rate: -0.650713 deg/s, cmd heading: 228.917437 deg, new cmd heading: 228.149453 deg. 2jJ߼%HeadingCmd: 3.981959 target range: 308.799988 and range: 308.80 m. j%k~@j)j)j)i)h)h)h1h1f1f1f9rf9bf==?ɛMBڝ< O>I KɚiI=IKGiia>)k~@)zKJKh9KKK*F?2F:FBFP5JFG>GIBqO>>Will construct direction to contact in vehicle frame from tetrahedron phase data.  I Uw,MLXQAV Lz@YVb5@VM<9V#t=yVH{?v@NN?e) K|?,?ɨV Lz@V+;VCyjBjI ===R=Mb@Mb@Mb@ )Y/$?~jt?MbP?y,?D=:A @)@Ih@y@II/5٢*: 8=9 G٣y > Nusing accuracyPremultiplier from config 49{T? 4Y ivBx,?:(?hDL;J; 4  A!=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 308.80 m.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.Bje:Jjm:JJJ1JJ=;J e:J3J ProNav: ac range: 308.799988 m, nav range: 39.584156 m, bearing: 102.938216 deg, approach rate: 0.497024 m/s, LOS rate: -0.652606 deg/s, cmd heading: 228.149451 deg, new cmd heading: 227.275839 deg. 2j%߼%HeadingCmd: 3.966712 target range: 308.799988 and range: 308.80 m. j-}@j)j)j)iIhQhQhQhU@BfYfYfYrfYbfei@ɛOBqG< =>I 䚻ɚiI=IAii*>)}@)*F?2F:FBFT5JFHm 7>Ii  Im IIm QBIi &Ii .Ii 6Im <:Im FG G ?G > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509844G B O% > $?I [w,$rQA>/=y@Y>@>d<9> A=y>Hh?@^ps@}?ߖ??ɨ>/=y@>8?;>CyFBFIIRIR\05٢Z Z`=9ZN\\ ^G٣\yb9 b> fNusing accuracyPremultiplier from configdj49f T?j4Yf0 ifvBhn5n?fwDf ;f ;fK4t v! AvEZjFNOT Ignoring new targets: 308.80 m.Bj=Jj=- ProNav: ac range: 308.799988 m, nav range: 39.763905 m, bearing: 102.696414 deg, approach rate: 0.493603 m/s, LOS rate: -0.661004 deg/s, cmd heading: 227.275842 deg, new cmd heading: 226.553755 deg. 2j-⼝5HeadingCmd: 3.954109 target range: 308.799988 and range: 308.80 m. j5}@j1j1j1i9h9h9hAhAfAfAfArfIbfM`(@ɛ}PB}E< 隅>I U͓ɚiI=IiiC=>)}@)*F5?2F1:F1BF5_0JF1eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759892JJ@AG B>GBO>zKE BoIKE 9KA KE KE bw, QA^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012049yޑޕI5Mb@Mb@Mb@111 1)1Y5kt?l?y5 0?5=55QA 5@)5@I5Q@1y5p@IuhIu5٢% 0=9 IQ > G٣AGy > Nusing accuracyPremultiplier from config%49S?%4Y ivB%a0?-:-T-?D ;;41 5% A5EZjaeFNOT Ignoring new targets: 308.80 m.BjmPBJjmPB} ProNav: ac range: 308.799988 m, nav range: 40.003136 m, bearing: 102.368155 deg, approach rate: 0.498211 m/s, LOS rate: -0.679524 deg/s, cmd heading: 226.553755 deg, new cmd heading: 225.574969 deg. 2j},鼝HeadingCmd: 3.937026 target range: 308.799988 and range: 308.80 m. j<{@jjjihhhh4Bfffrfbf@k@ɛRB҅< q>I ɚiI=Ix'iii>)<{@)*FA2FI:FIBFIJFImWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:21:25:25.2876 uTRx dataTimestamp_ set to:1736371526.464725}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265151Gm >G B O >iw,ܥQA:v@Y:e@:$=9:F0tt zG٣xyz?ҽ z? Nusing accuracyPremultiplier from config|49~ S? 4Y~ i~vB    ?~D~X:~:~ 4  AZjAMFNOT Ignoring new targets: 308.80 m.BjMGJjUGe ProNav: ac range: 308.799988 m, nav range: 40.164692 m, bearing: 102.133593 deg, approach rate: 0.482687 m/s, LOS rate: -0.697987 deg/s, cmd heading: 225.574975 deg, new cmd heading: 224.874157 deg. 2je=mHeadingCmd: 3.924794 target range: 308.799988 and range: 308.80 m. jm/{@jijijiiihihihqhqfyfyfyrfybf@5 @ɛSB < />I y`ɚiI"=Iii=)/{@)ZHYRH]?AHI IIILBI' =&I.I6IG<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516048 $?IgE} <*F2F:FBF^0JFG>GGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774274J J J 0J J u;J `:J ـ3J J BAA EG٣AyM4 M> ]Nusing accuracyPremultiplier from configQ]49UsS?e4YU iUvBae e?UDUz:Uz:U'4m|B  AEZjFNOT Ignoring new targets: 308.80 m.BjDJjD5 ProNav: ac range: 308.799988 m, nav range: 40.362900 m, bearing: 101.839122 deg, approach rate: 0.463808 m/s, LOS rate: -0.685678 deg/s, cmd heading: 224.874157 deg, new cmd heading: 223.995154 deg. 2j5I뼝=HeadingCmd: 3.909453 target range: 308.799988 and range: 308.80 m. j=z4z@j9jAjAiAhAhAhIhIfififqrfqbfu k@ɛUB(< -٫>I) -pqɚ)i)I-w`=I5:i9i=1=)=z4z@)9zKBHKKKKE =*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:25:25.2876 LVL= 13792, 26065, 19506, 30899, AGC= 62, IDX= 420,-0.42, 1.344,-0.599,-0.318, 0.257, PHS= 1.175,-0.810,-0.578, RAW= 96.1, 2.3, CAL= 105.4, 0.0, ROT= 44.6, -0.0 Ygot valid direction response: 21:25:25.2876 LVL= 13792, 26065, 19506, 30899, AGC= 62, IDX= 420,-0.42, 1.344,-0.599,-0.318, 0.257, PHS= 1.175,-0.810,-0.578, RAW= 96.1, 2.3, CAL= 105.4, 0.0, ROT= 44.6, -0.0 PDAT read: Bearing 44.6, -0.0 (Local) ~Local bearing/azimuth received: Bearing 44.6, -0.0 (Local) yIDAT read: Range 10 to 50 : 307.5 m (Round-trip 410.1 ms) speed 0.4 m/s ,DAT read: user:1751> BDAT read: Tx time:21:25:26.3734 $Ping request sent.iff?)\O?l$= Cw?)ISFG?i4=?E;.ٿp~?)@վI_$i_G@8LG m> :publishing transmit ping time Fpublishing direction and range info9Љb8h?t# evw,QA2t@Y2RW@2 =92ai mG٣AGy. > Nusing accuracyPremultiplier from config49S?4YY ivB$.?: ?DH%;#;/4  Aky=X?ka3 k k!A*k={AkXY?kd 2kI D\ɚiI0=IuiiO=)@,y@)EE*E"EH6>I IIIQBI& =&I.I6Io<:IF Will construct direction to contact in vehicle frame from tetrahedron phase data.*FE ?2FA :FA BFE _0JFA GI  GI G= > I G B! OE >W9|w,gEQAy-B-Ii5=I5p<IE_IE5٢UIx= U^=9]Q ]>aa eG٣aym m> uNusing accuracyPremultiplier from configq}49uS?}4Yu iuvB?uDuX:ue:u54 A A·E-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 307.50 m.Bj=CJj=CM ProNav: ac range: 307.500000 m, nav range: 27.885500 m, bearing: 106.566786 deg, approach rate: 0.402189 m/s, LOS rate: -1.120898 deg/s, cmd heading: 223.071137 deg, new cmd heading: 221.849504 deg. 2jUP@UHeadingCmd: 3.872004 target range: 307.500000 and range: 307.50 m. jUw@jYjYjYiYhYhYhihififqfqrfqbfu ?ɛXB< 隥>I LɚiIO=IPiiG>)w@)*Fe?2Fa:FaBFe0JFaG=}=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.JJJ1JJ;J\:J3JJE<JE<Jį;Jů;GBOL>)Y YGvA -Y-vAy-BzK BoHK s9K K K w,Q RAbWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.945569u q@Yu@u=2=9u~;yuH`;? 7 , u]`Iv?@?ɨu q@u.Ѝ;uCyލBލI 5$?I1EMb@Mb@Mb@AAA A)AYE rh?{Gz~jth?yE,?E#ED;E@ E@)Ev@IE;@AyE@IU;IU 5٢e e:=9m%qq uG٣qyu }> Nusing accuracyPremultiplier from configy49}'S? 4Y}Y i}vB ,? :  ?}D}<}ە<}=4 a AZjFNOT Ignoring new targets: 307.50 m.BjJj ProNav: ac range: 307.500000 m, nav range: 28.042009 m, bearing: 106.055222 deg, approach rate: 0.354028 m/s, LOS rate: -1.150696 deg/s, cmd heading: 221.849503 deg, new cmd heading: 220.323758 deg. 2jmEHeadingCmd: 3.845375 target range: 307.500000 and range: 307.50 m. jv@jjjihhhhbBfffrfbf ?ɛuYBuԧ< qu$>Iq uQ6ɚyiyI}{0=Iii>=)v@) *F?2F:FBF0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.195314G} w'=GQ Ba O >Dw,&RA6Cp@Y6~@6b?==962I 5&ɚiIk=I_ii?d>)/t@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.449143 5$?I1*FM?2FI:FIBFMS5JFI"Gm=Gm=G W=G B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.698997J J J J J J [:J J J J J ߮;J ߮;,w,I@RAy}B}I) I]I5٢< ;=9Q > G٣y > Nusing accuracyPremultiplier from config49ӛS?4Y ivB?D ;* ;[K4  $ A Zj9=FNOT Ignoring new targets: 307.50 m.BjEvJjEvU ProNav: ac range: 307.500000 m, nav range: 28.321581 m, bearing: 105.136906 deg, approach rate: 0.355711 m/s, LOS rate: -1.150279 deg/s, cmd heading: 219.112236 deg, new cmd heading: 217.583215 deg. 2jU[E]HeadingCmd: 3.797544 target range: 307.500000 and range: 307.50 m. j] s@jYjYjaiahahahahifififirfibfu`8?ɛ[B-< 隥>I ycɚiIP=Iii>) s@)zK k3IK +9K K K *F%?2F!:F!BF%_0JF)G S>G B1Oa>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.953535 !I%gMWw,ZRA2n@Y2`|@26Y=92eN5=É??ɨ2n@2T;2CyB#BBI Mb@Mb@Mb@    ) Y w/?MbMbP?y &?  : @ @) AI  y @ImcImN5٢}g\= M=9ێ G٣y > Nusing accuracyPremultiplier from config495S?4YK ivB'?:W?D;;7R4~B  AʷEZjFNOT Ignoring new targets: 307.50 m.BjJj ProNav: ac range: 307.500000 m, nav range: 28.444561 m, bearing: 104.683601 deg, approach rate: 0.313969 m/s, LOS rate: -1.152275 deg/s, cmd heading: 217.583217 deg, new cmd heading: 216.229447 deg. 2jEHeadingCmd: 3.773916 target range: 307.500000 and range: 307.50 m. jևq@jjjih h h h Bfffrfbf@=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.203217ɛM]BU_< QU>IQ ] ɚYiYI] =Ieޗ iaie>)eևq@)a*F 2F :F BF JF H%7>I! I%!II%`BI!&I!.I!6I%<:I%FGm>G) B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455146  $?I 8w,rtRA6m@Y6{@6ϲd=96wmlxx zG٣zAGy~ ~> Nusing accuracyPremultiplier from config 49|S? 4Y ivBK?&D::X4 % A!ZjAMFNOT Ignoring new targets: 307.50 m.BjU9JjU9e ProNav: ac range: 307.500000 m, nav range: 28.563568 m, bearing: 104.239337 deg, approach rate: 0.308976 m/s, LOS rate: -1.148617 deg/s, cmd heading: 216.229446 deg, new cmd heading: 214.902459 deg. 2jeEmHeadingCmd: 3.750756 target range: 307.500000 and range: 307.50 m. jma p@jijijqiqhqhqhyhyfyffrfbf+@ɛ^B< 隵V>I }պɚiITu=IS"iiR>)a p@)EG>E*FQ2FY:FYBFYJFYGa GesAG-R>GBO5.>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.707196JJJ0JJu;J*f:Jـ3JJB<JB<JԷ;JԷ;zKE :IKE 9KA KE KE lw,c^RARWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961759ul@Yuz@uĈn=9uk~I= ==Mb@Mb@Mb@ )Y~jt?)\(y$?Ga@ )zAIQ@y@IWI5٢< ,=9 ;Q %>)) -G٣)y=< => UNusing accuracyPremultiplier from configI49MhS?4YM iMpvB5%?:?M:DM,I 聡ɚiI=I#ii;%>)1n@)*F?2F:FBFJFMWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:21:25:29.1858 ]TRx dataTimestamp_ set to:1736371530.497216]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212718G >G B O >w,9+RA6 k@Y6z@6w=967ȀI9 ={ɚ9i9I=\c=IE2%iAiE'>)El@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463101 $?Ig*Fe?2Fa:FaBFee0JFaGE >G9BO>] Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:25:29.1858 LVL= 13088, 27617, 20658, 26547, AGC= 63, IDX= 417, 0.15,-1.958, 2.642, 2.481,-2.922, PHS= 1.052,-0.672,-0.883, RAW= 84.3, 5.5, CAL= 90.1, 5.0, ROT= 59.9, -5.0  Ygot valid direction response: 21:25:29.1858 LVL= 13088, 27617, 20658, 26547, AGC= 63, IDX= 417, 0.15,-1.958, 2.642, 2.481,-2.922, PHS= 1.052,-0.672,-0.883, RAW= 84.3, 5.5, CAL= 90.1, 5.0, ROT= 59.9, -5.0  PDAT read: Bearing 59.9, -5.0 (Local)  ~Local bearing/azimuth received: Bearing 59.9, -5.0 (Local)  DAT read: Range 10 to 50 : 306.2 m (Round-trip 408.3 ms) speed 0.2 m/s  ,DAT read: user:1752>  BDAT read: Tx time:21:25:30.2734  $Ping request sent.  G٣AGy > Nusing accuracyPremultiplier from config49tGS?4Yc iPvB?ZD;;o4B  AѷEk9mi?kV k kCRA:kCBk CZk@"k5sK7D\O@\{er@yƿ霩?6e?Jk@Rk\*Yk/P@41$!ҡr@1œR?JXŬZ'?"k*kBk)=ٔi?kձ 2kYCk1:R?kkYCk Akv? addTargetRange:: Added new target pos. range: 306.200012 m, deltaT: 3.777535 s, deltaX: -1.299988 m, approachRate: -0.344137 m/s, rangeRepo size: 4  Added new target pos. range: 306.200012 m, bearing: 345.750559 deg, lat: 36.903191 deg, lon: -122.115481 deg, deltaT: 3.777535 s, deltaX: -1.299988 m, approachRate: -0.344137 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 306.20 m.BjJjzKMjIKM9KIKMKMR[} ProNav: ac range: 306.200012 m, nav range: 28.381800 m, bearing: 96.446268 deg, approach rate: 0.000000 m/s, LOS rate: -1.134296 deg/s, cmd heading: 212.106675 deg, new cmd heading: 210.545163 deg. 2jHeadingCmd: 3.674706 target range: 306.200012 and range: 306.20 m. jc.k@jjjihhhhfffrf@3#s@bf ^?ɛ-cB-<< )->I) 5Hɚ1i1I5q=I=R&i9i=@>)=c.k@)aEWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:25:30.2726 $?I*F2F:FBF`0JF"G=G!>G ?^#>G B O >%w,?;RAy5"B5I)A AEAAuWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ;Jd:JJa@a@a@a@UMb@Mb@Mb@QQQ Q)QYUCl?x&yU;?U7QU`@ U@)UAIU;@QyU@ImIm4٢} }B=9yQ }> G٣y > Nusing accuracyPremultiplier from config495S?4Y i?vB' ?:?kD;Q;rv4  AZjFNOT Ignoring new targets: 306.20 m.BjJj𠼝 ProNav: ac range: 306.200012 m, nav range: 28.519161 m, bearing: 95.994073 deg, approach rate: 0.343583 m/s, LOS rate: -1.125619 deg/s, cmd heading: 210.545157 deg, new cmd heading: 209.195370 deg. 2j AHeadingCmd: 3.651148 target range: 306.200012 and range: 306.20 m. jii@jjjihhhh Bf f f rfbfX?ɛ=dBEe< IM½>II MTɚIiIIM [=IUKs(iQiUeqT>)Uii@)YH8>I III& =&I.I6IW<:IFEm[=% Will construct direction to contact in vehicle frame from tetrahedron phase data.*F- ?2F) :F) BF- _0JF) I G 0>G B O >w,RA:sh@Y:*v@:$=9:1I  0TɚiI=I̵)ii}2>)ih@)!E531=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFS5JFJJBAG=>GyBO^>zK olLK 9K K K 2!0157<<=;9:7321.*% RK ?JK ?M Will construct direction to contact in vehicle frame from tetrahedron phase data. w,SA HILug@YuYu@uĆ=9ul2 G٣AGy_ > Nusing accuracyPremultiplier from config49S?4Y ivB?:"?D;y;4 " AB*** querying acoustic contact ***jjZj)5FNOT Ignoring new targets: 306.20 m.Bj=sJj=sM ProNav: ac range: 306.200012 m, nav range: 28.758352 m, bearing: 95.129907 deg, approach rate: 0.297438 m/s, LOS rate: -1.066270 deg/s, cmd heading: 208.067575 deg, new cmd heading: 206.614338 deg. 2jM6UHeadingCmd: 3.606101 target range: 306.200012 and range: 306.20 m. jUZf@jQjQjQiQhYhYhYh]؀Bfffrfbf#*?ɛEhBE< AEŲ>II M2z9ɚIiIIMyw=IU[U+iQiU ?>)UZf@)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.JJJJJ;J^:JJEl;=*F% ?2F! :F! BF% o0JF! jH bH <H I  I !II `BI &I .I 6I N<:I FGe?>Gm?Gm ?G9EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751355BQOm?w,IK1SA :$?I8:Cqf@Y:t@:[=9:";y:H`?r@bOɣH`zs? 7?ɨ:Cqf@:0;:CyfBfIIncInN5٢ C 2=9{;Q > G٣yD %> MNusing accuracyPremultiplier from configIU49MS?U4YM iM vBY]#]?MDM:M~:M4B  A׷EZjFNOT Ignoring new targets: 306.20 m.BjJj] ProNav: ac range: 306.200012 m, nav range: 28.890665 m, bearing: 94.645584 deg, approach rate: 0.286030 m/s, LOS rate: -1.042188 deg/s, cmd heading: 206.614343 deg, new cmd heading: 205.168354 deg. 2j2HeadingCmd: 3.580863 target range: 306.200012 and range: 306.20 m. j,e@jjjihhhhfffrfbf?ɛkB<  A>I  :ɚ i I .=I,i9i=E>)=,e@)9EAEA*EI"EIWill construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004051 G5vAQ*F2F:FBF0JF HYvAyBG F?>zKE YMKE 9KA KE KE )9(BKU qA:KQ G B O >nw,fNSAeWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258448 $?Iy BIIxI&5٢ =׼ =9Q > G٣y %> MNusing accuracyPremultiplier from configIU49M2R?U4YM iMuBQQU?MDMu:M;M4B  AڷEZjFNOT Ignoring new targets: 306.20 m.Bj֑Jj ֑ ProNav: ac range: 306.200012 m, nav range: 29.041782 m, bearing: 94.106668 deg, approach rate: 0.287520 m/s, LOS rate: -1.020008 deg/s, cmd heading: 205.168351 deg, new cmd heading: 203.560462 deg. 2j/EHeadingCmd: 3.552800 target range: 306.200012 and range: 306.20 m. jEac@jAjAjAiAhAhIhIhIfIfQfQrfQbfU @ɛmB(<  >I  lk:ɚ i I t=IU.iQi] ^>)]ac@)Y*F2F:FBF1JFGD>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506502Ja Je Je 1Ja Ja Je c:Je 3Ja w,t&hSAV4b@YVp@V=9V_~yVH`K? Uث Ն 奔ݲ`W?ɨV4b@V2;Ty B IMb@Mb@Mb@ )Y-?ʡE~jtxy??Ļv@ `@)AI@y@IoI"5٢Ֆ _=9 G٣AGy( >  Nusing accuracyPremultiplier from config H!I! I%II%LBI%' =&I!.I!6I%n<:I%FBIJIRIZI' =bIjIuu4E49 gR?E4Y ( i uBE?E:E)M? D q; ; 4Q , AZjFNOT Ignoring new targets: 306.20 m.BjJj5 ProNav: ac range: 306.200012 m, nav range: 29.128111 m, bearing: 93.725026 deg, approach rate: 0.234050 m/s, LOS rate: -1.031615 deg/s, cmd heading: 203.560456 deg, new cmd heading: 202.419082 deg. 2j50=HeadingCmd: 3.532879 target range: 306.200012 and range: 306.20 m. j=b@j9j9j9i9hAhAhAhÈBfIfIfirfibfu@ɛoB< 隽ڋ>I G:ɚiI=I0ii5>)b@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.758772 $?I*Fe?2Fa:FaBFe05JFaG [C>G qAG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010589w,?SABX8a@YBWo@BB =9BWAyBH _T ?,dmЇS-?ɨBX8a@Bڍ;BCyNBNI)P PIZIZ(*5٢bD b[=9b);Q f>dd fG٣dyji j> rNusing accuracyPremultiplier from configlr49nR?r4Yn inuBtv9+v?nDn;:n~:n4x ~z A~ݷEZj%FNOT Ignoring new targets: 306.20 m.Bj%bJj%b= ProNav: ac range: 306.200012 m, nav range: 29.214369 m, bearing: 93.329457 deg, approach rate: 0.245335 m/s, LOS rate: -1.121746 deg/s, cmd heading: 202.419076 deg, new cmd heading: 201.236051 deg. 2jEv@EHeadingCmd: 3.512232 target range: 306.200012 and range: 306.20 m. jEg`@jIjIjIiIhIhIhQhQfffrfbfU@ɛ%qB%?G< !%>I) -a:ɚ)i)I-E=I5OW1i9i=C&:>)=g`@)A*F?2F:FBF_0JFG?>GBzK$7LK9KKK   tzW@1% OB>=Will construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:21:25:33.0841 eTRx dataTimestamp_ set to:1736371534.280435}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269698 IGw,tSA>_@Y>6m@>=9> Qy>H`|l?`)Ԭ`Y`0\~BM(?ɨ>_@>;>CyJ߀BNI%Mb@Mb@Mb@!!! !)!Y%zG?L7A`尿{Gzy% ?%+%#%QA %A)!I%@!y%QAI=kI= 5٢Mµ E=9:Q > G٣y^ > Nusing accuracyPremultiplier from config49ҶR?4Y iuB?:p+?D;;4  A B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 306.20 m.Bj% Jj% 5 ProNav: ac range: 306.200012 m, nav range: 29.314999 m, bearing: 92.874569 deg, approach rate: 0.234638 m/s, LOS rate: -1.057009 deg/s, cmd heading: 201.236047 deg, new cmd heading: 199.876337 deg. 2j5Z5=HeadingCmd: 3.488500 target range: 306.200012 and range: 306.20 m. j=C_@j9j9j9i9hAhAhAhEЀBfIfQfYrfYbf]7 @ɛtB< 隍W>I D:ɚiIs=I 2ii4:>)C_@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515917JK(3 K(.KK"KJ5J5J50J1J5u;J5[:J5ـ3J1*F!2F!:F!BF!JF!G 5>ZH?ARH@AH9>I III.BI&I.I6IB<:I FG-?G-?G B9 O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I  DAT read: 21:25:33.0841 LVL= 13040, 22193, 19026, 27363, AGC= 64, IDX= 432,-0.02,-1.715, 2.997, 2.152,-2.820, PHS= 1.194,-0.419,-1.314, RAW= 69.4, 5.0, CAL= 71.5, 4.9, ROT= 78.5, -4.9  Ygot valid direction response: 21:25:33.0841 LVL= 13040, 22193, 19026, 27363, AGC= 64, IDX= 432,-0.02,-1.715, 2.997, 2.152,-2.820, PHS= 1.194,-0.419,-1.314, RAW= 69.4, 5.0, CAL= 71.5, 4.9, ROT= 78.5, -4.9  PDAT read: Bearing 78.5, -4.9 (Local)  ~Local bearing/azimuth received: Bearing 78.5, -4.9 (Local) % DAT read: Range 10 to 50 : 304.9 m (Round-trip 406.6 ms) speed 0.0 m/s % ,DAT read: user:1753> - BDAT read: Tx time:21:25:34.1734 - $Ping request sent.- rD?ɨ6S_^@6;6CyӀBtII-I-/5٢ead eI=9m7:Q m>ii mG٣uAGyu[^ u> Nusing accuracyPremultiplier from config49R?4Y] iuB,?D\:~:4B r AEkNp?k@ k kSA:ksCBkfCZk@"쉬[EY%`@QIp@}:Fa,?QfK?Jk?Rkۊ*W@J|ZKip@<0LV?_Shֿ*`f_?"k}*k?Bkp?k 2k`CkXY?kkִCk Bk}? addTargetRange:: Added new target pos. range: 304.899994 m, deltaT: 3.781823 s, deltaX: -1.300018 m, approachRate: -0.343754 m/s, rangeRepo size: 4  Added new target pos. range: 304.899994 m, bearing: 310.794770 deg, lat: 36.903376 deg, lon: -122.115481 deg, deltaT: 3.781823 s, deltaX: -1.300018 m, approachRate: -0.343754 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 304.90 m.BjJj5 ProNav: ac range: 304.899994 m, nav range: 35.170113 m, bearing: 56.648585 deg, approach rate: 0.000000 m/s, LOS rate: -1.057009 deg/s, cmd heading: 199.876334 deg, new cmd heading: 198.551477 deg. 2j1EHeadingCmd: 3.465377 target range: 304.899994 and range: 304.90 m. jE]@jAjAjAiAhIhIhihifqfqfqrfu`fs@bf} ?ɛvB>D_< t:>I yi:ɚiI-=I-V4i)i-;>)-]@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:25:34.1726 *F?2F:FBF^0JFG GG :>G B O >zK MK K K K w,uSAy€B_II-aI-k5MWill construct direction to contact in vehicle frame from tetrahedron phase data. Ig٢7 E=9Q > G٣y} > ]Nusing accuracyPremultiplier from configQe49U>R?m4YUn iUuBiiu?UDU@;U,;U 4y } A}EZjFNOT Ignoring new targets: 304.90 m.BjUJjU ProNav: ac range: 304.899994 m, nav range: 35.402889 m, bearing: 56.419361 deg, approach rate: 0.530259 m/s, LOS rate: -0.518733 deg/s, cmd heading: 198.551482 deg, new cmd heading: 197.868364 deg. 2jHeadingCmd: 3.453454 target range: 304.899994 and range: 304.90 m. jf]@jjjihhhhfff!rf!bf%?ɛyB<< `=隕z>I :ɚiI=IN5iiGG>)f]@)*FE?2FA:FABFE`0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.J- J- J) J) J- ;J- 3g:J) J) Ge ;>GA BQ Om > w,sSAV[@YVvi@VW=9VwQyVH@5?@߿ _EQF ]Q@?ɨV[@V;TyBIIMb@Mb@Mb@ )YA`"?v/Mby?xi hA) AI@ypAI8I@ 5H8>I III BI& =&I.I6Io<:IF٢ܭ H=9ۺQ > G٣y# > Nusing accuracyPremultiplier from config49R?4Y isuB? : . ? D:;'8;Q4 AEZj9EFNOT Ignoring new targets: 304.90 m.BjEJjE ProNav: ac range: 304.899994 m, nav range: 35.583447 m, bearing: 56.232832 deg, approach rate: 0.503171 m/s, LOS rate: -0.517174 deg/s, cmd heading: 197.868367 deg, new cmd heading: 197.311638 deg. 2jwHeadingCmd: 3.443738 target range: 304.899994 and range: 304.90 m. j3f\@j j jihhhhŀBfffrfbf% -?ɛu{Bu< q}d=Iy }:ɚyiyIh=I5ii$>)3f\@)MWill construct direction to contact in vehicle frame from tetrahedron phase data. $?I*F2F:FBFo0JFG5B>G=rAG=qAG)B9OU> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,ITAFBZ@YF6h@F=9Ft ;yFHU4 ?`"ݿ I砿&ba?@&?ɨFBZ@FO;FCyNBN,IIZHIZW5٢b f\=9ftQ f>hh jG٣hyjx j> rNusing accuracyPremultiplier from configlv49ndnR?v4Yn in\uBtv0z?nDn;n;nŗ4~B ~TA~EZj!%FNOT Ignoring new targets: 304.90 m.Bj-Jj-= ProNav: ac range: 304.899994 m, nav range: 35.768295 m, bearing: 56.034754 deg, approach rate: 0.498980 m/s, LOS rate: -0.531926 deg/s, cmd heading: 197.311639 deg, new cmd heading: 196.720498 deg. 2j=EHeadingCmd: 3.433420 target range: 304.899994 and range: 304.90 m. jM)[@jIjIjIiIhIhIhQhQfQfQfYrfYbf]`?ɛ}B2;  X=I  :ɚ i I t =Ib6ii>))[@)E)E-pA*F?2F:FBF4JF"G=G=zK%:IK%9K!K%K%EWill construct direction to contact in vehicle frame from tetrahedron phase data. }$?IG^E>GBO- >w,+TA6X@Y6f@6i=96l;y6H?ұ;ܿ``]h`Cp?`[?ɨ6X@6Y;4y^B^IMMb@Mb@Mb@III I)IYM$C?Q롿:vyM?M\MTMA MA)MAIIIyMAIeEIe5٢uѽ uA=9u:;Q }>yy }G٣}AGyE^ > Nusing accuracyPremultiplier from config49ZR?4Y iBuBh?:/?)Dc<7<5͗4! %A!eB*** querying acoustic contact ***jajaZjiFNOT Ignoring new targets: 304.90 m.Bjf Jjf  ProNav: ac range: 304.899994 m, nav range: 35.982113 m, bearing: 55.815618 deg, approach rate: 0.481942 m/s, LOS rate: -0.490992 deg/s, cmd heading: 196.720499 deg, new cmd heading: 196.067030 deg. 2j{HeadingCmd: 3.422015 target range: 304.899994 and range: 304.90 m.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. jL[@jjjihhhhBfffrfbf K?ɛUBU# ; Y]t;IY ]a:ɚYiYI]!=Iei7iaiez>)eL[@)jH<bH<HI III܀BI' =&I.I6IX<:IFEC;=*Fe ?2Fa :Fi BFm o0JFi GE ].>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994848 I GY Bi O > w,!7TA>+W@Y>Je@> =9>8;y>HI?ݞ=ۿ앚+ ~?@?ɨ>+W@>Q;>CyFsBFIIRzIR'5٢ZI ZW=9^5;Q ^>`` bG٣`ybt f> jNusing accuracyPremultiplier from configdn49fHR?n4Yf if+uBln0r?f7Df%;fy;fӗ4vB vAvEZjFNOT Ignoring new targets: 304.90 m.BjiJji- ProNav: ac range: 304.899994 m, nav range: 36.171635 m, bearing: 55.614302 deg, approach rate: 0.527570 m/s, LOS rate: -0.557467 deg/s, cmd heading: 196.067028 deg, new cmd heading: 195.466265 deg. 2j-J5HeadingCmd: 3.411530 target range: 304.899994 and range: 304.90 m. j5VZ@j9j9j9i9h9h9hAhAfAfAfIrfIbfM@ɛuB}4 y隅I Q:ɚiIp"=I27ii >)VZ@)EUlT=*F?2F:FBF3JFGH!>G?G?GBO=>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246026J%J%J%1J!J%];J%Z:J%3J!J%I> 賿`,??ɨ2U@2l;2CzKJjIKJ9KHKJKJ yRdBVII^I^|+5٢fb fI=9f;Q f>hh jG٣hyn_ n> rNusing accuracyPremultiplier from configpv49r5R?v4Yr iruBtv1z?rGDrJ;rd;rڗ4%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499227) -A) =$?I9ZjaeFNOT Ignoring new targets: 304.90 m.BjmJjm} ProNav: ac range: 304.899994 m, nav range: 36.372181 m, bearing: 55.393820 deg, approach rate: 0.483005 m/s, LOS rate: -0.528090 deg/s, cmd heading: 195.466272 deg, new cmd heading: 194.808504 deg. 2j}6HeadingCmd: 3.400050 target range: 304.899994 and range: 304.90 m. j jY@jjjih!hQhahafffrfbf :@ɛBj $I {:ɚiI#=IK8ii>)jY@)E Pa=ER>EG>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750880*F ?2F :F BF 1JF G qA G rAH I  I @II BI & =&I .I 6I &<:I FG @`>GBO>4pw,oTA:\T@Y:{b@:ӟ=9:jpYY ]G٣]AGy]% ]> Nusing accuracyPremultiplier from config49)R?4Y>! itBg ?:1?]DH;;c4A EAEEZjFNOT Ignoring new targets: 304.90 m.Bj/Jj/ ProNav: ac range: 304.899994 m, nav range: 36.649578 m, bearing: 55.095809 deg, approach rate: 0.499169 m/s, LOS rate: -0.532202 deg/s, cmd heading: 194.808497 deg, new cmd heading: 193.921305 deg. 2jHeadingCmd: 3.384565 target range: 304.899994 and range: 304.90 m. jX@jjjihhhhBfffrfbfl@ɛBR սI <:ɚiI%=I9ii7=)X@)YEaEa*Ea"Ea)) -ːCG Yy B} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257845J J J J J 0J J J ]:J ـ3J J J J ;J ;*F ?2F :F BF 0JF G >>G B O >"w,ҌTA2R@Y2a@2Z{=92݆7B>IIJIJ_,5٢R Rb=9RQ R>TT VG٣TyZy z> Nusing accuracyPremultiplier from config|49~" R? 4Y~@# i~tB  +3 ?~kD~:~o7;~4B qAEZjamFNOT Ignoring new targets: 304.90 m.Bj)Jj) ProNav: ac range: 304.899994 m, nav range: 36.834694 m, bearing: 54.890695 deg, approach rate: 0.536375 m/s, LOS rate: -0.591329 deg/s, cmd heading: 193.921310 deg, new cmd heading: 193.309088 deg. 2jʼHeadingCmd: 3.373880 target range: 304.899994 and range: 304.90 m. jW@jjjihhhhfffrfbfڋ @ɛEBEql0 AE&Ii m:ɚqiqIun&=I} 2:iiP=)W@)zKLKs9KKK    RK ?JK E$?IA}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:25:36.9840 TRx dataTimestamp_ set to:1736371538.312699checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512358*F?2F:FBF_0JFG>GBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762080(w,QTA: G٣AGyF > Nusing accuracyPremultiplier from config49Q?4Y% itB!?:2?|D<;D;44  AB*** querying acoustic contact ***jjZj9=FNOT Ignoring new targets: 304.90 m.BjEJjE} ProNav: ac range: 304.899994 m, nav range: 37.054249 m, bearing: 54.652312 deg, approach rate: 0.474794 m/s, LOS rate: -0.512456 deg/s, cmd heading: 193.309093 deg, new cmd heading: 192.598218 deg. 2j}دHeadingCmd: 3.361473 target range: 304.899994 and range: 304.90 m. j`"W@jjjihhhh\BfffrfbfA@ɛ]B]B Y]QIY e::ɚaiaIes'=IuV:iqiuk=)u`"W@)yZH@ARHAAHI III|BI&I.I6ID<:I FBIQJIQRIQZIU& =bIQjIU~4*F2F:FBFJF"G=G= E$?IAWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 304.8 m (Round-trip 406.5 ms) speed -0.2 m/s ,DAT read: user:1754> BDAT read: Tx time:21:25:38.0734 $Ping request sent.G B O >2.w,4.TABIP@YBah^@BW=9BS`` fG٣dyfa f> jNusing accuracyPremultiplier from confighn49jQ?r4Yj' ijtBprJ4r?jDj[;jl;j4t v"AzE% addTargetRange:: Added new target pos. range: 304.799988 m, deltaT: 4.034135 s, deltaX: -0.100006 m, approachRate: -0.024790 m/s, rangeRepo size: 4 Zj!%FNOT Ignoring new targets: 304.90 m.Bj-5Jj-5= ProNav: ac range: 304.899994 m, nav range: 37.245335 m, bearing: 54.438570 deg, approach rate: 0.571870 m/s, LOS rate: -0.636390 deg/s, cmd heading: 192.598221 deg, new cmd heading: 191.960313 deg. 2jE_ڼMHeadingCmd: 3.350339 target range: 304.899994 and range: 304.80 m. jMkV@jIjIjIiIhQhQhQhQfYfafarfe s@bfe?ɛB s =隕YI D:ɚiId(=I;iiC=)kV@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:25:38.0726 J5J5J51J1J5;J5[:J53J1J5E<J5E<J5߮;J5߮;*FQ2FQ:FQBFUe0JFQG-O,=GBO (> - $?I) zKM LKM 59KI KM KM BK] rA:KY  Will construct direction to contact in vehicle frame from tetrahedron phase data.5w,$TA.O@Y2]@=9=ȭ G٣y& > Nusing accuracyPremultiplier from config49Q?4Y(* itB&?:34?D;;4B AEZjFNOT Ignoring new targets: 304.90 m.Bjq$Jjq$ ProNav: ac range: 304.899994 m, nav range: 37.489769 m, bearing: 54.169950 deg, approach rate: 0.526726 m/s, LOS rate: -0.575067 deg/s, cmd heading: 191.960308 deg, new cmd heading: 191.159756 deg. 2jTżHeadingCmd: 3.336367 target range: 304.899994 and range: 304.80 m. j U@jjjihhhhoBfffrfbf5?ɛBx I9 =LG:ɚ9i9I=)=IEH} 9>Iy  I} II} SBIy &Iy .Iy 6I} Q<:I} FG B OU >;w,TA2 Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J ;J ^:J ـ3J J WH<J XH<J ;J ;Bw, UA27L@Y2Z@2(=92R?B>hIIF<IF 5٢b+/ bK=9fKQ f>dd jG٣jAGyj; j> vNusing accuracyPremultiplier from configpv49rȡQ?v4Yr- irStBxz6z?rDr;r;r 4~B jAEZj!-FNOT Ignoring new targets: 304.90 m.Bj-C*Jj-C*E ProNav: ac range: 304.899994 m, nav range: 37.878460 m, bearing: 53.724493 deg, approach rate: 0.516443 m/s, LOS rate: -0.595421 deg/s, cmd heading: 190.549300 deg, new cmd heading: 189.830360 deg. 2jEP̼MHeadingCmd: 3.313165 target range: 304.899994 and range: 304.80 m. jM T@jIjIjIiIhIhQhQhQfYfYfYrfabfe?ɛB| 15jI1 5=:ɚ1i1I5&+=I=>i9i=U=)E T@)A $?IzK%RIK%9K!K%K%uWill construct direction to contact in vehicle frame from tetrahedron phase data.EQf=*F?2F:FBF_0JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.G =G B O >Iw,,(UAJK@YJtY@J=9JWE G٣y > Nusing accuracyPremultiplier from config 49QQ? 4Y0 i7tB #$? :8?D@;;4 AE=B*** querying acoustic contact ***j9j9ZjIUFNOT Ignoring new targets: 304.90 m.BjU")JjU")e ProNav: ac range: 304.899994 m, nav range: 38.124249 m, bearing: 53.431736 deg, approach rate: 0.499808 m/s, LOS rate: -0.591478 deg/s, cmd heading: 189.830355 deg, new cmd heading: 188.957817 deg. 2jmʼmHeadingCmd: 3.297936 target range: 304.899994 and range: 304.80 m. jmbS@jqjqjqiqhqhqhyh}_Bfyffrfbf`x?jHbH<H8>I III5BI&I.I6I<:I FɛeBm imçIi mV9ɚiiiIu~v-=IS?iiϨ=)bS@) $?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.E}xr=*F 2F :F BF JF G =G B O >Pw,BUA:}J@Y:4X@:=9:ydd fG٣dyf- f> nNusing accuracyPremultiplier from confighv49jfuQ?z4Yj1 ij"tBxz8z?jDj;j;j4 BAZj)-FNOT Ignoring new targets: 304.90 m.Bj-*Jj5*M ProNav: ac range: 304.899994 m, nav range: 38.304539 m, bearing: 53.213376 deg, approach rate: 0.495625 m/s, LOS rate: -0.597453 deg/s, cmd heading: 188.957812 deg, new cmd heading: 188.305846 deg. 2jMͼUHeadingCmd: 3.286557 target range: 304.899994 and range: 304.80 m. jUVR@jQjQeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264577jQiihihihihqfqfqfqrfqbf} (,@ɛB޼ 隭VI 3ɚiI.=IU?iYi]z=)]VR@)YEaEa*Ei"EiEe>E>*F?2F:FBF0JF"G=G= $?I%g Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516191zKE BoHKE s9KA KE KE 68-$  G =Gy B O >HVw,"]UA>GI@Y>W@>!#=9> [H ? }IͿ`%?A@M?&?ɨ>GI@>ϊ;>CyRBR=IMMb@Mb@Mb@III I)IYMS㥛?Q?yy G٣AGy > Nusing accuracyPremultiplier from config49M^Q?4Yx3 i tB$?:8?Dw;jv;$4B AEZjFNOT Ignoring new targets: 304.90 m.Bj Jj  ProNav: ac range: 304.899994 m, nav range: 38.526333 m, bearing: 52.950557 deg, approach rate: 0.477432 m/s, LOS rate: -0.562483 deg/s, cmd heading: 188.305843 deg, new cmd heading: 187.521977 deg. 2j%HeadingCmd: 3.272876 target range: 304.899994 and range: 304.80 m. j%vQ@j!j!j!i!h!h)h)h-fBfQfQfQrfQbfU @ɛB`ɼ ¾I N{׹ɚiI/=I@iiZ=)vQ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769019JUJUJU1JQJUu;JUZ:JU3JQae@ae@ae@ae@*F?2F:F BF O5JF HYIY I]II] BIY&IY.IY6I]<:I] FG g= I G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020248~ ]w,;4yBBB?IIJtIJ$5٢Zk< ^Y=9=Q E>AI MG٣IyM M> ]Nusing accuracyPremultiplier from configQe49UIQ?e4YU5 iUsBae9e?UDU%;Uh;Uq+4i uAuEZjFNOT Ignoring new targets: 304.90 m.Bj6Jj6 ProNav: ac range: 304.899994 m, nav range: 38.721863 m, bearing: 52.716082 deg, approach rate: 0.534911 m/s, LOS rate: -0.638214 deg/s, cmd heading: 187.521983 deg, new cmd heading: 186.822145 deg. 2jۼHeadingCmd: 3.260662 target range: 304.899994 and range: 304.80 m. jP@jjjihhhhfffrfbf@ɛB  I! -q/ɚ1i1I=*0=I=qAi9iE΢=)EP@)I*F-?2F):F)BF-_0JF1=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:21:25:40.8847 ETRx dataTimestamp_ set to:1736371542.092850Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273551GU6=G) B1 OU > cw,=UA6q+H@Y6(JV@6Ih=96R =y6H@D@^?w 9ʿ$Pv̖? @ε? ?ɨ6q+H@6;6Cy>B>9IIFIF-5٢^{ż bJ=9bQ b>dd fG٣dyf f> nNusing accuracyPremultiplier from confighr49jH5Q?r4Yj6 ijsBprO:r?jDj ;j ;j824t zAxZj%FNOT Ignoring new targets: 304.90 m.Bj%A+Jj%A+5 ProNav: ac range: 304.899994 m, nav range: 38.914505 m, bearing: 52.482579 deg, approach rate: 0.496556 m/s, LOS rate: -0.598896 deg/s, cmd heading: 186.822148 deg, new cmd heading: 186.125145 deg. 2j5ͼ=HeadingCmd: 3.248497 target range: 304.899994 and range: 304.80 m. j=^O@jAjAjAiAhAhAhIhIfIfIfQrfQbfUs @ u$?IqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524547ɛBv 隭aȾI 悺ɚiI2=IW8Bii=)^O@)EzK+LK+9KKK*F?2F:FBFJFG  G rAG J=G B O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: Range 10 to 50 : 305.3 m (Round-trip 407.1 ms) speed 0.0 m/s e ,DAT read: user:1755> e BDAT read: Tx time:21:25:41.9735 m $Ping request sent.m  G٣AGylʼ > Nusing accuracyPremultiplier from config49Q?4Y*8 isB%%?%:%+<%?&D{<'<w:4MB MAUEB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 305.299988 m, deltaT: 3.780734 s, deltaX: 0.500000 m, approachRate: 0.132249 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 304.90 m.Bj*Jj* ProNav: ac range: 304.899994 m, nav range: 39.145294 m, bearing: 52.190193 deg, approach rate: 0.474182 m/s, LOS rate: -0.597196 deg/s, cmd heading: 186.125141 deg, new cmd heading: 185.253224 deg. 2j̼HeadingCmd: 3.233279 target range: 304.899994 and range: 305.30 m. j N@jjjihAhIhIhMiBfIfQfQrfUs@bfU`Q? m$?IiɛB~ݼ B;I ɚiIR3=I1Cii(=) N@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:25:41.9727 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBFJFGE =GA GE rA} G Y y JBG1 B9 U PExceeded connect timeout, disconnecting.Oe >qw,sUA6F@Y6T@6˷F=96?m&=y6Hj D?5'ǿp$ß?zԨŤ??ɨ6F@6s;6CyBBB6IIR=IRw 5٢Z; Zs=9^8KQ ^?\\ ^G٣\yb b? jNusing accuracyPremultiplier from confighn49j Q?n4YjB9 ijsBpr<r?j4Dj;:j:j^@4zWill construct direction to contact in vehicle frame from tetrahedron phase data.zchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.500362B A EZjFNOT Ignoring new targets: 304.90 m.Bj*Jj*- ProNav: ac range: 304.899994 m, nav range: 39.309616 m, bearing: 51.980666 deg, approach rate: 0.468199 m/s, LOS rate: -0.594503 deg/s, cmd heading: 185.253226 deg, new cmd heading: 184.627301 deg. 2j-̼5HeadingCmd: 3.222354 target range: 304.899994 and range: 305.30 m. j5 ;N@j1j1j1i1h1h9h9h9f9fAfarfabfu/?ɛB( };I y1ںɚiIe@4=IECiAiEf=)E ;N@)I*F2F:FBFJFG=GBOc> M$?IIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752110zKU JQJKU s9KQ KU KU ;ww,iVUABF@YBb5T@Bx0=9Bb73=yBH|?@3(ƿ:?_??ɨBF@BW;BCyfBf9IMb@Mb@Mb@ )YRQ?Mb~jth?y"?D;vA A)/ AIAyfAIWI5٢ X< 8=9DQ > G٣yż  > %Nusing accuracyPremultiplier from config!-49%iP?-4Y%^: i%sB5"?5:5?5?%FD%;%2;%.H4A EAIZjiuFNOT Ignoring new targets: 304.90 m.Bjur?Jjur? ProNav: ac range: 304.899994 m, nav range: 39.516148 m, bearing: 51.697584 deg, approach rate: 0.491020 m/s, LOS rate: -0.669495 deg/s, cmd heading: 184.627294 deg, new cmd heading: 183.782552 deg. 2j弝HeadingCmd: 3.207611 target range: 304.899994 and range: 305.30 m. j~IM@jjjihhhhBfffrfbf?ɛBc ˾I ɚiIM35=I6Dii-=)~IM@)EErAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005083JAJEJAJAJAJE[:JAJA*F]?2FY:FYBF]0JFY"Ge=Ge=H I  I I I &I .I 6I %<:I  FBIJIRIZIbIjIF4G}=GQ Ba O > 1 I9  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256129[}w,UAzWD@YzS@z=9z7G=yzH@Q@?hÿ 5?`?@?ɨzWD@zP;xy-B-<I15AIEGIE5٢M< UV=9UHQ U>YY ]G٣]AGye < e> mNusing accuracyPremultiplier from configiu49m\P?u4Ym2; imsBy}@}?mVDm`;m;mN4 A EZjFNOT Ignoring new targets: 304.90 m.Bj 6Jj 6 ProNav: ac range: 304.899994 m, nav range: 39.688648 m, bearing: 51.456117 deg, approach rate: 0.456981 m/s, LOS rate: -0.636903 deg/s, cmd heading: 183.782550 deg, new cmd heading: 183.061335 deg. 2jڼHeadingCmd: 3.195023 target range: 304.899994 and range: 305.30 m. jB{L@jjjihhhhfffrfbf`t?ɛeBeV aeʾIa eɚiiiIm{6=ImsEiij=)B{L@)*F-?2F):F)BF5I2JF1 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=1.508104JQJUCAGN=Gi B O CEw,yVAV@D@YV^R@V4<9VKTL=yVH@`W?v¿*@? ?K?ɨV@D@V ;VCybBbBIIj^ r$?IpIj5٢z < zP=9~m Q ~>   G٣ y 4  > Nusing accuracyPremultiplier from config%49tP?%4Y; isB!%aA%?fD:.:U45B 5A5EZjYeFNOT Ignoring new targets: 304.90 m.BjeM6JjeM6} ProNav: ac range: 304.899994 m, nav range: 39.867027 m, bearing: 51.204044 deg, approach rate: 0.453167 m/s, LOS rate: -0.637516 deg/s, cmd heading: 183.061337 deg, new cmd heading: 182.308547 deg. 2j}ڼHeadingCmd: 3.181884 target range: 304.899994 and range: 305.30 m. jK@jjjihhhhfffrfbf@?ɛEBE? IMyƾII M6*ɚQiQIU6=I]{FiYi]N=)]K@)auWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760213zK-jIK-9K)K-K-@fO* RK]?JK]?*Fi2Fi:FqBFuP5JFqG$=GYBqO[>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012938J J J J J J Z:J J .nw,+VAFFC@YFQ@F<9F9L=yFH} ?@yNA`w`_?RT䎩?@?ɨFFC@F:r;DynBnKIMb@Mb@Mb@ )Y+?kt G٣yĿ >  Nusing accuracyPremultiplier from config49P?4Yt< isB# ?:D?wD;;B]4! %EA!ZjIMFNOT Ignoring new targets: 304.90 m.BjU<JjUɚiI37=IQpGiiu=)eJ@) $?I*F2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265555G=GqAGG B O >Uw, EVA @6B@Y6@P@6<96(xL=y6H`0@R? ֢*@k?C@??ɨ6B@6E;6CyBBBHIIJvIJ%5٢ZJS Za=9Z"Q Z>\\ ^G٣^AGyf# f> jNusing accuracyPremultiplier from confighn49jnP?n4rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.516247Yj< ijsBY]E]?jDjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768173zK LK +9K K K w,|_VAy}B}QI-Mb@Mb@Mb@))) )))Y-+?T㥛 ~jtx?y)--;-/ A )))I-A)y-AI=hI=5٢M< U3=9UQ U>YY ]G٣Yy] e> mNusing accuracyPremultiplier from configau49eOP?}4Ye< iesB ?:G?eDe;eN;ek4B ,AEZjFNOT Ignoring new targets: 304.90 m.BjJJjJ ProNav: ac range: 304.899994 m, nav range: 40.391823 m, bearing: 50.369010 deg, approach rate: 0.432094 m/s, LOS rate: -0.708652 deg/s, cmd heading: 180.734810 deg, new cmd heading: 179.814618 deg. 2j+󼝊HeadingCmd: 3.138357 target range: 304.899994 and range: 305.30 m. jH@jjjihhhhÀBfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020713ɛB -I hɚiI8=*J!"J%p=IEH@iAiM=)MH@)I*F?2F:FBFJFHI III0BI&I.I6I<:I F I 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=3.274986qw,YyVAnuA@YnO@nem<9npG=ynH@gѹ?@̓w ?n ߨ?w?ɨnuA@nc;nCyvBz_IIiI5٢~= `=9iQ >!! %G٣!y%Vx -> 5Nusing accuracyPremultiplier from config)=49-tP?=4Y-< i-sB9=IE?-D-(;-;-q4I MAIZjiuFNOT Ignoring new targets: 304.90 m.Bj}EJj}E ProNav: ac range: 304.899994 m, nav range: 40.538036 m, bearing: 50.120579 deg, approach rate: 0.407083 m/s, LOS rate: -0.689175 deg/s, cmd heading: 179.814620 deg, new cmd heading: 179.072060 deg. 2j|켝HeadingCmd: 3.125397 target range: 304.899994 and range: 305.30 m. jH@jjjihhhhfffrfbf2 @ɛB I !xɚiIp9=IH@iiiu;=)uH@)qE*F?2F:F BF `0JF "G=G=Gs=GBOE>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:25:44.7849 TRx dataTimestamp_ set to:1736371546.124668checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525254JK3 K.KK"KJ=J=J9J9J=u;J=^:J9J9J=Bdd fG٣fAGyfk j> nNusing accuracyPremultiplier from confighr49jU_P?r4Yj< ijsBtv_H@v?jDjB;jB;jx4zB ~A~EZj!%FNOT Ignoring new targets: 304.90 m.Bj-)BJj-)B= ProNav: ac range: 304.899994 m, nav range: 40.694187 m, bearing: 49.852377 deg, approach rate: 0.396849 m/s, LOS rate: -0.679002 deg/s, cmd heading: 179.072056 deg, new cmd heading: 178.270592 deg. 2j=輝EHeadingCmd: 3.111409 target range: 304.899994 and range: 305.30 m. jER!G@jAjAjAiAhIhIhIhIfQfQfQrfQbf@ɛ-B-OY -j_=-I) 5e^]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776346ɚ1iaIe9=IeR!G@iiimZ5=)mR!G@)q*F?2F:FBFk0JFzK:KK9KKKG 1= Will construct direction to contact in vehicle frame from tetrahedron phase data.JA JE AA} DAT read: 21:25:44.7849 LVL= 15328, 19601, 19522, 24771, AGC= 66, IDX= 439, 0.05, 0.626,-0.294,-1.847,-0.535, PHS= 1.249, 0.288,-1.315, RAW= 51.8, -2.0, CAL= 53.9, -5.4, ROT= 96.1, 5.4  Ygot valid direction response: 21:25:44.7849 LVL= 15328, 19601, 19522, 24771, AGC= 66, IDX= 439, 0.05, 0.626,-0.294,-1.847,-0.535, PHS= 1.249, 0.288,-1.315, RAW= 51.8, -2.0, CAL= 53.9, -5.4, ROT= 96.1, 5.4  PDAT read: Bearing 96.1, 5.4 (Local)  ~Local bearing/azimuth received: Bearing 96.1, 5.4 (Local)  DAT read: Range 10 to 50 : 305.4 m (Round-trip 407.3 ms) speed -0.1 m/s  ,DAT read: user:1756>  BDAT read: Tx time:21:25:45.8735  $Ping request sent.  Q qg? 5  p?) I ?i =   2N?Je&Κ桿) kI P<=i `? R  u :publishing transmit ping time u Fpublishing direction and range info O >9 iy?'b?\atww?y     ) I i      ) I i    2N?Je&Κ桿) I i    2w,VAHe7>Ia IeIIeDBIa&Ia.Ia6Ie<:Ie Fy}B}jI%Mb@Mb@Mb@!!! !)!Y%+?ʡEI +? 1I9y%v?%-%94 G٣y   > %Nusing accuracyPremultiplier from config]49pDP?]4Yw< ie ?:E@?D^<[<4 AEkMDFR?kMjTT kI kMvSVA:kMCBkMCZkMO@"MWd@>i@dsʸk@Miy?'b?\atww?JkM`?RkM R*M:RaK@f%}h f[2m@MV*e?5gϙvWy?"kMD*kM\@kM.%R?kM+x 2kMȔCkIkMձ kMCkM^AkM =@U addTargetRange:: Added new target pos. range: 305.399994 m, deltaT: 4.033447 s, deltaX: 0.100006 m, approachRate: 0.024794 m/s, rangeRepo size: 4 eWill construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:21:25:45.8727  Added new target pos. range: 305.399994 m, bearing: 272.206075 deg, lat: 36.903376 deg, lon: -122.115992 deg, deltaT: 11.848316 s, deltaX: 0.500000 m, approachRate: 0.042200 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 305.40 m.BjJj ProNav: ac range: 305.399994 m, nav range: 30.171139 m, bearing: 331.668154 deg, approach rate: 0.000000 m/s, LOS rate: -0.679002 deg/s, cmd heading: 178.270587 deg, new cmd heading: 177.170826 deg. 2jHeadingCmd: 3.092214 target range: 305.399994 and range: 305.40 m. jE@jjjihhhhBfffrf%`fs@bf%e?ɛuBuDn˼ quIq |ɚiIL:=IE@iiN=)E@)*Fu?2Fq:FqBFu`0JFqGy GyGM ,A=G B O- >ow,mVArWill construct direction to contact in vehicle frame from tetrahedron phase data.yrBv]IJJJ1JJJX:J3JJJJ/;J/;I~8I~@ 5٢}t }u=9Q  ? G٣y  ? Nusing accuracyPremultiplier from config493P?4Y4< i?D;:\4 A B*** querying acoustic contact ***j j Zj9EFNOT Ignoring new targets: 305.40 m.BjE3<JjE3zK= BHK= 9K9 K= K=   ҷw,VA5sL>@Y5*kL@595=y5H@٪?CTת`=꼢?~U? ??ɨ5sL>@5g;5CyMBMeI U=U=Mb@Mb@Mb@ )Yx&1?J +~jtx?yA ?Ƚ; A IA) AIAyzAI?IZ 5٢< B=9uQ > G٣AGy   > Nusing accuracyPremultiplier from config%49-P?-4Yz; isB=7"?=:=vB@E?D;A;4UB UAUEZjyFNOT Ignoring new targets: 305.40 m.Bj<Jj< ProNav: ac range: 305.399994 m, nav range: 30.599661 m, bearing: 332.020381 deg, approach rate: 0.598084 m/s, LOS rate: 0.454433 deg/s, cmd heading: 177.656717 deg, new cmd heading: 178.219974 deg. 2j<HeadingCmd: 3.110525 target range: 305.399994 and range: 305.40 m. jG@jjjihhh!h-Bf)f)f)rf)bf5 O?ɛ}B} y}´I !ɚiIj;=IG@iiԦv=)G@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986560HU6>IQ IUIIUSBIU' =&IQ.IQ6IU<:IU FEEW^= I *F ?2F :F BF _0JF G} {=G ?G >GQ Bq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236467O >Zw,VAzh=@YzȆK@z!9z=yzH6ʣ?k?13%?`,s?m?`9?ɨzh=@z;zCy5B5oII]#I]5٢}e!= }S=9Q > G٣y > Nusing accuracyPremultiplier from config%49wP?%4Y: isB)-A@-?Db;&:49 ={A="EZjaeFNOT Ignoring new targets: 305.40 m.Bjm;Jjm; ProNav: ac range: 305.399994 m, nav range: 30.830370 m, bearing: 332.187231 deg, approach rate: 0.577528 m/s, LOS rate: 0.414546 deg/s, cmd heading: 178.219976 deg, new cmd heading: 178.716769 deg. 2j?<HeadingCmd: 3.119196 target range: 305.399994 and range: 305.40 m. jG@jjjihhhhfffrfbf`A?ɛB9 I OɚiI4;=IG@iie;=)G@))= ƐCEfm=G%vA9 }Y}vAy} B*F?2F:FBFT5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488542J%J%J%0J!J%;J%\:J%ـ3J!J%><J%><J%į;J%ů;G ^=G B O >  $?I w,WA6{<@Y6eJ@6Iۻ964C=y6Hp?@w?駘Z?v{?`G??ɨ6{<@6;6CyzBzdIINI5٢+ P=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)549-O?54Y-9 i-sB1=@@=?- D-:-o;-V4I MAIZjquFNOT Ignoring new targets: 305.40 m.Bj};Jj};5 ProNav: ac range: 305.399994 m, nav range: 31.061657 m, bearing: 332.344803 deg, approach rate: 0.615500 m/s, LOS rate: 0.416206 deg/s, cmd heading: 178.716763 deg, new cmd heading: 179.185947 deg. 2j5ю<=HeadingCmd: 3.127385 target range: 305.399994 and range: 305.40 m. j='H@j9MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.741117j9jaiahihihihifqfqfqrfqbfu`+Z?ɛ%B%T !%I! ->4ɚ)i)I-g <=I5'H@i1i5b|<)5'H@)9zKKK@9KKK |F# E ^=*F?2F:FBF3JFG = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993364G B O > w,UL.WA:;;@Y:I@:TY9:==y:HP`G?@:?9?ˁ?Y??ɨ:;;@: ;:CyZBZhI`bAHI III]BI&I.I6I<:I FBIJIRIZIbIjI4mMb@Mb@Mb@iii i)iYmx&1?X9vMbp?ym!?mm;m/ A i)m AIiiymQAIDI5٢NV< D=9Q > G٣AGy > Nusing accuracyPremultiplier from config549O?=4Y8 isB=$?=:=@=@=? D<<4MB MAM%EZj $?IFNOT Ignoring new targets: 305.40 m.Bj;Jj; ProNav: ac range: 305.399994 m, nav range: 31.318674 m, bearing: 332.489229 deg, approach rate: 0.587071 m/s, LOS rate: 0.327185 deg/s, cmd heading: 179.185942 deg, new cmd heading: 179.615655 deg. 2j`<HeadingCmd: 3.134885 target range: 305.399994 and range: 305.40 m. jH@jjjihhhhBfffrfbf1@ɛ}B}, 隅巾I R:ɚiI&X<=IH@ii)<)H@)EE*E"EeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.244527*F?2F:FBFP5JFG _=G G G B O >w,'HWA6[:@Y6H@6G+968=y6H YX`?@2^? ? ot?? *?ɨ6[:@6;6CbWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.496566yfBf_IJpJrJpJpJpJrS:JpJpJpJpJr;Jr;I~ZI~Q5٢   S=9*Q %>!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=495O?=4Y5I7 i5sBAE<@E?5* D5;5W;5o4I MAM(EZjquFNOT Ignoring new targets: 305.40 m.Bj}T;Jj}T; ProNav: ac range: 305.399994 m, nav range: 31.558731 m, bearing: 332.616463 deg, approach rate: 0.652660 m/s, LOS rate: 0.343288 deg/s, cmd heading: 179.615657 deg, new cmd heading: 179.994449 deg. 2jk<HeadingCmd: 3.141496 target range: 305.399994 and range: 305.40 m. jDI@jjjihhhhfffrfbf)l@ɛB I ƻɚiIQ<=I DI@i i /}) DI@)*FM?2FI:FIBFM_0JFIG-<= ~$?IGB O%M>uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.748405zK ,MK s9K K K kVdO$ BK qA:K !w,bWA;:@YYH@jM9W=yH`@Ǎ? Æ?dq£? a?`ԣ?@5?ɨ;:@";;騥Cy޽B޽TI=Mb@Mb@Mb@999 9)9Y=K7A?rh|~jthy= "?==D=E A 9)=vAI=vA9y=AIURIU5٢e e6=9mQ m>iq uG٣qyu u>  Nusing accuracyPremultiplier from configy-49}O?-4Y}5 iy-%?-:-<@5?}< D}<}<}B49 =2AAB*** querying acoustic contact ***jjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001291Zj FNOT Ignoring new targets: 305.40 m.Bjv;Jjv;} ProNav: ac range: 305.399994 m, nav range: 31.836679 m, bearing: 332.757673 deg, approach rate: 0.567537 m/s, LOS rate: 0.285817 deg/s, cmd heading: 179.994445 deg, new cmd heading: 180.414370 deg. 2j'D<HeadingCmd: 3.148825 target range: 305.399994 and range: 305.40 m. jXI@jjjihhhhBffQfYrfYbf]`@ɛB 隭B̾I ԻɚiI <=I=]Hi=䔸i=φ)EXI@)AEuqAEusAHI III&I.I6I<:I F*F?2F:FBF^0JF"G=G> qIqu Will construct direction to contact in vehicle frame from tetrahedron phase data.} BDAT read: Rx Time:21:25:48.6857 } TRx dataTimestamp_ set to:1736371549.908628 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253503GI G) B1 O >0w,@~WA^9@Y^DG@^h9^9=y^H``Uݎ??`- ?5?2??ɨ^9@^E;^CyjBjLIin!>Inp; np=n=IrMIr5٢5 =I=9=2Q =>9A EG٣EAGyEd E> UNusing accuracyPremultiplier from configQ]49UO?]4YUP4 iQYe;@e?UM DU;U;UX4mB mhAm+EZjFNOT Ignoring new targets: 305.40 m.Bj;Jj; ProNav: ac range: 305.399994 m, nav range: 32.089241 m, bearing: 332.879902 deg, approach rate: 0.694287 m/s, LOS rate: 0.333362 deg/s, cmd heading: 180.414365 deg, new cmd heading: 180.778163 deg. 2jd<HeadingCmd: 3.155174 target range: 305.399994 and range: 305.40 m. j`I@jjjihhhhfffrfbf@ @ɛB )ԾI ڈݻɚ i I j2==IV1Hiie )`I@)*F?2F:FBFo0JFG{/=GyBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504548O?> % }$?I! Gw,^WAV{Y9@YV2xG@V[i9VbT=yVH\@A`? x?Q?̐?`i??ɨV{Y9@Vň;TybBb6IIhIh٢rC rP=9rQ v>tt vG٣t~Will construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 21:25:48.6857 LVL= 14784, 17377, 18258, 22963, AGC= 65, IDX= 430, 0.47,-2.951, 2.866, 1.025, 2.522, PHS= 0.898, 0.391,-1.500, RAW= 41.6, 2.0, CAL= 40.6, 1.3, ROT= 109.4, -1.3 =Ygot valid direction response: 21:25:48.6857 LVL= 14784, 17377, 18258, 22963, AGC= 65, IDX= 430, 0.47,-2.951, 2.866, 1.025, 2.522, PHS= 0.898, 0.391,-1.500, RAW= 41.6, 2.0, CAL= 40.6, 1.3, ROT= 109.4, -1.3 EPDAT read: Bearing 109.4, -1.3 (Local) E~Local bearing/azimuth received: Bearing 109.4, -1.3 (Local) UDAT read: Range 10 to 50 : 306.0 m (Round-trip 408.1 ms) speed -0.4 m/s U,DAT read: user:1757> ]BDAT read: Tx time:21:25:49.7735 ]$Ping request sent.]~~9?~5= ~ g5?)~޹6I~3 i~y?~Kb&||:publishing transmit ping timeYFpublishing direction and range info|9~ӷ}Wɠu?1IG]?y|||| |)|I|i||||| |)|I|i|||~H^?ZTᅨx]?Ip?)|I|i||||yM_ > Nusing accuracyPremultiplier from config49sO?4Y2 isB8;@?^ D:7:4B A.Ek~)lQ?k~' k| k~jWA:k~CBk~CZk~헗@"~"J "1nn@5%g@~ӷ}Wɠu?1IG]?Jk~y?Rk~Kb&*~z6K@ǎ[8mgsh@~/|?rR?"k~i*k~Y@k~K.pQ?k~bFA 2k~Ck|k~ k~`Ck~Bk~V@M addTargetRange:: Added new target pos. range: 306.000000 m, deltaT: 3.782686 s, deltaX: 0.600006 m, approachRate: 0.158619 m/s, rangeRepo size: 4 ] Added new target pos. range: 306.000000 m, bearing: 271.427055 deg, lat: 36.903376 deg, lon: -122.117012 deg, deltaT: 3.782686 s, deltaX: 0.600006 m, approachRate: 0.158619 m/s, posRepo size: 4 ZjY]FNOT Ignoring new targets: 306.00 m.BjJjzKES)NKE 9KAKEKERKm?JKm> ProNav: ac range: 306.000000 m, nav range: 109.270683 m, bearing: 285.294874 deg, approach rate: 0.000000 m/s, LOS rate: 0.333362 deg/s, cmd heading: 180.778168 deg, new cmd heading: 181.220879 deg. 2jHeadingCmd: 3.162901 target range: 306.000000 and range: 306.00 m. jlJ@jjjihhhhfffrf s@bf?ɛB@ I ;RɚiIa==I%Gi%8i%i)%lJ@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:25:49.7727 *F2F:FBF_0JFJJJ1JJ:J[:J3Ja @a @a @a @G xFG rAG sAGY Ba O} >ZH RH @AH 5>I  I II IBI &I .I 6I E<:I Fw,N&WA `I`y%B%1I}Mb@Mb@Mb@yyy y)yY}uV?rh|Mbpy}r(?y}} A }3A)} AI}`Ayy}(AIVI5٢ .=9Q >)I MG٣IyU U> ]Nusing accuracyPremultiplier from configYe49]>lO?e4Y]1 iYe^+?m:m;@m?]r D]55;]2;]Ș4y }#A}1EZjFNOT Ignoring new targets: 306.00 m.Bjº;Jjº; ProNav: ac range: 306.000000 m, nav range: 109.411148 m, bearing: 285.437199 deg, approach rate: 0.322702 m/s, LOS rate: 0.326555 deg/s, cmd heading: 181.220874 deg, new cmd heading: 181.647291 deg. 2j`< Will construct direction to contact in vehicle frame from tetrahedron phase data.-HeadingCmd: 3.170343 target range: 306.000000 and range: 306.00 m. j-J@j)j)j)i)h1h1h1h5Bf9f9f9rf9bf= )M?ɛB 2 =I >ɚiI==I8Gii-5)J@)*F}?2F:FBF0JFGUGB!O=> Will construct direction to contact in vehicle frame from tetrahedron phase data.չ iս Abw,WA258@Y2G@2s92\=y2H9W?`˟?@?@2ז?@a?@?ɨ258@2W;2CyBiBBI)D DIJQIJT5٢f fs=9f菼Q j?hh jG٣jAGyM U? ]Nusing accuracyPremultiplier from configYe49]YO?e4Y]/ i]sBamL;@m?] D]:];]Θ4q uAu0EZjFNOT Ignoring new targets: 306.00 m.Bjj;Jjj; ProNav: ac range: 306.000000 m, nav range: 109.516876 m, bearing: 285.542107 deg, approach rate: 0.316472 m/s, LOS rate: 0.313716 deg/s, cmd heading: 181.647296 deg, new cmd heading: 181.961715 deg. 2jLW<HeadingCmd: 3.175831 target range: 306.000000 and range: 306.00 m. j@K@jjjihhhhfffrfbf?ɛB8;G  I  ɚ i I >=IFii^)@K@)*F?2F:FBFB5JF z$?Ig-Will construct direction to contact in vehicle frame from tetrahedron phase data.GGBO>zK RIK 9K K K |RgC. Sw,WAyuOBuIeMb@Mb@Mb@aWill construct direction to contact in vehicle frame from tetrahedron phase data.aa a)aYeJ +?RQ:vye(?e½eTe\ A eA)evAIe AayeA*J"J<JJJJJ;JwR:JJI5I5٢X -=9Q > G٣y > Nusing accuracyPremultiplier from config49R@O?4Yx. isBz*?:>@? D;;֘4B SA3E-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 306.00 m.BjEo;JjEo; ProNav: ac range: 306.000000 m, nav range: 109.647919 m, bearing: 285.685735 deg, approach rate: 0.286601 m/s, LOS rate: 0.313751 deg/s, cmd heading: 181.961717 deg, new cmd heading: 182.392078 deg. 2jSW<HeadingCmd: 3.183342 target range: 306.000000 and range: 306.00 m. jK@jjjihhh!h%Bf)f)f1rf1bf5@N?ɛ}BbD1 隥X I j^ ɚiIhm>=IcFi.i s)K@)HiIi ImIIm5BIi&Ii.Ii6Im=<:Im F*F]?2FY:FYBF]`5JFY IG5G= ?G=>G BO5>% Will construct direction to contact in vehicle frame from tetrahedron phase data.% T****** received valid address query ******% R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.2w,YWAn9@YnG@nQ9n,j=ynH@i?? ?! ?@BA??ɨn9@n`H;nCyz<BzII "I 5٢] l=9%Q %?!! -G٣)y-K; -? =Nusing accuracyPremultiplier from config1E495+-O?E4Y5o- i5sBAE>@E?5 D5.:5:5ܘ4Q UAU6EZjy}FNOT Ignoring new targets: 306.00 m.Bj ;Jj ; ProNav: ac range: 306.000000 m, nav range: 109.747322 m, bearing: 285.794433 deg, approach rate: 0.286688 m/s, LOS rate: 0.313208 deg/s, cmd heading: 182.392074 deg, new cmd heading: 182.717866 deg. 2jV<HeadingCmd: 3.189028 target range: 306.000000 and range: 306.00 m. j L@jjjihhhhfffrfbf@:?ɛ€B+[ I QɚiI>=IFii) L@)*F?2F:FBF_0JFGtVGABIOe4>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751490 y$?I sw,XA:9@Y:4G@:9:=y:H `m\?s?@@S?`?獻?`t?ɨ:9@::;:CyF!BFIiJ>IJ>LNAAIRSIR75٢V ZR=9ZQ Z>X\ ^G٣^AGybX; b> fNusing accuracyPremultiplier from configdj49fO?j4YfI, ifsBhj;>@j?f Df:fT:rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003134f_4x zA|Zj%FNOT Ignoring new targets: 306.00 m.Bj-5;Jj-5;5 ProNav: ac range: 306.000000 m, nav range: 109.859245 m, bearing: 285.916601 deg, approach rate: 0.285766 m/s, LOS rate: 0.311606 deg/s, cmd heading: 182.717860 deg, new cmd heading: 183.083986 deg. 2j=U=IEiH/i )L@)*F2F:FBFJFzK+NK+9KKKG5T[GBOE>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255617JJ@AJJJJJJX:JJHa Ia  Ie IIe BIa &Ia .Ia 6Ie <:Ie FB w,Hm3XA IyBIMb@Mb@Mb@ )Y rh?T㥛 {GzyC+?ףA A)I AyG AIFIt5٢ꎽ 9=9Q > G٣y > Nusing accuracyPremultiplier from config49N?4Y[+ isB,?:pA@? D;;4 B A 9EZj1=FNOT Ignoring new targets: 306.00 m.BjE[;JjE[;] ProNav: ac range: 306.000000 m, nav range: 109.974419 m, bearing: 286.059339 deg, approach rate: 0.261790 m/s, LOS rate: 0.324105 deg/s, cmd heading: 183.083986 deg, new cmd heading: 183.511744 deg. 2j]n^ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759123G*w,FMXAy]~B]IIm[Im5٢}" }P=9Q > G٣y > Nusing accuracyPremultiplier from config49N?4Y* isB? D;;4B AzK BHK 9K K K Ww,0gXAE9@YEH@E^&9Ee>yEHP񒁿ջ?3}?~E?`sҤ?U?&?ɨE9@E#;ECye~BeI)y yy}AUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263290]Mb@Mb@Mb@YYY Y)YY]w/?Q/$y]&?]]]nA ]@)]AJJJ0JJu;JJـ3JI]/ AYy] AI-]I-5٢5P =1=9=Q =>AA EG٣EAGym< m> uNusing accuracyPremultiplier from configq}49uN?}4Yu* iq},'?}:}E@?u Du;u;u4 zA?EB*** querying acoustic contact ***jjZj1eFNOT Ignoring new targets: 306.00 m.Bje;Jje;u ProNav: ac range: 306.000000 m, nav range: 110.178444 m, bearing: 286.335029 deg, approach rate: 0.217379 m/s, LOS rate: 0.320180 deg/s, cmd heading: 183.890617 deg, new cmd heading: 184.338038 deg. 2ju[<}HeadingCmd: 3.217306 target range: 306.000000 and range: 306.00 m. j}VM@jjjihhhh~Bfffrfbf @HI IYIIBI&I.I6I<:I| FBIJIRIZI' =bI' =jI34ɛUɀBUa Q]2I :5ɚiI?=I_7Diwi甽)VM@) v$?I *F2F:FBF_0JFGmYGA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:25:52.5879  TRx dataTimestamp_ set to:1736371553.940599 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516182< w,XA6e:@Y6H@66<696T&>y6H S@,?c?@` Φ?@Ŧ?@?*?ɨ6e:@6<;4yB~BBIIvJIv:5٢~ w=9Dg&w,ۚXA6:@Y6tH@6oF96Œ->y6Hat|?@?`S? @?˨?M??ɨ6:@6";6CyB~BBIIJcIJN5٢R RP=9RC%Q V>TT VG٣TyZҘ< Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data.~DAT read: 21:25:52.5879 LVL= 14368, 21233, 18738, 25939, AGC= 64, IDX= 468, 0.21,-2.389,-2.817, 1.633, 3.010, PHS= 0.972, 0.503,-1.380, RAW= 40.8, -0.9, CAL= 40.8, -3.1, ROT= 109.2, 3.1 Ygot valid direction response: 21:25:52.5879 LVL= 14368, 21233, 18738, 25939, AGC= 64, IDX= 468, 0.21,-2.389,-2.817, 1.633, 3.010, PHS= 0.972, 0.503,-1.380, RAW= 40.8, -0.9, CAL= 40.8, -3.1, ROT= 109.2, 3.1  PDAT read: Bearing 109.2, 3.1 (Local)  ~Local bearing/azimuth received: Bearing 109.2, 3.1 (Local) DAT read: Range 10 to 50 : 307.6 m (Round-trip 410.2 ms) speed -0.4 m/s ,DAT read: user:1758> %BDAT read: Tx time:21:25:53.6736 %$Ping request sent.-[$/ @m+n@{A g@b$|?3-kF?V%.?Jkb?Rkb$*bX%@Hd5nj5r k@bd@ ~?yi8=?"kbpS*kb)@kb[hO?kb 2kbCkb.%R?kb+x kbȔCkbECkbј@ addTargetRange:: Added new target pos. range: 307.600006 m, deltaT: 4.031215 s, deltaX: 1.600006 m, approachRate: 0.396904 m/s, rangeRepo size: 4  Added new target pos. range: 307.600006 m, bearing: 270.627300 deg, lat: 36.903205 deg, lon: -122.118042 deg, deltaT: 4.031215 s, deltaX: 1.600006 m, approachRate: 0.396904 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 307.60 m.BjJj5 ProNav: ac range: 307.600006 m, nav range: 197.723572 m, bearing: 273.623512 deg, approach rate: 0.000000 m/s, LOS rate: 0.329479 deg/s, cmd heading: 184.651664 deg, new cmd heading: 185.084042 deg. 2j1=HeadingCmd: 3.230326 target range: 307.600006 and range: 307.60 m. j=N@j9j9j9iAhAhAhAhAfIfifqrfu9s@bfu?ɛ̀BYw ,w,XA @rR;@YrqI@rX9r3>yrH i-?)?axՁ]? ?wK? (w?ɨrR;@rUԈ;rCyޭ~BޭI ==Mb@Mb@Mb@ )YuV?~jth?Mbyr(?D;&A @)I Ay AI<I 5٢e96 m#=9mQ m>qq uG٣uAGyui< }> Nusing accuracyPremultiplier from config49N?4Y) isBv(?:AH? D:;Will construct direction to contact in vehicle frame from tetrahedron phase data.9;d4 rAEEZj)-FNOT Ignoring new targets: 307.60 m.Bj5];Jj5];e ProNav: ac range: 307.600006 m, nav range: 197.739426 m, bearing: 273.712676 deg, approach rate: 0.034359 m/s, LOS rate: 0.193224 deg/s, cmd heading: 185.084043 deg, new cmd heading: 185.351512 deg. 2jeȚ3w,mXA:;@Y:J@:j2q9:i0>y:H@d?H? 1Fd?!? ?`x?ɨ:;@:i;:CyB~BBIIU@IU 5٢ h=9LQ > G٣y< > Nusing accuracyPremultiplier from config49cxN?4Y) isBG?, D::4 AZjFNOT Ignoring new targets: 307.60 m.Bj-b;Jj%-b; =t$?I9= ProNav: ac range: 307.600006 m, nav range: 197.749344 m, bearing: 273.779652 deg, approach rate: 0.029284 m/s, LOS rate: 0.197738 deg/s, cmd heading: 185.351513 deg, new cmd heading: 185.552429 deg. 2jEf9w,nXA-a<@Y-sJ@-䳁9-e7>y-H `? jӭ?@8`x?`3??l?ɨ-a<@-j;-Cye~BeIWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yy&1?l?~jthy`%?=DA @)IAIy AI-"I-5٢E; EB=9M,Q U>QY ]G٣Yym}< u> }Nusing accuracyPremultiplier from configy49}WaN?4Y}T* i}sB%?:C?}> D}r;}g;}4B AHEZjFNOT Ignoring new targets: 307.60 m.BjV;JjV; ProNav: ac range: 307.600006 m, nav range: 197.745743 m, bearing: 273.859137 deg, approach rate: -0.008476 m/s, LOS rate: 0.187098 deg/s, cmd heading: 185.552430 deg, new cmd heading: 185.790887 deg. 2jg<HeadingCmd: 3.242663 target range: 307.600006 and range: 307.60 m. jɇO@jjjihhhhfffrfbf@8?ɛπB[ FI 6'fɚiI&@=IBi ƺiDN)ɇO@)ErAErAH}4>Iy I}!II}BI}' =&Iy.I}4D6I}1<:I} F -s$?I1*F?2F:FBF_0JF"GG=G憽GqByO~> Will construct direction to contact in vehicle frame from tetrahedron phase data.q@w,YAVS<@YV J@VrE9V̑=>yVH@?`͇? m? ?e?@?ia?ɨVS<@VP;VCy~~B~I  AIHIW5٢E< E\=9MdNQ M>IQ UG٣UAGyU}{< U> Nusing accuracyPremultiplier from configy49}Fw,YA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003130:=@Y: K@:9:)B>y:H ?W? )|oef?\\ ^G٣\yb/< b> fNusing accuracyPremultiplier from configdj49f8N?j4Yfr+ ifsBhjUCn?f] Df:f;f*4p r ApZjFNOT Ignoring new targets: 307.60 m.BjZ;JjZ;- ProNav: ac range: 307.600006 m, nav range: 197.736572 m, bearing: 273.999713 deg, approach rate: -0.013428 m/s, LOS rate: 0.191050 deg/s, cmd heading: 185.998987 deg, new cmd heading: 186.212617 deg. 2j-<5HeadingCmd: 3.250023 target range: 307.600006 and range: 307.60 m. j5bP@j1j1j1i1h9h9hAhAfAfAfArfIbfM\@ɛuрBuؓ 15&>I1 =AKxɚ9i9I=Ü@=IERBiEiE8T)EbP@)I*FI2FQ:FQBF]`0JFYzK-ezKK-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=2.255338GG B O >H I  I I I ( =&I .I 6I <:I F  q$?I Lw,}6YA6A:=@Y6XK@6W96D>y6H @>?@/? :_??ug?sR?ɨ6A:=@6;6CyN~BRI-Mb@Mb@Mb@))) )))Y-Mb?I +?I +?y-#?-94=-94<-A -@)-AI-\ A)y- AIPI5٢< <=9Q > G٣y#< > Nusing accuracyPremultiplier from config49p!N?4Y-, itB|#?:B?o Df;;14B ANEZj FNOT Ignoring new targets: 307.60 m.Bj XR;Jj XR;% ProNav: ac range: 307.600006 m, nav range: 197.728302 m, bearing: 274.079747 deg, approach rate: -0.019002 m/s, LOS rate: 0.183896 deg/s, cmd heading: 186.212622 deg, new cmd heading: 186.452733 deg. 2j%i;MHeadingCmd: 3.254214 target range: 307.600006 and range: 307.60 m. jM EP@jQjQjQiQhQhYhYheBfafafirfibfm`@ɛҀB߄ 4=隝E>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507976*Fm?2Fi:FqBFuo0JFqGqA GsAGwGi Bq O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759451J;3K;3 K;/.K3K3"K3Ja Ja Ja Ja Ja Ja Ja Ja Ja Ja Ja Ja Sw,XPYA6=@Y6RK@6FV96TF>y6H`ޫ?`Ć?\ b[ w?`?? N?ɨ6=@6^ƈ;6Cy>~BBIiF>IF4<IJCIJ 5٢R= R\=9VQQ V>TT VG٣TyZYH< Z> bNusing accuracyPremultiplier from config`f49b N?f4Yb, ib0tBhjXBj?b~ Dbq:b:b784=B EAEQEZjFNOT Ignoring new targets: 307.60 m.BjI;JjI; p$?I ProNav: ac range: 307.600006 m, nav range: 197.720474 m, bearing: 274.148175 deg, approach rate: -0.020183 m/s, LOS rate: 0.176438 deg/s, cmd heading: 186.452731 deg, new cmd heading: 186.658021 deg. 2j,;HeadingCmd: 3.257797 target range: 307.600006 and range: 307.60 m. jP@jjjihhh h f f frfbf@ɛ}ӀB}q 隅6I #ɚiI(Q@=IAispi.)P@)*F?2F:FBF0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011265Gm GI BQ Ou >zK BIK h9K K K Zw,ajYAz=@YzXK@zx9z?E>yzH@?1?hY@A?+д?`'~?L?ɨz=@z';xy~BIWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:25:56.4896 TRx dataTimestamp_ set to:1736371557.720711checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264398*Ja="Ja=Mb@Mb@Mb@ )YK7A?Q? G٣ AGy M!<  > Nusing accuracyPremultiplier from config=49#M?=4Y- iUtBEK"?E:ECE? D;c;@4I MAQZjFNOT Ignoring new targets: 307.60 m.BjQ;JjQ;H3>I I@IIBI' =&I.I6I<:I F= ProNav: ac range: 307.600006 m, nav range: 197.716476 m, bearing: 274.236186 deg, approach rate: -0.008330 m/s, LOS rate: 0.183385 deg/s, cmd heading: 186.658019 deg, new cmd heading: 186.922055 deg. 2j=;EHeadingCmd: 3.262405 target range: 307.600006 and range: 307.60 m. jE@P@jAjAjAiAhIhIhI o$?IhMBfffrfbf @ɛԀB,u -I ɚiI?=IuTAi e# i r)-@P@)1*F?2F:FBF0JFu Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515173G% w) CG U ;Gi Ba HY y BO >>aw,a8YA2'>@Y2FL@2D92|D>y2Hh ?"²?@X@??R?`L?ɨ2'>@20;2CyJ BNII]>I] 5٢= Z=9 Q > G٣yb< > Nusing accuracyPremultiplier from config49M? 4Y. istB3C%? D<u <GG4 DATEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 307.60 m.Bj=;Jj=; ProNav: ac range: 307.600006 m, nav range: 197.712402 m, bearing: 274.305411 deg, approach rate: -0.009755 m/s, LOS rate: 0.165755 deg/s, cmd heading: 186.922060 deg, new cmd heading: 187.129739 deg. 2j;HeadingCmd: 3.266030 target range: 307.600006 and range: 307.60 m. jQ@jjji!h!h!h!h)f)f)f)rf)bf5@1@]Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:JX:JJJ:<J:<J/;J/;DAT read: 21:25:56.4896 LVL= 17744, 24865, 27122, 32499, AGC= 65, IDX= 453, 0.44,-2.536, 3.081, 1.389, 2.614, PHS= 1.221, 0.514,-1.228, RAW= 46.3, -4.7, CAL= 48.8, -9.0, ROT= 101.2, 9.0 Ygot valid direction response: 21:25:56.4896 LVL= 17744, 24865, 27122, 32499, AGC= 65, IDX= 453, 0.44,-2.536, 3.081, 1.389, 2.614, PHS= 1.221, 0.514,-1.228, RAW= 46.3, -4.7, CAL= 48.8, -9.0, ROT= 101.2, 9.0 PDAT read: Bearing 101.2, 9.0 (Local) ~Local bearing/azimuth received: Bearing 101.2, 9.0 (Local) DAT read: Range 10 to 50 : 308.9 m (Round-trip 411.9 ms) speed 0.1 m/s ,DAT read: user:1759> BDAT read: Tx time:21:25:57.5736 $Ping request sent.YY]|H?8؜boe)]I]ǧ=i]1?]@YM@9A>yH-?˳?:@U? H?`'?xL?ɨ>@و;騽Cy PB I)1 1Mb@Mb@Mb@ )Yw/?~jth?I +?y&?D;9< @)zAIAy AI5;I5 5٢Ey= E =9Ma7Q M>QY eG٣eAGymm< u> Nusing accuracyPremultiplier from config49M?4Y. itB'?:'E? D~;qe;dQ4B AWEWill construct direction to contact in vehicle frame from tetrahedron phase data.J9J=@Akc8P?k2x  k kyXYA:ksCBkbCZk@"~d:@:ul@,wLi@a65?qhm?H"URas?Jk1?Rk<*ħ7@%gn@jja ?㿡!(?"k8*k@k,N=P?k- 2kCkK.pQ?kkksECkМ@ addTargetRange:: Added new target pos. range: 308.899994 m, deltaT: 3.780155 s, deltaX: 1.299988 m, approachRate: 0.343898 m/s, rangeRepo size: 4 % Added new target pos. range: 308.899994 m, bearing: 272.343691 deg, lat: 36.903169 deg, lon: -122.118042 deg, deltaT: 3.780155 s, deltaX: 1.299988 m, approachRate: 0.343898 m/s, posRepo size: 4 Zj!%FNOT Ignoring new targets: 308.90 m.Bj-Jj)] ProNav: ac range: 308.899994 m, nav range: 197.449600 m, bearing: 273.251713 deg, approach rate: 0.000000 m/s, LOS rate: 0.165755 deg/s, cmd heading: 187.129739 deg, new cmd heading: 187.405615 deg. 2jYeHeadingCmd: 3.270845 target range: 308.899994 and range: 308.90 m. jeUQ@jajajaiahihihihuǀBfqfqfqrf}`fNs@bf}?HI IxIIBI( =&I.I6I<:I FBIJIRIZI( =bIjIū3ɛAE/\ AM Un$?IQII Sɚi)I-8>=I5/@i5i5[`)5UQ@)9E%~M2=*F ?2F :F BF JF Gq By O >u Will construct direction to contact in vehicle frame from tetrahedron phase data.pw,wYAy~B~0III4٢%X> %v=9%Q %?)) 5G٣1y5 5? uNusing accuracyPremultiplier from configq49unM?4Yu / iutB?u Duť;u;u7W4 kAZEZjFNOT Ignoring new targets: 308.90 m.Bjh;Jjh; ProNav: ac range: 308.899994 m, nav range: 197.448792 m, bearing: 273.314334 deg, approach rate: -0.002619 m/s, LOS rate: 0.202832 deg/s, cmd heading: 187.405610 deg, new cmd heading: 187.593474 deg. 2j3 <HeadingCmd: 3.274124 target range: 308.899994 and range: 308.90 m. j>Q@jjjihhhhfffrfbf -?ɛ=րB= 9=I9 EɚAiAIE>=IMx@iMC#iM?q)M>Q@)IEYEY*Ea"EaWill construct direction to contact in vehicle frame from tetrahedron phase data.*F]?2Fa:FaBFe0JFaJJJJJ:JmQ:JJJ=<J=<J;J;GqByO> ] m$?IY cGvw,UYA6@@Y6;3N@61ʽ96/>y6Hಽ [?`S?+nb`?@G?Ϻ?t`?ɨ6@@6u;6CyNBRLIIZIZ%4٢E= K=96Q %>!! %G٣!y-0= -> 5Nusing accuracyPremultiplier from config1=495M?=4Y5/ i5tBAEDE?5 D5? ;5 ;5"^4I MAIZjquFNOT Ignoring new targets: 308.90 m.BjX;JjX; ProNav: ac range: 308.899994 m, nav range: 197.443527 m, bearing: 273.388593 deg, approach rate: -0.013428 m/s, LOS rate: 0.189418 deg/s, cmd heading: 187.593468 deg, new cmd heading: 187.816250 deg. 2j<HeadingCmd: 3.278012 target range: 308.899994 and range: 308.90 m. jQ@jjjihhhhfffrfbf?ɛV n =I LɚiIK>=IT@iA(iů;)Q@)E E sA5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JFGBO>']TFailed to parse incomplete device message. Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I II DBI &I .I 6I <:I F 9 IA r|w,<3YAynBrgIi~=I~{> a= p=Mb@Mb@Mb@ )Y{Gz?+Mb?y#?<=A )AIyAIIg4٢= >=9Q > G٣AGy > =Nusing accuracyPremultiplier from config9E49=hM?E4Y=/ i=uBE1$?M:MHM?= D=;=U;=e4]B ]A]]EZjFNOT Ignoring new targets: 308.90 m.BjP;JjP; ProNav: ac range: 308.899994 m, nav range: 197.455856 m, bearing: 273.469527 deg, approach rate: 0.027827 m/s, LOS rate: 0.182656 deg/s, cmd heading: 187.816255 deg, new cmd heading: 188.059040 deg. 2j;%HeadingCmd: 3.282249 target range: 308.899994 and range: 308.90 m. j%`R@j!j!j!i!h!h)hihmBfqfqfyrfybfJ?ɛ׀B,A ݾI ,ɚiIM==I%V@i%d0i%R)%`R@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:F9BFE5JFAG \GY Bi O >Yw, ZA>q@@Y>'N@>ѽ9>63>y>H`8? ?5T`O^?m'?+?X?ɨ>q@@>e;>CyJBJIRWill construct direction to contact in vehicle frame from tetrahedron phase data.IZ IZ<4٢bB> b^=9fQ f>hh jG٣lyn< n> vNusing accuracyPremultiplier from configpv49rnM?v4Yr/ iruBxz\Gz?r Dr:rz:rl4 A`EB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 308.90 m.Bj5U;Jj5U;M ProNav: ac range: 308.899994 m, nav range: 197.463791 m, bearing: 273.536057 deg, approach rate: 0.022302 m/s, LOS rate: 0.186992 deg/s, cmd heading: 188.059041 deg, new cmd heading: 188.258622 deg. 2jUT<]HeadingCmd: 3.285733 target range: 308.899994 and range: 308.90 m. jerIR@jajajaiahahahihifififqrfqbfuV@ɛdWC 隥I  ɚiI<=IC?i4i4)rIR@) l$?I*F?2F:FBF_0JFG csGBO J>UWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.ӄw,'ZAJD@@YJO@Jҽ9Jc6>yJH0^s?@Yz? y K?mN?? !S?ɨJD@@JWN;JCy;B II]I]4٢> >=9Q > G٣y; >zKRIK9KKK 035441-*($"  Nusing accuracyPremultiplier from config49UM?4Y0 iBuB&G? DH;j;9t4 AaEZj!%FNOT Ignoring new targets: 308.90 m.BjMQ;JjMQ;] ProNav: ac range: 308.899994 m, nav range: 197.473465 m, bearing: 273.622139 deg, approach rate: 0.020622 m/s, LOS rate: 0.183488 deg/s, cmd heading: 188.258619 deg, new cmd heading: 188.516851 deg. 2j];eHeadingCmd: 3.290240 target range: 308.899994 and range: 308.90 m. jeJR@jajqjqiqhqhqhyhyfyfyfyrfbf`@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502977J]J]J]1JYJ];J][O:J]3JYam@au@au@au@ɛ؀B: 隕I }ɚiI;=Il?iu;i=)JR@)HI I!IIBI&I.I5D6Ij<:IR F k$?IEB4=EE>*FE ?2FA :FA BFE 05JFA e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755972G-SG!B)OM?w,'GZA:=A@Y:@\O@:ӽ9:9>y:H|?`X? C@.B?`q??yN?ɨ:=A@:ۋ;:CyNTBNI)T TTVA-Mb@Mb@Mb@))) )))Y-E?Mb~jt?y-&?--D<-A )))I-rA)y)IEIE4٢UX= U&=9] Q ]>Ya eG٣eAGye< e> uNusing accuracyPremultiplier from configiu49m;M?u4Ym/ im_uB}i(?}:}F@}?m DmP;m;m3|4B :AcEZjFNOT Ignoring new targets: 308.90 m.BjY;JjY; ProNav: ac range: 308.899994 m, nav range: 197.506454 m, bearing: 273.708352 deg, approach rate: 0.072781 m/s, LOS rate: 0.190170 deg/s, cmd heading: 188.516855 deg, new cmd heading: 188.775448 deg. 2j Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260957v w,3aZA6WA@Y6 O@6Խ96r :>y6H ?J#?:<]?எ??M?ɨ6WA@6⌋;6CyRsBRIIZIZ_4٢bl!> bU=9bQ f>dd fG٣dyjl< j> nNusing accuracyPremultiplier from configlr49n&M?r4Yns/ inwuBtv}F@v?n- Dn:nC:n邙4zB zGAzfEZj!%FNOT Ignoring new targets: 308.90 m.Bj-W;Jj-W; ProNav: ac range: 308.899994 m, nav range: 197.532959 m, bearing: 273.780914 deg, approach rate: 0.068891 m/s, LOS rate: 0.188578 deg/s, cmd heading: 188.775446 deg, new cmd heading: 188.993101 deg. 2jk<HeadingCmd: 3.298552 target range: 308.899994 and range: 308.90 m. jyS@jjjihhhhfffrfbfx @ɛEڀBUy Q]MIY ]ɚYiYI]:9=Ie<?ieGieG5)eyS@)iEqEq*Eq"EqzK4MK 9KKK)-! RK ?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.iBDAT read: Rx Time:21:26:00.3903 TRx dataTimestamp_ set to:1736371561.752913checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512291*J}C="J}4=JJJ0JJ:JwR:Jـ3J*F?2F:FBFJF IHI III܀BI&I.I6Ḭ<:I FG5 ,$=G B O= >Ũw,B|}ZAy-B-#IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763040Mb@Mb@Mb@ )YuV? rhyr(?C &A @)@IyAI&IF5٢i> -=9Q > G٣y > Nusing accuracyPremultiplier from config491 M?%4Y. iuB%,?%:%B@%?B D;c;(41 5SA5iEZjyFNOT Ignoring new targets: 308.90 m.BjX;JjX;U ProNav: ac range: 308.899994 m, nav range: 197.584244 m, bearing: 273.871455 deg, approach rate: 0.107455 m/s, LOS rate: 0.189658 deg/s, cmd heading: 188.993097 deg, new cmd heading: 189.264648 deg. 2jU)iEOiE;9I)M iS@)I*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.U DAT read: 21:26:00.3903 LVL= 16368, 25457, 27490, 31699, AGC= 64, IDX= 444, 0.50,-0.236,-1.127,-2.682,-1.448, PHS= 1.300, 0.368,-1.237, RAW= 51.3, -3.9, CAL= 54.5, -8.2, ROT= 95.5, 8.2 e Ygot valid direction response: 21:26:00.3903 LVL= 16368, 25457, 27490, 31699, AGC= 64, IDX= 444, 0.50,-0.236,-1.127,-2.682,-1.448, PHS= 1.300, 0.368,-1.237, RAW= 51.3, -3.9, CAL= 54.5, -8.2, ROT= 95.5, 8.2 m PDAT read: Bearing 95.5, 8.2 (Local) m ~Local bearing/azimuth received: Bearing 95.5, 8.2 (Local) } DAT read: Range 10 to 50 : 309.3 m (Round-trip 412.5 ms) speed -0.3 m/s  ,DAT read: user:1760>  BDAT read: Tx time:21:26:01.4736  $Ping request sent.  V 5e? 'g  "s?) CI [Y?i C>   WP/?/|n_) }~I /=i ? Q   :publishing transmit ping time؉  Fpublishing direction and range info 9  v?SaA?R?y     ) I i      ) I i    WP/?/|n_) I i    i$?I G5 3G B O >鍥w,KZAy=B=;IIMIM4٢= L=9Q > G٣AGy > Nusing accuracyPremultiplier from configU49L?]4Y- iuBYY]?S Dl<l<%4a eAik=?GU?k=  k9 k=bZA:k=CBk=CZk=α@"=‰m3@tF]j@?0.l@= v?SaA?R?Jk=?Rk=Q*=Or9@6@d?Fp@=P_?zTῊ@ ?"k=$*k=Ak=UVU?k=uQ}' 2k=]Ck9k9k9k=ECk=c@M addTargetRange:: Added new target pos. range: 309.299988 m, deltaT: 4.031877 s, deltaX: 0.399994 m, approachRate: 0.099208 m/s, rangeRepo size: 4 ] Added new target pos. range: 309.299988 m, bearing: 278.770019 deg, lat: 36.903169 deg, lon: -122.118042 deg, deltaT: 4.031877 s, deltaX: 0.399994 m, approachRate: 0.099208 m/s, posRepo size: 4 ZjaeFNOT Ignoring new targets: 309.30 m.BjJj ProNav: ac range: 309.299988 m, nav range: 197.628082 m, bearing: 273.948144 deg, approach rate: 0.000000 m/s, LOS rate: 0.189658 deg/s, cmd heading: 189.264651 deg, new cmd heading: 189.506369 deg. 2jHeadingCmd: 3.307510 target range: 309.299988 and range: 309.30 m. j?S@jjjihhhhfffrfTs@bf ?ɛM܀BM| IMܽIQ UIɚQiQIUx7=I]vq>i]zUi]8W)]?S@eWill construct direction to contact in vehicle frame from tetrahedron phase data.)*F2F:FBF`0JFGDGBO>zK =LK 9K K K  #(./003/.-*)'$!!$V3#   Will construct direction to contact in vehicle frame from tetrahedron phase data.w, ZAJ2@AJ2?AJ<J>J<J<J<J>X:J<J11 5G٣9y9 => ENusing accuracyPremultiplier from configAm49ExL?m4YE, iEuBuX-?u:u?@u?Ef DEx;EJ;E4}B }KA}lEB*** querying acoustic contact ***jjZjIUFNOT Ignoring new targets: 309.30 m.BjU];JjU]; ProNav: ac range: 309.299988 m, nav range: 197.693695 m, bearing: 274.033833 deg, approach rate: 0.148581 m/s, LOS rate: 0.193981 deg/s, cmd heading: 189.506372 deg, new cmd heading: 189.763353 deg. 2j <HeadingCmd: 3.311995 target range: 309.299988 and range: 309.30 m. jS@jjjihhhh{Bfffrfbf@}Y?ɛ݀BRռ <I *ɚiIo6=I%'>i-3\i-f)-S@))*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 |uA! M jYM |uAyU BG IG ?G 1?G B O > w,ZA6C@Y6Q@6Eӽ96$0>y6H`@?ų?Ib&G~?p??`[?ɨ6C@6f;6CyBˀBFjIIJIJ4٢R> V{=9Vb:Q V ?XX ZG٣XyZ= ^ ? fNusing accuracyPremultiplier from configdj49f-L?j4Yf , ifuBhjA@n?ft Df";fU";f4p rAvoEZj FNOT Ignoring new targets: 309.30 m.Bjo;Jjo;% ProNav: ac range: 309.299988 m, nav range: 197.734360 m, bearing: 274.096061 deg, approach rate: 0.136590 m/s, LOS rate: 0.208976 deg/s, cmd heading: 189.763351 deg, new cmd heading: 189.949995 deg. 2j%k<-HeadingCmd: 3.315253 target range: 309.299988 and range: 309.30 m. j--T@j)j1j1i1h1h1h9h9fAfIfIrfIbfU?ɛ-ހB-֪ QU0IQ ]ZɚYiYI]s5=Ie=ie_ie@<߼)e-T@)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993072*F?2F:FBF]5JF ]f$?IYG7fWGBOA> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247115ɸw,y6H u?@L? g¿ ,? .P??[?ɨ69D@6L;6CyRԀBRuI)T TI^I^?4٢0=  D=9  :Q  >  G٣AGy< > -Nusing accuracyPremultiplier from config)549-L?54Y-Q+ i-uB9=B@=?- D-%;-5;-⦙4A EIAAZjquFNOT Ignoring new targets: 309.30 m.Bj}K\;Jj}K\; ProNav: ac range: 309.299988 m, nav range: 197.785187 m, bearing: 274.176362 deg, approach rate: 0.121937 m/s, LOS rate: 0.192598 deg/s, cmd heading: 189.949992 deg, new cmd heading: 190.190832 deg. 2j-<HeadingCmd: 3.319456 target range: 309.299988 and range: 309.30 m. jqT@jjj1i1h9h9hAhAfAfIfIrfQbfU\T?ɛ߀BȌ I .ɚi I q4=I5=i5ci5+)5qT@)9*F?2F:FBFO5JFzKNK9KKK22r+`=xjc]TMJD>71-***&$$$! Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501029JJJJJk:JS:JJ =e$?I9HiIi ImIImQBIi&Ii.Ii6Im<:Im FBI!JI!RI!ZI!bI%( =jI%@<4G% eG B O5 > w,̳ZA:wD@Y:-R@:kϽ9:0>y:H`w [??Yÿ`@? ?@r? \?ɨ:wD@:0;:CyFۀBF}IMb@Mb@Mb@ )YMbX?Mbȿ:vy*?@ԼXA ~@)@I AyAI5I54٢EZ= EG=9En;Q M>II MG٣IyU`< U>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751160 mNusing accuracyPremultiplier from configa49eL?4Ye{* ieuB1?:A@?e De_;e;e4B ArEZjFNOT Ignoring new targets: 309.30 m.Bjx_;Jjx_; ProNav: ac range: 309.299988 m, nav range: 197.837631 m, bearing: 274.257661 deg, approach rate: 0.126066 m/s, LOS rate: 0.195374 deg/s, cmd heading: 190.190838 deg, new cmd heading: 190.434668 deg. 2j<HeadingCmd: 3.323712 target range: 309.299988 and range: 309.30 m. jT@jqjqjqiqhqhqhyh}Bfyfyfrfbf l?ɛBj# @>I Nɚi!I%w}3=I%h=i-fi-ۼ)MT@)IE = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003175*F- ?2F) :F) BF- 1JF) "G= =G= = 1 I1 G= &G B O% >:w,Ӈ[AE@YT@Ľ92>yH c`? -?@\ſ}@?x?@?^?ɨE@X;Cy5ڀB1IEIEk4٢Uh U:=9K G٣y,= > Nusing accuracyPremultiplier from config49ӀL?4Y) iuB)C@? D;!;ֵ4 AuEZjFNOT Ignoring new targets: 309.30 m.Bjd;Jjd; ProNav: ac range: 309.299988 m, nav range: 197.888885 m, bearing: 274.345568 deg, approach rate: 0.116757 m/s, LOS rate: 0.200198 deg/s, cmd heading: 190.434663 deg, new cmd heading: 190.698312 deg. 2jd < HeadingCmd: 3.328313 target range: 309.299988 and range: 309.30 m. j U@jjjihhhhfff!rf!bf%A@ɛMBU QU@sIQ UۯɚQiYI]W~2=I]=ieEhiewi)eU@)amWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.254988Ec<*F=?2FA:FABFEY0JFAGm YGa zK XNK 9K K K B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. i % checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507320w,Ed2[A fd$?IdH%2>I%C I%4II%pBI!&I!.I!6I%<:I% FyޥBޥIi=I;-Mb@Mb@Mb@))) )))Y-Q?bX9ƿ G٣AGy > Nusing accuracyPremultiplier from config49iL?4Y*) iuB=/?:D@? Da;;弙4B  AxEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 309.30 m.Bj6S;Jj6S; ProNav: ac range: 309.299988 m, nav range: 197.931519 m, bearing: 274.424686 deg, approach rate: 0.099523 m/s, LOS rate: 0.184656 deg/s, cmd heading: 190.698308 deg, new cmd heading: 190.935611 deg. 2jt;HeadingCmd: 3.332455 target range: 309.299988 and range: 309.30 m. jFU@jjjihhhhfffrfbfM`_@ɛBn ߻I ɚiId1=I%?&w,5M[AJGF@YJU@J9J1>yJH@~O`ux?@ 1? `ǿE=?? ?@c?ɨJGF@Jd;JCyVBVIIbIbN4٢j4= j^=9npll rG٣pyr6= r> zNusing accuracyPremultiplier from configtz49vTL?~4Yv( ivuB|~E@~?v Dv":v:v=Ù4   A Zj)5FNOT Ignoring new targets: 309.30 m.Bj=fp;Jj=fp;M ProNav: ac range: 309.299988 m, nav range: 197.966156 m, bearing: 274.495911 deg, approach rate: 0.102228 m/s, LOS rate: 0.210174 deg/s, cmd heading: 190.935616 deg, new cmd heading: 191.149252 deg. 2jU=w,Ih[ABOG@YBznU@B9BY->yBH "I?]?`$~ȿ`S?7?x?k?ɨBOG@B ;@yVBZIIfIfk4٢r v@=9z|| ~G٣|y[< > Nusing accuracyPremultiplier from config%49{w,[A"Will construct direction to contact in vehicle frame from tetrahedron phase data.*DAT read: Range 10 to 50 : 310.3 m (Round-trip 413.8 ms) speed -0.4 m/s *,DAT read: user:1761> .BDAT read: Tx time:21:26:05.3737 2$Ping request sent.2yNHAV?♨?`Jɿ}`|?`A?@?@v?ɨN[G@N(;LyVـBV{I)X X^A\EMb@Mb@Mb@AAA A)AYEL7A`?7A`¿I +yE+'?EE94EA E$@)E`@IE AAyEAIUIU4٢e? eC=9miq uG٣qyl< > %Nusing accuracyPremultiplier from config!-49%a#L?-4Y%C( i%uB-+?-:-H@5?% D%;%*<%Xҙ4B 9A~E addTargetRange:: Added new target pos. range: 310.299988 m, deltaT: 3.783892 s, deltaX: 1.000000 m, approachRate: 0.264278 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 309.30 m.BjIY;JjIY;5 ProNav: ac range: 309.299988 m, nav range: 198.031616 m, bearing: 274.664260 deg, approach rate: 0.058019 m/s, LOS rate: 0.189966 deg/s, cmd heading: 191.401066 deg, new cmd heading: 191.654215 deg. 2j5_<=HeadingCmd: 3.344997 target range: 309.299988 and range: 310.30 m. j=oV@j9j9j9i9hAhAhAhETBfIffrfds@bf?ɛ-B-$ 158I1 5+ɚ1i1I5.=I=G Ԥw,ݛ[A6G@Y68V@696#">y6H=?8?ɿa l?l?U??ɨ6G@6 ;4yVЀBVoII^I^4٢f? fU=9f lp rG٣rAGyro< r> zNusing accuracyPremultiplier from configtz49vL?~4Yv<( ivuB|~H@?v DvH!;v!;vؙ4 B A EZj15FNOT Ignoring new targets: 309.30 m.Bj=;e;Jj=;e;M ProNav: ac range: 309.299988 m, nav range: 198.052734 m, bearing: 274.734745 deg, approach rate: 0.060052 m/s, LOS rate: 0.200410 deg/s, cmd heading: 191.654220 deg, new cmd heading: 191.865652 deg. 2jM zK LK +9 Will construct direction to contact in vehicle frame from tetrahedron phase data.K K K ~~e7 n]OBBK5 rA:K1 I J AAJ @AZH RH @AH I  I .II kBI &I .I 6I ɰ<:I FUw,QM[An=ynH [8?i?@~Qʿc@?? EG?0?ɨn= G٣y'< > Nusing accuracyPremultiplier from config493K?4Y( iuB'?:C ? D+;;4 A5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 309.30 m.BjUvX;Jj]vX;} ProNav: ac range: 309.299988 m, nav range: 198.052963 m, bearing: 274.819403 deg, approach rate: 0.000512 m/s, LOS rate: 0.189247 deg/s, cmd heading: 191.865656 deg, new cmd heading: 192.119627 deg. 2j}<HeadingCmd: 3.353120 target range: 309.299988 and range: 310.30 m. jV@jjjihhhhBfffrfbf?ɛB˼ XI >ɚiIo-=I1;iDmi`ڻ)V@)*F=?2F9:F9BF=1JFAWill 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 ;3G9 Bi O >w,/[A:H@Y:{V@:fɖ9:eH>y:H@13K?꒤?ʿ@`?Բ?c?`ϐ?ɨ:H@:;:CyFBFWIININ4٢V Va=9Vh XX ZG٣Xy^9< ^> bNusing accuracyPremultiplier from config`f49b:K?f4Ybj) ibuBhjCj?b% Db:b:b4p r-ArEZj  FNOT Ignoring new targets: 309.30 m.BjrX;JjrX;% ProNav: ac range: 309.299988 m, nav range: 198.052551 m, bearing: 274.888222 deg, approach rate: -0.001133 m/s, LOS rate: 0.189233 deg/s, cmd heading: 192.119629 deg, new cmd heading: 192.326084 deg. 2j%<-HeadingCmd: 3.356723 target range: 309.299988 and range: 310.30 m. j-V@j)j)j)i)h1h1h1h1f9f9f9rfAbfE _ ?ɛmBu( qu|˽Iq uU}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257095ɚqiI,=I&K;ijmi ˻)V@) `$?IJJJJJk:JdP:JJJ%8<J%8<J;J;*FU?2FQ:FQBFU2JFQG]rA G]nAGu6GIBYO}>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508812?w,l[AVH@YVV@V9VSL>yVH2?>U?˿@u?擱?m??ɨVH@V?;TybBfTIInIn4٢v* vF=9vBxx zG٣zAGy~; ~> Nusing accuracyPremultiplier from config 49K? 4Y * iuB nC?6 DR;;4B BA%EZjIMFNOT Ignoring new targets: 309.30 m.BjUX;JjUX;e ProNav: ac range: 309.299988 m, nav range: 198.052017 m, bearing: 274.966455 deg, approach rate: -0.001292 m/s, LOS rate: 0.189306 deg/s, cmd heading: 192.326079 deg, new cmd heading: 192.560778 deg. 2jeIq IuIIuQBIu) =&Iq.Iu4D6Iu<:Iu FGE G B! OE >) = 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013789w,\A>GRvA\zH@Yz5V@zÁ YvAy B9zN>yzH@0S?7{?am˿%Kw? 5?r!?̜?ɨzH@z;zCmM@mByuBޕKIUMb@Mb@Mb@QQQ Q)QYUp= ף?L7A`堿X9vyU%?U+UU A Q)U@IU3AQyUAIm!Im5٢}[ }4=9};A G٣y; > Nusing accuracyPremultiplier from config49)K?4Y^+ iuB%?:>?I D<;;9; 4 ~AZjFNOT Ignoring new targets: 309.30 m.Bj U;Jj U; ProNav: ac range: 309.299988 m, nav range: 198.027023 m, bearing: 275.051070 deg, approach rate: -0.055013 m/s, LOS rate: 0.186265 deg/s, cmd heading: 192.560778 deg, new cmd heading: 192.814652 deg. 2j;HeadingCmd: 3.365251 target range: 309.299988 and range: 310.30 m. jD`W@jjjihhhh Bf f frfbf-@ɛEBE E}e =EII M=ɚIiIIM+=IUp:iUniUr)UD`W@)Y*F?2F:FBF _0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264789 ]$?IJـ3K3 K.KK"KJJJ0JJ:JJـ3JJ~9<J9<JJG- G B O >w,\A2vH@Y2+V@2apn92>y2H@1 V?s?Ί˿@ 9? ɭ?@?O?ɨ2vH@25;2CyNBN?IIV.IV5٢b\ bk=9fbr Will construct direction to contact in vehicle frame from tetrahedron phase data. I  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777473zK FKK +9K K J% @AJ! K jHy bHy H 0>I  I II 3BI ( =&I .I 6I :I BI-˝CJI-˝CRI)ZI)bI)jI-˙4< w,/7\AynBn:IMb@Mb@Mb@ )YˡE?S㥛?I +y'?/<9 A )@IzAy(AI;I 5٢O <=9Q > G٣AGy > Nusing accuracyPremultiplier from config49JK?4YW. iuB,(?:?8?j DR;;4B AEB*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 309.30 m.Bj)T;Jj)T; ProNav: ac range: 309.299988 m, nav range: 197.959015 m, bearing: 275.197198 deg, approach rate: -0.111762 m/s, LOS rate: 0.185487 deg/s, cmd heading: 193.009316 deg, new cmd heading: 193.253113 deg. 2j;HeadingCmd: 3.372903 target range: 309.299988 and range: 310.30 m. jW@jjjihhh h BfIfIfQrfQbfU@G}@ɛB, !%j%I! %ɚ!iI#+=IB:iԛqi{)W@)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021516*F?2F:FBFJFG KG B O >>$w,^Q\A6H@Y6W@6H96JY>y6HW2j?ki?{˿` q??@?`?ɨ6H@6;4y>B>6IIF=IFw 5٢N  R]=9RCTT VG٣TyV; Z> ^Nusing accuracyPremultiplier from configXb49ZuK?b4YZ0 iZuBdf 8f?Zy DZ*;Z*;Z& 4h jAjEZj|FNOT Ignoring new targets: 309.30 m.BjX;JjX; ProNav: ac range: 309.299988 m, nav range: 197.917236 m, bearing: 275.266277 deg, approach rate: -0.114481 m/s, LOS rate: 0.189331 deg/s, cmd heading: 193.253113 deg, new cmd heading: 193.460395 deg. 2j<HeadingCmd: 3.376521 target range: 309.299988 and range: 310.30 m. jX@j!j!j!i!h!h!h)h)f)f)f)rf1bf5@w) @ [$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.չiչBDAT read: Rx Time:21:26:08.1932 TRx dataTimestamp_ set to:1736371569.329692checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287016ɛB p.I ɚ i I *=I:iri@)5X@)9E<*F?2F:FBFJFm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537229G G B O >Ew,jl\A2I@Y2dW@2257924>y2H 3f?H?(˿`???@?ɨ2I@21;2Cy>B>0I F=F=DFBAIJ5IJ5٢R! R@=9Rm$TX ZG٣XyZ: Z> bNusing accuracyPremultiplier from config\b49^^K?b4Y^1 i^uBdM8M?^ D^n<^x<^4i u9AuEZjFNOT Ignoring new targets: 309.30 m.BjK;JjK; ProNav: ac range: 309.299988 m, nav range: 197.869110 m, bearing: 275.346261 deg, approach rate: -0.107075 m/s, LOS rate: 0.177997 deg/s, cmd heading: 193.460395 deg, new cmd heading: 193.700404 deg. 2jP;HeadingCmd: 3.380710 target range: 309.299988 and range: 310.30 m. j]X@jjjihhhhfffrfbf@ @ɛB !%;I! -._ɚ)i)I-*=I5(9i5" ui5o)5]X@)1E = Ig-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.791985*JMC="JM%=HI IIIBI) =&I.I6I<:I FJJJJJK:JH:JJzKU&~JKU9KQKUJr5<Jr5<Jڝ;J۝;KU9*F?2F:FBFp0JFG %uG ?G >Gi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:26:08.1932 LVL= 23792, 32753, 32690, 32755, AGC= 62, IDX= 458, 0.16,-2.923, 2.451, 1.046, 2.177, PHS= 1.272, 0.321,-1.134, RAW= 53.1, -4.4, CAL= 57.0, -9.1, ROT= 93.0, 9.1  Ygot valid direction response: 21:26:08.1932 LVL= 23792, 32753, 32690, 32755, AGC= 62, IDX= 458, 0.16,-2.923, 2.451, 1.046, 2.177, PHS= 1.272, 0.321,-1.134, RAW= 53.1, -4.4, CAL= 57.0, -9.1, ROT= 93.0, 9.1  PDAT read: Bearing 93.0, 9.1 (Local)  ~Local bearing/azimuth received: Bearing 93.0, 9.1 (Local) % DAT read: Range 10 to 50 : 311.5 m (Round-trip 415.4 ms) speed 0.0 m/s 5 ,DAT read: user:1762> = BDAT read: Tx time:21:26:09.2737 = $Ping request sent.= i Т? Z> & @m? nF ~?) "I ?i "> ` ?`MچXJÌu) krI  =i ? YX ::publishing transmit ping timey:Fpublishing direction and range info 9 +'?)?S?y  ) I i ) I i ` ?`MچXJÌu) I i I@Y$W@y&9nm>yH3_?,?`X˿`?Uؤ??` ?ɨI@F;騝CyB1IMb@Mb@Mb@ )Y!rh?~jt?~jtxyl'?=Ļ/ A @)@IAy@Im*Im 5٢E ; E=9M;Q M>IQ UG٣UAGyU: U> Nusing accuracyPremultiplier from configY49]AK?4Y]5 i]uB(?:3?] D]$;]t;]G4B Ek ,(%(T?k 6w k  k W]\A:k CBk CZk \@" m4@ 73i@ɯh*m@ +'?)?S?Jk ?Rk YX*  ϝz9;@Ͳve%\lEp@ _?ZXZ?"k (*k Ak 7T?k ҕ 2k RCk k - k Ck E9Ck @ Z$?I addTargetRange:: Added new target pos. range: 311.500000 m, deltaT: 4.043903 s, deltaX: 1.200012 m, approachRate: 0.296746 m/s, rangeRepo size: 4 - Added new target pos. range: 311.500000 m, bearing: 279.158576 deg, lat: 36.903169 deg, lon: -122.117900 deg, deltaT: 7.827795 s, deltaX: 2.200012 m, approachRate: 0.281051 m/s, posRepo size: 4 Zj)5FNOT Ignoring new targets: 311.50 m.=Will construct direction to contact in vehicle frame from tetrahedron phase data.Bj]JjY ProNav: ac range: 311.500000 m, nav range: 185.272369 m, bearing: 275.817650 deg, approach rate: 0.000000 m/s, LOS rate: 0.177997 deg/s, cmd heading: 193.700408 deg, new cmd heading: 194.000265 deg. 2jHeadingCmd: 3.385943 target range: 311.500000 and range: 311.50 m. jLX@jjjih hI hQ hU _BfQ fQ fY rf] xs@bf] ?ɛ B Ȭ |?I kɚ i I v*=I il9i .yi ) LX@) EA EA *EI "EI  Will construct direction to contact in vehicle frame from tetrahedron phase data.*F]?2Fa:FaBFeF5JFaGGaBOM:?,w,-\A*Will construct direction to contact in vehicle frame from tetrahedron phase data.(i(HR/>IP IRIIRBIP&IP.IP6IR°<:IR FJzJzJz1JxJz:JzT:Jz3JxJz:<Jz:<Jz;Jz;zKLK+9KKKxf\L<2-*(# &I@YGEW@)9- >yH1 ?bq? *̿`d?<? J?ǯ?ɨ&I@߉;CyBEI)! !-A-A5Mb@Mb@Mb@111 1)1Y5Q? ףp= ?~jth?y5(?5Q=5D;5 A 5@)5@I5QA1y5@IM)IM5٢]A= ]<9efaa mG٣iymC; m> }Nusing accuracyPremultiplier from configq}49uK?4Yu19 iuuB*?:H2?u Du;uU;u&4 AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 311.50 m.Bjo;Jjo; ProNav: ac range: 311.500000 m, nav range: 185.160904 m, bearing: 275.950921 deg, approach rate: -0.174663 m/s, LOS rate: 0.208957 deg/s, cmd heading: 194.000267 deg, new cmd heading: 194.400313 deg. 2jg<HeadingCmd: 3.392926 target range: 311.500000 and range: 311.50 m. j%Y@jjjihhhh`Bfffrfbf?ɛ-B5ƃ 9="I9 E ͳɚAiAIE*=I8i}iP)%Y@)*F?2F:FBF#4JFWill 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 >/3w,l\A2I@Y2s8W@2-92G >y2H` 4`?4R?g̿`@&??ࢪ?9?ɨ2I@2?;2Cy>B>YIIJIJ4٢R.= R=9RQ - Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4991649w,\An I@Yn*W@n(9n>ynH@6 5?9g3˿ h??` ?@Ϊ?ɨn I@nъ;nCyˀBjII%,I%5٢== =@=9E QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam49eJ?m4Ye= ievBquf2u?e De;e;e34y }AyZjFNOT Ignoring new targets: 311.50 m.Bjd;Jjd; ProNav: ac range: 311.500000 m, nav range: 185.039749 m, bearing: 276.098185 deg, approach rate: -0.163962 m/s, LOS rate: 0.200171 deg/s, cmd heading: 194.586188 deg, new cmd heading: 194.842253 deg. 2j` <HeadingCmd: 3.400639 target range: 311.500000 and range: 311.50 m. jY@jjjihhhhfffrfbf?ɛBG` 隍ԽI 2ɚiI*=I{8iMJiC)Y@)*F]?2FY:FaBFaJFa X$?I}Will construct direction to contact in vehicle frame from tetrahedron phase data.HI IIIBI&I.I6I~<:I] FJJJJJK:J[O:JJJr5<Jr5<J;J ;]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.779488zKNK9KKK:v=G޼G B O >;@w,@]ANI@YNm2W@NǼ9NW>yNH`6 0?R̿`? o?eM?]?ɨNI@N'i;LyZڀBZ}Ii^,>I^> b=bp=EMb@Mb@Mb@AAA A)AYEˡE?Mb?y&1?yE'?E=E`eqq }G٣yy}: }> Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002004 49J? 4Y.@ ivB)?:2? D[<,<;4 WAEZjaFNOT Ignoring new targets: 311.50 m.BjNX;JjNX; ProNav: ac range: 311.500000 m, nav range: 184.972427 m, bearing: 276.179233 deg, approach rate: -0.157024 m/s, LOS rate: 0.189109 deg/s, cmd heading: 194.842252 deg, new cmd heading: 195.085484 deg. 2j<HeadingCmd: 3.404884 target range: 311.500000 and range: 311.50 m. jY@jjjihhhhBfffrfbff@ɛEBE߼ E/=EII MɚIiIIM*=IU68iUiUj)UY@)Y*F2F:FBFl0JFGW GBO`> W$?I} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254116tFw,ob]A6-I@Y6|LW@6"۫96V>y6Hc4[R?‡;̿?z? y?@j?ɨ6-I@6 ;6CyBBBIIN.IN5٢f= fV=9fhh jG٣jAGyn; n> rNusing accuracyPremultiplier from configpv49rJ?v4YrB ir'vBxz1z?r Dre:r":rA4B  AEZj)5FNOT Ignoring new targets: 311.50 m.Bj5n;Jj5n;M ProNav: ac range: 311.500000 m, nav range: 184.909470 m, bearing: 276.255021 deg, approach rate: -0.173494 m/s, LOS rate: 0.208923 deg/s, cmd heading: 195.085489 deg, new cmd heading: 195.312930 deg. 2jMaG B O > I Lw,O6]AjH bH H..>I, I.II.8BI,&I,.I,6I.<:I.| FVWill construct direction to contact in vehicle frame from tetrahedron phase data.JfJfJf0JdJf:Jfb:Jfـ3JdJf6<Jf6<Jf?;Jf?;%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786823zK)>MK9KKK ;}_4FI- =QI@Y=ppW@=@׏9=j1>y=H@0?@I̿j??9?ʦ?ɨ=QI@=0;=CyMBMIeMb@Mb@Mb@aaa a)aYe(\?V-?:v?ye'?em=e G٣y ; > Nusing accuracyPremultiplier from config49UJ?4Y!E tIi>vBw(?:t5? D ;z ;dJ4 B AB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 311.50 m.Bj d;Jj d;% ProNav: ac range: 311.500000 m, nav range: 184.845612 m, bearing: 276.354517 deg, approach rate: -0.128180 m/s, LOS rate: 0.199784 deg/s, cmd heading: 195.312934 deg, new cmd heading: 195.611522 deg. 2j% <-HeadingCmd: 3.414065 target range: 311.500000 and range: 311.50 m. j- Z@j)j)j)i)h)h)h1h5Bf1f9f9rf9bf=@9@ɛeBm3 imOIi mvɚiiiIuػ*=Iu7i}щi}-O/)} Z@)*F=?2FA:FABF]0JFa-G -Y)y-0BMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022225G w!G B O >Sw,P]A2$I@Y2ٯW@2)Gt92pC>y2H&*?ਓ *̿????ɨ2$I@2(E;2Cy>%B>I)@ @DFAIJIJ4٢RՁ> R=9RZw,_\m]ABtI@YB)W@BO9B>yBHn$@CK?@!@dͿ{`d fG٣fAGyf; f> nNusing accuracyPremultiplier from confighz49j J?~4Yj1I ij`vB 5 ?j5 Dju %BDAT read: Tx time:21:26:13.1737 -$Ping request sent.M?A+FN?y%C!%pO%Qx %e)!I%Di%-?%@>%% ?%k] %?)% AI%?i% A>!!%G8C"? ><xp it)%xI%'^=i%?%i!!:publishing transmit ping time)Fpublishing direction and range info!9%sX?㕉>?A+FN?y!!!! !)!I!i!!!!! !)!I!i!!!%G8C"? ><xp it)!I!i!!!!E y 1=E! E! *F 2F :F BF _0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:26:13.1729 PExceeded connect timeout, disconnecting.G-GGsAGBO?dw,B]A6vJ@Y6X@61+968 >y6Hk?@> Uο@`?@"f?`?`|?ɨ6vJ@6X;6CyBKBBI Fa=Fa=-Mb@Mb@Mb@))) )))Y-Fx?~jth?{Gz?y-+?-D;-ף<- A -@)-@I-3@)y-z@IM IM4٢5= =9ah;Q > G٣yP< > Nusing accuracyPremultiplier from config49iJ?4YK irvB+?:9?P DL;;b4   AEkŪS?kڰ Z k k#x]A:kCBkߚCZkGߜ@"aP/%@V!z)0g@cxn@sX?㕉>?A+FN?Jk?Rki*cڔO<@XjbHPq@|7S?kHNt 2k Ck>S?kҕ kRCk^*Ck#@mWill construct direction to contact in vehicle frame from tetrahedron phase data.u addTargetRange:: Added new target pos. range: 311.899994 m, deltaT: 3.793373 s, deltaX: 0.399994 m, approachRate: 0.105445 m/s, rangeRepo size: 4  Added new target pos. range: 311.899994 m, bearing: 280.878540 deg, lat: 36.903232 deg, lon: -122.117726 deg, deltaT: 3.793373 s, deltaX: 0.399994 m, approachRate: 0.105445 m/s, posRepo size: 4 JJJJJ:JHM:JJa@a@a@a@ZjFNOT Ignoring new targets: 311.90 m.BjJj ProNav: ac range: 311.899994 m, nav range: 170.367783 m, bearing: 279.566067 deg, approach rate: 0.000000 m/s, LOS rate: 0.185337 deg/s, cmd heading: 196.069528 deg, new cmd heading: 196.392393 deg. 2jHeadingCmd: 3.427694 target range: 311.899994 and range: 311.90 m. jV_[@jjjihhhhBfffrf`f~s@bfr?ɛBi 隭>I -dzɚiIo*=I`6i{i)V_[@)EE*E"E*F ?2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G% H0GB O->kw,]ABJ@YBKX@BH*9Bj:>yBH@D?] mJϿ^?P@?@?๜?ɨBJ@B։;BCyNkBN.IIZIZ4٢bc> b>=9b=09Q b>dd fG٣dyj)< j> nNusing accuracyPremultiplier from configlr49nRJ?r4YnM in~vBprD9v?nb Dn:nC:n8j4x ~ A|Zj!%FNOT Ignoring new targets: 311.90 m.Bj-Ɓ;Jj-Ɓ;= ProNav: ac range: 311.899994 m, nav range: 170.345154 m, bearing: 279.662250 deg, approach rate: -0.053379 m/s, LOS rate: 0.226917 deg/s, cmd heading: 196.392391 deg, new cmd heading: 196.680976 deg. 2j=I 䅲ɚiI$*=Im6ii[#)ܱ[@) ]R$?IaZHRHAAH=->I9 I=fII=BI9&I9.I96I=<:I= FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JF zKjIK+9KKKBKqA:KmAG%$$GBOC>U Will construct direction to contact in vehicle frame from tetrahedron phase data.rw,]A6K@Y6%Y@6M-96#>y6H/ ?5 Ͽ`?@/?a??ɨ6K@61;6CyB~BBFI nManaging dock network, ignoring radio surface power offUMb@Mb@Mb@QQQ Q)QYUK7A`?p= ף{Gz?yU+?UU# G٣AGyD'< > Nusing accuracyPremultiplier from config49D:J?4YN ivB+?:A??t D;;q4B O AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 311.90 m.Bj!;Jj!; ProNav: ac range: 311.899994 m, nav range: 170.349808 m, bearing: 279.758505 deg, approach rate: 0.010917 m/s, LOS rate: 0.225788 deg/s, cmd heading: 196.680980 deg, new cmd heading: 196.969735 deg. 2j<HeadingCmd: 3.437770 target range: 311.899994 and range: 311.90 m. jn\@jjjih h h h ;Bfffrfbf ?ɛAEĻ AEdk>IA M밼ɚIiIIM*=IUF6iUBiUx3&)Un\@)YEiEm>*F?2F:FBFC5JFG GrA IIIWill 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.JJJJJK:J>L:JJG\'!GBO≯xw,]A6tK@Y6ӒY@696ݬ%>y6H4?@Tпh`9?A_?K?@?ɨ6tK@6;6CybBbfIdfAIjIj4٢v> vT=9v;Q v>xx zG٣xy~č< ~> Nusing accuracyPremultiplier from config 49$J? 4YO ivB>? DG::hx4B A%EZjFNOT Ignoring new targets: 311.90 m.Bjw;Jjw; ProNav: ac range: 311.899994 m, nav range: 170.352707 m, bearing: 279.845540 deg, approach rate: 0.007213 m/s, LOS rate: 0.216520 deg/s, cmd heading: 196.969733 deg, new cmd heading: 197.230831 deg. 2j< HeadingCmd: 3.442327 target range: 311.899994 and range: 311.90 m. j O\@j j j i h hWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.697538h9h9f9fAfArfIbfM`2N?ɛ Bhs2 隵>I 뮼ɚiI*=I5iʙi8)O\@)*F?2F:FBF`5JF 5Q$?I9H9 I9  I= II= ˁBI9 &I9 .I9 6I= <:I= z FGM ,& Will construct direction to contact in vehicle frame from tetrahedron phase data.*J "J R= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955678G By O% >zKE BoHKA KA KE KE 3~w,"m]AyrBv{IMb@Mb@Mb@ )YMbX?MbMbPy*?E A )II@y @I$Id5٢= <=9Q > G٣y > Nusing accuracyPremultiplier from config49 J?4Y}P i|vB-?:D? DN;;4 A EZj)5FNOT Ignoring new targets: 311.90 m.Bj=:;JjE:;m ProNav: ac range: 311.899994 m, nav range: 170.382584 m, bearing: 279.944094 deg, approach rate: 0.071694 m/s, LOS rate: 0.236454 deg/s, cmd heading: 197.230837 deg, new cmd heading: 197.526444 deg. 2jmF"Ii m٬ɚiIؙ*=I|5iIim&3)\@)*F ?2F :F BF "5JF MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206663GM G! B1 OU > % P$?I! ˅w,@O^A2TL@Y29sZ@25Uۻ92j(>y2HT?I,ѿ#f xu?@j{? ?`ʐ?ɨ2TL@2t;2CyBBBIIJIJ4RWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.457593JZJZJXJXJZ:JZwR:JXJX٢fF= f]=9f;Q j>hh jG٣jAGynr= n> rNusing accuracyPremultiplier from configpv49rI?v4Yr Q iruvBxzCz?r Dr:r:rv4 AZj)5FNOT Ignoring new targets: 311.90 m.Bj5;Jj=;E ProNav: ac range: 311.899994 m, nav range: 170.405045 m, bearing: 280.028340 deg, approach rate: 0.060452 m/s, LOS rate: 0.226713 deg/s, cmd heading: 197.526448 deg, new cmd heading: 197.779154 deg. 2jM; qu >Iq }઼ɚyiyI}|*=I35ib(i- )\@)*F-?2F):F)BF-_0JF)G 11G G rAGBOE>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710104w,$2^A:L@Y:sZ@:G>9:z(>y:H p?J٣@Ѯѿ;TIF=ININ|4٢V`< VL=9VĹQ Z>XX ZG٣Xy^R< ^> bNusing accuracyPremultiplier from config`f49bI?f4YbQ ibnvBhjCj?b D`b:bq4rB vAvEZjFNOT Ignoring new targets: 311.90 m.Bj;Jj;- ProNav: ac range: 311.899994 m, nav range: 170.427460 m, bearing: 280.119228 deg, approach rate: 0.056022 m/s, LOS rate: 0.227123 deg/s, cmd heading: 197.779151 deg, new cmd heading: 198.051776 deg. 2j-<5HeadingCmd: 3.456656 target range: 311.899994 and range: 311.90 m. j59]@j1j1j1i1h9h9h9hAfAfAfArfAbfM@@ɛ} B}Q; y}ߨ>I pبɚiIj\*=I4iޟi s)9]@) O$?IjH<bH<HI IIIBI&I.I6Iư<:I F*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.966387zK-yJK)K)K-K-G2GBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:21:26:15.9942 m TRx dataTimestamp_ set to:1736371577.156661m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214482ܒw,K^AZ)LM@YZj[@Z@9Zu)>yZH0`Y?ҿB? |? ?o?ɨZ)LM@ZI;XyrBvIMb@Mb@Mb@ )Y!rh?bX9ƿ rhyl'?E6C A @)@Iy@I- I-e4٢=< =3=9E匹Q E>AA MG٣IyULv< U> eNusing accuracyPremultiplier from configYe49]I?e4Y]Q i][vBm-?m:m:Gm?] D]@;];]j4y }xA}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 311.90 m.Bj};Jj}; ProNav: ac range: 311.899994 m, nav range: 170.473236 m, bearing: 280.221862 deg, approach rate: 0.098881 m/s, LOS rate: 0.221638 deg/s, cmd heading: 198.051772 deg, new cmd heading: 198.359587 deg. 2j<-HeadingCmd: 3.462028 target range: 311.899994 and range: 311.90 m. j-ݑ]@j)j)j)i)h1h1h9hEBfAfAfIrfIbfUwY @ɛ Bb: >I |ɚ!i!I%:*=I-ٍ4i-=i-)-ݑ]@)1 N$?I*F2F:FBFJFG}OWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.465631JJJJJK:JU:JJGQBiO{>?w,e^A:M@Y:[@:9:z*>y:Hl?Śҿ.@? c?6?@?ɨ:M@:]މ;:CybǁBbIIjIj4٢rU= rc=9vQ v>tx zG٣zAGyz< z> Nusing accuracyPremultiplier from config| 49~I? 4Y~/R i~LvB  F ?~ D~z:~:~4 A!ZjIUFNOT Ignoring new targets: 311.90 m.BjU1;JjU1;u ProNav: ac range: 311.899994 m, nav range: 170.507706 m, bearing: 280.302751 deg, approach rate: 0.097774 m/s, LOS rate: 0.229397 deg/s, cmd heading: 198.359581 deg, new cmd heading: 198.602196 deg. 2jn<HeadingCmd: 3.466262 target range: 311.899994 and range: 311.90 m. j>]@jjjihhhhff%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.720897frfbf V@ɛBg; 隵>I أɚiI*=IvH4ii3)>]@)EErA*F2F:FBF`0JFG G IHI IIIBI* =&I.I6I<:I FG  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B zKe BHKe 9Ka Ke Ke O > DAT read: 21:26:15.9942 LVL= 21600, 27105, 27586, 31891, AGC= 64, IDX= 451, 0.07, 2.298, 1.228,-0.100, 1.079, PHS= 1.307, 0.196,-1.183, RAW= 56.4, -3.0, CAL= 60.2, -7.2, ROT= 89.8, 7.2 = Ygot valid direction response: 21:26:15.9942 LVL= 21600, 27105, 27586, 31891, AGC= 64, IDX= 451, 0.07, 2.298, 1.228,-0.100, 1.079, PHS= 1.307, 0.196,-1.183, RAW= 56.4, -3.0, CAL= 60.2, -7.2, ROT= 89.8, 7.2 E PDAT read: Bearing 89.8, 7.2 (Local) E ~Local bearing/azimuth received: Bearing 89.8, 7.2 (Local) U DAT read: Range 10 to 50 : 312.2 m (Round-trip 416.3 ms) speed -0.3 m/s 2w,#^AN,DAT read: user:1764> RBDAT read: Tx time:21:26:17.0738 R$Ping request sent.RybH &?@" ӿ?җ?>1??ɨb=N@b;bCyrBrI)t ttvA~:publishing transmit ping timeP~Fpublishing direction and range info9DNhN?>*PN?N?yC`Ti k)|I@iK?9H>ld{?PwV |?)Iy?i>z *PN?N?y )Ii )Iiz  G٣yV< > Nusing accuracyPremultiplier from config49)I?%4YbR i/vB-,?-:-G-? D;;x45B 5VA5Ek8U?kN@> k kFxz^A:kCBkCZk@"6%@'1h@|{ n@DNhN?>*PN?N?Jk?Rk~f*7hB@h(?blq@ƅ^v0?)~ݿhZ ^?"k*kDBkU?keX 2k/Ck7T?kuQ}' k]Ck&Ck @%Will construct direction to contact in vehicle frame from tetrahedron phase data.5 addTargetRange:: Added new target pos. range: 312.200012 m, deltaT: 4.036396 s, deltaX: 0.300018 m, approachRate: 0.074328 m/s, rangeRepo size: 4 m Added new target pos. range: 312.200012 m, bearing: 284.153682 deg, lat: 36.903245 deg, lon: -122.117679 deg, deltaT: 4.036396 s, deltaX: 0.300018 m, approachRate: 0.074328 m/s, posRepo size: 4 ZjimFNOT Ignoring new targets: 312.20 m.BjuJjq ProNav: ac range: 312.200012 m, nav range: 166.724319 m, bearing: 281.175255 deg, approach rate: 0.000000 m/s, LOS rate: 0.229397 deg/s, cmd heading: 198.602203 deg, new cmd heading: 198.968201 deg. 2jHeadingCmd: 3.472650 target range: 312.200012 and range: 312.20 m. j?^@jjjihhhhBfffrf@3s@bf`?ɛ=B=0; AE>IA EɚAiAIE)=I}3i}-qi)?^@)*Fi2Fi:FiBFm_0JFi M$?I G  Will construct direction to contact in vehicle frame from tetrahedron phase data.Jm Jm Ji Ji Jm :Jm HM:Ji Ji Gy B O >w,qV^AbN@YbW\@b49b[&>ybHC6?eT[ӿ@ '? ???ɨbN@bͩ;`ynBnII I ~4٢E*$ Ec=9E޻Q E>II MG٣IyU0< U> ]Nusing accuracyPremultiplier from configY49]I?4Y]R i]vBLG?]D]y;];]Ū4 AEZjFNOT Ignoring new targets: 312.20 m.Bj 0;Jj 0; ProNav: ac range: 312.200012 m, nav range: 166.764938 m, bearing: 281.257438 deg, approach rate: 0.118589 m/s, LOS rate: 0.239877 deg/s, cmd heading: 198.968205 deg, new cmd heading: 199.214691 deg. 2j=$I )KɚiIq)=IR3ii})c^@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G8Gi By O > % K$?I! /ެw,^AZH!RH%@AH)I) I- II-BI)&I).I)6I-<:I-m FBIJIRIZIbIjIr4yMBMII]I][4٢mx) mI=9mQ m>qq uG٣uAGy} }> Nusing accuracyPremultiplier from config49iI?4YR ivB?D:~:ܱ4=B =AEøEmWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 312.20 m.Bjsf;Jj-sf;zKmyJKmh9KiKmKm! BKq:KurA ProNav: ac range: 312.200012 m, nav range: 166.811081 m, bearing: 281.349907 deg, approach rate: 0.100564 m/s, LOS rate: 0.201474 deg/s, cmd heading: 199.214693 deg, new cmd heading: 199.492022 deg. 2jE <HeadingCmd: 3.481793 target range: 312.200012 and range: 312.20 m. j^@jjjihhhhfffrfbf[?ɛ-B-: )-Ɯ>I) 5B霼ɚ1i1I5g)=I=J3i=i=)=^@)A*Fu?2Fy:FyBF}o0JFy Will construct direction to contact in vehicle frame from tetrahedron phase data.G +G G sAGY Ba O >Vܳw,b1^A @yB~Ii=I<Mb@Mb@Mb@ )Y r?ʡEƿ+y#?-2\ A )@II@yII4٢闼 B=9Q > G٣y > Nusing accuracyPremultiplier from config49:RI?4Y(S iuB)?:E?%Dj;;?4 A J$?IB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 312.20 m.Bj3;Jj3; ProNav: ac range: 312.200012 m, nav range: 166.851334 m, bearing: 281.444795 deg, approach rate: 0.105502 m/s, LOS rate: 0.248640 deg/s, cmd heading: 199.492026 deg, new cmd heading: 199.776620 deg. 2j*< HeadingCmd: 3.486760 target range: 312.200012 and range: 312.20 m. j '_@j j j ihhhhBfffrfbf%?ɛMBMpK; IMg>II Me4ɚQiQIU])=I]2ieuie_)e'_@)a*F?2F:FBF_5JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.GGBOd>w,^AVRnO@YV]@Vg9V.">bWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.664268yVH^@?`@#Կ[? ?[A??ɨVRnO@V;VCynBnnIIv'Iv5٢~ ~Y=9Q >   G٣ y ! =  > Nusing accuracyPremultiplier from config49W=I?%4YS iuB!%D%?5DX;&:п4) -lA5ƸEZjFNOT Ignoring new targets: 312.20 m.Bj`;Jj`; ProNav: ac range: 312.200012 m, nav range: 166.884430 m, bearing: 281.529339 deg, approach rate: 0.090630 m/s, LOS rate: 0.231464 deg/s, cmd heading: 199.776613 deg, new cmd heading: 200.030191 deg. 2j<HeadingCmd: 3.491185 target range: 312.200012 and range: 312.20 m. jo_@jj j i h h h1h1f1f1f9rf9bfE6 ?ɛB9 隵>I ZɚiI5/)=I!2i4i)o_@)*F?2F:FBFa4JF IH,>I III BI&I.I6I<:I FuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.915713G}GJK 3 K .-KK"KJJJJJk:JdP:JJJ%8zK /LK 9K K K RK ?JK ?w,W_AfO@Yf<]@f:`9f#>yfH Q`$W?,f1wԿ@n??`L? ?ɨfO@fn;fCynBr[IeMb@Mb@Mb@aaa a)aYeMb?㥛 ¿ˡEye#?ee'e A a)eQAIev@ayezAI*I 5٢ B=9Ձ:Q > G٣AGyP< > Nusing accuracyPremultiplier from config49C&I?4YiT iuB'?:A?GD@;;2ǚ4]B ]A]ɸEZjFNOT Ignoring new targets: 312.20 m.Bjx;Jjx; ProNav: ac range: 312.200012 m, nav range: 166.908951 m, bearing: 281.623578 deg, approach rate: 0.056628 m/s, LOS rate: 0.217606 deg/s, cmd heading: 200.030190 deg, new cmd heading: 200.312866 deg. 2jW<HeadingCmd: 3.496119 target range: 312.200012 and range: 312.20 m. jj_@jjjihhhhBf!f!f!rf!bf%%@ɛB: 隥n>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.169515I 嗼ɚiI)=IJ_2i*i)j_@)E*F?2F:FBF4JF I$?IG +G ?G ?} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.419474G B O >nw,~_Ay]xB]>I)a aIm7Im 5٢ J=9Q > G٣y > Nusing accuracyPremultiplier from config497I?4Y1U iuB?WD: :?Κ4  AZjYeFNOT Ignoring new targets: 312.20 m.Bje;Jje;} ProNav: ac range: 312.200012 m, nav range: 166.932800 m, bearing: 281.713597 deg, approach rate: 0.060498 m/s, LOS rate: 0.228311 deg/s, cmd heading: 200.312865 deg, new cmd heading: 200.582879 deg. 2j}<HeadingCmd: 3.500832 target range: 312.200012 and range: 312.20 m. j `@jjjihhhhfffrfbf@@ɛBT $<>I =ɚiI(=I2i?i) `@)*F}?2Fy:FyBF}_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.671993GiGI BY Ou > H$?I g=w,7_A6ȐP@Y6}^@6o96">y6H0"?@裿 V6տ`@?@?bBB$IIJ3IJ 5HPIP IRIIRBIP&IP.IP6IR<:IR F٢ٽ R=9Q %>!! %G٣!y-= -> 5Nusing accuracyPremultiplier from config1=495H?=4Y5V i5uBAE AE?5hD5` ;5 ;5 ՚4I MU AM̸EZjFNOT Ignoring new targets: 312.20 m.Bj3;Jj3; ProNav: ac range: 312.200012 m, nav range: 166.953094 m, bearing: 281.800557 deg, approach rate: 0.053953 m/s, LOS rate: 0.231158 deg/s, cmd heading: 200.582876 deg, new cmd heading: 200.843723 deg. 2j<HeadingCmd: 3.505384 target range: 312.200012 and range: 312.20 m. j7X`@jjjihhhhfffrfbf@@ɛ B 3Q  ,>I  &ᕼɚiI(=I~1i艰iPͼ)7X`@)!MWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.927868JAAJAAJJJJJJwR:JJJJJϦ;JЦ;*F?2F:FBFJFzKk3IKKKKBK:KGGBOE> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:26:19.8952  TRx dataTimestamp_ set to:1736371581.194376 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.179796$w,`Q_AyrRBrImMb@Mb@Mb@iii i)iYm'1Z?~jt rhym"?mĽmC mE A i)mv@Im`@iym\@I-I`5٢R B=9Q > G٣AGy > Nusing accuracyPremultiplier from config49H?4YnW iuB$?:^<?yDXD;E;dܚ4B  AϸE G$?IZjFNOT Ignoring new targets: 312.20 m.BjQo;JjQo; ProNav: ac range: 312.200012 m, nav range: 166.955368 m, bearing: 281.893189 deg, approach rate: 0.005135 m/s, LOS rate: 0.209226 deg/s, cmd heading: 200.843721 deg, new cmd heading: 201.121610 deg. 2j<HeadingCmd: 3.510234 target range: 312.200012 and range: 312.20 m. j`@jjjihhhh/Bfffrfbf@ @ɛB8 =I %$"ɚ!i!I%U(=I-x1i-Ni5o)=`@)9*F?2F:FBFJFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.428961G- wG9 G= rAG B O= >rOw,>k_A :AQ@Y:7`_@:/9:9#>y:H#6? 6տs?E?|P? ?ɨ:AQ@:;:CyFEBFIiHIJp<RWill construct direction to contact in vehicle frame from tetrahedron phase data.nDAT read: 21:26:19.8952 LVL= 21824, 32753, 28258, 32755, AGC= 66, IDX= 430,-0.23,-2.898, 2.382, 1.057, 2.273, PHS= 1.201, 0.156,-1.218, RAW= 55.5, -1.3, CAL= 58.0, -4.7, ROT= 92.0, 4.7 rYgot valid direction response: 21:26:19.8952 LVL= 21824, 32753, 28258, 32755, AGC= 66, IDX= 430,-0.23,-2.898, 2.382, 1.057, 2.273, PHS= 1.201, 0.156,-1.218, RAW= 55.5, -1.3, CAL= 58.0, -4.7, ROT= 92.0, 4.7 vPDAT read: Bearing 92.0, 4.7 (Local) v~Local bearing/azimuth received: Bearing 92.0, 4.7 (Local) ~DAT read: Range 10 to 50 : 312.9 m (Round-trip 417.2 ms) speed 0.0 m/s ,DAT read: user:1765> BDAT read: Tx time:21:26:20.9738  $Ping request sent. Rm盿Rw?R޹ R?)RIR?iR=PPR#VE/?E-USZ@)R[IRzbPP5:publishing transmit ping time}Fpublishing direction and range infoP9R{s[s?uďK?ƃ?yPPPP P)PIPiPPPPP P)PIPiPPPR#VE/?E-USZ@)PIPiPPPPI5I5٢< E=9|MQ > G٣y2< > %Nusing accuracyPremultiplier from config-49{H?-4YX iquBQU;U?D;k;4a eK AeҸEkRLW@[?kRa kP kRyl_A:kRsCBkR^CZkR(@"R9Qog? 0[h@:@<=n@R{s[s?uďK?ƃ?JkR?RkR>b*Rjw,_AQ@YԺ_@=9">yH@p?#1ֿ`L@r?'?b=?Ɨ?ɨQ@;Cy7BIMWill construct direction to contact in vehicle frame from tetrahedron phase data.]Mb@Mb@Mb@YYY Y)YY]"~j?/$:vy]S#?],]Լ]\ A Y)YI]v@Yy]AII4٢5e '=9Q >!! %G٣!y%:< -> =Nusing accuracyPremultiplier from config1]495sH?e4Y5I[ i5fuBe#?e:e"6e?5D5;5$;504i u AqB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 312.90 m.Bj;Jj; ProNav: ac range: 312.899994 m, nav range: 151.941116 m, bearing: 284.624290 deg, approach rate: -0.030160 m/s, LOS rate: 0.273983 deg/s, cmd heading: 201.413850 deg, new cmd heading: 201.764817 deg. 2j<<%HeadingCmd: 3.521460 target range: 312.899994 and range: 312.90 m. j%_a@j!j!j!i!h!h)h1h5BfYfYfarfabfe@ P?ɛ!B Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.$w,'_A2Q@Y2`@292>y2H`Q k?@:Ԁֿ?}?]?3?ɨ2Q@2 ;0yRBRIIZ)IZ5٢b] b=9fQ f?dh jG٣jAGyj< n? rNusing accuracyPremultiplier from configlv49nOH?v4Yn\ in`uBtv5v?nDn7:nz:nS4~B ~ A~ոEZj)5FNOT Ignoring new targets: 312.90 m.Bj=;Jj=;M ProNav: ac range: 312.899994 m, nav range: 151.932709 m, bearing: 284.695159 deg, approach rate: -0.029778 m/s, LOS rate: 0.251017 deg/s, cmd heading: 201.764813 deg, new cmd heading: 201.977432 deg. 2jME, E$?I ZH9 RH9 wHyI}C I}fII}BIy&Iy.Iy6I}<:I} F,_AJR@YJA2`@Jƥ9J>yJH*?@c:ֿ@#J?c?@?0?ɨJR@J`;JCybBbI)h hIvIv%4٢ ⋼  F=9>Q >!! -G٣)y-; 5> MNusing accuracyPremultiplier from configA]49EH?e4YE^ iEXuBae5e?EDE;E;E4q u AqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249949JJJJJJ>L:JJJJJo;Jp;ZjFNOT Ignoring new targets: 312.90 m.Bjo;Jjo;E ProNav: ac range: 312.899994 m, nav range: 151.920609 m, bearing: 284.795493 deg, approach rate: -0.025267 m/s, LOS rate: 0.209527 deg/s, cmd heading: 201.977436 deg, new cmd heading: 202.278459 deg. 2jmw,x _A ,I,yBIMb@Mb@Mb@ )Yx&?~jth?y&1y7)?D;`e/ A @)`@I@yf@I>I 5٢ R 0=9Q > G٣y %> -Nusing accuracyPremultiplier from config!549%yH?54Y%a i!5A)?5:5n15?%D%;%@;%4A EF AEظEZjimFNOT Ignoring new targets: 312.90 m.Bju;Jju; ProNav: ac range: 312.899994 m, nav range: 151.887360 m, bearing: 284.909063 deg, approach rate: -0.084387 m/s, LOS rate: 0.288308 deg/s, cmd heading: 202.278456 deg, new cmd heading: 202.619236 deg. 2jE<HeadingCmd: 3.536373 target range: 312.899994 and range: 312.90 m. jSb@jjjihhhhӀBfffrfbf@7?ɛ%Bެ wI ɚiI (=Ie/iaieK)eSb@)iWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752236*F?2F:FBF%4JF!G]ݼGBOe> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003909.*w,_AynBrII~MI~5٢} }U=9Q > G٣AGy > Nusing accuracyPremultiplier from config49"eH?4Y$d i?D;w;Q4B  A۸EZjFNOT Ignoring new targets: 312.90 m.Bjэ;Jjэ; ProNav: ac range: 312.899994 m, nav range: 151.859955 m, bearing: 285.004249 deg, approach rate: -0.071380 m/s, LOS rate: 0.247973 deg/s, cmd heading: 202.619242 deg, new cmd heading: 202.904849 deg. 2j.*<HeadingCmd: 3.541358 target range: 312.899994 and range: 312.90 m. jb@jjjihhhhf f f rf bf.@ɛ=&B=N ̼ 9=LIA EꗕɚAiAIE (=IMz/iMiMbd)Mb@)QEY ]D$?IY*F2F:FBF_0JFH)I) I-4II-pBI-) =&I).I)6I-<:I- FBIJIRIZI* =bI* =jIĜ4-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258243GGGBO >zKe RIKe h9Ka Ke Ke 3w,`AnR@Yn a@n9n >ynH@;`-Z? ۢrm׿^?fӖ?@??ɨnR@n;lyvBvI ~p=~=Mb@Mb@Mb@ )YK7A`??MbP?y+?L=:E A p@)I@I`@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507307y@y}@AI8I@ 5٢g :=9$Q > G٣yB< > Nusing accuracyPremultiplier from config49NH?4Yg ibuB|+?:\,?D;;4  A޸EZjFNOT Ignoring new targets: 312.90 m.Bj;Jj; ProNav: ac range: 312.899994 m, nav range: 151.805588 m, bearing: 285.113507 deg, approach rate: -0.123559 m/s, LOS rate: 0.248397 deg/s, cmd heading: 202.904853 deg, new cmd heading: 203.232741 deg. 2jx*< HeadingCmd: 3.547081 target range: 312.899994 and range: 312.90 m. j ^c@jjjihhhhBfffrf!bf%#V@ɛ}(B}Vɼ y}ȽIy \ɚiIn(=IX/iZi)^c@) EC$?IA*F]?2Fa:FaBFaJFaG5G BO5>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759200J J J J J :J dP:J J a @a @a @a @#;w,"`ARC%S@YRCa@Rs9Rx >yRHT?Ѡ`ٟ׿T K?c??r?ɨRC%S@RE';RCy^B^IIf5If5٢nj rk=9rb Q r?tt vG٣tyvH< v? ~Nusing accuracyPremultiplier from configx49z=H?4Yz.j izkuB%, ?zDz;z;z4 %A5B*** querying acoustic contact ***j1j1ZjIMFNOT Ignoring new targets: 312.90 m.BjU ;JjU ;e ProNav: ac range: 312.899994 m, nav range: 151.762253 m, bearing: 285.199827 deg, approach rate: -0.123778 m/s, LOS rate: 0.246626 deg/s, cmd heading: 203.232743 deg, new cmd heading: 203.491775 deg. 2jmA) 5 A$?I1 jH% <bH! H) I)  I- II- VBI- * =&I) .I) 6I- ذ<:I- FDew, a<`AJ^cS@YJa@Jü9J !>yJH s?f׿@`H@?fr? ??ɨJ^cS@Jn;JCyTXIb.Ib59jQ j>hh nG٣nAGrWill construct direction to contact in vehicle frame from tetrahedron phase data.rBDAT read: Rx Time:21:26:23.7960 vTRx dataTimestamp_ set to:1736371584.972741vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264385yE< E> UNusing accuracyPremultiplier from configI}49M(H?4YMgm iMuuB+?MDM;Mk;MV4B )AEZj EFNOT Ignoring new targets: 312.90 m.BjU;Jj}; ProNav: ac range: 312.899994 m, nav range: 151.709930 m, bearing: 285.302904 deg, approach rate: -0.122226 m/s, LOS rate: 0.240873 deg/s, cmd heading: 203.491771 deg, new cmd heading: 203.801106 deg. 2jO%<HeadingCmd: 3.557000 target range: 312.899994 and range: 312.90 m. jc@jjji h h hhfffrfbf 3 @zKmBoHKm9KiKmKm !+!ɛ*Bpּ 隽DI ɚiI(=Iy.i)~ie)c@)EEsA*F?2F:FBF_0JFG GqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516924G vG B O > ! I! Mw,>V`A2S@Y2a@2!̼92y2H?@ؿ<E?u?? %?ɨ2S@2ڊ;2CyBB@)D DHJA]Mb@Mb@Mb@YYY Y)YY]/$?V-?Mb?y],?]h=] G٣yC< > Nusing accuracyPremultiplier from config496H?4Yp iuB-?:)?$Du ;7 ;#4 'AEZjFNOT Ignoring new targets: 312.90 m.Bj;Jj;  ProNav: ac range: 312.899994 m, nav range: 151.648773 m, bearing: 285.406275 deg, approach rate: -0.152994 m/s, LOS rate: 0.258702 deg/s, cmd heading: 203.801111 deg, new cmd heading: 204.111346 deg. 2j1<HeadingCmd: 3.562415 target range: 312.899994 and range: 312.90 m. jc@jjjihh!h!h%Bf!f)f)rf)bf-  @ɛU+BU+ Y]IY ]*ɚYiYI](=Ie!.ieie )mc@)i*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770856JeJeJe/JaJe:JeT:Je(N3JaGmU'GI BY O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:26:23.7960 LVL= 25584, 28801, 28562, 32755, AGC= 66, IDX= 438, 0.16,-0.050,-0.951,-2.164,-1.066, PHS= 1.104, 0.163,-1.100, RAW= 55.2, -1.8, CAL= 57.9, -5.3, ROT= 92.1, 5.3  Ygot valid direction response: 21:26:23.7960 LVL= 25584, 28801, 28562, 32755, AGC= 66, IDX= 438, 0.16,-0.050,-0.951,-2.164,-1.066, PHS= 1.104, 0.163,-1.100, RAW= 55.2, -1.8, CAL= 57.9, -5.3, ROT= 92.1, 5.3  PDAT read: Bearing 92.1, 5.3 (Local)  ~Local bearing/azimuth received: Bearing 92.1, 5.3 (Local) - DAT read: Range 10 to 50 : 313.5 m (Round-trip 418.1 ms) speed -0.2 m/s = ,DAT read: user:1766> E BDAT read: Tx time:21:26:24.9238 E $Ping request sent.E ̌Ϣv? Y?)qI?iq=p7?qZ!W8)АIDny%H,zE?@Sؿ@t-`?Y? K(??ɨ%S@%L;%C)Iiy޽B޽II2I5٢EQ< E?=9EQ E>II MG٣IyM*< @$?I > Nusing accuracyPremultiplier from config49G?4Yt iuB ) ?8D~::k+45B 5HA=Ek"\?knk k k%n`A:kCBkCZkӣ@" @h@,n@kP^-?h Zi?r&?Jk[?Rk7`*J@$O@{]`MbӐp@!?[cݿ'<?"kn*k|Bk\?kPd 2k0CkU?kkkCkI@U addTargetRange:: Added new target pos. range: 313.500000 m, deltaT: 4.031230 s, deltaX: 0.600006 m, approachRate: 0.148839 m/s, rangeRepo size: 4  Added new target pos. range: 313.500000 m, bearing: 293.326935 deg, lat: 36.903285 deg, lon: -122.117497 deg, deltaT: 4.031230 s, deltaX: 0.600006 m, approachRate: 0.148839 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 313.50 m.BjJjH+>IC IIILBI&I.I6I<:I F ProNav: ac range: 313.500000 m, nav range: 151.883087 m, bearing: 285.921371 deg, approach rate: 0.000000 m/s, LOS rate: 0.258702 deg/s, cmd heading: 204.111351 deg, new cmd heading: 204.486248 deg. 2jHeadingCmd: 3.568958 target range: 313.500000 and range: 313.50 m. jid@jjjihhh!h!f!f)f)rf-s@bf-?ɛ,Bwּ I #ɚiIi)=I-iûi()id@) ER>EWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JFzK LK s9K K K GU_gqy|~~{zwtutmljlkjggghhhgijihG c/ G B O >"w,6<`Af6T@YfUb@f1^9f>yfH@@ϔ?hNؿ@@? ??`?ɨf6T@f$;fCWill construct direction to contact in vehicle frame from tetrahedron phase data.yBIUMb@Mb@Mb@QQQ Q)QYUQ?ˡE? rh?yU\/?U=UC)) -G٣5AGy=9"< => mNusing accuracyPremultiplier from configiu49mG?}4Ymx imuB0?:}(?mLDm3)w,ꕦ`A @:VT@Y:ub@:9:7 >y:H ?@qؿ`  z?`T{?_??ɨ:VT@:=;:CyFBFI N=N=IR#IR5٢ZO< ^=9^Q ^ ?`` bG٣`yf; f? nNusing accuracyPremultiplier from configlr49n7G?v4Yn{ inuBtv](v?nZDn';n';n94x ~ A|B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 313.50 m.Bj-ښ;Jj-ښ;E ProNav: ac range: 313.500000 m, nav range: 151.760376 m, bearing: 286.119038 deg, approach rate: -0.168096 m/s, LOS rate: 0.270769 deg/s, cmd heading: 204.843753 deg, new cmd heading: 205.079487 deg. 2jE9<]HeadingCmd: 3.579312 target range: 313.500000 and range: 313.50 m. j]te@jYjYjYiahahahihifqfqfqrfybf}?ɛy}G.ܼ 隅hʽI 暼ɚiI(=I@ -i-bǻij )te@)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:FBF05JF AIAG}GI BY ZHq RHq H *>I  I II QBI + =&I .I 6I <:I FO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239193m 0w,P8`AFOT@YFb@F9F >yFHs?ؿB ?? s?@9?ɨFOT@F<;FCyRBRII^I^N4٢U=  8=9IQ >)) 5G٣qy6< > Nusing accuracyPremultiplier from config 49ٽG?-4Y iuB15(5?nDl<e<)A4=B = A=EZjFNOT Ignoring new targets: 313.50 m.zKNK59KKKimlihgN>521/.//,*('+27971)'$!l;CoL:+# Bj;Jj; ProNav: ac range: 313.500000 m, nav range: 151.686966 m, bearing: 286.236097 deg, approach rate: -0.153371 m/s, LOS rate: 0.244683 deg/s, cmd heading: 205.079490 deg, new cmd heading: 205.430832 deg. 2j'<HeadingCmd: 3.585444 target range: 313.500000 and range: 313.50 m. jwe@jjjihhhhfff)rf)bf-`"?ɛu.BuǼ y}تIy }{ɚyiyI}4(=Iɧ,i.ʻi$')we@)E*F=?2F9:FABFE25JFAGI GI=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491073 U >$?IQ G !G ?G ?GY Bi O >76w,<`AyBIMb@Mb@Mb@ )Yn?Zd;?{Gz?yV.?y=ף< @)3@I`@y@I0I5٢= J=9 Q  >   G٣AGy > %Nusing accuracyPremultiplier from config%49]G?-4Y iuB-/?-:- *-?D@;!I;G49 =B AEEZjamFNOT Ignoring new targets: 313.50 m.Bjm;Jjm;} ProNav: ac range: 313.500000 m, nav range: 151.634933 m, bearing: 286.332856 deg, approach rate: -0.141666 m/s, LOS rate: 0.263532 deg/s, cmd heading: 205.430835 deg, new cmd heading: 205.721210 deg. 2j4<HeadingCmd: 3.590513 target range: 313.500000 and range: 313.50 m. je@jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743256hhɀBfffrfbfD?JJJJJ0JJu;J\:Jـ3Jɛy}H y}lIy }䛼ɚiI(=IT,iX̻i9)e@)*F?2F:FBF^0JFG ,&M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996197G B O >ay6H@V`s?A `zٿ2?`2ʞ? ?'?ɨ6(U@6t*;4yBBBI)H HLLIR>IR 5٢Z= Zc=9Z|B;Q ^>\\ bG٣`yb< b> fNusing accuracyPremultiplier from configdj49fG?j4Yf ifuBl r=$?Ipn{)]?fDf9 % % Y% vAy- BGA BQ Oe >KCw, aA6}U@Y6ћc@6p96!>y6HEs?`QW`ٿO(?R/?e?h?ɨ6}U@6};6CyN4BNIWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500747Mb@Mb@Mb@ )Y rh?~jt?/$?yC+?D=< A )Iv@y@I:I# 5٢= ;=9gQ > G٣y)A< > Nusing accuracyPremultiplier from config49G?4Y ivB+?:K*?D6;p3;U4B - AEZj)-FNOT Ignoring new targets: 313.50 m.Bj5;Jj5;E ProNav: ac range: 313.500000 m, nav range: 151.527725 m, bearing: 286.533054 deg, approach rate: -0.132979 m/s, LOS rate: 0.257154 deg/s, cmd heading: 205.994394 deg, new cmd heading: 206.322011 deg. 2jE{0uIw,'aA6U@Y6c@6G96YZ#>y6H7 ?@բ ڿ4@~)??R??ɨ6U@6;6CyBBBBIIJEIJ5٢R= R\=9VjQ V>XX ZG٣ZAGy^D< ^> jNusing accuracyPremultiplier from configdr49foG?r4Yf if$vBtv*v?fDfk;fUw;fJ\4|  AE5B*** querying acoustic contact ***j1j1ZjAUFNOT Ignoring new targets: 313.50 m.Bjɋ;Jjɋ; ProNav: ac range: 313.500000 m, nav range: 151.479691 m, bearing: 286.624652 deg, approach rate: -0.128137 m/s, LOS rate: 0.244425 deg/s, cmd heading: 206.322010 deg, new cmd heading: 206.596892 deg. 2j '< HeadingCmd: 3.605796 target range: 313.500000 and range: 313.50 m. j ]f@jjjihhhhff!f!rf!bf%@ɛ0BA 隽8=I ̛ɚiI)H(=IWZ+iHӻi-)]f@) Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006707*F2F:FBFo0JF IgGH0jH- <bH- <H1 I1  I5 YII5 BI1 &I1 .I1 6I5 #<:I5 FBIȜCJIȜCRIZI+ =bI+ =jIȀM5G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.չ iչ  BDAT read: Rx Time:21:26:27.7643  TRx dataTimestamp_ set to:1736371589.005021 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256601J J J J J ];J _:J J J IyH !b?;Bkڿ@B?`*#?@+n?ڒ?ɨh0V@q;騹yETBMIim4>Ii =p=I.I5٢== =(=9M1Q m>qq uG٣qy}W< }> Nusing accuracyPremultiplier from config49ɚIiIIMN(=IU*iU%ֻiU9-)]).g@)Y%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508459*F2F:FBF_0JF ;$?I G} B4.GQ B O >1Ww,)^aA2V@Y23d@2K92,%>y2H< ?@Mڿϝ6`?K?ॉ? ?ɨ2V@2;0y>oB>4I%Will construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 21:26:27.7643 LVL= 17456, 21793, 24338, 24723, AGC= 70, IDX= 96, 0.01,-2.801, 2.421, 1.226, 2.287, PHS= 1.283, 0.180,-1.064, RAW= 58.0, -4.0, CAL= 62.8, -8.7, ROT= 87.2, 8.7 eYgot valid direction response: 21:26:27.7643 LVL= 17456, 21793, 24338, 24723, AGC= 70, IDX= 96, 0.01,-2.801, 2.421, 1.226, 2.287, PHS= 1.283, 0.180,-1.064, RAW= 58.0, -4.0, CAL= 62.8, -8.7, ROT= 87.2, 8.7 mPDAT read: Bearing 87.2, 8.7 (Local) m~Local bearing/azimuth received: Bearing 87.2, 8.7 (Local) JyJ}BADAT read: Range 10 to 50 : 327.2 m (Round-trip 436.3 ms) speed 0.0 m/s ,DAT read: user:1767> BDAT read: Tx time:21:26:28.8739 $Ping request sent.%'1%?%5 %K?)%|I%?i%|>!!%7?_x@.]Ӷ)%zI%Ӎ=i%?%8lm!!:publishing transmit ping timeؑFpublishing direction and range info!9%?g"?hF?y!!!! !)!I!i!!!!! !)!I!i!!!%7?_x@.]Ӷ)!I!i!!!!Mb@Mb@Mb@ )YZd;O?~jthQ?y~*?Du< @)I@I@y@I6I] 5٢-> -F=9- Q 5>1 G٣ye< > Nusing accuracyPremultiplier from config 490AG? 4YǓ iLvBm*?u:u-u?Dcl<l<nl4}B }Z A}Ek%(Y?k%w  k! k%`aA:k%CBk%xCZk%.;@"%</@tA0_th@xo\p@%?g"?hF?Jk%?Rk%8lm*%Ɯ6`L@* R~a"r@%xi?WL_ۿqٱ`?"k% *k%+eBk%Z?k% 2k%pCk%Z?k%HNt k% Ck%Ck%ޢ@ addTargetRange:: Added new target pos. range: 327.200012 m, deltaT: 3.780056 s, deltaX: 13.700012 m, approachRate: 3.624288 m/s, rangeRepo size: 4  Added new target pos. range: 327.200012 m, bearing: 292.264288 deg, lat: 36.903406 deg, lon: -122.117494 deg, deltaT: 3.780056 s, deltaX: 13.700012 m, approachRate: 3.624288 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 327.20 m.BjJjM ProNav: ac range: 327.200012 m, nav range: 155.520584 m, bearing: 291.616757 deg, approach rate: 0.000000 m/s, LOS rate: 0.245260 deg/s, cmd heading: 206.963379 deg, new cmd heading: 207.302352 deg. 2jQ]HeadingCmd: 3.618109 target range: 327.200012 and range: 327.20 m. j]g@jYjjihhhhABfffrf-@3st@bf-$?ɛ9=pc8 AEH=IA E.ɚIiIIMd'=Ie*ie*ٻie 5-)eg@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:26:28.8731 *F2F:FBFJF e :$?Ia G -G B O >/^w,Ѐ{aAH)>I  IIIBI, =&I .I 6I<:I FbV@Ybwe@ba9b}]&>ybH@`H?A`!ۿ` ?eѠ?o??ɨbV@b;bCy~|B~DIII٢%t= E@=9MjQ M>QQ UG٣UAGyUm< U> eNusing accuracyPremultiplier from configY49],G?4Y] i][vB-?]D];];]s4  AEZjFNOT Ignoring new targets: 327.20 m.Bj%k;Jj%k;5 ProNav: ac range: 327.200012 m, nav range: 155.506744 m, bearing: 291.715825 deg, approach rate: -0.036984 m/s, LOS rate: 0.264762 deg/s, cmd heading: 207.302347 deg, new cmd heading: 207.599573 deg. 2j55<=HeadingCmd: 3.623296 target range: 327.200012 and range: 327.20 m. j=g@j9j9jaiahahahihifififirfqbfu@* ?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛV >I iɚiIa'=JJ JJJ ;JOj:JJJ$S<J$S<Ji;Ji;I;*i%ڻi%d,)%g@)!*F?2F:FBF0JFzKeBIKe9KaKeKe H /^5wbRKiJKm?G +G B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.ew,5aA  G٣y > Nusing accuracyPremultiplier from config49/G?4Y ievB*?:=1?D|;;P{4 . AZj FNOT Ignoring new targets: 327.20 m.BjƏ;JjƏ;% ProNav: ac range: 327.200012 m, nav range: 155.509048 m, bearing: 291.825544 deg, approach rate: 0.005279 m/s, LOS rate: 0.251394 deg/s, cmd heading: 207.599570 deg, new cmd heading: 207.928719 deg. 2j%,<-HeadingCmd: 3.629041 target range: 327.200012 and range: 327.20 m. j-4Bh@j1j1j1i1h1h1h9h=NBf9f9fArfAbfE?ɛm1Bu u* =u"I>Iq uE ɚqiqI}&=I)iݻiʬA)4Bh@)*FE?2FA:FABFE3JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm 5)GA BQ O} >9kw,raA6%W@Y6e@6{_96ܺ&>y6He?`d ۿ`Z`]?ʢ?@TT VG٣TyZI= Z? ^Nusing accuracyPremultiplier from config\b49^G?b4Y^ϛ i^nvBdfu0f?^ D^P:^:^94nB nArE~Will construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 327.20 m.Bjϋ;Jjϋ;- ProNav: ac range: 327.200012 m, nav range: 155.508423 m, bearing: 291.908514 deg, approach rate: -0.001843 m/s, LOS rate: 0.244466 deg/s, cmd heading: 207.928717 deg, new cmd heading: 208.177626 deg. 2j-'<5HeadingCmd: 3.633385 target range: 327.200012 and range: 327.20 m. j5ah@j1j1j1i9h9h9hAhAfAfAfArfIbfMcO?ɛ h>I Ȗɚi!I%&=I%T)i-߻i-R )-ah@)Y u9$?Iq*F?2F:FBF)5JFGelL=ZH!RH!H-(>I) I-II-BI)G9BIOeU>&I).I-3D6I-<: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.JKm3 KL.KK"KJ J "J 1J J ;J :J 3J J }T<J ~T<J ;J ;w(rw,5 aAyލBލ~IzKNKh9KKKTKA93/+'%#"GoE* BK:KpAUMb@Mb@Mb@QQQ Q)QYUS㥛?333333Mb`yU$&?UUU A U@)QIQQyU@ImIm4٢}< }/=9}Q }> G٣AGy > Nusing accuracyPremultiplier from config49dF?4Yu irvB@'?:3?D1;;]4 AEZjFNOT Ignoring new targets: 327.20 m.Bj4;Jj4; ProNav: ac range: 327.200012 m, nav range: 155.522568 m, bearing: 292.020501 deg, approach rate: 0.030526 m/s, LOS rate: 0.241657 deg/s, cmd heading: 208.177623 deg, new cmd heading: 208.513548 deg. 2j%<HeadingCmd: 3.639248 target range: 327.200012 and range: 327.20 m. jph@jjjihhhhsBf f f rf bf௻?ɛE2BMc3 QU@s>IY eTɚaiaIe&=I}E6)i},i;)ph@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750225*F2F:FBF4JF ]7$?IYG ?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002211SKxw,aAfLX@Yff@f29fr@&>yfH7?'ܿ!Ր? <Ţ?`'?Վ?ɨfLX@f_;fCyrBrIivR>Iv> za=z=I~I~_4٢ t>  f=9 e8Q  > G٣y-7= -> 5Nusing accuracyPremultiplier from config1=495F?=4Y5 i5vvBAE{2E?5.D5;5K;54I MAIZjquFNOT Ignoring new targets: 327.20 m.Bj};Jj}; ProNav: ac range: 327.200012 m, nav range: 155.530106 m, bearing: 292.106399 deg, approach rate: 0.021112 m/s, LOS rate: 0.240575 deg/s, cmd heading: 208.513545 deg, new cmd heading: 208.771226 deg. 2j%<HeadingCmd: 3.643745 target range: 327.200012 and range: 327.20 m. j3i@jjjihhhhfffrfbf@ɛ3BU ; ŏ>I 7ɚiI%=I(iRib )3i@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255209EUt(/=*F?2F:FBFP5JFG G U 6$?IQ H1 I1  I5 II5 BI5 - =&I1 .I1 6I5 <:I5 s FG5 ,$=G BO>w,_bA>SY@Y>8rg@>R9>&>y>H@Dq3?@kå <ݿ`?x??4?ɨ>SY@>H;>CyJȁBJIVWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506119IR'IR5٢f < j4=9jީ:Q j>ll nG٣lyne< r> vNusing accuracyPremultiplier from configpz49rF?z4YrW irzvBx~1~?rADr;r:r4B AEJJJ0JJ;Jw:Jـ3JJY<JY<J;J;ZjQ]FNOT Ignoring new targets: 327.20 m.Bj]ч;Jj]ч;U ProNav: ac range: 327.200012 m, nav range: 155.537506 m, bearing: 292.215272 deg, approach rate: 0.016143 m/s, LOS rate: 0.237484 deg/s, cmd heading: 208.771221 deg, new cmd heading: 209.097821 deg. 2jU"<]HeadingCmd: 3.649446 target range: 327.200012 and range: 327.20 m. j]i@jYjYjYiYhahahihifififirfqbfu`@ɛ4B: ۔>I qɚiI$%=I51(i5+^i})}i@)Ee l =zK-MK-9K)K-K- 7`X 4 ^ H 3 2 O  k b  k/y#pBhDpbUJA90RK5?JK5>*F=?2F9:FABFE_0JFAG&GBO>eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759843 y Iy 7w,bbA2Y@Y2g@2h92'>y2HT ? 黦`ݿa? [?? Ռ?ɨ2Y@2>;2CyFցBFImMb@Mb@Mb@iii i)iYm{Gz?v/{Gzym#?mx齹m#i i)mI@Iiiym@I I4٢w= @=9:Q > G٣AGy< > Nusing accuracyPremultiplier from config49aF?4Y ixvBp&?:)5?SD"A;},;4 ;AEZjFNOT Ignoring new targets: 327.20 m.Bj;Jj;  ProNav: ac range: 327.200012 m, nav range: 155.559036 m, bearing: 292.317180 deg, approach rate: 0.051031 m/s, LOS rate: 0.241510 deg/s, cmd heading: 209.097827 deg, new cmd heading: 209.403503 deg. 2j %<HeadingCmd: 3.654781 target range: 327.200012 and range: 327.20 m. ji@jjjihhh!h%Bf!f!f!rf)bf-@a@ɛ8; 7>I EɚiI$=I7(ieil)i@)IEQEQ*EY"EYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010357*F2F:FBFK2JF} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262103G G G } 5$?Iy G B O > "w,j7bA:Z@Y:?h@:h9:R(>y:H#? 1޿? L??i?ɨ:Z@:;:Cy@DIR-IR`5٢Zep: ZA=9Zב9Q ^>\\ ^G٣\ybX= b> fNusing accuracyPremultiplier from configdj49f^F?j4Yf ifuvBhn!4n?fdDf ;f* ;fb4p r:ApB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 327.20 m.BjȈ;JjȈ;- ProNav: ac range: 327.200012 m, nav range: 155.576492 m, bearing: 292.418563 deg, approach rate: 0.041184 m/s, LOS rate: 0.239169 deg/s, cmd heading: 209.403505 deg, new cmd heading: 209.707619 deg. 2j-#$<=HeadingCmd: 3.660088 target range: 327.200012 and range: 327.20 m. j=>j@j9j9j9i9h9hAhAhAfAfAfIrfIbfM( @ɛ6B0m; Z>I % ɚ!i!I%g#=IM'iMiM)M>j@)QjHbHH'>I I! II1BI. =&IHD.I6I<:I F*F?2F:FBF_0JF"G=G=GeWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:21:26:31.7133 uTRx dataTimestamp_ set to:1736371593.037850}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516828GyBO<>GA m7YiyuBzK5 bPK5 9K1 K5 K5 '7~"BKA :KE qA[w,nPbA2Q[@Y2oi@2w|92f'>y2H? f樿@޿ އ]??`?э?ɨ2Q[@2;2CyRBRIbWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.767735Mb@Mb@Mb@ )Yjt?Zd;Qy ?u )3@IQAyII4٢)= 1=9i:Q > G٣ Iy< > Nusing accuracyPremultiplier from config49}F?4Y_ iovB#?:4?wD;;}4B A EZjaFNOT Ignoring new targets: 327.20 m.Bj%;Jj%;u ProNav: ac range: 327.200012 m, nav range: 155.597778 m, bearing: 292.527581 deg, approach rate: 0.044438 m/s, LOS rate: 0.227563 deg/s, cmd heading: 209.707612 deg, new cmd heading: 210.034617 deg. 2j},<HeadingCmd: 3.665796 target range: 327.200012 and range: 327.20 m. jej@jjjihhhhBfffrfbf9V@ɛ=7B=p; 9=Ѩ>I ɚiIL#=IP'iTi)ej@)*F5?2F9:F9BF9JF9uWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:26:31.7133 LVL= 22400, 31825, 26994, 32755, AGC= 64, IDX= 263,-0.38,-0.225,-0.894,-2.180,-1.106, PHS= 0.969, 0.259,-1.077, RAW= 50.0, -1.7, CAL= 51.6, -4.8, ROT= 98.4, 4.8 Ygot valid direction response: 21:26:31.7133 LVL= 22400, 31825, 26994, 32755, AGC= 64, IDX= 263,-0.38,-0.225,-0.894,-2.180,-1.106, PHS= 0.969, 0.259,-1.077, RAW= 50.0, -1.7, CAL= 51.6, -4.8, ROT= 98.4, 4.8 PDAT read: Bearing 98.4, 4.8 (Local) ~Local bearing/azimuth received: Bearing 98.4, 4.8 (Local) DAT read: Range 10 to 50 : 326.4 m (Round-trip 435.3 ms) speed 0.0 m/s JJJ1JJ;J :J3Ja@a@a@a@,DAT read: user:1768>  BDAT read: Tx time:21:26:32.8239  $Ping request sent. u#ۉuf_?u uf?)uIu?iu=qqueg?ًTrE6~^)ukIuKqq :publishing transmit ping time  Fpublishing direction and range infoq9uûyYy?z<8n?ҷ ?yqqqq q)qIqiqqqqq q)qIqiqqqueg?ًTrE6~^)qIqiqqqqGE GGm ?Gm ?GY Bi O >Rw,@MkbAfl[@Yf i@f_e9f&>yfH@/@A]?@}`xr߿hx7?ˡ?? ?ɨfl[@fΊ;fCyEBEIIUIU4٢e8 = eY=9mA9:Q m>ii G٣AGy< > Nusing accuracyPremultiplier from config49=jF?4Yq ijvB4?D6; 7;!4 AEk]'e?k]2R kY k]3bbA:k]3CBk]CZk]}@"]¤@El@=N@m@]ûyYy?z<8n?ҷ ?Jk]?Rk]>K*]]vW@y3]d6p@]&]p?' ߿t&?"k]"*k]Bk]f ^e?k]@cp 2k]٥Ck]zy-a[?k]? | k]|Ck]fCk] @ addTargetRange:: Added new target pos. range: 326.399994 m, deltaT: 4.031898 s, deltaX: -0.800018 m, approachRate: -0.198422 m/s, rangeRepo size: 4  Added new target pos. range: 326.399994 m, bearing: 299.994954 deg, lat: 36.903440 deg, lon: -122.117497 deg, deltaT: 4.031898 s, deltaX: -0.800018 m, approachRate: -0.198422 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 326.40 m.BjJj ProNav: ac range: 326.399994 m, nav range: 157.399338 m, bearing: 293.868623 deg, approach rate: 0.000000 m/s, LOS rate: 0.227563 deg/s, cmd heading: 210.034614 deg, new cmd heading: 210.294447 deg. 2jHeadingCmd: 3.670331 target range: 326.399994 and range: 326.40 m. jj@j j j i h h hhfffrf`fft@bf`x?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:26:32.8231 ɛ8Bğ < f>I ɚiI("=I9'ipiח)j@) M3$?II*F2F:FBFj0JFGԼGQBYOuz>HU&>IUC IU: IIUEBIU/ =&IQ.IQ6IUͰ<:IU FBI!JI!RI!ZI%- =bI%- =jI%Ȉ55 Will construct direction to contact in vehicle frame from tetrahedron phase data.7w,TbA2A\@Y2_j@2(92N[>y2H`x?' ߿X@C? s?@\?@5?ɨ2A\@2X;2Cy@@iF=IF= F=F=HJAAININ4٢r= vS=9vXQ v>xx zG٣xyzM< ~>  Nusing accuracyPremultiplier from config 49VF?4Y ifvB3?D; ;ӻ4! %A!ZjFNOT Ignoring new targets: 326.40 m.Bjт;Jjт;- ProNav: ac range: 326.399994 m, nav range: 157.419601 m, bearing: 293.957553 deg, approach rate: 0.052128 m/s, LOS rate: 0.228741 deg/s, cmd heading: 210.294448 deg, new cmd heading: 210.561201 deg. 2j-<HeadingCmd: 3.674986 target range: 326.399994 and range: 326.40 m. j2k@jjjihhh!h)fQfYfarfbf?zKmvMK]9KKKRK?JK?ɛU9BUҼ; QUɬ>IY ]nɚYiYI$("=I&ii)2k@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:F!BF%m0JF! AIEgG= VG B! OE >Ww,}̞bA2-w\@Y2j@292>y2H%?c ߿~I_k?`??R?ɨ2-w\@23;2Cy>B>I=Mb@Mb@Mb@999 9)9Y=Gz?ʡE{Gzy=p?=ケ=ף= A 9)9I=@9y= @IUIU4٢e eD=9e-Q m>ii uG٣qyuv< }> Nusing accuracyPremultiplier from config49AF?4Y i`vBX ?:3?D(; ;Û4B AEZjFNOT Ignoring new targets: 326.40 m.Bj ;Jj ; ProNav: ac range: 326.399994 m, nav range: 157.439392 m, bearing: 294.052371 deg, approach rate: 0.050023 m/s, LOS rate: 0.239633 deg/s, cmd heading: 210.561195 deg, new cmd heading: 210.845610 deg. 2ju$<HeadingCmd: 3.679950 target range: 326.399994 and range: 326.40 m. jMk@jjjihhhhBfffrfbf ? Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ5:B=|B+< 9=>I9 =уɚ9iAIE!=IMi&iMZiMC3)MMk@)IJJ#J0JJ;J:Jـ3J*F?2F:FBFP5JFGGBOC> Will construct direction to contact in vehicle frame from tetrahedron phase data. 5 2$?I9 {w,bA6@\@Y6j@6e96K>y6H{? m;@Z?k??@?ɨ6@\@6u;6CyPPIZIZg49fg:Q f>hh jG٣jAGyj < j> vNusing accuracyPremultiplier from configpz49r /F?z4Yr irYvBxz2z?rDr:r:rɛ4 AE%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 326.40 m.Bj5;Jj5;E ProNav: ac range: 326.399994 m, nav range: 157.457047 m, bearing: 294.139167 deg, approach rate: 0.046106 m/s, LOS rate: 0.226650 deg/s, cmd heading: 210.845604 deg, new cmd heading: 211.105963 deg. 2jEI ȁɚiIo'!=IP&i "ikF)k@)ZHYRHYHm$>Ii ImM IImTBIm0 =&Ii.Ii6Imð<:Im F*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.GD&GBO>zK= BIK= +9K9 K= K= bw,ebABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.745752y~ށBI IMb@Mb@Mb@ )YCl?A`"~jty;?ٽļ A @)Iy@IIv4٢T <9Q > G٣y > Nusing accuracyPremultiplier from config49F?4Yе iQvB!?:1?Dj<i<ћ4Y eAaZjFNOT Ignoring new targets: 326.40 m.Bjt};Jjt}; ProNav: ac range: 326.399994 m, nav range: 157.473511 m, bearing: 294.246635 deg, approach rate: 0.033951 m/s, LOS rate: 0.221586 deg/s, cmd heading: 211.105957 deg, new cmd heading: 211.428322 deg. 2j<HeadingCmd: 3.690120 target range: 326.399994 and range: 326.40 m. j *l@j j j i h hhhBfffrf!bfM3!?ɛ=B ; ݠ>I `~ɚiI~ =I%ii_ʼ)*l@)EEpA*F5?2F1:F9BF=Q5JF9"GE=GE=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997702JJ.J1JJ|";JV:J3JG `6G B O% >w,?bA>Ȉ]@Y>|k@>$79> >y>H lh?ͩ@@u@ p?4&?Z-? j?ɨ>Ȉ]@>(;>CyJԁBJIIZIZ4٢bEq br=9b WI o}{ɚiI{ =IH%ii6)nml@)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250733G  1$?IGBO )>H]#>IY I]G II]OBI]/ =&IY.IY6I]а<:I] FE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501693w,bcA2d]@Y2l@2d%92*>y2H@N ?@KE?`y?? ؠ?ɨ2d]@2 ;2CyfсBfIIr#Ir5٢z|g zE=9~Y;Q ~> G٣AGy< > Nusing accuracyPremultiplier from config 49 E?4Y ~ i AvBS0? D : ;  ; #ߛ4! -/A)ZjQUFNOT Ignoring new targets: 326.40 m.Bj]E;Jj]E;m ProNav: ac range: 326.399994 m, nav range: 157.493149 m, bearing: 294.419358 deg, approach rate: 0.024539 m/s, LOS rate: 0.229535 deg/s, cmd heading: 211.660869 deg, new cmd heading: 211.946461 deg. 2ju<HeadingCmd: 3.699164 target range: 326.399994 and range: 326.40 m. jl@jjjihhhhfffrfbf@ɛ@B%Ss; )U>IY ekdwɚaiI%=I}`%iiQt)l@)zKEBHKE9KAKEKERKM?JKM?*Fy2Fy:FyBFyJFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754775 0$?IG a.ʼG G G B O >gw,7 cA>/U^@Y>sl@>9> >y>H8` ?$eR&?|??_?ɨ>/U^@>!S;>CyJBJIMb@Mb@Mb@ )Y?l񲿺I +y ?9 A )Iy@I5&I5F5٢M ME=9U ;Q U>YY ]G٣YyetS< e> mNusing accuracyPremultiplier from configiu49mE?u4Ymp im;vBu7!?u:u,}?mDmx;m9;md4ؒB AEZjFNOT Ignoring new targets: 326.40 m.Bj;Jj; ProNav: ac range: 326.399994 m, nav range: 157.489304 m, bearing: 294.514447 deg, approach rate: -0.009263 m/s, LOS rate: 0.229065 deg/s, cmd heading: 211.946466 deg, new cmd heading: 212.231740 deg. 2j4<HeadingCmd: 3.704143 target range: 326.399994 and range: 326.40 m. jm@jjjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005840ihhhhBfffrfJ=J=:J=0J9J=$ ;J=:J=ـ3J9bfuX@ɛBB܋; 隝{>I !tɚiI0=I %iiiv)m@)*F2F:FBF`0JFGuG9BIOeU> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:26:35.6461  TRx dataTimestamp_ set to:1736371596.816695 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258848 .$?I w,:cA2^@Y2Vl@2G92e>y2H? H@Q` F?Ϝ? ?ơ?ɨ2^@2;2CyRBRII^$I^d5٢v vP=9v=;Q z>xx zG٣xy~?y< ~>  Nusing accuracyPremultiplier from config 49E? 4Y? i5vBi,? D:C:;4 %A%EEB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 326.40 m.Bj];Jj];m ProNav: ac range: 326.399994 m, nav range: 157.484619 m, bearing: 294.604089 deg, approach rate: -0.011931 m/s, LOS rate: 0.228325 deg/s, cmd heading: 212.231736 deg, new cmd heading: 212.500668 deg. 2jmI .PqɚiI~=I#$iуiFc)]m@jH<bH4=H >IC I. II;BI3 =&I.I2D6Iܰ<:I F)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509856G ~GBO% >zKm yJKm +9Ki Km Km w,ScA&Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764130 IIQy B |I=Mb@Mb@Mb@999 9)9Y=}?5^I? G٣AGy > Nusing accuracyPremultiplier from config49rE?4Y i0vB"?:(?Dp;ƒ;g4 n AZj FNOT Ignoring new targets: 326.40 m.Bj ;Jj ;- ProNav: ac range: 326.399994 m, nav range: 157.458786 m, bearing: 294.725049 deg, approach rate: -0.049097 m/s, LOS rate: 0.229927 deg/s, cmd heading: 212.500668 deg, new cmd heading: 212.863601 deg. 2j-<5HeadingCmd: 3.715171 target range: 326.399994 and range: 326.40 m. j5[m@j1j1j1i1h9h9hhSBfffrfbf@ɛeFBe> aebH>Ia mmɚiiiImz\=IuZZ$iuLiuP)[m@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.JQJUAA*F?2F:FBF_0JF"G=G=DAT read: 21:26:35.6461 LVL= 15024, 20337, 21426, 25939, AGC= 66, IDX= 262,-0.31, 2.050, 1.317,-0.042, 1.107, PHS= 1.031, 0.258,-1.151, RAW= 50.4, -1.5, CAL= 52.0, -4.5, ROT= 98.0, 4.5 Ygot valid direction response: 21:26:35.6461 LVL= 15024, 20337, 21426, 25939, AGC= 66, IDX= 262,-0.31, 2.050, 1.317,-0.042, 1.107, PHS= 1.031, 0.258,-1.151, RAW= 50.4, -1.5, CAL= 52.0, -4.5, ROT= 98.0, 4.5  PDAT read: Bearing 98.0, 4.5 (Local)  ~Local bearing/azimuth received: Bearing 98.0, 4.5 (Local) J- J- ;J- 1J) J- %;J- :J- 3J) M DAT read: Range 10 to 50 : 313.5 m (Round-trip 418.1 ms) speed 0.0 m/s U ,DAT read: user:1769> ] BDAT read: Tx time:21:26:36.7239 ] $Ping request sent. Sz0a?Pwּ Vh?)|٠I!?i|٠=XY?RեZqm)aI1ow,ocARg_@YRAm@R_ڼ9R>yRH@W.?.ꬿ5A?@)K???ɨRg_@R;RCynBnkI)-AI=I=4٢E; ms=9uˏ;Q u?qq }G٣yy}= }? Nusing accuracyPremultiplier from config49E?4YI i-vB'?+D;;:4ْB  A!Ek%nDf?k%*t k! k%ΧdcA:k%CBk%CZk%]A@"%Y@rybpEk@Jt"l@%%c?`-2D?j?Jk%?Rk%M*%qX@m,c+%o@%-2K`?XP߿fżb8?"k%f*k%BMWill construct direction to contact in vehicle frame from tetrahedron phase data.k%;d~f?k%=$ 2k%Ck%\?k%Pd k%0Ck%Ck%0c@ addTargetRange:: Added new target pos. range: 313.500000 m, deltaT: 4.032935 s, deltaX: -12.899994 m, approachRate: -3.198662 m/s, rangeRepo size: 4  Added new target pos. range: 313.500000 m, bearing: 303.050503 deg, lat: 36.903479 deg, lon: -122.117501 deg, deltaT: 4.032935 s, deltaX: -12.899994 m, approachRate: -3.198662 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 313.50 m.BjJj  ProNav: ac range: 313.500000 m, nav range: 159.598679 m, bearing: 296.125089 deg, approach rate: 0.000000 m/s, LOS rate: 0.229927 deg/s, cmd heading: 212.863597 deg, new cmd heading: 213.109971 deg. 2j HeadingCmd: 3.719471 target range: 313.500000 and range: 313.50 m. j n@jjjihh E-$?IIhhIfIfIfIrfUs@bfU??ɛGB *>I kɚ i I u=I$ii =S) n@)*F?2F:FBF0JFGݗH>I I II!BI&I.I6I<:Im FGaBqO}>)  Will construct direction to contact in vehicle frame from tetrahedron phase data.e -G} tA A PY tAy BNOw,cA25_@Y2m@2 92Z>y2H S?^뫿d 3?@?9?b?ɨ25_@2;2CyrBrcIIz-Iz`5٢    O=9Q > G٣yFY< > %Nusing accuracyPremultiplier from config!-49%E?-4Y% i%)vB15'5?%;D%:%:% 4A E AAZjFNOT Ignoring new targets: 313.50 m.Bj;Jj; ProNav: ac range: 313.500000 m, nav range: 159.582123 m, bearing: 296.213773 deg, approach rate: -0.044946 m/s, LOS rate: 0.240783 deg/s, cmd heading: 213.109975 deg, new cmd heading: 213.376052 deg. 2j?%<HeadingCmd: 3.724115 target range: 313.500000 and range: 313.50 m. jWn@jjjihhhhfffrfbfE`?ɛIB\I  jɚiIi=I=#iEiWiMx\)uWn@)zKVBJKKKKeWill construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFu_5JFq E,$?IAGM G) B9 O >#{w,hcA6_@Y6n@6r'޼96f>y6Hj?'q{t .?@ě?+D??ɨ6_@6;6Cy>B>TIbWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@*J"J )YS㥛?:v?y&1y$&?T<`e p@)@I3@y@I5I5k4٢Eq EF=9M:Q M>II MG٣UAGyUn< U> eNusing accuracyPremultiplier from configYe49]ME?m4Y] i]+vBm7&?m:m"m?]LD]L;];]; 4y }~ A}$EZj9EFNOT Ignoring new targets: 313.50 m.BjM~;JjM~;} ProNav: ac range: 313.500000 m, nav range: 159.544067 m, bearing: 296.308785 deg, approach rate: -0.089182 m/s, LOS rate: 0.222713 deg/s, cmd heading: 213.376052 deg, new cmd heading: 213.661154 deg. 2j}<HeadingCmd: 3.729091 target range: 313.500000 and range: 313.50 m. jln@jjjihhhhBfffrfbf ,?ɛJB`Ż 隝x=I VhɚiI}=IIv#ii0u)ln@)*F?2F:FBFP5JFGeJiG1B9Oew>mWill construct direction to contact in vehicle frame from tetrahedron phase data. ) I1 |w,HjcA275`@Y2Sn@2ܼ92h>y2H@L?@obb??``;?@y?ɨ275`@2;;2CZH@RH@HB>I@ IBIIBBIB4 =&I@.I@6IB<:IB FBIMCJIMCRIIZIM3 =bIM2 =jIM 6yV~BVFII^I^4٢fqb fR=9j:Q j>hl nG٣9y=$< E> MNusing accuracyPremultiplier from configAM49ECmE?U4YEo iE-vBQUT"U?E]DE;E;E<4ڒB  A)EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 313.50 m.Bj;Jj; ProNav: ac range: 313.500000 m, nav range: 159.506409 m, bearing: 296.401290 deg, approach rate: -0.096019 m/s, LOS rate: 0.235915 deg/s, cmd heading: 213.661158 deg, new cmd heading: 213.938735 deg. 2j!<HeadingCmd: 3.733935 target range: 313.500000 and range: 313.50 m. jn@jjji h h h h fffrfbfI?ɛLB 隍P=I gɚiIB>=I&#iWi )n@)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.J= J=:J9J9J=(;J=:J9J9J=zK= BHK= 9K9 K= K= BKI :KI } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717712  +$?I gdw,[AcAr!v`@YrՔn@r̼9r= >yrH`Ǟ?do@S@?n?t?l?ɨr!v`@r;rCyzrB~8IMb@Mb@Mb@ )YFx?I +?y&1|y+?94=`A )Iy=@I;I 5٢V :=9 ;Q > G٣y< > Nusing accuracyPremultiplier from config49 ZE?4Y i4vB ',? : L ?oD;;4 %9 A!ZjaeFNOT Ignoring new targets: 313.50 m.Bjm;Jjm;} ProNav: ac range: 313.500000 m, nav range: 159.451950 m, bearing: 296.502545 deg, approach rate: -0.129642 m/s, LOS rate: 0.241128 deg/s, cmd heading: 213.938737 deg, new cmd heading: 214.242604 deg. 2j}{%<HeadingCmd: 3.739239 target range: 313.500000 and range: 313.50 m. jOo@jjjihhhhBfffrfbf?ɛMBfN =I fɚiI=I"ii1F)Oo@)*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.969821GM_G) B9 Oe >ǵw,cA6`@Y6jn@6n¼96V>y6H“?.sBA?@.M? - ?@?ɨ6`@6;6CyBqBB6IIJ.IJ5٢R`ӻ Ra=9Vsc;Q V>TT VG٣TyZ^7< Z> bNusing accuracyPremultiplier from config\b49^IE?f4Y^ i^:vBdf f?^D^b;^\:^ 4jՒB j An,EZjFNOT Ignoring new targets: 313.50 m.Bj ;Jj ; ProNav: ac range: 313.500000 m, nav range: 159.405090 m, bearing: 296.588576 deg, approach rate: -0.130377 m/s, LOS rate: 0.239431 deg/s, cmd heading: 214.242598 deg, new cmd heading: 214.500763 deg. 2jQ$<HeadingCmd: 3.743745 target range: 313.500000 and range: 313.50 m. jo@jjjihhhhfffrfbf@EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.223335 *$?IɛNBڱ T=I Z9eɚ1i1I5@=I=2"i=i=)=o@)AEMY>EM>*FA2FA:FABFAJFA"GM=GM=HI IIIBI&I.I6I<:I FGm Ւ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474084Gy J J 7J 0J J );J :J ـ3J J 7<J 7<J ;J ;B O >w,n dA6j`@Y6o@6V廼96>y6H?T@Ng7@?#|??]?ɨ6j`@6뙊;6CyBjBB-I)D FAIN1IN&5٢f{ jH=9jG:Q j>ll nG٣nAGyrK; r> vNusing accuracyPremultiplier from configtz49vf7E?z4Yvf iv@vBx~~?vDv;v~ ;v4&4 [ AZj)-FNOT Ignoring new targets: 313.50 m.Bj5;Jj5;M ProNav: ac range: 313.500000 m, nav range: 159.351852 m, bearing: 296.685823 deg, approach rate: -0.130162 m/s, LOS rate: 0.237840 deg/s, cmd heading: 214.500766 deg, new cmd heading: 214.792601 deg. 2jM:#JK?]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.729073 IG- ͍G B O5 >Pw,M$dA6pa@Y6$'o@6@796'>y6H}`b?, 1.m?p?u??ɨ6pa@6O;4y>hB>+I^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.981919Mb@Mb@Mb@ )Ym?㥛 ?MbP?y.?=: Z@)@Iy@I=2I=5٢M  MB=9U;Q U>YY ]G٣Yye; e> mNusing accuracyPremultiplier from configiu49m$E?u4YmL imLvB}/?}:}8}?mDm;mp;m-4֒B m A/EZjyFNOT Ignoring new targets: 313.50 m.Bj;Jj; ProNav: ac range: 313.500000 m, nav range: 159.284988 m, bearing: 296.786719 deg, approach rate: -0.149372 m/s, LOS rate: 0.225493 deg/s, cmd heading: 214.792606 deg, new cmd heading: 215.095418 deg. 2j<HeadingCmd: 3.754123 target range: 313.500000 and range: 313.50 m. j Cp@j jjihh!hihmBfififqrfqbfu`@ɛPB2 ;=I cɚiI=I(!iVi\)Cp@)*F2F:FBFf0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:21:26:39.5464 uTRx dataTimestamp_ set to:1736371600.852536}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234712 )$?IG S.G B O >Zw,w>dAjHbH<H>IC IIIЁBI6 =&I.I1D6I<:I Fb6a@Yb^Uo@b89bg>ybHpw? @"`C?!?d?@j?ɨb6a@bL;`yj_Bj IppIv&IvF5٢]E% ]I=9ew:Q e>ai mG٣iym; m> }Nusing accuracyPremultiplier from configq49uE?4Yu iuVvB ?uDu3;u=3;u44  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 313.50 m.BjT;JjT; ProNav: ac range: 313.500000 m, nav range: 159.220139 m, bearing: 296.884124 deg, approach rate: -0.170279 m/s, LOS rate: 0.255865 deg/s, cmd heading: 215.095416 deg, new cmd heading: 215.387748 deg. 2j/<HeadingCmd: 3.759225 target range: 313.500000 and range: 313.50 m. j&p@jjjihhhhfffrfbf@ @ɛ-QB-pA )5PzKU tLKU 9KQ KU KU  >l_ZQE;, BKe rA:Ka y Iy  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:26:39.5465 LVL= 21680, 32753, 29010, 32755, AGC= 66, IDX= 438, 0.42,-2.623, 3.025, 1.743, 2.841, PHS= 0.907, 0.230,-1.101, RAW= 49.3, -0.4, CAL= 50.1, -2.8, ROT= 99.9, 2.8  Ygot valid direction response: 21:26:39.5465 LVL= 21680, 32753, 29010, 32755, AGC= 66, IDX= 438, 0.42,-2.623, 3.025, 1.743, 2.841, PHS= 0.907, 0.230,-1.101, RAW= 49.3, -0.4, CAL= 50.1, -2.8, ROT= 99.9, 2.8  PDAT read: Bearing 99.9, 2.8 (Local)  ~Local bearing/azimuth received: Bearing 99.9, 2.8 (Local) 5 DAT read: Range 10 to 50 : 313.8 m (Round-trip 418.4 ms) speed 0.0 m/s 5 ,DAT read: user:1770> = BDAT read: Tx time:21:26:40.6240 = $Ping request sent.E Fpublishing direction and range infoع9ؽCg"w5?Gk*?-.?yؽCعؽTؽ ٽRq)ٽIٹiٽ'1h?ٽk>ٽ팿ٽFF\?ٽ ڽT_?)ڽ+HIڽ-?iڽ+H=ڹڹ۽P4?1oWv})۽0՝I۽C;i۽?۽H۹۹J:publishing transmit ping timeqNFpublishing direction and range infoع9ؽCg"w5?Gk*?-.?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽P4?1oWv})۹I۹i۹۹۹۹Qa@Yoo@09d >yHi2?@ ? b?`?`?ɨQa@Ɋ;y=jB=-IMb@Mb@Mb@ )YM? ףp= ?Mb?yn2?Q=<`A C@)I@yQ@I(I)5٢*= '=9O:Q >    G٣ AGyeW; > Nusing accuracyPremultiplier from config%49DD?%4Y ihvB%3?M:MM?D;<4=4 a A2Ek!ti?k k kVdA:kCBkΛCZkת@"cO?۹Xk@mwNk@Cg"w5?Gk*?-.?Jk?RkH*^[@Ȭ8~DcT|j1o@eeW?ko߿qHr?"k#*kBkǔi?k 2kCkf ^e?k=$ k٥Ck4Ck0@] addTargetRange:: Added new target pos. range: 313.799988 m, deltaT: 3.784715 s, deltaX: 0.299988 m, approachRate: 0.079263 m/s, rangeRepo size: 4  Added new target pos. range: 313.799988 m, bearing: 305.893555 deg, lat: 36.903713 deg, lon: -122.117615 deg, deltaT: 3.784715 s, deltaX: 0.299988 m, approachRate: 0.079263 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 313.80 m.BjJj ProNav: ac range: 313.799988 m, nav range: 180.961548 m, bearing: 302.929132 deg, approach rate: 0.000000 m/s, LOS rate: 0.255865 deg/s, cmd heading: 215.387748 deg, new cmd heading: 215.786443 deg. 2jHeadingCmd: 3.766184 target range: 313.799988 and range: 313.80 m. j( q@jjjihhhhՀBfffrf̜s@bf?ɛURBUp5 QU;=IQ ]bɚyiyI@9=I!ii)( q@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:26:40.6232 *F5?2F9:F9BF=p0JF9G] GG B) O= >xw,OtdABw|a@YB+o@B䩼9BW >yBH@B]a?``B9Ϳ?:I9 I=II=ƁBI9&I9.I96I=ְ<:I= FG޼GBO`> Will construct direction to contact in vehicle frame from tetrahedron phase data.Jy Jy J3KO3 K(.KK"KJ J IJ J J d&;J U:J J J <J <J ;J ;Y#w,dA2a@Y2o@2!92>y2H`PU 9?]*s¾?@S??`e?ɨ2a@2wՊ;0yNtBN:IIVBIV5٢^= ^O=9b0Q b>`d fG٣dyj; j> rNusing accuracyPremultiplier from configpv49r D?v4Yr irvBtvYv?rDr:re:rI4| ~ A|ZjFNOT Ignoring new targets: 313.80 m.Bjrq;Jj%rq; ProNav: ac range: 313.799988 m, nav range: 180.883423 m, bearing: 303.089657 deg, approach rate: -0.102854 m/s, LOS rate: 0.211089 deg/s, cmd heading: 216.010893 deg, new cmd heading: 216.268119 deg. 2j<HeadingCmd: 3.774591 target range: 313.799988 and range: 313.80 m. jq@jjjih!h)hAhIfqfyfrfbf? 5'$?I5gɛUTBU QU؂=IQ ]0daɚYiYIe=mWill construct direction to contact in vehicle frame from tetrahedron phase data.IuЌ iu!i})}q@)yzKMK9KKKRK ?JK>*F?2F:FBF%C5JF!GE VG B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data.e)w,dAyB%JIMb@Mb@Mb@ )@EY"~?{Gz?)) -G٣-AGy- -> ENusing accuracyPremultiplier from config9E49=D?M4Y= i=vBM$5?M:MRM?=D=;=;=Q4Y ] A]9EZjyFNOT Ignoring new targets: 313.80 m.Bj;Jj; ProNav: ac range: 313.799988 m, nav range: 180.840347 m, bearing: 303.189154 deg, approach rate: -0.101483 m/s, LOS rate: 0.234461 deg/s, cmd heading: 216.268118 deg, new cmd heading: 216.566676 deg. 2j <HeadingCmd: 3.779802 target range: 313.799988 and range: 313.80 m. jEq@jjjihhhhBfffrfbf"?ɛ   |=I IW`ɚiI=Iq7 ii)Eq@)*Fe?2Fa:FaBFm]0JFi I!}Will construct direction to contact in vehicle frame from tetrahedron phase data.G ~Gi Bq O >ZHA RHE AAHM >II  IM IIM ЁBIM 7 =&II .II 6IM <:IM F k0w,QdA6a@Y6¼o@6%96} >y6HvS?ʭ@j-q !?"? A??ɨ6a@6;6CyRBR_IIZIZv4٢bŸ= bc=9bQ f>dd fG٣dyj: j> nNusing accuracyPremultiplier from configlr49nD?r4Yn invBtvMv?nDn;n;nX4x z% AxB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 313.80 m.Bj-|;Jj5|;;GvAA UYUvAy]]B ProNav: ac range: 313.799988 m, nav range: 180.806244 m, bearing: 303.268681 deg, approach rate: -0.094742 m/s, LOS rate: 0.220975 deg/s, cmd heading: 216.566679 deg, new cmd heading: 216.805304 deg. 2j<HeadingCmd: 3.783966 target range: 313.799988 and range: 313.80 m. j,r@jjjihhhhfffrfbfp)?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ5UB5d߫ 15=I1 =^ɚ9i9I==IE4iExiE)E,r@)I*JU4="JQ*F2F:FBF_0JFGc/ GBOa> &$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991017zK= :IK= h9K9 K= K= BKM qA:KM pA6w,НdA2a@Y26o@2 ఼92 >y2HcF)?ծ@]@yʿ??r?`?ɨ2a@2~4;2CyBBBlIMb@Mb@Mb@ )AYX9v?T㥛 ? rh?y3?=C<IA p@)@I@yQ@I*I 5٢@= ==9;Q > G٣yx; > Nusing accuracyPremultiplier from config49D?4Y ivB|4?:?$D/;{;_4  AI9 =J\ɚ9i9I=(L=IEiEiE\%)M~r@)i*F 2F :F BF JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243658JeJe9Je0JaJe$;Je :Jeـ3Jaam@am@am@am@G- GA BI Om >y6H1@=F?@G^? $?-?`?ɨ6b@6;6CyBBB|I PIPIJIJ_4٢v= vW=9z+:Q z>xx zG٣~AGy~ >< ~>  Nusing accuracyPremultiplier from config 49D? 4Y ivBt?5D.::Jf4 %i A!=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.495174ZjY]FNOT Ignoring new targets: 313.80 m.Bjey|;Jjey|;u ProNav: ac range: 313.799988 m, nav range: 180.741989 m, bearing: 303.449044 deg, approach rate: -0.079680 m/s, LOS rate: 0.220730 deg/s, cmd heading: 217.093752 deg, new cmd heading: 217.346481 deg. 2ju|<}HeadingCmd: 3.793412 target range: 313.799988 and range: 313.80 m. j}Br@jyjjihhhhfffrfbf?;@ɛVBx; \)>I ZɚiI=IrXiiI$)Br@)*F2F:FBF~0JFG!H>I IIIBI6 =&I.I2D6I<:I FBIęCJIęCRIZI6 =bI6 =jIq^5GABQOu6>Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.747705CCw,VeA6B[b@Y6yp@6y֭96Ҳ>y6Hz`a?]&{6 ?@d??®?ɨ6B[b@6Pp;6CyRBRII^I^k4٢f= fL=9fo Q f>hh jG٣hyna0< n> rNusing accuracyPremultiplier from configpv49rD?v4YrU irvBtz.z?rGDr:r:rFm4~ؒB ~AAEZj!-FNOT Ignoring new targets: 313.80 m.Bj-~;Jj-~;E ProNav: ac range: 313.799988 m, nav range: 180.709244 m, bearing: 303.537623 deg, approach rate: -0.082248 m/s, LOS rate: 0.222528 deg/s, cmd heading: 217.346482 deg, new cmd heading: 217.612265 deg. 2jEI cXɚiI=Is ii%)Bs@) $$?Ig*F?2F:FBF1JF MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.999639zK%]iMK%9K!K%K%s<" RztJ$ RK- ?JK- ?GM%$$G) BI O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:26:43.4638  TRx dataTimestamp_ set to:1736371604.632824 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252356Iw,o/)eAJJGJJJd&;JK:JJ'c@Y q@v9ݑ>yH4?@@ b?@e?`)A?]?ɨ'c@Ɋ;騽Cy ΁B IMb@Mb@Mb@ )YʡE?X9v? G٣y̱< > Nusing accuracyPremultiplier from config49kD?4Y ivBi2?:h?\D;_;xu4 UADEZj!-FNOT Ignoring new targets: 313.80 m.Bj@{;Jj@{; ProNav: ac range: 313.799988 m, nav range: 180.683090 m, bearing: 303.640800 deg, approach rate: -0.055672 m/s, LOS rate: 0.219661 deg/s, cmd heading: 217.612259 deg, new cmd heading: 217.921833 deg. 2j<HeadingCmd: 3.803453 target range: 313.799988 and range: 313.80 m. jks@jjjihhhh/BfffrfbfU @ɛ`,: 隕(o>I TɚiIqg=Iiir-)ks@)*F]?2FY:FYBF]0JFa #$?I]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503048G &jH <bH <H >I  I II BI 4 =&I .I 6I <:I FGY Bi O >Pw,CeAyBI)! %AI5I54٢E> Eg=9EQ M>II MG٣MAGyU U> eNusing accuracyPremultiplier from configam49e[D?m4Ye ievBiim?elDe:e:e{4 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757825%B*** querying acoustic contact ***j!j!ZjFNOT Ignoring new targets: 313.80 m.BjcU;JjcU; ProNav: ac range: 313.799988 m, nav range: 180.663696 m, bearing: 303.718855 deg, approach rate: -0.046348 m/s, LOS rate: 0.186556 deg/s, cmd heading: 217.921830 deg, new cmd heading: 218.156018 deg. 2j<-HeadingCmd: 3.807541 target range: 313.799988 and range: 313.80 m. j5s@j1j1j1i1h1h1h9h9f9f9fArfAbfE@ɛZ; |>I PɚiIK=Ipiiy&)s@)*F2F:FBF0JFPExceeded connect timeout, disconnecting. I } Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:26:43.4638 LVL= 13296, 20193, 19618, 22339, AGC= 67, IDX= 283,-0.14,-0.323,-1.529,-2.357,-2.054, PHS= 1.819, 0.572,-0.306, RAW= 65.7, -21.7, CAL= 79.6, -29.7, ROT= 70.4, 29.7  Ygot valid direction response: 21:26:43.4638 LVL= 13296, 20193, 19618, 22339, AGC= 67, IDX= 283,-0.14,-0.323,-1.529,-2.357,-2.054, PHS= 1.819, 0.572,-0.306, RAW= 65.7, -21.7, CAL= 79.6, -29.7, ROT= 70.4, 29.7 G% 5 PDAT read: Bearing 70.4, 29.7 (Local) U ~Local bearing/azimuth received: Bearing 70.4, 29.7 (Local) zK] raMK] ]9KY K] K] m DAT read: Range 10 to 50 : 326.7 m (Round-trip 435.7 ms) speed 0.2 m/s u ,DAT read: user:1771> } BDAT read: Tx time:21:26:44.5740  $Ping request sent. i} ?c?} xy y  :publishing transmit ping time؁  Fpublishing direction and range infoy 9} AA6i?5p?ئu&n?yy y y y y )y G B O >Iy iy y y y y y )y Iy iy y y } 6в[[?Һ_! R9Z ׿)y Iy iy y y y Vw,\eA c@Y Vq@ 蠴9 >y H@&5?le@x? ?Fk??ɨ c@ ; CyUB]IMb@Mb@Mb@ )Y rh?Mb~jt?yC+?D<IA @)@I@yG@II|4٢%= '=9lQ > G٣yص< > Nusing accuracyPremultiplier from config-49DD?-4Y ivB5W+?5:5!5?D;8<;4UْB ]A]GEkI;?kPLj8 k kYeA:kYCBk6CZk@"}h#]@a@!Ubp@AA6i?5p?ئu&n?Jk?c?Rk x*E{y;>bÜxb2*!r@mo` ܿ <ݜi?"k*kk`9;?kɄS 2kCkkkk4Ckǯ@Will construct direction to contact in vehicle frame from tetrahedron phase data. addTargetRange:: Added new target pos. range: 326.700012 m, deltaT: 4.033413 s, deltaX: 12.900024 m, approachRate: 3.198290 m/s, rangeRepo size: 4  Added new target pos. range: 326.700012 m, bearing: 259.467251 deg, lat: 36.903713 deg, lon: -122.117615 deg, deltaT: 4.033413 s, deltaX: 12.900024 m, approachRate: 3.198290 m/s, posRepo size: 4 Zj FNOT Ignoring new targets: 326.70 m.BjJjJM JM7JM1JIJM);JM:JM3JI ProNav: ac range: 326.700012 m, nav range: 180.656738 m, bearing: 303.822753 deg, approach rate: 0.000000 m/s, LOS rate: 0.186556 deg/s, cmd heading: 218.156024 deg, new cmd heading: 218.418712 deg. 2jHeadingCmd: 3.812126 target range: 326.700012 and range: 326.70 m. js@jjjihhhhsBfffrf%@3kt@bf%?ɛimx; imq>Ii uLKɚiI{=I%iJ&i )s@)*FI 2FI :FI BFM 0JFI "$?I u Will construct direction to contact in vehicle frame from tetrahedron phase data.G *&G G GBO>{=^w,A{eA6d@Y6{7r@6"/ļ96cM>y6H?`l .@{?J?? ?ɨ6d@6ႊ;6CyBBBIIJIJ4٢RƊ= RZ=9R)Q R>TT VG٣TyZ< Z> ^Nusing accuracyPremultiplier from config\b49^3D?b4Y^p" i^wB`f!f?^D^~:^\:^NJ4q uAqZjFNOT Ignoring new targets: 326.70 m.Bj_;Jj_; ProNav: ac range: 326.700012 m, nav range: 180.650299 m, bearing: 303.902201 deg, approach rate: -0.018334 m/s, LOS rate: 0.226215 deg/s, cmd heading: 218.418713 deg, new cmd heading: 218.657065 deg. 2j?<HeadingCmd: 3.816286 target range: 326.700012 and range: 326.70 m. j>t@jjjihhhhfffrfbf @?ɛWBw< >>I  SMHɚ i I '=Iii)>t@)H1I1 I5. II5;BI1&I1.I16I5Ѱ<:I5 FEAEErA*F?2F:FBF 4JFGoGQBaO8>uWill construct direction to contact in vehicle frame from tetrahedron phase data. - nManaging dock network, ignoring radio surface power off$ew,eA 1I1Will construct direction to contact in vehicle frame from tetrahedron phase data.yB IiR=Ii>zK%BHK%9K!K%K%%l\/ Mb@Mb@Mb@ )YS㥛?&1~jtx?y$&?P;vA )@I@y=@IIm4٢= "=9Q > G٣AGy > Nusing accuracyPremultiplier from config49eD?4Y' iwB&?:$?D];;4 AJEZj FNOT Ignoring new targets: 326.70 m.Bj v;Jj v; ProNav: ac range: 326.700012 m, nav range: 180.659637 m, bearing: 304.006073 deg, approach rate: 0.019341 m/s, LOS rate: 0.215124 deg/s, cmd heading: 218.657059 deg, new cmd heading: 218.968654 deg. 2j%<%HeadingCmd: 3.821724 target range: 326.700012 and range: 326.70 m. j% t@j)j)j)i)h)h)h1h5Bf1f1f1rf9bf=`@Z?ɛaetN< imi>Ii m=BɚiiiIm=Iuiuiu) t@)*F?2F:FBF05JF} Will construct direction to contact in vehicle frame from tetrahedron phase data.J J ;J 0J J %;J :J ـ3J G5 W G B O5 >=kw,`#eAB/e@YBzNs@Bϼ9Bl>yBH@,E?`\?`?g?@?ɨB/e@Bϊ;BCyJ.BJ IIRIR 4٢^#= ^=9^fQ b?`` bG٣`yfe= f? nNusing accuracyPremultiplier from configlr49nwD?r4Yn) inwBpr#r?nDn:ni:nᘜ4zڒB z_AzMEZjFNOT Ignoring new targets: 326.70 m.Bj%l;Jj%l;5 ProNav: ac range: 326.700012 m, nav range: 180.662186 m, bearing: 304.068774 deg, approach rate: 0.008389 m/s, LOS rate: 0.206406 deg/s, cmd heading: 218.968652 deg, new cmd heading: 219.156751 deg. 2j5 <=HeadingCmd: 3.825007 target range: 326.700012 and range: 326.70 m. j=t@j9j9j9i9h9hAhAhAfAfIfIrfQbfU=9?ɛy8< 4[<隅K>I >ɚiI=IRihi;ʼ)t@)*F ?2F :F BF _0JF G M $?IIGBO$>Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHIRHM@AHU>IQ IUf IIUiBIQ&IQ.IQ6IU<:IU F!"rw,eA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:^e@Y:s@:rjƼ9:>y:H`b"`z?`+@a@?`̘?`?` ?ɨ:^e@:ӊ;:Cy^9B^, IIfIf4٢rO_= rH=9r6;Q v>tt vG٣tyzB< z> ~Nusing accuracyPremultiplier from config|49~C?4Y~- i~wB  m# ?~D~H;~z;~4 A=B*** querying acoustic contact ***jAjAZjIMFNOT Ignoring new targets: 326.70 m.BjUj;JjUj;e ProNav: ac range: 326.700012 m, nav range: 180.664124 m, bearing: 304.152947 deg, approach rate: 0.004729 m/s, LOS rate: 0.205424 deg/s, cmd heading: 219.156756 deg, new cmd heading: 219.409271 deg. 2je I9 =7ɚAiAIE=IM iMiMC.ʼ)Mu@)qEe>E>*FI2FI:FIBFIJFI"GU=GU= QI]gWill 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.GmGY zK ALK 9K K K *aV8& B O >Jxw,zeA2-f@Y2Lt@2r92֢>y2H?ew9?-?J? ?ɨ2-f@2;2Cy:DB:: I)@ @%Mb@Mb@Mb@!!! !)!Y%ʡE?+Mb`y%?%%! %p@)%@I%@!y!I=I=_4٢M4S= MD=9M:Q M>QQ UG٣UAGyU< ]> mNusing accuracyPremultiplier from configa49eIC?4Ye]1 iewB?:%?eDeI 0ɚiI=ICi i ?) r[u@) *F?2F:FBFJFG ټGiByO> M $?IQ % Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484530u~w,HeA63f@Y6t@6 96 >y6H0?\& ?`?`??ɨ63f@6;6CyFOBFH IININ4٢V{m= VU=9ZH:Q Z>XX ^G٣\y^@z< b> fNusing accuracyPremultiplier from config`j49b7C?j4Yb4 i`hjc%j?bDb:b.:b4p rUApZj FNOT Ignoring new targets: 326.70 m.Bjv;Jjv;- ProNav: ac range: 326.700012 m, nav range: 180.685577 m, bearing: 304.310547 deg, approach rate: 0.027761 m/s, LOS rate: 0.215631 deg/s, cmd heading: 219.655195 deg, new cmd heading: 219.882045 deg. 2j-<-HeadingCmd: 3.837666 target range: 326.700012 and range: 326.70 m. j5Pu@j1j1j1i1h1h1h9h9f9fAfArfAbfE|@ɛimN< quR>Iq u+ɚyiyI}U=Idi i)Pu@)H>I I IIBI5 =&I.I6I<:I F) C}G Y y PBEe =Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.737689*F?2F:FBFJFJJ@AJJ7J1JJD#;J:J3JJ{lw, fA pIpm g@YmY+u@mվ9m>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992345ymH~5?`0W@SZˈ?`,ڗ?G??ɨm g@m$;mCyuSBuL IzKmAMKmh9KiKmKmRK}?JK}?Mb@Mb@Mb@ )YS?RQ~jty/?½D )@I3@yII٢oI< !=9 N8Q > G٣yQy< > Nusing accuracyPremultiplier from config49oC?4Y8 iwB?:{&?D;a;߶4ےB ?ATEZjFNOT Ignoring new targets: 326.70 m.Bj a;Jj a; ProNav: ac range: 326.700012 m, nav range: 180.704285 m, bearing: 304.410327 deg, approach rate: 0.036905 m/s, LOS rate: 0.196821 deg/s, cmd heading: 219.882040 deg, new cmd heading: 220.181343 deg. 2j<HeadingCmd: 3.842889 target range: 326.700012 and range: 326.70 m. ju@jjjihhhh݁Bfffrfbf @ɛZBE)E< AE}>IA EH#ɚIiIIMg=IU-i]9 ivQ)u@)E}Gg<*F?2F:FBF`0JFm Will construct direction to contact in vehicle frame from tetrahedron phase data.} BDAT read: Rx Time:21:26:47.3956 } TRx dataTimestamp_ set to:1736371608.665598 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242784GU NG1 B9 OU >w,2fA6dg@Y6ςu@696>y6H”@U?f@y=`ʓ? ?P#??ɨ6dg@6;6Cy>YB>T IIF IF4٢V|!= Vs=9VS/:Q Z? G٣AGy|<  ? Nusing accuracyPremultiplier from config 49 C?4Y ; i wB%#&%? D -/; #; 4) -A)ZjQ]FNOT Ignoring new targets: 326.70 m.Bj]`;Jj]`;m ProNav: ac range: 326.700012 m, nav range: 180.716232 m, bearing: 304.478515 deg, approach rate: 0.034394 m/s, LOS rate: 0.196281 deg/s, cmd heading: 220.181339 deg, new cmd heading: 220.385889 deg. 2jmI 1ɚiI) =IPiq iK)d,v@)EE*E"E $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492717*F2F:FBF~0JFjHibHmp<He>IeC Ie IIeBIe4 =&Ia.Ia6Ie<:Ie FBIJIRIZI4 =bI4 =jIư4G Ւu Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:26:47.3956 LVL= 13536, 24177, 17298, 27731, AGC= 66, IDX= 255,-0.24,-2.497,-3.095, 2.073,-3.105, PHS= 0.696, 0.057,-1.108, RAW= 50.4, 4.5, CAL= 49.3, 5.4, ROT= 100.7, -5.4  Ygot valid direction response: 21:26:47.3956 LVL= 13536, 24177, 17298, 27731, AGC= 66, IDX= 255,-0.24,-2.497,-3.095, 2.073,-3.105, PHS= 0.696, 0.057,-1.108, RAW= 50.4, 4.5, CAL= 49.3, 5.4, ROT= 100.7, -5.4  PDAT read: Bearing 100.7, -5.4 (Local)  ~Local bearing/azimuth received: Bearing 100.7, -5.4 (Local)  DAT read: Range 10 to 50 : 313.0 m (Round-trip 417.4 ms) speed 0.3 m/s  ,DAT read: user:1772> J J 1J 3J J $;J :J (3J J U~<J U~<J =;J =;G BA Ou >nw,#LfABDAT read: Tx time:21:26:48.4740 $Ping request sent.yjHt|?`0ʠ`s>? ? ?a?ɨj$g@j;jCہz:publishing transmit ping timezFpublishing direction and range info؁9؅Rmd?܋묩?y؁؁؁؁ ف)فIفiففففف ځ)ځIځiځځځۅA%I?+ j[7?)ہIہiہہہہy[BU IIIB4٢; +=9:Q > G٣yY< > Nusing accuracyPremultiplier from config49C?4Y? i wB%?D:: Ŝ4 %A%WEk:s?kR k kJfA:kCBkiCZk6@"XH=ʷ.`k@Yxktk@Rmd?܋묩?Jk&?RkfvI*'b@vmX]dF[o@h?JiL&ؿ 7?"k:*k>CkCls?k.g 2kCk;d~f?kkCk6Ck@ addTargetRange:: Added new target pos. range: 313.000000 m, deltaT: 3.776910 s, deltaX: -13.700012 m, approachRate: -3.627307 m/s, rangeRepo size: 4  Added new target pos. range: 313.000000 m, bearing: 320.881082 deg, lat: 36.903744 deg, lon: -122.117615 deg, deltaT: 3.776910 s, deltaX: -13.700012 m, approachRate: -3.627307 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 313.00 m.BjJj ProNav: ac range: 313.000000 m, nav range: 182.693085 m, bearing: 305.453939 deg, approach rate: 0.000000 m/s, LOS rate: 0.196281 deg/s, cmd heading: 220.385889 deg, new cmd heading: 220.678799 deg. 2jHeadingCmd: 3.851572 target range: 313.000000 and range: 313.00 m. j&v@jjjihhhhfffrf=s@bfE`5A? $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:26:48.4732 ɛ=\B=ܯ< 9=c>IA E ɚAiAIE:=Imim im)u&v@)qzKBoHKػ9KKKBKrA:KrA*F ?2F :F BF p0JF G- ͍G BOM>b7w,jfAWill construct direction to contact in vehicle frame from tetrahedron phase data.yީޭV IEMb@Mb@Mb@AAA A)AYE~jt?EԸqq uG٣qy} }> Nusing accuracyPremultiplier from config49ՈC?4YC iwB?:%?*D?;;͜4 ZEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 313.00 m.Bj k;Jj k; ProNav: ac range: 313.000000 m, nav range: 182.712967 m, bearing: 305.541705 deg, approach rate: 0.046556 m/s, LOS rate: 0.205490 deg/s, cmd heading: 220.678795 deg, new cmd heading: 220.942062 deg. 2j <HeadingCmd: 3.856166 target range: 313.000000 and range: 313.00 m. jnv@jjjihhhhBfffrfbf6?ɛ-]B5< 15>I1 5N(ɚ1i9I=:=IEHTiE iEǥ)Env@)A*F?2F:FBF_5JF 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.G G B O= >H5 >I1  I5 II5 BI5 3 =&I1 .I1 6I5 ɰ<:I5 ~ Fw,CfA6\h@Y6{v@6<96_>y6HD?N@n?`'?s? ?ɨ6\h@6;6CyfZBfT I)h hIrIr4٢z zg=9z\Q z>|| ~G٣~AGy< >  Nusing accuracyPremultiplier from config 49 GyC?4Y F i vBZ%? 8D 5; 7; DӜ4) - A)ZjQ]FNOT Ignoring new targets: 313.00 m.Bj][;Jje[;m ProNav: ac range: 313.000000 m, nav range: 182.726654 m, bearing: 305.609790 deg, approach rate: 0.038631 m/s, LOS rate: 0.192151 deg/s, cmd heading: 220.942058 deg, new cmd heading: 221.146295 deg. 2juI G!B1OM1> $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225398Aw,nfA2+h@Y2v@2O92>y2H" w? д V`9I?`{ ?@??ɨ2+h@21~;2CyRWBRQ IzK~K~]9K|K~K~mMb@Mb@Mb@iii i)iYm333333?ʡEZd;Oym?m-mjm A mZ@)iIm@iymG@II4٢ G٣y< > Nusing accuracyPremultiplier from config49%gC?4YJ ivBQ?:#?HD;N;ڜ4ܒB (A]EZjFNOT Ignoring new targets: 313.00 m.BjY;JjY; ProNav: ac range: 313.000000 m, nav range: 182.737549 m, bearing: 305.690381 deg, approach rate: 0.025755 m/s, LOS rate: 0.190507 deg/s, cmd heading: 221.146294 deg, new cmd heading: 221.388054 deg. 2j< HeadingCmd: 3.863950 target range: 313.000000 and range: 313.00 m. j Jw@j j j i h hhqhuҁBfqfyfyrfybf}@8?ɛ_B5K< 1=8>I9 EzɚAiAIMf=I]i]y i]R)]Jw@)a*F?2F:FBFJFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.475624GTG B O >lw,NfA I :ni@Y:Uw@:4Ʃ9:W >y:HA?>紿? `m?c8?y? w?ɨ:ni@:c;:Cy^FB^< IIfIf4٢n nV=9rm;Q r>pp rG٣tyv< v> zNusing accuracyPremultiplier from configx4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7262209zVC?4YzM izvBT#?zWDzII MڦɚIiIIM=IUiU x i]A)]w@)Y*F?2F:FBF_0JFGk}ZHRHH>IC III4 =&I.I6I<:I FGyBO<>M Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.978100J J @J J J !;J :J J J x<J x<J ;J ;FTw,p(fA2Ui@Y2 x@292>>y2H@bJ?9+Kr r!P? ?V??ɨ2Ui@2ǎ;2CyB;BB. IiF>IFp>IJIJ4٢,[ H=9;Q >    G٣ AGyԤ< > Nusing accuracyPremultiplier from config%49EC?%4YQ ivB!-"-?gD;;|41 5 A5aEZjY]FNOT Ignoring new targets: 313.00 m.BjmI  ɚiIO=ISi^[ i3)w@) =$?IEg*Fe?2Fa:FiBFqJFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233327zKH LK9KKKNIUzK,G:_GiByO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482347w,<2fAy 6B ) IMb@Mb@Mb@ )Yףp= ? rhy?C̼vA p@)@I@y@II&4٢좼 ==9Q > G٣y > Nusing accuracyPremultiplier from config49W3C?4YU ivB?: ?xD;Q; 4 .AB*** querying acoustic contact ***j!j!Zj)-FNOT Ignoring new targets: 313.00 m.BjU_;JjU_; ProNav: ac range: 313.000000 m, nav range: 182.750534 m, bearing: 305.925109 deg, approach rate: -0.003767 m/s, LOS rate: 0.195252 deg/s, cmd heading: 221.838342 deg, new cmd heading: 222.092226 deg. 2j<HeadingCmd: 3.876240 target range: 313.000000 and range: 313.00 m. jSx@jjjih hhYh]BfYfYfYrfabfe@ɛdBo< 隭>I <ɚiIn=Ia i[ iE)Sx@) $?I *F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734044G XG G G H I  I II BI &I .I 6I <:I FB O >ew,gA6¬j@Y6vx@6t_96<>y6H@/?嵿e :μ?`??`?ɨ6¬j@6;6CyR'BR II^I^4٢f f^=9fIhh jG٣hyn[< n> =Nusing accuracyPremultiplier from config1E495k#C?E4Y5Y i5vBAEE?5D5;5;54UݒB UAUdEZjq}FNOT Ignoring new targets: 313.00 m.Bj1`;Jj1`; ProNav: ac range: 313.000000 m, nav range: 182.746826 m, bearing: 305.999136 deg, approach rate: -0.009817 m/s, LOS rate: 0.196004 deg/s, cmd heading: 222.092221 deg, new cmd heading: 222.314306 deg. 2j<HeadingCmd: 3.880117 target range: 313.000000 and range: 313.00 m. jSx@jjjihhhhfffrfbf:@ɛeB< >I TٻɚiIS=Ii 2 i,ߺ)Sx@)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987224*F?2F:FBF0JF"G=G=Gm>uG)BAOu6>  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:26:51.2945  TRx dataTimestamp_ set to:1736371612.448595 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244493?w,gA2/j@Y2x@2@92B>y2H apY? H J`,@]??@?G?ɨ2/j@2m;0y> B> I)D DzKNK59KKKMb@Mb@Mb@ )Y%C?/$yZ$?LA Z@)@I@y@II4٢  9=9;Q > G٣AGy!; > Nusing accuracyPremultiplier from config 49/C? 4Y^ ivB$?:?D;;14 AZjAEFNOT Ignoring new targets: 313.00 m.BjMf;Jjf; ProNav: ac range: 313.000000 m, nav range: 182.733688 m, bearing: 306.086034 deg, approach rate: -0.030485 m/s, LOS rate: 0.201654 deg/s, cmd heading: 222.314311 deg, new cmd heading: 222.575021 deg. 2jd <HeadingCmd: 3.884667 target range: 313.000000 and range: 313.00 m. jbx@jjjihhhhBfff rfbfn @ɛgB9< f>I ʺλɚiI=ISi i\)bx@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.490978JJ3J1JJ\;J:J3Ja@a@a@a@G% (G B O% > $?I w,9gA6dk@Y69y@6c'965>y6H`[?@|ShǤ?`4???ɨ6dk@6 ;4yBBBIIJIJ4٢R Rb=9R>;Q V>TT VG٣TyZi)< Z> ^Nusing accuracyPremultiplier from config\b49^C?b4Y^a i^vBdff?^D^j;^:^4h jAjhEZjFNOT Ignoring new targets: 313.00 m.Bj e;Jj e;E ProNav: ac range: 313.000000 m, nav range: 182.722153 m, bearing: 306.158889 deg, approach rate: -0.031835 m/s, LOS rate: 0.201068 deg/s, cmd heading: 222.575019 deg, new cmd heading: 222.793596 deg. 2jE Iy }PƻɚyiyI}=IBiM i~Q)x@)jHbH<H>IC I IIBI&I.I6I<:Ix F*F%?2F):F)BF-y4JF)GT- GAY Yy/BGQBaO}z>- Will construct direction to contact in vehicle frame from tetrahedron phase data.e DAT read: 21:26:51.2945 LVL= 18912, 30545, 30610, 32755, AGC= 64, IDX= 435, 0.10, 2.415, 1.436, 0.231, 1.350, PHS= 1.153, 0.132,-1.122, RAW= 56.6, -1.7, CAL= 59.5, -5.3, ROT= 90.5, 5.3 m Ygot valid direction response: 21:26:51.2945 LVL= 18912, 30545, 30610, 32755, AGC= 64, IDX= 435, 0.10, 2.415, 1.436, 0.231, 1.350, PHS= 1.153, 0.132,-1.122, RAW= 56.6, -1.7, CAL= 59.5, -5.3, ROT= 90.5, 5.3 u PDAT read: Bearing 90.5, 5.3 (Local) u ~Local bearing/azimuth received: Bearing 90.5, 5.3 (Local)  DAT read: Range 10 to 50 : 312.2 m (Round-trip 416.3 ms) speed 0.0 m/s  ,DAT read: user:1773>  BDAT read: Tx time:21:26:52.3741  $Ping request sent. - - '|?-  - ?)- qI- -?i- q=) ) - LaO ?aĘ쿭,M*㝿)- ꙍI- "?- g) )  :publishing transmit ping timeؑ  Fpublishing direction and range info) 9- p ?)?\S?y) ) ) ) ) )) I) i) ) ) ) ) ) )) I) i) ) ) - LaO ?aĘ쿭,M*㝿)) I) i) ) ) ) w,nSgAynBnIIvIv+4٢?  D=9 Q  > G٣y ]> eNusing accuracyPremultiplier from configam49eB?m4Yef ievBiim?eDe&:e2:e 4 *AkEk]D*f?k]ez) kY $?I k]LgA:k]CBk]CZk]@"]y @|.h@@àn@]p ?)?\S?Jk]>?Rk]g*]LhvZ@[O\c!Xp@]{?,ӗ׿k~?"k].*k]Bk]{ if?k]P> 2k]8CkYk]ɄS kYk]4Ck]H@U addTargetRange:: Added new target pos. range: 312.200012 m, deltaT: 4.032023 s, deltaX: -0.799988 m, approachRate: -0.198409 m/s, rangeRepo size: 4 m Added new target pos. range: 312.200012 m, bearing: 313.119533 deg, lat: 36.903744 deg, lon: -122.117589 deg, deltaT: 4.032023 s, deltaX: -0.799988 m, approachRate: -0.198409 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 312.20 m.BjJj ProNav: ac range: 312.200012 m, nav range: 180.846542 m, bearing: 306.678443 deg, approach rate: 0.000000 m/s, LOS rate: 0.201068 deg/s, cmd heading: 222.793599 deg, new cmd heading: 223.076981 deg. 2jHeadingCmd: 3.893428 target range: 312.200012 and range: 312.20 m. j-y@jjji hhhihifqfyWill construct direction to contact in vehicle frame from tetrahedron phase data.frf@3s@bf׺?ɛkB?< Y>I ɚ i I 4=I i i`; )-y@)EAEAzK}BoIK}h9KyK}K}*F?2F:FBFj1JFG GrAG ԑE Will construct direction to contact in vehicle frame from tetrahedron phase data.Gy B O >w,HmgAJـ3K K/KK"KJJ5J0J J|";J:Jـ3J Ik@Yhy@9t >yHtK 1?1E`7`3??M?@?ɨIk@͋;y5B=IiE G٣AGy; > Nusing accuracyPremultiplier from config49B?4Yk ivB%,?:?D5;;4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 312.20 m.Bj;Jj; ProNav: ac range: 312.200012 m, nav range: 180.816757 m, bearing: 306.774637 deg, approach rate: -0.072854 m/s, LOS rate: 0.235327 deg/s, cmd heading: 223.076984 deg, new cmd heading: 223.365610 deg. 2j!< HeadingCmd: 3.898465 target range: 312.200012 and range: 312.20 m. j uy@j j j ihhhhEBfffrfbf% ?ɛMlBMW< IMty>IQ UĸɚQiQIU=I]@i] i]܀%)]uy@)a*F?2F:FBF1JF IIIG>uGBOh>UWill 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.HE >IA  IE f IIE iBIE 3 =&IA .IA 6IE <:IE y FBI ʚCJI ʚCRI ZI bI jI 5w,ץgA6Pk@Y6ny@696Q>y6HYI"? Ӷm [8??o?@?ɨ6Pk@6Z;6CyBفBBIIJIJ\4٢fg fl=9j7Q j?ll nG٣lyrٌ: r? vNusing accuracyPremultiplier from configtz49vvB?z4Yv p ivvBx~~?vDv ;v ;v4ޒB %AoEZjFNOT Ignoring new targets: 312.20 m.Bj0h;Jj0h; ProNav: ac range: 312.200012 m, nav range: 180.794205 m, bearing: 306.848217 deg, approach rate: -0.062210 m/s, LOS rate: 0.202994 deg/s, cmd heading: 223.365614 deg, new cmd heading: 223.586380 deg. 2jP <HeadingCmd: 3.902318 target range: 312.200012 and range: 312.20 m. jy@jjjih h h h fff9rf9bf=?ɛnB< 隭W>I ɚiIl=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995096I=`i= i=R)=y@)A*F?2F:FBF^0JF 1I9G G B O >m Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249701hw,gABxk@YB-y@B?9B}# >yBH3 ? ~ hl?~?V?`F?ɨBxk@B;@yŃBNIzKKKKKRK ?JK?Mb@Mb@Mb@ )YCl?y&1? rhy/?`<CIA )I@y@II٢v 9=9:Q > G٣y< > Nusing accuracyPremultiplier from config49B? 4Yu ivB 0? :  ?D;;!4 AZjAEFNOT Ignoring new targets: 312.20 m.BjM4;JjM4;] ProNav: ac range: 312.200012 m, nav range: 180.746170 m, bearing: 306.942922 deg, approach rate: -0.113135 m/s, LOS rate: 0.223116 deg/s, cmd heading: 223.586379 deg, new cmd heading: 223.870567 deg. 2j]I yɚiI=Iie:. ie\)ez@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500340JEJE@JE1JAJE $;JE:JE3JA*FU?2FQ:FQBFQJFQG *U  $?I gG B O >S3w,gA2;k@Y2y@2ǻ92V >y2H!@a?F`@й?@x?@?G?ɨ2;k@2pS;2CyNBNIIZ IZ4٢^ڊ b^=9b}Z;Q b>dd fG٣fAGyjW < j> nNusing accuracyPremultiplier from configlr49nB?r4Ynz invBpvrv?nDnT ;n ;n(4x zAzrEWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751177Zj)5FNOT Ignoring new targets: 312.20 m.Bj5t;Jj5t;M ProNav: ac range: 312.200012 m, nav range: 180.705505 m, bearing: 307.022292 deg, approach rate: -0.109628 m/s, LOS rate: 0.214023 deg/s, cmd heading: 223.870570 deg, new cmd heading: 224.108733 deg. 2jMIq uɚiIh=IiY ii)Tz@)ZHRH?AH!I! I%4 II%@BI!&I!.I!6I%<:I% F*FA2FA:FABFE`0JFAGU:_Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002946G1 BA O] >w,7gARk@YR z@R9RZ >yRH` ?T+y ?Q_??৶?ɨRk@Rh;RCyZB^IIfIf14٢n* nJ=9n_*pp rG٣pyv; v> ~Nusing accuracyPremultiplier from config|49~ŝB?4Y~ i~vB  I ?~D~&:~:~$/4  AZjAEFNOT Ignoring new targets: 312.20 m.BjM2w;JjM2w;] ProNav: ac range: 312.200012 m, nav range: 180.660583 m, bearing: 307.109426 deg, approach rate: -0.111392 m/s, LOS rate: 0.216117 deg/s, cmd heading: 224.108738 deg, new cmd heading: 224.370201 deg. 2j]QI 2:ɚi $?IIR=IiŒ i6߃)z@)*F]?2FY:FYBF]0JFY=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.258660zKKK9KKKBKqA:KGJiGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507028J} J} (Jy Jy J} \;J} 9:Jy Jy Xw,gA6k@Y6lz@6@96mI >y6H\? .c' [Ҹ?H? ?{?ɨ6k@6;4y B }IMb@Mb@Mb@ )Y-?y&1?~jty?5?`e=DA -@)I@y@IIv4٢ 6=9*;Q > G٣y  > Nusing accuracyPremultiplier from config 49 B?%4Y 0 i vB%5?%:%%? &D F; D; 64-ߒB 5 A5uEMB*** querying acoustic contact ***jIjIZjaeFNOT Ignoring new targets: 312.20 m.Bjm9|;Jjm9|;} ProNav: ac range: 312.200012 m, nav range: 180.598465 m, bearing: 307.208346 deg, approach rate: -0.138425 m/s, LOS rate: 0.220511 deg/s, cmd heading: 224.370198 deg, new cmd heading: 224.667059 deg. 2j}U<HeadingCmd: 3.921180 target range: 312.200012 and range: 312.20 m. jz@jjjihhhhBfffrfbf`@ɛtB ;  ==I  ɚiIH=I+i i')z@)E iIq*Fu?2Fq:FqBFu0JFyG GsAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758980GG B H >I  I  II BI 2 =&I .I 6I <:I FO >@w,r hA6k@Y6;y@6JL996>y6H; c?@Y#?@; *?`Ѷ?ɨ6k@6Ћ;4y^BbwIIjIj4٢r:ټ r^=9rN;Q r>tt vG٣vAGyv z> Nusing accuracyPremultiplier from config| 49~N}B? 4Y~[ i~vB   ?~6D~:~":~j=4  AZjAEFNOT Ignoring new targets: 312.20 m.BjMP~;JjMP~;] ProNav: ac range: 312.200012 m, nav range: 180.547791 m, bearing: 307.290014 deg, approach rate: -0.137922 m/s, LOS rate: 0.222339 deg/s, cmd heading: 224.667065 deg, new cmd heading: 224.912135 deg. 2j] ]$?IY Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:26:55.1944  TRx dataTimestamp_ set to:1736371616.476670 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264120qw,j#hA6k@Y6my@6~:96Xy >y6H@~? U@!`?@oW!? G?ɨ6k@6};4yZBZoIzKmBHKms9KiKmKmMb@Mb@Mb@ )Y$C?MbX9?~jthy:?ʡ=D C@)I@y@IIH4٢ K 8=9;Q > G٣y, %> -Nusing accuracyPremultiplier from config)549-kB?54Y- i-vB55;?5:5H=?-KD-;-I;-,E4A E AyEZjAMFNOT Ignoring new targets: 312.20 m.BjUs;Jj]s; ProNav: ac range: 312.200012 m, nav range: 180.477036 m, bearing: 307.390541 deg, approach rate: -0.149954 m/s, LOS rate: 0.213136 deg/s, cmd heading: 224.912132 deg, new cmd heading: 225.213831 deg. 2jF<HeadingCmd: 3.930723 target range: 312.200012 and range: 312.20 m. j{@jjjih!h!h!h%Bf)f)f)rf)bf-@ @ɛvB]9  =I UɚiIH=IieV i){@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515279*F?2F:FBF2JF Q IY G1 G) B1 OM >kw,7=hA2k@Y2y@2M6;92R >y2H`?!??Ut;n?GfB>qIIDID٢N; Nf=9RTx;Q R>PP VG٣TyVQ V>^Will construct direction to contact in vehicle frame from tetrahedron phase data.vDAT read: 21:26:55.1944 LVL= 14496, 25073, 16178, 25971, AGC= 65, IDX= 433, 0.16, 2.409, 1.506, 0.423, 1.524, PHS= 0.972, 0.029,-1.105, RAW= 57.0, 1.2, CAL= 58.1, -1.1, ROT= 91.9, 1.1 ~Ygot valid direction response: 21:26:55.1944 LVL= 14496, 25073, 16178, 25971, AGC= 65, IDX= 433, 0.16, 2.409, 1.506, 0.423, 1.524, PHS= 0.972, 0.029,-1.105, RAW= 57.0, 1.2, CAL= 58.1, -1.1, ROT= 91.9, 1.1 PDAT read: Bearing 91.9, 1.1 (Local) ~Local bearing/azimuth received: Bearing 91.9, 1.1 (Local)  DAT read: Range 10 to 50 : 312.1 m (Round-trip 416.2 ms) speed 0.0 m/s ,DAT read: user:1774> BDAT read: Tx time:21:26:56.2741 $Ping request sent.hA:k^ CBk^CZk^@"^WP*+|ȕh@Pu4[n@^:Oa릿 Z,N?h5i?Jk^P?Rk^1g*^ݸSq]@anKZp@^"3/_?QÛտCbj?"k^\*k^Bk^ {i?k^Bj 2k^ƦCk^ {i?k^.g k^ƦCk^;%Ck^r|@ addTargetRange:: Added new target pos. range: 312.100006 m, deltaT: 3.780463 s, deltaX: -0.100006 m, approachRate: -0.026453 m/s, rangeRepo size: 4  Added new target pos. range: 312.100006 m, bearing: 318.491528 deg, lat: 36.903826 deg, lon: -122.117270 deg, deltaT: 3.780463 s, deltaX: -0.100006 m, approachRate: -0.026453 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 312.10 m.BjJj ProNav: ac range: 312.100006 m, nav range: 165.230835 m, bearing: 315.997171 deg, approach rate: 0.000000 m/s, LOS rate: 0.213136 deg/s, cmd heading: 225.213836 deg, new cmd heading: 225.450718 deg. 2j]HeadingCmd: 3.934857 target range: 312.100006 and range: 312.10 m.jH<bH<H>I IIIBI1 =&I.I6I<:I F j{@jjjihhhhfffrfs@bfw?ɛ5wB5(: 15=I9 =ɚ9i9I=M=IKii ){@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:21:26:56.2733 Eu<JJDJ0JJ;J:Jـ3JJp&|w,mWhA6k@Y6`y@6A>;96L >y6H %^?`U`-@&l?g 'II UG٣UAGyUl U> Nusing accuracyPremultiplier from configy49}LB?4Y}s i}vBb?}pD}߾;} ;}R4B  A|EZjFNOT Ignoring new targets: 312.10 m.Bj e;Jj e;= ProNav: ac range: 312.100006 m, nav range: 165.211670 m, bearing: 316.097360 deg, approach rate: -0.048625 m/s, LOS rate: 0.254227 deg/s, cmd heading: 225.450720 deg, new cmd heading: 225.751319 deg. 2j=y. Will construct direction to contact in vehicle frame from tetrahedron phase data.w,phA2qk@Y2%y@2vU;92Y=y2H E@Q?µ4"@`ȅ?Kjc?=?ɨ2qk@2;;2Cy:B:qIuMb@Mb@Mb@qqq q)qYu\(\?MbX9?~jth?yu:?quD;uA q)qIuh@qyuf@II 4٢: D=9]:Q > G٣y; > Nusing accuracyPremultiplier from config49 I  I II BI &I .I 6I b<:I F) G B ;G |uA = Y= |uAy= BO] >2"w,巊hA6Vk@Y6 z@6k;96=y6H``? j`a)@`?qmj??ɨ6Vk@6縍;6CyBBBxIIJIJ94٢R = R\=9Vi:Q V>TT ZG٣XyZ1V; Z> bNusing accuracyPremultiplier from config\b49^U-B?f4Y^ i^vBdfHf?^D^C:^e:^`4h j AnEZj  FNOT Ignoring new targets: 312.10 m.Bja;Jja; ProNav: ac range: 312.100006 m, nav range: 165.174515 m, bearing: 316.296460 deg, approach rate: -0.047200 m/s, LOS rate: 0.254201 deg/s, cmd heading: 226.065410 deg, new cmd heading: 226.348675 deg. 2jt.<HeadingCmd: 3.950530 target range: 312.100006 and range: 312.10 m. jz|@jjjihhhhfffrfbf V?=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247840ɛzB4: 隍=I ƖɚiImb=JJ4J1JJ;Jr:J3JJs<Js<J;J;I;Ji^/iy5)z|@)EIEI*Ei"Ei Ig*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499693G G B O >bz)w,hAzKJ:IKJ9KHKJKJ)?u_OD?70$yUBUIie=Ie> m=m=Mb@Mb@Mb@ )Y`"?sh|??{Gz?y7?=#< -@)@IyI5I5E4٢E=M= E!=9UQ U>Ya G٣AGy > Nusing accuracyPremultiplier from config 49 B?4Y ˰ i vB 9?:? D ; ; i4) -` A-EZjiuFNOT Ignoring new targets: 312.10 m.Bjuj;Jjuj; ProNav: ac range: 312.100006 m, nav range: 165.148376 m, bearing: 316.428859 deg, approach rate: -0.049154 m/s, LOS rate: 0.249018 deg/s, cmd heading: 226.348672 deg, new cmd heading: 226.745925 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7518792j*<HeadingCmd: 3.957463 target range: 312.100006 and range: 312.10 m. jG}@jjjihhhhBfffrfbf@f?ɛ{B; 隕d=I iɚiIg=Iii[ N)G}@)*FQ2FQ:FQBFQJFQG-2GBO> ]$?Iau Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004124l0w,hAk@YOy@<;9->yHi@x?@X%?}s?@?ɨk@Œ;CyʁBII-I-4٢== E[=9EL;Q E>II MG٣IyM M> ]Nusing accuracyPremultiplier from configYe49] B?e4Y] i]vBaem?]D]e:]C:]o4q uAZHRHHI IIIBI0 =&I.I6I<:I FBIaJIaRIaZIe1 =bIe2 =jIeА5-EZjFNOT Ignoring new targets: 312.10 m.Bj;Jj; ProNav: ac range: 312.100006 m, nav range: 165.131790 m, bearing: 316.516649 deg, approach rate: -0.043790 m/s, LOS rate: 0.231800 deg/s, cmd heading: 226.745929 deg, new cmd heading: 227.009325 deg. 2j<HeadingCmd: 3.962060 target range: 312.100006 and range: 312.10 m. je}@jjjihhhhfff rf bf -.@ɛy; 隅>I y4ɚiIRa=IOiBiv`)e}@)*F]?2Fa:FaBFel0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255687J=J=)J9J9J=;J=:J9J9J=ok<J=pk<J=;J=;GE o5GM ?GM >G B O% > I II 6w,_hA21k@Y2y@2;92Є>y2H!?Wp )`?и?~t`?@?ɨ21k@2ڥ;2CyVՁBVIIbIb4٢-`= P=9 !9Q  > G٣y%m %> -Nusing accuracyPremultiplier from config!549%A?54Y% i%vB155?%D% ;% ;%v4A EZAAZjimFNOT Ignoring new targets: 312.10 m.Bjmқ;Jjuқ; ProNav: ac range: 312.100006 m, nav range: 165.114120 m, bearing: 316.615109 deg, approach rate: -0.048891 m/s, LOS rate: 0.272462 deg/s, cmd heading: 227.009328 deg, new cmd heading: 227.304735 deg. 2j:<HeadingCmd: 3.967216 target range: 312.100006 and range: 312.10 m. j}@jjjihhhhfffrfbf @ɛ|B< 2>I vDɚiIU=I8iiv)}@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509104*Fu?2Fy:FyBF}72JFGIGBO>>zKNK 9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759836k@Y>[y@>;9>>y>H 2?c)!,ƹ?@ tn? ?ɨ>k@>x;>CyNBNI)P PPRA-Mb@Mb@Mb@))) )))Y-㥛 ?~jt?YY ]G٣]AGy]_: e> mNusing accuracyPremultiplier from config Ia49eA?4Ye` ievB 5? :  ?eDe)~@jjjihhhh3Bfffrfbf@ɛ< 隥jS>I 4ɚiID=Iii-)6>~@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012894*F5?2F1:F9BF=0JF9H">IC IIIBI1 =&I.I3D6Iɰ<:I FG} ]G G rAGQ Ba O >Cw,#iA6-k@Y6z@6墓;96>y6H@q @c? 1 s?Xtr? ?ɨ6-k@6e;6CyBBBIIJIJ4RWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263798٢Z= ZU=9Z?Q Z>J%J%J%0J!J%;J%:J%ـ3J!J%d<J%d<J%;J%;\1 ]G٣Yye; e> mNusing accuracyPremultiplier from configiu49mA?u4Ym imvB?mDm;m;m4 :AZjFNOT Ignoring new targets: 312.10 m.Bj;Jj;- ProNav: ac range: 312.100006 m, nav range: 165.105591 m, bearing: 316.816393 deg, approach rate: -0.011922 m/s, LOS rate: 0.272704 deg/s, cmd heading: 227.610180 deg, new cmd heading: 227.908593 deg. 2j-';I '~ɚiI'=I5*i55ni=3H)=~@)9*F?2F:FBF@5JF $?IG!rGyBO^>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:21:26:59.1292 ]TRx dataTimestamp_ set to:1736371620.508770echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516941Iw,}(iARVl@YRPuz@RB;9RR>yRH | ?u@_Q+@?RpVL?`J?ɨRVl@R^;RCzKnk3IKnh9KlKnKnyz B~IMb@Mb@Mb@ )Yq= ףp? rh?~jt?y+?C<D<`A C@)I@I@y@II4٢= :=9tQ > G٣yS< > Nusing accuracyPremultiplier from config49*A?4Y8 ivB+?:;?D;;d4 AEZjFNOT Ignoring new targets: 312.10 m.Bj;Jj;- ProNav: ac range: 312.100006 m, nav range: 165.112244 m, bearing: 316.913574 deg, approach rate: 0.015502 m/s, LOS rate: 0.226443 deg/s, cmd heading: 227.908591 deg, new cmd heading: 228.200120 deg. 2j5g<5HeadingCmd: 3.982843 target range: 312.100006 and range: 312.10 m. j5~@j9j9j9i9h9h9hAhE|Bfqfqfqrfqbf}`.@Will construct direction to contact in vehicle frame from tetrahedron phase data.ձiյAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.768125ɛ u< >I nɚiI =I8imiO )~@) *F ?2F :F BF 5JF  $?IgG% G B O% >e Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:26:59.1292 LVL= 19168, 25457, 22306, 25507, AGC= 66, IDX= 279,-0.09, 1.646, 0.143,-0.612,-0.274, PHS= 2.008, 0.464,-0.341, RAW= 70.3, -20.0, CAL= 83.8, -28.0, ROT= 66.2, 28.0  Ygot valid direction response: 21:26:59.1292 LVL= 19168, 25457, 22306, 25507, AGC= 66, IDX= 279,-0.09, 1.646, 0.143,-0.612,-0.274, PHS= 2.008, 0.464,-0.341, RAW= 70.3, -20.0, CAL= 83.8, -28.0, ROT= 66.2, 28.0  PDAT read: Bearing 66.2, 28.0 (Local)  ~Local bearing/azimuth received: Bearing 66.2, 28.0 (Local)  DAT read: Range 10 to 50 : 338.2 m (Round-trip 451.0 ms) speed 0.4 m/s  ,DAT read: user:1775>  BDAT read: Tx time:21:27:00.2241  $Ping request sent. e e = ?e ¸ e 6?)e 5Ie h?ie 5>a a e E}q?|濾ʌie +_?e qga -Pw,BiAۑz:publishing transmit ping time9zFpublishing direction and range infoؑ9ؕݧsq?IkKj?k?yؑؑؑؑݺl@Yz@b4B;9>yH@/?@ 5u`MW?Fh@? ?ɨݺl@Nj;CyB Ii%=I%p; -=-a=He#>Ia Ie( IIe6BIe/ =&Ia.Ia6Iḛ<:Ie F ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑەE}q?|濾ʌ G٣AGyw< > -Nusing accuracyPremultiplier from config!-49%A?-4Y%v i%vBQUU?%D%%;%p;%4Y e,AeEk 3S;?k k kO@iA:kCBkCZk2@"[[@k `@=WUr@ݧsq?IkKj?k?Jk+_?Rkqg*9.36<%`|\Us@j+ٿDX^D?"kY*kkyG;?k:9 2k/Ck{ if?kk8CklCkYį@=addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 338.200012 m, deltaT: 4.032021 s, deltaX: 26.100006 m, approachRate: 6.473182 m/s, rangeRepo size: 4Zj9=FNOT Ignoring new targets: 312.10 m.BjE;JjE;u ProNav: ac range: 312.100006 m, nav range: 165.117615 m, bearing: 317.009826 deg, approach rate: 0.012792 m/s, LOS rate: 0.229239 deg/s, cmd heading: 228.200117 deg, new cmd heading: 228.488862 deg. 2juS<}HeadingCmd: 3.987883 target range: 312.100006 and range: 312.10 m. j}y9@jyjyjyiyhhhhfffrf@3#u@bfr?ɛIM~< QUf>IQ UtA]ɚQiQIU =Iu<iuMiuV)uy9@)*F?2F!:F!BF%^0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.*J=C="J9JJJJJ;J|:JJJcg<Jcg<J;J;G b I G B O >GVw,Ϥ\iA20m@Y2O{@2:92J >y2H V?`<}`\`?oQYe?ԛ?ɨ20m@2;2CyB/BB IIJIJ4٢V= V^=9V|Q Z>XX ZG٣Xy^T< ^> bNusing accuracyPremultiplier from config`f49bA?f4Yb ibvBhjcj?b(Db:be:b䙝4nB nArEZjFNOT Ignoring new targets: 312.10 m.Bj;Jj;- ProNav: ac range: 312.100006 m, nav range: 165.120941 m, bearing: 317.093250 deg, approach rate: 0.009952 m/s, LOS rate: 0.249583 deg/s, cmd heading: 228.488857 deg, new cmd heading: 228.739122 deg. 2j-I+<5HeadingCmd: 3.992251 target range: 312.100006 and range: 312.10 m. j5 @j1j1j1i1h1hhhfffrfbf@?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛY]64< Y]߱>IY eTMɚaiaIeԍ =Iii }) @)*Fa2Fa:FaBFm_0JFi"G=GzKQKU9KQKUKUBKerA:KaG-  Will construct direction to contact in vehicle frame from tetrahedron phase data.GA BQ Om >\w,}viAV]m@YV{@VWp'9VJ>yVH!~}?@"컿` 8ѻ? D?1? Q?ɨV]m@V;VCyb>Bb2 IUMb@Mb@Mb@QQQ Q m $?Ii)QYU? rh G٣yPj< > Nusing accuracyPremultiplier from config49KA?4Y ivB&?:?:D;c;v4 AZjFNOT Ignoring new targets: 312.10 m.Bju؀;Jj}؀; ProNav: ac range: 312.100006 m, nav range: 165.144928 m, bearing: 317.190710 deg, approach rate: 0.055457 m/s, LOS rate: 0.225292 deg/s, cmd heading: 228.739128 deg, new cmd heading: 229.031463 deg. 2j<HeadingCmd: 3.997353 target range: 312.100006 and range: 312.10 m. j@jjjihhhhBfffrfbf?ɛ ~B< >I 8ɚiI:: =I5Ki=| i=z)=@)9*F2F :F BF `0JF 5Will construct direction to contact in vehicle frame from tetrahedron phase data.HqIq Iuf IIuiBIq&Iq.Iq6Iu<:Iu FG|G B O >cw,XiA6m@Y6|@6A96$>y6H`X -?`漿@ j ?Fc?{?g?ɨ6m@6;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yFWBFQ I)H HLLIRIR4٢Z> ZZ=9ZQ ^>`` bG٣`yf< f> jNusing accuracyPremultiplier from confighn4J|J~BA9jA?]4Yjh ijvBy}s}?jIDjI h"ɚiI =IaiI1"iZt)@) e $?Ia*F2F:FBFo0JF5Will 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% yGI By O >&jw,=iAV!n@YVշ|@V=9V)>yVH^!?@溽?g??`?ɨV!n@VZ;VCybcBb_ IUMb@Mb@Mb@QQQ Q)QYUQ?x&~jth?yU(?U7UD;U A UZ@)QIQQyU=@ImIm 4zKuBoIKuh9KqKuKu?_+RK?JK?٢]= ==9'Q > G٣AGyi< > Nusing accuracyPremultiplier from config49yA?4Y ivB?:\?ZD;p;4 AZjFNOT Ignoring new targets: 312.10 m.Bjjq;Jjjq; ProNav: ac range: 312.100006 m, nav range: 165.198334 m, bearing: 317.366650 deg, approach rate: 0.078032 m/s, LOS rate: 0.211060 deg/s, cmd heading: 229.285680 deg, new cmd heading: 229.559188 deg. 2j<HeadingCmd: 4.006564 target range: 312.100006 and range: 312.10 m. j5@jjjihhhhBfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742903J J (J 1J J ;J 9:J 3J a@a@a@a@ɛ!y< 隅A>I $ ɚiIig =I*i#iV4d)5@)*F2F:FBFp0JFG! G! YIYGE !rG B! = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994890OU >pw,iAyrpBvp IZH RH H$>I I IIBI&I.I6I<:Iz FqvAI PYvAyBI4٢g= D=9Q >    G٣ y  > Nusing accuracyPremultiplier from config%49niA?%4Y> ivB!!%?kD.::䶝41 5AEEZj%FNOT Ignoring new targets: 312.10 m.Bj-pp;Jj-pp;= ProNav: ac range: 312.100006 m, nav range: 165.231339 m, bearing: 317.454879 deg, approach rate: 0.078651 m/s, LOS rate: 0.210209 deg/s, cmd heading: 229.559188 deg, new cmd heading: 229.823821 deg. 2j=CI z^ɚiIl =IhiQr%ix)[@)*F ?2F :F BF1JFGdeGBOb>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252571 I II "ww,iA2o@Y23~@2߲292Z/>y2H`V@,A? `K@?ZVf??&?ɨ2o@2;2CyBBB I Fa=DIJIJ~4٢b= f`=9f9Q f>hh jG٣hyjt= n> vNusing accuracyPremultiplier from configpv49rA[A?v4Yr" irvBxzz?ryDr*:rn:rD4 AZjFNOT Ignoring new targets: 312.10 m.Bju;Jju;%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504425- ProNav: ac range: 312.100006 m, nav range: 165.255615 m, bearing: 317.532031 deg, approach rate: 0.067559 m/s, LOS rate: 0.214672 deg/s, cmd heading: 229.823817 deg, new cmd heading: 230.055236 deg. 2jUS<]HeadingCmd: 4.015221 target range: 312.100006 and range: 312.10 m. je|@jajajaiihihhhfffrfbf`k@ɛBO= 隍%?I ɚiIEq =IT&i&i.1)|@)zKXLK9KKKBKqA:K*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756098JM JM JM 0JI JM ;JM z:JM ـ3JI G ]dG B O >}w, miA  $?IF4p@YF~@FyFH@vc@Zt?5=` @#? Enh?@ ??ɨF4p@F;DyRBR IuMb@Mb@Mb@qqq q)qYu\(\?"~j~jtyu?uS㽹uDu A uC@)u`@Iu@qyu@II4٢< 2=9KQ > G٣AGy< > Nusing accuracyPremultiplier from config49HA?4Y ivB~?:?D;c;Aŝ4B AEZj FNOT Ignoring new targets: 312.10 m.Bj x;Jj x; ProNav: ac range: 312.100006 m, nav range: 165.302353 m, bearing: 317.628058 deg, approach rate: 0.105922 m/s, LOS rate: 0.217566 deg/s, cmd heading: 230.055224 deg, new cmd heading: 230.343223 deg. 2jP<%HeadingCmd: 4.020247 target range: 312.100006 and range: 312.10 m. j%ޥ@j)j)j)i)h)h)h1h5&Bf1f1f9rf9bf=@ɛ  z= +< [?I  $kɚiIO =IiH'i@+)ޥ@)!E)E)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.007819*F2F:FBF4JF"G=G=GlSH9I9 I= II=ĂBI=. =&I9.I96I=<:I= FBIƛCJIƛCRIZI/ =bI/ =jIP`5GqByO]> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:27:03.0425  TRx dataTimestamp_ set to:1736371624.292553 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259790w,$+jA:Rq@Y:q@:Ko9:Xa2>y:HK A?@[`?rm?M/? ?ɨ:Rq@:;:CyB II5I54٢l< I=9x׺Q > G٣y< > Nusing accuracyPremultiplier from config498A?4Y ivB  ?DP;r;l̝41 5A9]B*** querying acoustic contact ***jYjYZjaeFNOT Ignoring new targets: 312.10 m.Bjmm;Jjmm; ProNav: ac range: 312.100006 m, nav range: 165.341934 m, bearing: 317.714323 deg, approach rate: 0.095365 m/s, LOS rate: 0.207791 deg/s, cmd heading: 230.343212 deg, new cmd heading: 230.601941 deg. 2j<HeadingCmd: 4.024763 target range: 312.100006 and range: 312.10 m. jʀ@jjjihhhhfffrfbf @  $?Igɛ]B]x= Y]?IY e)ɚaiaIes =Imiڢ(i)ʀ@)*F?2F:FBF3JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510863G% 3G! BQ O >$w,-jAzKBoIKػ9KKKW~iWI<1& RK?JK>$q@Yl@O9$3>yH?ׄ A9?F7q?^G??ɨ$q@;騱yB IUMb@Mb@Mb@QQQ Q)QYU9v?S㥛~jtyU?U$UUE A UZ@)QIU@QyU@ImIm4٢}< }?=9}#Q }> G٣y< > Nusing accuracyPremultiplier from config49&A?4Y ivB?:?D;;ӝ4 AEWill construct direction to contact in vehicle frame from tetrahedron phase data.J3K K(.KK"KJMJIJM1JIJM5;JIJM3JIDAT read: 21:27:03.0425 LVL= 14320, 24913, 21490, 23587, AGC= 70, IDX= 62,-0.37, 1.779, 0.563,-0.195, 0.730, PHS= 1.137,-0.121,-0.929, RAW= 67.2, -1.0, CAL= 71.9, -5.1, ROT= 78.1, 5.1 Ygot valid direction response: 21:27:03.0425 LVL= 14320, 24913, 21490, 23587, AGC= 70, IDX= 62,-0.37, 1.779, 0.563,-0.195, 0.730, PHS= 1.137,-0.121,-0.929, RAW= 67.2, -1.0, CAL= 71.9, -5.1, ROT= 78.1, 5.1 PDAT read: Bearing 78.1, 5.1 (Local) ~Local bearing/azimuth received: Bearing 78.1, 5.1 (Local) DAT read: Range 10 to 50 : 310.6 m (Round-trip 414.2 ms) speed 0.0 m/s ,DAT read: user:1776> BDAT read: Tx time:21:27:04.1242 $Ping request sent. kkCkt@ addTargetRange:: Added new target pos. range: 310.600006 m, deltaT: 7.825723 s, deltaX: -1.500000 m, approachRate: -0.191676 m/s, rangeRepo size: 4  Added new target pos. range: 310.600006 m, bearing: 324.522384 deg, lat: 36.903742 deg, lon: -122.117252 deg, deltaT: 7.825723 s, deltaX: -1.500000 m, approachRate: -0.191676 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 310.60 m.BjJj  ProNav: ac range: 310.600006 m, nav range: 157.515366 m, bearing: 315.942258 deg, approach rate: 0.000000 m/s, LOS rate: 0.207791 deg/s, cmd heading: 230.601940 deg, new cmd heading: 230.899649 deg. 2j HeadingCmd: 4.029959 target range: 310.600006 and range: 310.60 m. jm@jjj9i9h9hAhIhMCBfIfQfQrfuis@bfu`ҳ?ɛB= ?I G8ɚiI =I4i)i?y )m@) I*Fm?2Fi:FiBFu2JFqGEG B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:27:04.1234 jH1 bH5 4<H9 I9  I= II= ݂BI9 &I9 .I9 6I= ǰ<:I= F=w,FjA65r@Y6Q@6@Ϝ961>y6HKN?@~l`W? s???ɨ65r@6w;4yBBB IIJIJ4٢Rm Vn=9ZݺQ Z?XX ^G٣^AGym< > %Nusing accuracyPremultiplier from config!549%A?54Y%A i%vBY]]?%D%;%;%ڝ4a eAaZjFNOT Ignoring new targets: 310.60 m.BjQ;JjQ;% ProNav: ac range: 310.600006 m, nav range: 157.546387 m, bearing: 316.018560 deg, approach rate: 0.099769 m/s, LOS rate: 0.245353 deg/s, cmd heading: 230.899654 deg, new cmd heading: 231.128515 deg. 2j%b(<-HeadingCmd: 4.033954 target range: 310.600006 and range: 310.60 m. j-&@j)j1jihhhhfffrfbfF?ɛ B Y%= 9=?I9 EO=9ɚAiAIEhb =IMhiMM*i]M)]&@)i%Will construct direction to contact in vehicle frame from tetrahedron phase data.E#=EE>  $?I *F) 2F) :F) BF- P0JF) G1  G5 rAGQ  Will construct direction to contact in vehicle frame from tetrahedron phase data.GIBQOu>6ߘw,&6ejAFr@YFB@F׻9FM0>yFH8?`Sʏ-`n?@z??P?ɨFr@F?n;DyNBN IIvIvE4٢%м ='=9EoQ >19 EG٣iy}Q< > Nusing accuracyPremultiplier from config49A?4YW ivB?D<;F4  AEZjQ]FNOT Ignoring new targets: 310.60 m.Bj`v;Jj`v; ProNav: ac range: 310.600006 m, nav range: 157.590790 m, bearing: 316.131573 deg, approach rate: 0.084654 m/s, LOS rate: 0.215398 deg/s, cmd heading: 231.128520 deg, new cmd heading: 231.467460 deg. 2j<HeadingCmd: 4.039869 target range: 310.600006 and range: 310.60 m. jF@jjjihhhhfffrfbfo?ɛBg< 隕H>I f:ɚiI=I}i*i)F@)zK5wMK59K1K5K5E(<5Will construct direction to contact in vehicle frame from tetrahedron phase data.*FQ2FQ:FQBFU_0JFYJuJuJqJqJu;Ju :JqJqGeW`G B) OE > I w,c~jAy~tB~t Ii=I>? = =Mb@Mb@Mb@ )Yd;O?nX9vy?V\ A C@)v@Iyp@II4٢Y B=9Q > G٣y > Nusing accuracyPremultiplier from config490@?4Y imvB#?:O?D=;^;;4 {AZjFNOT Ignoring new targets: 310.60 m.Bj{;Jj%{;- ProNav: ac range: 310.600006 m, nav range: 157.624527 m, bearing: 316.210863 deg, approach rate: 0.093426 m/s, LOS rate: 0.219524 deg/s, cmd heading: 231.467461 deg, new cmd heading: 231.705278 deg. 2j5<=HeadingCmd: 4.044020 target range: 310.600006 and range: 310.60 m. j=h@j9j9j9i9h9hAhAhE1BfAfIfIrfIbfM@ ?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛB= >I O:ɚi!I%o@=I%zNi-p+i- )-h@))E1E1*E9"E9HI I IIBI&I.I6I<:I F*Fi2Fi:FqBFqJFqE Will construct direction to contact in vehicle frame from tetrahedron phase data.G] UGa Ge pA $?I GQ BY Ou >{w,.jA:Nt@Y:[@:9:)}(>y:Hx?@@`u?`\}?@6?`&?ɨ:Nt@:(;8yZfBZc IIbIb.4٢nX nF=9nQ n>pp rG٣rAGyv= v> zNusing accuracyPremultiplier from configx~49z@?~4Yz izXvB|~?zDz:z:z4 B A E5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 310.60 m.BjEu;JjEu;] ProNav: ac range: 310.600006 m, nav range: 157.656418 m, bearing: 316.299674 deg, approach rate: 0.077153 m/s, LOS rate: 0.214815 deg/s, cmd heading: 231.705288 deg, new cmd heading: 231.971666 deg. 2j]m<]HeadingCmd: 4.048669 target range: 310.600006 and range: 310.60 m. je@jajajaiahahahihifqfqfqrfqbf} >?ɛB= 隥>I r:ɚiI=IOiʩ+i}T)@)E*F-?2F):F)BF50JF1"G==G==G~Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GBO#>zK jIK 9K K K 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.1 i1 = checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995823w,ZjAy%XB%R IMb@Mb@Mb@ )Y ףp= ?Zd;~jtyQ? A p@)I@Iyz@II4٢+x :=9Q > G٣y >  Nusing accuracyPremultiplier from config 49 @?4Y  i @vB?:? D ; 1; 4! %\A!ZjI ]$?IYFNOT Ignoring new targets: 310.60 m.BjA{;JjA{; ProNav: ac range: 310.600006 m, nav range: 157.682312 m, bearing: 316.395851 deg, approach rate: 0.059151 m/s, LOS rate: 0.219665 deg/s, cmd heading: 231.971666 deg, new cmd heading: 232.260147 deg. 2j <5HeadingCmd: 4.053704 target range: 310.600006 and range: 310.60 m. j=@j9j9j9i9h9hAhIhmBfqfyfrfbf@ɛmBm< imk>Iq u:ɚqiqIu-=I}Яi}%,i}&)}@)*F=?2F9:FABFEo0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247622H%>I I IIӂBI- =&I.I6I<:I~ FGe wGA BI Oe >:w,jA>xu@Y>@>o9>v">y>HGv!? M`fS3 rw? s?$+??ɨ>xu@>pU;>CyJBBJ7 ILNAIRIR4٢Z Za=9^;Q ^>`` bG٣`ybL6= f> jNusing accuracyPremultiplier from configdj49f(@?n4Yf_ if,vBlnr?f Df5;f;f4t vAvEZj%FNOT Ignoring new targets: 310.60 m.Bj%z;Jj-z;5 ProNav: ac range: 310.600006 m, nav range: 157.700684 m, bearing: 316.475657 deg, approach rate: 0.050438 m/s, LOS rate: 0.219077 deg/s, cmd heading: 232.260146 deg, new cmd heading: 232.499533 deg. 2j5YI ;ɚiI=I]kih,i- ),ځ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500679*F5?2F1:F1BF5Z5JF1JJJJJ;J~o:JJJY III Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758087w,jA%"v@Y% @%Hg9%>y%HB`+A? 5 ɍ`p ?l???ɨ%"v@%j;%Cy]1B]" IMb@Mb@Mb@ )YʡE?ʡE~jty?- )IyI-I-g4٢=nj E'=9E;Q E>II MG٣MAGyU(< U> eNusing accuracyPremultiplier from configYm49]4@?m4Y] i]vBm?m:m"m?]D];];]4q }AyZjFNOT Ignoring new targets: 310.60 m.BjS;JjS; ProNav: ac range: 310.600006 m, nav range: 157.705673 m, bearing: 316.586236 deg, approach rate: 0.010204 m/s, LOS rate: 0.226132 deg/s, cmd heading: 232.499530 deg, new cmd heading: 232.831255 deg. 2j1<HeadingCmd: 4.063672 target range: 310.600006 and range: 310.60 m. j @jjjihhhh߁Bffyfyrfybf}@zKKK+9KKK",eKqX=) ɛBv< O>I $;ɚiI_=I i+i) @)EEsA5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012841*F)2F):F)BF-0JF)G1 G5sA -$?I-gG G B O >w,d$kABEv@YBP@B(9BM>yBH:]? U $?e?@?@?ɨBEv@BԵ;BCyNBNIIVIV~4٢^& ^m=9b6;Q b?`` fG٣dyf< f?jWill construct direction to contact in vehicle frame from tetrahedron phase data.nBDAT read: Rx Time:21:27:06.9416 rTRx dataTimestamp_ set to:1736371628.092712rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264732 vNusing accuracyPremultiplier from configt) C 49v@?4Yv. ivvB)HI I IIBI&I.I6I<:I F  ?v+Dv"=v"(= =Y9y=Bv 4a uAN@}BEZj%FNOT Ignoring new targets: 310.60 m.Bj-Y\;Jj-Y\;= ProNav: ac range: 310.600006 m, nav range: 157.708313 m, bearing: 316.664551 deg, approach rate: 0.006494 m/s, LOS rate: 0.192645 deg/s, cmd heading: 232.831259 deg, new cmd heading: 233.066196 deg. 2j=5I  R2;ɚiI=IS i[+i7ӻ)1+@)*F?2F:FBFP5JFG^GiBqO}>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515571JJ J0JJ;Jlm:Jـ3JJX<JX<J;J; a Ia "w,kA2v@Y2S@2lN92*>y2H`~?B `{a?iV?@S?`4?ɨ2v@2-9;2CyRBRIiV=IV=IZIZ4٢f< fJ=9jC;Q j>hh jG٣lyrօ< r> vNusing accuracyPremultiplier from configtz49v@?z4Yv ivuB|~Y~?v;DvW;v;v4 A %B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 310.60 m.Bj=Y;Jj=Y;M ProNav: ac range: 310.600006 m, nav range: 157.710129 m, bearing: 316.755546 deg, approach rate: 0.005281 m/s, LOS rate: 0.264639 deg/s, cmd heading: 233.066190 deg, new cmd heading: 233.339171 deg. 2jM5I t<;ɚiI=ID{ i+i)j)9R@)*F5?2F1:F1BF5_0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771202G}GIBYOu>zKE \OKE ]9KA KE KE  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:27:06.9416 LVL= 17392, 29057, 21618, 29635, AGC= 65, IDX= 437, 0.07,-2.810, 2.039, 1.583, 2.434, PHS= 1.127,-0.347,-0.854, RAW= 75.8, 0.8, CAL= 80.8, -3.1, ROT= 69.2, 3.1  Ygot valid direction response: 21:27:06.9416 LVL= 17392, 29057, 21618, 29635, AGC= 65, IDX= 437, 0.07,-2.810, 2.039, 1.583, 2.434, PHS= 1.127,-0.347,-0.854, RAW= 75.8, 0.8, CAL= 80.8, -3.1, ROT= 69.2, 3.1  PDAT read: Bearing 69.2, 3.1 (Local)  ~Local bearing/azimuth received: Bearing 69.2, 3.1 (Local)  DAT read: Range 10 to 50 : 309.9 m (Round-trip 413.3 ms) speed -0.1 m/s  ,DAT read: user:1777>  BDAT read: Tx time:21:27:08.0242  $Ping request sent. :publishing transmit ping time1>Fpublishing direction and range info9J ono.u?:?yCCq rT)sIAiA?ZV?d< J?)k]I#?ik]=ځ:=?e6mT>`O@?)PEIxpi5?ŚJ:publishing transmit ping time1JFpublishing direction and range info9J ono.u?:?y )Ii )Iiځ:=?e6mT>`O@?)Ii |I 3w@Y ⨂@  9 v>y H@v`?@ @*ڶ? 4? [?`š?ɨ 3w@ ; yEBEIMb@Mb@Mb@ )Yv/?kt+yx)? 0 A -@)3@I@y=@II&4٢K "=9;Q >    G٣ AGy < > Nusing accuracyPremultiplier from config%49@?E4Y& iuBE*?M:MWM?QDx;;4]B ]A]Ek1vU?kK2 k kB6kA:kCBkCZk@"9'7ۀZ@r r@J ono.u?:?Jk5?RkŚ*zP@2 Fg1 Zr@zt?u||nadA?"k=*kBk-_U?k=^ 2kԷCk߼s[?kBj kCkCkƬ@ addTargetRange:: Added new target pos. range: 309.899994 m, deltaT: 4.041838 s, deltaX: -0.700012 m, approachRate: -0.173192 m/s, rangeRepo size: 4 % Added new target pos. range: 309.899994 m, bearing: 344.796599 deg, lat: 36.903442 deg, lon: -122.117162 deg, deltaT: 4.041838 s, deltaX: -0.700012 m, approachRate: -0.173192 m/s, posRepo size: 4 Zj!-FNOT Ignoring new targets: 309.90 m.Bj-Jj)e ProNav: ac range: 309.899994 m, nav range: 128.994324 m, bearing: 309.353532 deg, approach rate: 0.000000 m/s, LOS rate: 0.264639 deg/s, cmd heading: 233.339179 deg, new cmd heading: 233.757172 deg. 2jamHeadingCmd: 4.079832 target range: 309.899994 and range: 309.90 m. jm@jijijiiihihqhqhupBfqffrf`f^s@bfz?ɛBlX< b->I H;ɚiI=I i+ia)@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I II}BI&I.I6Iٰ<:I FBIaJIaRIaZIe- =bIe. =jIe4*F2F:FBF4JFG XGQ Ba O} > Lw,RkAymʁBmIII4٢# r=9Q ? G٣y ? Nusing accuracyPremultiplier from config49{@?4Yi+ iuB-Will construct direction to contact in vehicle frame from tetrahedron phase data.?_D<<s#41 5A9JJJ1JJ ;Jq:J3JJ#S<J$S<J;J;ZjFNOT Ignoring new targets: 309.90 m.Bj;Jj; ProNav: ac range: 309.899994 m, nav range: 128.950058 m, bearing: 309.451264 deg, approach rate: -0.132194 m/s, LOS rate: 0.291964 deg/s, cmd heading: 233.757159 deg, new cmd heading: 234.050452 deg. 2j_H<HeadingCmd: 4.084951 target range: 309.899994 and range: 309.90 m. j뷂@jjjihhhhfffrfbfH? $?Iɛ5B5Q=< Y隥h=I M;ɚiIq=Iޯ i+iO)뷂@)*Fm?2Fi:FiBFu_0JFqGEgGB)Oe> Will construct direction to contact in vehicle frame from tetrahedron phase data.}rw,kkA"w@YkԂ@Ź9J>yH2?$ؾ@e@|`R?8? ??ɨ"w@Њ;騍CyޝBޝI) ]Mb@Mb@Mb@YYY Y)YY]I +?Mbp?Mby]94?];]] A ]C@)]@I]@Yy]@I}I}E4٢ >=9 Q > G٣yWJ< > Nusing accuracyPremultiplier from config49l@?4Y1 iuBi4?: ?sD;;*4 j AEZjFNOT Ignoring new targets: 309.90 m.Bj²;Jj²; ProNav: ac range: 309.899994 m, nav range: 128.870209 m, bearing: 309.579735 deg, approach rate: -0.194152 m/s, LOS rate: 0.312568 deg/s, cmd heading: 234.050447 deg, new cmd heading: 234.436092 deg. 2jV< HeadingCmd: 4.091681 target range: 309.899994 and range: 309.90 m. j @j j j i hhhh8Bfffrfbf?ɛMBM. < IU =IQ UjmQ;ɚQiQIUU=I]A iYi]f[)]@zKBHK 9KKK)EWill construct direction to contact in vehicle frame from tetrahedron phase data.AiEA*F?2F:FBF`0JF $?IG G B O >Uw,kARWill construct direction to contact in vehicle frame from tetrahedron phase data.y~B~kII I 4H!I! I%4 II%@BI!&I%GD.I!6I%ݰ<:I% F٢E Mb=9MQ U>QQ UG٣UAGy] ]> eNusing accuracyPremultiplier from configam49e8`@?m4Yeb7 ieuBqqu?eDe":e:e914! -J A)ZjQ]FNOT Ignoring new targets: 309.90 m.Bje;Jje;m ProNav: ac range: 309.899994 m, nav range: 128.802780 m, bearing: 309.689150 deg, approach rate: -0.175277 m/s, LOS rate: 0.284568 deg/s, cmd heading: 234.436080 deg, new cmd heading: 234.764493 deg. 2juKC<}HeadingCmd: 4.097414 target range: 309.899994 and range: 309.90 m. j}@jyjyjyiyhyhhhfffrfbf)?ɛBr; 隽UWill construct direction to contact in vehicle frame from tetrahedron phase data.JJ JJJ;JYk:JJJM<JM<JN;JO; I gw,skA6w@Y6@6Y:96]>y6H'?` .``~? \m??ɨ6w@6;6CyfBfdIInIn%4٢vU vP=9v;Q z>xx zG٣xy~lb< ~>  Nusing accuracyPremultiplier from config 49R@?4YZ= iuBY ?D:*:84 %w A!MB*** querying acoustic contact ***jIjIZjQUFNOT Ignoring new targets: 309.90 m.Bje;Jje;u ProNav: ac range: 309.899994 m, nav range: 128.729050 m, bearing: 309.807447 deg, approach rate: -0.198774 m/s, LOS rate: 0.319105 deg/s, cmd heading: 234.764503 deg, new cmd heading: 235.119592 deg. 2juZ<}HeadingCmd: 4.103611 target range: 309.899994 and range: 309.90 m. j}P@jyjyjyiyhyhhhfffrfbf`?ɛB,f; ;I ~R;ɚiI@=I%~ i ,i6)P@)*Fm?2Fq:FqBFu2JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G_GBO>zK RIK 9K K K e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002844Qw,2UkA (I(y޵B޽KIi >I>}Mb@Mb@Mb@yyy y)yY}/$?:v?I +y} G٣y > Nusing accuracyPremultiplier from config49D@?4Y E iuB9=?:c?D(;;#@4  AEZj FNOT Ignoring new targets: 309.90 m.Bj Ѳ;JjѲ; ProNav: ac range: 309.899994 m, nav range: 128.618484 m, bearing: 309.951113 deg, approach rate: -0.240424 m/s, LOS rate: 0.312670 deg/s, cmd heading: 235.119591 deg, new cmd heading: 235.550951 deg. 2j%V<%HeadingCmd: 4.111140 target range: 309.899994 and range: 309.90 m. j%u@j)j)j)i)h)h)h1h5Bf1f9f9rf9bf={:@ɛ}B4: _=  I  3P;ɚ i I D=I i͗,iRμ)u@)!*F?2F:FBF_1JFGS.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256882HE&>IA IEIIEBIA&IA.IA6IE<:IE FGqByO>Gw,,kA:x@Y:@:k;9: >y:HT ?@굽W@{T?%v [??ɨ:x@:蛊;8y^|B^DIIfIf4٢rA rm=9r3; ~? Nusing accuracyPremultiplier from config 498@? 4YJ iuB  B ?D:X:.F4B L AZjAEFNOT Ignoring new targets: 309.90 m.BjM7;JjM7;] ProNav: ac range: 309.899994 m, nav range: 128.535645 m, bearing: 310.058897 deg, approach rate: -0.239346 m/s, LOS rate: 0.311617 deg/s, cmd heading: 235.550958 deg, new cmd heading: 235.874515 deg. 2j]U Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759325w,ikA%w@Y @;9+~ >yH@?` `]?XzH??ɨ%w@R);騁yxB>IMb@Mb@Mb@ )Y}?5^I?Zd;O?I +yMB?j=94IA )@I@y @IIv4٢D 0=9[:Q > G٣yú > Nusing accuracyPremultiplier from config49*@?4Y S iuBC?:A?D;;NN4B w AEZjFNOT Ignoring new targets: 309.90 m.Bj%;Jj%;5 ProNav: ac range: 309.899994 m, nav range: 128.405563 m, bearing: 310.206442 deg, approach rate: -0.279766 m/s, LOS rate: 0.317646 deg/s, cmd heading: 235.874518 deg, new cmd heading: 236.317591 deg. 2j5Y<=HeadingCmd: 4.124520 target range: 309.899994 and range: 309.90 m. j=@j9j9j9i9hAhAhIhMπBfQfQfQrfQbf]<@ɛB s 隍0}I B&J;ɚiIs=I' i<-i@)@)zK]k3IKYKYK]K] Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010954*F]?2FY:FYBF]A4JFYJJ J0JJJOj:Jـ3Ja@a@a@a@ 9I9GEN޼G BO5q>w,lA6w@Y6S @6<9;96>y6H`e +?["^G?@~/??ɨ6w@6kf;4BWill construct direction to contact in vehicle frame from tetrahedron phase data.BBDAT read: Rx Time:21:27:10.8408 FTRx dataTimestamp_ set to:1736371632.124511Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263761yJpBJ4I)P PPRAH`IbC IbIIbځBIb, =&I`.I`6Ibհ<:Ib FIZIZ4٢rA: vn=9vIT;Q v?xx zG٣xyz` ~? Nusing accuracyPremultiplier from config 49/ @? 4YY iuB  C ?D::LT4  AZj9EFNOT Ignoring new targets: 309.90 m.BjMJ;JjMJ;} ProNav: ac range: 309.899994 m, nav range: 128.310165 m, bearing: 310.315483 deg, approach rate: -0.254195 m/s, LOS rate: 0.290762 deg/s, cmd heading: 236.317578 deg, new cmd heading: 236.644940 deg. 2j}G<HeadingCmd: 4.130233 target range: 309.899994 and range: 309.90 m. j*@jjjihhhhfffrfbf`W @ɛB(* ̡I p&F;ɚ i I =I i.i!)*@)E5e<=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516374*F2F:FBFP5JF 5 $?I1 G VG) G- rAG B!OM>%w,`$lABw@YB+ @BY<9B>yBH~ ?@C@=_`@?`@T??ɨBw@BՊ;BCyNrBN7IIVIV4٢^%< b0=9b:Q b>`d fG٣fAGyff, f> nNusing accuracyPremultiplier from confighr49j@?r4YjXa ijuBppr?jDjX:j:jh\4x z AxB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 309.90 m.Bj-;Jj-;Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:27:10.8408 LVL= 14160, 25665, 21858, 28787, AGC= 63, IDX= 412, 0.20, 0.382,-1.103,-1.450,-0.570, PHS= 1.041,-0.486,-0.883, RAW= 78.7, 3.8, CAL= 83.1, 1.8, ROT= 66.9, -1.8 Ygot valid direction response: 21:27:10.8408 LVL= 14160, 25665, 21858, 28787, AGC= 63, IDX= 412, 0.20, 0.382,-1.103,-1.450,-0.570, PHS= 1.041,-0.486,-0.883, RAW= 78.7, 3.8, CAL= 83.1, 1.8, ROT= 66.9, -1.8 PDAT read: Bearing 66.9, -1.8 (Local) ~Local bearing/azimuth received: Bearing 66.9, -1.8 (Local) DAT read: Range 10 to 50 : 309.3 m (Round-trip 412.5 ms) speed 0.1 m/s ,DAT read: user:1778> BDAT read: Tx time:21:27:11.9242 $Ping request sent.zK BJK h9K K K E Will construct direction to contact in vehicle frame from tetrahedron phase data.A iE AM JDAT read: TxSync time:21:27:11.9234 J J ?AJ J J 1J J J c:J 3J ! I! w,>lAy~B~HIuMb@Mb@Mb@qqq q)qYu/$?J +?yu1H?u=uq q)u3@Iqqyu@I I4٢\c= 0=9Q > G٣y > Nusing accuracyPremultiplier from config49W@?4Yi iuBI?:"?DQ;;d4 = AEkY%U?k! k k/(lA:kCBkCZk0="E_T)W@|_Ar@mT:uן+?)a!7?Jk3?Rk!*p&&=)P@xE=ڜ?@VMr@Qe? Mbj?-J?"k1@*kIBkJU?k<Α 2kCk-_U?kE kCk?Bkk@ addTargetRange:: Added new target pos. range: 309.299988 m, deltaT: 3.780087 s, deltaX: -0.600006 m, approachRate: -0.158728 m/s, rangeRepo size: 4 %G5vAMA }jY}vAy}BWill construct direction to contact in vehicle frame from tetrahedron phase data. Added new target pos. range: 309.299988 m, bearing: 2.463399 deg, lat: 36.903283 deg, lon: -122.116661 deg, deltaT: 3.780087 s, deltaX: -0.600006 m, approachRate: -0.158728 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 309.30 m.BjJjHI IIIƁBI&I.I6I<:Ih F  ProNav: ac range: 309.299988 m, nav range: 84.124840 m, bearing: 321.251833 deg, approach rate: 0.000000 m/s, LOS rate: 0.341976 deg/s, cmd heading: 237.088734 deg, new cmd heading: 237.581475 deg. 2j HeadingCmd: 4.146579 target range: 309.299988 and range: 309.30 m. jư@jj9j9i9hAhAhAhEBfIfIfIrfIbfMJ?ɛB%wܹ !%SI! %>;ɚ!i!I-~=I-)i1i5KX)5ư@)QEYEY*Ea"Ea*F} ?2Fy :Fy BF} _5JFy U Will construct direction to contact in vehicle frame from tetrahedron phase data.  I G}!G ?G>GYBaO ?'w,SalA6w@Y6@6t<96)>y6Hߒ?*`qiҮ?`f??ɨ6w@67;6CyBBBYIIJIJy4٢Rn= R,=9RQ V>TT VG٣TyZՉ Z> bNusing accuracyPremultiplier from config\f49^K??f4Y^r i^uBhjDj?^(D^E;^uE;^l4l n ArEZj FNOT Ignoring new targets: 309.30 m.Bj <Jj <% ProNav: ac range: 309.299988 m, nav range: 84.058319 m, bearing: 321.503494 deg, approach rate: -0.144578 m/s, LOS rate: 0.547398 deg/s, cmd heading: 237.581464 deg, new cmd heading: 238.337000 deg. 2j%ֻ<-HeadingCmd: 4.159765 target range: 309.299988 and range: 309.30 m. j-@j)j)j)i)h)h1h9h9f9f9f9rfAbfE@?ɛϘ: ͼI <;ɚiI"=Ii!i% )%@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG}|)GYBiO;>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.zKu :IKu ]9Kq Ku Ku J J J 0J J ;J \:J ـ3J $?I g#w,N{lA2Lw@Y2@2;92I>y2H $]?Wo omf@e?$|z`߷?§?ɨ2Lw@2;2CyrBrsIMb@Mb@Mb@ )YMb?ʡE?Q?yC?-=u< p@)I@yQ@II4٢W= 6=9uQ > G٣AGy > Nusing accuracyPremultiplier from config 49.?? 4Ymz iuB`D?:&?>DU;;t4 & A%EZjimFNOT Ignoring new targets: 309.30 m.Bjul<Jjul< ProNav: ac range: 309.299988 m, nav range: 84.003578 m, bearing: 321.734525 deg, approach rate: -0.121247 m/s, LOS rate: 0.512047 deg/s, cmd heading: 238.336992 deg, new cmd heading: 239.030500 deg. 2j<HeadingCmd: 4.171869 target range: 309.299988 and range: 309.30 m. j@jjjihhhhBfffrfbf&?ɛB; {$w,4lA6x@Y6@6;96 >y6H$|Z?-`^N ?`?~'??ɨ6x@6x;6CyRBVII^I^ 4٢fW= fa=9fk%;Q j>hh jG٣hyn< n> rNusing accuracyPremultiplier from configpv49r??v4Yrۀ iruBxzz?rPDr:rn:r{4| ~ AZj)5FNOT Ignoring new targets: 309.30 m.Bj5><Jj5> Will construct direction to contact in vehicle frame from tetrahedron phase data.++w,ٮlAF7bx@YFv@@F;9F>yFH`Y?D@6 *`?u~??ɨF7bx@F<;DyŕBrI  I-I-4٢e!= mA=9}+8Q }> G٣1y=9< E> Nusing accuracyPremultiplier from config49>??4Y$ iuB  ?gD{<K;34%B %AMùEeB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 309.30 m.Bj<Jj< ProNav: ac range: 309.299988 m, nav range: 83.901642 m, bearing: 322.164213 deg, approach rate: -0.118977 m/s, LOS rate: 0.500277 deg/s, cmd heading: 239.594867 deg, new cmd heading: 240.320291 deg. 2j<HeadingCmd: 4.194380 target range: 309.299988 and range: 309.30 m. j]8@jjjihhhhff f rf bf  @ɛUB]< Y]=IY ]jF;ɚYiYIe=Iiip)]8@) 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. iIizKuk3IKuh9KqKuKuJJJJJ:J]:JJ*F?2F:FBF_0JFG G B O >2w,alAH$I$ I&II&BI&+ =2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507345&I$.I$6I&ݰ<:I& FmEx@Ym}r@m;9m(n#>ymH 0@?? US ?%V}`vW??ɨmEx@m;mCyޅBޅI Mb@Mb@Mb@    ) Y V-?A`"?I +?y 99 =G٣=AGyEe< E> MNusing accuracyPremultiplier from configIU49M۾??U4YM% iMuB]=?]:]]?M{DM;MT&;M4i mAmĹEZjFNOT Ignoring new targets: 309.30 m.Bj <Jj I (N;ɚiI=I%i)i-?)-{@))*F?2F:FBFJFG$Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759420 YIaGBO>,;8w,lA:Ny@Y:@:.;9:+>y:H@?P'¿y✶? E{@^?،?ɨ:Ny@:;:CyFBFIININ4٢VE> V~=9ZͺQ Z ?\\ bG٣`yb< b ? fNusing accuracyPremultiplier from configdj49f??j4Yf ifuBln}n?fDf ;f ;f&4p rAtZj FNOT Ignoring new targets: 309.30 m.Bj<Jj<- ProNav: ac range: 309.299988 m, nav range: 83.834930 m, bearing: 322.535943 deg, approach rate: -0.092290 m/s, LOS rate: 0.503339 deg/s, cmd heading: 240.950578 deg, new cmd heading: 241.435902 deg. 2j-<-HeadingCmd: 4.213851 target range: 309.299988 and range: 309.30 m. j5׆@j1j1j1i1h9h9hAhAfAfAfArfIbfM@ɛqu?< y}LY>Iy }V;ɚyiyI}=Ioiiå)׆@)*F?2F:FBF_5JF"G=G=}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012638G孽GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:21:27:14.7394 - TRx dataTimestamp_ set to:1736371635.904612- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264348 E $?IE gzK K s9K K K g>w,klAny@Yn@nN;9nO3>ynH@7?ÿ `y?@wV?$?ɨny@nr6;nCyzBz Ii~?>I~<Mb@Mb@Mb@ )YDl?Mbp?yO-?< A )@I@y(@II4٢'= 7=9Q > G٣yU< >  Nusing accuracyPremultiplier from config 49 \??4Y  i uBn-?: ? D ; O; 4! %kA%ǹEZjIFNOT Ignoring new targets: 309.30 m.Bj<<Jj<< ProNav: ac range: 309.299988 m, nav range: 83.818993 m, bearing: 322.741708 deg, approach rate: -0.035812 m/s, LOS rate: 0.462438 deg/s, cmd heading: 241.435904 deg, new cmd heading: 242.053289 deg. 2j<HeadingCmd: 4.224627 target range: 309.299988 and range: 309.30 m. j%0@jjjihhhh āBf)f)f)rf1bf5\ @ɛi< 隽$}>I kDf;ɚiIU=Ilii)%0@)*F?2F:FBFC3JFHM'>II IM IIM'BII&II.IM4D6IM߰<:IM F}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516147G .qG B O >MEw,>mA2)z@Y2oW@2t;92=>y2HrSZ?Ŀ-@f?@s`? t?ɨ2)z@2Ƴ;0yR:BR. IIZIZP4٢b-> b`=9f$Q f>dh jG٣jAGyj< j> rNusing accuracyPremultiplier from configlr49nŚ??v4Yn inuBtv? v?nDn:n:nP4| ~oA| I Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775256J3K3 K/.KK"KJmJmJiJiJm:Jm[O:JiJiJm~9I ͖v;ɚiI3I=I.ii좵)x@)*F?2F:FBF@5JFGq  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:27:14.7394 LVL= 17824, 30257, 25650, 32403, AGC= 62, IDX= 429, 0.05, 1.819, 0.347, 0.185, 0.833, PHS= 1.074,-0.439,-0.651, RAW= 83.5, 0.2, CAL= 90.0, -4.1, ROT= 60.0, 4.1  Ygot valid direction response: 21:27:14.7394 LVL= 17824, 30257, 25650, 32403, AGC= 62, IDX= 429, 0.05, 1.819, 0.347, 0.185, 0.833, PHS= 1.074,-0.439,-0.651, RAW= 83.5, 0.2, CAL= 90.0, -4.1, ROT= 60.0, 4.1 GI BQ Om > PDAT read: Bearing 60.0, 4.1 (Local)  ~Local bearing/azimuth received: Bearing 60.0, 4.1 (Local)  DAT read: Range 10 to 50 : 308.2 m (Round-trip 411.0 ms) speed 0.3 m/s  ,DAT read: user:1779> = BDAT read: Tx time:21:27:15.8243 = $Ping request sent.E iٵ x?ٵ ྩٵ &ٵ q?ٵ d; ڵ ?)ڵ CIڵ ?iڵ C=ڱ ڱ ۵ n?%I㿶pl?)۵ "I۵ ci۵ ]?۵ *۱ ۱  :publishing transmit ping time9  Fpublishing direction and range infoر 9ص u.# l?CZ!?yر ر ر ر ٱ )ٱ Iٱ iٱ ٱ ٱ ٱ ٱ ڱ )ڱ Iڱ iڱ ڱ ڱ ۵ n?%I㿶pl?)۱ I۱ i۱ ۱ ۱ ۱ wKw,;0mA6"J{@Y6k@6?S;96 E>y6H`$?@Ŀ`;@?gjbz?h?ɨ6"J{@6 p;4yRKBVB II^I^?4٢A= ==9rQ > G٣y < > Nusing accuracyPremultiplier from config%493??-4Y iuBIM M?D ;;z4Y ]A]ʹEk!EE?kyU# k kɓ*mA:kCBkCZk2&?"Xۺ@ 8gDP@ёRr@u.# l?CZ!?Jk]?Rk**I  ;ɚiI=Iii')ć@zKBoIK9KKK)E*Fu?2Fy:FyBF}B5JFG GG jH= <bH= <HI II  IM ` IIM dBII &II .II 6IM <:IM o FGy B O >SRw,JmA Will construct direction to contact in vehicle frame from tetrahedron phase data.V{@YV@Vٕ_99V.J>yVH_?`sYſ&@b`m? +%?V`?ɨV{@VNӊ;VCybaBb] I)t tMb@Mb@Mb@ )Y)\(?X9vy&1?yG!?}`e<\ A )QAI@yf@I5I54٢E]= e==9eQ m>ii mG٣iyu< }> Nusing accuracyPremultiplier from config49??4Yۭ i"?:?DQ;Y;4 =AB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 308.20 m.Bj<JjI ;ɚiI=Iii3)@) *F?2F: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.J-J-J)J)J-:J-HM:J)J)J-4<J-4<J-U;J-U;  nManaging dock network, ignoring radio surface power offG} G ?G >G9 BA Oe >Xw,HNdmA6}|@Y6R@6{96D4P>y6HF@T? ~ƿXHE! ?O? ? ?W?ɨ6}|@6O;6CyRvBRx IIZIZ4٢b= bg=9f\Q f>dh jG٣jAGyj = j> rNusing accuracyPremultiplier from configpv49rs??v4Yr iruBxz z?rDr:r:r4B A̹EZjFNOT Ignoring new targets: 308.20 m.Bj<Jj< ProNav: ac range: 308.200012 m, nav range: 67.442764 m, bearing: 349.661440 deg, approach rate: 0.276161 m/s, LOS rate: 0.467669 deg/s, cmd heading: 243.668583 deg, new cmd heading: 244.171369 deg. 2jz<HeadingCmd: 4.261594 target range: 308.200012 and range: 308.20 m. j^@jjjihhhhfffrfbf`?ɛ%B%x-= !%>I! --;ɚ)i)I-!=I5ai1i59)5^@)9=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.958157*F?2F:FBFJFG .qGBO > $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.208547zK :IK 9K K K ^w,+~mAyB I Mb@Mb@Mb@    ) Y |?5^?:vMbP?y ? Խ : A Z@) hAI 3@ y QAI%I%҅4٢-N= 55=95Q 5>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU49M/e??U4YM iMuBUV?U:]]?MDMp;M5;M4a e6AeϹEZjFNOT Ignoring new targets: 308.20 m.BjP;JjP; ProNav: ac range: 308.200012 m, nav range: 67.578384 m, bearing: 349.852047 deg, approach rate: 0.314536 m/s, LOS rate: 0.441177 deg/s, cmd heading: 244.171367 deg, new cmd heading: 244.742022 deg. 2jc<HeadingCmd: 4.271554 target range: 308.200012 and range: 308.20 m. j@jjjihhhhsBfffrfbfRU?ɛ BF-= >I *Ť;ɚiI=Ii!i%Ľ)%@)!E1E5rA) %C-GvA*F2F:FBF`0JFA"GG= =aY=vAyEBH(>I I IIBI* =&I.I6I!<:I FEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.460764G- G B O- >uew,mA2L~@Y25@2!*92|W>y2H߿?1?mǿ޿?Ve?ʼ?`AK?ɨ2L~@2;2CyRBR IiV>IV> Zp=Zp=I^I^4٢f= fd=9jNQ j>hh jG٣hyn= n> rNusing accuracyPremultiplier from configpv49rY??v4Yr iruBxzz?rDr:r:r4 A )I-gWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712747Zj9FNOT Ignoring new targets: 308.20 m.Bjb;Jjb; ProNav: ac range: 308.200012 m, nav range: 67.681915 m, bearing: 350.005867 deg, approach rate: 0.286873 m/s, LOS rate: 0.425565 deg/s, cmd heading: 244.742016 deg, new cmd heading: 245.202758 deg. 2j<JJJJJk:JQN:JJJ%8<J%8<J:;J:;HeadingCmd: 4.279595 target range: 308.200012 and range: 308.20 m. jr@jjjihh!h!h!f)f)f1rf1bfUȓ?ɛy}m= 隅>I ;ɚiIy=I:iiJY)r@)E=*Fq2Fq:FqBFu_0JFyM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964866G] NG! B1 OU >5kw,mA2>9@Y2@2v)92X>y2H޿`g?uiǿ7.޿?@-2e? ?H?ɨ2>9@2I;2CyNBR II^I^4٢bֽ< fJ=9f38Q f>dh jG٣jAGyj= n> rNusing accuracyPremultiplier from configlv49npM??v4Yn inuBtvv?n DnL:n:nȞ4| ~AҹEZj%FNOT Ignoring new targets: 308.20 m.BjU;JjU; ProNav: ac range: 308.200012 m, nav range: 67.796288 m, bearing: 350.180186 deg, approach rate: 0.264125 m/s, LOS rate: 0.401883 deg/s, cmd heading: 245.202753 deg, new cmd heading: 245.724813 deg. 2j<%HeadingCmd: 4.288707 target range: 308.200012 and range: 308.20 m. j-=@j)j)j)i)h)h1h1h1f1f9f9rf9bf=(@ɛBȲ= >I џ;ɚiI=IKiiᗽ)=@ $?I)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217521JJEu<zKBoIK9KKKRKJK>*F?2F:FBFo0JFG Gq B H I  I II ΂BI &I .I 6I <:I FBIiJIiRIiZIm+ =bIm+ =jIm4O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.469270rw,mmAy޵B޵ IMb@Mb@Mb@ )Y?rh|{Gzy ?ףA )II@yAI I 4٢i  =9%Q %>!) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E49=x;??E4Y=B i=uBE^?E:EM?="D=;=;=Ҟ4Q UAQuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 308.20 m.Bj;Jj; ProNav: ac range: 308.200012 m, nav range: 67.964813 m, bearing: 350.416167 deg, approach rate: 0.306200 m/s, LOS rate: 0.427698 deg/s, cmd heading: 245.724825 deg, new cmd heading: 246.430977 deg. 2jÒ<HeadingCmd: 4.301032 target range: 308.200012 and range: 308.20 m. j@jjjihhhhBfffrfbfL@ IɛB]= _>I ~;ɚiI=I 2i i ) @)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720781JJJJJ+:J,J:JJJ2<J2<J;J;Em /<*F ?2F :F BF _0JF G  G rAG G ?G =?GBO>azw,LmAWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972678:@Y:^@:b:9:^Z>y:H@3ݿ? ]ǿ zyܿ [? Ug?`?fF?ɨ:@:e5;:CyJBJ IIRIR4٢Zj Z=95cMQ =?99 =G٣9yE= E? MNusing accuracyPremultiplier from configIu49M1??u4YM iMuBy}'}?M.DM;M;M؞4  AZjFNOT Ignoring new targets: 308.20 m.Bj;Jj;5 ProNav: ac range: 308.200012 m, nav range: 68.057106 m, bearing: 350.553378 deg, approach rate: 0.267185 m/s, LOS rate: 0.396684 deg/s, cmd heading: 246.430985 deg, new cmd heading: 246.842052 deg. 2j5<=HeadingCmd: 4.308207 target range: 308.200012 and range: 308.20 m. j=܉@j9j9j9iAhAhAhAhAfIfIfirfqbfu@ɛMBM^b"= IMG>II U;ɚQiQIUc=I]iYi]IՀ)]܉@)aEE*E"E IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:27:18.6378 TRx dataTimestamp_ set to:1736371639.941037checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226444*F- ?2F) :F) BF- `0JF) zKE RIKE 9KA KE KE G nGaBiO>Qrw,B nAH)>I I IIBI&I.I6I <:I F~Will construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.476552y!!Mb@Mb@Mb@ )Y/$?q= ףpL7A`堿y1?뽹+AA )Iv@yGAII49Q > G٣AGy   > Nusing accuracyPremultiplier from config%490#??%4Y iuB% ?%:%^%?@D8;A6;45B 5A5ֹEZjFNOT Ignoring new targets: 308.20 m.Bj0;Jj0; ProNav: ac range: 308.200012 m, nav range: 68.190117 m, bearing: 350.755140 deg, approach rate: 0.261243 m/s, LOS rate: 0.395500 deg/s, cmd heading: 246.842053 deg, new cmd heading: 247.446133 deg. 2j<HeadingCmd: 4.318750 target range: 308.200012 and range: 308.20 m. j33@jjjih!hah hBff!f)rf1bf= @ɛmBu_ = 隵>I S;ɚiI=IriiN)33@)*Fu?2Fy:FyBF}n0JFy $?IGMWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O] > DAT read: 21:27:18.6378 LVL= 15632, 32753, 32178, 32755, AGC= 61, IDX= 429, 0.01,-3.084, 1.579, 1.532, 2.154, PHS= 1.134,-0.528,-0.624, RAW= 87.2, 0.2, CAL= 94.3, -4.0, ROT= 55.7, 4.0  Ygot valid direction response: 21:27:18.6378 LVL= 15632, 32753, 32178, 32755, AGC= 61, IDX= 429, 0.01,-3.084, 1.579, 1.532, 2.154, PHS= 1.134,-0.528,-0.624, RAW= 87.2, 0.2, CAL= 94.3, -4.0, ROT= 55.7, 4.0  PDAT read: Bearing 55.7, 4.0 (Local)  ~Local bearing/azimuth received: Bearing 55.7, 4.0 (Local) J J J 1J J :J dP:J 3J J e1<J f1<J ;J ; DAT read: Range 10 to 50 : 307.0 m (Round-trip 409.4 ms) speed 0.2 m/s  ,DAT read: user:1780> E BDAT read: Tx time:21:27:19.7243 E $Ping request sent.E y2Hۿ6?@өȿڿY'?b? u??A?ɨ2|@2;2CyBsBBt IiFC=IF<ININ4٢%32 %<95:Q > G٣y= > Nusing accuracyPremultiplier from config49]??4YL inuB ?NDe:":4 5A1k#}=?k}ך k kQlnA:kCBkpCZk?"89kY}Gz=?k4΍ 2kCCkk<Α kkBkC=u addTargetRange:: Added new target pos. range: 307.000000 m, deltaT: 3.778841 s, deltaX: -1.200012 m, approachRate: -0.317561 m/s, rangeRepo size: 4  Added new target pos. range: 307.000000 m, bearing: 98.766507 deg, lat: 36.903274 deg, lon: -122.116037 deg, deltaT: 3.778841 s, deltaX: -1.200012 m, approachRate: -0.317561 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 307.00 m.BjJj ProNav: ac range: 307.000000 m, nav range: 67.780838 m, bearing: 5.808749 deg, approach rate: 0.000000 m/s, LOS rate: 0.395500 deg/s, cmd heading: 247.446142 deg, new cmd heading: 247.940126 deg. 2jHeadingCmd: 4.327372 target range: 307.000000 and range: 307.00 m. jy@jjjihhhhfffrf0s@bf@?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:27:19.7235 ɛBHS= 隕>I ;ɚiI>=IXiidg)y@)*FY2FY:FYBF]+1JFa"Ge=Ge=GM w I GY Ba O} > Will construct direction to contact in vehicle frame from tetrahedron phase data.Îw,=nA6@Y6@6v|96B\>y6H_ڿ@jb?rȿ{ m4ڿ Q?\?R?@5C?ɨ6@6;6CyBZBBU IzKBoJK+9KKKMb@Mb@Mb@ )YK7?:vˡEyI ?Խ'A C@)AI@yAII̍4٢B B=9ы:Q > G٣y< > Nusing accuracyPremultiplier from config49 ??4Y& iTuB-?: ?\D;y;4 {AٹEZj  FNOT Ignoring new targets: 307.00 m.Bj;Jj;% ProNav: ac range: 307.000000 m, nav range: 67.925224 m, bearing: 5.952533 deg, approach rate: 0.396038 m/s, LOS rate: 0.393546 deg/s, cmd heading: 247.940129 deg, new cmd heading: 248.370554 deg. 2j% <-HeadingCmd: 4.334884 target range: 307.000000 and range: 307.00 m. j-_@j)j)j)i)h1h1h9h=yBf9f9f9rfAbfE`?ɛmBm/9 = im>Iq };ɚyiyI}֯H!I! I% II%؂BI!&I!.I!6I%!<:I% FWill construct direction to contact in vehicle frame from tetrahedron phase data.w,iWnA6.@Y63>@6 k96VY>y6H Mڿ`?{eȿ`,Yٿ ?`om?`?H?ɨ6.@6ܱ;4yBJBBA IIJIJ#4٢j jY=9jQ n>ll rG٣rAGyr< r> vNusing accuracyPremultiplier from configtz49v??z4Yv iv=uB|~e ~?viDv;v;v!4 A  M$?IMgB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 307.00 m.Bj%;Jj%;= ProNav: ac range: 307.000000 m, nav range: 68.059319 m, bearing: 6.087590 deg, approach rate: 0.335978 m/s, LOS rate: 0.337724 deg/s, cmd heading: 248.370567 deg, new cmd heading: 248.774934 deg. 2j=gIY e<ɚaiaIe֛w,DqnAJ΂@YJ.މ@JKJ9JS>yJH@(ٿ? }ǿ klؿ\O?f@i?V3?R?ɨJ΂@J5;JCyZ7BZ* IIbIbb4٢j jJ=9nf:Q n>pp rG٣pyrE= v> zNusing accuracyPremultiplier from configt]49v>?e4Yv iv%uBae0 e?vxDvryIa u+<ɚyiyIhH I  I II BI + =&I .I 6I <:I FvТw,͋nAnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.716553vV"@Yv1@v:%9v)P>yvHؿq?ǿ ؿP? d^? x?@_V?ɨvV"@v/;vCy$B IMb@Mb@Mb@ )Y7A`?㥛 Mby?@A )@I`@yAII4٢% %5=9-K2;Q ->)1 5G٣1y5< 5> ENusing accuracyPremultiplier from config9E49=>?E4Y= i= uBM(?M:MtM?=D=_;=;=4Q ]1A]ܹEZjFNOT Ignoring new targets: 307.00 m.Bj;Jj; ProNav: ac range: 307.000000 m, nav range: 68.353630 m, bearing: 6.418406 deg, approach rate: 0.352021 m/s, LOS rate: 0.422389 deg/s, cmd heading: 249.215380 deg, new cmd heading: 249.765209 deg. 2j<HeadingCmd: 4.359225 target range: 307.000000 and range: 307.00 m. j~@jjjihhhh$BfffrfbfE?ɛBm<< s>I `<ɚiI@ IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.967802w,ZnA6.o@Y6~@6*A96WM>y6Hؿ?jǿ @׿ H?@%@??.[?ɨ6.o@6Yʊ;4yNBNIIVIV&4٢^) bg=9bx;Q b>dd fG٣fAGyft< j> nNusing accuracyPremultiplier from confighv49j>?v4Yj ijtBtzz?jDj]^;j^;jC 4| ~!A|Zj)-FNOT Ignoring new targets: 307.00 m.Bj5;Jj5; ProNav: ac range: 307.000000 m, nav range: 68.472130 m, bearing: 6.562536 deg, approach rate: 0.334064 m/s, LOS rate: 0.405612 deg/s, cmd heading: 249.765210 deg, new cmd heading: 250.196841 deg. 2j/<HeadingCmd: 4.366759 target range: 307.000000 and range: 307.00 m. j}@jjjihhhhfffrfbf @?@ɛB5< 3>I  <ɚiI޳ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471709J% J% J! J! J% +:J% H:J! J! w,4nAN詃@YNB@N8%9NJH>yNH׿`-?E/ǿ߿v׿j?g$?F?b?ɨN詃@N;NCyfBfIeMb@Mb@Mb@aaa a)aYe"~j? ףp= /$yeS#?eQ8e,enA e-@)ev@IaayazKBoIK 9KKKII4٢݈ 8=9P:Q > G٣y +<  > 5Nusing accuracyPremultiplier from config1=495r>?=4Y5 i5tBE$?E:EGE?5D5;5;54I MAM޹EZjFNOT Ignoring new targets: 307.00 m.Bja;Jja; ProNav: ac range: 307.000000 m, nav range: 68.621895 m, bearing: 6.766763 deg, approach rate: 0.328176 m/s, LOS rate: 0.446539 deg/s, cmd heading: 250.196851 deg, new cmd heading: 250.808170 deg. 2j:<HeadingCmd: 4.377429 target range: 307.000000 and range: 307.00 m. j@jjjihhhhBfffrfbf@@-GIY YyBɛB^< >I s <ɚiIu%E]>HI I IIBI* =&I.I6I<:Iv F*F?2F:FBF_0JF"G%=G%==Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.728772G] |)G1 BA O] >w,$nA2܃@Y22@2?]992OE>y2H4׿E?Mƿ}ֿ@湱?+?eh?ɨ2܃@2ο;2Cy>B>IIFIFT4٢R Rb=9V҅:Q V>TT ZG ^$?I\٣\yb<< b> fNusing accuracyPremultiplier from configdj49fm>?j4Yf iftBlnn?fDf" ;f ;f`4p rIApB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 307.00 m.Bj;Jj; ProNav: ac range: 307.000000 m, nav range: 68.741280 m, bearing: 6.930247 deg, approach rate: 0.319769 m/s, LOS rate: 0.437128 deg/s, cmd heading: 250.808180 deg, new cmd heading: 251.297769 deg. 2j<HeadingCmd: 4.385973 target range: 307.000000 and range: 307.00 m. jY@jjjihhhhfffrfbfy@ɛ5B=@< 9==I9 =<ɚ9iAIE Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:27:22.5365  TRx dataTimestamp_ set to:1736371643.744627 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248735$w,nAV4 @YV@VG99VkA>yVHxֿ@8[?`~wƿ uֿ ?:?`Kn?ɨV4 @VO;VCyrƁBrIIzIz74٢u }@=99Q > G٣AGyY< > Nusing accuracyPremultiplier from config49>? 4Y itB15=?Da<< 4EB E$ AEEZjIuFNOT Ignoring new targets: 307.00 m. IBj;Jj;] ProNav: ac range: 307.000000 m, nav range: 68.885635 m, bearing: 7.128582 deg, approach rate: 0.319492 m/s, LOS rate: 0.438039 deg/s, cmd heading: 251.297768 deg, new cmd heading: 251.891503 deg. 2j]O<HeadingCmd: 4.396336 target range: 307.000000 and range: 307.00 m. jɮ@jjjihhhhfffrfbf  @ɛB7< #=I <ɚiIt 5BDAT read: Tx time:21:27:23.6243 5$Ping request sent.5K?_ 豰ݿcO?) dI Q`i N,@  ]:publishing transmit ping time1eFpublishing direction and range info 9 '4¿%@1R ?x;?Ou>w,37oAy )Ii )Iiwz6>K?_ 豰ݿcO?)IibF3@YbB@b1:9bB>>ybH`kֿ`m?`'ƿ@g 1ֿȅ?_4F]?s?ɨbF3@bfT;bCy~B~I-Mb@Mb@Mb@))) )))Y-d;O?MbQy-4?---A -C@)-@I-3@)y- @IMIM4٢H =9:Q > G٣y <  > Nusing accuracyPremultiplier from config49>?4Y itB4?%:E E?D;N;)4I Mt AIk6d9?k x k k"oA:kCBkCZkp?"7˧Fd>5@pbqr@'4¿%@1R ?x;?JkN,@Rk*>Nfb0:?K@{Or@0Fsri~? q?"kYB*kkuk [9?kn 2köCkZ E?k kkAkԇ3? $?I addTargetRange:: Added new target pos. range: 306.000000 m, deltaT: 3.803883 s, deltaX: -1.000000 m, approachRate: -0.262889 m/s, rangeRepo size: 4  Added new target pos. range: 306.000000 m, bearing: 106.731637 deg, lat: 36.902856 deg, lon: -122.115928 deg, deltaT: 3.803883 s, deltaX: -1.000000 m, approachRate: -0.262889 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 306.00 m.Bj%Jj!- ProNav: ac range: 306.000000 m, nav range: 28.819841 m, bearing: 40.181035 deg, approach rate: 0.000000 m/s, LOS rate: 0.438039 deg/s, cmd heading: 251.891503 deg, new cmd heading: 252.567222 deg. 2j1}HeadingCmd: 4.408130 target range: 306.000000 and range: 306.00 m. j}f@jyjyjyiyhyhhhBfffrf s@bfl?ɛB< Bw,+oA>W@Y>:9>M;>y>HNֿ@B}?ſ=տ`K#?3BNV?@v?ɨ>W@>;>CyNBNrIIVIV4٢n nq=9r׼Q r?pp vG٣tyv1[< v? ~Nusing accuracyPremultiplier from config|49~a>?4Y~~ i~tB~?~D~z:~X:~/4 J AUEZjFNOT Ignoring new targets: 306.00 m.BjM<JjM< ProNav: ac range: 306.000000 m, nav range: 29.027418 m, bearing: 40.404064 deg, approach rate: 0.674362 m/s, LOS rate: 0.719381 deg/s, cmd heading: 252.567227 deg, new cmd heading: 253.231499 deg. 2j<HeadingCmd: 4.419724 target range: 306.000000 and range: 306.00 m. j`n@jjjihhhhfffrfbf@K?ɛMBUԶ; QUIQ U<ɚQiQI]<uWill construct direction to contact in vehicle frame from tetrahedron phase data.I}iyi}΀)}`n@)*F?2F:F BF 4JF  IgGM_NG1 BI O J J J J J {:J ,J:J J % Will construct direction to contact in vehicle frame from tetrahedron phase data.&w,DoAzK"BHK"9K K"K"yBxIMb@Mb@Mb@ )YV-?:v?    G٣ AGy > Nusing accuracyPremultiplier from config49>?4Y itB=?:?D;;74 % AEZjFNOT Ignoring new targets: 306.00 m.Bj][<Jj][< ProNav: ac range: 306.000000 m, nav range: 29.315849 m, bearing: 40.748000 deg, approach rate: 0.649729 m/s, LOS rate: 0.767133 deg/s, cmd heading: 253.231504 deg, new cmd heading: 254.253044 deg. 2j=HeadingCmd: 4.437553 target range: 306.000000 and range: 306.00 m. jo@jjjihhh h dBf ffrfbf??jHU<bHUp<HiIi Im IImBIi&Ii.Ii6Im<:Im| FɛBXe; 隍0I  <ɚiIQ I _Rw,^oAB@{@YB@BWW9Br6>yBH ֿŐ?Kſ~ @տ`?jJ?и?}?ɨB@{@Ba;BCyRBRdIiVa=IV]>IZIZ"4٢b b`=9f2xQ f>dh jG٣hyjIB< j>nWill construct direction to contact in vehicle frame from tetrahedron phase data. vNusing accuracyPremultiplier from configtz49vب>?z4Yve ivtBxzz?vDv ;v ;v=4  A %B*** querying acoustic contact ***j!j!Zj1FNOT Ignoring new targets: 306.00 m.BjR<JjR< ProNav: ac range: 306.000000 m, nav range: 29.536083 m, bearing: 41.007736 deg, approach rate: 0.629639 m/s, LOS rate: 0.737035 deg/s, cmd heading: 254.253054 deg, new cmd heading: 255.026403 deg. 2j<HeadingCmd: 4.451050 target range: 306.000000 and range: 306.00 m. jo@jjj)i)hQhQhQhQfYfYfYrfYbfe'?ɛB; ȇI J <ɚiI|w,xoAF@YFa@Ff9F-7>yFH$տ ?eſf lտ ?2]??@|?ɨF@Fϝ;FCyVBZeI YIYIIפ4٢; %7=9- Q U>aa mG٣iyl< > Nusing accuracyPremultiplier from config49>?4Y( itB?+D";e;F4  AZjquFNOT Ignoring new targets: 306.00 m.Bj}J<Jj}J<*J4="Jp= ProNav: ac range: 306.000000 m, nav range: 29.829754 m, bearing: 41.350313 deg, approach rate: 0.614226 m/s, LOS rate: 0.709458 deg/s, cmd heading: 255.026396 deg, new cmd heading: 256.043896 deg. 2jr<HeadingCmd: 4.468809 target range: 306.000000 and range: 306.00 m. j|@jjjihhhhfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752593ffrfbf B?ɛB; 隕tI B <ɚiI0HI II  IM IIM BII &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=2.005730Ocw,goA>Fۄ@Y>@>Z9>m9>y>H@Wտ ?ſ +@Կt?V+B?`Y ? z?ɨ>Fۄ@>A;>CyJBJsI%Mb@Mb@Mb@!!! !)!Y%Pn?Mb`y&1|y%D?%%`% A %Z@)%I@I%I@!y%@I5I54٢Mm= MY=9UV;Q U>QQ G٣AGyԢ< > Nusing accuracyPremultiplier from config49>?4Y/ itBD?:?>DU;;L4 E AZjFNOT Ignoring new targets: 306.00 m.BjQ<Jj%Q<- ProNav: ac range: 306.000000 m, nav range: 30.080122 m, bearing: 41.615584 deg, approach rate: 0.697451 m/s, LOS rate: 0.732814 deg/s, cmd heading: 256.043902 deg, new cmd heading: 256.833040 deg. 2j-v<5HeadingCmd: 4.482582 target range: 306.000000 and range: 306.00 m. j=Pq@j9j9j9i9h9h9hAhEeBfAfAfIrfQbfU@@ɛ}B}LY; 隅hDI - <ɚiIyL:JJJ2G B O- >w,CoA6@Y6K)@66C96{<>y6HԿ ?`E"ƿ ?cԿ4?f2?@~m?u?ɨ6@6f;6CyfBftI)h hIrIr4٢vB; zP=9z1:Q z>|| ~G٣|yv< >  Nusing accuracyPremultiplier from config 49 >?4Y P6 i tB? PD ; ; (S4%B )-EZjQUFNOT Ignoring new targets: 306.00 m.Bj]/H<Jj]/H 9I=gJ J BA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759621zw,5oAzK2BoIK0K0K2K2yB{IMb@Mb@Mb@ )YK7A?I +?I +?y B?9<94< A )v@I@y@II4٢< ;=9Q > G٣y > Nusing accuracyPremultiplier from config 49>?4Y> itB&B?:J%?eD;y;Z4A E AMEZjy}FNOT Ignoring new targets: 306.00 m.BjI<JjI< ProNav: ac range: 306.000000 m, nav range: 30.618128 m, bearing: 42.197696 deg, approach rate: 0.643484 m/s, LOS rate: 0.703152 deg/s, cmd heading: 257.628342 deg, new cmd heading: 258.563759 deg. 2jH<HeadingCmd: 4.512789 target range: 306.000000 and range: 306.00 m. jh@jjjihhhhqBfffrfbfF@HI IIIBI&I.I6I <:I FɛBt; $I  <ɚiI=*yEHӿ?@Eǿ_o`ӿK?=G? ? a?ɨE@Ee;Ay]B]IIuIu4٢d= Q=9׌Q > G٣AGyx?= > Nusing accuracyPremultiplier from config49~>?4Y!F itB?xD ;K ;a4ՒB  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 306.00 m.BjlS<JjlS<% ProNav: ac range: 306.000000 m, nav range: 30.872448 m, bearing: 42.483978 deg, approach rate: 0.662280 m/s, LOS rate: 0.739368 deg/s, cmd heading: 258.563751 deg, new cmd heading: 259.415455 deg. 2j%<-HeadingCmd: 4.527654 target range: 306.000000 and range: 306.00 m. j-@j)jjihhhhfffrfbf`d @ɛB N;  I  C <ɚiImWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Rx Time:21:27:26.4349 uTRx dataTimestamp_ set to:1736371647.776599}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516686w,oAJ@YJv@J'9JQ>yJH "ӿ?ȿ`>.ҿį?dT? ?`bT?ɨJ@Jm;JCyVBVIiZ=IZ4< `IdIjIjx4٢rz= rV=9vlQ v>x| G٣y< > ENusing accuracyPremultiplier from config1]495y>?e4Y5M i5tBim쿑u?5D5B<5<5lh4 AZjFNOT Ignoring new targets: 306.00 m.Bj8<Jj8<- ProNav: ac range: 306.000000 m, nav range: 31.124041 m, bearing: 42.768224 deg, approach rate: 0.575940 m/s, LOS rate: 0.645427 deg/s, cmd heading: 259.415448 deg, new cmd heading: 260.261227 deg. 2j-y M BDAT read: Tx time:21:27:27.5244 M $Ping request sent.U ߵw,pAzR#Rx 1: Read range and direction messages.~^direction in FSK: [-0.190596,0.013736,0.981573]~:publishing transmit ping timeq~Fpublishing direction and range infoة9حpeȿ!?#4 i?yحfCةح[ة ٭e)٭I٭@i٭g?٭p=٭٭?٭K= ڭ?)ڭ A=IڭbJ?iڭ Aککۭ< ?'Bz>ڿgö?)ۭBپIۭ?]iۭuD@ۭws۩۩m:publishing transmit ping timeqFpublishing direction and range infoة9حpeȿ!?#4 i?yةةةة ٩)٩I٩i٩٩٩٩٩ ک)کg@Yv@9zY>yH fҿ?iɿ`ѿ ?@a??G?ɨg@I;Iکiکککۭ< ?'Bz>ڿgö?)۩I۩i۩۩۩۩yúBuI $?IMb@Mb@Mb@ )Y\(\?I +?Mb?y:?94<<A )Iy @I=I=4٢Y7= =92Q > G٣y< > Nusing accuracyPremultiplier from config49p>?4YdW itB%:?%:%%?Dg;;q4) -EA-Ek 1?k k kUpA:kfCBkXCZkC@" F ML@Ir@peȿ!?#4 i?JkuD@Rkws*17C8쪻PMR@ vSr@ZĠgCX?N+}?"kjB*kak7g1?k 2kCkY}Gz=?k4΍ kCkBk5? addTargetRange:: Added new target pos. range: 304.799988 m, deltaT: 4.032727 s, deltaX: -1.200012 m, approachRate: -0.297568 m/s, rangeRepo size: 4  Added new target pos. range: 304.799988 m, bearing: 118.407259 deg, lat: 36.902624 deg, lon: -122.115756 deg, deltaT: 4.032727 s, deltaX: -1.200012 m, approachRate: -0.297568 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 304.80 m.BjJj% ProNav: ac range: 304.799988 m, nav range: 36.919350 m, bearing: 94.541209 deg, approach rate: 0.000000 m/s, LOS rate: 0.645427 deg/s, cmd heading: 260.261216 deg, new cmd heading: 261.218180 deg. 2j!-HeadingCmd: 4.559117 target range: 304.799988 and range: 304.80 m. j-J@j)j)j)iqhqhqhyh}Bfyfyfyrf s@bf,?JJJ0JJ :JD:Jـ3JJ 0<J 0<J*;J+;Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:27:27.5236 ɛB!!< PË w,]m0pAF}̆@YFۍ@F1U9Fga>yFH Τѿ?`ʿ@-ѿ*?j?0?:?ɨF}̆@F;DybBbInWill construct direction to contact in vehicle frame from tetrahedron phase data.IzIz4٢> |=9 yYQ   ?   =G٣=AGyE= E? MNusing accuracyPremultiplier from configIu49MEk>?u4YMp] iMtBy}뿑}?MDM;M;Mbw4 AEZjFNOT Ignoring new targets: 304.80 m.BjݻJjݻ ProNav: ac range: 304.799988 m, nav range: 37.143173 m, bearing: 94.415762 deg, approach rate: 0.693902 m/s, LOS rate: -0.386571 deg/s, cmd heading: 261.218181 deg, new cmd heading: 260.844112 deg. 2j%HeadingCmd: 4.552588 target range: 304.799988 and range: 304.80 m. j%ή@j!j!j!i!h)hQhQhQfQfYfYrfYbf]`H?ɛB*~^< =I G <ɚiIAWill construct direction to contact in vehicle frame from tetrahedron phase data.zK BHK h9K K K nw, 4JpAy~B~I)   AH*>I III BI&I.I6IӰ<:I FBIJIRIZIbIjI@#4-Mb@Mb@Mb@))) )))Y-S?Mb` rh?y-/?--C<-AA -@)-AI-I@)y-AIEIEƕ4٢M= U8=9]Q ]>YY eG٣aye e> mNusing accuracyPremultiplier from configiu49md>?}4Ym e imtB}(/?}:}}?mDm;m;m4 AZjFNOT Ignoring new targets: 304.80 m.Bj^ػJj^ػ] ProNav: ac range: 304.799988 m, nav range: 37.424561 m, bearing: 94.251409 deg, approach rate: 0.652644 m/s, LOS rate: -0.378331 deg/s, cmd heading: 260.844105 deg, new cmd heading: 260.354765 deg. 2j]ҁ]HeadingCmd: 4.544048 target range: 304.799988 and range: 304.80 m. jeh@jajajaiahahahih؁Bfffrfbf ?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ=ÁB=dLp< 9==I9 = <ɚAiAIEj Will construct direction to contact in vehicle frame from tetrahedron phase data.w,RdpAF:@YF@FD9Fzl>yFHп(?̿-ϿU?~?K?M&?ɨF:@F.ӊ;FCyzBzIII4٢ZY= ^=9J=Q >!! %G٣!y%;= -> 5Nusing accuracyPremultiplier from config)549-^>?=4Y-ok i-tB9=꿑=?-D-2 ;- ;-4I MAImB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 304.80 m.BjJj= ProNav: ac range: 304.799988 m, nav range: 37.661804 m, bearing: 94.124832 deg, approach rate: 0.615196 m/s, LOS rate: -0.326157 deg/s, cmd heading: 260.354763 deg, new cmd heading: 259.977432 deg. 2j=_EHeadingCmd: 4.537462 target range: 304.799988 and range: 304.80 m. jE2@jAjAjAiIhIhIhqhqfyfyfrfbf6?ɛāB < y隅=I - <ɚ)i)I-  I gmw,;~pAu@Y(@99o>yHAοB?@Q̿} -Ϳ 2?/G??`= ?ɨu@;騕Cy BI5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737776Mb@Mb@Mb@ )Y}?5^I? G٣AGyx= > Nusing accuracyPremultiplier from config49W>?4YJs tIitBX"?:鿑?D ; ;4 [AEZj)5FNOT Ignoring new targets: 304.80 m.Bj5Jj5m ProNav: ac range: 304.799988 m, nav range: 37.953690 m, bearing: 93.974714 deg, approach rate: 0.612402 m/s, LOS rate: -0.312539 deg/s, cmd heading: 259.977436 deg, new cmd heading: 259.530554 deg. 2jm~VmHeadingCmd: 4.529663 target range: 304.799988 and range: 304.80 m. ju@jqjqjqiqhqhqhyh}Bfffrfbf@G?ɛ5ŁB5< 1=t >IY ]<ɚYiYIepL%w,epA2?@Y2@292$r>y2H!̿` ]?Ϳ`7˿2?:?@??ɨ2?@2t;2Cy>B> IiB>IB> F=F=IJIJ4٢R= Rj=9R8Q R>TT VG٣TyZ`H= Z? bNusing accuracyPremultiplier from config`f49bS>?f4Ybx ibtBdf翑j?bDb;b;b4l nAlZjFNOT Ignoring new targets: 304.80 m.Bj )Jj ) ProNav: ac range: 304.799988 m, nav range: 38.147686 m, bearing: 93.881777 deg, approach rate: 0.620578 m/s, LOS rate: -0.295785 deg/s, cmd heading: 259.530550 deg, new cmd heading: 259.253160 deg. 2jJ%HeadingCmd: 4.524821 target range: 304.799988 and range: 304.80 m. j%Vː@j!j!j!i!h)h) =$?I9hhfffrfbfnO@ɛƁBIj< )-6+>I) -r<ɚ)i)I5_~,w,pA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497561:.,@Y:;@:9: (s>y:H#ʿv?@Ϳ@Sɿeެ?;??`?ɨ:.,@:Ȕ;:CyF BF IININʴ4٢Z< ZJ=9ZQ ^>\` bG٣`yb&= b> jNusing accuracyPremultiplier from configdj49f"O>?j4Yf iftBln忑n?fDf. ;f ;f4p vAvEZjFNOT Ignoring new targets: 304.80 m.BjLJjL ProNav: ac range: 304.799988 m, nav range: 38.393219 m, bearing: 93.772163 deg, approach rate: 0.584579 m/s, LOS rate: -0.259306 deg/s, cmd heading: 259.253162 deg, new cmd heading: 258.926428 deg. 2j1HeadingCmd: 4.519119 target range: 304.799988 and range: 304.80 m. j@jjjihhhhfffrfbf@@ɛǁB7g< 隅1>I ,<ɚiI_JJJJJ :J5K:JJa@a@a@a@%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752952zK BHK h9K K K 2w,pA2@Y2@2w92ir>y2H2ȿҎ?JͿk<ǿ)f?`{???ɨ2@2|r;0ZHLRHLHPIP IRM IIRTBIR* =&IP.IP6IR<:IR Fy^,B^ IMb@Mb@Mb@ )YQ?99 =G٣=AGy=(= E> MNusing accuracyPremultiplier from configAU49E]J>?U4YE4 iEtBU.?U:U|㿑]?EDE;E ;E4a eGAaZjFNOT Ignoring new targets: 304.80 m.Bj&Jj& ProNav: ac range: 304.799988 m, nav range: 38.659336 m, bearing: 93.662067 deg, approach rate: 0.609206 m/s, LOS rate: -0.250303 deg/s, cmd heading: 258.926434 deg, new cmd heading: 258.598421 deg. 2j+HeadingCmd: 4.513394 target range: 304.799988 and range: 304.80 m. jm@jjjihhhhoBfffrfbf@uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003433ɛɁB< 隭NG>I <ɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:21:27:30.3327 % TRx dataTimestamp_ set to:1736371651.560595- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254732%9w,^pA^@Y^ #@^S 9^xxo>y^Hƿק? 8̿ ſ@|?A?? ?ɨ^@^;^Cyj4Bj& I)l llnAIvIvs4٢~3= `=99Q >    G٣ y = > Nusing accuracyPremultiplier from config%49F>?%4Y itB!%ῑ%?(D;;41 5A1%B*** querying acoustic contact ***j!j!ZjY]FNOT Ignoring new targets: 304.80 m.BjegnJjegn ProNav: ac range: 304.799988 m, nav range: 38.874470 m, bearing: 93.578740 deg, approach rate: 0.541115 m/s, LOS rate: -0.208427 deg/s, cmd heading: 258.598421 deg, new cmd heading: 258.349825 deg. 2j HeadingCmd: 4.509055 target range: 304.799988 and range: 304.80 m. j.J@jjjihhhhfffrfbfL @ɛ%ʁB%H< )-T>I) UK<ɚQiQIU I g@w,IGqA*JR="Ja=JJJJJ+:JH:JJWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:27:30.3327 LVL= 20560, 32753, 31714, 32755, AGC= 67, IDX= 424,-0.18,-2.655, 2.057, 2.427, 2.869, PHS= 0.847,-0.765,-0.445, RAW= 100.8, 5.0, CAL= 111.0, 3.2, ROT= 39.0, -3.2 Ygot valid direction response: 21:27:30.3327 LVL= 20560, 32753, 31714, 32755, AGC= 67, IDX= 424,-0.18,-2.655, 2.057, 2.427, 2.869, PHS= 0.847,-0.765,-0.445, RAW= 100.8, 5.0, CAL= 111.0, 3.2, ROT= 39.0, -3.2 PDAT read: Bearing 39.0, -3.2 (Local) %~Local bearing/azimuth received: Bearing 39.0, -3.2 (Local) -DAT read: Range 10 to 50 : 303.0 m (Round-trip 404.1 ms) speed 0.4 m/s 5,DAT read: user:1783> =BDAT read: Tx time:21:27:31.4244 =$Ping request sent.=   G٣y5 5> ENusing accuracyPremultiplier from config9E49=GA>?M4Y= i=tBM?M:M ⿑M?==D= ;={;=4 AEH+>I Is IIsBI&I.I6I<:I FkJ$?ks k k_$qA:kCBktCZk@"+MtY7I <ɚiI-Gq B O >_Fw,ܼqA (I(ym?Bm4 II}I}4٢' =9Q '? G٣AGy )? Nusing accuracyPremultiplier from config49>>?4Y itB?GD::4 AZj)5FNOT Ignoring new targets: 303.00 m.Bj5`Jj5` ProNav: ac range: 303.000000 m, nav range: 61.699306 m, bearing: 103.930672 deg, approach rate: 0.587904 m/s, LOS rate: -0.255946 deg/s, cmd heading: 257.989687 deg, new cmd heading: 257.807821 deg. 2j/HeadingCmd: 4.499595 target range: 303.000000 and range: 303.00 m. j@jjjihhhhfffrfbfB?ɛúBu@< quc>Iq <ɚiI_Lw,To4qAWill construct direction to contact in vehicle frame from tetrahedron phase data.:@Y:\@:^9:;T>y:Hx'ÿ?ɿ@{`¿ڣ?ˀ?a?@O?ɨ:@:岊;:CyF@BJ5 Ii^=I^4< b=bp=IfIfK4٢r; rW=9vHO;Q v>tt vG٣xyz= z> ~Nusing accuracyPremultiplier from config|49~;>?4Y~` i~tB  ޿ ?~UD~;~";~34) -A1ZjAMFNOT Ignoring new targets: 303.00 m.BjMgJjMg ProNav: ac range: 303.000000 m, nav range: 61.902893 m, bearing: 103.848406 deg, approach rate: 0.503090 m/s, LOS rate: -0.202621 deg/s, cmd heading: 257.807812 deg, new cmd heading: 257.561828 deg. 2j HeadingCmd: 4.495302 target range: 303.000000 and range: 303.00 m. jُ@jjjihhhhfffrfbfS?ɛρB <  b>I  YIY "<ɚaiaIe ;G |uA Y |uAy BzK RIK 9K K K 4*Ha Ia  Ie IIe BIa &Ia .Ia 6Ie <:Ie F Sw,NqAV3@YV@V9V#9>yVH¿ #?ƿBh¿?Ҵ|? ?@Fz?ɨV3@V@;Ty^BB^7 IMb@Mb@Mb@ )Yn?~jtMby?A p@)I@yAII̍4٢< 7=9|/;Q > G٣y; >  Nusing accuracyPremultiplier from config497>?4Y) itB?:߿?fD;B;ş4! %A!ZjIMFNOT Ignoring new targets: 303.00 m.BjUJjUe ProNav: ac range: 303.000000 m, nav range: 62.142014 m, bearing: 103.750217 deg, approach rate: 0.579938 m/s, LOS rate: -0.237221 deg/s, cmd heading: 257.561816 deg, new cmd heading: 257.268385 deg. 2je"mHeadingCmd: 4.490180 target range: 303.000000 and range: 303.00 m. jm@jijijiiihqhqhyh}aBfyfyfyrfbf?ɛсB< b>I ׁ%<ɚiI4 Will construct direction to contact in vehicle frame from tetrahedron phase data.OYw,>hqAF@YF@F9F*>yFH@ ¿ 8?Ŀ@x Rg¿|| ~G٣~AGy'#;  > Nusing accuracyPremultiplier from config%494>?%4Y itB)-߿?tD@<W<h̟4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 303.00 m.Bj jJj5j= ProNav: ac range: 303.000000 m, nav range: 62.338650 m, bearing: 103.670233 deg, approach rate: 0.506548 m/s, LOS rate: -0.205395 deg/s, cmd heading: 257.268391 deg, new cmd heading: 257.029197 deg. 2jE EHeadingCmd: 4.486006 target range: 303.000000 and range: 303.00 m. jm\@jijijiiqhqhqhqhqfyfyfyrfybf@S?ɛӁBxw< Y>I F(<ɚiIpn ! I) `w,3qAJ5J5J1J1J5 :J5D:J1J1Will construct direction to contact in vehicle frame from tetrahedron phase data.աiաchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.010762M@YMI"@Mn9M>yMH¿L?`oÿ1Z¿gS?WM?L?]?ɨM@MU;MCy]CBe8 I)i iquAMb@Mb@Mb@ )Yl?/${Gzty?ףA )QAIyAII4٢%q< %+=9-;Q ->)) 5G٣1y5=; 5> =Nusing accuracyPremultiplier from config9M49=R0>?M4Y= i=tBM?M:M ࿑M?=D=!;=;=ԟ4Y ]A]EZj!%FNOT Ignoring new targets: 303.00 m.Bj-zJj-z] ProNav: ac range: 303.000000 m, nav range: 62.595592 m, bearing: 103.565787 deg, approach rate: 0.542030 m/s, LOS rate: -0.219428 deg/s, cmd heading: 257.029198 deg, new cmd heading: 256.717149 deg. 2j]eHeadingCmd: 4.480559 target range: 303.000000 and range: 303.00 m. je`@jajajiiihihihqhuCBfqfqfrfbfD@ɛUՁBUb< 隵*\>I #+<ɚiI5gw,d=qA2@Y2@2܏;92R >y2H/¿kZ? JW¿_g?aWq??ɨ2@2%͋;2Cy>5B>( IIFIF4٢Ns Ne=9R PT VG٣TyVٻ V> bNusing accuracyPremultiplier from config\b49^->?b4Y^ i^tBdf]࿑f?^D^:^:^ڟ4Q UAUEZjy}FNOT Ignoring new targets: 303.00 m.Bj~Jj~ ProNav: ac range: 303.000000 m, nav range: 62.789139 m, bearing: 103.487190 deg, approach rate: 0.548744 m/s, LOS rate: -0.222152 deg/s, cmd heading: 256.717141 deg, new cmd heading: 256.482078 deg. 2juHeadingCmd: 4.476457 target range: 303.000000 and range: 303.00 m. j"?@jjjihhhhfffrfbf@ɛMׁBU< QU=>IQ U-<ɚQiYI]"= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763062[mw,qA6}@Y6@6f;96i=y6H/MÿYb?z`0>ÿ܊?֬w@? ?ɨ6}@6;4yV0BV! II^I^D4٢f*ۼ fH=9fhh jG٣jAGyn} n> rNusing accuracyPremultiplier from configpv49rT)>?v4YrŽ irtBxz࿑z?rDr:rn:r4 'AZj15FNOT Ignoring new targets: 303.00 m.Bj= Jj= M ProNav: ac range: 303.000000 m, nav range: 63.009907 m, bearing: 103.397354 deg, approach rate: 0.561107 m/s, LOS rate: -0.227528 deg/s, cmd heading: 256.482073 deg, new cmd heading: 256.213511 deg. 2jM&UHeadingCmd: 4.471769 target range: 303.000000 and range: 303.00 m. jU@jQjQjQiQhYhYhahafafafirfibfm@ɛفBk< I 隭V.>I E/<ɚiI\ZH RH @AH *>I  I I I * =&I .I 6I ۰<:I FzK BoIK 9K K K  Ctw,qA2 @Y2g@2>K<92.=y2H aĿc?@e}Ŀ0? X)g?s?ɨ2 @20;0y:/B: IiBl>IB= Ja=J%=Mb@Mb@Mb@ )Y\(\?Mby&1|y?` A @)@I`@y@IIm4٢0 <=9;Q > G٣yl > Nusing accuracyPremultiplier from config49O%>?4Y itB?:o࿑?DF;;4 +AZjWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272388=FNOT Ignoring new targets: 303.00 m.Bj=}JjE}] ProNav: ac range: 303.000000 m, nav range: 63.250240 m, bearing: 103.301099 deg, approach rate: 0.555727 m/s, LOS rate: -0.221725 deg/s, cmd heading: 256.213510 deg, new cmd heading: 255.925845 deg. 2j]+eHeadingCmd: 4.466749 target range: 303.000000 and range: 303.00 m. je@jajajaiahahihihmBfifqfqrfqbf}Z\ @ɛہB+< X(>I ?2<ɚiIT Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:27:34.2302  TRx dataTimestamp_ set to:1736371655.602624 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528654Mpzw,qqA6y@Y61@6"G<96=y6H ,Ŀvb?@:Ŀ@\v? <㈿?i?ɨ6y@6i;6CyR#BR IIZIZ4٢b b[=9fdh jG٣hyjē n> vNusing accuracyPremultiplier from configlv49n!>?v4Ynn intBxzPῑz?nDn`+;n;n24| A%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 303.00 m.Bj=}Jj=}M ProNav: ac range: 303.000000 m, nav range: 63.456730 m, bearing: 103.217503 deg, approach rate: 0.549357 m/s, LOS rate: -0.221680 deg/s, cmd heading: 255.925849 deg, new cmd heading: 255.675879 deg. 2jM#UHeadingCmd: 4.462386 target range: 303.000000 and range: 303.00 m. jUˎ@jQjQjQiQhQhYhYhYfafafirfibfm S @ɛ݁B>< 隝 >I D3<ɚiII*J9 "J9 lWw,jrAFWill construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 21:27:34.2302 LVL= 20816, 32753, 27954, 32755, AGC= 67, IDX= 414, 0.34,-1.060,-2.791,-2.270,-1.791, PHS= 0.819,-0.953,-0.482, RAW= 104.9, 7.8, CAL= 114.7, 5.9, ROT= 35.3, -5.9 ]Ygot valid direction response: 21:27:34.2302 LVL= 20816, 32753, 27954, 32755, AGC= 67, IDX= 414, 0.34,-1.060,-2.791,-2.270,-1.791, PHS= 0.819,-0.953,-0.482, RAW= 104.9, 7.8, CAL= 114.7, 5.9, ROT= 35.3, -5.9 ePDAT read: Bearing 35.3, -5.9 (Local) e~Local bearing/azimuth received: Bearing 35.3, -5.9 (Local) DAT read: Range 10 to 50 : 301.2 m (Round-trip 401.7 ms) speed 0.4 m/s ,DAT read: user:1784> BDAT read: Tx time:21:27:35.3244 $Ping request sent. F@)FB=e?@YeI I IIBI&I.I6I<:Ii F5vA 5@)1I5@1y5@IIs4٢9% =zK KK9KK K!3eon BK:KqA9s;Q > G٣AGyL > Nusing accuracyPremultiplier from config49 >?4Y itB?%:%ῑ%?D(<G(<4-ԒB -A-EkFi9c+?kFUS kD kFrA:kFCBkFCZkF @"F36rS:Will construct direction to contact in vehicle frame from tetrahedron phase data.Vi@YV@VC"<9V=yVH@dƿ.X?GYyǿYdӶ?@ ?ɨVi@V\;TyvBvI)x xIIʴ4٢MRٽ U`=9UH;Q U>YY ]G٣Yy]wѼ e> mNusing accuracyPremultiplier from configa49eD>?4YeV ietB⿑?eDe*3w,?rA2䮉@Y2?@2ܧ<92 =y2H`bȿ`R?봿-l2ȿ@Ju6K?}?ɨ2䮉@27G;2Cy>B>IIJIJ@4٢R RV=9R;Q V>TT VG٣TyZg Z> ^Nusing accuracyPremultiplier from config\b49^>?b4Y^u i^tBdf㿑f?^D^X:^z:^ 4h jAlZj|FNOT Ignoring new targets: 301.20 m.Bj Jj  ProNav: ac range: 301.200012 m, nav range: 87.317673 m, bearing: 116.160414 deg, approach rate: 0.519612 m/s, LOS rate: -0.268522 deg/s, cmd heading: 255.012626 deg, new cmd heading: 254.723492 deg. 2j%H8%HeadingCmd: 4.445764 target range: 301.200012 and range: 301.20 m. j%C@j!j)j)i)h)h)h1h1f9f9f9rfAbfEW?ɛ B]Nu< Y]O=Ia e}k7<ɚaiaIe27"I""! 2biO/RK ?JK ?G% 6a=G B O% >E Will construct direction to contact in vehicle frame from tetrahedron phase data.Kw,YrA:W@Y:g@:d<9:Ğ=y:HOfɿ@B? V@Zgɿ { $ҳ?S?ɨ:W@:q;8yFBFI ImMb@Mb@Mb@iii i)iYm/$?Mb~jtym,?mmDmA mQ@)mQAIm@iymp@IIݜ4٢, <=9;Q > G٣AGy(ȼ > Nusing accuracyPremultiplier from config49>?4Y itB,?:㿑? DX;;4ՒB AEZjFNOT Ignoring new targets: 301.20 m.BjPJjP ProNav: ac range: 301.200012 m, nav range: 87.548042 m, bearing: 116.041829 deg, approach rate: 0.505118 m/s, LOS rate: -0.259332 deg/s, cmd heading: 254.723490 deg, new cmd heading: 254.368674 deg. 2j1HeadingCmd: 4.439571 target range: 301.200012 and range: 301.20 m. j@jjji h h hhBfffrfbf@T?ɛB%V< [Bw,8ksrA:@Y:x-@:f<9:=y:HGʿ6?Ň@N@vʿ@N  R?@2?ɨ:@:;:CyFBFIiJ>IJ>IRIRD4٢Vk V[=9Z+X\ ^G٣\yb b> jNusing accuracyPremultiplier from confighn49j` >?r4Yjv ij}tBpr俑r?jDjY!;j!;j34t vWAx B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 301.20 m.Bj%AJj%A5 ProNav: ac range: 301.200012 m, nav range: 87.744644 m, bearing: 115.939798 deg, approach rate: 0.554663 m/s, LOS rate: -0.287209 deg/s, cmd heading: 254.368676 deg, new cmd heading: 254.063273 deg. 2j5E=HeadingCmd: 4.434241 target range: 301.200012 and range: 301.20 m. j=M@j9j9jAiAhAhAhAhIfIfQfQrfQbfU?ɛBl<< T=隍n;I 7<ɚiIR Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977575) vA  Y% vAy% B*w,GrAy~݁B~II I g4H%(>I! I%M II%TBI!&I!.I!6I%<:I% F٢Eu EA=9MQ M>IQ UG٣QyU U> eNusing accuracyPremultiplier from configYe49]9>?m4Y] i]ptBiim?]+D]:]:]4}ԒB }A}EZjFNOT Ignoring new targets: 301.20 m.Bj.Jj. ProNav: ac range: 301.200012 m, nav range: 87.967018 m, bearing: 115.825117 deg, approach rate: 0.527479 m/s, LOS rate: -0.271340 deg/s, cmd heading: 254.063284 deg, new cmd heading: 253.720115 deg. 2j7:HeadingCmd: 4.428251 target range: 301.200012 and range: 301.20 m. j<@jjjihhhhfffrfbf@NM@ɛ B N4<  ϼI  <7<ɚiIKJK3 K.KK"KJ= J= J9 J9 J= :J= >L:J9 J9 J= 6<J= 6<~Tw,"rAJmo;Jmp;2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479238j@YjƏ@ja =9j9֜=yjH@˿@X? 6̿o ĸޒ??ɨj@j ;jCyEҁBEIIeIe4٢EJ G=9- G٣AGy' > Nusing accuracyPremultiplier from config49=?4Y iatB濑?=D"{;{;#41 =A9ZjyFNOT Ignoring new targets: 301.20 m.BjJj ProNav: ac range: 301.200012 m, nav range: 88.183266 m, bearing: 115.711421 deg, approach rate: 0.500098 m/s, LOS rate: -0.262289 deg/s, cmd heading: 253.720108 deg, new cmd heading: 253.379863 deg. 2j4HeadingCmd: 4.422313 target range: 301.200012 and range: 301.20 m. j@jjjihhhhfffrfbf `a@ɛ]B]lK< Y]IIY e6<ɚaiaIe=)u@)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=2.731178Gm <]= ) I- gGA BI Om >QQ UG٣QyU ]> eNusing accuracyPremultiplier from configam49e=?m4Ye ieStBiiu?eNDe[O;esQ;e*4 0AZjFNOT Ignoring new targets: 301.20 m.Bj颻Jj颻 ProNav: ac range: 301.200012 m, nav range: 88.389229 m, bearing: 115.603814 deg, approach rate: 0.546500 m/s, LOS rate: -0.284858 deg/s, cmd heading: 253.379855 deg, new cmd heading: 253.057789 deg. 2j~CHeadingCmd: 4.416692 target range: 301.200012 and range: 301.20 m. jU@jjjihhhhfffrfbfD@ɛB ; HuI 6<ɚiI w,rAyuBuI %@% %@% %@%  %@% I-I-4٢=? =#=99Q E>AA MG٣IyI M> ]bBottom track data is 0.5 s old, using for 20.0 s. eNusing accuracyPremultiplier from configQm49UW=?m4YUL iU@tBm+:iu:qu?UcDU0;UM?U14y }AyZjFNOT Ignoring new targets: 301.20 m.BjJj ProNav: ac range: 301.200012 m, nav range: 88.651711 m, bearing: 115.467640 deg, approach rate: 0.522989 m/s, LOS rate: -0.270520 deg/s, cmd heading: 253.057798 deg, new cmd heading: 252.650493 deg. 2j9HeadingCmd: 4.409583 target range: 301.200012 and range: 301.20 m. jN@jjjihhhhfffrfbf" @ɛB.; 隍 I 4<ɚiI  BDAT read: Tx time:21:27:39.2245  $Ping request sent.  G٣AGyn > bBottom track data is 1.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 49 }=?4Y l i +tBe :aeO:e 꿑e? xD ;< |? >74i uAuEk[3?kWo k k6rA:kٕCBkДCZk@">(M!4·WpPr@5VFTɿD߱ԼᏜI?JkZ3RkV*` ?,K@/tNr@^YS? ?E?"k\B*kmk熊3?k@e 2k߲Ckkk߲CkʱBk@M addTargetRange:: Added new target pos. range: 299.700012 m, deltaT: 3.778152 s, deltaX: -1.500000 m, approachRate: -0.397020 m/s, rangeRepo size: 4  Added new target pos. range: 299.700012 m, bearing: 119.762800 deg, lat: 36.902294 deg, lon: -122.115347 deg, deltaT: 3.778152 s, deltaX: -1.500000 m, approachRate: -0.397020 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 299.70 m.BjJj= ProNav: ac range: 299.700012 m, nav range: 88.895470 m, bearing: 115.334856 deg, approach rate: 0.000000 m/s, LOS rate: -0.270520 deg/s, cmd heading: 252.650501 deg, new cmd heading: 252.240678 deg. 2j9EHeadingCmd: 4.402431 target range: 299.700012 and range: 299.70 m. jE@jAjAjAiAhAhIhIhIfqfyfrf@3r@bf/?Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:21:27:39.2237 ɛBu; 隕׽I z2<ɚiINI IIIBI+ =&I.I3D6I<:I FzKm JKm 9Ki Km Km ,Qh8|fTD5)" *F% ?2F! :F! BF! JF!  Will construct direction to contact in vehicle frame from tetrahedron phase data. IGE4q=G!B)OE?/w,V"sAF@YFS@F3D=9Fd=yFH'п`Q?޾ Zп}L??ɨF@F r;FCyNBNI 5 5 55 55  = = =Mb@Mb@Mb@999 9)9Y="~?/$?y&1|y=3?=<=`9 =@)=AI=@9y=@IUIU44٢e e=9e/;Q e>ii mG٣iyuv u> }Nusing accuracyPremultiplier from configy49}C=?4Y}M i}tBT:4?:忑?}D}P;}f;}@4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 299.70 m.BjyJjMye ProNav: ac range: 299.700012 m, nav range: 89.197998 m, bearing: 115.181999 deg, approach rate: 0.585015 m/s, LOS rate: -0.294585 deg/s, cmd heading: 252.240689 deg, new cmd heading: 251.783683 deg. 2je+JeHeadingCmd: 4.394454 target range: 299.700012 and range: 299.70 m. jm_@jjjihhhhBfffrfbf?ɛB8j@; LI  0<ɚiI%ը<-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.IMiIiM*=)M_@)Q*F2F:FBFm0JF!G6a=GB OUu> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995323Nbw,T;Q z>x| ~G٣|y~飼 ~>  Nusing accuracyPremultiplier from config 49 =?4Y Y$ i tB濑? D ; ; G4! %= A)ZjIUFNOT Ignoring new targets: 299.70 m.BjU査JjU査m ProNav: ac range: 299.700012 m, nav range: 89.413216 m, bearing: 115.072341 deg, approach rate: 0.550054 m/s, LOS rate: -0.279590 deg/s, cmd heading: 251.783695 deg, new cmd heading: 251.455516 deg. 2jm?uHeadingCmd: 4.388727 target range: 299.700012 and range: 299.70 m. jusp@jqjqjqiqhqhyhyhyfffrfbfZ?ɛ5B5@: =o,=]b IY ]/<ɚYiYIeLjH bH 4<H I  I II BI * =&I .I 6I <:I Fz=w,UsA6@Y6&@6{L=96']=y6H`ѿ`? L`Eѿ^ @O? #?ɨ6@6՛;4zKNJNKN+9KLKNKNyVBVzI)X XMb@Mb@Mb@ )YV-?I +?Mbpyh1?94<A )AI@yAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499348IIh4٢ @=9;Q > G٣AGy > Nusing accuracyPremultiplier from config49=?4Y+ isBn1?:鿑?D;;O4 ` AZjFNOT Ignoring new targets: 299.70 m.BjJjU ProNav: ac range: 299.700012 m, nav range: 89.640648 m, bearing: 114.952116 deg, approach rate: 0.534097 m/s, LOS rate: -0.281616 deg/s, cmd heading: 251.455518 deg, new cmd heading: 251.095765 deg. 2jUEAeHeadingCmd: 4.382448 target range: 299.700012 and range: 299.70 m. jm=@jijijqiqhyhyhhBfffrfbfl? 9I=gɛ}B}': y}I ,<ɚiI-HIiw,osA2,@Y2@2W=92X=y2HZѿ ? 9q@ѿqqݪ|S? ?ɨ2,@2};2CyZBZyIIbIb 4٢j jZ=9j;Q n>pp rG٣pyrpQ v> zNusing accuracyPremultiplier from configt49v=?4Yv~2 ivsB *꿑 ?vDv`;v a;vU4 f AEZj9EFNOT Ignoring new targets: 299.70 m.BjEsJjEsU ProNav: ac range: 299.700012 m, nav range: 89.840630 m, bearing: 114.846044 deg, approach rate: 0.530117 m/s, LOS rate: -0.280553 deg/s, cmd heading: 251.095758 deg, new cmd heading: 250.778253 deg. 2j]@]HeadingCmd: 4.376906 target range: 299.700012 and range: 299.70 m. j]@jajajaiahahahihifififqrfqbfus?ɛ!%0W !%pI! -$#+<ɚ)i)I-|*J= C="J= 4=e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257559ew, sAJJJ J JK:JdP:J J dž@Yo֍@P/b=9ۣ=yH Tѿ?9 4ѿY;yQUxI Mb@Mb@Mb@    ) Y oʡ?y&1?Mb`y -? `<  3A @) AI @ y QAH-&>I) I-II-BI-+ =&I).I)6I-Ͱ<:I- FIEIE4٢US U&=9]ŵ;Q ]>Ya eG٣ayeg' e> uNusing accuracyPremultiplier from configiu49mz=?u4Ym: imsB}4-?}:}翑}?mDm;m;m?^4 h AEZj FNOT Ignoring new targets: 299.70 m.BjSJjSM ProNav: ac range: 299.700012 m, nav range: 90.100426 m, bearing: 114.714727 deg, approach rate: 0.518051 m/s, LOS rate: -0.261100 deg/s, cmd heading: 250.778264 deg, new cmd heading: 250.385454 deg. 2jM03UHeadingCmd: 4.370050 target range: 299.700012 and range: 299.70 m. jUt׋@jQjQjYiyhyhyhhBfffrfbf`:_@ɛ-B5k(: 1隕,I I(<ɚiI\ G٣AGylҼ > %Nusing accuracyPremultiplier from config-49=?-4YC isB)-鿑5?D ; ;af49 =t A9B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 299.70 m.Bj =Jj = ProNav: ac range: 299.700012 m, nav range: 90.344788 m, bearing: 114.589076 deg, approach rate: 0.515686 m/s, LOS rate: -0.264448 deg/s, cmd heading: 250.385446 deg, new cmd heading: 250.009520 deg. 2j|5EHeadingCmd: 4.363489 target range: 299.700012 and range: 299.70 m. jE@jAjAjAiAhIhIhIhIfQfQfQrfQbf]@ɛB t#I &&<ɚiI]"w,9^sANJ5@YND@Nv=9N=yNH ҿ_q?@؋Pӿ@Ү`?@?ɨNJ5@N;NCyZBZIIbIb14٢j<= jO=9j@l;Q j>pp zG٣xy`o >UGi uNusing accuracyPremultiplier from configQJJJJJ:J"I:JJWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267938 YyB49U=?4YUJ iUsB!-鿑U?UDU=U2=Um4֒B ? AZjFNOT Ignoring new targets: 299.70 m.BjYJjYH I  I II ߁BI &I .I 6I ٰ<:I  FE ProNav: ac range: 299.700012 m, nav range: 90.558350 m, bearing: 114.478697 deg, approach rate: 0.432954 m/s, LOS rate: -0.223244 deg/s, cmd heading: 250.009512 deg, new cmd heading: 249.679159 deg. 2jM5MHeadingCmd: 4.357723 target range: 299.700012 and range: 299.70 m. jMxr@jQjQjQiQhQhQhYhYfYfYfrfbf?3 @ɛr:  I  #<ɚ i I jG!B1OM?tw,sA:h@Y: @:mRy=9:o)=y:H[(ӿ`[`? Ixxnӿ`%.?G?ɨ:h@:ދ;:CWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771662y%B%yImMb@Mb@Mb@iii i)iYm/$?~jt?MbPym,?m G٣AGy[4 > Nusing accuracyPremultiplier from config49ٸ=?4YtT isB$,?:x뿑?Dz(<!(<1x4 ՒB p A  EZj15FNOT Ignoring new targets: 299.70 m.Bj] Jj] m ProNav: ac range: 299.700012 m, nav range: 90.873558 m, bearing: 114.312837 deg, approach rate: 0.613714 m/s, LOS rate: -0.321810 deg/s, cmd heading: 249.679150 deg, new cmd heading: 249.183310 deg. 2jm\mHeadingCmd: 4.349069 target range: 299.700012 and range: 299.70 m. ju+@jqjjihhhhBfffrfbf`6@ɛ-B-E )U $IQ U !<ɚQiYI]B& = BDAT read: Tx time:21:27:43.1245 = $Ping request sent.= r1e :publishing transmit ping time9 m Fpublishing direction and range info9AK8=60n}2a@ ?y )Ii )IiY]A^?E@ؿd?)Ii I gG- =G B O= >kw,g+tAR Ӆ@YRg@R2|=9R:=yRH xӿ1S?` ͸Jk@Rӿp)D ??ɨR Ӆ@R2;RCyzBzIIMIM[4٢]< ]z=9]&;Q ]? G٣y ? Nusing accuracyPremultiplier from config49Ƴ=?4YZ isB!쿑?)Di%;%;}4 H AkׁQ6?k' k ksA:kCBkCZkF@"۰á.B?ZDxg{r@AK8=60n}2a@ ?Jk>Rkr1*aCI<7'~:@Td~r@ |B¶?)?"kA*kk 6?kl 2k_CkkkkBk-? addTargetRange:: Added new target pos. range: 298.000000 m, deltaT: 4.036773 s, deltaX: -1.700012 m, approachRate: -0.421131 m/s, rangeRepo size: 4 % Added new target pos. range: 298.000000 m, bearing: 131.248990 deg, lat: 36.902294 deg, lon: -122.115347 deg, deltaT: 4.036773 s, deltaX: -1.700012 m, approachRate: -0.421131 m/s, posRepo size: 4 Zj!5FNOT Ignoring new targets: 298.00 m.Bj]JjY ProNav: ac range: 298.000000 m, nav range: 91.044090 m, bearing: 114.222806 deg, approach rate: 0.000000 m/s, LOS rate: -0.321810 deg/s, cmd heading: 249.183305 deg, new cmd heading: 248.845322 deg. 2jHeadingCmd: 4.343170 target range: 298.000000 and range: 298.00 m. j@@=Will construct direction to contact in vehicle frame from tetrahedron phase data.jj9j9iAhAhIJyJ}JyJyJyJ}D:JyJyhhfffrf%r@bfE:?ɛB ع 2I <ɚiIx=IkRi>i("=)@@)H)I) I)I)I)&I).I)6I-<:I- FBIJIRIZI+ =bI+ =jI34*F}?2Fy:FyBF}0JFzKm jIKm h9Ki Km Km BKu rA:Kq  Will construct direction to contact in vehicle frame from tetrahedron phase data.G #= I Ga By O >[Mw,tA^ߌ@Y^:@^"w=9^=y^HNӿ:?5VEԿ& `?@?ɨ^ߌ@^5;^CyBIMb@Mb@Mb@ )Y r?~jtx?y&1|?y#?;`; A @)`AIy=AIIļ4٢-h< --=95"Q 5>11 =G٣9y=# => MNusing accuracyPremultiplier from configAM49E=?U4YEa iEzsBU#?U:UU?E<DE;E;E&4a e' Ae EZjFNOT Ignoring new targets: 298.00 m.Bj)Jj) ProNav: ac range: 298.000000 m, nav range: 91.266090 m, bearing: 114.097535 deg, approach rate: 0.503713 m/s, LOS rate: -0.283547 deg/s, cmd heading: 248.845320 deg, new cmd heading: 248.470425 deg. 2jBHeadingCmd: 4.336627 target range: 298.000000 and range: 298.00 m. jŊ@jjjihhhh߁Bfffrfbf?ɛ XԼ %I! -8F<ɚ)i)I-G&=I=(iAiE=)MŊ@)I*F2F:FBF4JF Will construct direction to contact in vehicle frame from tetrahedron phase data.Gn"=G B O > m w, P8tA2G\@Y2k@2½w=92=y2H ^ZԿ 7%?[ F `Կ@< ?`?ɨ2G\@2wD;0yPPIZIZy4٢bh ff=9f Q f>hh jG٣jAGyj n> rNusing accuracyPremultiplier from configpv49r*=?v4YrDg irnsBtvv?rKDr:r:r]4| ~* A%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 298.00 m.Bj=Jj=M ProNav: ac range: 298.000000 m, nav range: 91.434372 m, bearing: 114.001996 deg, approach rate: 0.471208 m/s, LOS rate: -0.267027 deg/s, cmd heading: 248.470425 deg, new cmd heading: 248.184339 deg. 2jMB7UHeadingCmd: 4.331634 target range: 298.000000 and range: 298.00 m. jU@jQjQjQiYhYhYhYhYfafafarfabfm?}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.ɛBPꥺ 隽 I n<ɚiI=Imi(i+=)@) YIY*F2F:FBF_0JFG=GBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244885jH bH <H '>I  I I I &I .I 6I <:I FVw,3RtA^6@Y^rE@^Ju=9^=y^HâԿX?:1Կ@?L?ɨ^6@^x%;\yjBjImMb@Mb@Mb@iii i)iYm+?Mb?{Gzt?ymv?m=9ﵺQ > G٣yO1 > Nusing accuracyPremultiplier from config49.=?4Ym i`sB{?:?\D;;㓠4 7 AZjFNOT Ignoring new targets: 298.00 m.BjJj ProNav: ac range: 298.000000 m, nav range: 91.631859 m, bearing: 113.890320 deg, approach rate: 0.438729 m/s, LOS rate: -0.247560 deg/s, cmd heading: 248.184349 deg, new cmd heading: 247.850047 deg. 2j)HeadingCmd: 4.325799 target range: 298.000000 and range: 298.00 m. jl@jjjihhhh%Bf)f)f)rf)bf5 {?ɛ` 隝ZI F<ɚzK%BHK%59K!K%K%RK->JK-?iI5=I=i=Qi=@=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496980)l@) M$?II*F92F9:F9BFAJFAG] k[=G9 BQ O} >J J J J J J 5K:J J J e1B>IIFIF4٢R< R\=9R :Q R>TT VG٣TyZ) Z> ^Nusing accuracyPremultiplier from config\b49^=?f4Y^s i^TsBdff?^jD^@;^ 7;^c4l n AnEZjFNOT Ignoring new targets: 298.00 m.Bj uJj u ProNav: ac range: 298.000000 m, nav range: 91.802345 m, bearing: 113.793856 deg, approach rate: 0.484397 m/s, LOS rate: -0.273570 deg/s, cmd heading: 247.850052 deg, new cmd heading: 247.561201 deg. 2j;%HeadingCmd: 4.320758 target range: 298.000000 and range: 298.00 m. j%C@j!j!j!i!h)h)h)h)f1f1f1rf1bf?ɛBº I <ɚiI =I 0i ^i &=)C@)1*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001144G= 9I=gGBO>e!w,مtA:@Y:D @:8w=9::a=y:H>տ` ?@@g'XտԜ:??ɨ:@:u;:CyFBFIININx4٢Z̼ ZI=9ZvQ ^>\\ bG٣bAGyb% b> fNusing accuracyPremultiplier from configdj49fX=?j4Yfy ifGsBlnn?fzDf;f_;f}4p vB AtZjFNOT Ignoring new targets: 298.00 m.Bj8Jj%85 ProNav: ac range: 298.000000 m, nav range: 91.988182 m, bearing: 113.688414 deg, approach rate: 0.457690 m/s, LOS rate: -0.259165 deg/s, cmd heading: 247.561190 deg, new cmd heading: 247.245505 deg. 2j51=HeadingCmd: 4.315248 target range: 298.000000 and range: 298.00 m. j=@jAjAjAiAhAhAhIhIfIfIfQrfQbfU@@ɛy 隅I b<ɚiIL=I^iCEiu*=)@)Will construct direction to contact in vehicle frame from tetrahedron phase data. i Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256497*F?2F:FBF0JFHI IIIBI&I.I6Iǰ<:I FG5 %=GBO5> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504931zK k3IK s9K K K  ! I! 'w,wtAZӄ@YZ!@Z"x=9Z=yZH[տ@? .bտ`ZawB??ɨZӄ@Zݞ;ZCyfBf}IUMb@Mb@Mb@QQQ Q)QYU333333?~jth?Mb?yU?UD;U    G٣ y$/ > Nusing accuracyPremultiplier from config%49=?%4Y i:sB%?-:-5-?D;8;M41 5T A5EZjyFNOT Ignoring new targets: 298.00 m.BjJj ProNav: ac range: 298.000000 m, nav range: 92.184387 m, bearing: 113.574789 deg, approach rate: 0.437632 m/s, LOS rate: -0.252898 deg/s, cmd heading: 247.245499 deg, new cmd heading: 246.905354 deg. 2j-HeadingCmd: 4.309311 target range: 298.000000 and range: 298.00 m. j@jjjihhhh0BfffrfbfIQ@ɛBPIԺ $I G<ɚiI7=Iiǘi'b.=)@)*F?2F:FBF |0JF JJJJJ[:JG:JJJ+<J+<J;J;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756968G% ؛*=G B O% >-w,!tA6N@Y6@6:v=96}=y6HTտ? w+ *տR?׮(>??ɨ6N@6:;6Cy@B~IIJIJ[4٢RV; Rd=9R`Q V>TT VG٣TyZV Z> Nusing accuracyPremultiplier from config\49^τ=?4Y^ i^0sB%%?^D^Z<^Z<^4) -O A)MB*** querying acoustic contact ***jIjIZjQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.009123UFNOT Ignoring new targets: 298.00 m.BjuyJjuy ProNav: ac range: 298.000000 m, nav range: 92.341209 m, bearing: 113.483619 deg, approach rate: 0.426227 m/s, LOS rate: -0.247370 deg/s, cmd heading: 246.905355 deg, new cmd heading: 246.632312 deg. 2j)HeadingCmd: 4.304546 target range: 298.000000 and range: 298.00 m. j׾@jjjihhhhfffrfbf4A@ IɛB%< %I T<ɚiIl=IDii)׾@)*Fu?2Fq:FqBFu_5JFqG-=GGsAGiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:27:45.9242  TRx dataTimestamp_ set to:1736371667.197576% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262931ZH RH ?AH (>I  I I I * =&I .I 4D6I <:I | Fh4w,XttAFQ{@YF@FHs=9Fu=yFH jֿ?`Q Fֿ ݙ`dp?@?ɨFQ{@Fb;FCybBbwIij!>Ij<Mb@Mb@Mb@ )Y333333?Q{Gzt?yuף;E A v@)I`@yGAII4٢ 6=98Q > G٣BGy_  > ]Nusing accuracyPremultiplier from config ]49 w|=?e4Y  i !sBe?e:e]e? D &; ; e4q uw AqZjFNOT Ignoring new targets: 298.00 m.BjȖJjȖ ProNav: ac range: 298.000000 m, nav range: 92.531006 m, bearing: 113.365781 deg, approach rate: 0.425519 m/s, LOS rate: -0.263649 deg/s, cmd heading: 246.632312 deg, new cmd heading: 246.279526 deg. 2j4HeadingCmd: 4.298388 target range: 298.000000 and range: 298.00 m. jf@jjjihhh h 6Bfffrfbf] @ɛeBep,  1I <ɚiI%=I iIi /=)f@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.514037 $?IzKBHK59KKK%*F?2F:FBF4JFuPExceeded connect timeout, disconnecting.Ge .=G9 BI O >J J J 1J J :J C:J 3J J 0<J 0<J E;J E; Will construct direction to contact in vehicle frame from tetrahedron phase data. i AM DAT read: 21:27:45.9242 LVL= 20688, 32753, 24882, 31555, AGC= 63, IDX= 415,-0.13, 2.166, 0.204, 0.409, 0.987, PHS= 1.267,-0.736,-0.581, RAW= 94.0, 0.5, CAL= 102.4, -3.3, ROT= 47.6, 3.3 :w,EtAYgot valid direction response: 21:27:45.9242 LVL= 20688, 32753, 24882, 31555, AGC= 63, IDX= 415,-0.13, 2.166, 0.204, 0.409, 0.987, PHS= 1.267,-0.736,-0.581, RAW= 94.0, 0.5, CAL= 102.4, -3.3, ROT= 47.6, 3.3 PDAT read: Bearing 47.6, 3.3 (Local) ~Local bearing/azimuth received: Bearing 47.6, 3.3 (Local) "DAT read: Range 10 to 50 : 296.7 m (Round-trip 395.6 ms) speed 0.3 m/s &,DAT read: user:1787> *BDAT read: Tx time:21:27:47.0245 *$Ping request sent.*:publishing transmit ping time(BFpublishing direction and range infoQ9U6?NH??yQQQQ Q)QIQiQQQQQ Q)QIQiQQQU5[?gܿ_g։?)QIQiQQQQXU@Yd@p=9b=yH`Iֿ`? C`{ֿ~$ A;?`?ɨXU@;Cy-B-sII I4٢a A=9Q > G٣y. >  Nusing accuracyPremultiplier from configU49Ft=?]4Y isBaem?D<e<4  AEkU-:?kUk kQ kUtA:kUYCBkUSCZkUk@"UЭ}O>*)P '@uui$or@U6?NH??JkU1@RkUp#*U?|!M0@IZnr@UfA ?hT$?"kUA*kU kỦ:?kUZ 2kUtCkU熊3?kU@e kQkULBkUvK@] addTargetRange:: Added new target pos. range: 296.700012 m, deltaT: 3.779602 s, deltaX: -1.299988 m, approachRate: -0.343948 m/s, rangeRepo size: 4  Added new target pos. range: 296.700012 m, bearing: 117.750866 deg, lat: 36.902352 deg, lon: -122.115630 deg, deltaT: 3.779602 s, deltaX: -1.299988 m, approachRate: -0.343948 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 296.70 m.BjJj ProNav: ac range: 296.700012 m, nav range: 67.149704 m, bearing: 116.645944 deg, approach rate: 0.000000 m/s, LOS rate: -0.263649 deg/s, cmd heading: 246.279519 deg, new cmd heading: 245.889820 deg. 2jHeadingCmd: 4.291587 target range: 296.700012 and range: 296.70 m. jT@jjjihhhhfff rf @3r@bf 5?ɛ}B}+@ y隅;I ? <ɚiIj=Iiidh7=)T@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:27:47.0237 I*Fu?2Fq:FqBFu0JFqG eS/=) GY Bq O >MBw, uA>GHT jYhyjSBU$@YU04@Ul=9U=yUH ֿe?@,ֹ`@ֿЗ@ˎI??ɨU$@U|a;UCyލBލgIWill construct direction to contact in vehicle frame from tetrahedron phase data.II4٢E~- E<=9EI'Q E>II MG٣IyULf U> Nusing accuracyPremultiplier from config49 l=?4Y$ isB ?D<<tƠ4I } A}EH5)>I1 I5II5߁BI1&I1.I16I5<:I5 FZjFNOT Ignoring new targets: 296.70 m.BjܻJjܻ ProNav: ac range: 296.700012 m, nav range: 67.318153 m, bearing: 116.482028 deg, approach rate: 0.396308 m/s, LOS rate: -0.384677 deg/s, cmd heading: 245.889815 deg, new cmd heading: 245.399310 deg. 2j-HeadingCmd: 4.283026 target range: 296.700012 and range: 296.70 m. j-@j)j)j)i)h)h1h1h1f1f9f9rf9bf=K5gTG:.# G ‹9=G ?G ?G B O >Hw,$uA nManaging dock network, ignoring radio surface power offy5B5XI)9 =AMb@Mb@Mb@ )Y7A`?:vMb`y?T A I@) AI@yAII4٢P 4=9Q %>)) -G٣-BGy5 5> =Nusing accuracyPremultiplier from config9E49=c=?E4Y= i=rBM?M:M8M?=D=Z;=;=NΠ4Q U? AQZjy}FNOT Ignoring new targets: 296.70 m.BjJj ProNav: ac range: 296.700012 m, nav range: 67.493256 m, bearing: 116.314366 deg, approach rate: 0.456103 m/s, LOS rate: -0.435591 deg/s, cmd heading: 245.399299 deg, new cmd heading: 244.897630 deg. 2jxHeadingCmd: 4.274270 target range: 296.700012 and range: 296.70 m. jƈ@jjjihhhh'Bfffrfbf ?Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJ{:JF:Jـ3JJ.<J.<J;J;ɛmBmw iupjIq uO<ɚqiqIu̟ =Iii `=)ƈ@)*FQ2FQ:FQBFU4JFQGu T?=GQ Ba O} > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Nw,>uA:H@Y:@:]=9:=y:H?׿`?@G@3฿׿M׻2h??ɨ:H@:뇋;:Cy^{BbCIIjIj 4٢rԽ rw=9r1Q r?tt vG٣tyz8 z? ~Nusing accuracyPremultiplier from config| 49~v]=? 4Y~H i~rB  ?~D~0;~l0;~Ԡ4  A=B*** querying acoustic contact ***j9j9ZjYmFNOT Ignoring new targets: 296.70 m.Bju!ջJj}!ջ ProNav: ac range: 296.700012 m, nav range: 67.619965 m, bearing: 116.190277 deg, approach rate: 0.381246 m/s, LOS rate: -0.372664 deg/s, cmd heading: 244.897635 deg, new cmd heading: 244.526070 deg. 2jHeadingCmd: 4.267785 target range: 296.700012 and range: 296.70 m. j@jjjihhhhfffrfbf 3W?ɛUBUK Y]ՇIY ]3/<ɚYiYI]gX =IeRiaiev;=)m@)i*F?2F:FBF_0JFGWill 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.jH} <bH} <H I  I II ЁBI &I .I 6I <:I FBIYJIYRIYZI]* =bI]* =jI]{5aUw,XuA2@i@Y2x@2 V=92U=y2H@Hؿ|?`𢸿r:8ؿ@j&?`?ɨ2@i@2w;2CyRnBR3IUMb@Mb@Mb@QQQ Q)QYUv?y&1Mb`yU?U`弹QU A UA)UE AIUAQyU AIuIu4٢x A=9Q > G٣y > Nusing accuracyPremultiplier from config49T=?4YV irB?:(?Da;;z۠4 5 AZjFNOT Ignoring new targets: 296.70 m.BjJjໝ ProNav: ac range: 296.700012 m, nav range: 67.779800 m, bearing: 116.024169 deg, approach rate: 0.378944 m/s, LOS rate: -0.392883 deg/s, cmd heading: 244.526073 deg, new cmd heading: 244.028939 deg. 2jІHeadingCmd: 4.259109 target range: 296.700012 and range: 296.70 m. jJ@j j j i h h h =$?I=guWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746884h6Bfffrfbf \?ɛ B-NyE 15sI1 5;ɚ1i1I56A =I=yi9i=nB=)=J@)AzKMmNKM9KIKMKM *F2F:FBFJFG GpAG va=G qAG rA- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999492G B O >\w,lruARB@YRIv>IzIz 4٢ S=9 ߸9Q  >   G٣yE > %Nusing accuracyPremultiplier from config%49JL=?%4Yޯ irB)-u-?DX::C41 = A=EZjFNOT Ignoring new targets: 296.70 m.BjֻJjֻ ProNav: ac range: 296.700012 m, nav range: 67.925690 m, bearing: 115.872313 deg, approach rate: 0.360357 m/s, LOS rate: -0.374290 deg/s, cmd heading: 244.028944 deg, new cmd heading: 243.574362 deg. 2jo%HeadingCmd: 4.251174 target range: 296.700012 and range: 296.70 m. j% @j!j!j!i!h)h)h)h)fqfqfqrfqbf}@X@ɛBu~ ?Q=qI t;ɚiaIe$ =Iv iiN=) @) !I)*F=?2FA:FABFE`0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250759GnH=GBOn>bw,[@uA6J@Y6%@6 V=96լ=y6Hؿ@w_? }Cؿ揿??ɨ6J@6h;6CyRRBVIrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502843JKm3 KS}-KK"KJzJzJxJxJz[:Jz@:JxJxa@a@a@a@I}I}4٢` B=9Q > G٣BGyIQ > Nusing accuracyPremultiplier from config49C=?4Y irB  ?D::4 5 A=EH1I1 I5II5BI1&I1.I16I5ް<:I5 FZj FNOT Ignoring new targets: 296.70 m.BjͻJj%ͻ ProNav: ac range: 296.700012 m, nav range: 68.087463 m, bearing: 115.703401 deg, approach rate: 0.345784 m/s, LOS rate: -0.360183 deg/s, cmd heading: 243.574354 deg, new cmd heading: 243.068837 deg. 2j0wHeadingCmd: 4.242352 target range: 296.700012 and range: 296.70 m. jX@jjjihhhhfffrfbf#@ɛ B a I ;ɚiI:1 =Iii%Y=)%X@)A*F2F:FBF_0JF I!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754634zKm KKm ]9Ki Km Km BKu pA:Kq G ߛC=G B O >Xiw,3uAJ$@YJʉ@J,Q=9JK=yJHDٿ;?KZvٿ "e?@?ɨJ$@JNފ;HyRQQ UG٣Qy]ϼ ]> eNusing accuracyPremultiplier from configam49ev9=?m4Yew ierBu?u:u9u?e*De;e_;ee4y } AyZjIMFNOT Ignoring new targets: 296.70 m.BjUJjUe ProNav: ac range: 296.700012 m, nav range: 68.259628 m, bearing: 115.528441 deg, approach rate: 0.427566 m/s, LOS rate: -0.433411 deg/s, cmd heading: 243.068838 deg, new cmd heading: 242.545297 deg. 2jemWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.006764}HeadingCmd: 4.233214 target range: 296.700012 and range: 296.70 m. j}}v@jjjihhhhBfffrfbf<@ɛ Bh ';I p;ɚiIu=I2iiPQ=)}v@)*FA2FA:FABFE0JFIG8U=GBOm> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:21:27:49.8222 % TRx dataTimestamp_ set to:1736371670.976840- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259982Npw,GuAV&@YV@V?N=9V“=yVH@ٿ?,?ާ {J0ٿ\@(ũ@E? A?ɨV&@Vp@;VCy,BII-I-4٢m~ uW=9uQ }>yy }G٣yy] > Nusing accuracyPremultiplier from config491=?4Y irB?9Dq ; ;4 C AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 296.70 m.BjJj򻝊 ProNav: ac range: 296.700012 m, nav range: 68.409790 m, bearing: 115.375491 deg, approach rate: 0.417961 m/s, LOS rate: -0.424788 deg/s, cmd heading: 242.545290 deg, new cmd heading: 242.087457 deg. 2jÑHeadingCmd: 4.225223 target range: 296.700012 and range: 296.70 m. j5@jjjihhhhfff rf bf ` @ɛ= B=XѼ 9=&޾IA EG;ɚAiAIE=IMiIiM(]=)M5@)Y]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510656JuJuJqJqJu{:JuA:JqJqE+,=ZHyRHyHI IfIIBI&I.I6Iǰ<:I F*F2F:FBFo0JFG- @Z=G5 rAG1 e $?Ia G-Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.768279BO%>zKEJKEh9KAKEKE xw,uAj\@Yjl@jI=9j=yjH ٿ@?+v5 < ڿ&/*??ɨj\@jXF;hyvBvIuMb@Mb@Mb@qqq q)qYu{Gz?I +:vyu#?u94uTuA uhA)uE AIuzAqyuAIIH4٢Ѳ =9Q > G٣BGyI > Nusing accuracyPremultiplier from config498%=?4Y irB #? : E ?NDa;;(4  AEZjFNOT Ignoring new targets: 296.70 m.Bj߻Jj߻E ProNav: ac range: 296.700012 m, nav range: 68.623695 m, bearing: 115.161546 deg, approach rate: 0.392028 m/s, LOS rate: -0.390876 deg/s, cmd heading: 242.087449 deg, new cmd heading: 241.447645 deg. 2jE }HeadingCmd: 4.214056 target range: 296.700012 and range: 296.70 m. jن@jjjihhhhBfffrfbf F@ɛ} B} I ;ɚiIAZ=IliiKl=)ن@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 21:27:49.8222 LVL= 18640, 32753, 26386, 32755, AGC= 62, IDX= 426,-0.40, 0.970,-0.831,-0.792,-0.100, PHS= 1.158,-0.684,-0.695, RAW= 89.7, 2.4, CAL= 96.8, -0.2, ROT= 53.2, 0.2 Ygot valid direction response: 21:27:49.8222 LVL= 18640, 32753, 26386, 32755, AGC= 62, IDX= 426,-0.40, 0.970,-0.831,-0.792,-0.100, PHS= 1.158,-0.684,-0.695, RAW= 89.7, 2.4, CAL= 96.8, -0.2, ROT= 53.2, 0.2 PDAT read: Bearing 53.2, 0.2 (Local) ~Local bearing/azimuth received: Bearing 53.2, 0.2 (Local) DAT read: Range 10 to 50 : 295.1 m (Round-trip 393.5 ms) speed 0.4 m/s ,DAT read: user:1788> BDAT read: Tx time:21:27:50.9246 $Ping request sent.iEX9?E/E1EHd?E+= E@?)EdIE,m?iEd;AAE[?[o pT?)E}\IE-iE@EAA:publishing transmit ping timeرFpublishing direction and range infoA9EiL}o?;s?yAAAA A)AIAiAAAAA A)AIAiAAAE[?[o pT?)AIAiAAAAEE R=*F ?2F :F BF _0JF G  G rA  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.G'\=GBO%?[w,ɯvA6k,@Y6;@6`F=96=y6HGJڿc?G`" vڿKÄ`ɨd ?@?ɨ6k,@6ʩ;6Cy>B>IIJIJ4٢R쉽 R=9RQ R>TT VG٣TyV(9 Z> bNusing accuracyPremultiplier from config\b49^L=?f4Y^ i^jrBdff?^cD^:^W;^A 4nԒB nAnEkdQC?k(b k kiuA:kCBkCZkB?"5€CCi^@@6)r@iL}o?;s?Jk@Rk*Oՠ3@KP2@K^r@a9h?*Oh?˼P|?"kҐA*k?Akd\C?kK$ 2k7Ck 6?kl k7CkBkD( @- addTargetRange:: Added new target pos. range: 295.100006 m, deltaT: 4.032392 s, deltaX: -1.600006 m, approachRate: -0.396788 m/s, rangeRepo size: 4  Added new target pos. range: 295.100006 m, bearing: 43.568182 deg, lat: 36.902421 deg, lon: -122.115982 deg, deltaT: 4.032392 s, deltaX: -1.600006 m, approachRate: -0.396788 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 295.10 m.BjJj ProNav: ac range: 295.100006 m, nav range: 37.709465 m, bearing: 124.580089 deg, approach rate: 0.000000 m/s, LOS rate: -0.390876 deg/s, cmd heading: 241.447652 deg, new cmd heading: 240.859903 deg. 2jHeadingCmd: 4.203798 target range: 295.100006 and range: 295.10 m. j@jjjih h hhfffrfqr@bf s,?ɛeBe a隍AI /;ɚiI=Iii^={=)@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:JJJHI I4IIpBI&I.I6I<:I F*F?2F:FBFJF 9 I= g5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G i=G B zK K K K K O >_Gw,I"vA2؁@Y2O@2l7=92=y2H ڿ@m?`c ۿw릿@?@?ɨ2؁@2ǧ;0y:B:ImMb@Mb@Mb@iii i)iYmv/?MbP:vymx)?mim A mA)m AImAiymAII+4٢ν )=9Q > G٣BGyث > Nusing accuracyPremultiplier from config49 =?4Y iUrB)?:M?xD;;4 ՒB SA !EZjQ]FNOT Ignoring new targets: 295.10 m.BjesJjesu ProNav: ac range: 295.100006 m, nav range: 37.874672 m, bearing: 124.159406 deg, approach rate: 0.335228 m/s, LOS rate: -0.849892 deg/s, cmd heading: 240.859900 deg, new cmd heading: 239.603570 deg. 2juHeadingCmd: 4.181871 target range: 295.100006 and range: 295.10 m. jх@jjjihhhhЁBf f f rf bf'?ɛB`" 隥`I mĠ;ɚiI=I{ii5=) х@) Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFG {=G B O >dw,^ۿ*? 6I aۿo ߴ?)?ɨN@N;NCy^׀B^yIIvIv4٢iĽ U=9 vQ  >   G٣y > -Nusing accuracyPremultiplier from config!-49%=?54Y% i%ErB155?%D%P:%:%k4A EAA}Will construct direction to contact in vehicle frame from tetrahedron phase data.Zj FNOT Ignoring new targets: 295.10 m.Bj HmJj Hm= ProNav: ac range: 295.100006 m, nav range: 38.002872 m, bearing: 123.834469 deg, approach rate: 0.328495 m/s, LOS rate: -0.829791 deg/s, cmd heading: 239.603582 deg, new cmd heading: 238.632158 deg. 2j=^EHeadingCmd: 4.164917 target range: 295.100006 and range: 295.10 m. jEG@jAjIjIiIhIhIhQhQfyfyfyrfybf`?ɛB :II Ux;ɚQiQIUu=I]iYi]y=)]G@)a*FE?2FA:FABFM0JFIG5=yvAA %YY%vAy%cBGYBqO}>- Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J J F:J J jH <bH <H *>I  I II BBI ) =&I .I 6I Ѱ<:I FPw,bJVvAyu€Bu_IAMb@Mb@Mb@ )YZd;O?Q?y&1y~*?u<`eA ) AIAyAI5I54 QIQ٢U U+=9]Q ]>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu49m5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001699vw,pvAFy@YF@FJD=9F^=yFH@ܿ?8`BܿX Q?^G`?j?ɨFy@F|;FCyRBROIIZ IZ<4٢b b=9fQQ f ?dd fG٣fBGyj j ? rNusing accuracyPremultiplier from configpv49ri AIAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253757bw,vAB @YBh@B=9BÒ=yBH@ݿ,b?fn`|d'ݿg? 65ij?5?ɨB @Bi;BCyJBN4IIVIV4٢^ٽ bJ=9bQ b>dd fG٣dyfƼ j> rNusing accuracyPremultiplier from configpv49rEU>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506581*F?2F:FBF_0JFHI IIIBI* =&I.I6I<:Ia FBIJIRIZIbIjI4G7=GBOUS> - $?I- g Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757609Aw,ѣvA6UL@Y6[@6p =96vX=y6H@ ݿ =?FTݿ `n? G-Vd? 5?ɨ6UL@6;6CzKRNKR9KPKRKRyZBZ,Ii^l>I^4= b=b=EMb@Mb@Mb@AAA A)AYE +?Q?:vyE6?Eiq uG٣qyuμ }> Nusing accuracyPremultiplier from config49 iiW!=)@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010013JJJJJ{:JG:JJJaJaJ;aJ;aG4=G B O >  I w,vA2@Y2@2?<92w=y2H`a޿`? %`\\ ^G٣^BGyb b> fNusing accuracyPremultiplier from configdj49fM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521554ZH RH AAH I C I II BI ) =&I .I 6I ư<:I F页w,ϟvA~@YW@ a<9w=yHM߿_? &q j,߿p?@ 띿??ɨ~@;y-~B- I I Mb@Mb@Mb@    ) Y (\?X9v?Mbpy z4? <   A)  AI A y p AI#I5٢5 5&=95Q =>99 =G٣AyEۼ E> UNusing accuracyPremultiplier from configIU49M EBDAT read: Tx time:21:27:54.8246 E$Ping request sent.EM Will construct direction to contact in vehicle frame from tetrahedron phase data.U JDAT read: TxSync time:21:27:54.8238 λw,0vAJ.J.J,J,J.;:J.A:J,J,J.L)<J.L)<J.z;J.{;B~@YB@B|<9B#]=yBH߿ƪ?aۮ}`߿l?q? ?ɨB~@B";BCynxBnI)p rAppII4٢  %s=9%FλQ %? G٣y%* ? Nusing accuracyPremultiplier from config49?ی?Ik?"kl@*k]BkN?kGYV 2kPCk̉:?kZ kkLAk$? addTargetRange:: Added new target pos. range: 293.700012 m, deltaT: 3.787676 s, deltaX: -1.399994 m, approachRate: -0.369618 m/s, rangeRepo size: 4  Added new target pos. range: 293.700012 m, bearing: 4.270238 deg, lat: 36.902543 deg, lon: -122.116115 deg, deltaT: 3.787676 s, deltaX: -1.399994 m, approachRate: -0.369618 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 293.70 m.BjJj ProNav: ac range: 293.700012 m, nav range: 22.537123 m, bearing: 107.258473 deg, approach rate: 0.000000 m/s, LOS rate: -0.883473 deg/s, cmd heading: 232.133650 deg, new cmd heading: 231.168521 deg. 2jHeadingCmd: 4.034652 target range: 293.700012 and range: 293.70 m. j@jjjihhhhff f rf @3[r@bf @l?ɛy}j y}MI uv9ɚiIg=Iii]=)@)*F2F:FBF^0JF $?IG =GBOh>Will construct direction to contact in vehicle frame from tetrahedron phase data.w,; wA25|@Y2@20<92F=y2H@ng? r rtr?ze٨?`?ɨ25|@2;2CyBsBBIIJIJN4٢zɼ zN=9~mQ ~>| G٣BGy4 > Nusing accuracyPremultiplier from config 49 d)"L@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Jq"Jup=*F2F:FBF?1JFH],>IY I]xII]׀BIY&IY.IY6I]<:I]z FG?= IgGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,d%wA6{@Y6 @6X<96-*=y6H@\)? 1$p? tB?@"?ɨ6{@6xm;6CyFoBFIzK\K^9K\K^K^-Mb@Mb@Mb@))) )))Y-i|?5?ˡE?~jth?y-1?-'=-D;- A -3A))I-IA)y- AAAIMIM4٢]t ]D=9]JQ e>aa eG٣aym6 m> uNusing accuracyPremultiplier from configq}49u?ɛy}?$` y}RIy B>ɚiIƭ=I<iiF >)(~@)*F2F:FBF*1JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.G]=JJJJJ{:JQN:JJJ.<J.<J:;J:;G1B9OUu> } $?I w,g>wA2@z@Y2@2<92=y2HF`>?` Ixh?@A䚢?@?ɨ2@z@2*;2CyNtBRIIZIZP4٢j< jS=9nFQ n>pp vG٣tyv$ v> ~Nusing accuracyPremultiplier from configx]49z)%M}@)!*F2F:FBF 5JFG =GBO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.jHE <bHE <HI II  IM fIIM ȀBII &II .II 6IM <:IM Fw,xXwAz@YY@t<9c< -=9`Q > G٣BGy0 > Nusing accuracyPremultiplier from config49̍)u?k{@)q*F ?2F :F BF `5JF zKK 9KKKRK?JK?Ge >GBO >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2471115#w,rwAJJJJJ:JB:JJJe1<Jf1<J`;J`;5x@Y5<@5U<959dqq uG٣qyu? > Nusing accuracyPremultiplier from config49)=iy@)9 $?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=2.501927G- >G1 G1 G B O5 >) -G vA A E YM vAyM BNw,wA6w@Y60@6<96Q^XX ZG٣Xy^Q> ^> bNusing accuracyPremultiplier from config`f49bKw)zxx@)Will construct direction to contact in vehicle frame from tetrahedron phase data.iA%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756189HI I_IIÀBI&I.I6IҰ<:I F*F2F:FBFJFG>GaBO k> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007129!&w,_wAy~|B~ IzK}K}9KyK}K}BKqA:KqAMb@Mb@Mb@ )YK7?!! -G٣- BGy- > Nusing accuracyPremultiplier from config49(h)%v@))-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261493*F2F:FBFJFJJJJJ{:J?:JJJ.<J.<J;J; I gG J!>G B O >n w,T8wA6exu@Y6ˁ@6ٷ<96/3B>IIFIFB4٢NF= Nf=9R^Q R>PT VG٣TyVԽ V> ^Nusing accuracyPremultiplier from configX^49Z\)8-u@)E=dO=*F2F:FBFJFGe*>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768228G ZH RH ?AH I  I lII ̀BI ( =&I .I 6I <:I FBIɝCJIɝCRIZI) =bI) =jIۯ4B) Oe >58w,3wA~.Bt@Y~r0@~J<9~_;y~H` ?Xɏc(@(J1+w??ɨ~.Bt@~ފ;~CymB $?IuI p=p=I&IF5٢E< M2=9]ҢQ ]>Ya eG٣ayek( e> uNusing accuracyPremultiplier from configi}49mL)-Fs@))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020159E%pu=*F2F:FBFJFGu?>GYByO>zKejIKe9KaKe KeRK?JK?] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.271020iw,VwA6Gr@Y6@6h<96:y6Hʆ ċ?d` ‡@r@쑿 5X?@?ɨ6Gr@6&;6CyVBV#IMb@Mb@Mb@ )Y#~j?y&1| G٣ BGy[ %> -Nusing accuracyPremultiplier from config)549->)q@)EE*E"E yIgWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523806*FY 2FY :FY BFY JFa G} ?>G G GYBaO>hw,B{xA6ۀq@Y6@6<96槻y6H<?~`-m@ѐt`?ɨ6ۀq@6&;;4yBBB+IIJIJv4٢R0< R?=9VιQ V>TT VG٣TyZO Z> bNusing accuracyPremultiplier from config`f49b.)o@)*F2F:FBFx1JF e$?IaGU?>G BO5q>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027077zKM 2KKM 9KI KM !KM  w,^,xAy B /IAMb@Mb@Mb@ )Yx&1?/$Mb?y!?</ A E A)rAIy AII٢5r< =3=9EQ M>IQ UG٣QyU U> eNusing accuracyPremultiplier from configYm49]I) n@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.279259*Fe?2Fa:FiBFm`5JFi IIIG =>Gq By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.531863uw,FxAnln@Yn"|@n-2<9nynH#`?Y! `!< &=?ɨnln@nY;lyvBv;III٢Q= _=9ӺQ %>!! %G٣% BGy- -> 5Nusing accuracyPremultiplier from config1E495p)%l@)*F-?2F):F)BF-4JF)G qC>GBOK>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.783011JKـ3 KKK"KJ=J=J9J9J=[:J=C:J9J9jHe<bHe<HiIi ImIImBIi&Ii.Ii6Im<:Im F ] $?Ia Lw,C`xAVym@YV0&{@V<9VyVH @?DV8?`E9Аmq?ɨVym@VvҊ;TybBb4I]Mb@Mb@Mb@YYY Y)YY]-?~jty&1|?y]5?]]`;] A ]\ A)] AI] AYyYIm#Im5٢μ <=9VEQ > G٣yc > Nusing accuracyPremultiplier from config49s;?4Y^ iqB?:?D;;x4 A?E5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035228=B*** querying acoustic contact ***j9j9ZjIUFNOT Ignoring new targets: 293.70 m.Bj]&Jj]&e ProNav: ac range: 293.700012 m, nav range: 24.967525 m, bearing: 100.229572 deg, approach rate: 0.315955 m/s, LOS rate: -1.211043 deg/s, cmd heading: 211.824233 deg, new cmd heading: 210.241997 deg. 2jmOuHeadingCmd: 3.669415 target range: 293.700012 and range: 293.70 m. juj@jqjqjqiqhyhyhyh}BfffrfbfC@ɛBNUi 隽C8I & ɚiI)=IH'iiJ>)j@)*F?2F:FBF_0JFGݶZ>zK=JQJK=9K9K="K=RF' GYBaOZ> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.287011w,tyxA6k@Y6y@6_<96dy6H0@ ? ge?C {.R?3`w딿C?ɨ6k@6݊;6CyNBRLI V=V=IZIZ_4٢bf= ba=9bغQ f>hh jG٣hyn} n> 5Nusing accuracyPremultiplier from config1=495|;?E4Y5b i1AEUE?5 D5 ;5* ;54Q U(AQZjyFNOT Ignoring new targets: 293.70 m.BjAJjA ProNav: ac range: 293.700012 m, nav range: 25.083668 m, bearing: 99.769820 deg, approach rate: 0.311091 m/s, LOS rate: -1.225749 deg/s, cmd heading: 210.241993 deg, new cmd heading: 208.869399 deg. 2jNRHeadingCmd: 3.645459 target range: 293.700012 and range: 293.70 m. j2Oi@jjjihhhhfffrfbf`@ɛBLo @.I ɚiI*= $?II(iiJ>)2Oi@) *F?2F:FBFJFmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.539538G[>GGGqBO>$w,ѯxA6i@Y6jx@6Zw<96Qy6H`GHv?9ug?tCᎿ`r`E?ɨ6i@6;4yNBNEIIZbWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.791560IZ4٢j6 nI=9nQ n>pp rG٣pyv| v> zNusing accuracyPremultiplier from configt~4HI IIIBI&I.I6Iư<:I FJ%J%J!J!J%:J%D:J!J!J%*GB!O=r>uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.043117 *w,/xAzK6jLK69K4K6#K6yB@IMb@Mb@Mb@ )YOn? ףp= Mbp?y?Q8; A A)rAI Ayz AII4٢ <=9Q > G٣ BGy > Nusing accuracyPremultiplier from config49;?4Yj iqB?:?)D;;ġ4 xAEEZjFNOT Ignoring new targets: 293.70 m.BjǡJjǡ= ProNav: ac range: 293.700012 m, nav range: 25.327768 m, bearing: 98.765825 deg, approach rate: 0.275444 m/s, LOS rate: -1.131501 deg/s, cmd heading: 207.414158 deg, new cmd heading: 205.872699 deg. 2j="BEHeadingCmd: 3.593156 target range: 293.700012 and range: 293.70 m. jEFe@jAjAjAiAhIhIhihmBfqfqfqrfqbf}7@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.299223ɛ5 B5sf 9=92I9 =)ɚ9i9I=8,=IEo),iiimj*d>)mFe@)i*F?2F:FBFJF $?IGE J>G B) OM >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.5471131w,fxAB_f@YBt@Bc<9B(yBH>?5g?`<:@ty@"`P?ɨB_f@B7;BCy^B^TIIfIf4٢-ˬ= EU=9]FQ m>;G G٣ YyAy > Nusing accuracyPremultiplier from config49>;?4Y}n iqB " ?9DP:.:ˡ4 AZj9EFNOT Ignoring new targets: 293.70 m.BjEJjEU ProNav: ac range: 293.700012 m, nav range: 25.436033 m, bearing: 98.273639 deg, approach rate: 0.285317 m/s, LOS rate: -1.291550 deg/s, cmd heading: 205.872693 deg, new cmd heading: 204.402760 deg. 2jU]]HeadingCmd: 3.567501 target range: 293.700012 and range: 293.70 m. j]Qd@jYjYjaiahahahihifififirf bf @ɛU BU|h Y])IY ]2ɚYiYI][-=I-iiI>)Qd@)*F]?2Fa:FaBFaJFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.800557ZHRH@AJ!J%J%1J!J!J%=:J%3J!a5@a5@a5@a5@H I  I II BI &I .I 6I <:I ~ FGUQ>GBO> I gb7w,5]xA~+e@Y~Js@~c<9~$3|y~H`G`?^Y F-`y K G٣ BGyl > Nusing accuracyPremultiplier from config49g;?4Y)r iqB?:#?ID;;ӡ4גB AJEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 293.70 m.Bj ߩJj ߩ% ProNav: ac range: 293.700012 m, nav range: 25.544518 m, bearing: 97.758697 deg, approach rate: 0.251373 m/s, LOS rate: -1.188108 deg/s, cmd heading: 204.402755 deg, new cmd heading: 202.864880 deg. 2j%K%HeadingCmd: 3.540660 target range: 293.700012 and range: 293.70 m. j--b@j)j)j)i)h)h)hIhM-BfYffrfbfC @ɛԬj 隕 *I ;ɚiI@.=I/iiN>)-b@)EE*F?2F:FBFo0JFG GzKBoHK9KK$KA{ &@Q`ilf]QI?-tj]TLC;50 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303196G db>G B O >>w,xA2yc@Y2q@2lb<92Ży2H?tu@S@qx?ɨ2yc@2A;2Cy:B>JIIVIVN4٢f1 jn=9nYQ M?QQ UG٣QyU ]> eNusing accuracyPremultiplier from configam49e%;?m4Yeu ieqBiu%u?eWDeP:e:ej١4 $?I 0AZjFNOT Ignoring new targets: 293.70 m.BjJj ProNav: ac range: 293.700012 m, nav range: 25.632183 m, bearing: 97.323794 deg, approach rate: 0.244697 m/s, LOS rate: -1.209759 deg/s, cmd heading: 202.864883 deg, new cmd heading: 201.564874 deg. 2jOHeadingCmd: 3.517971 target range: 293.700012 and range: 293.70 m. jo&a@jjjihhhhfffrfbf @ɛ B3 ,I rBɚ!i!I%E/=I%F0i)i-NK>)-o&a@))*F?2F:FBFP5JFGT^>MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.555978GBOF>Ew,7yA6a@Y6o@6j<96@:y6HcM8?[ e8`2N`z@PѴ_?@%?ɨ6a@6);6CHPIP IRIIRBIP&IP.IP6IR<:IR FBIaJIaRIaZIabIajIeϜ4bWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.811787yjBjFI*Jl"Jna= r=ra=IvIv4٢~ ~G=9h:Q > G٣ y ʎ  > Nusing accuracyPremultiplier from config%49;?%4Y:x iqB)-E'-?eD :q:S41 5NA=MEZjaeFNOT Ignoring new targets: 293.70 m.BjmdJjmd} ProNav: ac range: 293.700012 m, nav range: 25.724262 m, bearing: 96.843707 deg, approach rate: 0.233433 m/s, LOS rate: -1.212714 deg/s, cmd heading: 201.564879 deg, new cmd heading: 200.130089 deg. 2j}PHeadingCmd: 3.492929 target range: 293.700012 and range: 293.70 m. j&_@jjjihhhhfffrfbf%!@ɛimcr 隍~.I l4LɚiI0=I2ii)&_@)*FM?2FQ:FQBFU5JFQ IuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.063410G}N>G?G?GA BQ Om >)Kw,1.yAyrBrJIMb@Mb@Mb@ )Y(\?i|?5Mbp?yz?q; A \ A)rAI Ay AII4٢< @=9Q > G٣y > Nusing accuracyPremultiplier from config49y;?4Yb{ iqB??:zKNK9KK%K)%"  (?uD;g;4 3AZjFNOT Ignoring new targets: 293.70 m.Bj%Jj%- ProNav: ac range: 293.700012 m, nav range: 25.818377 m, bearing: 96.333868 deg, approach rate: 0.220390 m/s, LOS rate: -1.189536 deg/s, cmd heading: 200.130089 deg, new cmd heading: 198.606527 deg. 2j5L=HeadingCmd: 3.466338 target range: 293.700012 and range: 293.70 m. j={]@j9j9j9i9h9hAhAhE,BfAfIfIrfIbfM`"@ɛ% B%Ltp !%,I! %^Uɚ)i)I-+1=I5:G4i1i5_b>)5{]@)9EEe>EE!>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.317426JJJ0JJ:J,J:Jـ3J*F?2F:FBF[0JF"GG>GI>GyBO]> $?I} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.567057ORw,HyA6A^@Y6`l@6U><96AA EG٣MBGyM M> ]Nusing accuracyPremultiplier from configQe49Uh;?e4YU} iUqBae=,e?UDU:,;U},;U4q uAuPEZjFNOT Ignoring new targets: 293.70 m.Bj2Jj2 ProNav: ac range: 293.700012 m, nav range: 25.894955 m, bearing: 95.860135 deg, approach rate: 0.197531 m/s, LOS rate: -1.218355 deg/s, cmd heading: 198.606533 deg, new cmd heading: 197.189841 deg. 2j QHeadingCmd: 3.441612 target range: 293.700012 and range: 293.70 m. j_C\@jjjihhhhfffrfbf`Y#@ɛqui{ y}A(Iy }]ɚyiyI}2=IW5iiaC>)_C\@)*FM?2FI:FIBFM^0JFIHI IIIBI&I.I6I <:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.819147J@AJAAG$I>GQ Ba O} > I =Xw,:byAU\@YUj@U<9U6`\ G٣ym > Nusing accuracyPremultiplier from config49,T;?4Yˀ iqB?:.?D>;1;4 YAEB*** querying acoustic contact ***jAjAZjY]FNOT Ignoring new targets: 293.70 m.BjeJjeu ProNav: ac range: 293.700012 m, nav range: 25.977417 m, bearing: 95.304408 deg, approach rate: 0.178731 m/s, LOS rate: -1.200657 deg/s, cmd heading: 197.189843 deg, new cmd heading: 195.528446 deg. 2jNHeadingCmd: 3.412615 target range: 293.700012 and range: 293.70 m. jIhZ@jjjihhhh6BfffrfbfGW$@ɛ BmMj .I hɚiI3=Il7iiR3I>)IhZ@)!*F2F:FBF_0JFzK LK K K &K RK?JK? Will construct direction to contact in vehicle frame from tetrahedron phase data. G G G B O >g^w,+k|yA6Z@Y6>h@6˝<96%{BB:IIJIJ_4٢RA Rw=9RF;Q R?TT VG٣TyZק Z? ^Nusing accuracyPremultiplier from config\b49^HE;?b4Y^ i^qB`fI0f?^D^:^:^Y4h jAjSE 5$?IqZjFNOT Ignoring new targets: 293.70 m.Bj3Jj3 ProNav: ac range: 293.700012 m, nav range: 26.033455 m, bearing: 94.902511 deg, approach rate: 0.157546 m/s, LOS rate: -1.127460 deg/s, cmd heading: 195.528440 deg, new cmd heading: 194.325531 deg. 2jqA%HeadingCmd: 3.391620 target range: 293.700012 and range: 293.70 m. j%OY@j!j!j!i!h)h)h)hIfQfQfQrfQbf]@%@ɛu y2I :pɚiI 4=I%e9i!i-C>)-OY@)9EQ*F?2F:FBFJFG GsAEWill construct direction to contact in vehicle frame from tetrahedron phase data.MGBOb>bMew,G=yAH$I$ I&II&BI$&I$.I$6I&<:I& FF1Y@YFPg@F$<9F fBDAT read: Tx time:21:28:05.7748 f$Ping request sent.f G٣BGyW > %Nusing accuracyPremultiplier from config!M49%R/;?U4Y%J i%qBQU1U?%D%O;%p;%4Y ]AeVEZjFNOT Ignoring new targets: 293.70 m.BjJj ProNav: ac range: 293.700012 m, nav range: 26.110806 m, bearing: 94.314202 deg, approach rate: 0.167450 m/s, LOS rate: -1.269789 deg/s, cmd heading: 194.325534 deg, new cmd heading: 192.566419 deg. 2jYHeadingCmd: 3.360918 target range: 293.700012 and range: 293.70 m. jHW@j)j)j)i)h)h)h1h1f1f9fA u$?Iqrfqbfu %@ɛy IU5IQ ]g:{ɚYiIs6=I%n;i)i-I>)5HW@)A*F?2F:FBFJF]Will construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:21:28:05.7740 uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250293G I>G B O >'kw,/yA6օW@Y6e@6 n<96ܝ G٣y6 >zKBoIKŷ9KK'KBKrA:KrA Nusing accuracyPremultiplier from config49;?4Y! iqB?:L4?D_;;[ 4  AZj FNOT Ignoring new targets: 293.70 m.BjJj% ProNav: ac range: 293.700012 m, nav range: 26.165651 m, bearing: 93.849591 deg, approach rate: 0.148993 m/s, LOS rate: -1.259497 deg/s, cmd heading: 192.566419 deg, new cmd heading: 191.175796 deg. 2j%X-HeadingCmd: 3.336647 target range: 293.700012 and range: 293.70 m. j-U@j)j)j)i)h)h1h1h5Bf9f9f9rf9bf=`z&@ɛimS< qu^9Iq u[ɚqiqIua#7=I})U@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500074JUJUJQJQJU:JUB:JQJQ*Fa2Fa:FiBFm0JFi $?IGI>Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750772rw,yAJ)T@YJ\Hb@J_<9JWll nG٣pyrn r> vNusing accuracyPremultiplier from configtz49v ;?z4Yv ivqB|~7~?vDv+ ;v ;v4 UA YEZj)5FNOT Ignoring new targets: 293.70 m.Bj5Jj5M ProNav: ac range: 293.700012 m, nav range: 26.210903 m, bearing: 93.382548 deg, approach rate: 0.120621 m/s, LOS rate: -1.242762 deg/s, cmd heading: 191.175793 deg, new cmd heading: 189.777377 deg. 2jU9UUHeadingCmd: 3.312240 target range: 293.700012 and range: 293.70 m. jUS@jjjihhhhfffrfbf @>o'@ɛx 隽.>I |ɚiIa8=I#>ii+>)S@)EEsA*F?2F:FBF_5JF"G=Gp=ZHRHAAHI IIIBI&I.I6I:IEWill construct direction to contact in vehicle frame from tetrahedron phase data.AiEAMchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.003297GU7G>G) B1 OM > I xw,yAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254820yޝBޝI=Mb@Mb@Mb@999 9)9Y=-?i|?5Qy=??=q=u=A = A)=+AI99y= AIEIEa4٢MA U(=9UQ U>YY ]G٣]BGye e> mNusing accuracyPremultiplier from configiu49m:?u4Ymڊ imqBu?}:}B6}?mDm;m;mn4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 293.70 m.BjJj ProNav: ac range: 293.700012 m, nav range: 26.278790 m, bearing: 92.777079 deg, approach rate: 0.138899 m/s, LOS rate: -1.235598 deg/s, cmd heading: 189.777380 deg, new cmd heading: 187.966303 deg. 2jSHeadingCmd: 3.280631 target range: 293.700012 and range: 293.70 m. jQ@jjjihhhh#Bfffrfbf_(@ɛ: 隥?BI ~ɚiI9=I)@iiCM>)Q@)*Fm?2Fi:FiBFm4JFqGe|8>zK=BHK=}9K9K=(K=GQBqO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506770J J J 0J J :J H:J ـ3J ~w,yA:{AQ@Y:2`_@:6<9:2)GP@)*F?2F:FBF_0JFGeh6,>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759050G!B))I MCO:>GvA YvAyAm@@m BH I  I II BI &I .I 6I <:I FU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010836߅w,zA6O@Y6w]@6r=961 G٣y%l %> -Nusing accuracyPremultiplier from config)549-:?54Y-{ i-rqB9=:=?-D- ;- ;-@'4A EAAZjFNOT Ignoring new targets: 293.70 m.BjxJjx ProNav: ac range: 293.700012 m, nav range: 26.361637 m, bearing: 91.860181 deg, approach rate: 0.109505 m/s, LOS rate: -1.255229 deg/s, cmd heading: 186.771782 deg, new cmd heading: 185.220559 deg. 2j\WHeadingCmd: 3.232709 target range: 293.700012 and range: 293.70 m. jN@jjjihhhhff f rf bf` )@ɛ] BeB 隍TI ZɚiIKm<=I;CiiKq8>)N@) u$?IqEa>E>*F]?2Fa:FaBFiJFiG GqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263054G X,,>Gq B O >w,e2zA6;N@Y6Z\@6=96lii mG٣mBGyu3f u> }Nusing accuracyPremultiplier from configy49}:?4Y} i}`qB?:O9?} D};};}v.4 A_EZjFNOT Ignoring new targets: 293.70 m.BjJj ProNav: ac range: 293.700012 m, nav range: 26.414131 m, bearing: 91.346014 deg, approach rate: 0.128758 m/s, LOS rate: -1.258626 deg/s, cmd heading: 185.220564 deg, new cmd heading: 183.681520 deg. 2jWHeadingCmd: 3.205847 target range: 293.700012 and range: 293.70 m. j,M@jjjihhhhBfffrfbf *@zKYK]9KYK])K]ɛơ tZI @5ɚiI==IDii;>) ,M@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514943)Y*F2F:FBF^0JF qIqGn3>GyBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766837w,@LzAFhl nG٣lyn r> vNusing accuracyPremultiplier from configpz49rw:?z4YrZ irOqBxz:z?r Dr":r:r254 ^AcEZj)5FNOT Ignoring new targets: 293.70 m.Bj5챼Jj5챼M ProNav: ac range: 293.700012 m, nav range: 26.459673 m, bearing: 90.865142 deg, approach rate: 0.118059 m/s, LOS rate: -1.244417 deg/s, cmd heading: 183.681518 deg, new cmd heading: 182.241705 deg. 2jMUMHeadingCmd: 3.180718 target range: 293.700012 and range: 293.70 m. jUK@jQjQjQiQhQhQhhfffrfbf`w+@ɛ)5 img_Ii umɚiIu?=IՎFii)K@)jHe<bHe4=Hm->Ii ImfIImȀBIi&Ii.Ii6Im<:Im FBI)JI)RI)ZI)bI)jI-J3=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023790JeAAJeBAJmJmJiJiJm:JmB:JiJiJmX-G B O >Ǚw,izAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271765yޕ:BޕI%Mb@Mb@Mb@!!! !)!Y%zG?I +?V-y% ?%94<%%rA !)%AI% A!y!IE3IE 5٢e e#=9uQ u>yy }G٣yy} }> Nusing accuracyPremultiplier from config49:?4Y i5qB??: 6?. D;;=4 AeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 293.70 m.BjuJju ProNav: ac range: 293.700012 m, nav range: 26.543461 m, bearing: 90.252039 deg, approach rate: 0.160144 m/s, LOS rate: -1.168099 deg/s, cmd heading: 182.241700 deg, new cmd heading: 180.408859 deg. 2jjHHeadingCmd: 3.148729 target range: 293.700012 and range: 293.70 m. j ńI@j j j i h h hhԁBfffrfbf]Z,@ɛo 隭gI ͉ɚiI#lA=IHii5Y>)ńI@)EP=zKMk3IKM}9KIKM*KMRKU?JKU?*Fi2Fi:FiBFiJFiWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:28:08.5690 TRx dataTimestamp_ set to:1736371689.896659checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524375 I gG N;>G B O >2w,zA>4I@Y>W@>TB$=9>y/=y>Hc$@B?& ̿T(1?ᆤ`"a? !?ɨ>4I@>n;>CyZ)B^IIr6Ir] 5٢2  [=9  G٣BGy% -> =Nusing accuracyPremultiplier from config1M495:?U4Y5 i5!qBY]9]?5< D5ٕ;5;5D4q uqAufEZjFNOT Ignoring new targets: 293.70 m.BjIJjI ProNav: ac range: 293.700012 m, nav range: 26.597692 m, bearing: 89.791595 deg, approach rate: 0.150472 m/s, LOS rate: -1.274940 deg/s, cmd heading: 180.408860 deg, new cmd heading: 179.030623 deg. 2jZHeadingCmd: 3.124674 target range: 293.700012 and range: 293.70 m. jG@jjjihhhhYfafafarfabfem;-@ɛ@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774927 pI ɚiIB=IG@ii>>)G@)EE*E"E*F?2F:FBFJFH I  I :II BI &I .I 6I <:I FG 83H>u Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 292.5 m (Round-trip 390.1 ms) speed -0.3 m/s  ,DAT read: user:1791>  BDAT read: Tx time:21:28:09.6748  $Ping request sent. w,hzA -$?I)ECG@YEV@E|O'=9EI# =yEH vO g?`Z刺`sɿS`?`r褿`?`?ɨECG@Eo;ECy!BII CI  5٢] e7=9eT:Q e>ii mG٣iymOc u> Nusing accuracyPremultiplier from config49 l:?4Y i qB:?L D<<RL4 AiEe addTargetRange:: Added new target pos. range: 292.500000 m, deltaT: 14.880377 s, deltaX: -1.200012 m, approachRate: -0.080644 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 293.70 m.BjخJjخe ProNav: ac range: 293.700012 m, nav range: 26.658331 m, bearing: 89.241192 deg, approach rate: 0.135037 m/s, LOS rate: -1.222894 deg/s, cmd heading: 179.030624 deg, new cmd heading: 177.383652 deg. 2jQHeadingCmd: 3.095929 target range: 293.700012 and range: 292.50 m. j#F@jjjihh hhfafafirfmHr@bfm ;6?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:28:09.6740 ɛ.> 隭 tI ݶɚiID=I#F@ii YE>)#F@)*Fu?2Fy:FyBFyJFyG W>zK K 9K K +K BK) :K- qAGi By  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >ѭw,8zA2jF@Y2FT@2%=92B>IMb@Mb@Mb@ )Y9v?Q?Zd;Oy?u<jA  A)I Ay AI I4٢Ά ==9XQ >!! %G٣!y-Cg -> 5Nusing accuracyPremultiplier from config1=495LW:?=4Y5 i5pBE(?e:e;e?5] D5;5;5S4q uAqZjFNOT Ignoring new targets: 293.70 m. $?IBjJj% ProNav: ac range: 293.700012 m, nav range: 26.714256 m, bearing: 88.714444 deg, approach rate: 0.129460 m/s, LOS rate: -1.216789 deg/s, cmd heading: 177.383646 deg, new cmd heading: 175.807130 deg. 2j%PEHeadingCmd: 3.068413 target range: 293.700012 and range: 292.50 m. jE`D@jAjAjAiAhIhIhIhMBfQfQfQrfQbfU`?ɛ B <{I ɼɚiInF=I`D@iiZH>)`D@)!*F2F:FBF0JFGm*S>GABQOuy>Will construct direction to contact in vehicle frame from tetrahedron phase data.Lw,izA6D@Y6fR@6$!=96 BBtIDDIJ IJe4٢R Rd=9V8Q V>XX ZG٣^BGy^ߊ ^> fNusing accuracyPremultiplier from config`f49b7F:?f4Yb ibpBhjh=j?bj Db:b:bZ4p rArlEZj FNOT Ignoring new targets: 293.70 m.Bj Jj% ProNav: ac range: 293.700012 m, nav range: 26.756870 m, bearing: 88.282335 deg, approach rate: 0.123042 m/s, LOS rate: -1.245659 deg/s, cmd heading: 175.807129 deg, new cmd heading: 174.513100 deg. 2j%U-HeadingCmd: 3.045828 target range: 293.700012 and range: 292.50 m. j-B@j)j)j)i)h1h1h9hfffrfbf{?ZHRHH!I! I%II%|BI!&I!.I!6I%$<:I% FɛimNȽ mu!=m}Ii uY¼ɚiI@H=I*C@ii 9;>)B@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JYJ]JYJYJYJ]G:JYJYJYJYJ];J];*F?2F:FBFT5JF $?IGE>GBOg> Will construct direction to contact in vehicle frame from tetrahedron phase data.ۺw,zA6I*C@Y6HQ@6 =96y G٣y{ > Nusing accuracyPremultiplier from config490:?4YO ipB?:*<?z DY;r;a4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 293.70 m.Bj Jj  ProNav: ac range: 293.700012 m, nav range: 26.817427 m, bearing: 87.744157 deg, approach rate: 0.138842 m/s, LOS rate: -1.231113 deg/s, cmd heading: 174.513095 deg, new cmd heading: 172.902656 deg. 2j9S%HeadingCmd: 3.017721 target range: 293.700012 and range: 292.50 m. j%V"A@j!j!j)i)h)h)h1h5Bf1f1f9rf9bf=5#?ɛb I vɼɚ i I hJ=IUaA@iQiUE>)UV"A@)Y*F?2F:FBF@5JF zKBoIK9KK,K 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. IG- E>G) G- qAG B) OM > w,c{Ay~B~bII II 5٢% %S=9%Q %>)) -G٣)y- -> =Nusing accuracyPremultiplier from config1E495:?E4Y5 i5pBAAE?5 D5;5B;5vh4I UAUoEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759815ZjFNOT Ignoring new targets: 293.70 m.BjJj ProNav: ac range: 293.700012 m, nav range: 26.873287 m, bearing: 87.267382 deg, approach rate: 0.143469 m/s, LOS rate: -1.221966 deg/s, cmd heading: 172.902660 deg, new cmd heading: 171.475619 deg. 2jQHeadingCmd: 2.992814 target range: 293.700012 and range: 292.50 m. jD?@jjjihhhhfffrfbf [?ɛBϽ ݄I :мɚiIK=ID?@i i `>) D?@) ER>E*FM?2FI:FIBFM\0JFIGE>H!I! I%II%]BI!&I!.I!6I% <:I% FG B - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011232OE >*J C="J a=J3K;3 K;.K3K3"K3J J J J J :J ?:J J J *<J *<J ;J ; $?I w,W>!{A>J?@Y>M@>=9>㩥H?"xN0|?@?`:?ɨ>J?@>6o;>CyFBF`IIRYIR5٢V ZR=9Z:Q Z>\\ ^G٣^BGyb( b> fNusing accuracyPremultiplier from configdn49f :?n4Yfl ifpBpr?r?f DfJ;fK;fHo4t vAvrEZjFNOT Ignoring new targets: 293.70 m.Bj/Jj/- ProNav: ac range: 293.700012 m, nav range: 26.919371 m, bearing: 86.783002 deg, approach rate: 0.118773 m/s, LOS rate: -1.246261 deg/s, cmd heading: 171.475615 deg, new cmd heading: 170.025288 deg. 2j-U5HeadingCmd: 2.967501 target range: 293.700012 and range: 292.50 m. j5=@j1j1j9i9h9h9hAhAfAfAfArfIbfM@H@ɛy}̽ 隅-I ּɚiIM=I=@iiVA>)=@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264041Ee<=*F2F:FBF2JFG U>GBO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515158zKU &~JKU h9KQ KU -KU Aevk`M@7.&! w,2;{A6>@Y6~0L@6=96P@6,;6CyBBBXI}Mb@Mb@Mb@yyy y)yY}9v?y&1?Qy}?}`e=}u}A }\ A)}AAI} AyyyIJI:5٢ۼ ;=9*Q > G٣y)t > Nusing accuracyPremultiplier from config499? 4Yh ipB ? :?? D ;;w4 NA 5$?I1ZjFNOT Ignoring new targets: 293.70 m.BjCJjC- ProNav: ac range: 293.700012 m, nav range: 26.972197 m, bearing: 86.246253 deg, approach rate: 0.113293 m/s, LOS rate: -1.148866 deg/s, cmd heading: 170.025292 deg, new cmd heading: 168.418644 deg. 2j-E5HeadingCmd: 2.939460 target range: 293.700012 and range: 292.50 m. j5 <@j1j1j1i1h1h9h9h=Bf9fafirfibfu`\@ɛBT yI *߼ɚiIKO=I <@iilF>) <@)}-GvAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770680 OYvAy+ BEʞ=E*Fq 2Fq :Fq BF} @5JFy G  G sAjH<bH<H I  I II IBI &I .I 6I ް<:I  FG}_>G?G>G9BAOe?w,|[{A Will construct direction to contact in vehicle frame from tetrahedron phase data. iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027656F>R<@YFpJ@FD=9FR<@F ;FCy=BE^IIeNIe5٢}< #=9jQ > G٣yX_ > Nusing accuracyPremultiplier from config499?4YQ ipBA? DV;;4 e$?Ii 'AuEZjFNOT Ignoring new targets: 293.70 m.BjJj ProNav: ac range: 293.700012 m, nav range: 27.027063 m, bearing: 85.637576 deg, approach rate: 0.109674 m/s, LOS rate: -1.214197 deg/s, cmd heading: 168.418641 deg, new cmd heading: 166.596965 deg. 2jRPHeadingCmd: 2.907665 target range: 293.700012 and range: 292.50 m. j1:@jjjihhhhfffrfbf/ @ɛB꺽 IQ ]*ɚYiYI]IQ=Ie1:@iaieJ>)e1:@)iEqEq*Eq"EqWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:28:12.4892 TRx dataTimestamp_ set to:1736371693.688489checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285390*F ?2F :F BF Z5JF Gu ֓R>GI BY Ou >7w,3u{AB :@YB¾H@B)=9B A G٣BGyv > Nusing accuracyPremultiplier from config49c9?4Y ipBN?:D? D;3;4֒B AUxEmB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 293.70 m.BjnJjn ProNav: ac range: 293.700012 m, nav range: 27.060057 m, bearing: 85.159575 deg, approach rate: 0.083346 m/s, LOS rate: -1.206018 deg/s, cmd heading: 166.596961 deg, new cmd heading: 165.165023 deg. 2jNHeadingCmd: 2.882674 target range: 293.700012 and range: 292.50 m. j}8@jjjihhhhBfffrfbf? @zK5rMK59K1K5.K5RK= ?JK=?EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.533446J]J]JYJYJ][:J]B:JYJYae@ae@ae@ae@ɛ}B}]Ͻ 隅I CɚiI"S=I}8@iiH>)}8@) iIq*Fu?2Fq:FqBFu_0JFqGeAG>G9BAO]v> Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: 21:28:12.4892 LVL= 9904, 12193, 10642, 12851, AGC= 63, IDX= 118,-0.07,-0.014, 0.122,-1.804,-1.135, PHS= 1.209, 1.304,-0.672, RAW= 27.5, -18.6, CAL= 32.8, -27.6, ROT= 117.2, 27.6 e Ygot valid direction response: 21:28:12.4892 LVL= 9904, 12193, 10642, 12851, AGC= 63, IDX= 118,-0.07,-0.014, 0.122,-1.804,-1.135, PHS= 1.209, 1.304,-0.672, RAW= 27.5, -18.6, CAL= 32.8, -27.6, ROT= 117.2, 27.6 m PDAT read: Bearing 117.2, 27.6 (Local) m ~Local bearing/azimuth received: Bearing 117.2, 27.6 (Local) } DAT read: Range 10 to 50 : 307.7 m (Round-trip 410.3 ms) speed -0.2 m/s  ,DAT read: user:1792>  BDAT read: Tx time:21:28:13.5748  $Ping request sent.  6  C?) ϢI @i Ϣ>   Yj.­(/~K%sԿ) οI >i Z? x8־   :publishing transmit ping time؉  Fpublishing direction and range info 9  ?o/@W ?q?y     ) I i      ) I i    Yj.­(/~K%sԿ) I i    {w,{A28@Y2F@2oo=92<YY ]G٣aye% e> mNusing accuracyPremultiplier from configi49m9?4Ym im|pBF?m Dm,?kEo\) kA kE#g{A:kEٙCBkEɘCZkE0@"EUX\@>]AL p@)sR(A_@E ?o/@W ?q?JkEZ?RkEx8־*E4_۶g>o ƚ_@E]}ڿZ"Ձ}ZK?"kEy*kEkE&?kEV 2kEh>CkAkEK$ kAkEAkE? addTargetRange:: Added new target pos. range: 307.700012 m, deltaT: 3.793112 s, deltaX: 15.200012 m, approachRate: 4.007267 m/s, rangeRepo size: 4  Added new target pos. range: 307.700012 m, bearing: 242.997818 deg, lat: 36.902543 deg, lon: -122.116128 deg, deltaT: 18.673489 s, deltaX: 14.000000 m, approachRate: 0.749726 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 307.70 m.BjJjm ProNav: ac range: 307.700012 m, nav range: 25.965166 m, bearing: 84.448105 deg, approach rate: 0.000000 m/s, LOS rate: -1.206018 deg/s, cmd heading: 165.165025 deg, new cmd heading: 163.689450 deg. 2jiuHeadingCmd: 2.856920 target range: 307.700012 and range: 307.70 m. ju6@jqjqjqiyhyhyhyhfffrf@3;s@bf`?ɛUBU"ɽ Y]*IY ] wɚYiYIevU=Im6@iqiuF>)u6@)qH.>I III:BI( =&I.I6I<:Iz FBIyJIyRIyZIybIyjI}oV4*F2F:FBFJF]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:21:28:13.5740 *JuR="JuR= U$?IYG 7G>G B O >mw,!{AWill construct direction to contact in vehicle frame from tetrahedron phase data.yBkIeMb@Mb@Mb@aaa a)aYev?S㥛?ye?e/ G٣y > Nusing accuracyPremultiplier from config49 9?4Y irpB?:DH? D; ;4 A{EZjFNOT Ignoring new targets: 307.70 m.BjȼJjȼ  ProNav: ac range: 307.700012 m, nav range: 25.997873 m, bearing: 83.822440 deg, approach rate: 0.073490 m/s, LOS rate: -1.404018 deg/s, cmd heading: 163.689445 deg, new cmd heading: 161.815517 deg. 2j pHeadingCmd: 2.824214 target range: 307.700012 and range: 307.70 m. j4@jjjihhhhɁBf!f!f!rf!bf-`?ɛUBUeϽ Y]IY ]0ɚaiaIeGW=Ie4@iiim(f>)m4@)i*F?2F:FBFn0JFJm Jm Ji Ji Jm :Jm F:Ji Ji } Will construct direction to contact in vehicle frame from tetrahedron phase data.zK jIK 9K K /K  O BK :K rAG} ԴF> 9 I9 GA BI Ou >w,\{AyBxII9I 5٢[i= j=9Q > G٣BGy >  Nusing accuracyPremultiplier from config 49 s9?4Y  i kpB?  D  ; ; 4! %A%~EZjIMFNOT Ignoring new targets: 307.70 m.BjU2JjU2e ProNav: ac range: 307.700012 m, nav range: 26.023752 m, bearing: 83.365887 deg, approach rate: 0.074289 m/s, LOS rate: -1.309282 deg/s, cmd heading: 161.815514 deg, new cmd heading: 160.447493 deg. 2je`}HeadingCmd: 2.800337 target range: 307.700012 and range: 307.70 m. j}83@jyjjihhhhfffrfbf?ɛB^ֽ }I ɚ!i!I%X=IO3@iihm>)83@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fa2Fa:FaBFe0JFaG=IL>GB O%o>ZH RH @AH I  I II ?BI &I .I 6I <:I Fw,{A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:u3@Y:+ B@:<9:T?ɨ:u3@:;;:CyF BF{IIbIb4٢jRb< j^=9nQ > G٣yJ > Nusing accuracyPremultiplier from config49x9?4Y idpBD@?!D2::梢4 lA $?IZjFNOT Ignoring new targets: 307.70 m.BjJj ProNav: ac range: 307.700012 m, nav range: 26.036732 m, bearing: 82.854894 deg, approach rate: 0.033167 m/s, LOS rate: -1.305085 deg/s, cmd heading: 160.447496 deg, new cmd heading: 158.915665 deg. 2j_ HeadingCmd: 2.773602 target range: 307.700012 and range: 307.70 m. j 1@j jjihhhhfff!rf!bf% s,?ɛMBUҽ QU{IY ]ɚYiYI]Z=IeD1@iaieF@>)e1@)iEi>E>*Fm?2Fi:FiBFmP5JFiGq GuqAGEb>GB)OeU>Will construct direction to contact in vehicle frame from tetrahedron phase data.Qw,{AJh0@YJ>@J<9J& G٣y > Nusing accuracyPremultiplier from config49d9?4Y i_pB`?:?>@?!D&;%;&4 OA E%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 307.70 m.Bj=>Jj=>M ProNav: ac range: 307.700012 m, nav range: 26.026854 m, bearing: 82.304543 deg, approach rate: -0.023874 m/s, LOS rate: -1.330600 deg/s, cmd heading: 158.915662 deg, new cmd heading: 157.264464 deg. 2jMKdUHeadingCmd: 2.744783 target range: 307.700012 and range: 307.70 m. jU/@jQjQjYiYhYhYhaheBfififirfibfm?ɛBh#ͽ 隥yI bɚiIIC\=I/@ii:>)/@)J5J5J51J1J5 :J5=:J53J1UWill 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.zKMK9KK0KPoU?& +2681) "1=EHLH:( *Fm?2Fi:FiBFm`4JFi $?IG-%d>G B1 O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004202w,X|An//@Yn.=@n ù<9n )) -G٣-BGy5( 5> ENusing accuracyPremultiplier from config1M495 Q9?M4Y5i i5[pBQU<@U?5&!D5_;5G:5ΰ4Y ]AYZjFNOT Ignoring new targets: 307.70 m.Bj=Jj= ProNav: ac range: 307.700012 m, nav range: 26.013781 m, bearing: 81.799620 deg, approach rate: -0.034252 m/s, LOS rate: -1.323578 deg/s, cmd heading: 157.264464 deg, new cmd heading: 155.749307 deg. 2jcHeadingCmd: 2.718338 target range: 307.700012 and range: 307.70 m. jA-@jjjihhhhfffrfbf`Q@ɛeBuPν qutIy } ɚyiyI}]=I.@iiq/>)A-@)*F 2F :F BF ^0JF H]->IY I]II]IBI]) =&IY.IY6I]<:I] FG6^>GBOA>eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255821 I w,mU*|AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510175yBI  =Mb@Mb@Mb@ )Y~jt?Q롿Mb?y?\<A A)XAI\ AyQAI3I 5٢ = %=9Q > G٣y > Nusing accuracyPremultiplier from config49l89?4Y~ iXpB?:|9@?9!D;;y4 AEZjAEFNOT Ignoring new targets: 307.70 m.BjE^JjM^] ProNav: ac range: 307.700012 m, nav range: 25.985287 m, bearing: 81.136965 deg, approach rate: -0.057491 m/s, LOS rate: -1.338453 deg/s, cmd heading: 155.749309 deg, new cmd heading: 153.760008 deg. 2j]eeHeadingCmd: 2.683618 target range: 307.700012 and range: 307.70 m. jeg+@jajajaiahahihihmBfifqfqrfqbf}@ɛB 隭oI -ɚiI_=I+@iik\>)g+@)E*F-?2F1:F1BF5_0JF1G ;>GBO>JE JE JE 0JA JE :JE B:JE ـ3JA ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759556zK MK 9K K 1K  $?I w,D|A @:+@Y:a9@:z<9:gb)=P*@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012416*F]?2Fa:FaBFaJFaG :>jHE <bHE <HI II  IM IIM bBII &II .II 6IM <:IM FGy B O >f%w,]|AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263581> *@Y>48@>6<9>ČHп`ܨ?`&?@ԗ??ɨ> *@>Z;>CyF&BFIIR6IR] 5٢Vpa ZN=9ZλQ Z>\\ ^G٣^BGybΉ b> fNusing accuracyPremultiplier from configdj49f9?j4Yf idln4@r?fT!DfRQ;fQ;fŢ4t vAtZjFNOT Ignoring new targets: 307.70 m.BjżJjż- ProNav: ac range: 307.700012 m, nav range: 25.922821 m, bearing: 80.202341 deg, approach rate: -0.097304 m/s, LOS rate: -1.381820 deg/s, cmd heading: 152.472512 deg, new cmd heading: 150.953317 deg. 2j-m5HeadingCmd: 2.634632 target range: 307.700012 and range: 307.70 m. =$?I9 jѝ(@jjjihhhhfffrfbf` @ɛEBM7ѽ imXjIq uɚqiqIub=I}ѝ(@iyi}rA>)}ѝ(@)*F%?2F!:F!BF%m0JF)GF6>GBOG>Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:21:28:16.3911 ETRx dataTimestamp_ set to:1736371697.737313Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.531166JLw,w|A2](@Y26@26T<92ܳyy }G٣yyg > Nusing accuracyPremultiplier from config499?4Yo iQpB!?:0@?f!D5;3;;͢4 SAEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 307.70 m.BjQüJjQü ProNav: ac range: 307.700012 m, nav range: 25.868645 m, bearing: 79.616344 deg, approach rate: -0.126035 m/s, LOS rate: -1.366090 deg/s, cmd heading: 150.953314 deg, new cmd heading: 149.192227 deg. 2jbjHeadingCmd: 2.603896 target range: 307.700012 and range: 307.70 m. j:&@jjjih h h h !Bfffrfbf l@ɛB}4ɽ fI HɚiId=I:&@i!i%޴F>)-:&@=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.769132) 5$?I1zK5k3IK559K1K52K5 (&d!N23jJ8.# RKE ?JKE?*F2F:FBFo0JF) ECE GY y Y y BG G ?G 6? Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 309.0 m (Round-trip 412.1 ms) speed -0.4 m/s  ,DAT read: user:1793> % BDAT read: Tx time:21:28:17.4749 - $Ping request sent.- d4$w,|A54'@Y5!5@5%<95 G٣y h  > 5Nusing accuracyPremultiplier from config=49C8?=4Y iNpBAEY/@E?w!DQ;:Ԣ4I MAME addTargetRange:: Added new target pos. range: 309.000000 m, deltaT: 4.034086 s, deltaX: 1.299988 m, approachRate: 0.322251 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 307.70 m.BjJj ProNav: ac range: 307.700012 m, nav range: 25.811747 m, bearing: 79.039967 deg, approach rate: -0.132024 m/s, LOS rate: -1.340331 deg/s, cmd heading: 149.192232 deg, new cmd heading: 147.459845 deg. 2jeHeadingCmd: 2.573660 target range: 307.700012 and range: 309.00 m. jض$@jjjihhh h f f)f1rf5Ps@bf5c}?ɛ}B}0Ƚ 隅bI iɚiIМe=Iض$@iiK>)ض$@)H.>I IIIwBI( =&I.I6I<:I F*F?2F :F BF 0JF GN;>J%J%J%1J!J%:J%H:J%3J!J%X- I%gu`*w,|APExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.a%@Y3@;9aa eG٣eBGym!H m> uNusing accuracyPremultiplier from configq}49uh8?}4YuM iuIpB}$?}:+@?u!Du@;u;usܢ4  AEZjFNOT Ignoring new targets: 307.70 m.BjM˼JjEM˼U ProNav: ac range: 307.700012 m, nav range: 25.736191 m, bearing: 78.418590 deg, approach rate: -0.172394 m/s, LOS rate: -1.421915 deg/s, cmd heading: 147.459850 deg, new cmd heading: 145.590948 deg. 2jUs]HeadingCmd: 2.541041 target range: 307.700012 and range: 309.00 m. j]l"@jYjYjYiYhYhhh&Bfffrfbf@B?ɛ!%PĽ !%@aI! -ɚ)i)I-#g=I5l"@i1i50T>)5l"@)9*F2F:FBF0JFM Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I zK NK 9K K 3K BK :K qAGU E>Ga Ga G1 B O >n1w,|A#@Yz2@7+;9n G٣y > Nusing accuracyPremultiplier from config498?4Y= iEpB)@?!D;f;/4 AEZjqFNOT Ignoring new targets: 307.70 m.BjiJji ProNav: ac range: 307.700012 m, nav range: 25.667557 m, bearing: 77.886577 deg, approach rate: -0.169553 m/s, LOS rate: -1.317776 deg/s, cmd heading: 145.590946 deg, new cmd heading: 143.991078 deg. 2jbHeadingCmd: 2.513119 target range: 307.700012 and range: 309.00 m. j @jjjihhhh!f)f)f)rf)bf-` ?UWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛB\Dͽ _I rɚiI|h=I @iiUU>) @)*F2F:FBF^5JF"G=G=GL>GaBiO>ZH RH AAH I  I II BI ) =&I .I 6I <:I FBIaJIaRIaZIabIajIe34J J J 0J J [:J D:J ـ3J J +<J +<J *;J +; Will construct direction to contact in vehicle frame from tetrahedron phase data. i A37w,f|A 0I06͂"@Y60@6O96Upt vG٣tyv v>  Nusing accuracyPremultiplier from config 49J8?4YW iCpB{(@?!D<<P4 AZjFNOT Ignoring new targets: 307.70 m.Bj9żJj9ż% ProNav: ac range: 307.700012 m, nav range: 25.602230 m, bearing: 77.403344 deg, approach rate: -0.186006 m/s, LOS rate: -1.379414 deg/s, cmd heading: 143.991084 deg, new cmd heading: 142.538012 deg. 2j%l-HeadingCmd: 2.487758 target range: 307.700012 and range: 309.00 m. jMl7@jIjIjQiQhQhQhYhYfYfYfYrfabfeT?ɛB&ؽ ]I d"ɚiI:i=Il7@iicX>)l7@)*F2F:FBF_0JF nManaging dock network, ignoring radio surface power offWill construct direction to contact in vehicle frame from tetrahedron phase data.GvT>G B O >T=w,[|A: @Y:.@:z X9:~LYY ]G٣]BGye{ e> uNusing accuracyPremultiplier from configi}49mş8?}4Ym im>pB}%?}:c&@?m!Dmt;m;m4 AEB*** querying acoustic contact ***jjZjquFNOT Ignoring new targets: 307.70 m.Bj}üJj}ü ProNav: ac range: 307.700012 m, nav range: 25.517967 m, bearing: 76.827429 deg, approach rate: -0.199720 m/s, LOS rate: -1.369518 deg/s, cmd heading: 142.538016 deg, new cmd heading: 140.805124 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.2jjHeadingCmd: 2.457513 target range: 307.700012 and range: 309.00 m. jG@jjjihhhh3Bff!f!rf!bf%d? U$?IQɛɽ ^I %ɚizK%BIK%@9K!K%4K%RK5?JK5>Ik=I=G@i9i=3[>)EG@)A*F2F:FBFJFG% ԑW>G5 ?G5 ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008413G B) Ou >9Dw,/k}A>E@Y>d-@>?9>c*H2ڿ@?? `?Gt? ,d?@?ɨ>E@>;>Cy^5BbIIj=Ijw 5٢v4 vQ=9vЊQ v>xx zG٣xy~f  > Nusing accuracyPremultiplier from config%498?%4Y i:pB!%$@%?!D;9;w41 5 A5EZjYeFNOT Ignoring new targets: 307.70 m.BjeҼJjmҼ} ProNav: ac range: 307.700012 m, nav range: 25.435291 m, bearing: 76.288231 deg, approach rate: -0.224549 m/s, LOS rate: -1.469209 deg/s, cmd heading: 140.805128 deg, new cmd heading: 139.182735 deg. 2j}|HeadingCmd: 2.429197 target range: 307.700012 and range: 309.00 m. jw@jjjihhhhfffrfbf @ɛBJݽ =`I l'ɚiI(&l=Iw@iYi]Ή_>)]w@)YHe/>Ia Ie'IIeBIa&Ia.Ia6Ie<:Ieq F*F2F:FBFJFG GrAGZ>GBO=>JJJJJJG:JJJJJ;J;Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263897 E$?IAvJw,J-}AE@eWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517920YEξ+@E9E^qq }G٣yy}X }> Nusing accuracyPremultiplier from config49w8?4Y{ i4pB&?:#@?!D{!; ;4 AAZjFNOT Ignoring new targets: 307.70 m.BjjǼJjjǼ ProNav: ac range: 307.700012 m, nav range: 25.331488 m, bearing: 75.615797 deg, approach rate: -0.214434 m/s, LOS rate: -1.394749 deg/s, cmd heading: 139.182740 deg, new cmd heading: 137.158060 deg. 2jMoHeadingCmd: 2.393860 target range: 307.700012 and range: 309.00 m. j4@jjjihhhhBff f rf bf @ɛ1=Gɽ AEIcIA M6z+ɚIiIIMm=IU4@iQiU/g>)U4@)Q*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767850 5 $?I1 G ݶZ>zK BoHK 59K K 5K BK qA:K rAG B O% >'Qw,)!G}AV@YVD"*@V9V8ѩ-ɚ9i9I= n=IE@iAiEod>)E@)I*F ?2F :F BF 0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.019866G_>GBOC>jHM <bHI HY IY  I] -II] BIY &IY .IY 6I] <:I] FJ J J 1J J :J A:J 3J J e1<J f1<J z;J {; ! I! - Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:21:28:20.3117 5 TRx dataTimestamp_ set to:1736371701.5101875 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274298Ww,`}A2n@Y2`(@2a*192 G٣y{n > Nusing accuracyPremultiplier from config49U8?4Y t i,pB @?!D;+; 4 AZj!%FNOT Ignoring new targets: 307.70 m.Bj-̼Jj-̼] ProNav: ac range: 307.700012 m, nav range: 25.159378 m, bearing: 74.577142 deg, approach rate: -0.240097 m/s, LOS rate: -1.427398 deg/s, cmd heading: 135.807260 deg, new cmd heading: 134.032085 deg. 2j]teHeadingCmd: 2.339301 target range: 307.700012 and range: 309.00 m. je@jajajaiihihihihifffrfbf W @ɛUֽ gI a1ɚiI p=I@iiZj>)@)E!E%rA*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=3.526860G d>G B O >{^w,z}Ay B IMb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 21:28:20.3117 LVL= 14000, 17457, 17234, 23123, AGC= 67, IDX= 123, 0.07,-0.056, 1.600,-0.554,-0.438, PHS= 0.470, 2.085,-0.119, RAW= 345.0, -23.5, CAL= 349.9, -34.2, ROT= 160.1, 34.2 UYgot valid direction response: 21:28:20.3117 LVL= 14000, 17457, 17234, 23123, AGC= 67, IDX= 123, 0.07,-0.056, 1.600,-0.554,-0.438, PHS= 0.470, 2.085,-0.119, RAW= 345.0, -23.5, CAL= 349.9, -34.2, ROT= 160.1, 34.2 ePDAT read: Bearing 160.1, 34.2 (Local) e~Local bearing/azimuth received: Bearing 160.1, 34.2 (Local) IiuDAT read: Range 10 to 50 : 324.5 m (Round-trip 432.7 ms) speed -0.7 m/s },DAT read: user:1794> BDAT read: Tx time:21:28:21.4264 $Ping request sent.p@F2@~Ѿ k@)I[2@i?jycJꕄ ٿ)bIg>i?"y>:publishing transmit ping time؁mFpublishing direction and range info9=?d,!?οy )Ii )IijycJꕄ ٿ)Ii'TFailed to parse incomplete device message. )YMbX9?ʡE~jty!?A A)AIAyzAI}6I}] 5٢1 =9Q > G٣y >  Nusing accuracyPremultiplier from config 49 X>8?4Y n i $pB#?: @? "D <; ; 4EגB EAEEkK1)ݛ?k"! k k}A:k@CBk!CZkPh@">3He@|p@5즈S=?d,!?οJk?Rk"y>*¿qVpq5|bbQIз *`0-ݿUhr̿"k*kkaeܛ?kJ 2kkkGYV kPCkO'Ak$PW? addTargetRange:: Added new target pos. range: 324.500000 m, deltaT: 3.786497 s, deltaX: 15.500000 m, approachRate: 4.093493 m/s, rangeRepo size: 4  Added new target pos. range: 324.500000 m, bearing: 208.194878 deg, lat: 36.902543 deg, lon: -122.116311 deg, deltaT: 7.820583 s, deltaX: 16.799988 m, approachRate: 2.148176 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 324.50 m.BjJj5 ProNav: ac range: 324.500000 m, nav range: 10.456848 m, bearing: 48.189568 deg, approach rate: 0.000000 m/s, LOS rate: -1.427398 deg/s, cmd heading: 134.032081 deg, new cmd heading: 131.549317 deg. 2j9=HeadingCmd: 2.295969 target range: 324.500000 and range: 324.50 m. j='@jAjAjAiAhAhAhIhMBfIfqfyrf}Ht@bf}V_?ɛ2ǽ mI ѩ5ɚiI _q=I- '@i1 i5 >)= '@)A  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:28:21.4256 *F ?2F :F BF `0JF G%&Bi>HaIa Ie'IIeBIa&Ia.Ia6Ie<:Ie FGBO ??fw,v}AF@YFh6%@Fg9FzQ G٣BGy J  > ENusing accuracyPremultiplier from config9}49=.8?}4Y=j i= pB~@?=""D=e<=<=4֒B &AE5Will construct direction to contact in vehicle frame from tetrahedron phase data.JmJmJm0JiJm:JmU:Jmـ3JiJmX-<JmY-<Jm;Jm;B*** querying acoustic contact ***jj $?IgZjFNOT Ignoring new targets: 324.50 m.BjvJjv ProNav: ac range: 324.500000 m, nav range: 10.470961 m, bearing: 46.906846 deg, approach rate: 0.038047 m/s, LOS rate: -3.453238 deg/s, cmd heading: 131.549320 deg, new cmd heading: 127.712410 deg. 2j HeadingCmd: 2.229002 target range: 324.500000 and range: 324.50 m. j @j jjihhhhf!fafarfibfm{U?ɛ" 隵qI Eo8ɚiIr=IkD@iiB؁>)@)*F2F:FBF0JFGu"l>GIBQOuy> 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.lw, ?}A2r@Y2#@25z92Iii mG٣iyuf} u> Nusing accuracyPremultiplier from configy49}8?4Y}zf i}pB"?:@?}2"D};}@;}($4 KAZjFNOT Ignoring new targets: 324.50 m.BjJj ProNav: ac range: 324.500000 m, nav range: 10.493271 m, bearing: 45.489972 deg, approach rate: 0.060487 m/s, LOS rate: -3.832834 deg/s, cmd heading: 127.712407 deg, new cmd heading: 123.478975 deg. 2jg$HeadingCmd: 2.155115 target range: 324.500000 and range: 324.50 m. jf @jjjihhhhBfffrfbf`?ɛ)-ձ )5\sI1 5.;ɚ1i1I=t=I=0 @i9iE >)Ef @)A*F2F:FBFP5JFG>MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.987654GaBqO:> IzKuk3IKu}9KqKu7Ku= GM |uAa Y |uAy Bssw,}ARWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.238677f@Yf"@fM9f\@z?nɒ?H ?@?ɨf@fr;fCy B}II- I-4٢=@ =M=9EQ E>AA MG٣IyMo M> UNusing accuracyPremultiplier from configQe49U 8?m4YU0b iUpBim"@m?UC"DUV;UV;U+4q }]A}EZjFNOT Ignoring new targets: 324.50 m.BjtJjt ProNav: ac range: 324.500000 m, nav range: 10.515143 m, bearing: 44.119592 deg, approach rate: 0.054790 m/s, LOS rate: -3.425280 deg/s, cmd heading: 123.478974 deg, new cmd heading: 119.383764 deg. 2jHeadingCmd: 2.083640 target range: 324.500000 and range: 324.50 m. j[Z@jjjihhhhfffrfbf`?ɛ RC  tI  N>ɚ iIpQu=I@ii)[Z@)*Fi2Fi:FiBFu5JFqZHARHE?AHIII IMIIMBIM( =&II.II6IM<:IM FUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490240 IGK>G B O >1zw,}ARH@YRf @R9Rgxx zG٣zBGy~ ~> Nusing accuracyPremultiplier from config 497? 4Y] ipBv@?S"D ;K ;24 AZjQUFNOT Ignoring new targets: 324.50 m.Bj]tJj]tm ProNav: ac range: 324.500000 m, nav range: 10.536269 m, bearing: 42.762353 deg, approach rate: 0.053392 m/s, LOS rate: -3.422988 deg/s, cmd heading: 119.383770 deg, new cmd heading: 115.327389 deg. 2jHeadingCmd: 2.012843 target range: 324.500000 and range: 324.50 m. jj@jjjihhhhfffrfbf@U?ɛy}& y}KwIy }AɚiIv=I @ii)j@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747237*F2F:FBF_0JFGU>G B O >JK KKK"KJ J J J J :J A:J J a- @a- @a- @a- @U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994200 } $?Iy w,~A:J@Y:i@:P9:N&`??(,p^?`I?D?V?ɨ:J@:|;8y^BbiIzK}BHKyKyK}8K}*:EOT_hzvqlf_UKF@93/,("! 2B]V4IC2RK>JK>Mb@Mb@Mb@ )Y/$?{Gz=9;Q > G٣ye > Nusing accuracyPremultiplier from config49q7?4Y,Y ipB?:E@?c"D;N;94 AEZjFNOT Ignoring new targets: 324.50 m.Bj,mJj,m- ProNav: ac range: 324.500000 m, nav range: 10.564037 m, bearing: 41.341484 deg, approach rate: 0.065015 m/s, LOS rate: -3.317652 deg/s, cmd heading: 115.327389 deg, new cmd heading: 111.084196 deg. 2j-N5HeadingCmd: 1.938785 target range: 324.500000 and range: 324.50 m. j5*?j1j1j9i9h9h9h9hEBfAfAfArfAbfM@ɛ |I DɚiIw=I ?i i )5*?)9*F?2F:FBF JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248367GK>G?G?G B O >HE .>IA  IE IIE |BIA &IA .IA 6IE <:IE FBIJIRIZIbIjI]x4w,h~A6R@Y6\q@6Ⓖ96stt vG٣tyv z> ~Nusing accuracyPremultiplier from configx 49z^7? 4YzT izpB K@?zr"Dz\;z}K;z@4 AZjFNOT Ignoring new targets: 324.50 m.Bj^Jj^ $?I%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499798u ProNav: ac range: 324.500000 m, nav range: 10.586658 m, bearing: 40.096798 deg, approach rate: 0.056773 m/s, LOS rate: -3.117026 deg/s, cmd heading: 111.084195 deg, new cmd heading: 107.363646 deg. 2ju}HeadingCmd: 1.873849 target range: 324.500000 and range: 324.50 m. j}J?jjjihhhhfffrfbfP@ɛ15. 15|I1 =NHɚ9i9I=;By=IE?iAiA)EJ?)*F]?2Fa:FaBFaJFa Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753891G G BQ O > G٣BGy > Nusing accuracyPremultiplier from config497?4YhP i pB4?:@?"Df;;G4 "AEeB*** querying acoustic contact ***jijiZjyFNOT Ignoring new targets: 324.50 m.BjJdJjJd ProNav: ac range: 324.500000 m, nav range: 10.618813 m, bearing: 38.741233 deg, approach rate: 0.075987 m/s, LOS rate: -3.193405 deg/s, cmd heading: 107.363648 deg, new cmd heading: 103.316390 deg. 2jHeadingCmd: 1.803211 target range: 324.500000 and range: 324.50 m. j?jjjihhhhӁBfffrfbf @ɛ 隕I =KɚiIz=I?ii)?) IJJJJ-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003685J:J,J:JJ*FE?2FA:FIBFM`0JFIzKkOK59KK9KnF"d)t`J6%}xrolgc_[WUMIIGD@><;99972.BK:KG Ga Bi O >>$w,^Q~A2Q @Y2p@2[92Z+  G٣ y8 > Nusing accuracyPremultiplier from config49U7?4YK ipB@?"D;;N4גB ^AEZj9=FNOT Ignoring new targets: 324.50 m.BjE%kJjE%k] ProNav: ac range: 324.500000 m, nav range: 10.647949 m, bearing: 37.436336 deg, approach rate: 0.073653 m/s, LOS rate: -3.289266 deg/s, cmd heading: 103.316392 deg, new cmd heading: 99.418774 deg. 2je eHeadingCmd: 1.735185 target range: 324.500000 and range: 324.50 m. je?jajijiiihihihqhqfqfqfyrfybf}@7 @ɛ 隭BI NɚiI{=Iܷ?ii )5?)1*F2F:FBFo0JFjH<bHH I  I II mBI ) =&I .I 6I <:I  F $?I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:21:28:24.2668 =TRx dataTimestamp_ set to:1736371705.540572Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.507203G G qAG rAG B O >JSw,Nk~AyzBz\II*I 5٢-L< -E=9-Q ->11 5G٣1y= => ENusing accuracyPremultiplier from configAM49E7?M4YEG iEpBIQU?E"DE ;EG;EtU4Y ]6AYZjFNOT Ignoring new targets: 324.50 m.BjUdJjUd= ProNav: ac range: 324.500000 m, nav range: 10.680439 m, bearing: 36.213529 deg, approach rate: 0.085129 m/s, LOS rate: -3.193970 deg/s, cmd heading: 99.418772 deg, new cmd heading: 95.766742 deg. 2j=EHeadingCmd: 1.671445 target range: 324.500000 and range: 324.50 m. jE?jAjAjAiAhihihihqfqfqfqrfqbf}A @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758670ɛl I UMRɚiITf}=IS6?ii)?)*F?2F:FBF0JFG F> I gG J J J J J J F:J J B 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E DAT read: Range 10 to 50 : 327.1 m (Round-trip 436.2 ms) speed -0.8 m/s U ,DAT read: user:1795> ] BDAT read: Tx time:21:28:25.3750 ] $Ping request sent.] 9w,"~AR*Q@YRo@ReS9R199 =G٣=BGy=M E> mNusing accuracyPremultiplier from configiu49mR7?u4Ym@B imoBu?u:ur@}?m"Dm3;mo;m]4 7AEM addTargetRange:: Added new target pos. range: 327.100006 m, deltaT: 4.029516 s, deltaX: 2.600006 m, approachRate: 0.645240 m/s, rangeRepo size: 4 ZjIMFNOT Ignoring new targets: 324.50 m.BjUTJjUT ProNav: ac range: 324.500000 m, nav range: 10.711259 m, bearing: 34.767201 deg, approach rate: 0.063543 m/s, LOS rate: -2.973076 deg/s, cmd heading: 95.766745 deg, new cmd heading: 91.448898 deg. 2j HeadingCmd: 1.596084 target range: 324.500000 and range: 327.10 m. j~L?jjjihhhhBfffrfqt@bf?ɛ B +  倿I  4VɚiI=Iʯ?ii9)E~L?)IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:28:25.3742 *F?2F:FBF0JFH />I  I II gBI ( =&I .I 6I <:I FG G B O >`w,=~A>W@Y>+|39>4H Uʏ?? h:Pho?ߜ?@?ɨ>W@>_; ifoBlny@n?f"DfJ4;f4;fJc4x zgAxZj-FNOT Ignoring new targets: 324.50 m.Bj=A`JjEA`U ProNav: ac range: 324.500000 m, nav range: 10.730129 m, bearing: 33.799710 deg, approach rate: 0.061295 m/s, LOS rate: -3.136967 deg/s, cmd heading: 91.448897 deg, new cmd heading: 88.554132 deg. 2jU]HeadingCmd: 1.545561 target range: 324.500000 and range: 327.10 m. j]?jYjYjaiahahahihifqfqfqrfq $?IbfJ?ɛb .=隵RI ҦXɚiI=I9?ii)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF4JFGG ?G?GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,˸~A6q@Y6&@6^,96=Y G٣y > Nusing accuracyPremultiplier from config497?4Y9 ioB?:@?"DG;#;j4֒B -AE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 324.50 m.BjsTJjsT- ProNav: ac range: 324.500000 m, nav range: 10.753682 m, bearing: 32.500169 deg, approach rate: 0.053984 m/s, LOS rate: -2.971818 deg/s, cmd heading: 88.554133 deg, new cmd heading: 84.670343 deg. 2j-5HeadingCmd: 1.477776 target range: 324.500000 and range: 327.10 m. j5'?j9j9j9i9h9h9hAhEBfAfAfIrfIbfMd?ɛ}B} 隅cI 90\ɚiI3=I]?ii)'?)y qIqJJJ1JJ :JQN:J3J Will construct direction to contact in vehicle frame from tetrahedron phase data. i T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*Fe?2Fa:FaBFee4JFizK-[MK-9K)K-;K-  G A>G B O >tw,~A.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255932Z)?YZJ @Zv9Z' G٣!y-U -> UNusing accuracyPremultiplier from configI]49Mׂ7?]4YM4 iMoBae5 @e?M"DM);M ;Mq4i mAiZjamFNOT Ignoring new targets: 324.50 m.BjuhGJjuhG ProNav: ac range: 324.500000 m, nav range: 10.767394 m, bearing: 31.340404 deg, approach rate: 0.033023 m/s, LOS rate: -2.789347 deg/s, cmd heading: 84.670344 deg, new cmd heading: 81.199967 deg. 2jI}HeadingCmd: 1.417207 target range: 324.500000 and range: 327.10 m. jg?jjjihhhhfffrfbf`JV?ɛn -~I _ɚiIĭ=I*|?ii)g?)HI III]BI&I.I6I<:I F*F?2F:FBF_0JF YI]gJJ@A Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507796G K>G B O% >w,~AN ?YN< @N$?x9N,̗pp rG٣r BGyrZ r> zNusing accuracyPremultiplier from configt~49vx7?~4Yv 0 ivoB|~$ @~?v"Dvx;v5;vx4  AZj9=FNOT Ignoring new targets: 324.50 m.BjE$dJjE$dU ProNav: ac range: 324.500000 m, nav range: 10.778582 m, bearing: 30.171671 deg, approach rate: 0.030582 m/s, LOS rate: -3.191301 deg/s, cmd heading: 81.199966 deg, new cmd heading: 77.702003 deg. 2jU]HeadingCmd: 1.356156 target range: 324.500000 and range: 327.10 m. j]?jajajaiahahahihifififirfqbfu@2?ɛB 隭ayI h}bɚiIj=I?ii)?)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759917E==*F?2F:FBFJF E $?IA - Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015544G F>G G pAG B O >w,DA7?YQ@id9I  5٢к &=9%;Q %>!! %G٣)y-Ĉ -> 5Nusing accuracyPremultiplier from config1=495Zl7?=4Y5) i5oBE?E:E@E?5"D5[;5;5&4MגB MAUEZjquFNOT Ignoring new targets: 324.50 m.Bj}[UJj}[U ProNav: ac range: 324.500000 m, nav range: 10.789358 m, bearing: 28.707157 deg, approach rate: 0.021985 m/s, LOS rate: -2.984471 deg/s, cmd heading: 77.702001 deg, new cmd heading: 73.321878 deg. 2jHeadingCmd: 1.279708 target range: 324.500000 and range: 327.10 m. jzͣ?jjjihhhhBfffrfbf @ɛ-B5e 9=yI9 =YsfɚAiAIEz^=IM:?iIiI)Mzͣ?)IE.=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263854*Fe?2Fa:FiBFiJFiH! I!  I! I! I! &I! .I! 6I% <:I% FG A>Ga Bq O >Xw,!A I J~J~J~0J|J~K:J~mQ:J~ـ3J|J~r599 EG٣E!BGyE E> UNusing accuracyPremultiplier from configIU49Mb7?]4YM% iMoBYY]?M #DMq:M\:M҇4a eAiZjFNOT Ignoring new targets: 324.50 m.BjTJjT ProNav: ac range: 324.500000 m, nav range: 10.802579 m, bearing: 27.572420 deg, approach rate: 0.034613 m/s, LOS rate: -2.966958 deg/s, cmd heading: 73.321876 deg, new cmd heading: 69.926035 deg. 2jHeadingCmd: 1.220440 target range: 324.500000 and range: 327.10 m. j]7?jjjihhhhf!f!f)rf)bf-h@ɛBȭ tI iɚiI+=I)/?ii)]7?)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775033*F 2F :F BF JF GK> IGBO?!w,oBA6Đ?Y6@6K$;96Ҥ G٣yM > Nusing accuracyPremultiplier from config49W7?4Y ioB1?:>@?#DG;`F;s4 $AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 324.50 m.BjzWJjzW ProNav: ac range: 324.500000 m, nav range: 10.810287 m, bearing: 26.077794 deg, approach rate: 0.015558 m/s, LOS rate: -3.014156 deg/s, cmd heading: 69.926036 deg, new cmd heading: 65.454960 deg. 2jIHeadingCmd: 1.142405 target range: 324.500000 and range: 327.10 m. jP:?jjjihhhhځBfffrfbf@ɛ=B=3t 隅nI SamɚiIr+=IP:?ii)P:?)zKJK9KK=K*Fy2Fy:FyBFyJFyWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:28:28.2178 TRx dataTimestamp_ set to:1736371709.322706checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275475G A>G B O >w,`\AjHbHHI IIIbBI&I.I6I<:I FBIqJIqRIqZIu( =bIu( =jIu@4J-?YJL@J;9J{hh nG٣lyrW r> vNusing accuracyPremultiplier from configtz49vdO7?z4Yvn ivoBx~H@~?v)#Dv. ;v ;v4 AEZj)5FNOT Ignoring new targets: 324.50 m.Bj5XJj=X ProNav: ac range: 324.500000 m, nav range: 10.814569 m, bearing: 24.930104 deg, approach rate: 0.011325 m/s, LOS rate: -3.033961 deg/s, cmd heading: 65.454960 deg, new cmd heading: 62.017613 deg. 2j"HeadingCmd: 1.082412 target range: 324.500000 and range: 327.10 m. jv?jjjihhhhfffrf bf  @ $?IɛBŬ 9gI  4pɚiIW=Iߌ?ii)v?) JJJ1JJ:J>:J3JJe1<Jf1<J˕;J˕;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524830*F2F:FBFo0JFGK>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775782w,XSvA>?Y>~@>H<9>;NH<ۿ?`?ۿ7?WX ?b?ɨ>?>{;>Cyz'B~IiiI;I 5٢%& = M6=9];Q ]> G٣"BGy; > Nusing accuracyPremultiplier from config49E7?4Y ioBW@?:#D::>4 A ZjIUFNOT Ignoring new targets: 324.50 m.BjUTJjUT ProNav: ac range: 324.500000 m, nav range: 10.817713 m, bearing: 23.517221 deg, approach rate: 0.006619 m/s, LOS rate: -2.973821 deg/s, cmd heading: 62.017612 deg, new cmd heading: 57.788321 deg. 2jHeadingCmd: 1.008596 target range: 324.500000 and range: 327.10 m. j?jjjihhhhfffrfbfWe@ɛuBuHM qubIy sɚiI=I?ii)?) Ig*F?2F:FBFn0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 329.0 m (Round-trip 438.7 ms) speed -0.3 m/s ,DAT read: user:1796> BDAT read: Tx time:21:28:29.3250 %$Ping request sent.%K G B O >w,A:p?Y:)?:G:/<9:  G٣y > Nusing accuracyPremultiplier from config49>7?4Y ioB?:??G#DN;;4 YAE]Will construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:21:28:29.3242  addTargetRange:: Added new target pos. range: 329.000000 m, deltaT: 4.033891 s, deltaX: 1.899994 m, approachRate: 0.471008 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 324.50 m.Bj"`Jj"` ProNav: ac range: 324.500000 m, nav range: 10.817108 m, bearing: 22.389440 deg, approach rate: -0.001681 m/s, LOS rate: -3.135250 deg/s, cmd heading: 57.788318 deg, new cmd heading: 54.408928 deg. 2j{ HeadingCmd: 0.949615 target range: 324.500000 and range: 329.00 m. j s?j j j i h)h1h1h5Bf1f9f9rf=t@bf=?ɛUB]7 aef_I \vɚiI7ˇ=IOu?ii!)%s?))H1I1 I5II5rBI1&I1.I16I5ݰ<:I5 F*F?2F:FBF0JF IJ J J 0J J +:J H:J ـ3J J 2<J 2<J ڝ;J ۝; Will construct direction to contact in vehicle frame from tetrahedron phase data.G A>G B O > w,&ANhl?YNѩ?N'0<9Ntt vG٣tyz z> ~Nusing accuracyPremultiplier from config|49~.87?4Y~j i~oB  z? ?~V#D~ ;~ ;~Y4 AZjAEFNOT Ignoring new targets: 324.50 m.BjM(\JjM(\] ProNav: ac range: 324.500000 m, nav range: 10.814875 m, bearing: 21.209516 deg, approach rate: -0.005829 m/s, LOS rate: -3.079639 deg/s, cmd heading: 54.408928 deg, new cmd heading: 50.873172 deg. 2j]eHeadingCmd: 0.887904 target range: 324.500000 and range: 329.00 m. jeMc?jajajaiihihihihifqfqfqrfqbf}`?ɛ%B% !%ZI! -xɚ)i1I5 =I5r/g?i9iY)]Mc?)a*F2F:FBF 5JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.G=K>G B! O= > i Ii w,XA6(?Y6?6,1<96rʆBFI J=Jp=bWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y/$?~jthy?̼DA A)+AIy\AII4٢X;= ?=9/9Q > G٣#BGy? > Nusing accuracyPremultiplier from config49T17?4Y ioB?:??f#D-;;ϳ4 AB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 324.50 m.BjhJjh- ProNav: ac range: 324.500000 m, nav range: 10.803940 m, bearing: 19.824358 deg, approach rate: -0.025651 m/s, LOS rate: -3.252335 deg/s, cmd heading: 50.873172 deg, new cmd heading: 46.721180 deg. 2j- 5HeadingCmd: 0.815438 target range: 324.500000 and range: 329.00 m. j5P?j9j9j9i9h9h9hAhEBfAfAfIrfIbfM?ɛuB}y y}.UIy }–{ɚyiIo=I&[?ii)P?)*FI2FI:FIBFM]0JFIzKBoIK}9KK?KBK:KG5A>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G1 BA Oe >H! I!  I% II% BI! &I! .I! 6I% ~<:I% _ Fw,\A2;?Y2.?2-<92KRdd fG٣hyj j> rNusing accuracyPremultiplier from configpv49r+7?v4Yr iroBtv?z?ru#Dr:r":r\4q }AE %$?I!Zj9]FNOT Ignoring new targets: 324.50 m.Bj]TTJjeTTm ProNav: ac range: 324.500000 m, nav range: 10.793143 m, bearing: 18.607722 deg, approach rate: -0.026333 m/s, LOS rate: -2.970113 deg/s, cmd heading: 46.721178 deg, new cmd heading: 43.072834 deg. 2ju}HeadingCmd: 0.751763 target range: 324.500000 and range: 329.00 m. j}s@?jyjyjyiyhyhhhfffrfbf@-?ɛB) !%QI! %s~ɚ!i!I%FU=Im]H?iiiq)us@?)qJJJJJ:JJJJe1<Jf1<JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506396*F2F:FBF^0JFG) G B O5 >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758239p G٣y* > Nusing accuracyPremultiplier from config49%7?4Y ioB??#DT<<Z£4 YAZjYeFNOT Ignoring new targets: 324.50 m.BjepJjep ProNav: ac range: 324.500000 m, nav range: 10.777625 m, bearing: 17.121769 deg, approach rate: -0.035142 m/s, LOS rate: -3.369550 deg/s, cmd heading: 43.072833 deg, new cmd heading: 38.618054 deg. 2jHeadingCmd: 0.674012 target range: 324.500000 and range: 329.00 m. j,?jjjihhhhfffrfbfg?ɛEBE? AmMIi m5ɚiiiIuB=I};?iyiy)},?) I *F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010183G F>Gy zK} jIK} @9Ky K} @K} RK ?JK ?B O >$w,[aA2#?Y2?2%5_<92= G٣yx > Nusing accuracyPremultiplier from config49J!7?4Y ioB/"?:??#D;;ȣ4ؒB AEZj  FNOT Ignoring new targets: 324.50 m.Bj}Jj}% ProNav: ac range: 324.500000 m, nav range: 10.762826 m, bearing: 15.843157 deg, approach rate: -0.041056 m/s, LOS rate: -3.551721 deg/s, cmd heading: 38.618053 deg, new cmd heading: 34.782999 deg. 2j%X-HeadingCmd: 0.607078 target range: 324.500000 and range: 329.00 m. j-ti?j)j)j)i)h1=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262298hAhAhE!BfAfIfIrfIbfM j&@ɛ-BMJ QUHIY ]ځɚYiYI]=Ie,?iaia)mti?)*Fa2Fa:FaBFaJFaH0>I I-IIBI&I.I6IȰ<:I F IgGM K>GI GM rA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515300GA BI Oe >wQ w,G+A6?Y6?6m<96\'tt vG٣v$BGyv z> ~Nusing accuracyPremultiplier from config|49~_7?4Y~ i~oB? ?~#D~:~:~ϣ4 AZjAEFNOT Ignoring new targets: 324.50 m.BjMcpJjMcp] ProNav: ac range: 324.500000 m, nav range: 10.746066 m, bearing: 14.570495 deg, approach rate: -0.044218 m/s, LOS rate: -3.362623 deg/s, cmd heading: 34.782998 deg, new cmd heading: 30.965034 deg. 2j];eHeadingCmd: 0.540442 target range: 324.500000 and range: 329.00 m. jeeZ ?jajajaiahihihihififqfqrfybf}+@ɛB !=隭:HI ɚiI݌=IqI?ii)eZ ?)*F12F1:F1BF50JF1EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766215G<>GBIO> I 7w,;EAJ2J2J0J0J2+:J2>L:J0J0a6@a6@a6@a:@>x?Y>3?>y<9>˨HɿTY~?T?ɿ`?.:n? O?ɨ>x?>;>CyJYBJIRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.018295=Mb@Mb@Mb@999 9)9Y=Pn?:vI +y=$?=Լ=949 = A)=AI=rA9y9IMIM%4٢]< eC=9e:Q e>ii mG٣iym! u> Nusing accuracyPremultiplier from config%49|7?%4Y6 ioB-A$?-:-?-?#D/;;Mף41 5A9uB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 324.50 m.BjjrJjjr ProNav: ac range: 324.500000 m, nav range: 10.724285 m, bearing: 13.066732 deg, approach rate: -0.049022 m/s, LOS rate: -3.390968 deg/s, cmd heading: 30.965035 deg, new cmd heading: 26.454442 deg. 2jsHeadingCmd: 0.461717 target range: 324.500000 and range: 329.00 m. j0f>jjjihhhh=&B]Gqfqff &Yy(Brfbf @ɛ1=, 9=EI9 =Jɚ9iAIE{=Im4?iiii)m0f>)qzKeRIKaKaKeAKe*F=?2F9:F9BF=o0JFAUWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:21:28:32.1708 ]TRx dataTimestamp_ set to:1736371713.352668]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271288G F>G B H I  I @II BI &I .I 6I <:I z FO >`w,E^A6W,?Y6i?6){<96v G٣y F  > Nusing accuracyPremultiplier from config 49 7?4Y  i oBE?%? #D  ;  ; ݣ4) -A)ZjQUFNOT Ignoring new targets: 324.50 m.Bj]wJj]wu ProNav: ac range: 324.500000 m, nav range: 10.704739 m, bearing: 11.804227 deg, approach rate: -0.053587 m/s, LOS rate: -3.467234 deg/s, cmd heading: 26.454443 deg, new cmd heading: 22.665849 deg. 2ju IHeadingCmd: 0.395594 target range: 324.500000 and range: 329.00 m. jA>jjjihhhhfffrfbfҪ @ɛB DI QɚiIˣ=I@>ii)A>)Ee>E>*Fy2Fy:FyBFR5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522373GA>GiByO>m Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:28:32.1708 LVL= 26864, 23217, 17026, 32755, AGC= 68, IDX= 455,-0.05,-0.769, 1.645,-0.003,-0.346, PHS=-0.335, 2.039, 0.340, RAW= 314.0, -18.8, CAL= 317.4, -27.1, ROT= 192.6, 27.1 5 Ygot valid direction response: 21:28:32.1708 LVL= 26864, 23217, 17026, 32755, AGC= 68, IDX= 455,-0.05,-0.769, 1.645,-0.003,-0.346, PHS=-0.335, 2.039, 0.340, RAW= 314.0, -18.8, CAL= 317.4, -27.1, ROT= 192.6, 27.1 w,xAVPDAT read: Bearing 192.6, 27.1 (Local) Z~Local bearing/azimuth received: Bearing 192.6, 27.1 (Local) jR?Yj,?jqy<9jڽ BDAT read: Tx time:21:28:33.2750  $Ping request sent. ٥^@٥ ڥE@)ڥ*Iڥ"W@iڥ*>ڡڡۥ?ԭcOFͿ}Կ)ۥq9IۥhL>iۥH.`?ۥ??ۡۡ-:publishing transmit ping time II4٢Mh;MFpublishing direction and range infoء9إK?mF?fNsyءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥ?ԭcOFͿ}Կ)ۡIۡiۡۡۡۡ M*=9HQ > G٣%BGy%| > Nusing accuracyPremultiplier from config497?4Y ioBl??#D;;L4 A qIqkEY?kE k kvA:kCBkuCZk`'@"kkc@Ig@wc/lK?mF?fNsJkH.`?Rk??*]}1lj[^@|_5kN\l%?gPA"kB*kaSk$k?k {./ 2kBk&?kkh>CkBkH@U addTargetRange:: Added new target pos. range: 331.200012 m, deltaT: 3.780463 s, deltaX: 2.200012 m, approachRate: 0.581943 m/s, rangeRepo size: 4  Added new target pos. range: 331.200012 m, bearing: 149.842247 deg, lat: 36.901375 deg, lon: -122.116311 deg, deltaT: 11.843870 s, deltaX: 6.700012 m, approachRate: 0.565695 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 331.20 m.BjJj- ProNav: ac range: 331.200012 m, nav range: 119.383759 m, bearing: 179.098536 deg, approach rate: 0.000000 m/s, LOS rate: -3.467234 deg/s, cmd heading: 22.665848 deg, new cmd heading: 17.122984 deg. 2j)-HeadingCmd: 0.298852 target range: 331.200012 and range: 331.20 m. j50>j1j1j1i1h1h1JJJJJ:JB:JJhhfWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:28:33.2743 ffrf@3t@bf`?ɛy}1 隅BI @fɚiI,ڏ=IP>ii)0>)zK iJK 9K K BK   Ur'p+RK >JK ?E I=*Fu ?2Fq :Fq BFu _0JFq mWill construct direction to contact in vehicle frame from tetrahedron phase data.GF>H/>I ILIIBI) =&I.I6I<:I FBIJIRIZIbIjI24GrAGGBO?'w,RAV?YV\ ?V*_<9V< =99Q > G٣yֽ > Nusing accuracyPremultiplier from config49Z7?4YX ioB&?M:MB?M?#D^<-<4Q UAUEZjyFNOT Ignoring new targets: 331.20 m.Bj;Jj; ProNav: ac range: 331.200012 m, nav range: 119.358406 m, bearing: 179.270959 deg, approach rate: -0.048249 m/s, LOS rate: 0.328211 deg/s, cmd heading: 17.122984 deg, new cmd heading: 17.640349 deg. 2j?a<HeadingCmd: 0.307882 target range: 331.200012 and range: 331.20 m. j>jjjihhhh1Bfffrfbf?UWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ Bc ?I ɚiI=Ie6>iaia)m>)iE=E*FQ 2FQ :FY BFY JFY  Will construct direction to contact in vehicle frame from tetrahedron phase data.GaGABIOe?#0w,AF"?YFK? ^$?I^gFLQ<9F$Giq uG٣u&BGyukg u> Nusing accuracyPremultiplier from configy49}7?4Y}@ i}oB'?:??}$D};});}<4 AZjFNOT Ignoring new targets: 331.20 m.Bj[;Jj[; ProNav: ac range: 331.200012 m, nav range: 119.344864 m, bearing: 179.436628 deg, approach rate: -0.026347 m/s, LOS rate: 0.322353 deg/s, cmd heading: 17.640350 deg, new cmd heading: 18.137401 deg. 2j:]<HeadingCmd: 0.316557 target range: 331.200012 and range: 331.20 m. j>jjjihhhhBfffrfbf?EWill construct direction to contact in vehicle frame from tetrahedron phase data.JcKc KcKcKc"KcJJJ1JJ :JF:J3JɛAE4 AMIBII MɚIiIIM=IU u>iQiQ)U>)EE*E"EzK;NK@9KKCKBKpA:KnA*F 2F :F BF JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.GA>ZH1RH5AAH9I9 I=SII=BI9&I9.I96I=<:I= FGBO>ղ7w,EJA6?Y6?6м7<96RXB>IIFIF4٢R ۼ R:=9RkQ R>TT VG٣TyV Z> ^Nusing accuracyPremultiplier from config\b49^7?f4Y^ i^soBdf?f?^$D^12;^t2;^4 lIlt vAtB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 331.20 m.Bjz;Jjz;  ProNav: ac range: 331.200012 m, nav range: 119.342331 m, bearing: 179.573583 deg, approach rate: -0.005513 m/s, LOS rate: 0.298090 deg/s, cmd heading: 18.137402 deg, new cmd heading: 18.548266 deg. 2jL<HeadingCmd: 0.323728 target range: 331.200012 and range: 331.20 m. j>jjjihhh!h!f!f!f)rf)bfU@?ɛim im7EIi mɚqiqIu=I}m>iyiy)}>)yWill 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.*F92FA:FABFE`0JFAGy G ?G .?GY Ba O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.951330r=w,A6H?Y6 ?6 <<96! %G٣!y%a %> 5Nusing accuracyPremultiplier from config)=49-I7?=4Y- i-goBAE?E?-,$D-r#;-;-04I MAIZjFNOT Ignoring new targets: 331.20 m.BjN;JjN; ProNav: ac range: 331.200012 m, nav range: 119.349556 m, bearing: 179.704432 deg, approach rate: 0.018085 m/s, LOS rate: 0.327508 deg/s, cmd heading: 18.548265 deg, new cmd heading: 18.940783 deg. 2j `<%HeadingCmd: 0.330579 target range: 331.200012 and range: 331.20 m. j-A>j)j)j1ihhh hff!f)rfYbf]@E@ IɛY]O 隅DI `ɚiI=I`>ii)A>)EEqA*FE?2FA:FABFIJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.ՙiՙchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.203828JJJ0JJJH:Jـ3JGe K>G9 BA Oe >zK VBJK 9K K DK  Dw,AyNBIMb@Mb@Mb@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455463 )YRQ?y&1S㥛y"?`e/ݼA A)AIyfAII4٢=G =9=9EQ E>AI MG٣M'BGyU ]> }Nusing accuracyPremultiplier from configy49}7?4Y} i}WoB"?:??}>$D};};}4 SAEZjFNOT Ignoring new targets: 331.20 m.Bj;Jj; ProNav: ac range: 331.200012 m, nav range: 119.355667 m, bearing: 179.840547 deg, approach rate: 0.013825 m/s, LOS rate: 0.307921 deg/s, cmd heading: 18.940782 deg, new cmd heading: 19.349100 deg. 2jRS<HeadingCmd: 0.337705 target range: 331.200012 and range: 331.20 m. j>jjjihhhhBfffrfbff@ɛ %lJI! %ɚ!i)I-;=I=LҐ>iAiA)M>)H!I! I!I!I!&I!.I!6I%<:I% F*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=2.708478G *J "J p=G B O >Jw,-A>"?Y>f`?>&<9>HD[?ۑ?`? f?@|?ބ@0?k?ɨ>"?>\;dd fG٣dyj7 j> rNusing accuracyPremultiplier from configlr49n7?v4YnA inKoBtv?z?nL$Dnh;n4;n4 AZj)-FNOT Ignoring new targets: 331.20 m.Bj5;Jj5;E ProNav: ac range: 331.200012 m, nav range: 119.375061 m, bearing: 179.946835 deg, approach rate: 0.055098 m/s, LOS rate: 0.301912 deg/s, cmd heading: 19.349099 deg, new cmd heading: 19.667908 deg. 2jE3OjIjIjIiIhQhQhQhQfYfYfYrfabfe 37@ɛ 隕NI ɚiI_=I3>ii)>)*F5?2F1:F1BF5P5JF1G=qA G9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.959590G]A>GqGqGQBO> $?I gQw,GA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.211459>'?Y>ld?><9>DHL?G B[??hV?@S}? h?+?ɨ>'?>(9;>CyNCBRIMb@Mb@Mb@ )Y+?I +S㥛yv?94 rA)AI\ AyAI]I]B4٢m{  m2=9uQ u>qq }G٣yy}؊ }> Nusing accuracyPremultiplier from config49U7?4Yќ i;oB?:9??^$D1;p/;"4 AZjFNOT Ignoring new targets: 331.20 m.Bj;Jj; ProNav: ac range: 331.200012 m, nav range: 119.407997 m, bearing: 180.082272 deg, approach rate: 0.071927 m/s, LOS rate: 0.295691 deg/s, cmd heading: 19.667909 deg, new cmd heading: 20.074099 deg. 2jJ<HeadingCmd: 0.350359 target range: 331.200012 and range: 331.20 m. jEb>jjjihhhhfffrfbf0 @ɛ 隵OI 4?ɚiI=I:>ii)Eb>zKk3IKж9KKEK)ER>E>*F?2F:FBF0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:21:28:36.1222 MTRx dataTimestamp_ set to:1736371717.390532Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.470826H I  I LII BI &I .I 6I հ<:I FGM F> I G) B9 OU >Xw,cA2*%?Y2b?2.;92 G٣(BGy   > Nusing accuracyPremultiplier from config49P7?4Y i/oB8?%?n$D::$4) -A)UB*** querying acoustic contact ***jQjQZjY]FNOT Ignoring new targets: 331.20 m.Bje;Jje;u ProNav: ac range: 331.200012 m, nav range: 119.443947 m, bearing: 180.196689 deg, approach rate: 0.092112 m/s, LOS rate: 0.293076 deg/s, cmd heading: 20.074098 deg, new cmd heading: 20.417241 deg. 2ju"I<}HeadingCmd: 0.356348 target range: 331.200012 and range: 331.20 m. j}As>jyjyjihhhhfffrfbf` @ɛ( =QI  ɚiIk=I;>ii)As>)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.716233JJAAJJJJJ+:JC:JJJ2GiBqO> Will construct direction to contact in vehicle frame from tetrahedron phase data.M DAT read: 21:28:36.1222 LVL= 20208, 20209, 12562, 23171, AGC= 60, IDX= 452, 0.37,-2.073, 0.302,-0.608,-1.443, PHS=-0.541, 1.792, 0.832, RAW= 294.2, -19.9, CAL= 295.5, -29.3, ROT= 214.5, 29.3 ] Ygot valid direction response: 21:28:36.1222 LVL= 20208, 20209, 12562, 23171, AGC= 60, IDX= 452, 0.37,-2.073, 0.302,-0.608,-1.443, PHS=-0.541, 1.792, 0.832, RAW= 294.2, -19.9, CAL= 295.5, -29.3, ROT= 214.5, 29.3 e PDAT read: Bearing 214.5, 29.3 (Local) e ~Local bearing/azimuth received: Bearing 214.5, 29.3 (Local)  DAT read: Range 10 to 50 : 332.2 m (Round-trip 443.0 ms) speed -0.4 m/s  ,DAT read: user:1798>  BDAT read: Tx time:21:28:37.2250 % $Ping request sent.% i ?? }?   :publishing transmit ping time  Fpublishing direction and range info 9 `?; 6?y     ) I i      ) I i    heKYOx?.տ) I i    ۣ^w,g}A qI}gy:BIMb@Mb@Mb@ )Y^I +?AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]49UA7?]4YU iU oB]t?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:28:37.2243 :??U$DUjjjihhhhBfffrf@3t@bfI?ɛMBMg imTIq u2ɚqiqIue=I}>iyiy)}>)E*FM ?2FI :FQ BFU 0JFQ "G] >G] >zK K 9K K FK 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.GeF>Gm?Gm?G!B1OM?Ogw,zA60Z?Y6?6E;969 G٣y} > Nusing accuracyPremultiplier from config 49 "7?4Y  i oBĪ?? $D ; ; 44) -\A)ZjIUFNOT Ignoring new targets: 332.20 m.Bj];Jj]; ProNav: ac range: 332.200012 m, nav range: 119.544456 m, bearing: 180.451227 deg, approach rate: 0.155108 m/s, LOS rate: 0.298992 deg/s, cmd heading: 20.914024 deg, new cmd heading: 21.216067 deg. 2j2M<HeadingCmd: 0.370290 target range: 332.200012 and range: 332.20 m. j>jjjihhhhfffrfbfE?ɛ 1 qIq 隭[I 1ɚiIh=I>ii)>)*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ{:J,J:JJJ.<J.<J;J;GG B O >.mw,JA6?Y6è?6]չ96m(TT VG٣Z)BGyZ国 Z> bNusing accuracyPremultiplier from config\b49^'7?b4Y^ i^oBdf?f?^$D^X:^7:^;4h jAlWill construct direction to contact in vehicle frame from tetrahedron phase data.Zj FNOT Ignoring new targets: 332.20 m.Bj ;Jj ;% ProNav: ac range: 332.200012 m, nav range: 119.608574 m, bearing: 180.559780 deg, approach rate: 0.162277 m/s, LOS rate: 0.274593 deg/s, cmd heading: 21.216067 deg, new cmd heading: 21.541547 deg. 2j-s<<-HeadingCmd: 0.375971 target range: 332.200012 and range: 332.20 m. j-C>j1j1j1i1h9h9h9h9fAfAfArfAbfE"G?ɛmBud quh_Iq }dɚyiyI}qC=IC>ii)C>)*F2F:FBF_0JF IG)Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 Ba O >tw,-&сA2ڈ?Y2 ?2r792SAA EG٣AyE犽 M> UNusing accuracyPremultiplier from configI]49M-7?]4YMC| iMoBe?e:e?e?M$DMcQ;MP;MB4q uAqZj9=FNOT Ignoring new targets: 332.20 m.Bj=F;JjEF;u ProNav: ac range: 332.200012 m, nav range: 119.682076 m, bearing: 180.673690 deg, approach rate: 0.166264 m/s, LOS rate: 0.257513 deg/s, cmd heading: 21.541548 deg, new cmd heading: 21.883066 deg. 2ju0<}HeadingCmd: 0.381932 target range: 332.200012 and range: 332.20 m. j}>jyjyjyiyhyhyhhBfffrfzKKж9KKGKj bfz?ɛB=E bI ɚiIK9=I>ii)>)  Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFJFGrA GsAZHRH?AHI I-IIBI) =&I.I6I:IBIyJIyRIyZI}) =bI}) =jI}3 IG G qAG qAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J J G:J J J J J ;J ;>zw,ꁻAN?YN֠?N_9Nptt vG٣tyv z> ~Nusing accuracyPremultiplier from configx49z37?4Yz}v iznB؟??z$Dz ;ze ;zI4 AEmB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 332.20 m.Bjś;Jjś; ProNav: ac range: 332.200012 m, nav range: 119.757957 m, bearing: 180.778116 deg, approach rate: 0.198048 m/s, LOS rate: 0.272371 deg/s, cmd heading: 21.883065 deg, new cmd heading: 22.196139 deg. 2j:<HeadingCmd: 0.387396 target range: 332.200012 and range: 332.20 m. jX>jjjihhhhfffrf bf ?ɛ1U( Y]_IY ]ɚYiYI]=IeX>iaia)mX>)i*Fm?2Fi:FiBFiJFiWill 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.GYG) B1 Oe > I 7-w,cAV;D?YV?V9V_ G٣*BGy > -Nusing accuracyPremultiplier from config549:7?54Yhp inB5K?5:5?=?$D<<LQ4A EAAmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.235270ZjFNOT Ignoring new targets: 332.20 m.BjÏ;JjÏ; ProNav: ac range: 332.200012 m, nav range: 119.840828 m, bearing: 180.887998 deg, approach rate: 0.189710 m/s, LOS rate: 0.251372 deg/s, cmd heading: 22.196139 deg, new cmd heading: 22.525554 deg. 2j,<HeadingCmd: 0.393145 target range: 332.200012 and range: 332.20 m. jPJ>jjjihhhhBfff rf bf  N@ɛQ]z Y]cIY ]:ɚiI=IPJ>ii)PJ>)*FU?2FY:FYBFYJFYzK= MK= 9K9 K= HK= ",5?M[gorzRKU >JKU ?G} A> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487394G B O >Pw,AH4I4 I6!II6BI4&I4.I46I6Ű<:I6 FRHx?YRa?RJe9R~;QQ UG٣QyU$ ]> eNusing accuracyPremultiplier from configam49e[A7?m4Yej ienBim~?u?e$Dee:e.:e/X4y }A}EZjFNOT Ignoring new targets: 332.20 m.Bj ;Jj ; U$?I]ge ProNav: ac range: 332.200012 m, nav range: 119.924362 m, bearing: 180.987904 deg, approach rate: 0.220981 m/s, LOS rate: 0.264106 deg/s, cmd heading: 22.525554 deg, new cmd heading: 22.825060 deg. 2jmA5<HeadingCmd: 0.398372 target range: 332.200012 and range: 332.20 m. jy>jjjihhhhfffrfbf @"@ɛy& 隅 eI -ɚiI$=Iy>ii)y>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740672JJJJJ+:J"I:JJJ2<J2<J;J;*F2F:FBF p0JF "G>G>GA GM ?GM '?G B) OU >}{w,8A6o?Y6l?6 л96yĔTT VG٣TyZ Z> bNusing accuracyPremultiplier from config\b49^{H7?b4Y^e i^nBdf8?f?^$D^:^ :^^4h jAhrWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.992009ZjFNOT Ignoring new targets: 332.20 m.Bj;Jj%;- ProNav: ac range: 332.200012 m, nav range: 120.012550 m, bearing: 181.083437 deg, approach rate: 0.231862 m/s, LOS rate: 0.250988 deg/s, cmd heading: 22.825060 deg, new cmd heading: 23.111446 deg. 2j5@,<5HeadingCmd: 0.403371 target range: 332.200012 and range: 332.20 m. j5>j9j9j9i9h9h9hAhAfAfAfIrfIbfM`EM@ɛB \h=%cI! %iɚ!i!I%=I->i)i))->)q*FM?2FQ:FQBF]`5JFY iIqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244214GG B O >Cdw,kRA64g?Y6?6["96\ii mG٣m+BGyu u> }Nusing accuracyPremultiplier from configy49}Q7?4Y}_ i}nB9?:ڍ??}$D};};}^f4ڒB 5A5EZjFNOT Ignoring new targets: 332.20 m.BjQ;JjQ; ProNav: ac range: 332.200012 m, nav range: 120.125381 m, bearing: 181.186267 deg, approach rate: 0.250265 m/s, LOS rate: 0.227867 deg/s, cmd heading: 23.111446 deg, new cmd heading: 23.419643 deg. 2jb<HeadingCmd: 0.408750 target range: 332.200012 and range: 332.20 m. jG>jjjihhhhBfffrfbf @zK-7NK-ŷ9K)K-IK-zf\VTQMKKIEA=;<9<987866642202221//0///0/.-,*.-,./,BK=qA:K=qAɛy} y}cIy  ɚiI=IG>ii)G>)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:28:40.0396 TRx dataTimestamp_ set to:1736371721.416764checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496311*F?2F:FBFJFjH]<bH]<HaIa IeIIeBIa&Ia.Ia6Ieݰ<:Ie F aIiG K>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.748175w,VelAJ*J*J*1J(J*k:J*HM:J*3J(J*%8<J*%8<J*U;J*U; [_?Y ? j9 JX G٣yߓ > Nusing accuracyPremultiplier from config49[7?4YY inB?? %DC:":0n4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 332.20 m.Bj B;Jj B; ProNav: ac range: 332.200012 m, nav range: 120.250763 m, bearing: 181.291506 deg, approach rate: 0.296667 m/s, LOS rate: 0.248748 deg/s, cmd heading: 23.419643 deg, new cmd heading: 23.735027 deg. 2j=*jAjAjAiIhIhIhIhQfQfQfQrfQbf]Q@ɛ^ 隍1eI ˜ɚiIҊ=I&>ii)&>)*FU?2FQ:FQBFU5JFQGY G]rAWill construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: 21:28:40.0396 LVL= 18000, 16737, 11810, 20051, AGC= 65, IDX= 86, 0.14,-2.255, 0.011, 0.053,-0.674, PHS=-1.493, 0.732, 0.723, RAW= 270.2, 0.3, CAL= 271.9, -0.1, ROT= 238.1, 0.1 EYgot valid direction response: 21:28:40.0396 LVL= 18000, 16737, 11810, 20051, AGC= 65, IDX= 86, 0.14,-2.255, 0.011, 0.053,-0.674, PHS=-1.493, 0.732, 0.723, RAW= 270.2, 0.3, CAL= 271.9, -0.1, ROT= 238.1, 0.1 MPDAT read: Bearing 238.1, 0.1 (Local) U~Local bearing/azimuth received: Bearing 238.1, 0.1 (Local) ]DAT read: Range 10 to 50 : 307.8 m (Round-trip 410.4 ms) speed -0.4 m/s e,DAT read: user:1799> mBDAT read: Tx time:21:28:41.1250 m$Ping request sent.mG rAG sAGQ Ba Ou > u $?Iq |w,=A=?#W?Y=χ?=.9=ႍII MG٣IyU/ U> }Nusing accuracyPremultiplier from configY49]e7?4Y]_T i]nB8?:܇??]%D];]Y<;]u4 Ak5fC?k5l4 k1 k5 {A:k5CBk5֘CZk5 >"5ksC8@yĔ}?s5vn}}s.?ɓa[Jk5kRk5#T?*5>[B@%&@/us5>q?Ħ1N?uU9"k50A*k5Bk5w{C?k5ZGl2 2k5Xqk1k5ZGl2 k5Bk5Bk59C@UaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 307.799988 m, deltaT: 4.034544 s, deltaX: -24.400024 m, approachRate: -6.047778 m/s, rangeRepo size: 4ZjFNOT Ignoring new targets: 332.20 m.BjP~;JjP~; ProNav: ac range: 332.200012 m, nav range: 120.373596 m, bearing: 181.390712 deg, approach rate: 0.275572 m/s, LOS rate: 0.222339 deg/s, cmd heading: 23.735027 deg, new cmd heading: 24.032340 deg. 2j<HeadingCmd: 0.419443 target range: 332.200012 and range: 332.20 m. jK>jjjihhhhBfffrfiiii)mK>)E} a5=zK NK 9K K JK +*+-46+&$      Will construct direction to contact in vehicle frame from tetrahedron phase data.*FQ 2FQ :FY BF] 0JFY HU 0>IQ  IQ IQ IU ( =&IQ .IQ 6IU <:IU F aIaGGBO ?*w,pANhO?YN?N`9Nmeii mG٣m,BGyu0} u> Nusing accuracyPremultiplier from configy49}q7?4Y}N i}nB??}+%D}X ;}:}!~4 AEZj9EFNOT Ignoring new targets: 332.20 m.BjE;JjM;} ProNav: ac range: 332.200012 m, nav range: 120.523026 m, bearing: 181.502868 deg, approach rate: 0.309400 m/s, LOS rate: 0.231936 deg/s, cmd heading: 24.032340 deg, new cmd heading: 24.368387 deg. 2j}-<HeadingCmd: 0.425309 target range: 332.200012 and range: 332.20 m. j >jjjihhhhfffrfbf/?ɛz cI ɚiI=I >ii) >)EMzA=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F% ?2F! :F) BF- r0JF) I gG-A>GE?GE?GB!O=>?w,nɂAWill construct direction to contact in vehicle frame from tetrahedron phase data.y +B IJMJMJM0JIJM:JMF:JMـ3JIaU@aU@aU@aU@;G|uA EYE|uAyE BMb@Mb@Mb@ )YV-?y&1yh?E A / A) AI\ Ay( AII\4٢56= 5=95Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU49M7?U4YMF iMnB]s?]:Y]?M@%DMh;M;M懤4a etAaZjFNOT Ignoring new targets: 332.20 m.Bjׅ;Jjׅ; ProNav: ac range: 332.200012 m, nav range: 120.693642 m, bearing: 181.630171 deg, approach rate: 0.314092 m/s, LOS rate: 0.234024 deg/s, cmd heading: 24.368387 deg, new cmd heading: 24.749750 deg. 2j <HeadingCmd: 0.431965 target range: 332.200012 and range: 332.20 m. jx*>jjjihhhhBfffrfbf_?ɛ )]I 馽ɚiI=Ix*>ii)x*>)EpAEqAzKm7MKmŷ9KiKmKKmE}=Will construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF `0JF ZH RH AAH I  I II BI &I .I 6I <:I F $?I G9GBO9d޹w,sd邻AfG7?YfXp?f؝9f*I>II4%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i!٢-= -==95QQ 5>11 =G٣=-BGy=vY => MNusing accuracyPremultiplier from configAM49EЋ7?U4YEA iEnBQUwp?U?EP%DE:E:Ex4a e6AaZjFNOT Ignoring new targets: 332.20 m.Bjr;Jjr; ProNav: ac range: 332.200012 m, nav range: 120.844734 m, bearing: 181.722394 deg, approach rate: 0.348354 m/s, LOS rate: 0.212361 deg/s, cmd heading: 24.749751 deg, new cmd heading: 25.026072 deg. 2j<HeadingCmd: 0.436787 target range: 332.200012 and range: 332.20 m. j>jjjihhhhfffrfbfr?ɛB- YI =kɚiIb^=I >i i ) >)EE*E"E*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G F>G B O >w,$GA I+Q/?Yg?G9z11 5G٣1y=݌ => ENusing accuracyPremultiplier from configAM49E7?M4YE; iEnBM?U:Uf?]?Ea%DE'<;E:;E4a eAeEWill construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 332.20 m.BjKi;JjKi;JJJJJ:JHM:JJ ProNav: ac range: 332.200012 m, nav range: 121.025742 m, bearing: 181.823597 deg, approach rate: 0.365345 m/s, LOS rate: 0.203961 deg/s, cmd heading: 25.026071 deg, new cmd heading: 25.329221 deg. 2j <HeadingCmd: 0.442078 target range: 332.200012 and range: 332.20 m. jX>j!j!j!i!h!h!h)h-BfIfIfQrfQbfU;I@ɛ 隥SI F#ɚiInQ=IX>ii)X>)*F2F:FBF1JFG% A>G- qAG- rAe 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} KKy Ky K} LK} RK ?JK ?G B O- >Z"w,FAV &?YV_?Vwᴼ9VIA IE'IIEBIA&IA.IA6IE<:IE FBI JI RI ZI ( =bI ( =jI ݃4I}I}4٢@< j=9Q > G٣yŽ > Nusing accuracyPremultiplier from config497?4Y7 inBd]??o%D;B;4 AZjIMFNOT Ignoring new targets: 332.20 m.Bjui;Jjui; ProNav: ac range: 332.200012 m, nav range: 121.162750 m, bearing: 181.894816 deg, approach rate: 0.392442 m/s, LOS rate: 0.203766 deg/s, cmd heading: 25.329220 deg, new cmd heading: 25.542635 deg. 2j <HeadingCmd: 0.445803 target range: 332.200012 and range: 332.20 m. jM@>jjjihhhhfffrfbf!@ =$?IAɛB,R 隅QI [ɚiI5 =IM@>ii)M@>)*F?2F:FBF05JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755628G G B O >Kw,77AynHBrI)t tIzIz[4٢%{(= %R=9-Q ->)) 5G٣5.BGy5 5> ENusing accuracyPremultiplier from config9M49=α7?U4Y=T3 i=nBQQU?=}%D=J4;=4;=ۤ4Y eAeEZjFNOT Ignoring new targets: 332.20 m.Bjzj;Jjzj; ProNav: ac range: 332.200012 m, nav range: 121.312874 m, bearing: 181.972559 deg, approach rate: 0.396342 m/s, LOS rate: 0.204997 deg/s, cmd heading: 25.542635 deg, new cmd heading: 25.775575 deg. 2j <HeadingCmd: 0.449869 target range: 332.200012 and range: 332.20 m. j/U>jjjihhhhfffrfbf` @ɛBR MI ɚiIɿ=I/U>ii)/U>) =Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008194*F?2F:FBF_0JF QIYGF>GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:28:43.9418  TRx dataTimestamp_ set to:1736371725.197381 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261426J- J- J) J) J- +:J- G:J) J) 3w,QAy~VB~IMb@Mb@Mb@ )YQ?Mb`?~jtxy?;Ļ A  A) AI\ Ay AII 4٢_= A=9Q > G٣y > Nusing accuracyPremultiplier from config4927?4YQ. inB?:`??%D;;C4ےB $AEZjFNOT Ignoring new targets: 332.20 m.Bjt_;Jjt_; ProNav: ac range: 332.200012 m, nav range: 121.478363 m, bearing: 182.059684 deg, approach rate: 0.371582 m/s, LOS rate: 0.195359 deg/s, cmd heading: 25.775575 deg, new cmd heading: 26.036591 deg. 2j<HeadingCmd: 0.454424 target range: 332.200012 and range: 332.20 m. jK>jjjihhhhBfffrfbf` @ɛ15̝ 15JFI9 =[ɚ9i9I==IEK>iAiA)EK>)I*F?2F:FBF JF EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.511803zKeBoJKe}9KaKeMKejH=<bH9HAIA IE:IIEBIA&IA.IA6IE<:IE FGG ?G ? Q IQ G B O >_w,˃kA2< ?Y2 F?2Y92 ZBDAT read: Tx time:21:28:45.0251 ^$Ping request sent.^pp rG٣pyv v> zNusing accuracyPremultiplier from configx~49z]7?~4YzD* iznBF? ?z%Dz]?;z?;zϲ4 A addTargetRange:: Added new target pos. range: 309.299988 m, deltaT: 7.811938 s, deltaX: -22.900024 m, approachRate: -2.931414 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 332.20 m.BjEH;JjEH; ProNav: ac range: 332.200012 m, nav range: 121.640129 m, bearing: 182.129385 deg, approach rate: 0.406900 m/s, LOS rate: 0.175091 deg/s, cmd heading: 26.036591 deg, new cmd heading: 26.245416 deg. 2jS;HeadingCmd: 0.458069 target range: 332.200012 and range: 309.30 m. j>jjjihhhhfffrfTs@bf` ?ɛUBUQ Q]t@IY ]1ɚYiYI]O=Ie>ie{һiem>)>)*F}?2F:FBFJFMWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:21:28:45.0244 G Gy B O > = $?IE gFw,WAFT?YFm=?F9Fi9Q ]G٣]/BGym- u> Nusing accuracyPremultiplier from config497?4Y% inB>??%D6e<<ƺ4) 5fA5EWill construct direction to contact in vehicle frame from tetrahedron phase data.JKm3 KS}-KK"KJJJJJ:JC:JJ B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 332.20 m.Bj%3M;Jj%3M;U ProNav: ac range: 332.200012 m, nav range: 121.842842 m, bearing: 182.210926 deg, approach rate: 0.446736 m/s, LOS rate: 0.179399 deg/s, cmd heading: 26.245417 deg, new cmd heading: 26.489630 deg. 2jU=;]HeadingCmd: 0.462331 target range: 332.200012 and range: 309.30 m. j]>jYjYjYiYhahahhfffrfbf?ɛBr j9I ɚiI3=I >i i {Z>)>)*F2F:FBFJFG%>GBO>] 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 Querying Benthos address 50 with one ping in standard two-way mode.zK VBJK K K NK RK ?JK >{pw,3Ab[>Yb(6?b<\9bGb^M;`yjxBjIHr0>Ip IrYIIrBIr) =&Ip.Ip6Ir<:Ir F%Mb@Mb@Mb@!!! !)!Y%~jt?QY ]G٣Yy] ]> mNusing accuracyPremultiplier from configam49e7?m4Ye/! ienB}?}:}=?}?e%De4;e=3;e4 AZjFNOT Ignoring new targets: 332.20 m.Bjk;Jjk; ProNav: ac range: 332.200012 m, nav range: 122.028206 m, bearing: 182.284580 deg, approach rate: 0.519560 m/s, LOS rate: 0.206133 deg/s, cmd heading: 26.489630 deg, new cmd heading: 26.710256 deg. 2jw <HeadingCmd: 0.466182 target range: 332.200012 and range: 309.30 m. je>j $?IjjihhhhmفBfifqfqrfqbfu@ ?ɛ]B] Y]3IY eϦɚaiaIeo=Ie>i]i ?>)e>)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006008*F2F:FBF`0JFG'n>GrAGqAGqBO>w, A6>Y6P.?6G96x6ō;4yRBR IIbIbW4٢f&= jf=9j Q j>ll nG٣lyr r> vNusing accuracyPremultiplier from configtz49v7?z4Yvw ivnBxzu6?~?v%Dv;v ;vǤ4 AEZjFNOT Ignoring new targets: 332.20 m.BjYB;JjYB; ProNav: ac range: 332.200012 m, nav range: 122.197197 m, bearing: 182.347696 deg, approach rate: 0.455564 m/s, LOS rate: 0.169913 deg/s, cmd heading: 26.710256 deg, new cmd heading: 26.899342 deg. 2j8;HeadingCmd: 0.469482 target range: 332.200012 and range: 309.30 m. j_>jjjihhhhff f rf bf s"?Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257129ɛ}߁B} y隅/I TɚiIaH=I_>ii@%>)_>)Q*F?2F :F BF 1JF  IGI  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510828Gi Bq O > w,҃An>Yn'?n(9nn3;nCyBIIMAMb@Mb@Mb@ )Y+?L7A`?y?+=  A) AIrAy AII4٢= 8=9|Q >   G٣0BGyZ| > %Nusing accuracyPremultiplier from config!-49% 8?-4Y% 5tIi%oB5?5:5e5?5?%%D%;%;%Ϥ49 =dAAZjamFNOT Ignoring new targets: 332.20 m.BjuV;JjuV; ProNav: ac range: 332.200012 m, nav range: 122.415367 m, bearing: 182.428157 deg, approach rate: 0.508445 m/s, LOS rate: 0.187179 deg/s, cmd heading: 26.899343 deg, new cmd heading: 27.140292 deg. 2ju<HeadingCmd: 0.473687 target range: 332.200012 and range: 309.30 m. j*>jjjihhhhBfffrfbfM?ɛށBt 'I WҳɚiI =I*>i 10i r >) *>) %Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761700zKk3IKŷ9KKOK >"-t4e l?e9ydO<* |yuq*Fy2Fy:FyBF}1JFyH/>I III܀BI( =&I.I6I<:I FGUa>G)BAOu> Iw,샻A2>Y24?2*+92 n2;2CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013153yJBJ6IIRIR4٢Z= Zb=J\J\JbJbJb1J`Jb :Jb"I:Jb3J`Jb 0yy }G٣y > Nusing accuracyPremultiplier from config49@8?4Y i oBy-??%D-;%-;r֤4 AEZjFNOT Ignoring new targets: 332.20 m.Bj A;Jj% A;- ProNav: ac range: 332.200012 m, nav range: 122.608490 m, bearing: 182.494659 deg, approach rate: 0.491101 m/s, LOS rate: 0.168844 deg/s, cmd heading: 27.140293 deg, new cmd heading: 27.339483 deg. 2j-;UHeadingCmd: 0.477164 target range: 332.200012 and range: 309.30 m. j]N>jYjYjYiYhYhYhahafafafirfibfm@ɛ݁B I 7ɚiIi=IN>ii=)N>)*F?2F:FBF`4JFGY=>G?G.?GyBO_>5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264996 $?I w,AR >YR?R09R.QRUY;RCyZBZ>IIfIf4٢rH< rG=9v@"Q v>tt vG٣xy~t > -Nusing accuracyPremultiplier from config!E49%+8?M4Y% i%oBQ]%?e?%%D%<%/<%Fݤ4 A)= 1C9]vAiWill construct direction to contact in vehicle frame from tetrahedron phase data.ՕAiՑchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.517282B*** querying acoustic contact *** YvAyBjjZj15FNOT Ignoring new targets: 332.20 m.Bj=;Jj=;m ProNav: ac range: 332.200012 m, nav range: 122.809433 m, bearing: 182.559201 deg, approach rate: 0.424816 m/s, LOS rate: 0.136227 deg/s, cmd heading: 27.339483 deg, new cmd heading: 27.532793 deg. 2ju;uHeadingCmd: 0.480538 target range: 332.200012 and range: 309.30 m. ju >jyjyjyiyhyhyhhfffrfbf.s@ɛ܁BV I ɚiI%(=I- >i-i-e=)- >)1*F?2F:FBF4JFG TK%>E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769111G B O >zK5 }OK5 9K1 K5 PK5 kea]ZWOKMHAA=:8743/1/+)*''$"! aw,z A24>Y2 ?2.T792Z2j;2CH@I@ IBIIBBI@&I@.I@6IB<:IBo FyNBNMI V=V=-}only read 0 of 1 data item for altitude. Device response is::BD, 1, + -3.31, 8.71, 0.00  }@ @ @  @ II4٢+h= ?=9Q > G٣y0 > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49=8?4Y i#oB+::?? &D~<>@4  ?AE M$?IIZjaeFNOT Ignoring new targets: 332.20 m.Bjm\;Jjm\; ProNav: ac range: 332.200012 m, nav range: 123.030983 m, bearing: 182.625742 deg, approach rate: 0.643302 m/s, LOS rate: 0.192865 deg/s, cmd heading: 27.532793 deg, new cmd heading: 27.732057 deg. 2j\<%HeadingCmd: 0.484016 target range: 332.200012 and range: 309.30 m. j%>j!j!j!i!h!h)h)hQfYfYfarfabfmY@ɛ-Pa )5+I1 5/жɚ1i1I= =I>i  i Xf=) >)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021925JJJ0JJ+:J,J:Jـ3JJ2<J2<J;J;*F2F:FBF^0JFG|>GBO>U w,U:A6O>Y6 ?6V'?96 =y6H`t?k 0^?@lq?O`?`ꋡ?`C?ɨ6O>6S;4y>BBOIIJIJ4٢Rf < V[=9VӧQ V>XX ZG٣Z1BGyZ ^> fbBottom track data is 0.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`f49bN8?j4Ybo ib/oBj :hj^:j+?j?b&DbT&;bL?b4p r2ApZj  FNOT Ignoring new targets: 332.20 m.Bj!2;Jj!2;- ProNav: ac range: 332.200012 m, nav range: 123.230255 m, bearing: 182.681857 deg, approach rate: 0.553931 m/s, LOS rate: 0.155732 deg/s, cmd heading: 27.732057 deg, new cmd heading: 27.900127 deg. 2j-;5HeadingCmd: 0.486949 target range: 332.200012 and range: 309.30 m. j5cQ>j1j1j1i1h1h9h9h9fAfAfArfAbfE @ɛmہBu qu&Iq uWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:28:47.8424 TRx dataTimestamp_ set to:1736371728.976728 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274125ɚqiI%=I%cQ>i%VҌi%=)%cQ>)!*F?2F:FBF_0JFG= 1I1GBOB> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524971w, 4TA20͕>Y2ga?2I92T2(=y2H ?/߿LMb??@5@:=?2D;0yB€BB_I          Mb@Mb@Mb@ )YMb?MbX9?Mb`y#?ʡ=E A A)`AI Ayf AI-I- 4٢=u= =A=9=̻Q E>AA EG٣AyM~l M> UNusing accuracyPremultiplier from configQ]49Uk`8?]4YU1 iU=oBeT:eR$?e:e#?e?U+&DUl;U;U4i mAEZj9=FNOT Ignoring new targets: 332.20 m.BjE4;JjE4;e ProNav: ac range: 332.200012 m, nav range: 123.455437 m, bearing: 182.751796 deg, approach rate: 0.507941 m/s, LOS rate: 0.157475 deg/s, cmd heading: 27.900126 deg, new cmd heading: 28.109562 deg. 2je%;mHeadingCmd: 0.490604 target range: 332.200012 and range: 309.30 m. jm0>jijijiiihihhhBfffrfbf @ɛAE Ic I ƛɚiIں=I0>igri,<)0>) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777895*F?2F:FBFJFzK]NKYKYK]QK]  H.>I IIIBI) =&I.I6I<:I FBIAJIARIAZIAbIAjIE,4G-=GBO> -$?I5gw,nA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2Ai0:DAT read: Range 10 to 50 : 309.8 m (Round-trip 413.1 ms) speed 0.0 m/s :,DAT read: user:1801> >BDAT read: Tx time:21:28:48.9251 >$Ping request sent.BYz>zT9zK=yzH,?`N޿GӖ@(?#?y`?e? ?ɨz>z.p;zCyޅʀBޅiIAII4٢= @=9ʻQ > G٣yAO > %Nusing accuracyPremultiplier from config!-49%ns8?-4Y% i%LoBIUn?U?%=&D%l;%;%q4a eAeE addTargetRange:: Added new target pos. range: 309.799988 m, deltaT: 4.032448 s, deltaX: 0.500000 m, approachRate: 0.123994 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 332.20 m.Bjt;;Jjt;;- ProNav: ac range: 332.200012 m, nav range: 123.688538 m, bearing: 182.820520 deg, approach rate: 0.556933 m/s, LOS rate: 0.163886 deg/s, cmd heading: 28.109562 deg, new cmd heading: 28.315341 deg. 2j-;5HeadingCmd: 0.494196 target range: 332.200012 and range: 309.80 m. j5@>j1j1j1i9h9h9h9h9fAfAfArfm\s@bfmj?PExceeded connect timeout, disconnecting.ɛځB I MɚiIa@=I@>i%i%b')%@>))*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G f=G B O > ! I! !w,臄A6F>Y6>6^c96+>p=y6Hxs?@ Bݿ 8P ? f?@Գ@y?x?@A?ɨ6F>6r;6CyB΀BBnIIJIJ_v4٢~< ~[=9!Q >   G٣ 2BGy R  > Nusing accuracyPremultiplier from config%498?%4Y~ iZoB!%?%?L&D;;4) 5iA1ZjFNOT Ignoring new targets: 332.20 m.Bj,;Jj,;5 ProNav: ac range: 332.200012 m, nav range: 123.890633 m, bearing: 182.877389 deg, approach rate: 0.537641 m/s, LOS rate: 0.151046 deg/s, cmd heading: 28.315342 deg, new cmd heading: 28.485672 deg. 2jR;%HeadingCmd: 0.497169 target range: 332.200012 and range: 309.80 m. j%>j)jQjYiYhahahahauWill construct direction to contact in vehicle frame from tetrahedron phase data.fifyfyrfybf} +?ɛ-m -wp=-I) -hɚ)i1I5=I5>i=l팻i=Wݼ)=>)9*F?2F:FBF0JF"G G >G}ܒ=GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data. (w,AHI III=BI&I.I6I<:I FzK" G٣y >  bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 49 ]8?4Y _ i koB-+:)5:9E? ^&D *; >  4Y e.AeEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 332.20 m.BjU0;JjU0;e ProNav: ac range: 332.200012 m, nav range: 124.128975 m, bearing: 182.944178 deg, approach rate: 0.553204 m/s, LOS rate: 0.154723 deg/s, cmd heading: 28.485671 deg, new cmd heading: 28.685653 deg. 2je^;-HeadingCmd: 0.500659 target range: 332.200012 and range: 309.80 m. j-2+?j)j1j1i1h1h9h9hAfAfAfrfbf>?ɛ' $I =YɚAiAIE==IE2+?iM6iMb߼)M2+?)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.JJJ0JJ :J@:Jـ3JJ 0<J 0<J;J;*FQ2FQ:FQBFU0JFQG5 )<  nManaging dock network, ignoring radio surface power offG B O- >6.w,A2Yd>Y2b">2mV92\=y2H?ۿ`ߢh??³?>??ɨ2Yd>23;2CyN݀BNIiR=IR:? R=R=IVIV<4٢rJ= v]=9vQ v>xx ~G٣|y >  bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 49 D8?4Y  i |oB :Y::?? m&D 6; ,O? O4) -A)ZjFNOT Ignoring new targets: 332.20 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261263Bj #;Jj #;= ProNav: ac range: 332.200012 m, nav range: 124.335922 m, bearing: 182.998250 deg, approach rate: 0.549414 m/s, LOS rate: 0.143314 deg/s, cmd heading: 28.685654 deg, new cmd heading: 28.847599 deg. 2j=;EHeadingCmd: 0.503486 target range: 332.200012 and range: 309.80 m. jEn?jAjAjIiIhIhIhIhQfffrfbf@D?ɛ@ .I ɚiI=In?iRi.h)n?) *F2F:FBFE4JF $?IgGe >GB)OER> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.5082815w,}ՄA6d[>Y6>6QJ96Om=y6H ?>)ۿq??@$?|?`?ɨ6d[>6U;6Cy^րB^wI U U U] ]]  ] ] ]Mb@Mb@Mb@YYY Y)YY]NbX9?B`"۹?y]%?]=]]A ]3A)]AI]AYy] AIuIu4٢a A=9aQ > G٣3BGyݢ > %Nusing accuracyPremultiplier from config!-49%`8?-4Y% i%oB-T:-'?-:U?U?%&D%;%;%4eܒB e-Ae}EZjFNOT Ignoring new targets: 332.20 m.Bj2;Jj2; ProNav: ac range: 332.200012 m, nav range: 124.582664 m, bearing: 183.065887 deg, approach rate: 0.570539 m/s, LOS rate: 0.156086 deg/s, cmd heading: 28.847598 deg, new cmd heading: 29.050105 deg. 2j=;HeadingCmd: 0.507020 target range: 332.200012 and range: 309.80 m. j?jjjihhhhBf!f!f!rf!bf%@L?ɛim imIi u⼽ɚqiqIu=I}?i}gGi}p^)}?)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761148ZHRH@AH%->I! I%II%QBI!&I!.I!6I%=<:I% FzK>`JK9KKSK IEl9=*F! 2F) :F) BF5 1JF1 GI  GM qA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012321G-ZGBOE?Y^R>^39^=y^H`?ڿ@݆??@?e??ɨ^haU>^c;^CyjрBjrI)l lIvIv(4٢~ ~)=9~E̼Q > G٣y EN  > Nusing accuracyPremultiplier from config498?4Y` ioB!%?%?&D::&4) -TA5xEZjY]FNOT Ignoring new targets: 332.20 m.Bje0;Jje0;u ProNav: ac range: 332.200012 m, nav range: 124.845123 m, bearing: 183.136552 deg, approach rate: 0.573008 m/s, LOS rate: 0.153953 deg/s, cmd heading: 29.050106 deg, new cmd heading: 29.261654 deg. 2j}P;}HeadingCmd: 0.510712 target range: 332.200012 and range: 309.80 m. j} ?jjjihhhhfffrfbf]?@ɛD 3I BнɚiIC=I ?ii) ?)E =*F=?2FA:FABFE]0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265094GKGBOH> $?I+Cw,ZA6Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519049JfJfJdJdJf[:JfB:JdJdaj@aj@aj@an@yʀBiIMb@Mb@Mb@ )Y%C?&1?~jthyZ$?=DA A)AIAyG AII?4٢ 1=9Q > G٣y > Nusing accuracyPremultiplier from config498?4Y ioBj&?:P??&D;;64 AZj%FNOT Ignoring new targets: 332.20 m.Bj%,;Jj%,;5 ProNav: ac range: 332.200012 m, nav range: 125.102661 m, bearing: 183.206022 deg, approach rate: 0.558614 m/s, LOS rate: 0.150374 deg/s, cmd heading: 29.261654 deg, new cmd heading: 29.469633 deg. 2j=f;EHeadingCmd: 0.514342 target range: 332.200012 and range: 309.80 m. jE?jAjAjAiAhIhIhQhUځBfQfQfQrfYbf]@ɛ 隍I оɚiIR=I?iߞiڍ)?)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769123*F?2F:FBFQ5JFH9 I9  I= !II= `BI9 &I9 .I9 6I= <:I= FG gG ?G ?GI BQ zKe BHKe s9Ka Ke TKe RKu >JKu >O > $?I Iw,2)AjnW>Yj>j؟ʽ9jV#=yjHg?ۿ@w@??@A@hI?? {?ɨjnW>j6;jCyzπBznIIeIe(4٢m8< uc=9un$Q u>yy }G٣}4BGy0; > Nusing accuracyPremultiplier from config49 8?4Y ioB??&Dh;;%4 kAuEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 332.20 m.Bj+;Jj+; ProNav: ac range: 332.200012 m, nav range: 125.303368 m, bearing: 183.260193 deg, approach rate: 0.556455 m/s, LOS rate: 0.149950 deg/s, cmd heading: 29.469633 deg, new cmd heading: 29.631888 deg. 2j;HeadingCmd: 0.517174 target range: 332.200012 and range: 309.80 m. je?jjj i hhhhfffrfbf%6@ɛQ] ]=]IY ]FɚaiaIeɰ=Iee?imimS)me?)iuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021839*F?2F:FBF_0JFGGBO?> Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:21:28:51.7425 - TRx dataTimestamp_ set to:1736371733.008672- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273404`Pw, CAZY>YZp>ZB۽9ZS=yZH@i?Wۿ@Ϭ??kU?`\?ƫ?ɨZY>Z%;Xyb̀BfmI j=jp=InIn4٢vP vS=9z/Q z>xx ~G٣y%w; %> -Nusing accuracyPremultiplier from config)549-9?54Y- i-pB1 E$?IA=v?]?-&D-6;-;-Z,4a evAaZjFNOT Ignoring new targets: 332.20 m.Bj6(;Jj6(; ProNav: ac range: 332.200012 m, nav range: 125.520973 m, bearing: 183.319012 deg, approach rate: 0.545014 m/s, LOS rate: 0.147062 deg/s, cmd heading: 29.631888 deg, new cmd heading: 29.808038 deg. 2j;HeadingCmd: 0.520248 target range: 332.200012 and range: 309.80 m. j/?jjjihhhhfffrf!bf%  @ɛim~ im.Ii wɚiIw=I/?i&i)/?)*FM?2FI:FIBFM`0JFIAmvA YvAyBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527722JJJJJJ@:JJGGi By O >Vw,&\AyB%[I-Monly read 0 of 1 data item for BIT error. Device response is::TS,25010813295855,35.0, +10.9, 0.0,14  M@M M@M M@M  M@M IUIUЬ4٢mJ mB=9uQ u>qq uG٣qy} > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config499?4Y i$pB+::?&DZ8;B>=24 ArEZjFNOT Ignoring new targets: 332.20 m.Bj .;Jj .;Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 309.9 m (Round-trip 413.2 ms) speed -0.1 m/s ,DAT read: user:1802> BDAT read: Tx time:21:28:52.8251 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:28:52.8244 ]w,HvA2b>Y2b7>2o992b>y2H?@ܿ g\'?`u?@ſ@ҿ??w{?ɨ2b>22;0yBBBYIIJIJ(4٢b fU=9fhh jG٣j5BGyji< n> rbBottom track data is 0.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configpv49r,9?v4YrF irGpBz :xzV:z?z?r&Dr%;rM?r64| A- addTargetRange:: Added new target pos. range: 309.899994 m, deltaT: 3.779753 s, deltaX: 0.100006 m, approachRate: 0.026458 m/s, rangeRepo size: 4 Zj15FNOT Ignoring new targets: 332.20 m.Bj=/,;Jj=/,;U ProNav: ac range: 332.200012 m, nav range: 125.963509 m, bearing: 183.439001 deg, approach rate: 0.551733 m/s, LOS rate: 0.150535 deg/s, cmd heading: 29.994356 deg, new cmd heading: 30.167368 deg. 2jU;]HeadingCmd: 0.526520 target range: 332.200012 and range: 309.90 m. j]?jYjYjYiYhahahahafififirfibfmdw,֔A67j>Y6`>6 96->y6HN?қܿ@Gி@Ջ? I?T^ǿD? ?@(g?ɨ67j>6Y;4yBBB^IDFA        Mb@Mb@Mb@ )YT㥛 ? rh?QQ UG٣QyU[}< ]> eNusing accuracyPremultiplier from configYm49] C9?m4Y]g i]ppBmT:mF!?m:mY?u?]&D]F;];]?4y }A}oEZjaeFNOT Ignoring new targets: 332.20 m.Bjm;Jjm;} ProNav: ac range: 332.200012 m, nav range: 126.237732 m, bearing: 183.498381 deg, approach rate: 0.541740 m/s, LOS rate: 0.117053 deg/s, cmd heading: 30.167368 deg, new cmd heading: 30.345121 deg. 2j};HeadingCmd: 0.529622 target range: 332.200012 and range: 309.90 m. jS?jjjihhhhBfffrfbf ?ɛ-فB-1 15 I1 5gýɚ9i9I="=IES?iE* iE)ES?)IE=h=*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.H,>I I.IIkBI&I.I6I%<:I FBIJIRIZI) =bI) =jIƫ3 !I)zK:IK+9KKVKRK?JK ?G fG B O- >vkw,󍮅AFxs>YF>F 9FR6>yFH `d?gFݿ@~?? ~ɿ Ԃ??`H?ɨFxs>F5;FCyVBVZII^I^y4٢f fT=9jϼQ j>hh jG٣lyn< n> vNusing accuracyPremultiplier from configpv49rT9?z4YrF irpBxz?z?r 'Dr:r:rE4| AlEB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 332.20 m.Bj5X;Jj5X;E ProNav: ac range: 332.200012 m, nav range: 126.454460 m, bearing: 183.546248 deg, approach rate: 0.592196 m/s, LOS rate: 0.130568 deg/s, cmd heading: 30.345120 deg, new cmd heading: 30.488473 deg. 2jE7;MHeadingCmd: 0.532124 target range: 332.200012 and range: 309.90 m. jMK9?jIjIjIiIhQhQhQhQeWill 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.fQffrfbf`)D?ɛ = I 8ĽɚiI=IK9?iԹiP)K9?)EE*E"E*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=1.507994 % $?I! G rG B O >crw,ʅAB~>YB6>B99Bн)>yBH(4?@ݿ!??d˿`k??@/?ɨB~>B12;B~CyJÀBJ`IIRIR4٢^ < ^?=9^MQ ^>`` bG٣b6BGyf< f> jNusing accuracyPremultiplier from confighn49jh9?n4Yj ijpBlr?r?j'Dj:j:jTM4vݒB vAvkEZjFNOT Ignoring new targets: 332.20 m.Bj;Jj;= ProNav: ac range: 332.200012 m, nav range: 126.692177 m, bearing: 183.599971 deg, approach rate: 0.557317 m/s, LOS rate: 0.125717 deg/s, cmd heading: 30.488472 deg, new cmd heading: 30.649341 deg. 2j=;MHeadingCmd: 0.534932 target range: 332.200012 and range: 309.90 m. jUL?jYjYjYiahahihqhqfqfqfyrfybf+?ɛq}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763578  I ^CŽɚ i I =J=J=J9J9J=:J=G:J9J9IeL?iea콻ie]k)eL?)i*F?2F:FBFN2JFGEGBO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012054H +>I  I I I &I .I 6I B<:I F"xw,NㅻA6\0>Y6%>6r$96$/>y6H M?c޿??:̿`P?6?" ?ɨ6\0>6J ;6}CyrBrSIivC>Iv> zp=x IgMb@Mb@Mb@ )YV-?Mb! %G٣!y%Q< %> -Nusing accuracyPremultiplier from config)u49-|9?u4Y- i-pB}?}:}$>}?-+'D-'<-&<-&U4 "AhEZj15FNOT Ignoring new targets: 332.20 m.Bj=:Jj=:} ProNav: ac range: 332.200012 m, nav range: 126.943665 m, bearing: 183.646439 deg, approach rate: 0.537928 m/s, LOS rate: 0.099197 deg/s, cmd heading: 30.649340 deg, new cmd heading: 30.788467 deg. 2j}';HeadingCmd: 0.537360 target range: 332.200012 and range: 309.90 m. jo ?jjjihhhhBfffrfbf l@ɛQ 隽*I pPƽɚiI%)=I5o ?i}i`c)o ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264975*F]?2Fa:FaBFe_5JFiJqJu@AG}  GQ Ba O} >_~w,Ay%ƀB%dII5I5ݜ4٢EL= EV=9MQ M>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam49e[9?u4Ye ieqBqqu?e:'De2;e ;e[4y }AZjFNOT Ignoring new targets: 332.20 m.Bj:Jj: ProNav: ac range: 332.200012 m, nav range: 127.159241 m, bearing: 183.686113 deg, approach rate: 0.593784 m/s, LOS rate: 0.109094 deg/s, cmd heading: 30.788468 deg, new cmd heading: 30.907289 deg. 2j;HeadingCmd: 0.539434 target range: 332.200012 and range: 309.90 m. jX ?jjjihWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516255hhhfffrfbf.@ɛ-؁B5  15 I1 5mǽɚ1i9I=Ö=I=X ?iE'ĻiE;Wm)EX ?)A $?I*F?2F:FBF]0JFG GrAGyGYBqO9> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771068=w,A:%>Y:Ć>:W39:4>y:H?` ߿Ɀ Cg?lh?mο@M???ɨ:%>:Y;:~Cy^πB^oIUMb@Mb@Mb@QQQ Q)QYUV-?~jtI +yQUU94Q U@)U@IUAQyUQAImImW4٢}7= }G=9 Q > G٣7BGy< > Nusing accuracyPremultiplier from config49h9?4YA i*qBA?:>?J'D!;n ;b4 hAeEZjFNOT Ignoring new targets: 332.20 m.Bj:Jj: ProNav: ac range: 332.200012 m, nav range: 127.391472 m, bearing: 183.725740 deg, approach rate: 0.566101 m/s, LOS rate: 0.096420 deg/s, cmd heading: 30.907289 deg, new cmd heading: 31.025952 deg. 2jX;HeadingCmd: 0.541505 target range: 332.200012 and range: 309.90 m. j ?jjjihhhhBfffrfbf`@ɛAEbL =隕I ǽɚiIG=I ?ikrǻi0sL) ?)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020147H)>IC I4IIpBI* =&I.I6IҰ<:I F $?IE =zK5BoIK5ػ9K1K5XK5 *F 2F :F BF P5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:28:55.6424  TRx dataTimestamp_ set to:1736371736.788625 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273147Ju Ju Jq Jq Ju :Ju D:Jq Jq Ju X-@w,7ABJ>YBH@>B}:9B7>yBH@?߿&ʲ@? I?dο`.?Yb? ?ɨBJ>B;BCyJ׀BJyI)L LPRAIVIV4٢^= ^-=9^/rQ b>`` bG٣`yf8< f> nNusing accuracyPremultiplier from confighr49jX9?r4Yj ijXqBprX>v?j\'Dj2;jc2;j>k4x z,AzbEB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 332.20 m.Bj- :Jj- := ProNav: ac range: 332.200012 m, nav range: 127.659096 m, bearing: 183.771948 deg, approach rate: 0.566083 m/s, LOS rate: 0.097536 deg/s, cmd heading: 31.025953 deg, new cmd heading: 31.164287 deg. 2j=;EHeadingCmd: 0.543919 target range: 332.200012 and range: 309.90 m. jEN> ?jAjAjAiAhIhIhIhIfQfQfQrfYbfe6 @ɛׁBn 隭I ȽɚiI=IN> ?i{ʻiLrF)N> ?)E .=*F?2F:FBF^0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524729GulSG1B9O]T> I(w,2rQAVWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.780740yޭBޭIMMb@Mb@Mb@III I)IYMGz?Q뱿~jtxyMp?M\MĻMnA M~@)Mh@IIIyM AIeIe@4٢u\= u&=9uQ }>yy }G٣}8BGy > Nusing accuracyPremultiplier from config499?4Y% iqBv?:d>?p'DI;:s4 AZjFNOT Ignoring new targets: 332.20 m.Bj:Jj: ProNav: ac range: 332.200012 m, nav range: 127.946335 m, bearing: 183.813692 deg, approach rate: 0.583717 m/s, LOS rate: 0.084639 deg/s, cmd heading: 31.164289 deg, new cmd heading: 31.289238 deg. 2jYh;HeadingCmd: 0.546100 target range: 332.200012 and range: 309.90 m. j9 ?jjjihhhhBfffrf bf @#@ɛ5ցB5؆ 9=rI9 =ɽɚ9i9IE/{=IE9 ?iMλiM~P)U9 ?)QMWill construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: Range 10 to 50 : 309.7 m (Round-trip 413.0 ms) speed -0.1 m/s e,DAT read: user:1803> mBDAT read: Tx time:21:28:56.7252 u$Ping request sent.uWill construct direction to contact in vehicle frame from tetrahedron phase data.FƏ>YF]?FGM9Fs4>yFH?`g%?N?/Ͽ`}?`b?C?ɨFƏ>Fm];FCyRBRIIZIZv}4٢bt> bB=9f2Q f>dd jG٣hyj< j> rNusing accuracyPremultiplier from configlr49n9?v4Yn inqBtv>v?n'Dn<:n:n5{4x ~A~_EJK 3 K .KK"KJJJ1JJ:J5K:J3JJ4<J4<J;J; addTargetRange:: Added new target pos. range: 309.700012 m, deltaT: 4.031927 s, deltaX: -0.199982 m, approachRate: -0.049600 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 332.20 m.Bj:Jj: ProNav: ac range: 332.200012 m, nav range: 128.189392 m, bearing: 183.850102 deg, approach rate: 0.548558 m/s, LOS rate: 0.082018 deg/s, cmd heading: 31.289237 deg, new cmd heading: 31.398259 deg. 2j'a;%HeadingCmd: 0.548003 target range: 332.200012 and range: 309.70 m. j%I ?j!j!j!i!h!h)hIhIfQfQfQrfU@3[s@bfU@%?ɛՁB ;)=隥 ѾI ʽɚiI=II ?i*лi7V.)I ?)EE*E"E*F ?2F :F BF 15JF 5Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I G _NG ) = B % G= |uAQ 7Y |uAy BO >lw,N^AN9>YNmQ?NmS9NA3>yNHh? G@lP?h? п=? ??ɨN9>Nr-;NCyZBZI ^=^=IbIb_v4٢nN= n7=9nH\Q n>pp rG٣pyvn< v> zNusing accuracyPremultiplier from configx~49z 9?~4YzԻ izqB|~>?z'Dz ;z:z4   A \EZj9EFNOT Ignoring new targets: 332.20 m.BjU9:Jj]9:} ProNav: ac range: 332.200012 m, nav range: 128.447083 m, bearing: 183.889002 deg, approach rate: 0.607083 m/s, LOS rate: 0.091459 deg/s, cmd heading: 31.398260 deg, new cmd heading: 31.514725 deg. 2j}{;HeadingCmd: 0.550036 target range: 332.200012 and range: 309.70 m. j$ ?jjjihhhhfffrfbf*q?ɛԁB I ,˽ɚiIM[=]Will construct direction to contact in vehicle frame from tetrahedron phase data.I$ ?iDӻi,)$ ?)y*FY2FY:FYBF]_0JFYG5%:GBOm> Will construct direction to contact in vehicle frame from tetrahedron phase data.He '>Ia  Ie rIIe BIa &Ia .Ie 3D6Ie <:Ie F A II Fw,c)A6>Y6?6W9650>y6HZ?@XPm`Ld?`?`п`%?~??ɨ6>6 Ӊ;4yN2BRIzK=JK=h9K9K=ZK=RKM>JKM?Mb@Mb@Mb@ )YCl?kty;? A Q@)@IAyAIfI44٢= 9=9 Q  >    G٣ 9BGy; > Nusing accuracyPremultiplier from config%49 :?-4Y< irB- ?-:->-?'D;;41 =Q A9ZjYeFNOT Ignoring new targets: 332.20 m.Bje:Jje:} ProNav: ac range: 332.200012 m, nav range: 128.707291 m, bearing: 183.925020 deg, approach rate: 0.591478 m/s, LOS rate: 0.081709 deg/s, cmd heading: 31.514725 deg, new cmd heading: 31.622563 deg. 2j}M`;}HeadingCmd: 0.551918 target range: 332.200012 and range: 309.70 m. j}J ?jjjihhhhہBfffrfbfE?ɛӁB ꠾I ˽ɚiI =I}J ?iջi-)}J ?)*Fm?2Fi:FiBFm`0JFiGq GqeWill construct direction to contact in vehicle frame from tetrahedron phase data.JeJeJe0JaJe:JeT:Jeـ3JaJe:<Je:<Je;Je;GMg0GU ?GU>G) B1 Om >|w, †A^Will construct direction to contact in vehicle frame from tetrahedron phase data.yYBII-I-F4٢UGK> UV=9]Q ]>YY eG٣aye e> mNusing accuracyPremultiplier from configiu49m :?}4Ym imGrB?m'Dmq;mr;md4  AYEB*** querying acoustic contact ***jj $?IZjFNOT Ignoring new targets: 332.20 m.Bj :Jj :  ProNav: ac range: 332.200012 m, nav range: 128.932312 m, bearing: 183.956044 deg, approach rate: 0.546436 m/s, LOS rate: 0.075204 deg/s, cmd heading: 31.622563 deg, new cmd heading: 31.715470 deg. 2j rN;HeadingCmd: 0.553539 target range: 332.200012 and range: 309.70 m. j´ ?jjjihhhh!f!f!f!rf!bf-@t?ɛ%zB )-rI) -V+̽ɚ)i)I-=I5´ ?i5Mػi=4)=´ ?)9*F?2F:FBF_0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G 0G B O- >hw,7ۆAyrB7I!!Mb@Mb@Mb@ )YMb?bX9ȶ:v?y#?ET<A @)@IAyAII4٢b= C=9Q > G٣y > Nusing accuracyPremultiplier from config494:?4Y irB$? : H> ?'D;;Ø4 W AVEZjFNOT Ignoring new targets: 332.20 m.Bju:Jju:% ProNav: ac range: 332.200012 m, nav range: 129.186646 m, bearing: 183.990290 deg, approach rate: 0.616270 m/s, LOS rate: 0.082818 deg/s, cmd heading: 31.715471 deg, new cmd heading: 31.818008 deg. 2j%Yc;-HeadingCmd: 0.555329 target range: 332.200012 and range: 309.70 m. j- *?jIjIjIiQhQhQhQh]؁BfYfYfYrfabfm@ɛҁBܷ 隽@I x̽ɚiIc=I *?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011863H&>I IIIځBI+ =&I.I6Iٰ<:I FBIÜCJIÜCRIZI* =bI* =jIñH5 $?Ii ۻiz:) *?)zKjIK9KK[K!T }eC0('#" />F=0"BKpA:KrAE- =*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=2.264223J} J} Jy Jy J} ;J} [:Jy Jy J} F<J} F<J} ߮;J} ߮;G8G G rAGBO?w,_yAyBhI))I-I-4٢=> E!=9AQ E>AI MG٣M:BGyI M> Nusing accuracyPremultiplier from config49yN:?4Yx irB?'D;:;4  AZjFNOT Ignoring new targets: 332.20 m.BjK:JjK: ProNav: ac range: 332.200012 m, nav range: 129.496475 m, bearing: 184.031821 deg, approach rate: 0.628593 m/s, LOS rate: 0.084058 deg/s, cmd heading: 31.818009 deg, new cmd heading: 31.942304 deg. 2jf;HeadingCmd: 0.557498 target range: 332.200012 and range: 309.70 m. j7?jj j i h h hhfffrf!bf%`Q@ɛMсBMڽ QUݽIQ U̽ɚQiQIU1=I]7?i].޻i]A)]7?)a-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515649EM8= $?I*F?2F:FBFJFG lL=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770214ww,_A.>Y?%U`9~(>yH/? @??Ͽ[?@?@?ɨ.>';Cy5́B5IMb@Mb@Mb@ )Y?Zd;y&1?y,?y`<A @)p@IAyAIIr4٢m> ?=9Q > G٣y<  > Nusing accuracyPremultiplier from config49c:?4Y i sB-?:%>%?'D;;4) -A-QEZjQUFNOT Ignoring new targets: 332.20 m.Bj]:Jj]:m ProNav: ac range: 332.200012 m, nav range: 129.755753 m, bearing: 184.073073 deg, approach rate: 0.619242 m/s, LOS rate: 0.098328 deg/s, cmd heading: 31.942305 deg, new cmd heading: 32.065815 deg. 2jm;uHeadingCmd: 0.559654 target range: 332.200012 and range: 309.70 m. ju}E?jyjyjyihhhhBfffrfbf =@ɛQU+ͽ UW=U@IY ]B̽ɚYiYI]=I}E?ii_,)}E?)5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019664HYIY I] II]!BI], =&IY.IY6I] <:I] F IgEY=*Fe ?2Fa :Fa BFi JFi zKU 3NKU 9KQ KU \KU  GE _D Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:28:59.5422  TRx dataTimestamp_ set to:1736371740.821736 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273851GB)OE>w,G5AJ}J}JyJyJ}%;J}=h:JyJyJ} K<J} K<J};J};5>Y?=c9&>yH?`q`???Ͽ]'? Ɖ;~Cy%B%II=oI=D4٢E > M+=9MQ M>QQ UG٣Qy]]< ]> eNusing accuracyPremultiplier from configam49e{:?4Ye( ie[sBm>?e'Deh;e;ef4 pANEZjFNOT Ignoring new targets: 332.20 m.Bj :Jj : ProNav: ac range: 332.200012 m, nav range: 130.050812 m, bearing: 184.120470 deg, approach rate: 0.607737 m/s, LOS rate: 0.097402 deg/s, cmd heading: 32.065815 deg, new cmd heading: 32.207683 deg. 2j;%HeadingCmd: 0.562130 target range: 332.200012 and range: 309.70 m. j%?j!j!j!iAhAhIhIhIfIfQfQrfQbfU- @ɛЁB Ľ s=I ̽ɚiI=I?i8ui')?)ErAErAEmY=*F5?2F1:F9BF9JF9G ;+UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.523709 $?IGBO>w,^OAy~#B~ IIqIJH4٢%> %`=9%Q %>)) -G٣-;BGy- 5> =Nusing accuracyPremultiplier from config1E495T:?E4Y5 i5sBAAE?5 (D5 ;5:5Ƿ4Q UAQuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 332.20 m.Bj*:Jj*: ProNav: ac range: 332.200012 m, nav range: 130.276428 m, bearing: 184.156555 deg, approach rate: 0.630161 m/s, LOS rate: 0.100614 deg/s, cmd heading: 32.207682 deg, new cmd heading: 32.315750 deg. 2j;HeadingCmd: 0.564016 target range: 332.200012 and range: 309.70 m. j^c?jjjihhhhfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 309.6 m (Round-trip 412.8 ms) speed 0.1 m/s  ,DAT read: user:1804> %BDAT read: Tx time:21:29:00.6252 ɛ9E-$Ping request sent.UI 0V̽ɚiy̚C:publishing transmit ping timeI5=)yI^c?ii0)^c?)EE*E"E*F ?2F :F BF JF m Will construct direction to contact in vehicle frame from tetrahedron phase data.u JDAT read: TxSync time:21:29:00.6245 H %>I C I y II xBI - =&I HD.I 6I <:I F I G  .GBO>w,!nAzK GLK]9KK]KBKqA:KqAB"->YBa?Bd9B%>yBH? E@P?o?@Ͽ Y?!??ɨB"->Bω;@yJMBJD IeMb@Mb@Mb@aaa a)aYeGz?V-+?ye0?ee=e A a)e@IeAAayeAI}I}1h4٢'> $=9PQ > G٣yO< > Nusing accuracyPremultiplier from config49E:?4Y isB1?:L>?"(D);;4 AKE5 addTargetRange:: Added new target pos. range: 309.600006 m, deltaT: 3.782236 s, deltaX: -0.100006 m, approachRate: -0.026441 m/s, rangeRepo size: 4 Zj1=FNOT Ignoring new targets: 332.20 m.Bj=;Jj=; ProNav: ac range: 332.200012 m, nav range: 130.582672 m, bearing: 184.213467 deg, approach rate: 0.607591 m/s, LOS rate: 0.112647 deg/s, cmd heading: 32.315749 deg, new cmd heading: 32.486081 deg. 2j;HeadingCmd: 0.566989 target range: 332.200012 and range: 309.60 m. j2&?jjjihhhhWBfffrfYs@bf!U?ɛ15Ĭ 15y>I9 =_˽ɚ9i9I=ǧ=MWill construct direction to contact in vehicle frame from tetrahedron phase data.IE2&?imZim;#)m2&?)y*F?2F:FBF0JF!G% H0G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. ] $?IY *w,X懇AJ}>YJ?Jye9J&>yJH0?@? dؙ?? пq? :??ɨJ}>J;J}CyV|BV I\^AIbIIbd4٢jx> jW=9n5Q n>lp rG٣pyr^h< r> zNusing accuracyPremultiplier from configtz49v-:?z4Yv ivAtB|~>~?v2(Dv;vx;v!ǥ4 ܒB A HEZj15FNOT Ignoring new targets: 332.20 m.BjE\;JjE\;M ProNav: ac range: 332.200012 m, nav range: 130.815033 m, bearing: 184.257093 deg, approach rate: 0.622092 m/s, LOS rate: 0.116593 deg/s, cmd heading: 32.486080 deg, new cmd heading: 32.616728 deg. 2jU;UHeadingCmd: 0.569269 target range: 332.200012 and range: 309.60 m. jU?jYjYjYiYhYhahahafafifirfibfm?ɛ͗ A3=隝8>I X˽ɚiI=I?ii)?)*F5?2F1:F1BF5P5JF1eWill construct direction to contact in vehicle frame from tetrahedron phase data.JuJuJqJqJu-;Jut:JqJqa@a@a@a@G&G) B1 OU > w,¡A6>Y6?6f96&>y6Hx?vB9?`s?п@?W6%-;6CyVBV IEMb@Mb@Mb@AAA A)AYEZd;O?I +?:v?yEj mA=9mQ m>qq uG٣u Nusing accuracyPremultiplier from config49:?4Y{ itBI) m/ʽɚiiqIuwǥ=Iu?i}mai}Ӌ)}?)y*F2F:FBF_5JFzK}k3IK}9KyK}^K}RK ?JK?} Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >6w,ÞA2Y2o/ ?2d92{'>y2H@?7Z` ? }?@$п_[? i[?{?ɨ22Zi;2~Cy>ԂB> IIFoIFD4٢N q> RX=9Ra;Q R>TT VG٣TyVwR< V> ^Nusing accuracyPremultiplier from configXb49Z:?b4YZٙ iZtB`b ?b?ZV(DZ;Zl;Z ե4h j;AjEEZjyFNOT Ignoring new targets: 332.20 m.Bj;Jj; ProNav: ac range: 332.200012 m, nav range: 131.320267 m, bearing: 184.367995 deg, approach rate: 0.611671 m/s, LOS rate: 0.134561 deg/s, cmd heading: 32.791513 deg, new cmd heading: 32.948791 deg. 2j;HeadingCmd: 0.575065 target range: 332.200012 and range: 309.60 m. jt7?jjjihhhhfffrfbf@W?ɛw& ?I nɽɚiI/=It7?i[&iL5)t7?)*F?2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IGGvA = bY= vAy= BGi Bq O >w,_zՇAWill construct direction to contact in vehicle frame from tetrahedron phase data.iJ=J=J9J9J=;J=|:J9J9y-B5!Ii=>I=> =a==a=Mb@Mb@Mb@ )YX9v?Mb?Q?y=?@=u= A @)x@IAy@IyIxV4٢ =  =9Q > G٣y > %Nusing accuracyPremultiplier from config!-49%:?-4Y%w i%kuB5>?5:5c?5?%n(D%;%y;%&ޥ4=ےB =@EBE]B*** querying acoustic contact ***jYjYZjquFNOT Ignoring new targets: 332.20 m.Bj}3;Jj}3; ProNav: ac range: 332.200012 m, nav range: 131.639297 m, bearing: 184.446574 deg, approach rate: 0.637318 m/s, LOS rate: 0.156594 deg/s, cmd heading: 32.948792 deg, new cmd heading: 33.183956 deg. 2j;HeadingCmd: 0.579169 target range: 332.200012 and range: 309.60 m. jpD?jjjihhhhBfffrfbfK@ɛ2{ `?I  ȽɚiI~=IpD?iƗi )pD?)H$>I Iy!IIHBI. =&I.I6I<: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. $?IE- &V=*F 2F :F BF 0JF zK K S9K K _K Gr7Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506553GBO?w,AB>YB ?B&`9By'>yBH­?c )??`? п? a?`o?ɨB>Ba`;@JHJHyR!BRI!IIZkIZ=4٢b^> bF=9f2dd fG٣j=BGyn< n> rNusing accuracyPremultiplier from configpv49r);?v4Yr iruBtv6?z?r(Dr> YIYeWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760075Zw,NA:O >Y:x ?: ]9:He'>y:H9?jz`|Z?sQ?%Ͽ`'?@ X??ɨ:O >:;8yFBBFr!IINcINy/4٢Z$> ZL=9Zm;Q Z>\\ ^G٣\yb< b> fNusing accuracyPremultiplier from configdj49f$;?j4Yfڋ if'vBhj.?n?f(Df:f':f_4rܒB r@r>EZj FNOT Ignoring new targets: 332.20 m.Bj>9;Jj>9;- ProNav: ac range: 332.200012 m, nav range: 132.141083 m, bearing: 184.571864 deg, approach rate: 0.648437 m/s, LOS rate: 0.161954 deg/s, cmd heading: 33.374534 deg, new cmd heading: 33.559110 deg. 2j5K;5HeadingCmd: 0.585717 target range: 332.200012 and range: 309.60 m. j5?j9j9j9i9h9hAhAhAfAfIfIrfIbfM@@ɛ}сB}N:3 y}8?Iy _^ƽɚiI{?=I?ijYi)?)*E="E=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014034JJJ1JJ5;J{:J3JE·3=*Fu?2Fy:FyBF}05JFyH ">I  I !II BI 0 =&I .I 6I <:I FBIɛCJIɛCRIZI- =bI. =jIۭ5 U $?IQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:29:03.4420  TRx dataTimestamp_ set to:1736371744.604613 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266745G !Gy B O >R w,K+Ay~\B~!I) Mb@Mb@Mb@ )YS㥛?{Gz?X9v?y$F?ף=}=A @)5@IE Ay @IiI:4٢= 5=9Q > G٣y > Nusing accuracyPremultiplier from config49;;?4Y ivBG?:$??(D;;B4 @;EZjy}FNOT Ignoring new targets: 332.20 m.Bj?;Jj?; ProNav: ac range: 332.200012 m, nav range: 132.424744 m, bearing: 184.649420 deg, approach rate: 0.612278 m/s, LOS rate: 0.167046 deg/s, cmd heading: 33.559110 deg, new cmd heading: 33.791279 deg. 2jH;HeadingCmd: 0.589769 target range: 332.200012 and range: 309.60 m. j?jjjihhhzK:IK9KK`KhBfffrfbf @ɛ> 隍E?I ĽɚiIj=I?iiX )?)EE*E"E}Will construct direction to contact in vehicle frame from tetrahedron phase data.}Ai}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518026Ei>E >*F% ?2F! :F! BF% @5JF! I g- Will construct direction to contact in vehicle frame from tetrahedron phase data.E DAT read: Range 10 to 50 : 309.4 m (Round-trip 412.6 ms) speed 0.0 m/s M ,DAT read: user:1805> -M X#Rx 1: Read range message, but no direction.1 y5 C1 U T****** received valid address query ******U R****** received valid ping request ******] Querying Benthos address 50 with one ping in standard two-way mode.Gm _GABIOm>Fw,IAyB!IIYI4٢mA> m%=9iQ u>yy }G٣}>BGy > Nusing accuracyPremultiplier from config49[T;?4Y iwB?(D::4 @8E addTargetRange:: Added new target pos. range: 309.399994 m, deltaT: 3.782089 s, deltaX: -0.200012 m, approachRate: -0.052884 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 332.20 m.Bj"H;Jj"H; ProNav: ac range: 332.200012 m, nav range: 132.736603 m, bearing: 184.734231 deg, approach rate: 0.644898 m/s, LOS rate: 0.174970 deg/s, cmd heading: 33.791278 deg, new cmd heading: 34.045112 deg. 2j);HeadingCmd: 0.594199 target range: 332.200012 and range: 309.40 m. jr?jjjihh h h f f frf`fVs@bf?ɛҁB+ > =cW?I ,/ýɚiIo=Ir?iWi_/)r?)*F?2F:FBF_0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:21:29:04.5252 $Ping request sent.kw,RcA6g2>Y6?6MV96''>y6Hp?@<@??@Ͽ?Il??ɨ6g2>6+;6}CyNBR!I-Mb@Mb@Mb@))) )))jHM<bHM<HQIQ IUf"I $?IIU BIU1 =&IQ.IQ6IU<:IU FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250731Y-/$?K?)\(?y-1H?-^=-Ga=-A -@)-@I-A)y-@I}HI}<3٢+> I=9  G٣y = > Nusing accuracyPremultiplier from config49h;?4Y{ iowBJ?:-,?5?(Dj<_j<4A E@AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 332.20 m.BjB;JjB; ProNav: ac range: 332.200012 m, nav range: 132.994049 m, bearing: 184.808359 deg, approach rate: 0.592885 m/s, LOS rate: 0.170382 deg/s, cmd heading: 34.045112 deg, new cmd heading: 34.267064 deg. 2j;MHeadingCmd: 0.598073 target range: 332.200012 and range: 309.40 m. jMQ?jIjIjQiQhQhQhQh]BfYfYfYrfYbfe?ɛӁBA 隵sh?I ‘ɚiITF=IQ?isiu)Q?)zK5k3IK59K1K5aK5*FU?2FQ:FQBFQJFQ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503198G !GY Bq O >w,#~A6)>Y6?6JFS96'>y6H@]?@#@.??Ͽ8?wm?@?ɨ6)>6jʈ;6~Cy>B>"IIJOIJ 4٢^= rc=9vtx zG٣xyzov< z> Nusing accuracyPremultiplier from config|49~z;? 4Y~%w i~wB  f-? ?~(D~:~@:~e 4 M@5EZj9EFNOT Ignoring new targets: 332.20 m.BjM^;JjM^;] ProNav: ac range: 332.200012 m, nav range: 133.220154 m, bearing: 184.873932 deg, approach rate: 0.672350 m/s, LOS rate: 0.194658 deg/s, cmd heading: 34.267062 deg, new cmd heading: 34.463447 deg. 2jeN%w,×AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010818yB% "II5I3٢M< U)=9UQ ]>ai uG٣u?BGy} }> Nusing accuracyPremultiplier from config49;?4Yq i4xB?(D4;;4 @2EZj!-FNOT Ignoring new targets: 332.20 m.Bj5I;Jj5I;E ProNav: ac range: 332.200012 m, nav range: 133.523132 m, bearing: 184.961368 deg, approach rate: 0.612607 m/s, LOS rate: 0.176389 deg/s, cmd heading: 34.463447 deg, new cmd heading: 34.725157 deg. 2jE;MHeadingCmd: 0.606068 target range: 332.200012 and range: 309.40 m. jMK'?jQjQjQiQhYhYhYhYfafafarfabfm?ɛԁB 隝t?I {cɚiI=IK'?iEiE"l)EK'?)aH!>IC I"IIPBI0 = $?I&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266588E 3=*F} ?2Fy :Fy BF ^0JF zK K 9K K bK RK ?JK ?GeVWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517171G!B1OM?.-w,﹈AJNJN/JN0JLJN<;JNڈ:JNـ3JLJN|oYfuG?fG9f>yfH4?1@`VI?K?cͿ?S?z ?ɨfI>f];f|Cy~كB~,"IMb@Mb@Mb@ )YS㥛?+η?kt?yD?v= 0=A @)@IAy@IHI<3٢= =9 G٣y!< >  Nusing accuracyPremultiplier from config 49 ;?4Y j i xBF?:2?? )D ; : 4! %/@%0EZjQ]FNOT Ignoring new targets: 332.20 m.Bj]V;Jj]V;m ProNav: ac range: 332.200012 m, nav range: 133.841156 m, bearing: 185.056691 deg, approach rate: 0.625708 m/s, LOS rate: 0.187102 deg/s, cmd heading: 34.725156 deg, new cmd heading: 35.010445 deg. 2jmh4w,lӈA:3>Y:j?:B9:>y:H@?bW`2Rv??uͿ;7?`??ɨ:3>:~;:~CyjރBj2"IIr[IrK!4٢z+< zr=9~`I  I #II BI 2 =&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=2.271536G9 G B O% >:w,툻A6YT>Y6?6=96t>y6Ha?`l/4`?X? Ϳғ?? ?ɨ6YT>6;4y>BB?"IMMb@Mb@Mb@III I)IYMK7A?V-?:v?yM B?Mh=Myy }G٣}@BGyD< > Nusing accuracyPremultiplier from config497;?4Ya i1yBC?:/??9)D{;;)4 3@*EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 332.20 m.BjJ;JjJ; ProNav: ac range: 332.200012 m, nav range: 134.304916 m, bearing: 185.193486 deg, approach rate: 0.613638 m/s, LOS rate: 0.177224 deg/s, cmd heading: 35.197123 deg, new cmd heading: 35.420114 deg. 2jA;HeadingCmd: 0.618198 target range: 332.200012 and range: 309.40 m. j3B?jjjihhh h JBf f f rfbf`@]@ɛEׁBEW AE`?IA MɚIiIIMhe=IU3B?ii }ͼ)3B?)zKMBoIKM 9KIKMcKM 8\bRJn|K- *F2F:FBF0JFGmWill construct direction to contact in vehicle frame from tetrahedron phase data.եAiաchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.530480G9BIOeV>JJ9J1JJ|";J :J3JJHz<JIz<Jh;Jh; I Aw,eA2>>Y2,?2J892">y2H?୰h?~?`Ϳv?-?`?ɨ2>>2;2|CyNBRL"IIZaIZ+4rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.778721٢v[`= vT=9vR|| ~G٣|y{< >  Nusing accuracyPremultiplier from config 49 ;?4Y 7\ i vyBf1?? L)D  ;  ; /4! %@!ZjIMFNOT Ignoring new targets: 332.20 m.BjUM;JjUM;e ProNav: ac range: 332.200012 m, nav range: 134.542221 m, bearing: 185.262943 deg, approach rate: 0.616006 m/s, LOS rate: 0.179982 deg/s, cmd heading: 35.420115 deg, new cmd heading: 35.628117 deg. 2je ;mHeadingCmd: 0.621828 target range: 332.200012 and range: 309.40 m. jm0?jijijiiihqhyhyhyfffrfbfRt@ɛ؁B( m 隵Ά?I GtɚiIhY=I0?iin6)0?))= ,C*F=?E-G2F9:FaBFmP5qJFq YYyB->@-\BG8Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031526G B O} >Gw,JA!A6qQ>Y6#?62969%>y6H ?G ? t_?ͿB?S??ɨ6qQ>60Č;6}Cy>BBY"I Mb@Mb@Mb@    ) Y ʡE?I +?{Gzt?y =? 9< ף; @ j@) @I @ y @I%^I%&4٢5#H= 5E=9 R G٣yf< > Nusing accuracyPremultiplier from config49;?4YUW iyB=?:|#??`)D;b;Z74 @'EZj FNOT Ignoring new targets: 332.20 m.Bj 77;Jj 77; ProNav: ac range: 332.200012 m, nav range: 134.807922 m, bearing: 185.331653 deg, approach rate: 0.620642 m/s, LOS rate: 0.160180 deg/s, cmd heading: 35.628118 deg, new cmd heading: 35.833839 deg. 2j;%HeadingCmd: 0.625418 target range: 332.200012 and range: 309.40 m. j%m ?j!j)j)i)h)h)h1h5Bf1f9f9rf9bf= @ }$?Iyɛ}ځB6 隅?I ɚiI:<=H>I I.#IIBI3 =&I.I6I<:I` FIm ?iÄiz)m ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283960*Fm?2Fi:FiBFm 5JFi"G}=G}=GEGM ?GM ?GB O%M>zK [ OK 9K K dK  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537059c'Nw,];AJSKS KSKSKS"KSJ2J0J20J0J2$;J0J2ـ3J0J2U~<J2U~<J0J0BC>YBt?B-9B+&>yBHz? ꥿&?S?#Ϳ@? b? ,!?ɨBC>B;@yfBfV"IIvlIvm?4٢%O\ -I=9-Fq11 5G٣5ABGy5'< ]> eNusing accuracyPremultiplier from configa49es 4  @ZjFNOT Ignoring new targets: 332.20 m.Bj%2;Jj%2;M ProNav: ac range: 332.200012 m, nav range: 135.054916 m, bearing: 185.395693 deg, approach rate: 0.601333 m/s, LOS rate: 0.155626 deg/s, cmd heading: 35.833840 deg, new cmd heading: 36.025607 deg. 2jM;HeadingCmd: 0.628765 target range: 332.200012 and range: 309.40 m. j ?jjjihhhhfffrfbf`>N@ɛMہBΆ 隭?I 6ɚiIp%=I ?ii ݧ) ?) IIMg*Fa2Fa:FaBFe4JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789083Gm VGA BQ Om >Tw,TA>>Y>?>&9>S&>y>H`?~`A?&H?E̿`?l?)?ɨ>>>;>|CyFBFW"IIVWIV44٢^; ^T=9b`d fG٣dyf < f> nNusing accuracyPremultiplier from confighn49j9jHbH<H>IC IA#IIBI5 =&I.I2D6I<:Im FBIeȚCJIeȚCRIaZIe2 =bIe2 =jIeȞ5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.292037)[w,nA2y>Y27?2ei 92 %>y2H?c@P?=G?)̿4?*J? 2?ɨ2y>2;2}Cy^Bb`"IMMb@Mb@Mb@III I)IYMQ?I +:vyM5?M9MTMh@ M@)M@IM@IyM@IcIy/4٢K< ;=9k G٣yu; > Nusing accuracyPremultiplier from config493 A IA bw,ɪA:U>Y:X?:H9:$|">y:H?L`?` H?@{˿o6?`?q=?ɨ:U>:r;:|CyFBFt"IIRdIR?14٢V}= Z]=9ZX\ ^G٣^BBGbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.794616yfd; j> rNusing accuracyPremultiplier from configlv49nF?I ɚiI_]=I3R#?i?i)3R#?)*FQ2FQ:FQBFUn0JFQG}fGIBYuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047039O>%;hw,A:+b>Y:?:9: >y:H@?e?O?ʿg?@?`qG?ɨ:+b>:3;:{CyBBF|"IMb@Mb@Mb@ )YB`"?ˡEI +y.?什9@ @)@I@yf@I5cI5y/4٢E= EA=9MvII MG٣QyUEy9 U> eNusing accuracyPremultiplier from configYe49]U[IEC IEN#IIEńBIE7 =&IA.IA6IE<:IEJ FhhgBfffrfbf@ɛB. ?I ljɚiIla=Iw#?i2i*̼)w#?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.300493*F2F:FBFo0JFG6G B O >zKE ݵMKE ػ9KA KE fKE } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.550492enw,RbABR >YB ?Bg 9B$ >yBH@?`3r?L? eʿ??`TN?ɨBR >B;B~CyJBJ"IIVqIVJH4٢^< ^T=9zB|| ~G٣|yq; >  Nusing accuracyPremultiplier from config 49 ,o i zB?? )D v:  ; Oa4! %@!ZjFNOT Ignoring new targets: 332.20 m.Bj :Jj : ProNav: ac range: 332.200012 m, nav range: 136.305649 m, bearing: 185.665251 deg, approach rate: 0.611722 m/s, LOS rate: 0.111491 deg/s, cmd heading: 36.697647 deg, new cmd heading: 36.832788 deg. 2j;HeadingCmd: 0.642853 target range: 332.200012 and range: 309.40 m. j $?jjjihhhhfff rf bf`R@ɛ B`c 隍]?I ɚiIS=I $?iuiѼ) $?)E1E5rA $?I*F?2F:FBF}0JF"G=Gp=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802646G% ~ʼG B O- >hMuw,`=։A2K>Y2 ?2292L >y2H`?8`y?P?}ɿ?@]? U?ɨ2K>2y;2{CyR1BR"IIZgIZ64٢b= bJ=9bdd fG٣fCBGyj]Z: j> rNusing accuracyPremultiplier from configlr49nEII IMT#IIMʄBIM9 =&II.IM1D6IM<:IM FG- ϼ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307142G B O5 >w{w,HAy>B"IMb@Mb@Mb@ )YJ +?v/y(?x齹̼p@ d@)z@I@y3@IvI&Q4٢3m= :=9%Q %>)) -G٣)y= => ENusing accuracyPremultiplier from configAM49EM?E)DE;E;E p4Y ]@]E}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 332.20 m.Bj:Jj: ProNav: ac range: 332.200012 m, nav range: 136.837616 m, bearing: 185.754989 deg, approach rate: 0.625582 m/s, LOS rate: 0.097902 deg/s, cmd heading: 36.969328 deg, new cmd heading: 37.101479 deg. 2j`;HeadingCmd: 0.647543 target range: 332.200012 and range: 309.40 m. j`%?jjjihhhhXBfffrfbf@ɛB ږ?I 7ЦɚiICÍ=I`%?i վi ) `%?)zK-m$JK-9K)K-gK-*F?2F:FBF@5JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.560104G##G B O > $?I `w, A2d>Y2Y?2]V92X>y2H?,x?W?ȿ ? ? c?ɨ2d>2r;2|Cy>PB>"I)@ BAIFbIF-4RWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.810624٢VȽ= V_=9ZD=Q Z>XX ZG٣\yb-; b> fNusing accuracyPremultiplier from configdj49fj?f*Df:;f;fYv4p r@pZj  FNOT Ignoring new targets: 332.20 m.Bjz:Jjz:% ProNav: ac range: 332.200012 m, nav range: 137.060455 m, bearing: 185.789892 deg, approach rate: 0.627526 m/s, LOS rate: 0.098126 deg/s, cmd heading: 37.101478 deg, new cmd heading: 37.206015 deg. 2j%;-HeadingCmd: 0.649367 target range: 332.200012 and range: 309.40 m. j-<&?j)j)j)i)h)h1h1h1f9f9fArfAbfEZ@ɛmBu=< qu?Iq }#ɚyiyI}=I<&?i^i$)<&?)Ee>E>*F?2F:FBF_0JFG GGfMWill construct direction to contact in vehicle frame from tetrahedron phase data.QiUA]checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063057GBO >J J ?J 1J J J &:J 3J w,#A>>Y>$u?>9>(>y>H 3?`Q``?I[?@Zȿ,??Sj?ɨ>>>C;>}CyNcBN"I =$?I9mMb@Mb@Mb@iii i)iYmp= ף?L7A`I +ym%?m+m9m@ m7@)iIm@iym @IXI4٢= <=9fR G٣DBGyF~: > Nusing accuracyPremultiplier from config49?*D';;}4H>I Ia#IIԄBI&I.I6IҰ<:Iv F @EZj!%FNOT Ignoring new targets: 332.20 m.Bj-|:Jj-|:= ProNav: ac range: 332.200012 m, nav range: 137.331482 m, bearing: 185.828302 deg, approach rate: 0.616517 m/s, LOS rate: 0.087202 deg/s, cmd heading: 37.206014 deg, new cmd heading: 37.321019 deg. 2j=bo;EHeadingCmd: 0.651375 target range: 332.200012 and range: 309.40 m. jE}&?jAjAjAiAhIhIhIhU:BfQfQfQrfQbf]@ɛWy; 隕?I ΢ɚiI_)=I}&?i1iE&)M}&?)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315351*FE?2FA:FABFAJFAGe a&G9 BI Om >zK k3IK 59K K hK RK ?JK ?] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=7.5665477w,=A>Y?jݽ9>yHt?`g?@?7Z?`Xǿf?? lo?ɨ>d;{CyzB"II%aI%+4٢5= 5Q=9=s9A EG٣AyE2; E> MNusing accuracyPremultiplier from configIU49M]?M#*DM ;MG ;Mń4a e"@mEZjFNOT Ignoring new targets: 332.20 m.Bj:Jj: ProNav: ac range: 332.200012 m, nav range: 137.574722 m, bearing: 185.862767 deg, approach rate: 0.629235 m/s, LOS rate: 0.088998 deg/s, cmd heading: 37.321018 deg, new cmd heading: 37.424228 deg. 2jPt;UHeadingCmd: 0.653176 target range: 332.200012 and range: 309.40 m. jU6'?jQjQjYiYhahahhfffrfbf@ɛB,&< -7?I) 5ɚ1i1I5dZ=I=6'?i=\ i=Z)=6'?)A E$?IEg*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.818624GI mhYqyuAGGG B O >Cw,WA:9>Y:?:Zӽ9:db>y:H?F0{??[?ǿp?}?#t?ɨ:9>: щ;:zCyFBF #IIPIP٢Z= ZT=9ZP\\ ^G٣\yb: b> fNusing accuracyPremultiplier from configdj49fn?f3*Dfj:f:f4t v@tZjFNOT Ignoring new targets: 332.20 m.BjD:JjD:- ProNav: ac range: 332.200012 m, nav range: 137.815552 m, bearing: 185.896840 deg, approach rate: 0.622942 m/s, LOS rate: 0.087981 deg/s, cmd heading: 37.424229 deg, new cmd heading: 37.526269 deg. 2j-q;5HeadingCmd: 0.654957 target range: 332.200012 and range: 309.40 m. j5B'?j1j1j1i1h9h9h9hAfAfAfArfAbfM @ɛ}B}L'< y} ?Iy OɚiI3=IB'?ir i#y)B'?)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071207*F?2F:FBFn0JF"G=G=J} J}CJ}0JyJ}';J}9:J}ـ3JyGoG?G? 9IAGBO>jH<bHp<H >I C I z#II BI ; =&I .I 6I <:I Z F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.322552ƛw,aqAy~B+#IMb@Mb@Mb@ )YL7A`?i|?5~jty+'?D@ @)d@I@y@IIId4٢D= 9=9Q > G٣EBGy > Nusing accuracyPremultiplier from config497?F*D";;94 7@ E%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 332.20 m.Bj5:Jj5:M ProNav: ac range: 332.200012 m, nav range: 138.090195 m, bearing: 185.938123 deg, approach rate: 0.623624 m/s, LOS rate: 0.093556 deg/s, cmd heading: 37.526268 deg, new cmd heading: 37.649873 deg. 2jMi;]HeadingCmd: 0.657114 target range: 332.200012 and range: 309.40 m. j]8(?jYjYjYiYhYhahaheaBfafifirfibfm|!@ɛ< 隝?I ,ɚiIÉ=I8(?i i)8(?)zKK9KKiK%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=8.574727*F12F1:F1BF5o0JF1JaJeAAGe  - $?I) GA BI Oe >5w,9A68I>Y6n ?6$96>y6H?H̐? (?.Q?@r ǿG??x?ɨ68I>6 ;6|CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.826495yFBFI#IINXIN4٢Z> Z^=9^\` bG٣`yb; b> fNusing accuracyPremultiplier from configdj49f=?j4Yf*& if{Bln6>n?fV*Df ;f ;f4p r@v EZjFNOT Ignoring new targets: 332.20 m.Bj:Jj: ProNav: ac range: 332.200012 m, nav range: 138.319199 m, bearing: 185.972736 deg, approach rate: 0.590196 m/s, LOS rate: 0.089057 deg/s, cmd heading: 37.649874 deg, new cmd heading: 37.753540 deg. 2jzt;HeadingCmd: 0.658924 target range: 332.200012 and range: 309.40 m. j7(?jjjihhhhfffrfbf ,D"@ɛQUd< qu?Iq }ݙɚyiyI}=I7(?iju i_ܨw,=*A \I\bƏ>YbB!?bk9bS>ybHv?۔?`?H? ƿ`sȶ?@? |?ɨbƏ>bN;bzCyjڄBjh#ImMb@Mb@Mb@iiH >I I#II BI< =&I.I0D6I<:I FBI=CJI=CRI9ZI=9 =bI=: =jI=6i i)iYmV-?Cl绿Mb`ym-?m;߽mm@ mݸ@)mM@Imb@iym@IE^IE&4٢eS= e1=9m#qq }G٣yy}; > Nusing accuracyPremultiplier from config49})=?4Y[" i'{B/?:>?j*D;/x;4 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331380ZjFNOT Ignoring new targets: 332.20 m.Bj:Jj: ProNav: ac range: 332.200012 m, nav range: 138.615265 m, bearing: 186.019971 deg, approach rate: 0.625330 m/s, LOS rate: 0.099553 deg/s, cmd heading: 37.753539 deg, new cmd heading: 37.894941 deg. 2j; HeadingCmd: 0.661391 target range: 332.200012 and range: 309.40 m. j P)?j jjihhhhyBfffrfbf`=#@ɛB i< 隝?I іɚiI?=IP)?i i )P)?)EsAE*Fi2Fi:FiBFmz0JFiGq GqzK BoIK h9K K jK = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583592Gu Gy Gy GI BY Ou >w,#NANJ>YN !?N#9N6[>yNH@?S? ?wE? Uƿ }???ɨNJ>Nl;N|Cy~B~#II BI 3٢> _=9%B!! -G٣-FBGy-; -> =Nusing accuracyPremultiplier from config1=4956<=?E4Y5Z i55{BAE>E?5z*D5H:5:54Q UT@UEZjq}FNOT Ignoring new targets: 332.20 m.Bj}:Jj: ProNav: ac range: 332.200012 m, nav range: 138.848221 m, bearing: 186.057143 deg, approach rate: 0.699963 m/s, LOS rate: 0.111504 deg/s, cmd heading: 37.894941 deg, new cmd heading: 38.006271 deg. 2j ;HeadingCmd: 0.663335 target range: 332.200012 and range: 309.40 m. jK)?jjjihhhhfffrfbf`#@ɛl V= ?I $ɚiI]r=I K)?i E i )K)?) $?I*F2F:FBF5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.834504GGaBiO>w, يA:>Y:K["?:A9:>y:Hj? rw?`0?9?ƿ?P?@?ɨ:>:@n;8yFBF#IINDIN3٢VL> ZS=9ZM#\\ ^G٣\yb; b> fNusing accuracyPremultiplier from configdj49f(P=?j4Yf! ifC{Bhn9>n?f*Df:f ;f䮦4p r@rEZj  FNOT Ignoring new targets: 332.20 m.Bj":Jj":% ProNav: ac range: 332.200012 m, nav range: 139.096527 m, bearing: 186.096962 deg, approach rate: 0.639381 m/s, LOS rate: 0.102348 deg/s, cmd heading: 38.006270 deg, new cmd heading: 38.125512 deg. 2j%{;5HeadingCmd: 0.665416 target range: 332.200012 and range: 309.40 m. j5X*?j1j1j1i1h9h9hAhAfAfAfIrfIbfMh$@ɛqun-.= q}?Iy }ViɚyiI=IX*?iE iNX )X*?)Will construct direction to contact in vehicle frame from tetrahedron phase data.IC I#II?BI= =&I.I6I<:I} FGB)OE> Will construct direction to contact in vehicle frame from tetrahedron phase data. A6 >Y6A#?6z96D >y6H 5?R? [??/?ſ 6??@g?ɨ6 >66 ;6{CyN/BR#I]Mb@Mb@Mb@YYY Y)YY]-?T㥛 Mb?y]?5?]]<]@ ]@)YI]@Yy]@IuEIu3٢= >=9 G٣yO; > Nusing accuracyPremultiplier from config49,f=?4Y i[{B5?: ??*D;;n4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 332.20 m.Bj ;Jj ;- ProNav: ac range: 332.200012 m, nav range: 139.373276 m, bearing: 186.150602 deg, approach rate: 0.640268 m/s, LOS rate: 0.123852 deg/s, cmd heading: 38.125511 deg, new cmd heading: 38.286112 deg. 2j-;5HeadingCmd: 0.668219 target range: 332.200012 and range: 309.40 m. j5b+?j1j1j1i9h9h9h9hEBfAfAfArfAbfMޅ%@ɛqu?#= qu?Iy }zɚyiyI}҅=Ib+?ii )b+?)*FM?2FI:FIBFM_0JFI"GU=GQWill construct direction to contact in vehicle frame from tetrahedron phase data.Ga Bi $?I O >0 w,& A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Response Not Received &*response not received*,DAT read: user:1806> *BDAT read: Tx time:21:29:15.4754 .$Ping request sent..YF|#?F9FC!>yFHl?1,#?@?y ? (ſ`7Ӳ?<??ɨFV>F;FzCynMBn#IIz<Iz3٢[> J=9 G٣GBGy< > -Nusing accuracyPremultiplier from config!}49%{=?}4Y% i%p{By} ??%*D%=<%j:<%Ƚ4ےB @EZjFNOT Ignoring new targets: 332.20 m.Bj;Jj;5 ProNav: ac range: 332.200012 m, nav range: 139.642761 m, bearing: 186.203069 deg, approach rate: 0.615106 m/s, LOS rate: 0.119527 deg/s, cmd heading: 38.286113 deg, new cmd heading: 38.443211 deg. 2j5;=HeadingCmd: 0.670961 target range: 332.200012 and range: 309.40 m. j=+?j9j9j9i9h9h9hAhAfAfAfIrfIbfm@g&@ɛ4= ]?I _ɚiI=I+?ii5)+?)*F?2F:FBFJFG G"GGWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:29:15.4747 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251106G B O- >9w,ծ&A I H% >I! I%/$II%|BI!&I!.I!6I%<:I%R FA>>Y&?G 9>yH p?`_@2?J??Ŀ ~?z??ɨA>>s5;{CykB$IMb@Mb@Mb@ )YQ?~jt{Gz?y( 6=9> G٣y< > Nusing accuracyPremultiplier from config 49ő=? 4Y! i{B m Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754472zK5 jIK5 9K1 K5 lK5 RKE ?JKE ?J5 J5 @J1 J1 J5 (;J5 :J1 J1 J5 <J5 <J5 ;J5 ;w,{@Ay~B@$IIMUIM4٢g-> e=9Q > G٣y > Nusing accuracyPremultiplier from config49=?4Y@ i{B?*D@: :˦4 @ZjFNOT Ignoring new targets: 332.20 m.Bj;Jj%;- ProNav: ac range: 332.200012 m, nav range: 140.155945 m, bearing: 186.314186 deg, approach rate: 0.636008 m/s, LOS rate: 0.137164 deg/s, cmd heading: 38.625734 deg, new cmd heading: 38.775941 deg. 2j5D;eHeadingCmd: 0.676768 target range: 332.200012 and range: 309.40 m. je@-?jajijiiihhhhfffrfbf8'@ɛd.= ?I ɚiI(R= 5$?I=gI-@-?iMoiUR)U@-?)Q*F2F:FBFl0JFG!G!GBOI>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006085Gw,TZA:M>Y:'?:߲9:>y:H@US?݃` W?r?@?Ŀ.? ??ɨ:M>:;;:xCyBBFX$IIRIRV83٢Z= ZY=9Z;Q Z>\\ ^G٣^HBGybƁ< b> jNusing accuracyPremultiplier from configdz49fR=?~4Yf if{B??f*Df;f ;f0Ҧ4  @EZj9EFNOT Ignoring new targets: 332.20 m.BjE.";JjM.";U ProNav: ac range: 332.200012 m, nav range: 140.400101 m, bearing: 186.367492 deg, approach rate: 0.650553 m/s, LOS rate: 0.141789 deg/s, cmd heading: 38.775940 deg, new cmd heading: 38.935582 deg. 2jU;eHeadingCmd: 0.679554 target range: 332.200012 and range: 309.40 m. jeB-?jajajaiahahihihififqfqrfqbfur(@ɛ= 隭?I 惽ɚiI=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258290IB-?idi)B-?)*J"J%=*F2F:FBF1JFGBO]3> AIAjH<bHHU>IQ IU$IIUBIU? =&IQ.IQ6IU<:IUX Fm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510017qw,]2tA @Bɜ>YB6I)?BK9B>yBH@3?@ ?W?@?iĿr?c?`\?ɨBɜ>Bƈ;B{Cy^B^n$IMMb@Mb@Mb@III I)IYMS㥛?~jth~jt?yM$F?MDM=9}c;Q }> G٣y|v< > Nusing accuracyPremultiplier from config49{=?4Y i{B4F?:R'??*D#=;;;٦4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 332.20 m.Bj;;Jj;; ProNav: ac range: 332.200012 m, nav range: 140.683914 m, bearing: 186.437141 deg, approach rate: 0.667798 m/s, LOS rate: 0.163550 deg/s, cmd heading: 38.935582 deg, new cmd heading: 39.144107 deg. 2j|;HeadingCmd: 0.683194 target range: 332.200012 and range: 309.40 m. j.?jjjihhhhBfffrfbfh)@ɛ=B=`{= AEC?IA E]ɚAiAIM<=IU.?iUNiUռ)U.?)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762413*F 2F :F BF _2JF zKEBoHKE+9KAKEmKEJJKJ1JJ2;J^:J3JJP<JP<J;J; 5 $?I1 G5 GA BI Ou >)- = - !C0Yw,N AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0138492-G@L b Y`ybBy΅B$I =I MI {4٢E > E>=9EQ E>II MG٣IyM U> eNusing accuracyPremultiplier from configYe49]=?m4Y] i]{Biim?]+D]:]@:]64}ےB }@}EZjFNOT Ignoring new targets: 332.20 m.Bj%2;Jj%2;5 ProNav: ac range: 332.200012 m, nav range: 140.968414 m, bearing: 186.506631 deg, approach rate: 0.640231 m/s, LOS rate: 0.156062 deg/s, cmd heading: 39.144108 deg, new cmd heading: 39.352155 deg. 2j55;=HeadingCmd: 0.686825 target range: 332.200012 and range: 309.40 m. j=/?j9j9j9i9h9hAhAhAfAfIfIrfIbfM*p*@ɛy};= 隅?I $zɚiI.=I/?ii.)/?)*FY2FY:FYBF]Q5JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265983G ~>ԼG B O > A II ׆w, =&I.I6I<:IyڅB $IMb@Mb@Mb@ )Ysh|??~jt?~jt?yI?D<D< V@)I=@yz@I^I&4٢|c= B=9Q > G٣IBGy > Nusing accuracyPremultiplier from config49=?4Y i |BJ?:,??(+Dh;;4 @EZj!mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.526333FNOT Ignoring new targets: 332.20 m.BjH;JjH; ProNav: ac range: 332.200012 m, nav range: 141.249420 m, bearing: 186.578130 deg, approach rate: 0.691805 m/s, LOS rate: 0.175673 deg/s, cmd heading: 39.352155 deg, new cmd heading: 39.566225 deg. 2j ;HeadingCmd: 0.690561 target range: 332.200012 and range: 309.40 m. j0?jjjih h h h Bfffrfbf`L+@ɛ8= 隍?I sɚiI5G=I0?iiU)0?)*F?2F:FBFM5JFGrA GrAG} v Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778645GY Bi O >zK K 9K K nK J- J- FJ) J) J- 0;J- ǔ:J) J) J- I<J- J<J- ;J- ;Gkw,A2/|>Y2-?2`zU927*$>y2H`h?@B ]ή?@/?l? Ŀ`4?@g?`?ɨ2/|>2+;0y^B^$IIrUIr4٢v~= zo=9z_=Q z?x| ~G٣|yHO= ?  Nusing accuracyPremultiplier from config 49  >?4Y  i |B0?? 9+D D; J; 41 = @9ZjFNOT Ignoring new targets: 332.20 m.BjA;JjA; ProNav: ac range: 332.200012 m, nav range: 141.475540 m, bearing: 186.637640 deg, approach rate: 0.644944 m/s, LOS rate: 0.169462 deg/s, cmd heading: 39.566224 deg, new cmd heading: 39.744465 deg. 2j;HeadingCmd: 0.693672 target range: 332.200012 and range: 309.40 m. jy1?jjjihhhhfffrfbf +@ɛc=  @I  Emɚ i I }=Iy1?i'i)y1? $?I)*F?2F:FBF^0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029920GG B O >:w,ۋAynBn$IIvOIv 4٢%Y= -G=9-Q ->11 5G٣1y5 => ENusing accuracyPremultiplier from configAM49E >?M4YE iE3|BIIM?EN+DE:En:E4Y ][@]EWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:29:18.2932 TRx dataTimestamp_ set to:1736371759.493083checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283509Zj!%FNOT Ignoring new targets: 332.20 m.Bj%?;Jj-?;] ProNav: ac range: 332.200012 m, nav range: 141.747391 m, bearing: 186.708883 deg, approach rate: 0.641661 m/s, LOS rate: 0.167836 deg/s, cmd heading: 39.744464 deg, new cmd heading: 39.957783 deg. 2j]^;eHeadingCmd: 0.697395 target range: 332.200012 and range: 309.40 m. jex2?jajajaiahahihihififfrfbf,@ɛ9== AE@IA E_fɚAiAIE{=Imx2?iuiusȼ)ux2?)q*F-?2F):F1BF5_0JF1 $?IG-QļZHRH@AGqBHI IB%II\BI? =&I.I6I<:I? FBIǖCJIǖCRIZI> =bI> =jI>5O> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533976 w,lzA6`>Y6+0?6JC96R%>y6H t? ?հ? L?=?ÿ@f?b?G?ɨ6`>6 +;6}CyNBN$I]Mb@Mb@Mb@YYY Y)YY]oʡ?V-?~jt?y]M?] G٣JBGy%< > Nusing accuracyPremultiplier from config495>?4YJ iJ|B6M?:8??c+D;;4 @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 332.20 m.Bj^[;Jj^[; ProNav: ac range: 332.200012 m, nav range: 142.021347 m, bearing: 186.785186 deg, approach rate: 0.689912 m/s, LOS rate: 0.191787 deg/s, cmd heading: 39.957781 deg, new cmd heading: 40.186249 deg. 2j< HeadingCmd: 0.701382 target range: 332.200012 and range: 309.40 m. j ˍ3?j j j i hhhh,Bfffrf!bf%-@ɛMBM= IU@IQ UQ`ɚQiQI]w z=Ieˍ3?ieie;%)mˍ3?)i*F?2F:FBFJF"Ga=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.iADAT read: Range 10 to 50 : 310.2 m (Round-trip 413.6 ms) speed 0.0 m/s ,DAT read: user:1807>  BDAT read: Tx time:21:29:19.3754  $Ping request sent.  $?IgGi Bq O >6w,RA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&JDAT read: TxSync time:21:29:19.3747 >a>Y>]1?><9>+%>y>H?`&[K? j?&?`щÿ???ɨ>a>>q;>yCyF BF$IIPI 4٢U1< UM=9]S;Q ]>aa eG٣ayeu@< m> uNusing accuracyPremultiplier from configi}49m%I>?}4Ym im`|By}9?}?mx+Dmi ;m ;m4 %@ addTargetRange:: Added new target pos. range: 310.200012 m, deltaT: 14.888866 s, deltaX: 0.800018 m, approachRate: 0.053733 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 332.20 m.BjR;JjR; ProNav: ac range: 332.200012 m, nav range: 142.282562 m, bearing: 186.858325 deg, approach rate: 0.659235 m/s, LOS rate: 0.184243 deg/s, cmd heading: 40.186248 deg, new cmd heading: 40.405260 deg. 2j;HeadingCmd: 0.705205 target range: 332.200012 and range: 310.20 m. jN4?jjjihhhhfffrf@3cs@bf?ɛ!%K0= !%A@I! -XYɚ)i)I-@=x=I5N4?iM:YiUlᚼ)UN4?)Q*F?2F:FBFk0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G) G B O- > I w,IM)AH1I1 I5a%II5uBI5> =&I1.I16I5<:I5 Fy5B5$IMb@Mb@Mb@ )Yoʡ?y&1? G٣y > Nusing accuracyPremultiplier from config49.`>? 4YV iw|B 1M? : 9? ?+D;Y; 4 @@EEWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjIUFNOT Ignoring new targets: 332.20 m.BjUO;Jj]O;m ProNav: ac range: 332.200012 m, nav range: 142.583099 m, bearing: 186.941956 deg, approach rate: 0.654578 m/s, LOS rate: 0.181767 deg/s, cmd heading: 40.405261 deg, new cmd heading: 40.655624 deg. 2jm};uHeadingCmd: 0.709575 target range: 332.200012 and range: 310.20 m. ju5?jqjqjqiqhqhqhyh}Bfffrfbfel?ɛQ&ĥ= 隽@I pEQɚiI?v=I5?iiN)5?)*F ?2F :F BF e0JF  PExceeded connect timeout, disconnecting. Will construct direction to contact in vehicle frame from tetrahedron phase data.GM `6zK% BoIK% 9K! K% pK% GI BQ Om >w,\CA2>Y22?2992X'>y2Hz?}?`ݏ?1?@%ÿ@? ??ɨ2>2;2{Cy:B:$IIF9IF3٢J= Nw=9N)=;Q N?PP RG٣PyRŐ< V? ZNusing accuracyPremultiplier from configT^49Vp>?^4YV iV|B\^=;?^?V+DV ;V; ;V4` ft@fEZjFNOT Ignoring new targets: 332.20 m.Bj0C;Jj0C;= ProNav: ac range: 332.200012 m, nav range: 142.800583 m, bearing: 187.002954 deg, approach rate: 0.609361 m/s, LOS rate: 0.170648 deg/s, cmd heading: 40.655625 deg, new cmd heading: 40.838339 deg. 2j=:;EHeadingCmd: 0.712763 target range: 332.200012 and range: 310.20 m. jEw6?jAjAjAiI U$?IUghYhYhYhYfafafarfabfe "?ɛB= @<隭}@I gJɚiInt=Iw6?i;iے)w6?)*F}?2Fy:FyBF}0JFyG GqA=Will construct direction to contact in vehicle frame from tetrahedron phase data.GU鲼G)B9OUu>w,%]A6>Y6T3?6"!496%>y6HId? '?^?i? @NÿH?ߓ? l?ɨ6>6*ĉ;6|CyRBR$IIZ.IZ3٢b < bH=9ft?;Q f>dd jG٣jKBGyj(< j> rNusing accuracyPremultiplier from configlr49nC>?r4Yn in|BtvQ@|Zj%FNOT Ignoring new targets: 332.20 m.Bj%a;Jj-a;5 ProNav: ac range: 332.200012 m, nav range: 143.068253 m, bearing: 187.078386 deg, approach rate: 0.701466 m/s, LOS rate: 0.197309 deg/s, cmd heading: 40.838340 deg, new cmd heading: 41.064210 deg. 2j5i)=z7?)9J JDJJJ);J:JJa@a@a@a@*FU?2FQ:FQBF]@5JFY m$?IijHQbHU4<HI It%IIBI&I.I6IӰ<:Ii FGmfGqGupAM Will construct direction to contact in vehicle frame from tetrahedron phase data.GQ Ba O} >w,wA6>Y6O4?6n(96#>y6H\]?@Շ?? ?2¿ +?d?`_?ɨ6>6T;6zCyRBR$I5Mb@Mb@Mb@111 1)1Y5Fx?Mb?~jt?y5K?5<5D<5@ 5@)1I5@1y5G@I\I#4٢2; >=9;Q > G٣y\; > Nusing accuracyPremultiplier from config49>?4Y i|BK?:8??+D;;p 4 6@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 332.20 m.BjK;JjK; ProNav: ac range: 332.200012 m, nav range: 143.351807 m, bearing: 187.155595 deg, approach rate: 0.655850 m/s, LOS rate: 0.178230 deg/s, cmd heading: 41.064211 deg, new cmd heading: 41.295380 deg. 2j;HeadingCmd: 0.720740 target range: 332.200012 and range: 310.20 m. jq8?jjj!i!h)h)h)h-Bf9f9f9rf9bfEM?ɛeBmdF= im@Ii m=ɚqiqIuIp=I}q8?i}i}U)}q8?) nManaging dock network, ignoring radio surface power off*F ?2F :F BF Z0JF 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.zKBoHKh9KKqKG5 iIiG B! O= >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263686 $w,DAR>YR<5?R9R7s#>yRHJ?@ ?`?Q?¿ ?`ET??ɨR>R;R{Cy5B5$IIEFIE%3٢(i F=9U;Q > G٣y=< > Nusing accuracyPremultiplier from config49>?4Y5 i|B9??+D$;x;'4 f@Zj!-FNOT Ignoring new targets: 332.20 m.Bj-L;Jj-L;= ProNav: ac range: 332.200012 m, nav range: 143.621277 m, bearing: 187.229198 deg, approach rate: 0.655992 m/s, LOS rate: 0.178841 deg/s, cmd heading: 41.295382 deg, new cmd heading: 41.515775 deg. 2j=y;EHeadingCmd: 0.724587 target range: 332.200012 and range: 310.20 m. jE~9?jAjIjIiIhIhIhQhQfQfQfQrfYbf]@ɛB=  `@I  a6ɚ i In=I~9?iMuiϸ)~9?)EeNw =Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515666JJ@AJJGJ1JJJK:J3J*F2F:F BF _5JF "Gu =Gq U $?IY H >I  I I I &I .I 6I d<:I FGM fG!B)Ou>G+w,PA6>Y65?6965">y6H >?MW???`(m¿ `? C? ?ɨ6>6gӈ;6zCyR BR$IrWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767718UMb@Mb@Mb@QQQ Q)QYUK7?~jth?yUIL?UUD;Q UV@)QIU@QyU@I^I&4٢) )=9 };Q  >   G٣LBGyʥ; > %Nusing accuracyPremultiplier from config!-49%'>?-4Y% i%|B-JL?-:-5?-?%+D%;%;% 049 =@=޹EZjimFNOT Ignoring new targets: 332.20 m.BjuG;JjuG; ProNav: ac range: 332.200012 m, nav range: 143.942734 m, bearing: 187.313656 deg, approach rate: 0.665551 m/s, LOS rate: 0.174472 deg/s, cmd heading: 41.515775 deg, new cmd heading: 41.768580 deg. 2jz;HeadingCmd: 0.728999 target range: 332.200012 and range: 310.20 m. j:?jjjihhhhBfffrfbf@ş@ɛB= @I }d.ɚiIl=I:?i}iǼ):?)QE-*<*F?2F:FBFO0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019574Gm ^zK BHK 9K K rK RK% ?JK% ?GA BQ Om > 5 $?I1 "2w,VȌAy B$II-NI-@ 4٢= =Z=9EQ E>II UG٣Yy] e> }Nusing accuracyPremultiplier from configy49}|>?4Y}g i}|B?} ,D}z:}z:}64  @۹EZjFNOT Ignoring new targets: 332.20 m.BjG;JjG; ProNav: ac range: 332.200012 m, nav range: 144.195465 m, bearing: 187.379735 deg, approach rate: 0.668395 m/s, LOS rate: 0.174451 deg/s, cmd heading: 41.768581 deg, new cmd heading: 41.966468 deg. 2jr;HeadingCmd: 0.732453 target range: 332.200012 and range: 310.20 m. j ;?jjjihhhhfffrfbf @ɛ5B=K= 9=@I9 E'ɚAiIIML$k=I] ;?imxmGiu)} ;?vA)  YvAyBEE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271865*F 2F :F BF (5JF G qA G rA Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:29:22.1935  TRx dataTimestamp_ set to:1736371763.524549 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524623J J DJ J J +;J :J J G a.ʼG B O > 9w,医Ay%B-$IIEDIE3٢]! ]3=9aQ e>aa mG٣mMBGyi m> }Nusing accuracyPremultiplier from configq}49u>?4Yu6 iu|B?u#,Du;u@;u>4 $?Ig E@ZHYRH]AAعEH >I Ig%IIzBI&I.I6I%<:I FZjFNOT Ignoring new targets: 332.20 m.Bj+;Jj+; ProNav: ac range: 332.200012 m, nav range: 144.497147 m, bearing: 187.458245 deg, approach rate: 0.576066 m/s, LOS rate: 0.149604 deg/s, cmd heading: 41.966468 deg, new cmd heading: 42.201507 deg. 2jX;%HeadingCmd: 0.736555 target range: 332.200012 and range: 310.20 m. j%2?w,#A2D?Y28?292[N#>y2H? ´?/!? ?/s?P?`ޓ?ɨ2D?2;2wCyZBZ$I~Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 310.4 m (Round-trip 413.9 ms) speed -0.2 m/s ,DAT read: user:1808> %BDAT read: Tx time:21:29:23.2754 %$Ping request sent.% G٣y< > Nusing accuracyPremultiplier from config49??4Y i|B'F?:"6??7,D< ;] ;E4 @ֹE B*** querying acoustic contact ***zKjIK9KKsKBKrA:Kj j  addTargetRange:: Added new target pos. range: 310.399994 m, deltaT: 4.030815 s, deltaX: 0.199982 m, approachRate: 0.049613 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 332.20 m.Bj-ZT;Jj-ZT;= ProNav: ac range: 332.200012 m, nav range: 144.764069 m, bearing: 187.527628 deg, approach rate: 0.715547 m/s, LOS rate: 0.185654 deg/s, cmd heading: 42.201505 deg, new cmd heading: 42.409269 deg. 2j=;EHeadingCmd: 0.740181 target range: 332.200012 and range: 310.40 m. jE|=?jAjAjAiAhhhhBfffrf`ffs@bf@Ե?ɛB= k@I ɚ i I Bg=I|=?i i)|=?) I*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:29:23.2747 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G rGA BI Om >Fw,\A:W?Y:9?:9:g$>y:HN??@;?K?K?s?` ?ɨ:W?:qˈ;:yCy^B^$IIfIf3٢r$ rX=9r;Q v>xx zG٣xy~4< ~> Nusing accuracyPremultiplier from config 49?? 4Y i}B 57??J,D::lL4! %@%ӹEZjIMFNOT Ignoring new targets: 332.20 m.BjUQ;JjUQ;e ProNav: ac range: 332.200012 m, nav range: 145.009003 m, bearing: 187.591606 deg, approach rate: 0.702961 m/s, LOS rate: 0.183307 deg/s, cmd heading: 42.409270 deg, new cmd heading: 42.600879 deg. 2je;mHeadingCmd: 0.743526 target range: 332.200012 and range: 310.40 m. jmW>?jijqjqiqhqhyhyhyfyffrfbf?ɛB = 隵Z@I YSɚiIe=IW>?iVi\)W>?)*Fm?2Fi:FqBFu0JFq"G}=G}=Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501257GMԼGU ?GU ?J JBJJJ(;J:JJG!B1OE0> $?IH >IC IN%IIfBI< =&I.I1D6I<:I FBIJIRIZIbIjI/x5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751262BLw,l3A2\?Y2,;?2T&92R!>y2Hj?T@9\?e?ld?g???ɨ2\?2?;0ynBn$IMb@Mb@Mb@ )YX9v?X9v=93:Q > G٣NBGy< > Nusing accuracyPremultiplier from config49E.??4YE i}B!>?:1??_,DRQ; ;S4 Z@Zjy}FNOT Ignoring new targets: 332.20 m.Bj,;Jj,; ProNav: ac range: 332.200012 m, nav range: 145.279404 m, bearing: 187.658589 deg, approach rate: 0.610456 m/s, LOS rate: 0.150939 deg/s, cmd heading: 42.600880 deg, new cmd heading: 42.801454 deg. 2j-;HeadingCmd: 0.747026 target range: 332.200012 and range: 310.40 m. j=??jjjihhhhBfffrfbf%?ɛAM= IMp?II U1 ɚQiQIUc=Ie=??ieien)e=??)a*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=1.003225GM ,zKm BoIKi Ki Km tKm -#sK- RK ?JK ?GA BI Oe > $?I /*Sw,(FMAF?YFL=?F ߼9F8$>yFHS?cv?`d?>?{k@?`n??ɨF?FXԈ;FzCyn؅Bn$IIv!Ivi3٢   V=9%;Q %>)) -G٣)y-8< -> ENusing accuracyPremultiplier from config9E49=@??M4Y=k i= }BIM>3?M?=q,D=:=:=Z4Q U+@]йEZjyFNOT Ignoring new targets: 332.20 m.Bj]9;Jj]9; ProNav: ac range: 332.200012 m, nav range: 145.520554 m, bearing: 187.718960 deg, approach rate: 0.648415 m/s, LOS rate: 0.162060 deg/s, cmd heading: 42.801456 deg, new cmd heading: 42.982268 deg. 2jp;HeadingCmd: 0.750182 target range: 332.200012 and range: 310.40 m. j @?jjjihhhhfffrfbf`?ɛB= ?I 1ɚiI'b=I @?iYif) @?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256449*F?2F:FBF`5JFG5G B O5 >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507205_TYw,!gA6@.?Y6>?6T׼96Yo&>y6H` ?X2??" ? z??`=?ɨ6@.?6+;4yb΅Bb$IIjXIj4٢rL rM=9rS;Q r>tt vG٣tyz[< z>  Nusing accuracyPremultiplier from config49S??4Y` i }B!-4?-?,D¢;;a41 =@=͹E $?IZjFNOT Ignoring new targets: 332.20 m.BjI-;JjI-;jH <bH <HU>IQ IU/%IIULBIU; =&IQ.IQ6IU<:IU F  ProNav: ac range: 332.200012 m, nav range: 145.769073 m, bearing: 187.781663 deg, approach rate: 0.601481 m/s, LOS rate: 0.151499 deg/s, cmd heading: 42.982268 deg, new cmd heading: 43.170056 deg. 2j5;MHeadingCmd: 0.753460 target range: 332.200012 and range: 310.40 m. jm@?jqjqjqiyhhhhfffrfbfak?ɛUBU}= QU@?IQ ]ɚYiYI].G`=Ie@?ieIieー)u@?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760278*F!2F!:F!BF%_5JF!G5rA G1Ge ՒGm qAGm qAGA BY Ou ><`w,AnWill construct direction to contact in vehicle frame from tetrahedron phase data.pirArchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011287yvBz$IMb@Mb@Mb@ )YOn?{GzI +y8?#94@ Ϋ@) @I@yIWI44٢7j >=9Q > G٣y > Nusing accuracyPremultiplier from config49g??JJDJ0JJl-;J:Jـ3JJffw,ؚA>l?Y>\??>^9>Y)'>y>Hj?zg??@ ?zq?@o?`?ɨ>l?>Ta;\\ ^G٣^OBGyb`V< b> fNusing accuracyPremultiplier from configdn49f y??n4Yf if }Blr2?r?f,DfB;fC;fo4t vC@vɹEZjFNOT Ignoring new targets: 332.20 m.Bj% D;Jj% D;5 ProNav: ac range: 332.200012 m, nav range: 146.259598 m, bearing: 187.901788 deg, approach rate: 0.698384 m/s, LOS rate: 0.171392 deg/s, cmd heading: 43.362603 deg, new cmd heading: 43.529822 deg. 2j5?;5HeadingCmd: 0.759739 target range: 332.200012 and range: 310.40 m. j==~B?j9j9j9i9h9hAhAhAfAfIfIrfIbfM&x@ɛB= 隅.?I ɚiI]=I=~B?ii)=~B?)*F5?2F1:F1BF5^0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515872G GBJJO&> $?IgH>I I%II)BI: =&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768225lw,A2)?Y2@?292-'>y2H[?#@EK?`3?`?`v?0??ɨ2)?2;2yCynBno$IuMb@Mb@Mb@qqq q)qYugfffff?x& G٣y; > Nusing accuracyPremultiplier from config49`??4Y i}B4?:)??,D;;2w4 @ZjFNOT Ignoring new targets: 332.20 m.Bj;Jj; ProNav: ac range: 332.200012 m, nav range: 146.524445 m, bearing: 187.961707 deg, approach rate: 0.609771 m/s, LOS rate: 0.137704 deg/s, cmd heading: 43.529824 deg, new cmd heading: 43.709253 deg. 2j;HeadingCmd: 0.762870 target range: 332.200012 and range: 310.40 m. jyKC?jjjihhhh^Bfffrfbf@ɛ!%U= 隭?I ؼɚiI|m[=IyKC?iS#i*)yKC?)*Fe?2Fa:FaBFe_0JFa"Gm=Gm=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019178J JLJJJ+;J:JJJ<J<Jl;Jl;zK D#MK 9K K vK G `6G ?G ? i Ii G B O >Kxsw,ō΍A2ϼ?Y27A?2pk92:%>y2H`N?ʰ@??`C?Gm?`Σ??ɨ2ϼ?2_;0yRBRa$IIn\In#4٢vs vW=9v7;Q v>xx zG٣xy~B; ~> Nusing accuracyPremultiplier from config 49?? 4YR i|B  +*??,Dn::}4%ڒB %]@%ƹEZjAMFNOT Ignoring new targets: 332.20 m.BjM$;JjU$;e ProNav: ac range: 332.200012 m, nav range: 146.755630 m, bearing: 188.014067 deg, approach rate: 0.607541 m/s, LOS rate: 0.137384 deg/s, cmd heading: 43.709253 deg, new cmd heading: 43.866087 deg. 2je;}HeadingCmd: 0.765608 target range: 332.200012 and range: 310.40 m. j}C?jyjyjihhhhfffrfbf` @ɛ= ?I zͼɚiIY=IC?iai{,)C?)]Will construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:21:29:26.0943 eTRx dataTimestamp_ set to:1736371767.304630uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273490*Fq2Fq:FqBFu`0JFqG͍GiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523107*J 4="J a=yw,k荻A $?I yBR$II=KHI I$II BI&I.I6IŰ<:Ig FI=4٢c ;=9Q > G٣PBGy > Nusing accuracyPremultiplier from config 49x?? 4YU i|B   ?,Dq:;:w4! -!@5ùEZjFNOT Ignoring new targets: 332.20 m.Bjf;Jjf;e ProNav: ac range: 332.200012 m, nav range: 147.021500 m, bearing: 188.074044 deg, approach rate: 0.583924 m/s, LOS rate: 0.131488 deg/s, cmd heading: 43.866087 deg, new cmd heading: 44.045692 deg. 2jez;mHeadingCmd: 0.768742 target range: 332.200012 and range: 310.40 m. jmLD?jqjqjqiqhqhqhyhyfyfyfyrfbf@ɛB= h?I 徼ɚiIC8X=ILD?ii)%LD?)!eWill construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: Range 10 to 50 : 310.9 m (Round-trip 414.6 ms) speed 0.0 m/s },DAT read: user:1809> BDAT read: Tx time:21:29:27.1755 $Ping request sent.cw,pDA6 ?Y6WB?6l*96kQ$>y6H`W6? =?`F?? | 4\?Zs?P?ɨ6 ?6p;6wCyRBRT$IbWill construct direction to contact in vehicle frame from tetrahedron phase data.fJDAT read: TxSync time:21:29:27.1748 JJFJ1JJ,;Jǔ:J3JJ<J<J ;J ;EMb@Mb@Mb@AAA A)AYE@5^I ?MbX9~jtyEb0?EʡEA E@)E@IAAyAIe?IeT3٢uQ; }A=9} G٣y!*< > Nusing accuracyPremultiplier from config49??4Y| i|B1?:&??,D;;׌4 @B*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 310.899994 m, deltaT: 3.780085 s, deltaX: 0.500000 m, approachRate: 0.132272 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 332.20 m.Bj%0;Jj%0;U ProNav: ac range: 332.200012 m, nav range: 147.276917 m, bearing: 188.129601 deg, approach rate: 0.620807 m/s, LOS rate: 0.134801 deg/s, cmd heading: 44.045691 deg, new cmd heading: 44.212072 deg. 2jU;]HeadingCmd: 0.771646 target range: 332.200012 and range: 310.90 m. j]E?jYjYjaiazKk3IK9KKwKhhhhHBfffrf`fns@bf0}? $?Iɛ^= ?I %}}ɚ!i!I%8V=IME?iU'iUcd)UE?)Q) *F?=G2F:FIBFMp0QJFImA YyBuWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.G G B O >Zw,A6@5 ?Y6B?6 96!>y6H.?> 2?h??`0?{?`?ɨ6@5 ?6B>J$IIJNIJ@ 4٢r5 rh=9r;Q r>tt vG٣tyz{; z> ~Nusing accuracyPremultiplier from config|49~n??4Y~x i~|B &? ?~-D~>;~;~4 @EZjAEFNOT Ignoring new targets: 332.20 m.BjMl;JjMl;] ProNav: ac range: 332.200012 m, nav range: 147.489944 m, bearing: 188.175900 deg, approach rate: 0.618065 m/s, LOS rate: 0.134134 deg/s, cmd heading: 44.212074 deg, new cmd heading: 44.350769 deg. 2j];eHeadingCmd: 0.774067 target range: 332.200012 and range: 310.90 m. je@)F?jajajaiihihihihifqfqfqrfqbf} ?ɛ= ?I ˵ɚiI1ZU=I@)F?iri )@)F?)*Fq2Fq:FqBFuP5JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750833JJ IH>I I$IIBI&I.I6I<:I FGGBO>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002217,ߌw,5Ay%B%@$IMb@Mb@Mb@ )Y@5^I ?ʡE/$y-@ )Iy׻@IIT3٢    9=9Q > G٣QBGy% %> 5Nusing accuracyPremultiplier from config)=49-;??=4Y-s i-|B=1?=:=&$?E?--D-#;-{!;-4I M@IZjiuFNOT Ignoring new targets: 332.20 m.Bj}P;Jj}P; ProNav: ac range: 332.200012 m, nav range: 147.760574 m, bearing: 188.233013 deg, approach rate: 0.611409 m/s, LOS rate: 0.128793 deg/s, cmd heading: 44.350768 deg, new cmd heading: 44.521792 deg. 2jǰ;HeadingCmd: 0.777052 target range: 332.200012 and range: 310.90 m. jF?jjjihhhh.Bfffrfbf?ɛ= ?I ؜ɚiIS=IF?ii<)F?)*F2F:FBF>5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255579JJKJ0JJl-;J^:Jـ3JJ<J<J;J;GG?G>GI BQ Ou > $?I zKE BoIKE 9KA KE xKE RKM ?JKM ?ɓw,2OA: ?Y:=E?:q9:>y:HA?`W?^I?֬?/[v~? K?&?ɨ: ?:;8yBBBE$IININ[3٢V}< Vd=9V.;Q V>XX ZG٣Xy^7< ^> bNusing accuracyPremultiplier from config`f49b??f4Ybo ib|Bdf&?f?b'-Db:ba:b4l n@nEZjaeFNOT Ignoring new targets: 332.20 m.Bjm,;Jjm,;} ProNav: ac range: 332.200012 m, nav range: 147.977890 m, bearing: 188.279758 deg, approach rate: 0.586845 m/s, LOS rate: 0.126046 deg/s, cmd heading: 44.521792 deg, new cmd heading: 44.661821 deg. 2j};HeadingCmd: 0.779496 target range: 332.200012 and range: 310.90 m. j G?jjjihhhhfffrfbf ?ɛ B= ?I RɚiI0NR=I G?i%[%i%m)% G?)!5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506430*F2F:FBF^0JFGͿGYBiO;> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758248w,iA 4I4V?YV|F?VpVŻ9V5/>yVH }?(CO?e??_@Īx???ɨV?V;VyCyvBvC$II~TI~4٢ ֻ  D=9^;Q > G٣!y%?< %> -Nusing accuracyPremultiplier from config)549-:@?54Y-Jk HE>IA IE$IIEBIE9 =&IA.IA6IEҰ<:IEq FBICJICRIZI: =bI: =jI5i-|Bim'?m?-:-D-<-<-J4q u@EZjIuFNOT Ignoring new targets: 332.20 m.Bj}0;Jj}0; ProNav: ac range: 332.200012 m, nav range: 148.230408 m, bearing: 188.334507 deg, approach rate: 0.582408 m/s, LOS rate: 0.126059 deg/s, cmd heading: 44.661822 deg, new cmd heading: 44.825789 deg. 2j;HeadingCmd: 0.782358 target range: 332.200012 and range: 310.90 m. jHH?jjj ihh!hihqfyffrfbfdd?ɛ=EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.010525 隕q?I E ɚiIhP=IHH?ibiOu)HH?)*F92F9:F9BF=4JF9GY G1 BA O] >ߠw,TAJWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.262471V9H?YV F?Vb=v9Vdh>yVHm?@' ?Vl?@?@{N?x??ɨV9H?Vy;TybBbJ$IMb@Mb@Mb@ )YS?+η~jty/?vj@ Ϋ@)ݸ@I @y3@IkI=4٢^< ;=9>   G٣ RBGy!; > Nusing accuracyPremultiplier from config%49o$@?%4Yf i|B%0?%:-%?-?M-D>;;篧41 5@1UB*** querying acoustic contact ***jQjQZjamFNOT Ignoring new targets: 332.20 m.Bjm ;Jjm ;} ProNav: ac range: 332.200012 m, nav range: 148.493988 m, bearing: 188.390273 deg, approach rate: 0.645994 m/s, LOS rate: 0.136430 deg/s, cmd heading: 44.825790 deg, new cmd heading: 44.992790 deg. 2j}C;HeadingCmd: 0.785272 target range: 332.200012 and range: 310.90 m. jI?jjjihhhh+Bfffrfbf@ M$?IMgɛQU= Y]?IY ]UYqɚYiI1;O=II?ii鋼)I?)zKKػ9KKyKBKqA:K*F2F:FBF_0JFG_GIBYO|>MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.514861w,fAF!x?YFF?FP:9F >yFH :?)?p? g?{# BR ??ɨF!x?FԈ;FxCynBrR$IIz]Iz$4٢= ]=9ŵ;Q >    G٣ y; > -Nusing accuracyPremultiplier from config-495@?-4Yvb i|B15%?5?]-D::]4=ՒB E@EEZjamFNOT Ignoring new targets: 332.20 m.Bjm;Jjm; ProNav: ac range: 332.200012 m, nav range: 148.717636 m, bearing: 188.437494 deg, approach rate: 0.604345 m/s, LOS rate: 0.127410 deg/s, cmd heading: 44.992789 deg, new cmd heading: 45.134239 deg. 2j;HeadingCmd: 0.787741 target range: 332.200012 and range: 310.90 m. jfI?jjjihhhhfffrfbf@ɛ= ?I [ɚiIM=IfI?ii#)fI?)*Fq2Fq:FqBFul0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.ձiյAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767352J JTJ1JJ+;J :J3Ja@a@a@a@ M$?IIHM>II IIIIIM; =&II.II6IM<:IMZ FGGiByO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020236.w,JAZ?YZ*G?Z3;9ZK>yZHQ? H-h?u??׻Uf`??ɨZ?Zy;ZyCyfBfS$IeMb@Mb@Mb@aaa a)aYe(\?{GzQye.?eףeue@ e@)e@Ieݸ@aye@IaI+4٢: A=9|;Q > G٣y; > Nusing accuracyPremultiplier from config549H@?54Y] i|B=R/?=:=i*?=?p-Dx<J<ý4A E@AZjFNOT Ignoring new targets: 332.20 m.Bj ;Jj ; ProNav: ac range: 332.200012 m, nav range: 148.969406 m, bearing: 188.492720 deg, approach rate: 0.563027 m/s, LOS rate: 0.123292 deg/s, cmd heading: 45.134238 deg, new cmd heading: 45.299636 deg. 2j:;HeadingCmd: 0.790628 target range: 332.200012 and range: 310.90 m. jfJ?jjjihhhh-Bff)f)rf)bf5G @ɛ}B}m= y}?Iy h@ɚiIzK] k3IK] h9KY K] zK] RKm >JKm >lw,f-юAR?YRSG?R7;9R? >yRH?.a? -y?$?@ЭTr?O?ɨR?R;Py^B^g$IIfoIfD4٢n.= nV=9rΔ;Q r>x| ~G٣~SBGy :  > 5Nusing accuracyPremultiplier from config1E495bZ@?M4Y5kY i5|BIM*?M?5-D5\;5\;5ħ4Y e@eEZjFNOT Ignoring new targets: 332.20 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:29:29.9956 TRx dataTimestamp_ set to:1736371771.336597checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523323BjU;JjU;e ProNav: ac range: 332.200012 m, nav range: 149.200409 m, bearing: 188.543277 deg, approach rate: 0.619766 m/s, LOS rate: 0.135431 deg/s, cmd heading: 45.299635 deg, new cmd heading: 45.451071 deg. 2je;HeadingCmd: 0.793271 target range: 332.200012 and range: 310.90 m. jK?jjjihhhhfffrfbfO_ @ɛ15Y= 9E6?IA (ɚiI'J=IK?itiV˱)K?)*F?2F:FBF0JFG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774909J3K3 K/.KK"KJ J AJ 0J J );J /:J ـ3J G B O > % $?I) ?w,ꎻAZHpRHr@AHtIt Iv$IIvBIt&It.It6Iv<:Iv Fy-B-v$II=eI=34٢Ue= UD=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu49ml@?u4YmT im{|Bq?m-Dm( UBDAT read: Tx time:21:29:31.0755 U$Ping request sent.UM'w,A6"?Y6H?6;96H>y6H9?=#?@? Sw?@yx?X?ɨ6"?6و;6wCBWill construct direction to contact in vehicle frame from tetrahedron phase data.FJDAT read: TxSync time:21:29:31.0748 yFɅBF$IMb@Mb@Mb@ )Ykt?x&y&1|y 0?7`j@ )7@I@y@IoID4٢)= A=9;Q > G٣y; >  Nusing accuracyPremultiplier from config 49@?4YO iq|B0?:/??-D5;;"ӧ4! %@%EMB*** querying acoustic contact ***jIjI $?I addTargetRange:: Added new target pos. range: 311.899994 m, deltaT: 4.034211 s, deltaX: 1.000000 m, approachRate: 0.247880 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 332.20 m.Bj;Jj; ProNav: ac range: 332.200012 m, nav range: 149.696442 m, bearing: 188.653882 deg, approach rate: 0.587061 m/s, LOS rate: 0.133485 deg/s, cmd heading: 45.610487 deg, new cmd heading: 45.782332 deg. 2j8;HeadingCmd: 0.799052 target range: 332.200012 and range: 311.90 m. jL?j!j!j!i!h!h!h)hMgBfQfQfQrfU`f~s@bfU?ɛB> ^?I *ɚiIaG=IL?i iJSż)L?)zKMBoIKMs9KIKM{KMBKUrA:KUrA*F?2F:FBFP5JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=Querying Benthos address 50 with one ping in standard two-way mode.G S&żG G rAGa Bi O >$Sw,A2?Y2VH?2%Թ;92+$>y2H ߰? D@`? "?k?|:w ??ɨ2?2ڈ;2xCy:ԅB:$IIFlIFm?4٢Nw= Rb=9RܺQ R>PT VG٣VTBGyVg; V>  Nusing accuracyPremultiplier from configX49ZS@?4YZK iZi|B70?%?Z-DZ~` Fe<隽V?I wɚiIF=I 6M?iB iRμ) 6M?)*FM?2FI:FIBFM_0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751117JJIJ1JJ7;JU:J3J IHI I$II BI&I.I6Iް<:Ix FG5ļG)B9OU>M Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005712#{w,8AF?YFl{H?F;9FM">yFH?E`k~?e?i? ɓv3?1?ɨF?F7;FzCy B $I =Mb@Mb@Mb@ )YzG? ףp= Mb`?y 7?Q8;@ @)@I @y׻@I4IV3٢ z= 9=9ɼQ > G٣y=: => MNusing accuracyPremultiplier from configAM49E@?U4YEF iEe|BUg7?U:Uz8?U?E-DE;E;Ee4a e.@aZjFNOT Ignoring new targets: 332.20 m.Bj,;Jj,; ProNav: ac range: 332.200012 m, nav range: 150.185532 m, bearing: 188.769646 deg, approach rate: 0.618139 m/s, LOS rate: 0.150403 deg/s, cmd heading: 45.928627 deg, new cmd heading: 46.129046 deg. 2jp;HeadingCmd: 0.805104 target range: 332.200012 and range: 311.90 m. jGN?jjjihhhhBfffrfbf?ɛBb> ?I [ɚiI2AD=I GN?i 0!i <) GN?)*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254462 $?IgGp6ϼG B O >  zK JK 9K K |K RK > AJK > E &YA yE EBbw,dRANٕ?YNI?Njs;9N">yNHh?QjȽ??|^?)J ^| -?`_?ɨNٕ?Nߐ;NyCyZBZ$IIf,If3٢-= -U=9-Jy;Q 5>11 5G٣1y=@; => ENusing accuracyPremultiplier from configAM49E@?M4YEzA iEa|BQU9?U?E-DE:E:E4Y ]@]EZjFNOT Ignoring new targets: 332.20 m.Bj(;Jj(; ProNav: ac range: 332.200012 m, nav range: 150.409271 m, bearing: 188.824239 deg, approach rate: 0.605025 m/s, LOS rate: 0.147406 deg/s, cmd heading: 46.129045 deg, new cmd heading: 46.292578 deg. 2jS;HeadingCmd: 0.807958 target range: 332.200012 and range: 311.90 m. jTN?jjjihhhhfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507967ɛ|> @I Oa(ɚiI̗B=I%TN?i%$"i%kq)-TN?))*F?2F:FBFJFG)GBOC> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758279J J HJ 0J J ,;J Е:J ـ3J I w,DlA:?Y:kI?: <9:$">y:HH?`W=??W?F 쿁`B? h?ɨ:?:F;:wCjHB<bHB<HDID IF %IIF.BIF: =&ID.ID6IF <:IF Fyn Bn$IIvYIv4٢~= M=9M;Q >    G٣ UBGy 6d; > Nusing accuracyPremultiplier from config%49@?%4Y< i]|B)5j9?5?-D7; 7;49 =@9ZjamFNOT Ignoring new targets: 332.20 m.Bjm'';Jjm'';} ProNav: ac range: 332.200012 m, nav range: 150.649628 m, bearing: 188.882849 deg, approach rate: 0.600264 m/s, LOS rate: 0.146139 deg/s, cmd heading: 46.292577 deg, new cmd heading: 46.468126 deg. 2j;HeadingCmd: 0.811022 target range: 332.200012 and range: 311.90 m. j O?jjjihhhhfffrfbf`{m?ɛB<> @I lpɚiI)@=I O?iv"i) O?)Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013967E9*F?2F:FBFJFG 9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262527G B O >w,8A:?Y:J?:"<9:#>y:H@?bX??J?`"@_?@.?ɨ:?:2;8yFBF$IJAJA u$?IyMb@Mb@Mb@ )YZd;?X9v~jtx?y>?; Ϋ@)7@Iyz@I_Ib(4٢= 4=90;Q > G٣y; > Nusing accuracyPremultiplier from config49@?4Yo6 iZ|B%??:-???.D8;;4 ӒB &@ E-B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 332.20 m.Bj=5;Jj=5;U ProNav: ac range: 332.200012 m, nav range: 150.930817 m, bearing: 188.954566 deg, approach rate: 0.621655 m/s, LOS rate: 0.158258 deg/s, cmd heading: 46.468127 deg, new cmd heading: 46.682876 deg. 2jU8;UHeadingCmd: 0.814770 target range: 332.200012 and range: 311.90 m. j]ÔP?jYjYjYiYhYhYhhBfffrfbf@ɛB > @I =M:ɚ9iAIE>=IEÔP?iM#iM`)MÔP?)IzK:IK9KK}KBK%qA:K%qAE=_<*F2F:FBFJFmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.514316G GGq By O >w,>A6 J?Y6J?6cC)<96 #>y6Hy?@s}? ?`:?@S(M? ח?ɨ6 J?6`;6vCyRBR$IIZXIZ4٢fj= f^=9j:Q j>ll nG٣pyr< r> vNusing accuracyPremultiplier from configtz49v@?z4Yv~1 ivW|Bx~??~?v.Dv ;v7 ;v44B @Zj)-FNOT Ignoring new targets: 332.20 m.Bj55;Jj55;E ProNav: ac range: 332.200012 m, nav range: 151.159073 m, bearing: 189.012916 deg, approach rate: 0.620366 m/s, LOS rate: 0.158347 deg/s, cmd heading: 46.682878 deg, new cmd heading: 46.857663 deg. 2jEX;MHeadingCmd: 0.817820 target range: 332.200012 and range: 311.90 m. jM\Q?jIjIjIiIhQhQhYhYfYfafarfabfe`@ɛBK"> 隕N@I m#;ɚiIs0==I\Q?iL'$i4")\Q?)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767436 u$?IugEIHI I<%IIWBI; =&I.I6IӰ<:Io FBIJIRIZI; =bI; =jIŞ4*F?2F:FBF`0JFG G Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022316GM ~G1 BA Om >!w,DA:Rn?Y:$K?:<<9:P#>y:Hk_? *?T?!?@ h6*_??ɨ:Rn?:5e;:wCyB(BB%IMb@Mb@Mb@ )Y{Gz?y&1|?Mb?yC?`;<@ @)d@I@y½@I1I1٢Ek= EB=9M9;Q M>II UG٣UVBGyU~-< U> ]Nusing accuracyPremultiplier from configYm49]A?m4Y]a+ iYmC?m:mM?m?]).D];];]4y }@}EZjEFNOT Ignoring new targets: 332.20 m.BjE?;JjE?;U ProNav: ac range: 332.200012 m, nav range: 151.416367 m, bearing: 189.086369 deg, approach rate: 0.588045 m/s, LOS rate: 0.167592 deg/s, cmd heading: 46.857662 deg, new cmd heading: 47.077647 deg. 2jU;}HeadingCmd: 0.821660 target range: 332.200012 and range: 311.90 m. jNXR?jjjihhhhBfffrfbf@W @ɛB>&> @I ;ɚ i I 9;=INXR?i$i!K)NXR?)!*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:29:33.9146 TRx dataTimestamp_ set to:1736371775.116707checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271482JJFJ1JJ.;Jǔ:J3JJzK JQJK h9K K ~K 'V w,8ԏAZi?YZ:L?Z0Q<9Z$>yZHF?m?g? 0 ?`FE% ?D?ɨZi?ZI;Xyj?Bj%IIrdIr?14٢z`= zQ=9zO;Q ~>1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.5224439 EG٣IyM-< M> UNusing accuracyPremultiplier from configQ]49UWA?]4YU% iQaeN?e?U=.DU ;U ;U 4mB mE@uEZjFNOT Ignoring new targets: 332.20 m.BjO;JjO; ProNav: ac range: 332.200012 m, nav range: 151.660355 m, bearing: 189.156341 deg, approach rate: 0.633929 m/s, LOS rate: 0.181509 deg/s, cmd heading: 47.077646 deg, new cmd heading: 47.287223 deg. 2j";HeadingCmd: 0.825318 target range: 332.200012 and range: 311.90 m. jHS?jjjihhhhfffrfbf b @ɛBs&>  @I! %m;ɚ!i!I%`9=I-HS?i-%i- o)-HS?)1*F?2F:FBF#5JFGdGB Will construct direction to contact in vehicle frame from tetrahedron phase data.U DAT read: 21:29:33.9146 LVL= 14672, 13153, 8930, 17011, AGC= 65, IDX= 115,-0.43,-0.161, 1.750, 2.333, 1.414, PHS=-1.487, 0.383, 0.916, RAW= 257.8, 1.8, CAL= 261.5, 2.9, ROT= 248.5, -2.9 ] Ygot valid direction response: 21:29:33.9146 LVL= 14672, 13153, 8930, 17011, AGC= 65, IDX= 115,-0.43,-0.161, 1.750, 2.333, 1.414, PHS=-1.487, 0.383, 0.916, RAW= 257.8, 1.8, CAL= 261.5, 2.9, ROT= 248.5, -2.9 e PDAT read: Bearing 248.5, -2.9 (Local) e ~Local bearing/azimuth received: Bearing 248.5, -2.9 (Local) I IQ m DAT read: Range 10 to 50 : 326.1 m (Round-trip 434.9 ms) speed 0.0 m/s } ,DAT read: user:1811> O > BDAT read: Tx time:21:29:35.0255  $Ping request sent. ~j? @ = @) 4QO=I Ɋ@i 4QO ng\G{?]~?) @I i C ?  :publishing transmit ping timeؙ  Fpublishing direction and range info 9 fٟ?1cҿӿPhy  ) I i ) I i ng\G{?]~?) I i ZH RH ?AH I  I a%II uBI &I .I 6I <:I FJ*w,A2?Y2dN?2k<92N&>y2H`$&?` ;?`b??vӾ?Ւ?ɨ2?2ɫ;2zCy^CB^$%IIf?IfT3٢< I=9;Q  >    G٣ ya< > =Nusing accuracyPremultiplier from config9E49=$A?E4Y= i=V|BIMEP?M?=Q.D=:=:=4Q U@yk=ZN?k=a8 k9 k=珻A:k= CBk=CZk=#@"=mYH$@H.tEY<]s=fٟ?1cҿӿPhJk= CRk=?*=OJiC@hN><`U$t=D.X ?|ʷqs ϟ"k=s*k=3Bk=(N?k=۰> 2k=#k=5?k9k=TUk=SBk=!sO@] addTargetRange:: Added new target pos. range: 326.100006 m, deltaT: 3.781451 s, deltaX: 14.200012 m, approachRate: 3.755176 m/s, rangeRepo size: 4  Added new target pos. range: 326.100006 m, bearing: 322.537927 deg, lat: 36.901787 deg, lon: -122.116154 deg, deltaT: 57.735819 s, deltaX: -6.100006 m, approachRate: -0.105654 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 326.10 m.BjMJjQ ProNav: ac range: 326.100006 m, nav range: 104.663712 m, bearing: 185.718651 deg, approach rate: 0.000000 m/s, LOS rate: 0.181509 deg/s, cmd heading: 47.287223 deg, new cmd heading: 47.515123 deg. 2jHeadingCmd: 0.829295 target range: 326.100006 and range: 326.10 m. jLT?j!UWill construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:21:29:35.0248 j!jihhhhfffrfat@bfS?ɛB /> 隭 @I <ɚiI47=ILT?i[I&i<)LT?)ErAE*FQ2FQ:FQBF]O5JFYGy G ?G +? Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BA O] >w,A6F?Y6vO?JLJLJN0JLJLJLJNـ3JLJLJLJLJL n $?Il6A<96U'>y6H}?@?@X5?@ ? ֹ (@M?g?ɨ6F?6t ;6vCyIIMb@Mb@Mb@ )Yq= ףp?l?YY ]G٣eWBGyeoB< e> uNusing accuracyPremultiplier from configq}49u7A?}4Yu iuW|B}K?}:[??ug.Du<;u;uW4 @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 326.10 m.Bj ;Jj ; ProNav: ac range: 326.100006 m, nav range: 104.921631 m, bearing: 185.851245 deg, approach rate: 0.603636 m/s, LOS rate: 0.309562 deg/s, cmd heading: 47.515123 deg, new cmd heading: 47.911922 deg. 2jsT<HeadingCmd: 0.836221 target range: 326.100006 and range: 326.10 m. jV?jjjihhhhBfffrfbf@?ɛB% 7> %;s;% @I! -[<ɚ)i)I-u5=I5V?i1i5N)5V?)9*F2F:FBF[0JFzKMKKKKMWill 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 +G B O- ><w,"A6}?Y6P?6b5<96->y6H .?`X ?O?C? |?%?ɨ6}?6;6wCyFEBF'%IINIINd4٢VRD< Vd=9V^:Q Z?X\ ^G٣\yb^< b> fNusing accuracyPremultiplier from configdj49fFA?j4Yf ifX|Bhj7\?n?fy.Df};f;fo 4p r@pZj  FNOT Ignoring new targets: 326.10 m.Bj;Jj;% ProNav: ac range: 326.100006 m, nav range: 105.123314 m, bearing: 185.955239 deg, approach rate: 0.579534 m/s, LOS rate: 0.298252 deg/s, cmd heading: 47.911923 deg, new cmd heading: 48.223302 deg. 2j%L<-HeadingCmd: 0.841655 target range: 326.100006 and range: 326.10 m. j-vW?j)j)j)i)h1h1h9h9f9fAfArfAbfE Q?ɛmBm&3> qu @Iq uiF8<ɚyiyI})3=I}vW?i%&i(~)vW?)Will construct direction to contact in vehicle frame from tetrahedron phase data.չiսAchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.955822*F?2F:FBF_0JF  $?IgGp.H>I Iz%IIBI&I.I6I<:I FGBOA>m Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.208835pw,CyjH?B? 9h?`^?չH? ?ɨj?j;jvCyvFBv(%IMb@Mb@Mb@ )Y(\?X9v?MbPyN?<@ )M@I @yf@IIM3٢Q; 8=9{;Q > G٣y < > Nusing accuracyPremultiplier from config49ZA?4Y iT|B;N?:[??.D;I;.(4B @ EZj15FNOT Ignoring new targets: 326.10 m.Bj=;Jj=;M ProNav: ac range: 326.100006 m, nav range: 105.383774 m, bearing: 186.088311 deg, approach rate: 0.586364 m/s, LOS rate: 0.298839 deg/s, cmd heading: 48.223301 deg, new cmd heading: 48.621523 deg. 2jMMY?jQjQjQiQhQhYhYheBfafafarfabfmk?ɛ"> 隝[ @I -X<ɚiI1=I8>Y?i'i)8>Y?)*Fu?2Fq:FqBFqJFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.458025 IJJHJ1JJ,;JЕ:J3JJ<J<J;J;G}GQ BY O} >zK ĂKK K K K RK ?JK !? Mw,;VA2,?Y2\S?21<92&*>y2H ?& 7? &?r?奓*??ɨ2,?2;2xCy>EBJ&%IIfPIf 4٢v" z\=%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7110549eF;Q e>ii mG٣mXBGyu< u> Nusing accuracyPremultiplier from config49kA?4Y iO|Bl]??.DP:.:/4 @Zj)UFNOT Ignoring new targets: 326.10 m.Bj];Jj];m ProNav: ac range: 326.100006 m, nav range: 105.612587 m, bearing: 186.205870 deg, approach rate: 0.571387 m/s, LOS rate: 0.292930 deg/s, cmd heading: 48.621521 deg, new cmd heading: 48.973430 deg. 2jm I )-6 @I) UWv<ɚQiQIU/=I]Z?i]t(i])]Z?)aEHu<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963145*Fm ?2Fi :Fi BFu ]0JFq $?I jH bH 4<H I  I %II BI : =&I .I 6I <:I FG GBO> w,uAFA?YFT?FC<9F)>yFH%?J; ?'?`]? 'P`疿?@?ɨFA?Fe;DyRDBR%%II^XI^4٢jaպ n+=9r;Q v>Ya eG٣Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216477y < > =Nusing accuracyPremultiplier from config1495ȁA?4Y5 i5H|B^??5.D5<5N<574 @ EZjQUFNOT Ignoring new targets: 326.10 m.Bj]j;Jj]j; ProNav: ac range: 326.100006 m, nav range: 105.905548 m, bearing: 186.356585 deg, approach rate: 0.563774 m/s, LOS rate: 0.289233 deg/s, cmd heading: 48.973430 deg, new cmd heading: 49.424313 deg. 2jF<HeadingCmd: 0.862617 target range: 326.100006 and range: 326.10 m. jx\?jjjihhhhfffrfbfƣ@ɛEBEk> IM> @II M^<ɚIiIIMd-=IUx\?iUH)i}%W)}x\?)EUqZ;*F?2F:FBF_0JF} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465797 9 IA J J LJ 0J J +;J :J ـ3J J =<J =<J l;J l;G Gq By O >)= = = CJ#w,ՎALT` vjYtyv}BVw?Y'U?<9s*>yH8t?]R ?ݺ?@B?`ڷ3?`V?ɨVw?;yCy-7B-%IMb@Mb@Mb@ )Y rh?ˡE?Mb`yCK?'=@ )d@I7@y @ISI4٢%)) 5G٣1y57< 5> ENusing accuracyPremultiplier from config9E49=ܒA?M4Y= i=B|BMK?M:Mc?M?=.D=f;=;=>4Y ]@]EuB*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 326.10 m.Bj;Jj; ProNav: ac range: 326.100006 m, nav range: 106.134750 m, bearing: 186.477908 deg, approach rate: 0.607748 m/s, LOS rate: 0.321003 deg/s, cmd heading: 49.424314 deg, new cmd heading: 49.787492 deg. 2jM\<zK:IK 9KKKBK:KrA-HeadingCmd: 0.868956 target range: 326.100006 and range: 326.10 m. j-s^?j)j)j)i1h1h1h1h=Bf9f9f9rf9bfE@ɛ15˪-> 9= @I9 =<ɚ9i9I=u+=Is^?i{d*in)s^?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718207EE*E"EE*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=2.970723 = $?I9 G-G5?G5?G!H5>I1 I5t%II5BI1&I1.I16I5<:I59 FBiO?J+w,S]AN8 ?YNX?NZj<9N*>yNH1?`"[? ?@?b`'??ɨN8 ?N;NwCyV*BZ%IIVIn4٢%)1 5G٣5YBGy=< E> MNusing accuracyPremultiplier from configIU49MŦA?U4YM) iM9|BY]e?]?M.DM!;M!;M)G4a et@eEZjFNOT Ignoring new targets: 326.10 m.Bj;Jj; ProNav: ac range: 326.100006 m, nav range: 106.403244 m, bearing: 186.622120 deg, approach rate: 0.564933 m/s, LOS rate: 0.302669 deg/s, cmd heading: 49.787493 deg, new cmd heading: 50.219029 deg. 2jO<HeadingCmd: 0.876487 target range: 326.100006 and range: 326.10 m. jza`?jjjihhhhfffrfbff @ɛBث(>  @I gD<ɚiI5)=I za`?i ~?+i / ) za`?)*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227478G-gG B O= >12w,34ɐA&Will construct direction to contact in vehicle frame from tetrahedron phase data.*BDAT read: Rx Time:21:29:37.8649 *TRx dataTimestamp_ set to:1736371779.153759*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480074 PIVg^j!?Y^y^H` ??`??赿Π c?\?ɨ^j!?^k;\yfBf$IuMb@Mb@Mb@qqq q)qYush|??S㥛? G٣yj< > Nusing accuracyPremultiplier from config49A?4Y i+|BJ?:{c??/D;;+O4MB M(@UEZjFNOT Ignoring new targets: 326.10 m.Bj|;Jj|; ProNav: ac range: 326.100006 m, nav range: 106.662354 m, bearing: 186.757745 deg, approach rate: 0.550812 m/s, LOS rate: 0.287607 deg/s, cmd heading: 50.219027 deg, new cmd heading: 50.624904 deg. 2jaE<HeadingCmd: 0.883571 target range: 326.100006 and range: 326.10 m. j1b?jjjihhhhBf f f rf bf9 @ɛY]!> Ye@Ia <ɚiIm'=I1b?iW9,iz)1b?)zKk3IKػ9KKK!$#! RK?JK ?*Fy2Fy:FyBF}j0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.731852G G B O >[8w, 㐻AJ'F#?YJ[?J`I=9J->yJH&?`C?3??I(h@Dž??ɨJ'F#?J;JxCyVBV$II^gI^64٢f fi=9fhh jG٣hyn< n? rNusing accuracyPremultiplier from configpv49rA?v4YrP ir|Bxzd?z?r/Dra:r:r U4 /@Zj)-FNOT Ignoring new targets: 326.10 m.Bj5M;Jj5M;E ProNav: ac range: 326.100006 m, nav range: 106.851898 m, bearing: 186.857435 deg, approach rate: 0.583841 m/s, LOS rate: 0.306523 deg/s, cmd heading: 50.624905 deg, new cmd heading: 50.923441 deg. 2jE]R 隕@I <ɚiI%=I3c?ic,iI)3c?)*F2F:FBF[5JFG! G!UWill construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: Range 10 to 50 : 326.3 m (Round-trip 435.1 ms) speed 0.0 m/s u,DAT read: user:1812> }BDAT read: Tx time:21:29:38.9756 $Ping request sent.ZHRHAAHI IN%IIfBI&I.I6I<:I FBIiJIiRIiZIm: =bIijIms4 Will construct direction to contact in vehicle frame from tetrahedron phase data.- JDAT read: TxSync time:21:29:38.9749 1>w,AynBn$I}Mb@Mb@Mb@yyy y)yY}NbX9?~jtxI +y}E?}Ļ}9}@ }@)yIyyy}@IhIV84٢| ==9Q > G٣ZBGy > Nusing accuracyPremultiplier from config49qA?4Y i |BE?:[??(/D;;\4 C@E addTargetRange:: Added new target pos. range: 326.299988 m, deltaT: 4.032987 s, deltaX: 0.199982 m, approachRate: 0.049586 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 326.10 m.Bj;Jj%;5 ProNav: ac range: 326.100006 m, nav range: 107.099724 m, bearing: 186.977378 deg, approach rate: 0.570410 m/s, LOS rate: 0.275430 deg/s, cmd heading: 50.923442 deg, new cmd heading: 51.282435 deg. 2j5=<=HeadingCmd: 0.895047 target range: 326.100006 and range: 326.30 m. j=!e?j9j9j9i9h9hAhAhEρBfAfIfIrfMdt@bfU`q?ɛ'> 隍@I i<ɚiIr($=I!e?i-ins&)!e?)*F2F:FBFQ5JFUWill construct direction to contact in vehicle frame from tetrahedron phase data. }$?IGG B O >zKU MKU 9KQ KU KU  C<zrC$wEw,NABKrA:K6&?Y6N_?6$=96df&>y6H?` @ ?i|?xw?`=ٲ?`?ɨ6&?6;6uCy>B>$IIJJIJ)4٢N" R\=9R8=TX ZG٣XyZ= Z> ^Nusing accuracyPremultiplier from config\b49^ A?f4Y^ i^{Bdf^?f?^;/D^ ;^u ;^ c4h jC@lzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 326.10 m.Bj 6;Jj 6; ProNav: ac range: 326.100006 m, nav range: 107.310272 m, bearing: 187.081486 deg, approach rate: 0.567658 m/s, LOS rate: 0.280134 deg/s, cmd heading: 51.282437 deg, new cmd heading: 51.594144 deg. 2j@@<%HeadingCmd: 0.900488 target range: 326.100006 and range: 326.30 m. j%\f?j!j!j!i!h!h)h)h)f)f1f1rf1bf5]?ɛ]BWill 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> @I Ϙ<ɚiI"=I%\f?i%.i%~?)%\f?))*F2F:FBFV0JFGw!GiBO=> Y Ia m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006045J1 J5 OJ1 J1 J1 J5 q:J1 J1 H I  I %II =BI &I .I 6I <:I R FіKw,0ARD)?YRWa?RA.=9R*>yRHNS?6_?@?9!! -G٣)y-o< -> 5Nusing accuracyPremultiplier from config1=495KA?E4Y5d i5{BAE`?E?5O/D5;5;5hj4MB M@UEZjq}FNOT Ignoring new targets: 326.10 m.Bj;Jj; ProNav: ac range: 326.100006 m, nav range: 107.544113 m, bearing: 187.198673 deg, approach rate: 0.561704 m/s, LOS rate: 0.280880 deg/s, cmd heading: 51.594142 deg, new cmd heading: 51.944935 deg. 2j@<HeadingCmd: 0.906610 target range: 326.100006 and range: 326.30 m. jh?jjjihhhhfffrfbf`߇?ɛ(> ?I <ɚiI =Ih?i?/i)h?)Ea>E*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=1.261904GU#G1B9O]> ] $?Ia Rw,6JAWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510669>c+?Y>c?>];=9>.>y>H?`Y`}??@ ?ga?`?ɨ>c+?>n3;>tCyFȅBF$I%Mb@Mb@Mb@!!! !)!Y%S?~jtV-y%/=?%%%@ %@)%@I%Ʒ@!y!I=:I=3٢Ex MF=9M;Q U>QQ UG٣U[BGy]< ]> eNusing accuracyPremultiplier from configa49e B?4YeF ie{Bd=?:_??ec/Dea;JjU>;e ProNav: ac range: 326.100006 m, nav range: 107.767128 m, bearing: 187.308097 deg, approach rate: 0.515102 m/s, LOS rate: 0.252215 deg/s, cmd heading: 51.944934 deg, new cmd heading: 52.272522 deg. 2j-<HeadingCmd: 0.912328 target range: 326.100006 and range: 326.30 m. jNi?jjjihhhhBfffrfbf` ?ɛ ߁B%l$> !%?I! -\<ɚ)i)I-4/=I5Ni?i5B/i5i)5Ni?)9*F?2F:FBFJFG GzK9NK]9KKKcI'BOb>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762350Xw,QdA2v,?Y2Ge?2K=920>y2H? kg?` ?F?{?`|?ɨ2v,?2؇;2vCyRBRx$IIZsIZK4٢b bT=9f.dd jG٣hyjL< j> rNusing accuracyPremultiplier from configlv49nB?v4Yn in{BxzR`?z?nu/Dn\(;ng;nTx4| ~@EZj!-FNOT Ignoring new targets: 326.10 m.Bj-o;Jj-o;E ProNav: ac range: 326.100006 m, nav range: 107.975197 m, bearing: 187.410604 deg, approach rate: 0.570506 m/s, LOS rate: 0.280524 deg/s, cmd heading: 52.272524 deg, new cmd heading: 52.579449 deg. 2jE@ 隕0?I <=ɚiIκ=I_j?ivl0iݪ)_j?) I gUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015305*F?2F:FBFJF*J C="J 4=JJGJJJ4.;JK:JJjHAbHE<HM>II IM$IIM BII&II.II6IM<:IM FGa&GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269782^w,9~Az;-?Yz f?z'\=9z81>yzH`i?;z?? y?@ `?@x?ɨz;-?z;zuCy B h$IMb@Mb@Mb@ )Yl?/$S㥛y7?,/ݼK@ )Iݸ@yQ@IIb4٢wy 9=9? G٣y5 < >  Nusing accuracyPremultiplier from config49,B?4YG i{B7?:X??/D;;4! %e@!ZjQUFNOT Ignoring new targets: 326.10 m.Bj];Jj];m ProNav: ac range: 326.100006 m, nav range: 108.213936 m, bearing: 187.520928 deg, approach rate: 0.538465 m/s, LOS rate: 0.248281 deg/s, cmd heading: 52.579449 deg, new cmd heading: 52.909686 deg. 2jmd* ?I p" =ɚiI.=Igl?i.%1i)gl?)E*Fe?2Fi:FiBFmo0JFiGq GusA $?I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.519197G-TG1G5rAG B O- >few,A6>.?Y6#g?6Xri=96:2>y6H@?? 4?@0?H?*`6?@7v?ɨ6>.?6Lj;6sCyBBBF$I Fp=DIJpIJF4zKNFLKN 9KLKNKN٢Z  Za=9^\` bG٣b\BGyb$>< b> jNusing accuracyPremultiplier from configdj49f ;B?j4Yf" ifj{BlnY?n?f/Df ;fu ;fi4p v@v~EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 326.10 m.Bj;Jj; ProNav: ac range: 326.100006 m, nav range: 108.409065 m, bearing: 187.611369 deg, approach rate: 0.516264 m/s, LOS rate: 0.238855 deg/s, cmd heading: 52.909685 deg, new cmd heading: 53.180518 deg. 2j#<HeadingCmd: 0.928175 target range: 326.100006 and range: 326.30 m. jm?jjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770425hhhhfffrfbf@9@ɛm݁Bmم+> 隕5?I %=ɚiI=Im?iT1i1)m?)*F-?2F):F)BF-0JF1Gmr IGI BY m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022438O >J! J% BAJ3KO3 K(.KK"KJ- J- JJ- 0J) J- ,;J- ٖ:J- ـ3J) HA IA  IE $IIE ؅BIA &IA .IA 6IE <:IE FBkw, AFw/?YFI$h?Ftx=9F^3>yFH*?t@F?`'?[?ꮿ` @C?s?ɨFw/?Fֈ;FwCy^}B^1$IIfIfb4٢n쥽 nG=9rpp rG٣tyv< v> ~Nusing accuracyPremultiplier from configx~49zLKB?4YzP izI{B  [? ?z/Dz!E;z5;z4 *@Zj9EFNOT Ignoring new targets: 326.10 m.BjE;JjE;] ProNav: ac range: 326.100006 m, nav range: 108.628731 m, bearing: 187.713455 deg, approach rate: 0.556840 m/s, LOS rate: 0.258258 deg/s, cmd heading: 53.180519 deg, new cmd heading: 53.486153 deg. 2j]=1 隭)?I d=ɚiIu=Izn?iu2iI)zn?)*FU?2FQ:FQBFU[5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:29:41.7997 TRx dataTimestamp_ set to:1736371782.936921checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275692G5G BO5> $?I rw,ƿˑAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526353:'l0?Y:h?:=9:{1>y:H@? `?@5?0?%Ĭu]8?@t?ɨ:'l0?:;:sCyFtBJ&$I%Mb@Mb@Mb@!!! !)!Y%S?x&+y%/?%7%%5@ !)%@I!!y%@I=tI=M4٢M( MD=9MQQ UG٣Yy]; ]> mNusing accuracyPremultiplier from configau49e[B?u4YeϬ ie!{B 90?:R?%?e/DIevAe[ u<=?I \=ɚiII=IM@p?iM&\3iM )M@p?)QEYEY*F?2F :F BF _5JF "G=Ga=zKK+9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778316G MG B O- >xw,N呻AygB$I A AII{4٢E EK=9EQ M>QQ UG٣U]BGy] ]> eNusing accuracyPremultiplier from configam49eikB?m4Ye iezBiim?e/De:ea:e웨4y }@yZjFNOT Ignoring new targets: 326.10 m.Bj;Jj; ProNav: ac range: 326.100006 m, nav range: 109.062073 m, bearing: 187.900385 deg, approach rate: 0.594132 m/s, LOS rate: 0.255101 deg/s, cmd heading: 53.771422 deg, new cmd heading: 54.045822 deg. 2j/<HeadingCmd: 0.943278 target range: 326.100006 and range: 326.30 m. jzq?jjjihhhhfffrfbfH@ɛ9EX0> AE?IA M"=ɚIiIIM#= e$?IegImzq?iu!4iu)}zq?)y5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:29:41.7997 LVL= 20976, 20193, 15826, 29075, AGC= 64, IDX= 280,-0.14, 1.984,-2.080,-1.983,-2.600, PHS=-1.611, 0.567, 0.614, RAW= 268.9, 4.0, CAL= 272.4, 5.2, ROT= 237.6, -5.2 Ygot valid direction response: 21:29:41.7997 LVL= 20976, 20193, 15826, 29075, AGC= 64, IDX= 280,-0.14, 1.984,-2.080,-1.983,-2.600, PHS=-1.611, 0.567, 0.614, RAW= 268.9, 4.0, CAL= 272.4, 5.2, ROT= 237.6, -5.2 PDAT read: Bearing 237.6, -5.2 (Local) ~Local bearing/azimuth received: Bearing 237.6, -5.2 (Local) DAT read: Range 10 to 50 : 314.9 m (Round-trip 419.9 ms) speed -0.3 m/s ,DAT read: user:1813> BDAT read: Tx time:21:29:42.9256 $Ping request sent.j?11:publishing transmit ping timeH>I Ig$IIBI&I.I6I<:I FFpublishing direction and range info195]Yk]?=&bn!y1111 1)1I1i11111 1)1I1i1115=*XRhx?#+?)1I1i1111GuwG1 BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data.b%w,AE72?Yj?V=90>yHk?@;?U?a|?v3 ?ms?ɨE72?7F;wCy]VB]$I]Mb@Mb@Mb@YYY Y)YY](\?EԸL7A`堿y]'?]ƽ]+Y ]@)]/@I]@Yy]=@IdI?14٢ 5=9a G٣y~< > Nusing accuracyPremultiplier from config49}B?4Y izB)?:G??/D;;ɣ4 @vEk]%:?k]V= kY k]P쑻A:k]sCBk]ZCZk]>iX@"]cP!@c(Ci~h͈s]]Yk]?=&bn!Jk]Rk]>j?*]]iZ8ur\gs]w̳ޕ].l"k]*k]k]x:?k]> 2k];wk]x:?k]> k]Xqk]Ak]AiX@5 addTargetRange:: Added new target pos. range: 314.899994 m, deltaT: 4.035698 s, deltaX: -11.399994 m, approachRate: -2.824789 m/s, rangeRepo size: 4 M Added new target pos. range: 314.899994 m, bearing: 193.741289 deg, lat: 36.902541 deg, lon: -122.116050 deg, deltaT: 8.068685 s, deltaX: -11.200012 m, approachRate: -1.388084 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 314.90 m.BjUJjQe ProNav: ac range: 314.899994 m, nav range: 25.071823 m, bearing: 193.741328 deg, approach rate: 0.000000 m/s, LOS rate: 0.255101 deg/s, cmd heading: 54.045822 deg, new cmd heading: 54.394568 deg. 2jamHeadingCmd: 0.949364 target range: 314.899994 and range: 314.90 m. jm s?jijijqiqhqhqhyh}`Bfyfyfyrf`fs@bf!?ɛفB@> 隵?I 8F)=ɚiI=I s?i"5iL) s?) AIA*Fy2Fy:FyBF}]0JFy=Will construct direction to contact in vehicle frame from tetrahedron phase data.JJKJJJ.;J^:JJJ\ w,QA:3?Y:|k?:=9:9/>y:H!J? @? n?]?WM? 5s?ɨ:3?:^;:sCyFQBF#IIRaIR+4٢Z Zq=9Z;Q Z?zK^k3IK^9K\K^K^\d fG٣dyjs< j? nNusing accuracyPremultiplier from configlr49nuB?r4Ynޝ inzBtvH?v?n/Dn:nj:n4x z@xB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 314.90 m.Bj-]<Jj-]<= ProNav: ac range: 314.899994 m, nav range: 25.263432 m, bearing: 194.004102 deg, approach rate: 0.570421 m/s, LOS rate: 0.776346 deg/s, cmd heading: 54.394568 deg, new cmd heading: 55.176859 deg. 2j=3=EHeadingCmd: 0.963018 target range: 314.899994 and range: 314.90 m. jEWv?jAjAjAiAhAhIhIhIfIfQfQrfQbfUK?ɛ}؁Bv&4> 隅?I 4-=ɚiIg=IWv?iiϓ9)Wv?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.)EoM;E]>E >*F?2F:FBFZ0JFG G =$?I9M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.982013H >I  I ;$II BI &I .I 6I <:I FBIJIRIZIbI: =jIʛ 4G GG B O >hw, 4A>#4?Y>Ym?>%=9>5P0>y>H&?@~(?`Ԇ?>?@B ?@p?ɨ>#4?>Y;>uCyJOBJ#I N=N=IRGIR3٢Zֻ ZC=9^];Q b> G٣y-AJ< 5> ENusing accuracyPremultiplier from configAu49E6B?u4YE iEzBq}#J?}?E0DEQ  ?I 4=ɚiIN'=I8z?ii2G_)8z?)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.234753Ep<*F12F9:F9BFE_0JFAG-s2GBO5> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4859706Jw,}MAJ2J2QJ0J0J22;J2z:J0J0J2<J2<J2;J2;N5?YN@n?N"=9N/>yNH? G?`?@*?P`5?&p?ɨN5?Nh;LyJB#IMb@Mb@Mb@ )Yy&1?Q롿y`%?̽\K@ ?@)S@Iݸ@y3@I^I&4٢'¼ 8=9W;Q >    G٣ ^BGy< > %Nusing accuracyPremultiplier from config%49ǫB?%4Yc iVzB-'?-:-~I?-?0D';s;˸41 =I@9ZjaeFNOT Ignoring new targets: 314.90 m.Bjm[<Jjm[< ProNav: ac range: 314.899994 m, nav range: 25.744993 m, bearing: 194.650091 deg, approach rate: 0.586119 m/s, LOS rate: 0.767984 deg/s, cmd heading: 56.154182 deg, new cmd heading: 57.096423 deg. 2j=HeadingCmd: 0.996521 target range: 314.899994 and range: 314.90 m. j?jjjihhhhdBfffrfbfɼ?ɛՁB\*> ?I k8:=ɚiI=I?ii'5)?)EE*E"EzKBHKKKK-|iJ;,*4M\[L4]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.738753*F5?2F1:F9BF9JF9Gu ^D8GQ Ba O >w,8jA $?IgVFW6?YVn?V?=9Vĩ0>yVH`?@Wl??] ?-y3?l?ɨVFW6?VՈ;VvCybLBb#IIjIjm4٢%; %E=9-)) -G٣1y5; 5> ENusing accuracyPremultiplier from configAM49EB?M4YE\ iE*zBIMJ?M?E'0DE:E.:E4]ޒB ]'@]oE}Will construct direction to contact in vehicle frame from tetrahedron phase data.yi}Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.990321ZjFNOT Ignoring new targets: 314.90 m.BjL<JjL< ProNav: ac range: 314.899994 m, nav range: 25.976799 m, bearing: 194.951676 deg, approach rate: 0.555222 m/s, LOS rate: 0.715910 deg/s, cmd heading: 57.096423 deg, new cmd heading: 57.993029 deg. 2j<HeadingCmd: 1.012169 target range: 314.899994 and range: 314.90 m. jĎ?jjjihhhhfffrfbf5@ɛԁBp)> ?I $@=ɚiI=IĎ?i i ћ) Ď?) EH>I I$IImBI&I.I6Iذ<:Iv F*F?2F:FBF0JF"G=G=GmDGABIOe4>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243974 w,A2t7?Y2F}o?28=92V2>y2H?' ? ?i?@9@y? Nh?ɨ2t7?2j4;2uCyNJBR#ITTeMb@Mb@Mb@aaa a)aYeNbX9?Zd;O:vye%?ejeԼeb@ a)aIaaye@I}qI}JH4٢  C=9V;Q > G٣_BGyt; > Nusing accuracyPremultiplier from config49B?4Y= izBn'?:RM??80D;S;\Ǩ4 C@ZjFNOT Ignoring new targets: 314.90 m.BjYO<JjYO<  ProNav: ac range: 314.899994 m, nav range: 26.208952 m, bearing: 195.256164 deg, approach rate: 0.557799 m/s, LOS rate: 0.725115 deg/s, cmd heading: 57.993033 deg, new cmd heading: 58.898324 deg. 2j<HeadingCmd: 1.027970 target range: 314.899994 and range: 314.90 m. j?jjjihh!h!h%hBf!f)f)rf)bf-@ɛ]ҁB]>+> Y]?IY eF=ɚaiaIe=Im?iiim`)m?) !I)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494421*F2F:FBF0JFJMJMEJIJIJMT1;JMB:JIJIJM<JM<JM';JM';GbG B O >zK NK +9K K K " BK% pA:K! = Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745998"w,F띒Ab8?Ybup?bo=9b;6>ybH? [$Ф?@ ??@A7ǵ?a?ɨb8?bs;bvCyjOBj#II I _v4٢j< R=95o;Q 5>11 =G٣9y=/< => MNusing accuracyPremultiplier from configAM49EOB?U4YEo iEyBQUrN?U?EH0DE:E:E/Ψ4Y e@elEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 314.90 m.Bj"H<Jj"H< ProNav: ac range: 314.899994 m, nav range: 26.425943 m, bearing: 195.537877 deg, approach rate: 0.543553 m/s, LOS rate: 0.699882 deg/s, cmd heading: 58.898326 deg, new cmd heading: 59.736464 deg. 2j)<=HeadingCmd: 1.042598 target range: 314.899994 and range: 314.90 m. j=s?j9j9j9i9h9hAhAhAfAfIfIrfIbfM@ɛсBe.> 隽?I fK=ɚiIɀ=Is?ii)s?)*F?2F:FBF`5JFG5; $?I GBOb>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998073HI I$IIcBI; =&I.I6IB<:I FKw,eŷA:69?Y:q?:O=9:;>y:H@^?p0@G? ?`?@@IB?X?ɨ:69?:;:sCyRRBR#IIZzIZ=X4٢bt< fP=9fJ;Q f>hh jG٣hyj9< n> rNusing accuracyPremultiplier from configpv49rB?v4Yr iryBtvO?z?rX0Dr:r:rը4| ~@|Zj!%FNOT Ignoring new targets: 314.90 m.Bj-SO<Jj-SO 隭?I fOQ=ɚiI a =IO?iiuҽ)uO?)yEEsAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:29:45.7863 TRx dataTimestamp_ set to:1736371786.969154 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252004*F5?2F1:F9BF=5JFAGeqA GerAGm孽 IGi By O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iա  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502228J J HJ 1J J .;J Е:J 3J J <J <J ;J ;4w,ђAy|| ==Mb@Mb@Mb@ )YFx? rh{Gzy+?Cף@ V@)@I@y@IyIxV4٢s <=9Q > G٣y > Nusing accuracyPremultiplier from config49+B?4Yy iyB,?:uY??k0D_;;ܨ4ݒB iEZjFNOT Ignoring new targets: 314.90 m.BjZ<JjZ< ProNav: ac range: 314.899994 m, nav range: 26.887901 m, bearing: 196.153609 deg, approach rate: 0.562644 m/s, LOS rate: 0.765721 deg/s, cmd heading: 60.568171 deg, new cmd heading: 61.567471 deg. 2j`=HeadingCmd: 1.074555 target range: 314.899994 and range: 314.90 m. j?jjjihhhhBfffrfbfg @ɛ́B5k,> 15?I1 =W=ɚ9i9I=) =IE?iAiE?F)E?)I*F?2F:FBF*3JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK&`KK9KKKDAT read: 21:29:45.7863 LVL= 18400, 14577, 12338, 19059, AGC= 67, IDX= 108, 0.42,-0.596, 1.664, 1.731, 1.090, PHS=-1.598, 0.621, 0.638, RAW= 269.6, 3.1, CAL= 272.6, 3.9, ROT= 237.4, -3.9 Ygot valid direction response: 21:29:45.7863 LVL= 18400, 14577, 12338, 19059, AGC= 67, IDX= 108, 0.42,-0.596, 1.664, 1.731, 1.090, PHS=-1.598, 0.621, 0.638, RAW= 269.6, 3.1, CAL= 272.6, 3.9, ROT= 237.4, -3.9 PDAT read: Bearing 237.4, -3.9 (Local) ~Local bearing/azimuth received: Bearing 237.4, -3.9 (Local) G8uĽDAT read: Range 10 to 50 : 342.3 m (Round-trip 456.5 ms) speed 0.0 m/s ,DAT read: user:1814>  BDAT read: Tx time:21:29:46.8756  $Ping request sent. Ii )Iii T(?۽.8?)Ii $?I ]`w,뒻Ayn]Bn $IIvIvt4٢Ks=  V=9 Q >1 5G٣5`BGy9 => ENusing accuracyPremultiplier from configAM4]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:21:29:46.8749 9EC?e4YEt iEhyBiim?E{0DE;EC;E^4q u@yk=8?k=D k9 k=7RޒA:k=&CBk=CZk=iM@"=[G!@EyTBa)Au=?HWQ?efg" yJk=Rk=s?*=Z-c@}:38pLu=yk)I9{0ߪ"k=*k=}k=t8?k= 2k= k9k9k=;wk=Ak=n[@UaddTargetRange::Rejecting new target range. Approach rate out of bounds. range: 342.299988 m, deltaT: 3.781380 s, deltaX: 27.399994 m, approachRate: 7.246030 m/s, rangeRepo size: 4ZjY]FNOT Ignoring new targets: 314.90 m.Bj]EL<JjeEL<ZHRH@AHI I$IIhBI: =&I.I6I<:I F ProNav: ac range: 314.899994 m, nav range: 27.106081 m, bearing: 196.447120 deg, approach rate: 0.535316 m/s, LOS rate: 0.714345 deg/s, cmd heading: 61.567469 deg, new cmd heading: 62.440843 deg. 2j<HeadingCmd: 1.089798 target range: 314.899994 and range: 314.90 m. j~?jjjihhhhfffrfdu@bf]?ɛ=ˁB=6> AEv?IA EG]=ɚAiAIml =Iu~?iqiu)u~?)y*FE?2FA:FABFE^0JFA Will construct direction to contact in vehicle frame from tetrahedron phase data.G RCͽGi B O >9Gw,y\A6PA??Y6"w?6=96k7S>y6H?x?8A? < G٣yh= > Nusing accuracyPremultiplier from config49C?4Yn i@yBU2?:`??0D;8;4  @dEZjFNOT Ignoring new targets: 314.90 m.Bjp<Jjp< ProNav: ac range: 314.899994 m, nav range: 27.344990 m, bearing: 196.781670 deg, approach rate: 0.605978 m/s, LOS rate: 0.841149 deg/s, cmd heading: 62.440845 deg, new cmd heading: 63.435622 deg. 2jQ= HeadingCmd: 1.107160 target range: 314.899994 and range: 314.90 m. j o?j j j i hhhh݁Bfffrfbf%B?ɛMʁBMJ?> IU?IQ UYc=ɚQiQIU =I]o?iYi])eo?)aEuR>Eu> $?Ig*F ?2F :F BF _0JF "G>G,>Will construct direction to contact in vehicle frame from tetrahedron phase data.G -۽)=*J%R="J%= !CJJIJJJ4.;JU:JJJC<JD<J;J;5tAA =Y=5tAy=BG1BIO\>= Will construct direction to contact in vehicle frame from tetrahedron phase data.pw,i5AzK.k3IK.+9K,K.K.:B?Y:/{?:ڭ=9:zW>y:H?@h@(?`b??pG`?-?ɨ:B?:Y%;8yBpBB $IIJVIJn4٢r< vU=9vƻQ v>tx zG٣xyz7= z> Nusing accuracyPremultiplier from config 49%C? 4Yi iyB   d? ?0D: :T49 =@9UB*** querying acoustic contact ***jQjQZjFNOT Ignoring new targets: 314.90 m.Bjc`<Jjc`< ProNav: ac range: 314.899994 m, nav range: 27.564102 m, bearing: 197.091319 deg, approach rate: 0.559720 m/s, LOS rate: 0.784701 deg/s, cmd heading: 63.435621 deg, new cmd heading: 64.357098 deg. 2j=HeadingCmd: 1.123243 target range: 314.899994 and range: 314.90 m. joƏ?jjjihhhhff f rf!bf%YW?ɛȁB":> ?I i=ɚiIb=IoƏ?ii)oƏ?)*F?2F:FBFJF IG GyBO^>Will construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՑT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.HI I)$IIwBI; =&I.I6I:I/w,V 9A>F?Y>T~?>]=9>b>y>HU?J?? v?: k@??ɨ>F?>Y;tt vG٣vaBGyz*= z> ~Nusing accuracyPremultiplier from config|49~|3C?4Y~c i~xB  h? ?~0D~:~:~_4ܒB `@aEZjAMFNOT Ignoring new targets: 314.90 m.BjMj<JjMj<] ProNav: ac range: 314.899994 m, nav range: 27.792959 m, bearing: 197.418981 deg, approach rate: 0.578036 m/s, LOS rate: 0.820775 deg/s, cmd heading: 64.357095 deg, new cmd heading: 65.331890 deg. 2j] =eHeadingCmd: 1.140257 target range: 314.899994 and range: 314.90 m. je?jajijiiihihihqhqfqfqfrfbf ?ɛ}ƁB@> 隅?I o=ɚiI#=I?ii_)?)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482207*F 2F:FBFn0JF IG) G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735979JA JE CALw,yRAy=B=9$I%Mb@Mb@Mb@!!! !)!Y%Gz?+~jty%p=?%%D%@ %@)%K@I%@!y%p@IMxIMT4٢ml= m4=9}Q > G٣y > Nusing accuracyPremultiplier from config49DC?4Y\ ixB=?:r??0D6D; 3;c4 @ZjFNOT Ignoring new targets: 314.90 m.Bjv<Jjv<  ProNav: ac range: 314.899994 m, nav range: 28.064028 m, bearing: 197.833331 deg, approach rate: 0.590151 m/s, LOS rate: 0.893371 deg/s, cmd heading: 65.331893 deg, new cmd heading: 66.562736 deg. 2jG=HeadingCmd: 1.161739 target range: 314.899994 and range: 314.90 m. jܳ?jjjihhhhABfffrfbf/?ɛ5ŁB5;> 15?I9 =v=ɚ9i9I==IEܳ?iAim/j)mܳ?)iEyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986149*F?2F:F!BF%s0JF!G5rA G5qAzKEyJKEs9KAKEKERK]>JK]>Ga $?I G B O >`w,ilA @F:M?YFڂ?F"W=9Ffv>yFH`?@08^?6?`?@`䴿`u?@?ɨF:M?F+o;FsCyLPIVIVr49bQ b?`` fG٣dyf= f? jNusing accuracyPremultiplier from confighn49jPC?n4YjV ijxBpry?r?j0Dj;j;jh4x z@z^EZj%FNOT Ignoring new targets: 314.90 m.Bj%Ԃ<Jj%Ԃ<5 ProNav: ac range: 314.899994 m, nav range: 28.264305 m, bearing: 198.150032 deg, approach rate: 0.582789 m/s, LOS rate: 0.915036 deg/s, cmd heading: 66.562734 deg, new cmd heading: 67.506014 deg. 2j5==HeadingCmd: 1.178202 target range: 314.899994 and range: 314.90 m. j=Tϖ?j9jAjAiAhAhAhIhIfIfIfIrfQbfU %@]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.238172ɛÁBLT> :隕?I V{=ɚiI7=ITϖ?ii )Tϖ?)jH=<bH=<HE>IA IEB$IIEBIE: =&IA.IA6IE<:IE FBIJIRIZIbIjI_4JJJJJJ3;Jٖ:JJJ<J<J;J;*Fm?2Fi:FiBFmL5JFiGMG!B)OE0> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490715w,KA6?P?Y6?6Յ=96}>y6H3;? $b@?Lu?T?Q??ɨ6?P?6(;6uCyNBN>$I}Mb@Mb@Mb@yyy y)yY}Pn?I +Qy}D?}9}u}Q@ y)}b@I}@yy}@IIkf4٢c#< <9OQ > G٣bBGy = > Nusing accuracyPremultiplier from config49^C?4YO ixB6D?:Á??0DL;}K;4 A@]EZj FNOT Ignoring new targets: 314.90 m. $?IBjF<JjF<- ProNav: ac range: 314.899994 m, nav range: 28.519117 m, bearing: 198.577270 deg, approach rate: 0.586217 m/s, LOS rate: 0.974107 deg/s, cmd heading: 67.506011 deg, new cmd heading: 68.776054 deg. 2j5!'=5HeadingCmd: 1.200369 target range: 314.899994 and range: 314.90 m. j5?j9j9j9i9h9h9hAhEnBfAfAfIrfIbfU@ɛB-P?> )-{?I) 5J=ɚ1i1I5ϟ=I=?i9i=X)=?)9mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.743215*F=?2F9:F9BF=P5JF9Ge 2G9 BA Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995861w,ӃAzKjIKKKKFT?YF?FT=9F>yFH` ?NU???:%?@]?ɨFT?Fb;FwCyRBRF$IIZsIZK4٢]= ]O=9eqQ e>aa eG٣iym= m> }Nusing accuracyPremultiplier from configq}49ukC?}4YuH iumxB??u0Du:u7:u4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 314.90 m.Bjȋ<Jjȋ< ProNav: ac range: 314.899994 m, nav range: 28.748857 m, bearing: 198.965349 deg, approach rate: 0.583430 m/s, LOS rate: 0.977651 deg/s, cmd heading: 68.776057 deg, new cmd heading: 69.930824 deg. 2j'=HeadingCmd: 1.220523 target range: 314.899994 and range: 314.90 m. j:?jjjihhhhfffrfbf@ɛB4O> a?I +=ɚi!I%=I%:?i)i-s)-:?)1EErA*Fi2Fi:FiBFm\0JFi"G}0>G}= IguWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245905H1I1 I5N$II5BI1&I1.I16I5P<:I5 FGJJKJ0JJ2;J^:Jـ3JJ<J<J;J;G B O >8w,TABRX?YB?BxO=9B >yBH`?x'??z?孿 kF??ɨBRX?B;BsCyNBR3$I)T VATVAXZ@AIZnIZB4٢b- fU=9fлQ f>hh jG٣hyj)= n> rNusing accuracyPremultiplier from configpv49rUxC?v4YrB irOxBtv?v?r1Dpr:r4~ےB ~@ZEZjFNOT Ignoring new targets: 314.90 m.Bj<Jj< ProNav: ac range: 314.899994 m, nav range: 28.971033 m, bearing: 199.344790 deg, approach rate: 0.547628 m/s, LOS rate: 0.928085 deg/s, cmd heading: 69.930824 deg, new cmd heading: 71.060263 deg. 2j;=HeadingCmd: 1.240236 target range: 314.899994 and range: 314.90 m. j ?jjjihhhhfffrfbfb @ɛ-B5JH> 1=?I9 =J=ɚ9i9I= Rqw,֓Ay)-2$IMb@Mb@Mb@ )Y?:vyL?T@ @)@I@y@IIr4٢Ǻ =9Q > G٣cBGy >  Nusing accuracyPremultiplier from config 49 C?4Y 8 i (xBL?:/?? ,1D ; ; $4! %@!ZjQUFNOT Ignoring new targets: 314.90 m.Bj]<Jj] qu#?Iq }$H=ɚyiyIg<Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:29:49.7195 LVL= 19296, 21473, 12946, 27827, AGC= 66, IDX= 277,-0.08, 0.920, 3.068, 2.856, 2.541, PHS=-1.533, 0.574, 0.312, RAW= 276.6, 6.6, CAL= 281.1, 9.0, ROT= 228.9, -9.0 Ygot valid direction response: 21:29:49.7195 LVL= 19296, 21473, 12946, 27827, AGC= 66, IDX= 277,-0.08, 0.920, 3.068, 2.856, 2.541, PHS=-1.533, 0.574, 0.312, RAW= 276.6, 6.6, CAL= 281.1, 9.0, ROT= 228.9, -9.0 PDAT read: Bearing 228.9, -9.0 (Local) ~Local bearing/azimuth received: Bearing 228.9, -9.0 (Local) DAT read: Range 10 to 50 : 329.7 m (Round-trip 439.7 ms) speed -0.4 m/s ,DAT read: user:1815> BDAT read: Tx time:21:29:50.8256  $Ping request sent. ٥{@٥= ڥ@)ڥ| >Iڥ @iڥ| ڡڡۥ;}6*.M?B+??)ۥV.@Iۥiۥc/@ۥ?ۡۡ-:publishing transmit ping time5Fpublishing direction and range infoء9إʹa% 4Qz?G_KDyءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥ;}6*.M?B+??)ۡIۡiۡۡۡۡzKBoHK9KKKI5R?i9i=O2)=R?)9E-yb]:*F?2F:FBF25JF $?I U Will construct direction to contact in vehicle frame from tetrahedron phase data.] JDAT read: TxSync time:21:29:50.8249 ZH RH H I  I T$II BI &I .I 6I D<:I FG- ,J J XJ 1J J l-;J :J 3J J <J <J <J <G B O>Xyw,QAR g?YRマ?Ry=9Ro>yRHF?7'?6??0:n? ?ɨR g?R;Py~tB~&$II |I [4٢O L=9>Q %>!! %G٣!y-s > -> 5Nusing accuracyPremultiplier from config1=495vC?=4Y50 i5 xBAEL?E?5@1D5a:5:5+4I Mm@UWEkT$?k k kA:k٤CBkCZkA@";$p;@+&tʹa% 4Qz?G_KDJkc/@Rk?*P!$X^72+&@6 ?I c=ɚiIE>PExceeded connect timeout, disconnecting.*F2F:FBF5JFG)  G- rAG5 dk"G B! I1 O= >,Yw,= A6,l?Y6S?6<=96>y6H`Q|?@??.?Z 9??ɨ6,l?6K։;6tCy>jB>$I Fp=FR= Mb@Mb@Mb@    ) Y @5^I ? rh?I +y bP? C< 9 @ ) @I @ y (@I%VI%n4٢5E 5J=95Q 5>99 =G٣AyEK= E> MNusing accuracyPremultiplier from configIeWill construct direction to contact in vehicle frame from tetrahedron phase data.e49M@C?e4YM) iMwBmP?m:mՕ?m?MU1DM;M;M24q u @VEZjAEFNOT Ignoring new targets: 329.70 m.BjMʝ<JjMʝ<} ProNav: ac range: 329.700012 m, nav range: 29.731581 m, bearing: 200.781527 deg, approach rate: 0.545200 m/s, LOS rate: 1.103619 deg/s, cmd heading: 73.994062 deg, new cmd heading: 75.367014 deg. 2j}Y==HeadingCmd: 1.315403 target range: 329.700012 and range: 329.70 m. j_?jjjihhhhBfffrfbf?ɛBlK> ?I u=ɚ i I X Will construct direction to contact in vehicle frame from tetrahedron phase data.'E TFailed to parse incomplete device message.ԇ w,b'AF`q?YFyFH *? h! &??[?`??s`-@p??ɨF`q?F;FsCyVVBV$IIfDIf3٢roν rO=9vmQ v>xx ~G٣~dBGyj= > Nusing accuracyPremultiplier from config 49 EC?%4Y ! i wB!%?%? j1D Y; gk; 949 =Q@9}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 329.70 m.Bj<Jj< ProNav: ac range: 329.700012 m, nav range: 29.950052 m, bearing: 201.237130 deg, approach rate: 0.571032 m/s, LOS rate: 1.182136 deg/s, cmd heading: 75.367012 deg, new cmd heading: 76.723582 deg. 2jJ=HeadingCmd: 1.339079 target range: 329.700012 and range: 329.70 m. jf?jjjihhh $?Ighfififirfqbfu$?ɛBL> 隽?I a=ɚiIu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499102kw,'AA^Pw?Y^?^`s=9^Œ>y^H?E\s{??`[ ?O䨿nyW?`?ɨ^Pw?^<;\yjFBj#IIrOIr 4٢z7 zJ=9z_Q z>|| G٣y9S= >  Nusing accuracyPremultiplier from config 49 C?4Y   i wB!%k?%? 1D \C; D; @4-ڒB -N@-SEZjQUFNOT Ignoring new targets: 329.70 m.Bj]<Jj] ?I :=ɚiI)+G>G}f(GABIOew>}Will construct direction to contact in vehicle frame from tetrahedron phase data.yi}A}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751410|uAA Y |uAy Bw,[A2w|?Y2`y?2Tn=92=>y2H?ώ@K?\?@?ފҭt?` ?ɨ2w|?2AS;2rCyN/BR#ITVAeMb@Mb@Mb@aaa a)aYeB`"?I +?MbyeN?e94 G٣ywB= > Nusing accuracyPremultiplier from config49yC?4Y iwBO?:??1Dx;9;H4 @ZjFNOT Ignoring new targets: 329.70 m.Bj[<Jj[<  ProNav: ac range: 329.700012 m, nav range: 30.394196 m, bearing: 202.185315 deg, approach rate: 0.533362 m/s, LOS rate: 1.135539 deg/s, cmd heading: 78.104340 deg, new cmd heading: 79.546670 deg. 2j B=HeadingCmd: 1.388351 target range: 329.700012 and range: 329.70 m. j?jjjihhh!h%vBf!f!f!rf)bf-]?ɛQU$H> Y]??IY ]v=ɚYiYIevGI BQ O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255119jH <bH p<H >I C I $II hBI 9 =&I .I 6I <:I FTw,dwuA66?Y6@?6h=96O>y6H@q?a` ?_?`i? ͥ6e??ɨ66?6;6sCybBb#IIjIj{4٢ T=9QpQ >!! %G٣-eBGy-d= -> ENusing accuracyPremultiplier from config9E49=C?M4Y= i=|wBQUZ?]?=1D=;=Ɔ;=N4i u@@uQEZjFNOT Ignoring new targets: 329.70 m.Bjԟ<Jjԟ< ProNav: ac range: 329.700012 m, nav range: 30.598940 m, bearing: 202.633626 deg, approach rate: 0.513973 m/s, LOS rate: 1.117861 deg/s, cmd heading: 79.546671 deg, new cmd heading: 80.882349 deg. 2j?=HeadingCmd: 1.411663 target range: 329.700012 and range: 329.70 m. jb?jjjihhhhfffrf bf &@ɛ5BG> 隵L?I ZӜ=ɚiI{ I #w,QAy%B%#IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759752eMb@Mb@Mb@aaa a)aYeS㥛?y&1|ˡEye$F?e`廹e'e`@ e@)e@IeS@aye\@I}I}F4٢ 4=9Q >JcKc KcKcKc"KcJJ^JJJ4.;J8:JJa@a@a@a@ G٣y > Nusing accuracyPremultiplier from config49zC?4Y iTwBnF?: ??1D);&;V4 `@ZjFNOT Ignoring new targets: 329.70 m.Bj<Jj< ProNav: ac range: 329.700012 m, nav range: 30.833536 m, bearing: 203.117391 deg, approach rate: 0.507740 m/s, LOS rate: 1.039041 deg/s, cmd heading: 80.882349 deg, new cmd heading: 82.322281 deg. 2jE2=HeadingCmd: 1.436795 target range: 329.700012 and range: 329.70 m. j?jjjihhh)h-PBf)f)f1rf1bf5`,@ɛz9> 隥?I ,=ɚiI)w,.8AvC?Yv΢?v)]=9v>yvH?1,`?s?@? ¡ 9/?@?ɨvC?vꀊ;vqCyڄBg#I %=%=I)I)٢= =b=9=Q E>AA EG٣AyMt= M> ]$?I]g eNusing accuracyPremultiplier from configQm49U*C?m4YU iU6wBim?m?U1DUt;Uz:U]4y }@}NEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 329.70 m.Bjǡ<Jjǡ< ProNav: ac range: 329.700012 m, nav range: 31.010729 m, bearing: 203.507729 deg, approach rate: 0.516597 m/s, LOS rate: 1.131502 deg/s, cmd heading: 82.322282 deg, new cmd heading: 83.486437 deg. 2j"B=HeadingCmd: 1.457113 target range: 329.700012 and range: 329.70 m. j?jjjihhhhfffrfbfޚ @ɛBFJ> )W?I Z4=ɚiII I#II0BI8 =&I.I6I0<:I FBIIJIIRIIZIIbIIjIM(q5*F?2F:FBF_0JFGj$GyBO]> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:29:53.6731  TRx dataTimestamp_ set to:1736371795.036683 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516315ݹ0w, ÔA2;?Y2y2H?[@tv?[??@%K'k???ɨ2;?2;2uCyBȄBBR#IIJIJt4٢f fR=9f.Q f>hh jG٣jfBGyj^[= n> rNusing accuracyPremultiplier from configpv49rC?v4Yrp irwBxzM?z?r1Dr:r :rc4 @Zj!%FNOT Ignoring new targets: 329.70 m.Bj-̐<Jj-̐< ProNav: ac range: 329.700012 m, nav range: 31.200741 m, bearing: 203.935641 deg, approach rate: 0.452459 m/s, LOS rate: 1.012734 deg/s, cmd heading: 83.486440 deg, new cmd heading: 84.762135 deg. 2j-=HeadingCmd: 1.479378 target range: 329.700012 and range: 329.70 m. jE\?jjjihhh!h!fQfQfYrfabf? @ iIgɛ7> ?I (=ɚiIL6w,ܔAyB,#IMb@Mb@Mb@ )Y +?y&1 ףp= y6?`eQ8 @)@I@yII҅4٢  8=9Q >    G٣ y   > Nusing accuracyPremultiplier from config%49AC?%4Yv ivB%.7?%:%_?%?1D;I;k41 5@5MEZjY]FNOT Ignoring new targets: 329.70 m.Bjen<Jjmn<} ProNav: ac range: 329.700012 m, nav range: 31.403763 m, bearing: 204.376441 deg, approach rate: 0.494234 m/s, LOS rate: 1.066130 deg/s, cmd heading: 84.762135 deg, new cmd heading: 86.075743 deg. 2j}6=HeadingCmd: 1.502305 target range: 329.700012 and range: 329.70 m. jK?jjjihhhhBfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:29:53.6731 LVL= 18928, 19569, 11250, 20035, AGC= 65, IDX= 275,-0.06,-3.045,-0.558,-1.338,-1.534, PHS=-1.424, 1.023, 0.193, RAW= 289.5, 2.0, CAL= 292.3, 2.1, ROT= 217.7, -2.1 Ygot valid direction response: 21:29:53.6731 LVL= 18928, 19569, 11250, 20035, AGC= 65, IDX= 275,-0.06,-3.045,-0.558,-1.338,-1.534, PHS=-1.424, 1.023, 0.193, RAW= 289.5, 2.0, CAL= 292.3, 2.1, ROT= 217.7, -2.1 PDAT read: Bearing 217.7, -2.1 (Local) ~Local bearing/azimuth received: Bearing 217.7, -2.1 (Local) DAT read: Range 10 to 50 : 332.4 m (Round-trip 443.2 ms) speed -0.2 m/s ,DAT read: user:1816> BDAT read: Tx time:21:29:54.7757 $Ping request sent. AEX?IA EN=ɚIiIIMȬyص3CرصIصqL ٵ+)ٵCNIٵAiٵEٵ?ٵˡE>ٵ@ٵ5= ڵI@@)ڵQ =IڵY,s@iڵQ ڱڱ۵fwqZ?dhu?)۵O=@I۵4 i۵?۵G?۱۱:publishing transmit ping timeFpublishing direction and range infoر9ص]lѲ?V@N? >yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵fwqZ?dhu?)۱I۱i۱۱۱۱zKk3IK 9KKKBK:KrA*F2F:FBF_0JFGe\3G9BAO]v> yIye Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:21:29:54.7750 ZH RH AAH I C I #II BI : =&I .I 6I <:I F=w,A2Ǝ?Y2?2N=92ד>y2Hʻ?`q?/?S? թ3? آ?ɨ2Ǝ?29؊;2rCy>BB#IIJnIJB4٢r` r^=9rݻQ v>tt vG٣tyz= z> ~Nusing accuracyPremultiplier from config|49~eC?4Y~ i~vB  ? ?~ 2D~z:~z:~r4 @k,?kX k k┻A:k3CBk CZk:6@"o o8@Jk?RkG?*tdH0hGH@{)Zqt.o޿Do&?IYn"k>BB*k> k[B(?kkl 2k\kt8?k kkBk4W@ addTargetRange:: Added new target pos. range: 332.399994 m, deltaT: 4.032099 s, deltaX: 2.699982 m, approachRate: 0.669622 m/s, rangeRepo size: 4  Added new target pos. range: 332.399994 m, bearing: 163.140862 deg, lat: 36.902486 deg, lon: -122.115989 deg, deltaT: 4.032099 s, deltaX: 2.699982 m, approachRate: 0.669622 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 332.40 m.Bj%Jj!5 ProNav: ac range: 332.399994 m, nav range: 35.657738 m, bearing: 192.661933 deg, approach rate: 0.000000 m/s, LOS rate: 1.066130 deg/s, cmd heading: 86.075745 deg, new cmd heading: 87.317520 deg. 2jQ]HeadingCmd: 1.523978 target range: 332.399994 and range: 332.40 m. j]?jYjqjqiqhqhqhyhyfyfyfrf`ft@bfq?ɛB+<> }?I =ɚiIJ1Dw,QA*JVC="JVa=JZJZIJZ1JXJZl-;JZU:JZ3JXyM}BM"IMb@Mb@Mb@ )YS㥛?/$ ףp= y$&?A @)@Ij@y@IIm4٢ Z  #=9Q > G٣gBGy > -Nusing accuracyPremultiplier from config!-49%C?54Y% i%vB5&?5:5?5?%2D%+;%j;%z49 =@AZjFNOT Ignoring new targets: 332.40 m.Bj<Jj< ProNav: ac range: 332.399994 m, nav range: 35.804344 m, bearing: 193.123490 deg, approach rate: 0.298317 m/s, LOS rate: 0.935327 deg/s, cmd heading: 87.317521 deg, new cmd heading: 88.696240 deg. 2jz =HeadingCmd: 1.548041 target range: 332.399994 and range: 332.40 m. j 9&?j j j i h h hhBfffrfbf=@ ?ɛim`>0> quP?Iq uP=ɚqiyI}jG dk"G B O > $?I 4Jw, .A6"ٔ?Y6?63<=96i>y6H@? @'C?`` fG٣dyfd> f> jNusing accuracyPremultiplier from confighn49jC?n4Yj ijvBpr?r?j,2Dj\ ;j ;j4vْB vK@zJE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 332.40 m.Bj-H<Jj-H< ProNav: ac range: 332.399994 m, nav range: 35.901100 m, bearing: 193.459915 deg, approach rate: 0.278907 m/s, LOS rate: 0.967155 deg/s, cmd heading: 88.696242 deg, new cmd heading: 89.702689 deg. 2j%=HeadingCmd: 1.565607 target range: 332.399994 and range: 332.40 m. je?jjjihhhhfffrfbf?H>IC I;#IIBI9 =&I.I6I <: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.ɛ8> ]?I q=ɚiIQw,WGAJ ?YJrͳ?Jh==9J>yJH`#?P3`T?`??iঠ?`?ɨJ ?JP;JtCyVIBV"IIbIb4٢jz jI=9n :Q n>pp rG٣pyr(U= r> zNusing accuracyPremultiplier from configt49vC? 4Yv ivhvBU?%?v=2Dv;v;v14A M@UHE QI]gZjFNOT Ignoring new targets: 332.40 m.Bj--n<Jj5-n d?I -3=ɚ1i1I5\l Xw,PaA6?Y6~A?60~B=96ꑓ>y6H@?`II l???k?`oM@+?;?ɨ6?6>5;6sCyV@BV"I%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011349MMb@Mb@Mb@III I)IYM\(\?:vI +yM?MTM94I I)M@IM@IyIIeIev}4٢m\" uA=9uL;Q u>yy }G٣}hBGyD9= > Nusing accuracyPremultiplier from config49DC?4Y iBvB?:Q??N2D;;@:;4 @ZjFNOT Ignoring new targets: 332.40 m.Bj<Jj< ProNav: ac range: 332.399994 m, nav range: 36.119411 m, bearing: 194.208475 deg, approach rate: 0.300798 m/s, LOS rate: 0.976909 deg/s, cmd heading: 90.850586 deg, new cmd heading: 91.941278 deg. 2j'=HeadingCmd: 1.604678 target range: 332.399994 and range: 332.40 m. jf?jjjihhhhBfff rf bf @n@ɛ}7> =?I =ɚiI5jHu<bHu<H}>Iy I}"II}BI}8 =&Iy.Iy6I}<:I} FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2642676^w,{A2e?Y2?2?H=92 >y2HO\?\|??6y??@]:? t?ɨ2e?2n';2rCy>5BB"IIJIJݜ4٢f.j fV=9fg;Q f>hh jG٣hyj8G= n> rNusing accuracyPremultiplier from configpv49rC?v4Yr' ir!vBtv?z?r\2Dra:r:rH4 D@Zj)-FNOT Ignoring new targets: 332.40 m.Bj5v<Jj5v t?I $=ɚiI I) Y } vA Y vAy  B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767066 ew,zA6ݞ?Y6?6M=96 >y6Hһ?py??5Y?`D? Q9?`?ɨ6ݞ?6Փ;6sCyB.BB"IeMb@Mb@Mb@aaa a)aYekt?I +V-ye ?e94ea a)aIaayaIIF4٢, <=9@;Q > G٣y4= > Nusing accuracyPremultiplier from config 49nD? 4Yƺ ivB?:^??l2D;;4) 5@1ZjiuFNOT Ignoring new targets: 332.40 m.Bj}a<Jj}a< ProNav: ac range: 332.399994 m, nav range: 36.319447 m, bearing: 194.892157 deg, approach rate: 0.227844 m/s, LOS rate: 0.790334 deg/s, cmd heading: 92.929553 deg, new cmd heading: 93.986434 deg. 2j=HeadingCmd: 1.640373 target range: 332.399994 and range: 332.40 m. j?jjjihhhhBfffrfbfJ@ɛQUs0> QU?IY ]8=ɚYiYI]o I Hkw,SA25T?Y2?2!T=92f]>y2H? `??.ǹ?x?@4C?`?ɨ25T?2~΋;0y>2B>"IIFIF4٢NO< N^=9Rr;Q R>PT VG٣ViBGyVW= V> fNusing accuracyPremultiplier from config`M49bD?M4Ybm ibuBIMֵ?U?by2Dbѓ H>I I"II`BI6 =&I.I6I<:Im F5?I1 5=ɚ9i9I=+iE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523024@0rw,-ɕA6Uȣ?Y6?6|vZ=96>y6H@ ?@H`p??`2?? K :?z?ɨ6Uȣ?6ŋ;6tCyB3BB"IIJIJ҅4٢V:|; ZI=9^f;Q b>hh nG٣lyr!?= r> vNusing accuracyPremultiplier from configtz49vD?z4Yvm ivuBx~H?~?v2Dv;v';vz4 m@ GE 9IAZjFNOT Ignoring new targets: 332.40 m.Bj%S<Jj%S< ProNav: ac range: 332.399994 m, nav range: 36.491070 m, bearing: 195.521321 deg, approach rate: 0.198929 m/s, LOS rate: 0.739788 deg/s, cmd heading: 94.873814 deg, new cmd heading: 95.869294 deg. 2j<HeadingCmd: 1.673235 target range: 332.399994 and range: 332.40 m. j,?jjjihhhhfffrfbf@8 @ɛIU`/> QU?IQ U=ɚQiQI]2øE>Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fe?2Fa:FaBFiJFi}DAT read: 21:29:57.6425 LVL= 21104, 18833, 12498, 29219, AGC= 70, IDX= 111,-0.07,-1.077, 1.444, 0.092,-0.184, PHS=-0.805, 1.675, 0.273, RAW= 304.3, -10.6, CAL= 309.3, -14.6, ROT= 200.7, 14.6 Ygot valid direction response: 21:29:57.6425 LVL= 21104, 18833, 12498, 29219, AGC= 70, IDX= 111,-0.07,-1.077, 1.444, 0.092,-0.184, PHS=-0.805, 1.675, 0.273, RAW= 304.3, -10.6, CAL= 309.3, -14.6, ROT= 200.7, 14.6 PDAT read: Bearing 200.7, 14.6 (Local) ~Local bearing/azimuth received: Bearing 200.7, 14.6 (Local) DAT read: Range 10 to 50 : 346.9 m (Round-trip 462.6 ms) speed -0.3 m/s ,DAT read: user:1817> BDAT read: Tx time:21:29:58.7257 $Ping request sent.ٽ@ٽq= ڽ澬@)ڽwIڽ/`@iڽw>ڹڹ۽.t\x첿{ǿ)۽a>DI۽=>i۽u?۽:y?۹۹:publishing transmit ping timeةFpublishing direction and range infoع9ؽav?ꑺ?Zxw, 㕻Aj>R?Yj?j}`=9j>yjH@? c?'?r?p?` `K7?V?ɨj>R?j4;Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:29:58.7250 jrCy%8B%"I -=-a=Mb@Mb@Mb@ )Y rh?)\(~jtyC ?GaļhA Ʒ@)@Ij@yII]4٢*< ,=9J;Q > G٣y{*= > -Nusing accuracyPremultiplier from config!}49% D?}4Y% i%uB ?:??%2D%H<%j<%ѳ4 @zKxNMK59KKK WOE7a,lWE3kM?k"BF k kA(ՕA:ksCBk>CZk,@"Y^\@?$bc@4hqav?ꑺ? ?I +w=ɚiAI]I9 I="II=PBI=7 =&I9.I96I= <:I= FBIǘCJIǘCRIZI8 =bI8 =jI|5Will construct direction to contact in vehicle frame from tetrahedron phase data.J J OJ 0J J 4.;J q:J ـ3J J C<J D<J ;J ;G5 =4G B O= >~w,AB?YB"?Bd=9B6>yBHC`?`HJ?@]?T0?@?q*??ɨB?B糋;BsCyNABN"IIZIZ_v4٢^E= ^`=9b?;Q b>`d fG٣fjBGyfge= j> nNusing accuracyPremultiplier from confighn49jb D?r4Yj ijuBprL?r?j2Dj:j:j4x z@xZj!%FNOT Ignoring new targets: 346.90 m.Bj-e;Jj-e;= ProNav: ac range: 346.899994 m, nav range: 98.161179 m, bearing: 176.661370 deg, approach rate: 0.034403 m/s, LOS rate: 0.357393 deg/s, cmd heading: 96.897571 deg, new cmd heading: 97.237345 deg. 2j=Fu 隍?I =ɚiI}r Will construct direction to contact in vehicle frame from tetrahedron phase data.Jمw,AJ?*?YJg?J b=9JI˒>yJH`\t?`ذ@?k??hX?=C?@?ɨJ?*?Jm;JrCyVGBV"IEMb@Mb@Mb@AAA A)AYEtV?p= ף rhyE?EECEzA Eݸ@)E@IE@AyE@IUdIU?14٢m< uA=9u8ӺQ u>qy }G٣yyxv= > Nusing accuracyPremultiplier from config49D?4Y2 isuB?:??2D;W;4 *@ZjFNOT Ignoring new targets: 346.90 m.Bj;Jj; ProNav: ac range: 346.899994 m, nav range: 98.173019 m, bearing: 176.803266 deg, approach rate: 0.026341 m/s, LOS rate: 0.315618 deg/s, cmd heading: 97.237346 deg, new cmd heading: 97.662974 deg. 2jX<HeadingCmd: 1.704540 target range: 346.899994 and range: 346.90 m. jb.?jjjihhhhBfffrfbf`N^?ɛUB]^6> Y]`?IY ]za=ɚaiaIeiGm>EWill construct direction to contact in vehicle frame from tetrahedron phase data.G]*KG9BAOew>zKM OKI KI KM KM  I II w,0e2A:sʮ?Y:?:9h=9:8>y:H@r `?`?]LT??@.^ ? ϥ?ɨ:sʮ?:Ϊ;:qCyJTBJ"IPRAIVoIVD4٢^D= ^V=9^|;Q b>`` bG٣`yf\= f> jNusing accuracyPremultiplier from confighHr>Ip Ir"IIr[BIr9 =&Ip.Ip6Ir<:Ir Fn49jD?~4Yjx ijYuB'??j2Dj;j6;j&ȩ4  S@ DEUB*** querying acoustic contact ***jQjQZjamFNOT Ignoring new targets: 346.90 m.BjmK;JjmK;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.U ProNav: ac range: 346.899994 m, nav range: 98.179680 m, bearing: 176.930577 deg, approach rate: 0.018232 m/s, LOS rate: 0.348473 deg/s, cmd heading: 97.662976 deg, new cmd heading: 98.044877 deg. 2jU'o ?I Mz=ɚiI[ow,(CLAF_?YF?Fj=9F >yFH@+@ V?@b?o`!? S?`?ɨF_?F;DyR\BR"I !$?I IjIjq4٢]= e@=9m:Q u> G٣kBGy?= > }Nusing accuracyPremultiplier from configI49MD?4YM iM9uB??M2DMy~ im?Ii mI=ɚqiqIuw,G fAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206281:?Y:?:Fu=9:;Ð>y:H`䪿?`?`Wp?@{@??ɨ:?:+݊;:rCyJrBJ"IMb@Mb@Mb@ )YZd;O?~jtQyj?uA @)I@y3@II{4٢`= ?=9;Q %>!! -G٣)y59&= => MNusing accuracyPremultiplier from configAU49ED?]4YE+ iEuB]?]:]_?e?E2DEq|;Ea;Eש4i ur@uBEZj9EFNOT Ignoring new targets: 346.90 m.BjE;JjM;zKMBoJKM9KIKMKM} ProNav: ac range: 346.899994 m, nav range: 98.185585 m, bearing: 177.225699 deg, approach rate: 0.006349 m/s, LOS rate: 0.355981 deg/s, cmd heading: 98.499012 deg, new cmd heading: 98.930197 deg. 2j}Nt<HeadingCmd: 1.726658 target range: 346.899994 and range: 346.90 m. j?jjjihhhh Bfffrfbf`@ IgɛC> 隕M?I  ;=ɚiI @w,A2lӵ?Y2?2|=92>y2H@Y l?(?'ש!?`?2?ɨ2lӵ?2+;2qCy>wB>"I F=F=IJIJ4٢R< Rf=9R.;Q R>TT VG٣TyVHL= Z> ^Nusing accuracyPremultiplier from configX549ZD?54YZ} iZuB15?=?Z2DZ ?I =ɚiI I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962111*J 4="J =?(w,AәA:h ?Y:J?:0=9:_>y:Hb η ??W* ó? QC`i?Ź?ɨ:h ?:$;8y^B^#I}Mb@Mb@Mb@yyy y)yY}(\?T㥛 /$y}'?}}}A } @)}-@I}@yy}z@IIm4٢ї= ;=90;Q > G٣lBGy"= > Nusing accuracyPremultiplier from config49wD?4Y| itB(?:??3D8;-;4 @ZjFNOT Ignoring new targets: 346.90 m.Bjv;Jjv; ProNav: ac range: 346.899994 m, nav range: 98.170700 m, bearing: 177.518434 deg, approach rate: -0.031556 m/s, LOS rate: 0.380242 deg/s, cmd heading: 99.308171 deg, new cmd heading: 99.808455 deg. 2jz<HeadingCmd: 1.741986 target range: 346.899994 and range: 346.90 m. jg?jjji)h1h1h1h55Bf9f9f9rf9bf=n @ɛE> ?I Ū=ɚiIU*lSw,̲A2U?Y2k?2=92t*>y2H麿?8?L!?T??ɨ2U?2ʋ;2rCHB>I@ IB#IIBBI@&I@.I@6IB<:IB FyNBN#IIbIb:4٢z= zV=9zq;Q ~>|| ~G٣y$?= >  Nusing accuracyPremultiplier from config 49 D?4Y cv i tB?%? 3D 4; 4; 4) -U@)EB*** querying acoustic contact ***jAjAZjQ]FNOT Ignoring new targets: 346.90 m.Bj];Jj];m ProNav: ac range: 346.899994 m, nav range: 98.154968 m, bearing: 177.663638 deg, approach rate: -0.043534 m/s, LOS rate: 0.401876 deg/s, cmd heading: 99.808455 deg, new cmd heading: 100.244126 deg. 2jm y}?Iy =ɚiI™GU=G%ٲGBOL>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.718149&:w,͖A PIRg)]vAi YvAyByB#IAA @ @ @  @ II4٢3= &=9Q > G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49tD?4Ym itB+::?(3D-e;>4 @AEZj FNOT Ignoring new targets: 346.90 m.Bj;Jj;- ProNav: ac range: 346.899994 m, nav range: 98.135612 m, bearing: 177.850960 deg, approach rate: -0.039332 m/s, LOS rate: 0.380721 deg/s, cmd heading: 100.244125 deg, new cmd heading: 100.806184 deg. 2j-<5HeadingCmd: 1.759400 target range: 346.899994 and range: 346.90 m. j54?j1j9j9i9h9h9hAhAfAfAfIrfIbfM@Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 348.1 m (Round-trip 464.2 ms) speed -0.6 m/s ,DAT read: user:1818> BDAT read: Tx time:21:30:02.6758 $Ping request sent. !%m?I) -j=ɚ)i)I-O] Will construct direction to contact in vehicle frame from tetrahedron phase data.] JDAT read: TxSync time:21:30:02.6750 lw,/疻AJFT?YJ?Jt=9Jm\>yJH#bÿ@x? ?`? ?*?ɨJFT?JK;HyVBV #II^I^҅4٢j< n=9n ~ ? bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49ID?4Yxh i|tB :S:??53DQ<V?.4 @m addTargetRange:: Added new target pos. range: 348.100006 m, deltaT: 4.033476 s, deltaX: 1.200012 m, approachRate: 0.297513 m/s, rangeRepo size: 4 ZjiuFNOT Ignoring new targets: 346.90 m.Bju<;Jju<; ProNav: ac range: 346.899994 m, nav range: 98.114235 m, bearing: 177.971384 deg, approach rate: -0.061519 m/s, LOS rate: 0.346623 deg/s, cmd heading: 100.806181 deg, new cmd heading: 101.167526 deg. 2jm<HeadingCmd: 1.765706 target range: 346.899994 and range: 348.10 m. j?jjjihhhhfffrfu@bfA?ɛ15Z> 15?I9 I =ɚiI`Pw,LSAjml?Yjө?j3=9j|>yjHqſ1/A?` w?¿?@zB@??ɨjml?jM[;hy||I ~I T_4٢}| F=9;Q %>!! %G٣!y-#= -> =bBottom track data is 1.2 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E495kD?E4Y5ua i5ZtBE9AE+:E?M?5F3D5b6;5H?54a e@eDEZjFNOT Ignoring new targets: 346.90 m.Bj;Jj; ProNav: ac range: 346.899994 m, nav range: 98.083054 m, bearing: 178.126309 deg, approach rate: -0.081999 m/s, LOS rate: 0.407543 deg/s, cmd heading: 101.167526 deg, new cmd heading: 101.632438 deg. 2j؋<HeadingCmd: 1.773821 target range: 346.899994 and range: 348.10 m. j ?jjjihhhhfffrfbf?ɛimX> im?Iq u=ɚqiqIu } $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.J J ZJ J J J %:J J a @a @a @a @uw,A2G?Y2?2y=92Owu>y2HCǿ >?a?@@Ŀ?}O??ɨ2G?2-;2qCybBb"#I        Mb@Mb@Mb@ )YCl?MbX{Gzyd;?ʽ#@ d@)Z@Iy@IIy4٢< @=9 ;Q > G٣y = > Nusing accuracyPremultiplier from config49 D?4YJY i(tBT:`=?:M??Z3D;;g4 |@Zj!-FNOT Ignoring new targets: 346.90 m.Bj-;Jj-; ProNav: ac range: 346.899994 m, nav range: 98.053436 m, bearing: 178.306942 deg, approach rate: -0.070096 m/s, LOS rate: 0.427637 deg/s, cmd heading: 101.632436 deg, new cmd heading: 102.174481 deg. 2j<HeadingCmd: 1.783281 target range: 346.899994 and range: 348.10 m. jB?jjjihhhhZBfffrfbf?ɛB3O> ?I E=ɚiI; q Iq zK BoHK 9K K K RK ?JK ?w,b4AH>I IA#IIBI&I.I0D6I԰<:Is FBIuCJIuCRIqZIu: =bIu: =jIuTQ5yHȿ@Ϥ`=?L?ƿ`н?(Z?L ?ɨYa eG٣enBGye>= e> mNusing accuracyPremultiplier from configiu49m D?}Will construct direction to contact in vehicle frame from tetrahedron phase data.4YmQ imsB??ml3Dm`;m`;m34 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 346.90 m.BjF;JjF; ProNav: ac range: 346.899994 m, nav range: 98.023781 m, bearing: 178.472101 deg, approach rate: -0.075100 m/s, LOS rate: 0.418377 deg/s, cmd heading: 102.174480 deg, new cmd heading: 102.670094 deg. 2j<HeadingCmd: 1.791931 target range: 346.899994 and range: 348.10 m. j^?jjjihhh h f f f rfbf }?ɛUV> ~?I =ɚ!i!I%PƇ Y Ie gw,:NA2?Y2-?2=92S3e>y2HHɿ?G=?ǿ`:?$@R??ɨ2?2H;2qCyZBZ#IIrIr4٢~ ~O=9~ G٣y <  > Nusing accuracyPremultiplier from config49 D?54YI isB9=?E?3D <r<y4 ,@BEZjFNOT Ignoring new targets: 346.90 m.BjA;JjA; ProNav: ac range: 346.899994 m, nav range: 97.990761 m, bearing: 178.648748 deg, approach rate: -0.071639 m/s, LOS rate: 0.383374 deg/s, cmd heading: 102.670092 deg, new cmd heading: 103.200197 deg. 2j<HeadingCmd: 1.801183 target range: 346.899994 and range: 348.10 m. j,?jjjihhhhfff!rf!bf%e@ɛmBu~O> qu޷?IqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013250 u=ɚiI- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264784Bw,XhAB?YBv?B=9B\>yBH ʿ`Ϯ@x?.?ǿŤ?@vL?&?ɨB?B6Q;@yRBV#IMb@Mb@Mb@ )Y+?y??̽L z@)@I@yf@II#4٢ !  ;=9: G٣y< %> -Nusing accuracyPremultiplier from config!-49%OD?54Y%A 5tIi%sB=A?=:=?=?%3D%);%(;%4A Ei@AZjq}FNOT Ignoring new targets: 346.90 m.Bj} <Jj} < ProNav: ac range: 346.899994 m, nav range: 97.954811 m, bearing: 178.828791 deg, approach rate: -0.098187 m/s, LOS rate: 0.491920 deg/s, cmd heading: 103.200197 deg, new cmd heading: 103.740507 deg. 2j̨<HeadingCmd: 1.810613 target range: 346.899994 and range: 348.10 m. j.?jjjihhhh`BfffrfbfZ@ɛBF]> Ŷ?I =ɚiI I! I%;#II%BI!&I!.I!6I%<:I%T FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516672Gi G! B9 OU >w,A6H?Y6 ?6¯=96 U>y6H`˿@z?w?@8ȿ 7?m@^W?1?ɨ6H?6F;6rCyB~BB"IIJIJ4٢R Rd=9VTT ZG٣XyZ< Z> bNusing accuracyPremultiplier from config`f49b D?f4Yb: ib^sBhj?j?b3Db:b:b4l n@pZj FNOT Ignoring new targets: 346.90 m.Bj ;Jj ; ProNav: ac range: 346.899994 m, nav range: 97.922791 m, bearing: 178.984036 deg, approach rate: -0.089610 m/s, LOS rate: 0.434597 deg/s, cmd heading: 103.740506 deg, new cmd heading: 104.206383 deg. 2j%!<%HeadingCmd: 1.818745 target range: 346.899994 and range: 348.10 m. j%?j!j)j)i)h)h)h1h1f1f1f1rfbf`@ɛ  W> ~?I1 5=ɚ9i9I=[{ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021320J J fJ 0J J T1;J ]:J ـ3J kw,JbA6Ǵ?Y6,?6Q=96UO>y6H̿`r??@Xɿ?@¶`?h9?ɨ6Ǵ?6;6pCybvBf"IUMb@Mb@Mb@QQQ Q)QYUrh|?ʡE)\(yU;?U-UGaUv@ U@)QIU@QyUp@IIW4٢ <=9;Q > G٣oBGy*< > Nusing accuracyPremultiplier from config49D?4Yp2 i!sB=?:??3D:G;E;$4 6@ZjFNOT Ignoring new targets: 346.90 m.Bj;Jj; ProNav: ac range: 346.899994 m, nav range: 97.878693 m, bearing: 179.167461 deg, approach rate: -0.101257 m/s, LOS rate: 0.421365 deg/s, cmd heading: 104.206386 deg, new cmd heading: 104.756890 deg. 2j<HeadingCmd: 1.828353 target range: 346.899994 and range: 348.10 m. j%v?j!j!j!i!h)h)h)h-3Bf1f1f1rf9bf=7 @ɛeBehR> ae,?Ii m -=ɚiiiImuE>*F ?2F :F BF 0JFGqA GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272787GjGBO > 1 I1 zK BoIK 9K K K  H% >I!  I% #II% BI! &I! .I! 6I% <:I% R FQw,yy2H%0Ϳࡰ~??ʿ?l`d?A?ɨ2f?2t;2oCyR]BR"IIjIj4٢v vV=9v9 xx zG٣xy~h< ~>]Will construct direction to contact in vehicle frame from tetrahedron phase data.]AiYeBDAT read: Rx Time:21:30:05.5482 mTRx dataTimestamp_ set to:1736371806.892791mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525925 Nusing accuracyPremultiplier from config49C?4Y$+ irB|??3DV<<K+4 @AEB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 346.90 m.Bj-;Jj; ProNav: ac range: 346.899994 m, nav range: 97.839333 m, bearing: 179.329300 deg, approach rate: -0.096485 m/s, LOS rate: 0.396883 deg/s, cmd heading: 104.756893 deg, new cmd heading: 105.242592 deg. 2j0<HeadingCmd: 1.836830 target range: 346.899994 and range: 348.10 m. j=?j!j!j!i!h!h!h)h)f)f1f9rf9bf= @ɛB6L> 隥?I =ɚiI 1 I= g_w,cЗAJA?YJe~?Jȓ=9J;C>yJHοVԼ?? !W˿`?k?`ш!%?F?ɨJA?J؝;JpCynMBn"II~I~4٢0 %E=9%J;Q %>!) -G٣)y-< -> ENusing accuracyPremultiplier from configAM49ESC?M4YEC# iErBIMG?M?E3DE:E:E24Y ]@YZjFNOT Ignoring new targets: 346.90 m.Bj;Jj;U ProNav: ac range: 346.899994 m, nav range: 97.795822 m, bearing: 179.504219 deg, approach rate: -0.102606 m/s, LOS rate: 0.412677 deg/s, cmd heading: 105.242594 deg, new cmd heading: 105.767569 deg. 2j]<HeadingCmd: 1.845992 target range: 346.899994 and range: 348.10 m. jzI?jjjihhhhfffrfbf @ɛ-B5M> 15c?I1 5=ɚ9i9I=pi BDAT read: Tx time:21:30:06.6758 $Ping request sent.M@M@ M¸@)M'IMg;T@iM'>IIMe<.\Vѿqk.cտ)Mf6IMs>iMc?M3?II:publishing transmit ping timeFpublishing direction and range infoI9M&߾? x?gVwyII*F2F:FBF0JFII I)IIIiIIIII I)IIIiIIIMe<.\Vѿqk.cտ)IIIiIIIIG= #G B O- >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= JDAT read: TxSync time:21:30:06.6750 w,S?ꗻA^o?Y^:?^N=9^U@>y^HSο/??̿? j b?(H?ɨ^o?^\;\yf7Bj"I-Mb@Mb@Mb@))) )))Y- ףp= ?#~j)\(y-Q8?-㥽)-@ -@)-@I-@)y-(@IeIe4٢u u7=9}V;Q }>yy }G٣}pBGyuR< > I Nusing accuracyPremultiplier from config49lC?4Y iorB:?:??3D;#;W:4  @k}= ?k}5[ ky k}cٗA:k}CBk}SCZk}"5@"}"8kce@&1l j@g~Xl}&߾? x?gVwJk}c?Rk}3?*}1X 隕?I =ɚiIcI I"IItBI&I.I6I<:Ia F*F2F:FBFP5JF"G=Ga=Will construct direction to contact in vehicle frame from tetrahedron phase data.G ;+G B O >w,A2M?Y2g?2=92Cj@>y2H Ͽ۔@? B?7;Ϳ iG? ѹ ?@F?ɨ2M?2J;2qCy:B:"IDFBAIFIF4٢N; Rn=9RI;Q R?PT VG٣TyV5< V? ^Nusing accuracyPremultiplier from configX^49Z5C?b4YZ iZ=rB`b?b?Z4DZu ;Z ;ZW@4d j@hZjx~FNOT Ignoring new targets: 351.10 m.Bj;Jj; ProNav: ac range: 351.100006 m, nav range: 165.476685 m, bearing: 165.748737 deg, approach rate: -0.303771 m/s, LOS rate: 0.244912 deg/s, cmd heading: 106.308138 deg, new cmd heading: 106.541866 deg. 2j(<HeadingCmd: 1.859506 target range: 351.100006 and range: 351.10 m. jN?j!j!j!i!h!h!h)h)f)f)f)rf1bf5?ɛ4X> U?I c=ɚiIޠ_ I)) -,C|uA Y|uAy B@ B Will construct direction to contact in vehicle frame from tetrahedron phase data.*J] C="J] R=!w,A2)?Y29g?2i=92>>y2Hdп@v?? ο?|?@H?ɨ2)?2֊;2pCyRBRe"I]Mb@Mb@Mb@YYY Y)YY]ʡE?Zd;J +y]/?]y]HY ]@)]@I]@Yy]@I}I}<4٢Iҽ <=9;Q > G٣y~< > Nusing accuracyPremultiplier from config49C?4Y irB0?:??4DN;S;G4ڒB @CEZjFNOT Ignoring new targets: 351.10 m.Bj`s;Jj `s;= ProNav: ac range: 351.100006 m, nav range: 165.352997 m, bearing: 165.841364 deg, approach rate: -0.283914 m/s, LOS rate: 0.212776 deg/s, cmd heading: 106.541867 deg, new cmd heading: 106.819954 deg. 2j= )MD?II U_=ɚQiQIUWZi])]X?)a*F-?2F):F)BF-_0JF) Will construct direction to contact in vehicle frame from tetrahedron phase data. IgGm ^D8GA BI Om >zK= k3IK= 9K9 K= K= RKM >JKM ?H >I  I "II ABI &I .I 6I <:I ] FK w,7A>=?Y>{?>},=9>L=>y>Hп}?n?Ͽ4?`.X`d?@ZF?ɨ>=?>;>qCyJBJT"IIRIR%x4٢Z ZY=9^\\ bG٣bqBGyf%< f> rNusing accuracyPremultiplier from configlz49nzC?~4YnW inqB ? ?n%4Dn;n;nN4! %@)EB*** querying acoustic contact ***jAjAmWill 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.ZjFNOT Ignoring new targets: 351.10 m.BjBe;JjBe; ProNav: ac range: 351.100006 m, nav range: 165.243790 m, bearing: 165.921762 deg, approach rate: -0.272074 m/s, LOS rate: 0.200433 deg/s, cmd heading: 106.819951 deg, new cmd heading: 107.061303 deg. 2j <JJFJJJ/;Jǔ:JJJ  T?I  =c`=ɚ9iAIEUiM& )M`-?)QEaEeqA*FA2FA:FABFIJFIGUrA GQG!GBOk> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715550 $?I I3w,QA6t?Y6?6=96a>>y6H =98 G٣y< > Nusing accuracyPremultiplier from config49C?4Y iqBV??84D#;A6; V4 @Zj9MFNOT Ignoring new targets: 351.10 m.BjeUz;JjeUz; ProNav: ac range: 351.100006 m, nav range: 165.119461 m, bearing: 166.012805 deg, approach rate: -0.298646 m/s, LOS rate: 0.218857 deg/s, cmd heading: 107.061303 deg, new cmd heading: 107.334636 deg. 2j3<HeadingCmd: 1.873343 target range: 351.100006 and range: 351.10 m. j?jjjimWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.967623hhhhfffrfbf|D@ɛB4?> 隕Z?I =ɚiIPxw,FmA6V?Y6w?6=96Y>>y6Hziѿo?? Ͽx?yj?@ G٣y34< > Nusing accuracyPremultiplier from config49C?4Y i[qB )?:Q??J4D;;]4 @ZjFNOT Ignoring new targets: 351.10 m.BjTn;JjTn; ProNav: ac range: 351.100006 m, nav range: 165.000412 m, bearing: 166.100431 deg, approach rate: -0.282883 m/s, LOS rate: 0.208365 deg/s, cmd heading: 107.334633 deg, new cmd heading: 107.597698 deg. 2j<HeadingCmd: 1.877934 target range: 351.100006 and range: 351.10 m. j%`?jjji h h h hBfffrfbf@ɛMÁBMhJ> IM?II MH=ɚQiQIUpMWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472692J]J]UJYJYJ]0;J]:JYJYJ]J<J]J<J]|;J]|;!w,#A2Y?Y2E?2=92d?>y2Hѿ5dѣ??@0п ?`a@2?@7?ɨ2Y?2j;2qCyBBB"IIJIJ4٢f庽 fV=9jx"hh nG٣nrBGyni< n> vNusing accuracyPremultiplier from configpv49rC?v4YrE ir'qBxz?z?rY4DrU:r:r;d4|  @ZjFNOT Ignoring new targets: 351.10 m.Bj^;Jj^; ProNav: ac range: 351.100006 m, nav range: 164.894379 m, bearing: 166.177718 deg, approach rate: -0.267068 m/s, LOS rate: 0.194789 deg/s, cmd heading: 107.597698 deg, new cmd heading: 107.829707 deg. 2j<HeadingCmd: 1.881983 target range: 351.100006 and range: 351.10 m. j?jjjihWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723795h1h9h9f9f9f9rfAbfEN@ɛāBt9?> z?I =ɚiI~IEm> 1I1*F2F:FBF0JF"G=G=GG B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975660O >'w,A6=?Y6?6٩=96y @>y6Hҿ~[@}? s?iп?~:?2?ɨ6=?6܎;6pCyrBr!I}Mb@Mb@Mb@yyy y)yY}?&1Q롿y} ?}P}\y }S@)}v@I}@yy}@II4٢˽ ==9 G٣y-< > Nusing accuracyPremultiplier from config49C?4Ym ipB ?:??j4Df;;k4 l@AEZjFNOT Ignoring new targets: 351.10 m.Bj d;Jj d; ProNav: ac range: 351.100006 m, nav range: 164.776962 m, bearing: 166.260670 deg, approach rate: -0.282899 m/s, LOS rate: 0.200004 deg/s, cmd heading: 107.829706 deg, new cmd heading: 108.078738 deg. 2jB <%HeadingCmd: 1.886330 target range: 351.100006 and range: 351.10 m. j%Bs?j!j!j!i!h)h)h)h-Bf1f1f1rf9bf=؇ @ɛŁB?<> 隥o?I u8=ɚiI_F.w,պA6Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480948Za?YZ?Zn:>9Zq@>yZH`\ҿVP G٣J%J%QJ%0J!J%2;J%z:J%ـ3J!J%<J%<J%;J%;y=~{< => ENusing accuracyPremultiplier from configAM49EC?M4YEG iEpBQU?U?Ez4DE:E:Er4Y ]@aB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 351.10 m.BjU;JjU;- ProNav: ac range: 351.100006 m, nav range: 164.670380 m, bearing: 166.335166 deg, approach rate: -0.266344 m/s, LOS rate: 0.186282 deg/s, cmd heading: 108.078741 deg, new cmd heading: 108.302374 deg. 2j-;UHeadingCmd: 1.890233 target range: 351.100006 and range: 351.10 m. jU(?jQjQjYiYhYhYhYhafafafarfabfm @ɛƁB;>> c?I x=ɚiI~C4w,ԘA6?Y6M@?6>96.?>y6Hҿ -H&?@S?@$ѿ ?U?`8-?ɨ6?6;6nCyNwBN!IIVIVV4٢ I=9<!! %G٣%sBGy-H< -> 5Nusing accuracyPremultiplier from config1M495C?U4Y5 i5pBae,?m?54D5;5<5y4 9@DEZjAMFNOT Ignoring new targets: 351.10 m.BjeS;JjmS;E ProNav: ac range: 351.100006 m, nav range: 164.559448 m, bearing: 166.412086 deg, approach rate: -0.266793 m/s, LOS rate: 0.185119 deg/s, cmd heading: 108.302375 deg, new cmd heading: 108.533289 deg. 2jE;}Will construct direction to contact in vehicle frame from tetrahedron phase data.HeadingCmd: 1.894263 target range: 351.100006 and range: 351.10 m. j8w?jjjihhhhfffrfbf@h2@DAT read: 21:30:09.5515 LVL= 23488, 22081, 17362, 32643, AGC= 69, IDX= 457,-0.16,-2.115, 0.231,-1.413,-1.773, PHS=-0.254, 2.051, 0.357, RAW= 315.2, -20.2, CAL= 318.1, -29.5, ROT= 191.9, 29.5 Ygot valid direction response: 21:30:09.5515 LVL= 23488, 22081, 17362, 32643, AGC= 69, IDX= 457,-0.16,-2.115, 0.231,-1.413,-1.773, PHS=-0.254, 2.051, 0.357, RAW= 315.2, -20.2, CAL= 318.1, -29.5, ROT= 191.9, 29.5 PDAT read: Bearing 191.9, 29.5 (Local) ~Local bearing/azimuth received: Bearing 191.9, 29.5 (Local) 5DAT read: Range 10 to 50 : 353.6 m (Round-trip 471.5 ms) speed -0.1 m/s =,DAT read: user:1820> ɛmǁBu6> uKs9uX?Iq u%=ɚyiyI}&@}x @}J }@)}I}ZV@i}?yy}M顳T\a`0zrϿ,Ejֿ)}8I}Y>i}[?}7?yy5:publishing transmit ping time؉5Fpublishing direction and range infoy9},Ow?=;w,A696%?>y6Hҿk< K?`B?Mѿ@?  ?(?ɨ699 =G٣AyEDP< E> MNusing accuracyPremultiplier from configIU49M8C?U4YM2 iMZpB]?]:]!?]?M4DM5;M;ME4a e@iktI I!IIBI&I.I6I°<:Ih FɛAVQ8> 隍S?I =ɚiIc8>Bw,@jA2?Y2K=?2i >92LC>y2H 5ӿ`" ?)?@ѿ(|?@ ? &#?ɨ2?23;2pCy>gBB!IIJIJ4٢RJ Rf=9R:Q R>TT VG٣TyZ < Z> ^Nusing accuracyPremultiplier from config\b49^}C?f4Y^ i^1pBdfl?f?^4D^2;^2;^m4h j9@lZj FNOT Ignoring new targets: 353.60 m.Bj ;Jj ; ProNav: ac range: 353.600006 m, nav range: 238.263672 m, bearing: 163.500157 deg, approach rate: -0.332738 m/s, LOS rate: 0.128574 deg/s, cmd heading: 108.772921 deg, new cmd heading: 108.902595 deg. 2jz;HeadingCmd: 1.900709 target range: 353.600006 and range: 353.60 m. jmJ?jjjihhhhfffrfbf& ?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ ȁB >> UO?I1 5=ɚ1i9I=T;+Hw,D"A6^?Y6?6 >96#SA>y6Hӿ [bi?n?oBҿ ?Dg?#?ɨ6^?64;4yRZBR!I5Mb@Mb@Mb@111 1)1Y5Zd;O?/$ rhy5j?55C5@ 5j@)53@I5@1y5f@IMIM4٢eg e?=9e;Q m>ii mG٣mtBGyu< u> }Nusing accuracyPremultiplier from configy49}:C?4Y}L i}pB?:d??}4D}@;}Y;}쎪4 @CEZjFNOT Ignoring new targets: 353.60 m.BjQ ;JjQ ; ProNav: ac range: 353.600006 m, nav range: 238.122177 m, bearing: 163.552204 deg, approach rate: -0.330934 m/s, LOS rate: 0.121801 deg/s, cmd heading: 108.902592 deg, new cmd heading: 109.058824 deg. 2j.;HeadingCmd: 1.903436 target range: 353.600006 and range: 353.60 m. jǣ?jjjihhhhBfffrfbf?ɛɁBd5> H?I =ɚiI߳9I  I !II gBI : =&I .I 6I <:I U FzK} a3JK} 9Ky K} K}  Will construct direction to contact in vehicle frame from tetrahedron phase data.G VhƼG B O >Ow, A?A:?Y:y?:>9:A>y:H`u^Կ@@)?`?` ҿgK?`??ɨ:?:ۉ;:oCyFIBF{!IHJAININ4٢V" V>=9ZE;Q Z>X\ ^G٣\y^|< ^> bNusing accuracyPremultiplier from config`f49bѸC?f4Yb iboBhn=?n?b4Dbo;bQ;bn4| ~@%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 353.60 m.Bj=;Jj=;M ProNav: ac range: 353.600006 m, nav range: 237.979279 m, bearing: 163.604143 deg, approach rate: -0.329006 m/s, LOS rate: 0.119656 deg/s, cmd heading: 109.058826 deg, new cmd heading: 109.214738 deg. 2jM<;UHeadingCmd: 1.906157 target range: 353.600006 and range: 353.60 m. jU?jQjQjQiQhYhYhYhYfafafarfabfmq?ɛ4> 隥??I C=ɚiI7Uw,RYA]|%?Y]b?]>9]>>y]H༐Կ@m?@? ҿ@? }J¿w??ɨ]|%?]L;]pCy޽EB޽u!IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982684JJDJ0JJJ:Jـ3Ja@a@a@a@-only read 0 of 1 data item for altitude. Device response is::BD, -14.51, +47  @ @ @  @ II4٢犼 !=9i;Q > G٣y; > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49,C?4Y ioB+::??4D 7;?4 [@ZjAFNOT Ignoring new targets: 353.60 m.Bj$ ;Jj$ ; ProNav: ac range: 353.600006 m, nav range: 237.810043 m, bearing: 163.665386 deg, approach rate: -0.335913 m/s, LOS rate: 0.121647 deg/s, cmd heading: 109.214738 deg, new cmd heading: 109.398597 deg. 2j;HeadingCmd: 1.909366 target range: 353.600006 and range: 353.60 m. jf?jjjihhhhfff!rf!bf%@ɛuʁBuF.> qu{=?Iy }o>ɚyiyI}5E > I *F= ?2F9 :F9 BF9 JFA jH<bH<H>IC Iy!IIHBI8 =&I.I1D6IŰ<:Iq FGS.zK=BHK=h9K9K=K=+H     8[0 GYBiO ?L;^w,{AB?YB5?B1>9B(9>yBHLԿ??@ 4ӿR?ÿ@ ?@n ?ɨB?Bډ;BrCyJ=BNl!IIVIVP4^Will construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484322٢~P ~7=9~c G٣uBGy fk<  > =bBottom track data is 1.0 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E495>C?E4Y5H i5joBE :AEc:Ev?M?54D5?';5 v?5Ȣ4ےB @FEZj9=FNOT Ignoring new targets: 353.60 m.BjE;JjE;u ProNav: ac range: 353.600006 m, nav range: 237.658539 m, bearing: 163.719638 deg, approach rate: -0.319081 m/s, LOS rate: 0.114332 deg/s, cmd heading: 109.398600 deg, new cmd heading: 109.561459 deg. 2ju;}HeadingCmd: 1.912208 target range: 353.600006 and range: 353.60 m. j}=?jyjyjyiyhyhhhfffrfbf@ɛ1> 9?I n>ɚiI0f49ew,ywA:?Y:d?:k>9:wr6>y:H .տ@x[? m?0yӿ?kZÿl?!?ɨ:?:<;:qCyF(BFR!I J=Ja=ININ4٢V۽ VP=9Zk;Q Z>X\ ^G٣\y^4< b> fbBottom track data is 1.3 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j49b2C?j4Ybl ib=oBn9pr8:r?r?b4DbVo;b?bd4t v1@tZjFNOT Ignoring new targets: 353.60 m.Bj%;Jj%;5 ProNav: ac range: 353.600006 m, nav range: 237.527405 m, bearing: 163.766286 deg, approach rate: -0.358499 m/s, LOS rate: 0.127598 deg/s, cmd heading: 109.561459 deg, new cmd heading: 109.701480 deg. 2j5#;=HeadingCmd: 1.914652 target range: 353.600006 and range: 353.60 m. j=Q?j9j9j9i9hAhIhQhqfqfqfyrfybf}@ɛ355> 隭.?I >ɚiII63J1JJJ:J3JGGBO>} Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:30:13.5532  TRx dataTimestamp_ set to:1736371814.713255 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241962Hkw,PUA 6$?I6gR?YRH@?Ra>9Ry4>yRH,gտ`-??Ѵӿ ?cÿ -?"?ɨR?RdƉ;RoCy^BbD!I } } }} }}  } } }Mb@Mb@Mb@yyy y)yY}(\?y&1 rhy}'?}`弹y}A }@)}hAI}5@yy}@II4٢kQ <=9;Q > G٣yq< > Nusing accuracyPremultiplier from config49C?4YZ ioBT:'?:]??5D]$;";4 @DEZj  FNOT Ignoring new targets: 353.60 m.Bj;Jj;% ProNav: ac range: 353.600006 m, nav range: 237.370758 m, bearing: 163.822748 deg, approach rate: -0.360034 m/s, LOS rate: 0.129858 deg/s, cmd heading: 109.701478 deg, new cmd heading: 109.870977 deg. 2j%=;-HeadingCmd: 1.917610 target range: 353.600006 and range: 353.60 m. j-At?j)j)j)i1h1h1h9h=ρBf9fAfArfAbfM @ɛuˁBu/> y}(?Iy }3>ɚyiyI}22I! I%T!II%*BI%7 =&I!.I!6I%ư<:I%s FBIJIRIZI: =bI: =jI5zKMK9KKK  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492200G:_GGrAG B O >60rw,-əA6?Y6T?6>961>y6H|տ`'? g?ӿ?iÿZ? $?ɨ6?6>;6pCy>B>=!IIFIF4٢R R\=9R%;Q V>TT VG٣VvBGyZ8< Z> ^Nusing accuracyPremultiplier from config\b49^C?b4Y^b i^nBdf?f?^5D^;^q:^{4h jC@hzB*** querying acoustic contact ***jxjxZj|FNOT Ignoring new targets: 353.60 m.Bj;Jj ; ProNav: ac range: 353.600006 m, nav range: 237.237747 m, bearing: 163.870401 deg, approach rate: -0.359799 m/s, LOS rate: 0.128975 deg/s, cmd heading: 109.870976 deg, new cmd heading: 110.014014 deg. 2j;%HeadingCmd: 1.920107 target range: 353.600006 and range: 353.60 m. j%?j!j!j)i)h)h)h)h1f1f1f1rf9bf=4 @ɛim2> iu%?Iq u>ɚqiqIu@1 Will construct direction to contact in vehicle frame from tetrahedron phase data.J AAJ BAJ J @J 0J J );J :J ـ3J 5 DAT read: 21:30:13.5533 LVL= 18656, 14721, 13986, 28099, AGC= 60, IDX= 442,-0.07,-1.796, 0.474,-1.293,-1.656, PHS=-0.052, 2.177, 0.360, RAW= 320.0, -23.2, CAL= 322.0, -34.5, ROT= 188.0, 34.5 = Ygot valid direction response: 21:30:13.5533 LVL= 18656, 14721, 13986, 28099, AGC= 60, IDX= 442,-0.07,-1.796, 0.474,-1.293,-1.656, PHS=-0.052, 2.177, 0.360, RAW= 320.0, -23.2, CAL= 322.0, -34.5, ROT= 188.0, 34.5 E PDAT read: Bearing 188.0, 34.5 (Local) E ~Local bearing/azimuth received: Bearing 188.0, 34.5 (Local) ] DAT read: Range 10 to 50 : 354.9 m (Round-trip 473.2 ms) speed -0.4 m/s e ,DAT read: user:1821> e BDAT read: Tx time:21:30:14.6759 m $Ping request sent.m ¸@ 4QϾ ֳ@) %I ~Q@i %? q:i Y? T?  :publishing transmit ping timei  Fpublishing direction and range info 9 % 4?΢Ϗ~?4蹧y  ) I i ) I i q:  G٣ y   > Nusing accuracyPremultiplier from config49ōC?4Y inB%/?%:%?%?55D;;4I Um@UGEkJK?k k kޙA:ksCBk6CZk`U:@"rg@Vk@3i% 4?΢Ϗ~?4蹧JkY?RkT?*?kr_P@F7d?hM"'s?RC}"kB*kk_N?k3t 2krk.p?k3t kkCk9@Will construct direction to contact in vehicle frame from tetrahedron phase data. addTargetRange:: Added new target pos. range: 354.899994 m, deltaT: 4.033102 s, deltaX: 1.299988 m, approachRate: 0.322330 m/s, rangeRepo size: 4  Added new target pos. range: 354.899994 m, bearing: 166.814415 deg, lat: 36.900329 deg, lon: -122.114999 deg, deltaT: 4.033102 s, deltaX: 1.299988 m, approachRate: 0.322330 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 354.90 m.Bj]Jjam ProNav: ac range: 354.899994 m, nav range: 281.841125 m, bearing: 166.081780 deg, approach rate: 0.000000 m/s, LOS rate: 0.128975 deg/s, cmd heading: 110.014014 deg, new cmd heading: 110.224033 deg. 2jquHeadingCmd: 1.923772 target range: 354.899994 and range: 354.90 m. ju,>?jyjyjyiyhhhhBfffrf`f.v@bf?ɛ́B1+*>  Ia$?I o>ɚiIq0?i%$Ei-y)-,>?))*F2F:FBF0JFH >I C I ;!II BI 6 =&I .I 6I <:I H FG f AzK KK K K K BK- rA:K- tA Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >q~w,;AJ|?YJ/?Ju >9JZ>yJHGJֿ PB? ?@ԿSx?`ÿ? 9?ɨJ|?J;JoCy^B^&!IIfIf4٢n$ƽ nz=9r^;Q r?pp vG٣tyv = v ? ~Nusing accuracyPremultiplier from configx49zC? 4Yz. izenB6??zB5Dz;zx;z@ê49 =p@AZjq}FNOT Ignoring new targets: 354.90 m.Bj};Jj}; ProNav: ac range: 354.899994 m, nav range: 281.726776 m, bearing: 166.118539 deg, approach rate: -0.368984 m/s, LOS rate: 0.118662 deg/s, cmd heading: 110.224036 deg, new cmd heading: 110.334356 deg. 2jߢ;HeadingCmd: 1.925698 target range: 354.899994 and range: 354.90 m. jD}?jjjihhhhfffrfbf@6?ɛqub5> qu?Iq }>ɚyiyI}/mWill construct direction to contact in vehicle frame from tetrahedron phase data. iIqۅw,dA @6dj?Y6ȧ?6u=!>96Y>y6H ֿ@5ܴ??+տ8? cĿ~?C?ɨ6dj?6hҏ;6nCyNBN!IIVIVW4٢r rJ=9v:Q v>xx zG٣zwBGyzJ< ~> Nusing accuracyPremultiplier from config 49ǀC? 4Yh i-nB  ??T5D::Rʪ4 @FEZjQmFNOT Ignoring new targets: 354.90 m.Bj};Jj;u ProNav: ac range: 354.899994 m, nav range: 281.581085 m, bearing: 166.165120 deg, approach rate: -0.365954 m/s, LOS rate: 0.117065 deg/s, cmd heading: 110.334357 deg, new cmd heading: 110.474172 deg. 2j};HeadingCmd: 1.928138 target range: 354.899994 and range: 354.90 m. j:?jjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.hhhh f1f9fArfibfmog?ɛ́B,> 隽?I ;\>ɚiIy.<*J"J=JKO3 K(.KK"KJJ7J1JJ,';J:J3JI :?i cEi ջ) :?)*F?2F:FBFH4JFG y Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O% > a Ie g w,"2A6?Y6 N?69">96d>y6Hֿ@´?`x?"sտ1n?@1Ŀ? *A?ɨ6?6;6mCy>BB!IMb@Mb@Mb@ )YtV?/$ rhy2?,C A @)3AIx@y@I-I-4٢=h ED=9E(;Q M>II UG٣QyUF< U> ]Nusing accuracyPremultiplier from configYe49]PyC?m4Y]B i]mBm93?m:mv?m?]f5D];]F;]Ѫ4q u@yZj9eFNOT Ignoring new targets: 354.90 m.Bjm;Jjm;} ProNav: ac range: 354.899994 m, nav range: 281.430267 m, bearing: 166.214448 deg, approach rate: -0.345986 m/s, LOS rate: 0.113221 deg/s, cmd heading: 110.474171 deg, new cmd heading: 110.622233 deg. 2j}g;H>I I!IIBI5 =&I.I6I<:IP FHeadingCmd: 1.930722 target range: 354.899994 and range: 354.90 m. j!?jjjihhhhBfffrfbf}`?ɛ΁B:,> ?I t>ɚiIm.EM>*F2F:FBF]0JF"G=G=zKRIK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.GGaBO>:w,JBLAyB% I=Will construct direction to contact in vehicle frame from tetrahedron phase data.IuIu&4٢c/ G=9Q > G٣y > Nusing accuracyPremultiplier from config49qC?4Y; imB?x5D1;94;ت4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 354.90 m.Bj;Jj; $?I  ProNav: ac range: 354.899994 m, nav range: 281.282257 m, bearing: 166.262973 deg, approach rate: -0.378512 m/s, LOS rate: 0.124160 deg/s, cmd heading: 110.622236 deg, new cmd heading: 110.767887 deg. 2j k;HeadingCmd: 1.933264 target range: 354.899994 and range: 354.90 m. j5u?jjjihhh!h!f!f!f)rf)bf-?ɛY]f.> Ye ?Ia e7>ɚaiaIe~-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.G1 Ba O >w,fAy~҂B IMb@Mb@Mb@ )YS? G٣xBGy > Nusing accuracyPremultiplier from config %49 iC?%4Y x i kmB-;?-:-?-? 5D  u; N; 4ܒB QAIEZjFNOT Ignoring new targets: 354.90 m.Bj ;Jj ;= ProNav: ac range: 354.899994 m, nav range: 281.122009 m, bearing: 166.314326 deg, approach rate: -0.364194 m/s, LOS rate: 0.116776 deg/s, cmd heading: 110.767889 deg, new cmd heading: 110.922035 deg. 2j=H;EHeadingCmd: 1.935955 target range: 354.899994 and range: 354.90 m. jE]?jAjAjAiIhIhIhqhuBfqfqfqrfybf}@ɛρB'> <?MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.219698I U>ɚYiYI]C-I I II݂BI4 =&I.I2D6I<:Iv FGe ;3Gm ?Gm ?GA BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471276zK BoHK 9K K K @w,AJRJR6JPJPJR|";JR{:JPJPJRHz9~>y~HW׿ `9?Y?:տ3,?`ĿMn?25?ɨ~"F?~ ";~pCy=B= IIMIM4٢ Q=9{ G٣y< > Nusing accuracyPremultiplier from config49aC? 4Yq i*mB -??5D;;4%ÒB % A!ZjIMFNOT Ignoring new targets: 354.90 m.BjU;JjU;e ProNav: ac range: 354.899994 m, nav range: 280.966675 m, bearing: 166.363167 deg, approach rate: -0.407850 m/s, LOS rate: 0.128310 deg/s, cmd heading: 110.922033 deg, new cmd heading: 111.068638 deg. 2je;mHeadingCmd: 1.938513 target range: 354.899994 and range: 354.90 m. jm5!?jijijiiihqhqhyhyfyfyfyrfbf1@ɛЁBj)> 隭 >I  >ɚiIa-]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.723809 I)Y ]!C-GvA = Y= vAyE B(w,ZՙA6|?Y6?6KH&>96b!>y6H]׿x? NO?$ֿ@or?Ŀ [? 0?ɨ6|?6>;4yNBN IIZIZ4٢fg fW=9n;Q r>pp rG٣pyvP; v> zNusing accuracyPremultiplier from configx~49zZC?4Yzk izlB ??z5Dz;z;z41 5rA5GEZjAuFNOT Ignoring new targets: 354.90 m.Bjr;Jjr;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978652 ProNav: ac range: 354.899994 m, nav range: 280.822083 m, bearing: 166.408432 deg, approach rate: -0.358533 m/s, LOS rate: 0.112296 deg/s, cmd heading: 111.068636 deg, new cmd heading: 111.204499 deg. 2j";*JC="Ja=HeadingCmd: 1.940885 target range: 354.899994 and range: 354.90 m. jn?jjjihhhhfffrf bf v@ɛUҁBUP$$> Y]>IY eHt>ɚaiaI.-Rw,氳AyB IMb@Mb@Mb@ )Y333333?/$I +y9?,94A @)vAI@y@II4٢н :=9Q > G٣yBGy > Nusing accuracyPremultiplier from config49QC?4Y`c ilB @:? : ? ?5D;;<4 *AH}>I}C I} II}BI}3 =&Iy.Iy6I}۰<:I} FZjFNOT Ignoring new targets: 354.90 m.BjB;JjB; ProNav: ac range: 354.899994 m, nav range: 280.654755 m, bearing: 166.461789 deg, approach rate: -0.395278 m/s, LOS rate: 0.126122 deg/s, cmd heading: 111.204502 deg, new cmd heading: 111.364671 deg. 2j;HeadingCmd: 1.943680 target range: 354.899994 and range: 354.90 m. j?jjj!i!h!h!h!h-BfIfIfQrfQbfU @ɛӁB#> 隥>I Z>ɚiIߞ- GBO>ꚴw,PӚA*BDAT read: Tx time:21:30:18.6759 *$Ping request sent.*9iH?zK?5@5yCWAN ?)ICiDQ@ ף>ӫ@5о @) IO@i ?s֯"Kr3{տaU]ٿ)0I>iq\?C?=:publishing transmit ping time(EFpublishing direction and range info9iH?zK?5@5y9Bv">yBH׿̵?6?Erֿ@?@<Ŀ ?-?ɨBΞ?B\s;BnCyUBU I )Ii )Iis֯"Kr3{տaU]ٿ)IiII4٢ &=9.+;Q >! %G٣!y-y< -> 5Nusing accuracyPremultiplier from config1=495GC?=4Y5Z i5LlB9=?m?55D5r;5 ;54q uA}JEk Ns?kA k kКA:kCBkhCZk)=@"u~h@v l@s^ViiH?zK?5@5Jkq\?RkC?*䕃ŕK@vg꿋y[?y|g;."k^B*kk?kdᷞ 2k.k/?kkkCk:@ addTargetRange:: Added new target pos. range: 357.299988 m, deltaT: 3.779840 s, deltaX: 2.399994 m, approachRate: 0.634946 m/s, rangeRepo size: 4  Added new target pos. range: 357.299988 m, bearing: 169.347762 deg, lat: 36.900321 deg, lon: -122.114999 deg, deltaT: 3.779840 s, deltaX: 2.399994 m, approachRate: 0.634946 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 357.30 m.BjJj  ProNav: ac range: 357.299988 m, nav range: 281.396545 m, bearing: 166.568123 deg, approach rate: 0.000000 m/s, LOS rate: 0.126122 deg/s, cmd heading: 111.364670 deg, new cmd heading: 111.559067 deg. 2j=HeadingCmd: 1.947073 target range: 357.299988 and range: 357.30 m. j=9?j9j9j9iAhAhAhAhIfIfIfIrfMTv@bfU`?ɛԁB> >I }%>ɚiI U.9V] >yVHwؿ-t@ݴ?g?bֿM?`Ŀ`?/?ɨV?V8;VpCy^gBbe IMb@Mb@Mb@ )YQ?&1Mby5?P@A Q@) AI@y@I Ie4٢ =9Q > G٣zBGy< >H >I I IIBI0 =&I.I6I<:I FBICJICRIZI4 =bI3 =jId6 Nusing accuracyPremultiplier from config49=C?4YQ ikB6?:  ? ?5D;;'4 A5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 357.30 m.BjM;JjM;] ProNav: ac range: 357.299988 m, nav range: 281.200409 m, bearing: 166.630505 deg, approach rate: -0.398505 m/s, LOS rate: 0.126833 deg/s, cmd heading: 111.559064 deg, new cmd heading: 111.746338 deg. 2j];eHeadingCmd: 1.950342 target range: 357.299988 and range: 357.30 m. jeˤ?jajijiiihihqhqhuBfqfyfyrfybf@K?ɛցB|B> 隭>I j>ɚiI/hw,=~Aj7A?Yj~?j&>9j;->yjH@ؿM_ ? ?׿@)??0Ŀ*D?P ?ɨj7A?jK;jmCyrFBr< II~I~4٢h ==9 ȺQ  > G٣y7< > %Nusing accuracyPremultiplier from config!-49%5C?-4Y%)J i%kB15?5?%6D% ;%6;%4A EAEIEZjquFNOT Ignoring new targets: 357.30 m.Bj}p;Jj}p; ProNav: ac range: 357.299988 m, nav range: 281.039520 m, bearing: 166.681268 deg, approach rate: -0.375072 m/s, LOS rate: 0.118410 deg/s, cmd heading: 111.746341 deg, new cmd heading: 111.898718 deg. 2j;HeadingCmd: 1.953001 target range: 357.299988 and range: 357.30 m. j?jjjihhhhfffrfbfz?ɛm؁Bmh> imp]>Ii uZ>ɚqiqIu*0Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.198734w,J@,Ay~)B~ IMb@Mb@Mb@ )Y(\?~jtyz4?L A ~@) AI;@yp@II94٢ ?=9Q >  G٣ y   >Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.448263 %Nusing accuracyPremultiplier from config!-49%,C?-4 E$?IEgY%B i%\kBE15?E:M?M?%6D% ;%;%<4UĒB UAULEZjy}FNOT Ignoring new targets: 357.30 m.Bj;Jj; ProNav: ac range: 357.299988 m, nav range: 280.872711 m, bearing: 166.731907 deg, approach rate: -0.382176 m/s, LOS rate: 0.116087 deg/s, cmd heading: 111.898716 deg, new cmd heading: 112.050722 deg. 2jV;HeadingCmd: 1.955654 target range: 357.299988 and range: 357.30 m. jR?jjjihhhhBfffrfbfz?ɛفB> z >I >ɚiI1IMC IMA IIMJBIM. =&II.IM3D6IM<:IMj FGm .A; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.700139GA BQ O >zK 6dMK h9K K K f N( ,1)RK >JK ?J J J 1J J ;J un:J 3J J }T<J ~T<J ;J ;tw, FAZ9?YZ>w?Z%H%>9Z$>yZH%ٿNh?P?c׿? Ŀ6? [-?ɨZ9?Z!t;ZnCyfBfIIrIr|4٢z zZ=9znQ z>|| ~G٣~{BGy< >  Nusing accuracyPremultiplier from config 49 %C?4Y < i kB?? '6D  ;  ; 4! %A!ZjFNOT Ignoring new targets: 357.30 m.Bj%{:Jj%{:5 ProNav: ac range: 357.299988 m, nav range: 280.730347 m, bearing: 166.774586 deg, approach rate: -0.363599 m/s, LOS rate: 0.109057 deg/s, cmd heading: 112.050722 deg, new cmd heading: 112.178823 deg. 2j5;]HeadingCmd: 1.957890 target range: 357.299988 and range: 357.30 m. j]"?jajajaiahihqhhfffrfbfx?ɛ%ہB%> )-=I) U*>ɚQiQIUwB2iw, `AFm?RWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211134YF?F%>9Fg>yFH<ٿ L?@?^׿?hĿ ?K3?ɨFm?F&;FmCyMBUIeMb@Mb@Mb@aaa a)aYeK7A`?J + ףp= ye+?eHeQ8e A e@)eX AIe~@aye(AI}I}4٢ؽ &=9::Q > G٣yR; > Nusing accuracyPremultiplier from config49C?4Y4 ijB+?:??;6D;U;A%4 SAZjFNOT Ignoring new targets: 357.30 m.Bj;Jj; ProNav: ac range: 357.299988 m, nav range: 280.555267 m, bearing: 166.829405 deg, approach rate: -0.376111 m/s, LOS rate: 0.117838 deg/s, cmd heading: 112.178822 deg, new cmd heading: 112.343382 deg. 2j;HeadingCmd: 1.960762 target range: 357.299988 and range: 357.30 m. j??jjjihh!h!h%Bf!f)f)rf)bf-y@ɛ܁B >  g=I  >ɚiIa3vw,yAH$>I III BI- =&IGD.I6I<:I F>t?Y>'?>s&>9>D>y>H@>ٿhN@M?!?`P׿?Ŀv3?6?ɨ>t?>;>nCyJہBJIIRIR|4٢Z?C Z=9^ (;Q ^?`` bG٣`yfm;: f? nNusing accuracyPremultiplier from confighr49j C?r4Yj/ ijjBpr?v?jH6Dj_;jo;j*4x zFAzKE B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 357.30 m.Bj%*:Jj%*:5 ProNav: ac range: 357.299988 m, nav range: 280.444977 m, bearing: 166.864026 deg, approach rate: -0.355193 m/s, LOS rate: 0.111541 deg/s, cmd heading: 112.343382 deg, new cmd heading: 112.447285 deg. 2j5;=HeadingCmd: 1.962575 target range: 357.299988 and range: 357.30 m. jE5?jAjAjAiAhAhAhIhIfQfQfYrfYbf]`@ɛ݁B> q<I >ɚiI5 I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964187w,GA69?Y6?6&>96{>y6HPٿ_L??`m׿@fz?@Ŀ@q?@8?ɨ69?6rm;6mCyRȁBRIIpIp٢zM zF=9~:Q ~> G٣y7I;  > Nusing accuracyPremultiplier from config 49 RC?4Y ( i WjB?? Y6D  ; : ; 14) -A-NEZjQ]FNOT Ignoring new targets: 357.30 m.Bj]:Jje:m ProNav: ac range: 357.299988 m, nav range: 280.298676 m, bearing: 166.909930 deg, approach rate: -0.356026 m/s, LOS rate: 0.111767 deg/s, cmd heading: 112.447283 deg, new cmd heading: 112.585067 deg. 2juh;uHeadingCmd: 1.964980 target range: 357.299988 and range: 357.30 m. jux?jyjyjyiyhyhhhfffrfbfV@ɛ߁B> H5I y>ɚiI6w,AyBI $?IMb@Mb@Mb@ )Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:30:21.5610 %TRx dataTimestamp_ set to:1736371822.781185%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469773YMb?/$ly ?, A @)AI@yAI='I=5٢MDƽ M6=9MQ M>QQ UG٣U|BGy] ]> eNusing accuracyPremultiplier from configam49eOC?m4Ye0" iejBm&!?u:uU?u?ek6De9;e;e94y }AyZjFNOT Ignoring new targets: 357.30 m.Bj:Jj: ProNav: ac range: 357.299988 m, nav range: 280.147858 m, bearing: 166.956825 deg, approach rate: -0.336722 m/s, LOS rate: 0.104756 deg/s, cmd heading: 112.585068 deg, new cmd heading: 112.725828 deg. 2jɏ;HeadingCmd: 1.967437 target range: 357.299988 and range: 357.30 m. j?jjjihhhhˁBfffrfbfq @ɛ B >  I L>ɚiI8IC IIIЁBI+ =&I.I6I<:Iq FG .A; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.720347G B O >zK BoIK 9K K K w,bǛA2?Y2 ?2.(>92>y2H9fٿ@PJم?`? ؿ@w?Ŀ@j?Z;?ɨ2?2;2oCyBBF^III_4٢%0 %_=9-1a;Q ->)1 5G٣1y5; 5> ENusing accuracyPremultiplier from configAM49EB?M4YE iEiBIU?U?Ey6DE7:E:E@4Y ] AYZjFNOT Ignoring new targets: 357.30 m.Bj:Jj: ProNav: ac range: 357.299988 m, nav range: 280.024292 m, bearing: 166.995211 deg, approach rate: -0.337728 m/s, LOS rate: 0.104962 deg/s, cmd heading: 112.725831 deg, new cmd heading: 112.841040 deg. 2j;HeadingCmd: 1.969448 target range: 357.299988 and range: 357.30 m. j?jjjihhhhfffrfbf@_@ɛBH= I g>ɚiI: BDAT read: Tx time:21:30:22.6759 $Ping request sent.-_@-4QϾ -Z@)-`I-L@i-`?))-anj׿!lV<ٿ)-g.I-x>i-G{a?-e?)):publishing transmit ping timeؑFpublishing direction and range info)9-[2?M?n#%y)))) )))I)i))))) )))I)i)))-anj׿!lV<ٿ))I)i))))G5vAy >YvAyBE <*Fq2Fq:FqBFu_0JFqG }: Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:30:22.6751 Gy B J J AAJ J J J J %;J d:J J O>Jw,U曻Av?Yv?v(>9v>yvH,mٿIT#?@v?Eؿ}?`ſB?;?ɨv?vy;vnCyޕBޕXIMb@Mb@Mb@ )Y\(\?ˡES㥛y?'/ݼ A $@)AI@y=AI+I~5٢J =9:Q > G٣}BGyix: > Nusing accuracyPremultiplier from config49GB?4Y iiBc?:2??6D;;I4   A kNߛ?k&@S k k6қA:kLCBk CZkL^?@"s9h@ټVZm@0 &h[2?M?n#%JkG{a?Rke?*(Z s :CG@锝\g 뿮Z>?4."k:B*kmkKќޛ?kJ 2k>k_N?k  krkCk;@ addTargetRange:: Added new target pos. range: 360.600006 m, deltaT: 4.034537 s, deltaX: 3.300018 m, approachRate: 0.817942 m/s, rangeRepo size: 4  Added new target pos. range: 360.600006 m, bearing: 171.321854 deg, lat: 36.900187 deg, lon: -122.115024 deg, deltaT: 4.034537 s, deltaX: 3.300018 m, approachRate: 0.817942 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 360.60 m.BjJj- ProNav: ac range: 360.600006 m, nav range: 293.850677 m, bearing: 168.120947 deg, approach rate: 0.000000 m/s, LOS rate: 0.104962 deg/s, cmd heading: 112.841043 deg, new cmd heading: 113.015331 deg. 2j)5HeadingCmd: 1.972490 target range: 360.600006 and range: 360.60 m. j=z?jAjAjAiAhAhAhIhMBfffrfv@bf q? IɛBA= %*I! %xt>ɚ!i!I%;>i-Jκ)-z?)1}Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH! RH! H) I)  I- `II- BI) &I) .I) 6I- {<:I- R FE A<*F1 2F1 :F1 BF5 4JF1 "G= =G= =- Will construct direction to contact in vehicle frame from tetrahedron phase data.zKJK9KKKG GBO?w,N|AjxL?Yjډ?j'>9j؄ >yjH՞ٿB?l?7hؿ?@Ŀe?`E?ɨjxL?j&;hyvrBv7III4٢- -.=9-n8Q 5>11 5G٣9y=; => ENusing accuracyPremultiplier from configAM49EB?M4YE iEViBQU?U?E6DE ;EK ;EQ4]ŒB ] A]OE}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 360.60 m.Bj4:Jj4: ProNav: ac range: 360.600006 m, nav range: 293.702423 m, bearing: 168.166817 deg, approach rate: -0.319434 m/s, LOS rate: 0.098882 deg/s, cmd heading: 113.015329 deg, new cmd heading: 113.153007 deg. 2j;HeadingCmd: 1.974892 target range: 360.600006 and range: 360.60 m. jG?jjjihhhhfffrfbf?ɛB= aI ?C>ɚ iI@i-X)G?)EE*E"E nManaging dock network, ignoring radio surface power off 5$?I5gWill 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\0JFG p Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250244G B O= >Ǫw,:Z$AJ0J2J0J0J0J2b:J0J0W?YJ?83'>9e>yHWٿ@o??eؿV?Ŀ@?/C?ɨW?8;y%XB%IMMb@Mb@Mb@III I)IYMS?L7A`堿 G٣y12: > Nusing accuracyPremultiplier from config49B?4YA iiB?:??6D/;8;Z4 e AZjAMFNOT Ignoring new targets: 360.60 m.BjM:JjM:] ProNav: ac range: 360.600006 m, nav range: 293.537231 m, bearing: 168.216742 deg, approach rate: -0.314431 m/s, LOS rate: 0.095083 deg/s, cmd heading: 113.153005 deg, new cmd heading: 113.302865 deg. 2j];HeadingCmd: 1.977508 target range: 360.600006 and range: 360.60 m. j?jjjihhhhBfffrfbf ?ɛB =  *I  >ɚ iI,DI  I !II `BI &I .I 6I <:I c FBIMʜCJIMʜCRIIZIM+ =bIM, =jIMʂ5G iG B O >w,Z,>A6^1?Y6n?6 '>96>y6H`Yٿ3Cs?`?Mؿ @??Ŀ`?@@?ɨ6^1?6;4y>DBBIIJ+IJ~5٢R R=9R,:Q V?TT VG٣V~BGyZz Z? ^Nusing accuracyPremultiplier from config\b49^gB?f4Y^ i^hBdf?f?^6D^>;^n?;^7`4l n AlZjFNOT Ignoring new targets: 360.60 m.Bj :Jj : ProNav: ac range: 360.600006 m, nav range: 293.438507 m, bearing: 168.246706 deg, approach rate: -0.332671 m/s, LOS rate: 0.101003 deg/s, cmd heading: 113.302866 deg, new cmd heading: 113.392788 deg. 2j;%HeadingCmd: 1.979077 target range: 360.600006 and range: 360.60 m. j%iR?j!j!j)i)h)h)h)h1f1f1f1rf1bf@?ɛB 8R=  㠾I  >ɚ iI FJK>*F ?2F :F BF o0JF GRGBOB>  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002519λw,k XA6?Y65+?6(>96{l>y6Hrٿ@I?n?@q*ؿ`^? Ŀ]?>?ɨ6?6w ;4y^pp vG٣tyv v> zNusing accuracyPremultiplier from configx]49zB?]4Yz izhBae?e?z6Dz>gɚiIyI I ?w,qA^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506612yf0BjIMb@Mb@Mb@ )Yףp= ? G٣y > Nusing accuracyPremultiplier from config494B?4Y1 ihB?:??6D;M;o4   AZj9=FNOT Ignoring new targets: 360.60 m.BjE:JjE:U ProNav: ac range: 360.600006 m, nav range: 293.165009 m, bearing: 168.330855 deg, approach rate: -0.333697 m/s, LOS rate: 0.103396 deg/s, cmd heading: 113.513380 deg, new cmd heading: 113.645346 deg. 2jU;]HeadingCmd: 1.983485 target range: 360.600006 and range: 360.60 m. j]?jYjYjYiahahahahmBfififirfbf@`@ɛ=B=_.= 9=pI9 =+>ɚAiAIELuzK -NK K K K BK pA:K G B O >M"w,AF?YF4?FX)>9Fu>yFH`vٿeIia??@*0ؿ h?@mſ?>?ɨF?FV;FkCyjBjIIr<Ir 5٢z: zW=9zF:Q ~>|| ~G٣~BGyM: >  Nusing accuracyPremultiplier from config 49 WB?4Y y i \hB?? 6D m ;  ; u4! %1 A%QEEB*** querying acoustic contact ***jAjAZjQ]FNOT Ignoring new targets: 360.60 m.Bjm:Jj : u$?Iqu ProNav: ac range: 360.600006 m, nav range: 293.041412 m, bearing: 168.369183 deg, approach rate: -0.325462 m/s, LOS rate: 0.100971 deg/s, cmd heading: 113.645346 deg, new cmd heading: 113.760378 deg. 2j};}HeadingCmd: 1.985493 target range: 360.600006 and range: 360.60 m. j}$?jjjihhhhfffrfbf@ɛQ]_= r<隍CǾI >ɚiIPu Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266987 )w,襜AJJJ0JJ;Jb:Jـ3J?YY?&(>9o>yHٿE\g?? Aؿ@Z?Ŀz?@O??ɨ?n;騝mCyBIMb@Mb@Mb@ )Y~jt?+~jty$?DAA @)AIh@y3AI6I] 5٢', &=9Q > G٣yN; > Nusing accuracyPremultiplier from config49B?4Y ihB$?:??7D;h<N~4a e AiZjFNOT Ignoring new targets: 360.60 m.Bj:Jj: ProNav: ac range: 360.600006 m, nav range: 292.875275 m, bearing: 168.420963 deg, approach rate: -0.323769 m/s, LOS rate: 0.100967 deg/s, cmd heading: 113.760380 deg, new cmd heading: 113.915809 deg. 2j;HeadingCmd: 1.988206 target range: 360.600006 and range: 360.60 m. j}?jjjihhh h Bf ffrfbf`R @ aIegɛFy= 隵@ҾI p>ɚiQIUqSU0w,œA6S?Y6-?6w'>96}>y6HСٿ?@?S?`ZؿL?Ŀ%???ɨ6S?6s;4y>BBIIJBIJ5٢R" Rj=9R%Q R?XX ZG٣Xy^~; ^? bNusing accuracyPremultiplier from config`f49bB?jWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.770573 4YbQ ibgB??b7Dby)ɚyiyI}VEB@@:75441.,(&$ RK?JK ?*FY2FY:FaBFeP0JFa IGhAWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 363.3 m (Round-trip 484.4 ms) speed -0.3 m/s ,DAT read: user:1824> BDAT read: Tx time:21:30:26.6760 $Ping request sent.6w,_ܜA:Kt?Y:?:#'>9:T>y:H2ٿ`;@Ұ?? gؿ~G?`ĿW!?g??ɨ:Kt?:{Ԇ;:jCybBbIIn7In 5٢v6 vG=9v1غQ z>xx zG٣zBGy~s; ~> Nusing accuracyPremultiplier from config 49ױB? 4Y igB :??!7D::4 %KA!U addTargetRange:: Added new target pos. range: 363.299988 m, deltaT: 4.036402 s, deltaX: 2.699982 m, approachRate: 0.668908 m/s, rangeRepo size: 4 ZjQUFNOT Ignoring new targets: 360.60 m.Bj]:Jj]:m ProNav: ac range: 360.600006 m, nav range: 292.619446 m, bearing: 168.500544 deg, approach rate: -0.346633 m/s, LOS rate: 0.107884 deg/s, cmd heading: 114.025541 deg, new cmd heading: 114.154649 deg. 2jm;uHeadingCmd: 1.992375 target range: 360.600006 and range: 363.30 m. ju!?jqjyjyiyhyhyhhfffrf̴v@bf`Y?ɛ= 9I >ɚiIVJZb)!?)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:30:26.6752 E7ƙ<*FQ2FQ:FYBF]4JFY I Gy  Will construct direction to contact in vehicle frame from tetrahedron phase data.GY Ba O} >C=w,SA6?Y6 ?6%>96>y6Hٿ`1@??@ؿ\,?`Ŀ4?@?ɨ6?6;6lCyBBBIMMb@Mb@Mb@III I)IYM&1?l񢿸QyM0?MMuMXA M@)MAIM@IyMzAIuIu4٢} ?=9 SQ > G٣ya; > Nusing accuracyPremultiplier from config49B?4Y igB01?:??47Df;;4 ATEZjFNOT Ignoring new targets: 360.60 m.Bj;Jj;  ProNav: ac range: 360.600006 m, nav range: 292.461853 m, bearing: 168.548539 deg, approach rate: -0.367248 m/s, LOS rate: 0.111907 deg/s, cmd heading: 114.154652 deg, new cmd heading: 114.298715 deg. 2j ;HeadingCmd: 1.994889 target range: 360.600006 and range: 363.30 m. jX?jjjihhhh%Bf!f!f!ZH)RH-AAH5(>I1 I5II5BI1&I1.I16I5ް<:I5 Frf!bfM@g?ɛ[= 隍NI Y>ɚiI]Cw,YA >$?I@Nb?YN?N,#>9Np>yNHڿ" 4?? ؿ\?hfĿ@?@xB?ɨNb?NL7;NnCyZBZI)d f,CIBM-Ge5tAI5y Y5tAyB٢r H=9Q > G٣y.< > Nusing accuracyPremultiplier from config49YB?4Y iOgB"??F7Dm ; ;44 AREB*** querying acoustic contact ***jj=Will 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.ZjFNOT Ignoring new targets: 360.60 m.Bj2:Jj2: ProNav: ac range: 360.600006 m, nav range: 292.310760 m, bearing: 168.594226 deg, approach rate: -0.348508 m/s, LOS rate: 0.105435 deg/s, cmd heading: 114.298715 deg, new cmd heading: 114.435846 deg. 2j ;HeadingCmd: 1.997282 target range: 360.600006 and range: 363.30 m. j?jjjihhh!h!f!f!f!rf)bf-N?ɛB= 隝I D>ɚiIaJw,l!.A6 ?Y6$@6!>96H>y6H``nڿ@@Y?? (ٿ? ĿS?E?ɨ6 ?6ն;6kCyBـBB{IEMb@Mb@Mb@AAA A)AYEGz?/$I +yEp=?E,E9EA Ev@)EAIE@AyEf AIeIe4٢uτ u2=9}uʻQ }>yy G٣BGy7< > I Nusing accuracyPremultiplier from config49B?4Y i gB=?:??[7D/;;;4 aAZjFNOT Ignoring new targets: 360.60 m.Bj;Jj; ProNav: ac range: 360.600006 m, nav range: 292.128357 m, bearing: 168.649146 deg, approach rate: -0.420209 m/s, LOS rate: 0.126601 deg/s, cmd heading: 114.435844 deg, new cmd heading: 114.600708 deg. 2jŭ;HeadingCmd: 2.000160 target range: 360.600006 and range: 363.30 m. j@jjjih h hh Bfffrfbf`}?ɛAE= A_I >r>ɚ i I AeIY I]II]܀BI]* =&IY.I]4D6I]<:I] FG] K7G9 BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759930J J J J J u;J T:J J J B<J B<J ;J ;Qw,PGA:S@?Y:>@:>9:S>y:Hڿ j?U?Bٿ =?`ÿm?@G?ɨ:S@?:<;:oCyBˀBFjI J=Jp=IN0IN5٢V VY=9V,Q Z>\\ ^G٣|y׉; 5> MNusing accuracyPremultiplier from configIU49MB?U4YM̾ iMfBQU?U?Mm7DzK]NK]9KYK]K] M2:M;M4uƒB uAuUEZjFNOT Ignoring new targets: 360.60 m.BjU;JjU; ProNav: ac range: 360.600006 m, nav range: 291.972473 m, bearing: 168.696025 deg, approach rate: -0.396124 m/s, LOS rate: 0.119191 deg/s, cmd heading: 114.600711 deg, new cmd heading: 114.741424 deg. 2j;HeadingCmd: 2.002616 target range: 360.600006 and range: 363.30 m. j*@jjjihhhhfffrfbfg?ɛK= I R>ɚiI*h Xw,]aA:Nm?Y:WU@: 2>9:>y:Hڿ v}?෯?[ٿ }g?ÿg?I?ɨ:Nm?:j2;:lCyFBFJIIV>IV 5٢Zx ^I=9^Q ^>`` bG٣`yfd; f> jNusing accuracyPremultiplier from confighn49j B?n4Yj ijfBln?r?j7Dj ;j* ;j௫4t vAtZjFNOT Ignoring new targets: 360.60 m.Bj% ;Jj% ;- ProNav: ac range: 360.600006 m, nav range: 291.817688 m, bearing: 168.742545 deg, approach rate: -0.400537 m/s, LOS rate: 0.120443 deg/s, cmd heading: 114.741427 deg, new cmd heading: 114.881061 deg. 2j5Q;5HeadingCmd: 2.005053 target range: 360.600006 and range: 363.30 m. j5R@j9j9j9i9h9hAhAhAfAfIfIrfIbfMR@ɛB = 隕I >ɚiIxII MG٣MBGyU U> ]Nusing accuracyPremultiplier from configYe49],yB?m4Y]V i]OfBmvF?m:m?m?]7D],;];]췫4q uA}TEZjFNOT Ignoring new targets: 360.60 m.Bj;Jj; ProNav: ac range: 360.600006 m, nav range: 291.627075 m, bearing: 168.800005 deg, approach rate: -0.413706 m/s, LOS rate: 0.124791 deg/s, cmd heading: 114.881063 deg, new cmd heading: 115.053553 deg. 2jI;HeadingCmd: 2.008063 target range: 360.600006 and range: 363.30 m. j@jjjihhhhBfffrfbf @ɛ B =  6 I  c>ɚiIPKp@<J?@<JJ;JJ;zK LK+9KKKGhAG B O > 9 I9 K-ew,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019727:}?Y:@:L>9:O>y:Hڿv[d?P?໯ٿ?¿@.?BR?ɨ:}?:ӆ;:kCyJBJIXXIf.If5٢zq" ~c=9wdQ > G٣y>< > Nusing accuracyPremultiplier from config49oB?4Y ifBu? ?7D;::4 AWE-B*** querying acoustic contact ***j)j)Zj9EFNOT Ignoring new targets: 360.60 m.BjU;JjU;e ProNav: ac range: 360.600006 m, nav range: 291.464813 m, bearing: 168.848577 deg, approach rate: -0.416565 m/s, LOS rate: 0.124766 deg/s, cmd heading: 115.053553 deg, new cmd heading: 115.199351 deg. 2je@;mHeadingCmd: 2.010608 target range: 360.600006 and range: 363.30 m. jmͭ@jijijiiihihqhqhqfyfyfyrfybf}@@ɛBj= 2/I1 5u]>ɚ1i1I5sXkw,$A:W?Y:@:>9:>y:HNۿH?Z?ٿ@un?2¿`8?U?ɨ:W?:";:jC pItyvBvI}Mb@Mb@Mb@yyy y)yY}sh|??/$I +y}I?},}94}A }A)}AI}QAyy}G AIJI:5٢ ?=9Q > G٣y; > Nusing accuracyPremultiplier from config49eB?4Y ieBJ?:??7DD";!;ū4 AZj  FNOT Ignoring new targets: 360.60 m.Bj;Jj;- ProNav: ac range: 360.600006 m, nav range: 291.293488 m, bearing: 168.898869 deg, approach rate: -0.430850 m/s, LOS rate: 0.126550 deg/s, cmd heading: 115.199350 deg, new cmd heading: 115.350316 deg. 2j-;5HeadingCmd: 2.013243 target range: 360.600006 and range: 363.30 m. j5@j1j1j1i9h9h9h9hEBfAfAfArfAbfM @ɛ= 3I >ɚiIw Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778072J% J% J! J! J% ;J% Z:J! J! J% F<J% F<J% ;J% ;B@rw,qɝA6?Y6=@6p>96Z>y6H`i9ۿ@?`?  ڿ l? ¿A?X?ɨ6?6;6lCy^eB^IIf;If 5٢r% rX=9rQ r>tt vG٣vBGyzH; z> ~Nusing accuracyPremultiplier from config|49~6\B?4Y~ i~eB  ? ?~7D~';~:~F̫4 AzK:IKh9KKK%X!'l&"tS. RK?JK>Zj!-FNOT Ignoring new targets: 360.60 m.BjeS;JjeS; ProNav: ac range: 360.600006 m, nav range: 291.130157 m, bearing: 168.946657 deg, approach rate: -0.401154 m/s, LOS rate: 0.117438 deg/s, cmd heading: 115.350311 deg, new cmd heading: 115.493755 deg. 2j1;HeadingCmd: 2.015746 target range: 360.600006 and range: 363.30 m. j@jj!j)iyhyhhh $?Igff f rf bf@@ɛ-B5J= 1=CI9 r>ɚiIH{ BDAT read: Tx time:21:30:30.6760 $Ping request sent.EuJ@E¾ Ec@)EӇIE%K@iEӇ?AAEi$?`ؿx׿)E-IE>iEZ>j?E0?AA}:publishing transmit ping time}Fpublishing direction and range infoA9Er5y?=,i?R+%yAAAA A)AIAiAAAAA A)AIAiAAAEi$?`ؿx׿)AIAiAAAAG] KG B! O= > `xw, 㝻Ay5PB5IIEIIE5٢Uʽ UE=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu49mQB?}4Ym imKeByy}?m7Dmi@;m"A;mӫ4 AWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:30:30.6752 k+|ۛ?k$RT k k֝A:k3CBkCZkB@"Esg@ƕO-{n@)3chhr5y?=,i?R+%JkZ>j?Rk0?*܄sy}?@>yf*AЂ[UE?]+z"kA*kks!ۛ?kcN 2kk?kdᷞ k.kCk>@M addTargetRange:: Added new target pos. range: 364.399994 m, deltaT: 4.031748 s, deltaX: 1.100006 m, approachRate: 0.272836 m/s, rangeRepo size: 4  Added new target pos. range: 364.399994 m, bearing: 174.225491 deg, lat: 36.900118 deg, lon: -122.115107 deg, deltaT: 8.068150 s, deltaX: 3.799988 m, approachRate: 0.470986 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 364.40 m.BjJj ProNav: ac range: 364.399994 m, nav range: 297.217957 m, bearing: 170.687794 deg, approach rate: 0.000000 m/s, LOS rate: 0.117438 deg/s, cmd heading: 115.493759 deg, new cmd heading: 115.639458 deg. 2jHeadingCmd: 2.018289 target range: 364.399994 and range: 364.40 m. j+@jjjihhh hfIfqfrf`fv@bff0?ɛBi= NI w=ɚiII  I II rBI &I .I 6I k<:I N FG- N<8G5 ?G5 ?G B O5 >R~w,A2v?Y2Y@2$ >92{T>y2H ۿ ?׋? mڿ@]}?6H` n?^?ɨ2v?2=;0yV9BVI=Mb@Mb@Mb@999 9)9Y=(\?ˡE~jty=G?='=D=A =A)= AI=zA9y=3AIU<IU 5٢eս e<=9ek{Q e>ii uG٣qyug< u> Nusing accuracyPremultiplier from config49FB?4Y ieBUH?:??7D;;'۫4ǒB mAYEZjFNOT Ignoring new targets: 364.40 m.Bj;Jj; ProNav: ac range: 364.399994 m, nav range: 297.038116 m, bearing: 170.742080 deg, approach rate: -0.436202 m/s, LOS rate: 0.131750 deg/s, cmd heading: 115.639460 deg, new cmd heading: 115.802416 deg. 2jִ;HeadingCmd: 2.021133 target range: 364.399994 and range: 364.40 m. j@Z@jjjihhhhBfffrfbf`R'?ɛeBmf-u= imZIi mo=ɚiiiIu֚ Will construct direction to contact in vehicle frame from tetrahedron phase data.)مw,ARe?YRb@RI>9R">yRHۿ4ȵ??ڿ]?@b$?Q?ɨRe?R;RkCy^B^IIIY4٢- % -O=95Q 5>11 5G٣=BGy=2< => ENusing accuracyPremultiplier from configAM49E[  $?I w,e2A6K?Y6@6>96t>y6HCۿDH?'z?Yڿ@3v?'z?\X?ɨ6K?6a;6mCyfBfvIMb@Mb@Mb@ )Y}?5^I? ףp= yMB?Q8LA A)AIAyAI I4٢ B=9+ʻQ > G٣y2; > Nusing accuracyPremultiplier from config491B?4Yz idBC?:=?? 8DJ;I;b4 AZj  FNOT Ignoring new targets: 364.40 m.Bj ;Jj ;% ProNav: ac range: 364.399994 m, nav range: 296.705597 m, bearing: 170.842129 deg, approach rate: -0.406843 m/s, LOS rate: 0.123176 deg/s, cmd heading: 115.949469 deg, new cmd heading: 116.102725 deg. 2j-;-HeadingCmd: 2.026375 target range: 364.399994 and range: 364.40 m. j- @j1j1j1uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494001i1hhhh܁Bfffrfbfw?ɛuBum= qu-vIy }~X=ɚyiyI}~iw,CLA:?Y:!@:E>9:>y:H;ܿ?o?Fۿ6?@x?^?ɨ:?:;:lCy^BbLIIj^Ij5٢r3 rX=9raQ r>tt vG٣tyz_-< z> %Nusing accuracyPremultiplier from config-49E(B?-4Ys iHdB15?=?38D`;Z;4A E#AE\EZjimFNOT Ignoring new targets: 364.40 m.BjuC ;JjuC ;zK}BoHKyKyK}K}RK ?JK? ProNav: ac range: 364.399994 m, nav range: 296.551544 m, bearing: 170.888452 deg, approach rate: -0.401792 m/s, LOS rate: 0.120879 deg/s, cmd heading: 116.102725 deg, new cmd heading: 116.241765 deg. 2j;HeadingCmd: 2.028801 target range: 364.399994 and range: 364.40 m. j@jjjihhhhfffrfbf@M?ɛ]B]j:= Y]уIY e=ɚaiaIeqfw,'fA2P$?Y20@2Z=92>y2H@dܿ}?`g?8ۿ??`d?ɨ2P$?2F;0y>B>/IIJbIJ5٢VqnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.250482 rN=9v̻Q v>tx zG٣zBGyz; ~> Nusing accuracyPremultiplier from config| 49~B? 4Y~l i~ dB ??~F8D~B;~B;~4 %A%ZEZjAMFNOT Ignoring new targets: 364.40 m.BjM ;JjM ;] ProNav: ac range: 364.399994 m, nav range: 296.388855 m, bearing: 170.937240 deg, approach rate: -0.406670 m/s, LOS rate: 0.122022 deg/s, cmd heading: 116.241760 deg, new cmd heading: 116.388205 deg. 2je|;mHeadingCmd: 2.031357 target range: 364.399994 and range: 364.40 m. jm@jijijiiiJJJ0JJu;JY:Jـ3Jhhhhfffrfbf@ɛBN= )-I1 ==ɚ9iaImI  I lII BI &I .I 6I <:I FGY Ba O >@w,bAJ?YJ@J=9J>yJHԳܿP}8?Y?4ۿ?@D?Gm?ɨJ?JN;JoCyVQBVImMb@Mb@Mb@iii i)iYm1Zd?:vMbym";?mԼm@m A mA)mAImAiymAIaIk5٢ <=9GQ > G٣yG< > Nusing accuracyPremultiplier from config49B?4YRe icB;?:@?Y8D;;4 AZjFNOT Ignoring new targets: 364.40 m.Bj_;Jj_; ProNav: ac range: 364.399994 m, nav range: 296.215637 m, bearing: 170.986172 deg, approach rate: -0.406353 m/s, LOS rate: 0.114856 deg/s, cmd heading: 116.388199 deg, new cmd heading: 116.535079 deg. 2j;HeadingCmd: 2.033921 target range: 364.399994 and range: 364.40 m. j+@jjji!h!h!h!h%Bf)f)f)rf)bf5@ɛ]B]|= ]>=eԒIa e=ɚaiaIeZ $?IG) B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006053'w,9љA ?Y @ f&=9 l>y Hܿx ?V?ۿݔ?? q?ɨ ? ; lCyBII5jI5h 5٢E, EP=9EQ E>II MG٣IyU O; U> eNusing accuracyPremultiplier from configam49eB?m4Ye^ iecBim@m?el8De:e:ef4 A]EB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 364.40 m.BjD:JjD:E ProNav: ac range: 364.399994 m, nav range: 296.055298 m, bearing: 171.031453 deg, approach rate: -0.394901 m/s, LOS rate: 0.111585 deg/s, cmd heading: 116.535076 deg, new cmd heading: 116.670994 deg. 2jE(;MHeadingCmd: 2.036293 target range: 364.399994 and range: 364.40 m. jUR@jqjqjqiyhyhhhfffrfbf1 @ɛB= 隥~I =ɚiI~EM>*F2F:FBFu2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258084*JC="JJ-J-J)J)J-=;J-Z:J)J)G G B O- > I ;Tw,1AB3?YBz@B=9B>yBHܿq@?`Q?TۿB?%f?@u?ɨB3?B;BmCy^~B^IMMb@Mb@Mb@III I)IYMtV?~jtyy G٣BGy; > Nusing accuracyPremultiplier from config49[A?4YW igcB2?:u@?~8Dh;; 4 AUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:21:30:33.5698 ]TRx dataTimestamp_ set to:1736371834.884761echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.511188ZjiuFNOT Ignoring new targets: 364.40 m.Bjuk;Jjuk; ProNav: ac range: 364.399994 m, nav range: 295.893768 m, bearing: 171.076372 deg, approach rate: -0.406665 m/s, LOS rate: 0.113148 deg/s, cmd heading: 116.670996 deg, new cmd heading: 116.805825 deg. 2jN;HeadingCmd: 2.038646 target range: 364.399994 and range: 364.40 m. j.y@jjjihhhhBfffrfbf^k @ɛ0^< 隍iI r=ɚiI9w,D͞A=*?Y=@==9=O'>y=HܿrN?T?lۿ@?@}˼iV?@v?ɨ=*?=Yp;=kCy ~B I IzK%BoIK%9K!K%K%Y]AIeoIe"5٢Z  ;=92MQ > G٣yi, > Nusing accuracyPremultiplier from config497A?4YP i2cBp@?8D$;$;>4 AZj MFNOT Ignoring new targets: 364.40 m.BjU:JjU:e ProNav: ac range: 364.399994 m, nav range: 295.721008 m, bearing: 171.124562 deg, approach rate: -0.389260 m/s, LOS rate: 0.108645 deg/s, cmd heading: 116.805824 deg, new cmd heading: 116.950479 deg. 2je;mHeadingCmd: 2.041171 target range: 364.399994 and range: 364.40 m. jm@jijijqiqhqhqhqhyfyfyfyrfybf@ɛ5B=J< AE+II U=ɚQiQIUv BDAT read: Tx time:21:30:34.6760 $Ping request sent.mM@m m!k@)m ImH@im ?iimKWƃڿ麧۠׿)m+Im$>im(Ko?mh?ii:publishing transmit ping timeFpublishing direction and range infoi9m1!)d?9D 2?nD z4yiiii i)iIiiiiiii i)iIiiiiimKWƃڿ麧۠׿)iIiiiiiiE *F ?2F :F BF "5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:30:34.6752 J)J-@AJ=J=J9J9J=u;J=[:J9J9GGaBqO?cw, A=Q?YN@ty=95>yHYܿm߳? Q? ۿ?@9`9?y?ɨ=Q?;騅jC $?Iy{~B IMb@Mb@Mb@ )Yy&1?:v:vy`%?TԼ A)AIAyAIyI'5٢%^ %=9-LQ ->)1 5G٣1y5; 5> =Nusing accuracyPremultiplier from config9E49=A?M4Y=H i=bBM%?M:M@M?=8D=;=;=|4]ȒB ]TA]_Eke7Odכ?kew ka ke؞A:keCBkeTCZkek)D@"e7>ނg@(o@y>ge1!)d?9D 2?nD z4Jke(Ko?Rkeh?*e95-]tNT98@iideHmYd쿣HH+m?fb0ݿ"keA*keke_'%֛?ke3 2kekeKќޛ?keJ ke>keCke?@@ addTargetRange:: Added new target pos. range: 367.200012 m, deltaT: 4.035867 s, deltaX: 2.800018 m, approachRate: 0.693784 m/s, rangeRepo size: 4 e Added new target pos. range: 367.200012 m, bearing: 175.613167 deg, lat: 36.900032 deg, lon: -122.115181 deg, deltaT: 4.035867 s, deltaX: 2.800018 m, approachRate: 0.693784 m/s, posRepo size: 4 ZjaeFNOT Ignoring new targets: 367.20 m.BjmJji ProNav: ac range: 367.200012 m, nav range: 304.114960 m, bearing: 172.671544 deg, approach rate: 0.000000 m/s, LOS rate: 0.108645 deg/s, cmd heading: 116.950474 deg, new cmd heading: 117.123046 deg. 2jHeadingCmd: 2.044183 target range: 367.200012 and range: 367.20 m. j@jjjihhhhWBfffrf@3v@bf n?ɛ%B-›= )-UI) -=ɚ)i1I5=<=Will construct direction to contact in vehicle frame from tetrahedron phase data.I@i3=iJ)@)ZH1RH5AAH=->I9 I=II=~BI9&I9.I96I=5<:I= FE y=*F ?2F :F BF 95JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G}I6GQBYO} ?w,SA6`?Y6_@6W=96 & >y6HwݿhT? J?@3*ܿT?. *=??ɨ6`?6;4y>I~BBbIIJMIJ5٢R2ڽ V2=9VֻQ V> \I^gzKbjIKb9K`KbKbXh jG٣jBGynx; n> rNusing accuracyPremultiplier from configpv49rA?v4YrA irbBtm@u?r8DrϿw,-AFq?YF@F=9F>yFHݿg1Z?PO?` ܿ@7?ֺ n? ?ɨFq?F\;FlCyV~BVFI n=n=IXIn5٢ *=9ͻQ > G٣yM U> I Nusing accuracyPremultiplier from config49A?4Y: ibB@?8DL;N;].4 AbE5B*** querying acoustic contact ***j1j1ZjAeFNOT Ignoring new targets: 367.20 m.Bjm:Jjm:} ProNav: ac range: 367.200012 m, nav range: 303.772705 m, bearing: 172.768504 deg, approach rate: -0.358401 m/s, LOS rate: 0.101757 deg/s, cmd heading: 117.262368 deg, new cmd heading: 117.414092 deg. 2j};HeadingCmd: 2.049263 target range: 367.200012 and range: 367.20 m. j'@jjjihhhhfffrfbf?ɛIMdX< QU{IQ ]i=ɚYiYI w,FAy}B-I]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750242Mb@Mb@Mb@ )Yx&1?y&1|y&1y!?`廹`e9A `A)I`AyfAIgI5JyJ}JyJyJyJ}W:JyJyJ}B G٣y > Nusing accuracyPremultiplier from config49A?4Y4 i|bB!?:a@?8D;$;!;54 wA ZjQ]FNOT Ignoring new targets: 367.20 m.Bj]:Jj]: ProNav: ac range: 367.200012 m, nav range: 303.629395 m, bearing: 172.808695 deg, approach rate: -0.353405 m/s, LOS rate: 0.099156 deg/s, cmd heading: 117.414094 deg, new cmd heading: 117.534722 deg. 2j;HeadingCmd: 2.051368 target range: 367.200012 and range: 367.20 m. jI@jjjihhhh,Bfffrfbf ~?ɛB0; I %r=ɚ!i!I% , Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002191w,`A6(6?Y6ù@6=96O>y6H@ܿ l`?[?ۿ??@΂?ɨ6(6?6Z;4yN}BRIIZIZ+5٢b̽ bs=9b0Q b?dd fG٣fBGyj j? nNusing accuracyPremultiplier from configlr49n׽A?r4Yn / inabBpr8@v?n8Dn2;nu;ng;4x zAz`EZj!%FNOT Ignoring new targets: 367.20 m.Bj-:Jj-:= ProNav: ac range: 367.200012 m, nav range: 303.512482 m, bearing: 172.841710 deg, approach rate: -0.352397 m/s, LOS rate: 0.099551 deg/s, cmd heading: 117.534715 deg, new cmd heading: 117.633797 deg. 2j=;EHeadingCmd: 2.053097 target range: 367.200012 and range: 367.20 m. jEe@jAjAjAiAhAhIhIhIfIfQfQrfQbfU`T@ɛ!# Q@=ÿI Ts=ɚiI ႟ Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506212w,zA2?Y2|@2û=92?z>y2H`ܿ`m ?`/_? ۿr?@'?ك?ɨ2?2;2jCy>}B> IDD Mb@Mb@Mb@    ) Y +?Mbp{Gzty ?  ף  ) hAI  A y 3AI%mI%!5٢5#e 5C=jHbH<H.>I ILII'~BI&I.I6Iٰ<:I F95ƖQ =>99 =G٣9yEǺ E> MNusing accuracyPremultiplier from configIu49Mi.)@)*F?2F:FBF_0JFG5o>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758309GB!O=>JJJJJ;J`:JJJF<JF<JZ;JZ;)m = m !C I g G vA = YE vAyE Bw,qAzK>BHK>9K<K>K>RQ?YRإ@Rc1=9R9>yRH ܿ@m0?b?<ۿc? `? ?ɨRQ?RF;RiCyZ}BZIIr~IrE)5٢zgf zN=9%ǻQ ->II MG٣IyUa U> ]Nusing accuracyPremultiplier from configYe49]{A?e4Y]# i](bBaeP@m?] 9D]C:]:]I4uɒB uAucEZjFNOT Ignoring new targets: 367.20 m.BjQ:JjQ: ProNav: ac range: 367.200012 m, nav range: 303.227905 m, bearing: 172.922009 deg, approach rate: -0.357579 m/s, LOS rate: 0.101117 deg/s, cmd heading: 117.765685 deg, new cmd heading: 117.874809 deg. 2jʊ;HeadingCmd: 2.057303 target range: 367.200012 and range: 367.20 m. jܪ@jjjihhhhfffrfbf@ɛQu y}ɿIy =ɚiIܤiuʼ)ܪ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012622*FM?2FQ:FQBFU0JFQG)G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263086*J "J < w,LAV(?YV@V=9V>yVHܿhP(?a?`Xۿ'?R@{??ɨV(?V;VjCyj}BnII-I-)5٢e1 mD=9uʻQ u> G٣BGy: > Nusing accuracyPremultiplier from config 5 $?I949A?4Y i bB]@?9D>=h=Q4 , A uB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 367.20 m.Bj:Jj: ProNav: ac range: 367.200012 m, nav range: 303.083954 m, bearing: 172.962701 deg, approach rate: -0.309026 m/s, LOS rate: 0.087395 deg/s, cmd heading: 117.874804 deg, new cmd heading: 117.996936 deg. 2jo;HeadingCmd: 2.059435 target range: 367.200012 and range: 367.20 m. j@jjjihhhhfffrfbf @ɛB; 隍 ͿI !=ɚiIII III}BI&I.I6IҰ<:I FEr =E*FA 2FA :FA BFE _0JFA GI  GI  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766142G ļJK|3 KS}-KK"KJJJJJ];JJJJI<JI<JJGBO>Rw,g͟A--w?Y-E@-Z=9-q>y-Hݿ]@E?`\?$ܿW?`+ `Ӊ??ɨ--w?-ņ;-hCyE~}BEI Ma=Mp=-Mb@Mb@Mb@))) )))Y-T㥛 ?MbMb`y-!?---A - A)-AI- A)y-AI=uI=H%5٢M@ M=9UQ U>QY ]G٣Yy]>; ]> qIq Nusing accuracyPremultiplier from configy49}}A?4Y}T i}aB !?:@?}29D};}w;})Z4 N AZjFNOT Ignoring new targets: 367.20 m.Bj8:Jj8: ProNav: ac range: 367.200012 m, nav range: 302.904968 m, bearing: 173.013916 deg, approach rate: -0.380502 m/s, LOS rate: 0.108942 deg/s, cmd heading: 117.996941 deg, new cmd heading: 118.150677 deg. 2j;HeadingCmd: 2.062118 target range: 367.200012 and range: 367.20 m. j@jjjihhhh%Bfffrfbf j@ɛ)-d )-οI) -==ɚ1i1I5Oq ]BDAT read: Tx time:21:30:38.6761 ]$Ping request sent.etw,ک矻AB?YB@BXj=9B>yBH`'+ݿUD?jX?;ܿq?e2?hl nG٣lyr; r> zNusing accuracyPremultiplier from configx49z5A?4Yz% izaB  *@ ?z@9Dz^;z_;zM`4 % A%fEu addTargetRange:: Added new target pos. range: 370.000000 m, deltaT: 4.032009 s, deltaX: 2.799988 m, approachRate: 0.694440 m/s, rangeRepo size: 4 ZjyFNOT Ignoring new targets: 367.20 m.BjR:JjR:Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:30:38.6753 = ProNav: ac range: 367.200012 m, nav range: 302.783539 m, bearing: 173.048630 deg, approach rate: -0.339811 m/s, LOS rate: 0.097184 deg/s, cmd heading: 118.150675 deg, new cmd heading: 118.254859 deg. 2j=d;EHeadingCmd: 2.063937 target range: 367.200012 and range: 370.00 m. jE@jAjIjIiIhIhIhqhqfqfqfyrf} w@bf}?J@AJ?AɛX J пI 8h=ɚiI{I  I II }BI &I .I 6I <:I FBIJIRIZI( =bI( =jI4G5 p6ϼG B O5 >w,$^A69?Y6;@6ο=96>y6H `oݿ`?E? J?|ܿu@?Qt9?K?ɨ69?6B2;6mCy>\}B>IMb@Mb@Mb@ )Y~jt?AA MG٣MBGyM%< M> Nusing accuracyPremultiplier from config49@A?4Y iaB$?:t@?S9D;D;kh4  AeEZji}FNOT Ignoring new targets: 367.20 m.Bj@:Jj@: ProNav: ac range: 367.200012 m, nav range: 302.622131 m, bearing: 173.095997 deg, approach rate: -0.345771 m/s, LOS rate: 0.101524 deg/s, cmd heading: 118.254863 deg, new cmd heading: 118.397038 deg. 2jY;HeadingCmd: 2.066418 target range: 367.200012 and range: 370.00 m. j2@@jjjihhhh=Bfffrfbf::?ɛBP 9ҿI  E=ɚiI8 Will construct direction to contact in vehicle frame from tetrahedron phase data.w,%AB?YB#|@B#=9B>yBHݿ(.?=?ർܿ?Y>[?؇?ɨB?Bv;BiCyJN}BJIIRKIR5٢ZO ZT=9^ 3Q ^>`` bG٣`yfC'< f> jNusing accuracyPremultiplier from confighn49jxA?4Yj ijaB!-@-?jb9DjvC I  w,S7A6g?Y6@6==96A>y6Hݿr?@7,?Xݿ@i?8[??ɨ6g?6惈;6lCyRD}BRI5Mb@Mb@Mb@111 1)1Y5|?5^?Mb~jthy5-?55D5#A 5 A)1I5 A1y5AIMDIM5٢]& ]@=9]9Q ]>aa eG٣aymK< m> uNusing accuracyPremultiplier from configq49umA?4Yu iuaB-?:^@?uu9DuIC III}BI' =&I.I6Iذ<:I FI 3@i +Ai F:) 3@)*F2F:FBF^0JFG +Pm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775190G B O >w,PAZЍ?YZ@ZJV=9Z >yZH@ ޿$?)?@)ݿ ? &u? ?ɨZЍ?Z;ZiCyb;}BbIInIn(*5٢r} vR=9v Q v>xx zG٣zBGy~B; ~>  Nusing accuracyPremultiplier from config 49 cA?4Y  i {aBq@? 9D `; ; }4! %`!A! = $?I9ZjaeFNOT Ignoring new targets: 367.20 m.Bjmm;Jjmm;} ProNav: ac range: 367.200012 m, nav range: 302.188538 m, bearing: 173.220590 deg, approach rate: -0.393014 m/s, LOS rate: 0.112279 deg/s, cmd heading: 118.645345 deg, new cmd heading: 118.770995 deg. 2j};HeadingCmd: 2.072945 target range: 367.200012 and range: 370.00 m. j!@jjjihhhhfffrfbf`X?ɛļ տI 0w=ɚiI϶j2w,jAWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=2.278475y%4}B%II5I5|+5٢E₼ ED=9MQ M>II UG٣QyU ]> mNusing accuracyPremultiplier from configam49eXA?m4Ye iedaBqqu?e9DeF;e;e[4}ʒB ~!AgEJJJ0JJ} ;J e:Jـ3Ja@a@a@a@ZjiFNOT Ignoring new targets: 367.20 m.Bj:Jj: ProNav: ac range: 367.200012 m, nav range: 302.033020 m, bearing: 173.265092 deg, approach rate: -0.355406 m/s, LOS rate: 0.101754 deg/s, cmd heading: 118.770993 deg, new cmd heading: 118.904568 deg. 2j;HeadingCmd: 2.075276 target range: 367.200012 and range: 370.00 m. jS@jjjihhhhfffrfbf@@ɛBP%E ֿI )I-g e|>=ɚaiaIe]\!w,6A2E6?Y29@2܀=92H>y2HZ޿``G? ?ݿ@B7?@ Z?i?ɨ2E6?2o;2lCyR2}BRImMb@Mb@Mb@iii i)iYmtV?~jty&1|ym2?mm`i m A)iImAiymAIIB-5٢ F=9zQ > G٣yK< > Nusing accuracyPremultiplier from config49NA?4Y iLaB2?:@?9D;0;4 !AjEZjFNOT Ignoring new targets: 367.20 m.Bj;Jj;  ProNav: ac range: 367.200012 m, nav range: 301.880493 m, bearing: 173.311258 deg, approach rate: -0.392574 m/s, LOS rate: 0.118883 deg/s, cmd heading: 118.904564 deg, new cmd heading: 119.043133 deg. 2j -;HeadingCmd: 2.077695 target range: 367.200012 and range: 370.00 m. j@jjjihh!h!h%VBf!f)f)rf)bf-@ɛeBen aeֿIa m =ɚiiiIm Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034362A'w,&mAR?YRg@R]q=9RR>yRH@H޿@ ߺ?W?ݿ?`N??ɨR?R;RkCy}BII%|I%b(5٢5 5P=9=)Q =>AA EG٣EBGyEj; E> UNusing accuracyPremultiplier from configIU49MDA?]4YM iM7aBY] @]?M9DM~ ;M ;Mh4i m!AiZjFNOT Ignoring new targets: 367.20 m.Bj:Jj: ProNav: ac range: 367.200012 m, nav range: 301.734894 m, bearing: 173.355153 deg, approach rate: -0.368890 m/s, LOS rate: 0.111264 deg/s, cmd heading: 119.043135 deg, new cmd heading: 119.174880 deg. 2j;5HeadingCmd: 2.079994 target range: 367.200012 and range: 370.00 m. j5@j1j1j9i9h9h9h9hAfAfAfArfAbfM{ @ɛB4Ǽ 隥ٿI ;=ɚiIyFH ޿"`0? '?ݿΣ?x᫿B?o?ɨF?FR;FhCyN}BRITVA5Mb@Mb@Mb@111 1)1Y5rh|?kty&1|y5;?5 015$A 5t A)5AI5ZA1y5\AIMIMy/5٢]< ]G=9e/Q e>aa eG٣aym< m> uNusing accuracyPremultiplier from configq}49u9A?4Yul iu aB<I1 I5II5z}BI1&I1.I16I5<:I5 F %m=ɚaiaIekS4w,$ҠAVAGfvA hIh 5{Y5vAy5BMo?YM@MFN=9M0>yMH ޿Gs?$?@-޿c? Ʃ9-? ?ɨMo?M;MiCye}BeII}I}B-5٢ H=9%Q > G٣y; > Nusing accuracyPremultiplier from config49.A?4YL i aB7@?9D: ;4 !AmEZjFNOT Ignoring new targets: 367.20 m.Bjk;Jjk; ProNav: ac range: 367.200012 m, nav range: 301.414764 m, bearing: 173.451751 deg, approach rate: -0.392957 m/s, LOS rate: 0.118392 deg/s, cmd heading: 119.320099 deg, new cmd heading: 119.464829 deg. 2j; HeadingCmd: 2.085055 target range: 367.200012 and range: 370.00 m. j q@j j jihhhhfff!rf!bf%u@ɛMBM QU4ٿIQ Ub=ɚQiQI] BDAT read: Tx time:21:30:42.6761 $Ping request sent.3}:w,렻A2?Y2t @23==92>y2HR߿@@?F?e޿ ? Q=???ɨ2?2|;2jCyR}BRIIZwIZ+&5٢zh ~T=Will construct direction to contact in vehicle frame from tetrahedron phase data.90Q  >    G٣ BGy>< > Nusing accuracyPremultiplier from config%49J$A?%4Y i`B)-o@-?9D":e:y41 5 "A5kEm addTargetRange:: Added new target pos. range: 372.399994 m, deltaT: 4.049168 s, deltaX: 2.399994 m, approachRate: 0.592713 m/s, rangeRepo size: 4 ZjiuFNOT Ignoring new targets: 367.20 m.Bju;Jju; ProNav: ac range: 367.200012 m, nav range: 301.262878 m, bearing: 173.497261 deg, approach rate: -0.392337 m/s, LOS rate: 0.117618 deg/s, cmd heading: 119.464831 deg, new cmd heading: 119.601431 deg. 2jp;HeadingCmd: 2.087439 target range: 367.200012 and range: 372.40 m. j@jjjiJJJJJ];JFi:JJhhhhfffrf`fFw@bf ?ɛB ٿI V=ɚiI4GQBYO>Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH) RH) H5 3>I1  I1 I1 I1 &I1 .I1 6I5 <:I5 FeAw,A6W?Y6uJ@6d)=96 >y6H`4R߿B??޿?+'? ?ɨ6W?6땇;4yR}BRIeMb@Mb@Mb@aaa a)aYeQ?A`"Mbye( G٣y< > Nusing accuracyPremultiplier from config49A?4Y6 i`B Will construct direction to contact in vehicle frame from tetrahedron phase data.xGw,A>i?Y>u@>x=9>n>y>H >y߿N ;?`Z?`޿x?-|?K?ɨ>i?>;;pt vG٣tyvi; v> zNusing accuracyPremultiplier from configx~49zA?4Yz iz`B@?z:Dz" ;z" ;z4 ˒B D"AnEZjY]FNOT Ignoring new targets: 367.20 m.Bje;Jje;u ProNav: ac range: 367.200012 m, nav range: 300.950470 m, bearing: 173.592606 deg, approach rate: -0.386565 m/s, LOS rate: 0.117792 deg/s, cmd heading: 119.751562 deg, new cmd heading: 119.887617 deg. 2ju;}HeadingCmd: 2.092434 target range: 367.200012 and range: 372.40 m. j}o@jyjyjyiyhhhhfffrfbf 8?ɛB 隽ڿI 9 =ɚiI* I nMw,+9AbY?Yb@bx=9b>ybHV߿Pa? ? 1߿z?`5U??ɨbY?b1;`yj|BjIuMb@Mb@Mb@qqq q)qYux&1?V-QyuA?umuuu$A uA A)uAIujAqyqIQIT5٢@ >=9]Q > G٣BGyG< > Nusing accuracyPremultiplier from config49 A?4Yѷ i`B$B?:@?/:D<;#;4 "AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 367.20 m.Bj  ;Jj  ; ProNav: ac range: 367.200012 m, nav range: 300.778351 m, bearing: 173.645110 deg, approach rate: -0.403678 m/s, LOS rate: 0.123210 deg/s, cmd heading: 119.887619 deg, new cmd heading: 120.045221 deg. 2j;%HeadingCmd: 2.095184 target range: 367.200012 and range: 372.40 m. j%@j!j!j)i)h)h)h1h5kBf1f1f9rf9bf= ?}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 III&I.I6I<:I FBIžCJIžCRIZI' =bI' =jIET4ɛ]B]޼ aeMܿI ή=ɚiIdITw,rkSA $I$>X?Y>@><9>U>y>H|߿`V?@=?`2߿`2)? ?8?ɨ>X?>B;`` bG٣`yf6 f> rNusing accuracyPremultiplier from configlv49n@?v4Yn in`Btv @v?nA:Dn;n:nì4x ~"A|ZjFNOT Ignoring new targets: 367.20 m.Bj(;Jj(; ProNav: ac range: 367.200012 m, nav range: 300.628235 m, bearing: 173.691009 deg, approach rate: -0.380558 m/s, LOS rate: 0.116416 deg/s, cmd heading: 120.045219 deg, new cmd heading: 120.182985 deg. 2jʟ;HeadingCmd: 2.097589 target range: 367.200012 and range: 372.40 m. j>@jjjihhhhfffrfbf@}`?ɛ%B-M. )-ܿI) -^>=ɚ)i1I5@i=CiE)E>@)A*F2F:FBF0JFzK-jIK-9K)K-K-.Nxkc_]XQOIGDD^9K)~kZLC93Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007459G ~GBO>cZw,|FmA6?Y67@6j<96q>y6H`߿@e@B??=T߿?  ?T?ɨ6?6;4y^|B^IIjIj_,5rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259611٢vٻ zG=9zQ z>|| ~G٣|y^; >  Nusing accuracyPremultiplier from config 49 \@?4Y  i `B?@? U:D : : ʬ4! %"A%pEZjQUFNOT Ignoring new targets: 367.20 m.Bj]J;Jj]J;m ProNav: ac range: 367.200012 m, nav range: 300.463715 m, bearing: 173.741216 deg, approach rate: -0.421730 m/s, LOS rate: 0.128770 deg/s, cmd heading: 120.182984 deg, new cmd heading: 120.333687 deg. 2jm;uHeadingCmd: 2.100219 target range: 367.200012 and range: 372.40 m. jui@jqJAAJ@Ajqj1i9hAhAhIhIfIfQfyrfbf`@JJ J0JJ;JYk:Jـ3Jɛ B ` =$?I=g EܿIA M/=ɚIiIIMI IIIp}BI&I.I6I<:I FG B Ou >Caw,!A6?Y6@6<96v'>y6H Kv`?@G?z߿I?@_ ??ɨ6?6(;4yR|BP]Mb@Mb@Mb@YYY Y)YY]?x&I +y]@?]7]94]^&A ] A)]AI]?AYy]AIuIu/5٢ A=9Q > G٣BGy; > Nusing accuracyPremultiplier from config49@?4Y i`B@?:@?i:D;!;"Ҭ4 "AZjFNOT Ignoring new targets: 367.20 m.Bj ;Jj ; ProNav: ac range: 367.200012 m, nav range: 300.297974 m, bearing: 173.793172 deg, approach rate: -0.391835 m/s, LOS rate: 0.122899 deg/s, cmd heading: 120.333685 deg, new cmd heading: 120.489640 deg. 2j; HeadingCmd: 2.102941 target range: 367.200012 and range: 372.40 m. j @j j j i h h hhzBfff!rf!bf%`@ɛMBMr- QUPܿIQ p=ɚiIpzK `OK 9K K K -)%!  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015527~gw, Az/?Yz6@z <9z>yzH) *k߽??߿tm?;? k?ɨz/?z;xy |B I p=%=I%I%_,5٢-+ 5O=95Q =>99 =G٣9yE; E> MNusing accuracyPremultiplier from configIU49MX@?U4YM iMv`BY]@]?M|:DMq ;M ;M٬4a e"AaZjFNOT Ignoring new targets: 367.20 m.BjF ;JjF ; ProNav: ac range: 367.200012 m, nav range: 300.143799 m, bearing: 173.841371 deg, approach rate: -0.389293 m/s, LOS rate: 0.121765 deg/s, cmd heading: 120.489646 deg, new cmd heading: 120.634316 deg. 2j!;HeadingCmd: 2.105466 target range: 367.200012 and range: 372.40 m. j@jjjihhhhfffrfbf@ɛ Bv,+ 隕ݿI C=ɚiI nw,캡A?Y,v@C̐<99>yH-Y?R?`߿`׶?J?1?ɨ?Q";iCyMb@Mb@Mb@ )YMb?QQyC?uu%A )IAyAIzI'5٢:q ?=9HQ > G٣y< > Nusing accuracyPremultiplier from config49E@?4YT if`BC?:@ ?MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520163HqIq IqIqIq&Iq.Iq6Iu<:Iu F:D<<w4 "AsEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 367.20 m.Bj 4;Jj 4; ProNav: ac range: 367.200012 m, nav range: 299.970062 m, bearing: 173.894025 deg, approach rate: -0.389805 m/s, LOS rate: 0.118205 deg/s, cmd heading: 120.634309 deg, new cmd heading: 120.792361 deg. 2j>;EHeadingCmd: 2.108224 target range: 367.200012 and range: 372.40 m. jE&@jIjIjIiIhIhIhQhUxBfYfYfrfbf`t @ɛEBE E=E)ݿIA Ma=ɚIiIIM - 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.G- S.G B O% >J9 J= J9 J9 J9 J= b:J9 J9 J= My-H@M[??sX??`?ɨ-2?-׌;)ye|BeyIIuIu+5٢Z Q=9zֻQ > G٣BGy; > Nusing accuracyPremultiplier from config49"@?4YD iW`B@?:D"::N4̒B $#AqE addTargetRange:: Added new target pos. range: 375.399994 m, deltaT: 3.778381 s, deltaX: 3.000000 m, approachRate: 0.793991 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 367.20 m.Bj;Jj;  ProNav: ac range: 367.200012 m, nav range: 299.810272 m, bearing: 173.942282 deg, approach rate: -0.431335 m/s, LOS rate: 0.130335 deg/s, cmd heading: 120.792360 deg, new cmd heading: 120.937209 deg. 2j ;HeadingCmd: 2.110753 target range: 367.200012 and range: 375.40 m. j@jjjihhh!h!f!f!f!rf-`fvw@bf-ͩ?ɛ]B]&Z ae޿Ia e=ɚaiaIe24+%$/]kYNC6( *F?2F:FBF ^0JF "G=G=eWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Tx time:21:30:46.6761 m$Ping request sent.m}{w,AbWill construct direction to contact in vehicle frame from tetrahedron phase data.`i`fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.251675y~|B~kI  IvI%5٢-l -P=9-Q ->11 5G٣1y5 => ENusing accuracyPremultiplier from configAM49E@?M4YE2 iEI`BIIU?E:DE:Ez:E'4Y ]#AYZj9EFNOT Ignoring new targets: 367.20 m.BjEs;JjEs;u ProNav: ac range: 367.200012 m, nav range: 299.650482 m, bearing: 173.990661 deg, approach rate: -0.385152 m/s, LOS rate: 0.116672 deg/s, cmd heading: 120.937215 deg, new cmd heading: 121.082427 deg. 2j}$;}HeadingCmd: 2.113287 target range: 367.200012 and range: 375.40 m. j}@@jjjihhhhfff $?Igrfbf@H?ɛ߁B/( 隝I ᱚ=ɚiIAI III[}BI&I.I6I<:I FG G B O >w,3lAy|BgIMb@Mb@Mb@ )Y?:vy&1|y@?T`^&A  A)IyAII+5٢pa @=9!Q ->)) -G٣)y1 => ENusing accuracyPremultiplier from config9E49=@?M4Y=y} i=>`BMx@?M:MU@M?=:D=@;=;=4Y ]#A]tEZjFNOT Ignoring new targets: 367.20 m.Bj ;Jj ; ProNav: ac range: 367.200012 m, nav range: 299.473450 m, bearing: 174.043478 deg, approach rate: -0.427683 m/s, LOS rate: 0.127674 deg/s, cmd heading: 121.082424 deg, new cmd heading: 121.240970 deg. 2j>;HeadingCmd: 2.116054 target range: 367.200012 and range: 375.40 m. jnm@jjjihhhhrBfffrfbf 0?ɛ-݁B-2O )5'I1 5=ɚ1i1I5Ѓ=*F?2F:FBF_0JFzK /NK K K K } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007200G qߢG B O >ۈw,'%A2?Y2d@2L ;92p>y2H@`j?4^?`a?`Dv ?1?ɨ2?2;2jCy:|B>YIIJ8IJ@ 5٢^X bF=9bļQ b>dd fG٣fBGyf< j> Nusing accuracyPremultiplier from config}49@?}4Y>v i6`By}@}?:DY<Y<4 #AZjFNOT Ignoring new targets: 367.20 m.Bj->;JjM>;} ProNav: ac range: 367.200012 m, nav range: 299.303802 m, bearing: 174.092911 deg, approach rate: -0.393554 m/s, LOS rate: 0.114742 deg/s, cmd heading: 121.240967 deg, new cmd heading: 121.389350 deg. 2j~;HeadingCmd: 2.118644 target range: 367.200012 and range: 375.40 m. jܗ@jjjihh hhfffrfbf?ɛ ہB 1  VI |=ɚiI?ut/'A )$AIAyAiIhI5٢]4 ] =9]Q ]>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy49}@?4Y} l i}$`B>?:@?}:D}&;}#;}%4 Q$AvEB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 367.20 m.Bj ;Jj ;E ProNav: ac range: 367.200012 m, nav range: 299.069183 m, bearing: 174.162856 deg, approach rate: -0.410553 m/s, LOS rate: 0.122491 deg/s, cmd heading: 121.389346 deg, new cmd heading: 121.599344 deg. 2jE ;MHeadingCmd: 2.122309 target range: 367.200012 and range: 375.40 m. jM@jIjIjQiQhQhQhQh]aBfyfyfrfbf`?ɛׁB\ QI =ɚiI-y2H9?C? ב ?K?@S?ɨ2]?2;5;2eCyno|Bn>II~I~(*5٢8 /=9d Q %>)) -G٣)y5}_< 5> MNusing accuracyPremultiplier from configIU49M~@?]4YMc iM`BYe@e?M;DMq|;M;MZ4q }$AZjFNOT Ignoring new targets: 367.20 m.Bj;Jj; ProNav: ac range: 367.200012 m, nav range: 298.878448 m, bearing: 174.219091 deg, approach rate: -0.404703 m/s, LOS rate: 0.119396 deg/s, cmd heading: 121.599347 deg, new cmd heading: 121.768159 deg. 2j;HeadingCmd: 2.125255 target range: 367.200012 and range: 375.40 m. j/@jj j i h h hhfffrfbf`@ɛՁBW? PI ;=ɚiIjH bH <H I  I II )}BI &I .I 6I Ӱ<:I FBIJIRIZIbIjIG4 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519184jw,AV?YV@V$R9V>yVH@?9?س?D*?.?@?ɨV?V~;ViCyrZ|Br1IMb@Mb@Mb@ )Y~jt?Mb~jty;?@D^&A )SAIyGAII-5٢M B=9$Q > G٣BGy; > Nusing accuracyPremultiplier from config49br@?4Y\ i`Bw,A2?Y2@292z>y2H`/4?1?Ϯ@̳?BP?T?W?ɨ2?2;2hCyLPTTIZIZ"259a Q >   G٣ y ߝ;  > Nusing accuracyPremultiplier from config%495g@?%4Y Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:30:49.5846  TRx dataTimestamp_ set to:1736371850.776762 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276397 $?I *J a="J p=rw,wAy~K|B~(II I ,5٢핼 %<9%Q %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config1E4959[@?E4Y5HO i5`BAAM?5K;D5,;5;5p$4Q U=%AUxEZjFNOT Ignoring new targets: 367.20 m.Bj{;Jj{; ProNav: ac range: 367.200012 m, nav range: 298.383087 m, bearing: 174.360053 deg, approach rate: -0.394166 m/s, LOS rate: 0.112327 deg/s, cmd heading: 122.048022 deg, new cmd heading: 122.191282 deg. 2j-;HeadingCmd: 2.132640 target range: 367.200012 and range: 375.40 m. j-}@jj!j!i!h!h!h)h)f)f)f)rf1bf5@D @ɛ]́B]$Au aeIa mX=ɚiiiIm+w,kϢAy-|BI5Will construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: Range 10 to 50 : 378.1 m (Round-trip 504.2 ms) speed -0.8 m/s M,DAT read: user:1830> UBDAT read: Tx time:21:30:50.6762 U$Ping request sent.U G٣BGy > %Nusing accuracyPremultiplier from config!-49%bL@?-4Y%F i%_B58?5:5@5?%b;D%;%;%2-4i m%Am{EB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 378.100006 m, deltaT: 4.032353 s, deltaX: 2.700012 m, approachRate: 0.669587 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 367.20 m.Bj%;Jj%;e ProNav: ac range: 367.200012 m, nav range: 298.176971 m, bearing: 174.417076 deg, approach rate: -0.416762 m/s, LOS rate: 0.115378 deg/s, cmd heading: 122.191278 deg, new cmd heading: 122.362463 deg. 2jm];HeadingCmd: 2.135628 target range: 367.200012 and range: 378.10 m. j @jjjihhhh&Bfffrfw@bf*?ɛɁBJ 隕I =ɚiI{GI BY O} >mw,@뢻A2?Y2b@2V92S>y2Hwx#?@?30D? j?@Q?4?ɨ2?2;2jCyb(|BbIIvIv|+5٢ n j=9&ԻQ %>!! %G٣!y-un< -> 5Nusing accuracyPremultiplier from config1=495 B@?=4Y5?A i5_BAEn@E?5r;D5;5%;5>34I M%AIZjy}FNOT Ignoring new targets: 367.20 m.BjW;JjW; ProNav: ac range: 367.200012 m, nav range: 298.033875 m, bearing: 174.456335 deg, approach rate: -0.424701 m/s, LOS rate: 0.116574 deg/s, cmd heading: 122.362456 deg, new cmd heading: 122.480291 deg. 2j;HeadingCmd: 2.137684 target range: 367.200012 and range: 378.10 m. j@jjjihhhhfffrfbfL?ɛǁBP  H=I {=ɚiI&ZHQ RHQ Hm 6>Ii  Im IIm |BIm & =&Ii .Ii 6Im ɰ<:Im F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752444Uw,A:=?Y:ˌ@:K9:`>y:H@@D?o??`ss?f??ɨ:=?: ;:iCy^|BbIUMb@Mb@Mb@QQQ Q)QYU +?:vMbyU6?UԼQU^&A U A)QIUSAQyUAImIm(*5٢}7 }C=9?jQ > G٣ym; > Nusing accuracyPremultiplier from config49]5@?4Y{: i_B6?:u@?;D;;:4 &AZjFNOT Ignoring new targets: 367.20 m.Bj:Jj: ProNav: ac range: 367.200012 m, nav range: 297.859314 m, bearing: 174.502720 deg, approach rate: -0.418658 m/s, LOS rate: 0.111312 deg/s, cmd heading: 122.480291 deg, new cmd heading: 122.619526 deg. 2jȘ;HeadingCmd: 2.140115 target range: 367.200012 and range: 378.10 m. j@jjjihhhh)Bfffrfbf[?ɛ=āB=r AEIA Et=ɚAiAIEw,\sA6c?Y6ު@6 ᭻96>y6H?@b?k ?u??&?ɨ6c?6h$;6hCyf|BfIInTIn5٢vO vT=9vQ z>xx zG٣zBGy~:; ~> Nusing accuracyPremultiplier from config 49)@? 4Y:4 i_B@?;D:@:CA4! -i&A-~EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256897ZjFNOT Ignoring new targets: 367.20 m.Bj:Jj: ProNav: ac range: 367.200012 m, nav range: 297.697632 m, bearing: 174.545628 deg, approach rate: -0.408206 m/s, LOS rate: 0.108390 deg/s, cmd heading: 122.619531 deg, new cmd heading: 122.748325 deg. 2jƔ;HeadingCmd: 2.142362 target range: 367.200012 and range: 378.10 m. jw @jjjihh zK2MKKKKhh)f)f)f1rfbf ?ɛ}B}3 y}PIy ]n=ɚiIdw,r9A2?Y2@292 S>y2HG5౮ ?o? `1?}?Z?&?ɨ2?2-l;0y>{BBIHJAAIJWIJ5٢RF RN=9R~Q V>TT ZG٣XyZ< Z> ^Nusing accuracyPremultiplier from config\b49^i@?b4Y^- i^_Bdf@f?^;D^ ;^;^2H4h jz&An|EZjFNOT Ignoring new targets: 367.20 m.Bj ;Jj ; ProNav: ac range: 367.200012 m, nav range: 297.530609 m, bearing: 174.589749 deg, approach rate: -0.433024 m/s, LOS rate: 0.114452 deg/s, cmd heading: 122.748321 deg, new cmd heading: 122.880758 deg. 2j;%HeadingCmd: 2.144674 target range: 367.200012 and range: 378.10 m. j%VB @j!j!j!i)h)h)h1h1f1f1f1rf9bf=S?ɛeBe am Ii m_,i=ɚiiiImg-Tw,YVArKK?YrR@r 9r>yrH7*;;?|?V~?`;}? ɨ?G?ɨrKK?r;py{BIMb@Mb@Mb@ )YV-?Mb rhyh1?C  A)AIAyAII\05٢ '=9A9Q > G٣yHV > Nusing accuracyPremultiplier from config49@?4Y&& i_B1?:@?;DQ:;{8;P4 ΒB &A E-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 367.20 m.BjE:JjE:U ProNav: ac range: 367.200012 m, nav range: 297.327332 m, bearing: 174.642252 deg, approach rate: -0.413816 m/s, LOS rate: 0.106954 deg/s, cmd heading: 122.880759 deg, new cmd heading: 123.038375 deg. 2jU͒;]HeadingCmd: 2.147425 target range: 367.200012 and range: 378.10 m. j]ho @jYjYjYiYhYhahaheBfififirfibfu g/@ɛ]Be${ aeIa eDa=ɚiiiIm9|w,4.pAB!I?YB=@B#9Bۨ>yBH) S?@?t?bd}??@I?ɨB!I?BN;@yJ{BJIIRIR:5٢Z? ^^=9^Q ^>\` bG٣bBGyb[< b> nNusing accuracyPremultiplier from configdn49f]@?r4Yfl if_Bppr?f;Df Q;fRQ;f.W4x z&AxZjFNOT Ignoring new targets: 367.20 m.Bj%}:Jj%}:5 ProNav: ac range: 367.200012 m, nav range: 297.175385 m, bearing: 174.681584 deg, approach rate: -0.414344 m/s, LOS rate: 0.107312 deg/s, cmd heading: 123.038372 deg, new cmd heading: 123.156431 deg. 2j5K;=HeadingCmd: 2.149485 target range: 367.200012 and range: 378.10 m. j=* @j9j9j9i9h9hAhAhAfAfIfIrfIbfU@ɛB 隅I [=Will construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520640ɚiIw,x&ARy?YR@R9R\>yRH 4 j?`1? ? \?@?@n?ɨRy?Rb;RiCyb{BnI v=vp=Mb@Mb@Mb@ )YʡE? rh~jty-2?CD%A )SAIyII65٢T. (=9NQ > G٣yEH; > Nusing accuracyPremultiplier from config49??4Y i_BA2?:y@?;D$;;_4 "'AZjFNOT Ignoring new targets: 367.20 m.Bj:Jj: ProNav: ac range: 367.200012 m, nav range: 296.973022 m, bearing: 174.734189 deg, approach rate: -0.415950 m/s, LOS rate: 0.108201 deg/s, cmd heading: 123.156425 deg, new cmd heading: 123.314346 deg. 2j;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024352HeadingCmd: 2.152241 target range: 367.200012 and range: 378.10 m. j%R @j!j!j!i!h!h)h)h-B =$?IAf)fQfQrfQbf]H@ɛB] 隥hI QS=ɚiI  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276322w,ӤA:I?Y:Q@:/9:>y:H`O<? ?Q?ŀ?? ?ɨ:I?:07;:hCzKrBHKr9KpKrKry{BII-I-35٢=< Eg=9EIƺQ E>II MG٣IyM(_; U> ]Nusing accuracyPremultiplier from configQe49U??e4YUB iU_Bim@m?U;DU},;U+;Ue4uϒB u'AuEZjFNOT Ignoring new targets: 367.20 m.Bjt:Jjt: ProNav: ac range: 367.200012 m, nav range: 296.826752 m, bearing: 174.772195 deg, approach rate: -0.414420 m/s, LOS rate: 0.107733 deg/s, cmd heading: 123.314339 deg, new cmd heading: 123.428413 deg. 2jߓ;HeadingCmd: 2.154232 target range: 367.200012 and range: 378.10 m. j @jjjihhhhfffrfbf @ɛBLȽ I N=ɚiIcw,¾A:K?Y:R @:29:>y:H UIh?`w?@!?Mf?N? ?ɨ:K?:p;:iCyb{BbIHI IXII|BI' =&I.I6I<:I FBIqJIqRIqZIu& =bIu& =jIuH4I=I=y/5٢V* 5=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7845699Q > G٣BGyM; > Nusing accuracyPremultiplier from config49?? 4Y# i_B  @?  BDAT read: Tx time:21:30:54.6762  $Ping request sent. Y  nManaging dock network, ignoring radio surface power offY ] >+꿢tF5߿)lҿ)] &I] ʄ>i] ݇?] a>Y Y  :publishing transmit ping time  Fpublishing direction and range infoY 9] X?AnK?,޿yY Y Y Y Y )Y IY iY Y Y Y Y Y )Y IY iY Y Y ] >+꿢tF5߿)lҿ)Y IY iY Y Y Y G B O= >w,oأAv6?Yv: @vPw&9vS>yvH[ 8`z?`?+5@k?΄?`J??ɨv6?v7;vjCy{B5Mb@Mb@Mb@111 1)1Y5@5^I ?Q G٣9yE; E> MNusing accuracyPremultiplier from configIU49M"??U4YM iM_BUp0?U:U@U?M*"r9v=S@qOR`3vZ:z4[5Bֿ"k'*k˱klCʛ?kA!l 2kks!ۛ?kcN kk'CkE@ addTargetRange:: Added new target pos. range: 380.899994 m, deltaT: 4.039330 s, deltaX: 2.799988 m, approachRate: 0.693181 m/s, rangeRepo size: 4  Added new target pos. range: 380.899994 m, bearing: 185.308222 deg, lat: 36.899937 deg, lon: -122.115292 deg, deltaT: 19.931241 s, deltaX: 13.699982 m, approachRate: 0.687362 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 380.90 m.BjJj ProNav: ac range: 380.899994 m, nav range: 306.308014 m, bearing: 176.880101 deg, approach rate: 0.000000 m/s, LOS rate: 0.106037 deg/s, cmd heading: 123.575703 deg, new cmd heading: 123.716066 deg. 2jHeadingCmd: 2.159253 target range: 380.899994 and range: 380.90 m. j21 @jjjihhh!h%Bf!f!f!rf-`fw@bf-a?ɛB} 隽I g@=ɚiIJw,GA IJWill construct direction to contact in vehicle frame from tetrahedron phase data.Z?YZom @ZE9Zo>yZH "q@?p?`RL$?n??Ϥ?ɨZ?ZHG;Xyz{BzIIfI5٢=  =a=9=cQ =>ii mG٣iym < u> }Nusing accuracyPremultiplier from configq49u??4Yu iu_BJAAJ@A,@?u+)w,VD A6?Y6 @6>g96 >y6H }\?`?Dc`{6??5? ?ɨ6?6@;6iCyB{BBIMb@Mb@Mb@ )YCl?Q~jthy/?D$A  A)AISAyzAI-I-75٢E. EK=9MrQ M>II MG٣UBGyU; U> eNusing accuracyPremultiplier from configYe49]??e4Y] i]_Bm/?m:m8@m?]=e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243471qT w,!'A6 C?Y62 @6u96m>y6Htn4?S?`w@5?y6??`?ɨ6 C?6;6gCzKNBoIKN9KLKNKNyV{BZII mI !5٢%= %L=9-ܻQ ->11 5G٣1yE; E> UNusing accuracyPremultiplier from configQe49UW??e4YU iU_Bimh@m?UN<w,@AHr7>Ip IpIpIr' =&Ip.Ip6Ir<:Ir FVg?YX @ȕ9>yH@Ce??@)?~f??9j?@e?ɨVg?^;騵jC%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749814y-{B-IMb@Mb@Mb@ )Ykt?I +{Gzty 0?9ף )IyIIy/5٢4< %=9CQ > G٣y;  > Nusing accuracyPremultiplier from config 49 R??4Y 1 i _B90?:@? dlfw, ZA6ht?Y6 @6s96r>y6H#`x? >? @?@&?`&?>?ɨ6ht?6;6fCyR|BRIIZIZ65٢b= b=9bLQ b?dd fG٣fBGyj: j? rNusing accuracyPremultiplier from configpv49r3??v4Yr ir_Btv@v?rq $?I gېw,xtA6?Y6 @6i961N>y6H@ì/T j'?? 4t?@,?$??ɨ6?6Rt;6gCBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502898yF|BFIIRIR?15٢Vf  ZK=9^mQ ^>`` bG٣`ybs; f> jNusing accuracyPremultiplier from configdj49f??n4Yf_ if_Bln @r?fux#w,uAy|B  IMb@Mb@Mb@ )Y@5^I ?Q롿Mbpyb0?\%A )AI$AyAII<55٢5= :=9Q > G٣y > Nusing accuracyPremultiplier from config49y??4Y i_B0?:@?E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259710I)w,ZhAbn?YbU @b9b>ybH@7 8z??VD?? ?`?ɨbn?b;`zKrBHKr9KpKrKry2|BII%I%95٢=ڂ= =T=9E/Q E>II MG٣MBGyUud< U> eNusing accuracyPremultiplier from configau49eEn??u4Yey ie_B-@?eE>*FU?2FQ:FQBFU]1JFQGY GYG%)ۼ $?I~gGBOER>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:30:57.5916 TRx dataTimestamp_ set to:1736371858.848670checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511902"0w,_C¤AH68>I4 I6qII6|BI4&I4.I46I6<:I6 F)?YA @̼9> Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766060yH}(@??@,?p?s$?H?ɨ)?c$;hCy޽,|B޽IMb@Mb@Mb@ )Yi|?5?&1Mbpy1?P$A )AIAy(AII<55٢N %=9_CQ >  G٣ye; > %Nusing accuracyPremultiplier from config%49_??-4Y i_B-%2?-:-@5?  BDAT read: Tx time:21:30:58.6762  $Ping request sent. 6w,ܤA6G?Y6Э @6Xؼ96>y6HI`?`x?O?#?M ?J? ?ɨ6G?6x;6gCyjT|Bj-IIrIr15٢= =9NQ % ?!! %G٣AyM; M ? UNusing accuracyPremultiplier from configQ]49U{V??]4YU iU_Bae@e?UzKBoIK]9KKKRK ?JK? 1 I1 xyFH?`e?`iȯ? ?Y???ɨF?F7_;FhCyRJ|BR'IIZQIZT5٢b̼ bQ=9b‰Q f>dd fG٣fBGyj-< j> nNusing accuracyPremultiplier from configlr49n K??r4Yns in_BpvZ@v?nCw,HAy~T|B~-IMb@Mb@Mb@ )Y"~?A`"~jthy3?YD E A)?AISAyAII/5٢< <=9Q > G٣y > Nusing accuracyPremultiplier from config $?I49>??4Yw i_Bz4?:8@?Jw,)AZf?YZg @Z%89Z>yZHA@?`C?`1?V?@D??@?ɨZf?Z$;ZgCyj^|Bj4IIvXIvn5zK~JK~h9K|K~K~BK:KpA٢ <  V=9?Q > G٣yٛ< > -Nusing accuracyPremultiplier from config!-49%2??-4Y%Z i%_B15@5?%=D%*:%:%ϭ49 E %AAZjamFNOT Ignoring new targets: 380.90 m.BjmX;JjmX;} ProNav: ac range: 380.899994 m, nav range: 304.298676 m, bearing: 177.441818 deg, approach rate: -0.410347 m/s, LOS rate: 0.118326 deg/s, cmd heading: 125.274603 deg, new cmd heading: 125.402088 deg. 2ji;HeadingCmd: 2.188679 target range: 380.899994 and range: 383.40 m. jR @jjjihhhhfffrfbf@5?ɛtBb UѿI 7<ɚiI=IR @iݮNiiᦼ)R @)*F?2F:FBF_0JFGma.ʼ IGABIOm5>eWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511315JJ JJJ ;Jlm:JJa@a@a@a@H9 I9  I= II= }BI9 &I9 .I9 6I= <:I= FPw,>CAZ%?YZ? @Z 9ZL>yZHS@?@5?De?`?@??ɨZ%?Z;Xy]s|B}AIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763858II35٢7= 4=9UJQ > G٣BGys; > Nusing accuracyPremultiplier from config 49e$??54Y i_B15@5?=Db;;ح4EђB E$AEEZjFNOT Ignoring new targets: 380.90 m.Bj:Jj: ProNav: ac range: 380.899994 m, nav range: 304.118835 m, bearing: 177.493440 deg, approach rate: -0.374377 m/s, LOS rate: 0.107527 deg/s, cmd heading: 125.402082 deg, new cmd heading: 125.557040 deg. 2j;HeadingCmd: 2.191384 target range: 380.899994 and range: 383.40 m. j? @jjjihhh)h)f)f)f1rf9bf=?ɛoB rͿI <ɚ i I tE=I? @i'Oi)? @)EErA*F=?2F9:F9BF9JF9GI GMqA $?I}gm Will construct direction to contact in vehicle frame from tetrahedron phase data.i ii u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013232G DμGq B O >5Ww,:=^A:?Y: @:{K 9:>y:H:X%?b2?H???@Y?ɨ:?:;:hCyBy|BBDI J=JR=UMb@Mb@Mb@QQQ Q)QYU9v?X9v{GztyU4?U}UףU%A Q)QIUAQyQIm{Im'5٢}l< }X=9WQ > G٣y: > Nusing accuracyPremultiplier from config49g??4Y i_B5?:)@?'=D+;;ޭ4 $AZjFNOT Ignoring new targets: 380.90 m.Bj0;Jj0; ProNav: ac range: 380.899994 m, nav range: 303.978790 m, bearing: 177.534718 deg, approach rate: -0.397843 m/s, LOS rate: 0.117317 deg/s, cmd heading: 125.557045 deg, new cmd heading: 125.680936 deg. 2j;HeadingCmd: 2.193546 target range: 380.899994 and range: 383.40 m. jc @jjjih h h hBfffrfbfԂ@ɛElBM QU˿IQ U<ɚYiYI]n=I]c @ieGOieH)ec @)a*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266861GnGBOG>zK k3IK ػ9K K K  a Ia 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517291]]w,AxAv`?Yv @v9v>yvH j ??$?\1? ?)?@?ɨv`?v;vfCy|BNIII(*5٢-= -P=9-5Q ->11J9J=AAJ#K+3 K+.-K#K#"K#JEJAJAJAJE ;JAJAJA UG٣Qy]'; ]> eNusing accuracyPremultiplier from configam49er ??m4Ye ie_BiuW@u?e9=De:e` ;et4y }i$A}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 380.90 m.Bj;Jj; ProNav: ac range: 380.899994 m, nav range: 303.826691 m, bearing: 177.579373 deg, approach rate: -0.383166 m/s, LOS rate: 0.112551 deg/s, cmd heading: 125.680931 deg, new cmd heading: 125.814964 deg. 2j|;HeadingCmd: 2.195885 target range: 380.899994 and range: 383.40 m. jc @jjjihhhhfffrfbf9@ɛgB 隵ȿI v<ɚiI=Ic @iOi)c @)*F?2F:FBF/1JFjH<bH4<HI III=}BI&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771651GNG ?G?G B O >bEdw,鑥A6?Y6/ @6j96>y6H w1`d??h?I?eF?%?ɨ6?6ޢ;6eCyN|BN]I I M@U U@U U@U  U@U I]I]75٢mp= mF=9m^Q m>qq uG٣yy}; }> bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49??4Y i_B+:r:u@?L=D;};>;4 $AZjFNOT Ignoring new targets: 380.90 m.Bj;Jj; ProNav: ac range: 380.899994 m, nav range: 303.669891 m, bearing: 177.625314 deg, approach rate: -0.383795 m/s, LOS rate: 0.112508 deg/s, cmd heading: 125.814967 deg, new cmd heading: 125.952862 deg. 2jm;HeadingCmd: 2.198292 target range: 380.899994 and range: 383.40 m. jҰ @jjjihhhhfffrf bf @ɛ=dB=W_ 9=ĿIA E]<ɚAiAIEt6=IMҰ @iMOiM㶼)MҰ @)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023215*Fe?2Fi:FiBFmV5JFi"Gu=Gu=GEGa Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272928qjw,ΫAzX?YzX- @zA9z*L>yzH@૨J?# ?S?'? ?`?ɨzX?z;zgCy|BZIzK5RIK5h9K1K5K5I-I-55٢Mb? UL=9U@Q U>YY ]G٣]BGye< e> mbBottom track data is 0.8 s old, using for 20.0 s. mNusing accuracyPremultiplier from configiu49m>?}4Ym im_B} :y}D:}@}?m^=Dm5;mO?m4 $AZjFNOT Ignoring new targets: 380.90 m.Bj;Jj; ProNav: ac range: 380.899994 m, nav range: 303.515076 m, bearing: 177.670393 deg, approach rate: -0.387029 m/s, LOS rate: 0.112750 deg/s, cmd heading: 125.952868 deg, new cmd heading: 126.088172 deg. 2jš;HeadingCmd: 2.200654 target range: 380.899994 and range: 383.40 m. j @jjjihhhhfffrfbf& @ɛ `B > sĿI v<ɚiIq=I @ip*Piؓ)% @)!*F?2F:FBFT3JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.AiBDAT read: Rx Time:21:31:01.5958 TRx dataTimestamp_ set to:1736371862.880879 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526236J]J]JYJYJ];J]d:JYJYGNGBO>H I  I II f}BI &I .I 6I <:I F~Uqw,RťAF5x?YFZ @F9FH>yFHI ޚV?`?o转?^?8?p?ɨF5x?FY;FhCyR|BRiIIZIZ-5٢by= fT=9jQ j>pp rG٣tyz; ~> 5bBottom track data is 1.2 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from configmWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780491%49>?-4Y@ i_B}9y}:@?p=D==?z4ҒB #AEZj%FNOT Ignoring new targets: 380.90 m.Bj%R:Jj%R:] ProNav: ac range: 380.899994 m, nav range: 303.363037 m, bearing: 177.714494 deg, approach rate: -0.337883 m/s, LOS rate: 0.098058 deg/s, cmd heading: 126.088174 deg, new cmd heading: 126.220545 deg. 2j];eHeadingCmd: 2.202964 target range: 380.899994 and range: 383.40 m. je] @jajajaiahahihhfffrfbf@ɛ[B᛽ YI <ɚi1I=pi=Ie] @imPyPim`Y)m] @)i*F2F:FBF4JF I|geGy YyvB Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 386.4 m (Round-trip 515.3 ms) speed -1.1 m/s % ,DAT read: user:1833> - BDAT read: Tx time:21:31:02.6763 - $Ping request sent.- ww,uߥA6?Y6 @6"966>y6H`W`0V?`?`ڳ 4W?aB??О?ɨ6?6@;6eCy^|B^gI e e em mm  m m mMb@Mb@Mb@iii i)iYmA`"?V-=9:?Q > G٣y< > Nusing accuracyPremultiplier from config49h>?4Y\ i`BT:9?:@?=DO;;;4 #A addTargetRange:: Added new target pos. range: 386.399994 m, deltaT: 4.032084 s, deltaX: 3.000000 m, approachRate: 0.744032 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 380.90 m.Bj;Jj ; ProNav: ac range: 380.899994 m, nav range: 303.192841 m, bearing: 177.762669 deg, approach rate: -0.465209 m/s, LOS rate: 0.131754 deg/s, cmd heading: 126.220543 deg, new cmd heading: 126.365150 deg. 2jش;%HeadingCmd: 2.205488 target range: 380.899994 and range: 386.40 m. j%& @j!j!j!i!h!h!h)h-0Bfffrf`f&x@bf/?ɛXB  ֿI  <ɚAiAIE =IM& @iTPiѝ)& @)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:21:31:02.6755 *F 2F :F BF _0JFG GrAzKuBHKu+9KqKuKuG- $?I G B OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.Щ}w,NAnOT?Yn @n%9n>ynHsyRk?`? D?-? c ??ɨnOT?nP;ndCyxx ~a=~%=IAI=5J%J%J%1J!J%;J%b:J%3J!٢5܀: 5Q=95Q 5>99 =G٣=BGyE#; E> MNusing accuracyPremultiplier from configIU49M>?U4YM iM `BQ]@]?M=DM_/;M/;M4i imEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 380.90 m.Bj;Jj; ProNav: ac range: 380.899994 m, nav range: 303.034698 m, bearing: 177.807293 deg, approach rate: -0.402541 m/s, LOS rate: 0.113645 deg/s, cmd heading: 126.365152 deg, new cmd heading: 126.499091 deg. 2j;HeadingCmd: 2.207826 target range: 380.899994 and range: 386.40 m. jM @jjjihhhhfffrfbf@?ɛ}TB}޲ y}꾿Iy <ɚiI; =IM @iPi)M @)*F?2F!:F!BF%`0JF!HM9>IMC IMIIM}BII&II.II6IMu<:IMc FuWill 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.GuȞG B O >Cw,o,A6?Y6 @6!*96y>y6H` G٣y< > Nusing accuracyPremultiplier from config49>?4Y3y i`BBf!f)f)rf)bf-Ր?ɛ]QB]c Y]IY e<ɚaiaIeq) =Imu @im Qim8)mu @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004961)i*F?2F:FBF_0JFG`6G ?G?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257777w, -A6'?Y62 @6q -96>y6HJa?@>?_?蟥?%??ɨ6'?6;6hCy@BxIIJ_IJ5٢R R[=9VeQ V>TT ZG٣XyZ|; Z> Nusing accuracyPremultiplier from config|49~8>? 4Y~r i~`B   @ ?~=D~:~~:~4 Z#AZjaeFNOT Ignoring new targets: 380.90 m.Bjm=;Jjm=; ProNav: ac range: 380.899994 m, nav range: 302.700287 m, bearing: 177.898416 deg, approach rate: -0.415144 m/s, LOS rate: 0.112992 deg/s, cmd heading: 126.641720 deg, new cmd heading: 126.772616 deg. 2j;HeadingCmd: 2.212600 target range: 380.899994 and range: 386.40 m. j; @jjjihhzKK9KKKhhfffrfbf`?ɛ-MB-9K )5IQ U{<ɚQiQIU =I]; @i]7Qia)e; @)aEE $?I*F ?2F :FBF0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510063JUJQJU0JQJU ;JQJUـ3JQGuD&GI BQ Om >HA IE C IE IIE }BIA &IA .IA 6IE <:IE m FBI JI RI ZI bI jI 9 49w,YFAF?YFg @F+59FM>yFHf`MM#?`? ?`B?j?ୢ?ɨF?F 0;FeCyZ|B^vIIjIj+5٢r# rG=9r뛻Q r>tt vG٣vBGyzj; z> ~Nusing accuracyPremultiplier from configx49z>?4Yznl iz`BC @ ?z=Dze ;z ;z4 k#AEMWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764018ZjFNOT Ignoring new targets: 380.90 m.Bj:Jj:] ProNav: ac range: 380.899994 m, nav range: 302.530731 m, bearing: 177.944335 deg, approach rate: -0.383515 m/s, LOS rate: 0.103920 deg/s, cmd heading: 126.772614 deg, new cmd heading: 126.910446 deg. 2j];eHeadingCmd: 2.215005 target range: 380.899994 and range: 386.40 m. je @jajajaiahihihhfffrfbf`$t?ɛJB (I *{<ɚ i I N? =I @icQiA) @)*F!2F!:F!BF%0JF! IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012871G G B O >Ηw,4`Ay|BIMb@Mb@Mb@ )Y$C?{Gzy:?L#  A)AIAyAIsIe$5٢\U= <=9Q > G٣y > Nusing accuracyPremultiplier from config}490>?4Yge i%`B:?:. @?=D<z<O4 #AZjFNOT Ignoring new targets: 380.90 m.Bj;Jj; ProNav: ac range: 380.899994 m, nav range: 302.349426 m, bearing: 177.993675 deg, approach rate: -0.436204 m/s, LOS rate: 0.118780 deg/s, cmd heading: 126.910447 deg, new cmd heading: 127.058557 deg. 2j ; HeadingCmd: 2.217590 target range: 380.899994 and range: 386.40 m. j  @j j j ihhhh.Bf!f!f!rf!bf%`@ɛ}FB}v y}tIy i<ɚiI =I- @i-Qi5Y)5 @)1MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265707*F2F:FBFI2JFzK VBJK K K K  $?I {gG 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=2.516804Rw,-zAN?YN @Nh69N>yNH@??Ҡ?a ?ܦ?? ?ɨN?NS;NcCyV|BZIIf|Ifb(5٢z̼ zZ=9 Q  > G٣y-; -> 5Nusing accuracyPremultiplier from config1}495>?}4Y5H_ i5+`ByQ @?5=D5+<5+<5$4ӒB 6#AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 380.90 m.Bj;Jj; ProNav: ac range: 380.899994 m, nav range: 302.190979 m, bearing: 178.036701 deg, approach rate: -0.434440 m/s, LOS rate: 0.118034 deg/s, cmd heading: 127.058553 deg, new cmd heading: 127.187699 deg. 2j;HeadingCmd: 2.219844 target range: 380.899994 and range: 386.40 m. j%@j!j)j)iQhQhQhYhYfYfYfarfabfe@ɛCBP 䵿I >W<ɚiIU =I@i+Qi͟)@) ER>E>HI III}BI&I.I6I<:I F*F-?2F):F)BF545JF1GMqA GMsAGo>GBOj>]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769274ow,OtA IF2?YF @Fz399F>yFH`p.0??C)@?`j$???ɨF2?FZ;DyR|BRI5Mb@Mb@Mb@111 1)1Y5l?{Gzy&1y57?5#5`e5#A 5 A)1I11y5AIMIM+5٢en = eC=9e۫Q m>ii mG٣mBGyu; u> }Nusing accuracyPremultiplier from configy49}}>?4Y}X i}0`B7?:_ @?}>D};};}-,4 "AZjFNOT Ignoring new targets: 380.90 m.Bj ;Jj ;u ProNav: ac range: 380.899994 m, nav range: 302.017120 m, bearing: 178.082391 deg, approach rate: -0.429074 m/s, LOS rate: 0.112825 deg/s, cmd heading: 127.187698 deg, new cmd heading: 127.324846 deg. 2juܚ;}HeadingCmd: 2.222238 target range: 380.899994 and range: 386.40 m. j}%9@jyjyjihhhhBffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021151frfbf3@ɛ @B L= 9==I9 ECVD<ɚAiAIE =IM%9@imRiuVV)u%9@)qJJJJJ;Jd:JJJF w,PA6w?Y6 @6H:965>y6HG<%Ε?-? '7@ /? G??`?ɨ6w?6׊;6hCy^|B^IIjrIj#5٢rB= rS=9r2Q r>tt vG٣tyz; z> ~Nusing accuracyPremultiplier from config|49~rp>?4Y~R i~5`B @ ?~>D~:~:~24 "AZjFNOT Ignoring new targets: 380.90 m.Bj^:Jj^:zKBoIK+9KKKBK:KrA ProNav: ac range: 380.899994 m, nav range: 301.854065 m, bearing: 178.125142 deg, approach rate: -0.402205 m/s, LOS rate: 0.105510 deg/s, cmd heading: 127.324848 deg, new cmd heading: 127.453171 deg. 2jҐ; HeadingCmd: 2.224478 target range: 380.899994 and range: 386.40 m. j ]@j j j i h hh1h1f9f9f9rf9bf=`PM @ɛ=By 隽$I 2<ɚiIkd =I]@i9Ria)]@) $?I*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:31:05.5996 TRx dataTimestamp_ set to:1736371866.913124checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526433G뫠G B O >H I C I II }BI &I .I 6I <:I o Fw,'ȦAJm?YJb@Jɔ=9J>yJH S `? 4v?`O?n? ?`o?ɨJm?J{;JfCyV|BVII^yI^'5٢ft fL=9jwQ j>hh nG٣lyn< r> zNusing accuracyPremultiplier from configt 49vb>?4YvjL iv;`B%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777304 @-?v,>Dv;vY;v941 5"A5EZjFNOT Ignoring new targets: 380.90 m.Bj:Jj: ProNav: ac range: 380.899994 m, nav range: 301.683960 m, bearing: 178.169494 deg, approach rate: -0.396679 m/s, LOS rate: 0.103485 deg/s, cmd heading: 127.453174 deg, new cmd heading: 127.586304 deg. 2j ;HeadingCmd: 2.226801 target range: 380.899994 and range: 386.40 m. j@jjjihh)h)h1f1f9f9rfAbfma@ɛ:B 隽.I \i<ɚiI =I@inRiœ)@)E I*F?2F:FBFJF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.AiADAT read: Range 10 to 50 : 389.3 m (Round-trip 519.1 ms) speed -0.4 m/s ,DAT read: user:1834> BDAT read: Tx time:21:31:06.6763 $Ping request sent.w,⦻A25@Y2-@2_L>92I>y2H>] ?`n?X0?? [ǧ??`՜?ɨ25@2;2eCy^}B^IdfAMb@Mb@Mb@ )Y333333?I +I +y9?9494 )AIAypAIvI%5٢E = ;=9SҹQ > G٣BGy)`; > Nusing accuracyPremultiplier from config49S>?4Y~E iB`B9?:| @?@>DjW;+V;A4  "A = addTargetRange:: Added new target pos. range: 389.299988 m, deltaT: 4.032169 s, deltaX: 2.899994 m, approachRate: 0.719214 m/s, rangeRepo size: 4 Zj9=FNOT Ignoring new targets: 380.90 m.BjEd;JjEd;U ProNav: ac range: 380.899994 m, nav range: 301.498749 m, bearing: 178.218314 deg, approach rate: -0.471987 m/s, LOS rate: 0.124487 deg/s, cmd heading: 127.586308 deg, new cmd heading: 127.732857 deg. 2j]ު;]HeadingCmd: 2.229359 target range: 380.899994 and range: 389.30 m. j]ѭ@jajajaiahahahihmBfififqrfuTx@bfu| ?ɛ7Bk½ 隭I x<ɚiI4o=Iѭ@iDRi :)ѭ@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:21:31:06.6755 *FI2FQ:FQBFUh0JFQzKmJKiKiKmKmGu< $?IzgG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Ew,AF@@YF_@F0@9F}=>yFH@p@:?~_?l`4? ?a??ɨF@@Fm;DyN}BRIIflJlJn@AIfK!5٢vn< zY=9zqۺQ z>|| ]G٣Yym; m> Nusing accuracyPremultiplier from config49KF>?4Y@? iI`B @?R>D<;D;|H4 "AEB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 380.90 m.Bj%W:Jj%W:U ProNav: ac range: 380.899994 m, nav range: 301.330811 m, bearing: 178.262394 deg, approach rate: -0.418345 m/s, LOS rate: 0.109869 deg/s, cmd heading: 127.732857 deg, new cmd heading: 127.865172 deg. 2j]͖;eHeadingCmd: 2.231668 target range: 380.899994 and range: 389.30 m. je@jajajiiihihihihqfffrfbfT?ɛ4B BI =У;ɚAiAIE=IE@iMcRiMᖼ)M@)ZHRHHI III}BI&I.I6Iy<:If F*F2F:FBFo0JF=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.G Ga Bi O >) %= C I J2w,A&G:vAH ^rY^vAy^B@B\@Y@G9a >yH໊ٺ?`J?p`c?6? ?B?ɨ\@;騅dCyޝ}BޝI-Mb@Mb@Mb@))) )))Y-7A`?{Gz{Gzy-6?-#-#-I"A - A)-ZAI-A)y-AIM2IM5٢]4= ]5=9eoQ e>aa mG٣iym< m> }Nusing accuracyPremultiplier from configq}49u7>?4Yu8 iuQ`B6?:4 @?uf>Du;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004863u;u P4 -"AZjFNOT Ignoring new targets: 380.90 m.Bj<:Jj<: ProNav: ac range: 380.899994 m, nav range: 301.147644 m, bearing: 178.309757 deg, approach rate: -0.427841 m/s, LOS rate: 0.110698 deg/s, cmd heading: 127.865171 deg, new cmd heading: 128.007346 deg. 2j;HeadingCmd: 2.234150 target range: 380.899994 and range: 389.30 m. jO@jjjihhhhBfffrfbf?JJJJJ} ;J3g:JJJO<JO<J;J;ɛe1BeM aeIa mh;ɚiiiImk=IuO@iu`Riu)uO@)yEEqA*F2F:FBF0JFGrA GrAG S.M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258451G B O >Xw,h/AR_@YR @RI9Rk>yRH?tA?@R? ?|?e?ɨR_@RP;RfCyZ(}BZIIfMIf5٢n= ng=9nuQ r>pp rG٣rBGyv̩; v> zNusing accuracyPremultiplier from configx~49za+>?~4Yz3 izX`BR @?zv>Dz2 ;z2 ;z:V4  !A EZj1=FNOT Ignoring new targets: 380.90 m.BjEn:JjEn:U ProNav: ac range: 380.899994 m, nav range: 300.997894 m, bearing: 178.348413 deg, approach rate: -0.427260 m/s, LOS rate: 0.110346 deg/s, cmd heading: 128.007348 deg, new cmd heading: 128.123373 deg. 2jUu;]HeadingCmd: 2.236175 target range: 380.899994 and range: 389.30 m. j]}@jYjYjYiYhYhahahafafifirfibfm ?ɛ/Bƽ 隥զI ;ɚiI=I}@iISir)}@) $?IygzKBoHK9KKK*Fm?2Fi:FiBFu5JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.աiեAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.508937G'GBO>H :>I  I 'II }BI ' =&I .I 6I <:I q F0Aw,tIA6@Y6@6F96'>y6H@nA? G?̍+q?`!Ш?CO??ɨ6@6a;6dCyB=}BBIIJIJ)5٢R>M= RM=9V4:Q V>TX ZG٣XyZM Z> bNusing accuracyPremultiplier from config\b49^>?f4Y^, i^``Bdf? @f?^>D^:^:^,]4jԒBWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761551 n!A]EZjFNOT Ignoring new targets: 380.90 m.Bj:Jj: ProNav: ac range: 380.899994 m, nav range: 300.829895 m, bearing: 178.391979 deg, approach rate: -0.398596 m/s, LOS rate: 0.103423 deg/s, cmd heading: 128.123380 deg, new cmd heading: 128.254151 deg. 2j;HeadingCmd: 2.238457 target range: 380.899994 and range: 389.30 m. jB@jjjih hhhfffrfbf?ɛU,BU QUIQ Uo;ɚYiYI]]=I]B@ie_SimY)mB@)q I*F?2F:FBFP5JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012727J J J 0J J %;J *f:J ـ3J J K<J K<J Է;J Է;G BGY Ba O >qw,gcA6#@Y6@6F968>y6H`1Y?C?? Q? bШ?p? Π?ɨ6#@6Yލ;6eCyBI}BBIMb@Mb@Mb@ )Y|?5^?ˡEy&1|y2?'`#A )+AIAyGAI-I-+5٢=!< =@=9=Q E>AA EG٣AyMx; M> ]Nusing accuracyPremultiplier from configYe49]>?e4Y]z& i]i`BmB3?m:m) @m?]>D]';]&;]d4y }!A}EZj!%FNOT Ignoring new targets: 380.90 m.BjM:JjM:] ProNav: ac range: 380.899994 m, nav range: 300.654175 m, bearing: 178.437773 deg, approach rate: -0.420440 m/s, LOS rate: 0.109634 deg/s, cmd heading: 128.254150 deg, new cmd heading: 128.391613 deg. 2je{;HeadingCmd: 2.240856 target range: 380.899994 and range: 389.30 m. j1j@jjjihhhh4Bfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264732ɛ]*B]= amdIi m X;ɚiiiIm!=Iu1j@iuZSiˆ)1j@)EV>E>*FU?2FQ:FQBFU4JFQ"G]=G]= iIizKK9KKKGu GI BY O  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518019bw,&}A2@Y2@2,E92t>y2HҠ]q?9?@r?1??y?ɨ2@2|;2dCyR^}BVIIEIE|+5٢UBM= UJ=9]:Q ]>Ya eG٣eBGyeZ0; e> uNusing accuracyPremultiplier from configiu49m>?}4YmW imr`By}; @}?m>Dm;mG;mk4 .!AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 380.90 m.Bj:Jj: ProNav: ac range: 380.899994 m, nav range: 300.486969 m, bearing: 178.481345 deg, approach rate: -0.420058 m/s, LOS rate: 0.109523 deg/s, cmd heading: 128.391615 deg, new cmd heading: 128.522403 deg. 2jT;%HeadingCmd: 2.243139 target range: 380.899994 and range: 389.30 m. j%@j!j!j!i!h!h!h)h)f)f)f1rf1bf5 @ɛ(B=S ?I ;ɚ i I iR=Iu@iu+Siu$)u@)yH9I9 I=@II=~BI=& =&I9.I96I=t<:I=c FBIßCJIßCRIZIbIjIZ4*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768670G- G) BY O > } $?I |w,A6@Y6?@6TF96}>y6Hp@3v?I.?`c?R?M??ɨ6@6;;6eCyBk}BBIMMb@Mb@Mb@III I)IYM/$?y&1yM&1?M`eMMA I)MZAIMAIyMAIe~IeE)5٢m= uH=9uoQ u>yy }G٣yyZ; > Nusing accuracyPremultiplier from config49=?4Y  i}`B1?: @?>D8;;r4  AZjFNOT Ignoring new targets: 380.90 m.Bj:Jj: ProNav: ac range: 380.899994 m, nav range: 300.325073 m, bearing: 178.525555 deg, approach rate: -0.406524 m/s, LOS rate: 0.111072 deg/s, cmd heading: 128.522399 deg, new cmd heading: 128.655100 deg. 2jt;HeadingCmd: 2.245455 target range: 380.899994 and range: 389.30 m. j@jjjihhhhBf f f rf bf @ɛE%BE>a AEIA MT :ɚIiIIM=uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020659I@i,TiH)@)*F2F:FBFJFG(G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272724w,ⰧA6@Y6M@6vE96">y6H`}?X%?)(?@7?`y? ?ɨ6@6a;4yR}BRIIZIZ/5٢bL= fV=9f8Q f>hh jG٣hyj; j> rNusing accuracyPremultiplier from configlv49nz=?v4YnK in`Btv @v?n>Dn:n:n|y4| ~ A~EZj)-FNOT Ignoring new targets: 380.90 m.Bj5G:Jj5G:E ProNav: ac range: 380.899994 m, nav range: 300.172791 m, bearing: 178.567068 deg, approach rate: -0.397928 m/s, LOS rate: 0.108531 deg/s, cmd heading: 128.655096 deg, new cmd heading: 128.779697 deg. 2jE;MHeadingCmd: 2.247630 target range: 380.899994 and range: 389.30 m. jM*@jIjIjIiIhIhQhQhQfYfYfYrfYbfeY# @ɛ#BMw 隝I P:ɚiIV@=I*@ivTi+5)*@)E $?IzKk3IK9KKK*Fm?2Fi:FiBFm|0JFqGy GyWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:31:09.6016 TRx dataTimestamp_ set to:1736371870.944767checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525893JJJJJ;JFi:JJa-@a-@a-@a-@GVGiByO>H) I)  I- YII- ;~BI- % =&I) .I) 6I- <:I- s F+w,]ʧA60#@Y6A@6xjE96>y6H`@ʸq??@Z?ݪ?@? ?ɨ60#@6ƕ;4yN}BNI Rp=Rp=IVgIV5٢^= ^K=9bK9Q b>`` fG٣fBGyfJ; f>nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.777563 vNusing accuracyPremultiplier from confighz49jj=?z4Yj* ij`Bx~$ @~?j>DjW;jW;j4ՒB < AEZj)-FNOT Ignoring new targets: 380.90 m.Bj5#:Jj5#:E ProNav: ac range: 380.899994 m, nav range: 300.012115 m, bearing: 178.610746 deg, approach rate: -0.397196 m/s, LOS rate: 0.108032 deg/s, cmd heading: 128.779692 deg, new cmd heading: 128.910796 deg. 2jEH;MHeadingCmd: 2.249918 target range: 380.899994 and range: 389.30 m. jM@jIjIjIiIhQhQhQhYfYfYfYrfabfe a@ɛ5!B5! 1=ՔI9 =`ɚ9i9I==IE@iEjTiM)M@)I I xg*F2F:FBFn0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 390.8 m (Round-trip 521.1 ms) speed -0.6 m/s ,DAT read: user:1835> BDAT read: Tx time:21:31:10.6763 $Ping request sent.)w,\䧻A>[@Y>z@>3G9>U>y>H&r??$?@??ٞ?ɨ>[@>;aa eG٣aym5< m> uNusing accuracyPremultiplier from configq}49u=?4Yu iu`BS8?: @?u>DuJ4;u2;u쇮4 AE addTargetRange:: Added new target pos. range: 390.799988 m, deltaT: 4.032176 s, deltaX: 1.500000 m, approachRate: 0.372008 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 380.90 m.Bjz;Jjz; ProNav: ac range: 380.899994 m, nav range: 299.835022 m, bearing: 178.658081 deg, approach rate: -0.419981 m/s, LOS rate: 0.112323 deg/s, cmd heading: 128.910791 deg, new cmd heading: 129.052881 deg. 2j,;HeadingCmd: 2.252398 target range: 380.899994 and range: 390.80 m. jI'@jjjihhhh9Bfffrflx@bf@ ?ɛ]B]Q꫽ aeIa eޔɚaiaIm=IuI'@iuUiu)uI'@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:31:10.6755 *F%?2F!:F!BF%1JF) IzKM KM h9KI KM KM  )19>BKQSX]_ccfdcbb`[[\ZWVG ^Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data.@w,YmAFa@YF @FM9F?%>yFH@{?`?{ˠ??@c?V?ɨFa@Fb;FdCyR}BRIIZNIZ5٢bD?= bT=9bYQ b>dd fG٣dyj D< j>JpJrJpJpJpJr3g:JpJp zNusing accuracyPremultiplier from configl=49nͿ=?]4Yn in`BY] @e?n?Dn}I IxIIn~BI&I.I6Iq<:Ia F*F?2F:F BF T5JF "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 NG B $?I O >w,@PA:@Y:^@: zP9:c$>y:H@xc ?? !?b ?o?1?ɨ:@:B;:gCyn}Bn"IprAmMb@Mb@Mb@iii i)mjEDYmx?lMbp?ymK7?mm;i i)mAIiiymAIGI5٢V= ==99Q > G٣BGy7< > Nusing accuracyPremultiplier from config49p=?4Y i`BF8?: @??DD;;84 &AZjFNOT Ignoring new targets: 380.90 m.Bj;Jj ;UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004325 ProNav: ac range: 380.899994 m, nav range: 299.497040 m, bearing: 178.750225 deg, approach rate: -0.421358 m/s, LOS rate: 0.117828 deg/s, cmd heading: 129.181649 deg, new cmd heading: 129.329473 deg. 2j;HeadingCmd: 2.257225 target range: 380.899994 and range: 390.80 m. j`v@jjjihhhhLBfffrfbf t?ɛuBu% quIq }BQɚyiyI}=I`v@i9wUiy)`v@)*FA2FA:FABFE5JFAG `6 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257222G B O > w,R&2Ay}B(II-DI-5٢]< ]O=9]Q e>aa eG٣aym u> Nusing accuracyPremultiplier from config49V=?4YZ  Ii`B?.?Dz<6 <#4 AEZj)=FNOT Ignoring new targets: 380.90 m.BjEe:JjEe:] ProNav: ac range: 380.899994 m, nav range: 299.336456 m, bearing: 178.795209 deg, approach rate: -0.392085 m/s, LOS rate: 0.109894 deg/s, cmd heading: 129.329468 deg, new cmd heading: 129.464493 deg. 2je֖;}HeadingCmd: 2.259582 target range: 380.899994 and range: 390.80 m. j}@jyjyjihhhhfffrfbf ?ɛBs IzKEqNKE9KAKEKEUUQMJJDC@=:766341103.-.-*(''&%''&%$"$###!" " !! ! BKQ:KUpA m ɚqiqIuI;=Iu@i}Ui}|)}@)y*F-?2F):F1BF5\0JF1mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510061JK3 K.KK"KJJJJJE ;JJJG nH I  I II ~BI & =&I .I 6I a<:I T FGa Bi O >w,~KAbWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760687y~}B~4II kI  5٢E= %N=9!Q %>)) -G٣)y) -> =Nusing accuracyPremultiplier from config1E495G=?E4Y5 i5`BAAE?5@?D5;5;54U֒B ]A]EZjyFNOT Ignoring new targets: 380.90 m.Bj;Jj; ProNav: ac range: 380.899994 m, nav range: 299.176666 m, bearing: 178.840077 deg, approach rate: -0.418658 m/s, LOS rate: 0.117618 deg/s, cmd heading: 129.464487 deg, new cmd heading: 129.599162 deg. 2jp;HeadingCmd: 2.261932 target range: 380.899994 and range: 390.80 m. j@jjjihhhhfffrfbf?ɛB[h $I ɚ i I w=I@iUiN)@)E%i>E%> $?Iwg*F?AG2F:FBF_0JFvA YvAyBG) G-pAuWill construct direction to contact in vehicle frame from tetrahedron phase data.qiuA}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013268GM zGA BQ Om >@w,eA6@Y6@6NR960>y6Hu%$??`tq ?F?L?m?ɨ6@6:(;6eCyB~BB5I-Monly read 0 of 1 data item for altitude. Device response is::BD, -16.84, +512.9 -9.19, 0.00  M@M M@M M@M  M@M IUXIUn5٢e; eF=9mQ m>ii mG٣uBGyu = u> bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy49}N=?4Y} i}`B+:n:l @?}S?D}(j;}>}੮4 AEZjFNOT Ignoring new targets: 380.90 m.BjV:JjV: ProNav: ac range: 380.899994 m, nav range: 299.005981 m, bearing: 178.886667 deg, approach rate: -0.408674 m/s, LOS rate: 0.111616 deg/s, cmd heading: 129.599165 deg, new cmd heading: 129.739015 deg. 2j3;%HeadingCmd: 2.264373 target range: 380.899994 and range: 390.80 m. j-}@j)j)j)i)h1h1hhfffrfbf+@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264449ɛ B=c eI ɚiI=I}@i bUi .-) }@)*F?2F:FBFJF yIyzK NK 9K K K  .Sjqsmhb]YG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5181480w,A2-@Y29@2ST92J>y2H?y?n@5? X?j$??ɨ2-@2;0y> ~B>;IJ`J`JjJjJj1JhJj;Jj_:Jj3JhI-]I-5٢1< G=9ڜQ > G٣y < > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49T{=?4Y& i`B :A: @?f?D(;S?4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 380.90 m.BjK;JjK;U ProNav: ac range: 380.899994 m, nav range: 298.835480 m, bearing: 178.932969 deg, approach rate: -0.419238 m/s, LOS rate: 0.113913 deg/s, cmd heading: 129.739020 deg, new cmd heading: 129.878002 deg. 2jUZ;eHeadingCmd: 2.266799 target range: 380.899994 and range: 390.80 m. jm;@jijijihhhhfffrfbf!@ɛ]B]q aeكIa e׻ɚaiaIeI=HqIq IuIIu~BIq&Iq.Iq6Iuǰ<:Iu FI;@iUi)4);@)*Fe?2Fa:FaBFaJFaG=sWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768928GB)OEs> $?I y&w,Ay ~B @I        Mb@Mb@Mb@ )AYV-?I +~jthy|??9DA `A) AIyAIkI 5٢0< G=9Q > G٣y > Nusing accuracyPremultiplier from config49l=?4YX i`BT:@?: @?z?Do7;5;ŵ4  eA EZj1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020838EFNOT Ignoring new targets: 380.90 m.BjM;JjM;] ProNav: ac range: 380.899994 m, nav range: 298.660400 m, bearing: 178.981914 deg, approach rate: -0.426630 m/s, LOS rate: 0.119339 deg/s, cmd heading: 129.878001 deg, new cmd heading: 130.024922 deg. 2j]ͣ;eHeadingCmd: 2.269363 target range: 380.899994 and range: 390.80 m. je>=@jajajaiahihihihmGBfqfyfyrfybf`B@ɛBʤ ]I ɚiI=I>=@i%Ui%?{])%>=@)E*F=?2F9:F9BF=n0JF9"GM=GM= Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:31:13.6061  TRx dataTimestamp_ set to:1736371874.724949 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273870Ge .-G9 BI O >*C,w,nA6/@Y6ڠ@644Y96>y6H?:X?ܬ?D#?`?`?ɨ6/@6\;4yb"~BbJIInyIn'5٢v$= vZ=9vPQ v>xx zG٣xy~< ~> Nusing accuracyPremultiplier from config 49_=? 4Y, i`B @ @??D*:*:P4 !I!) -*A1ZjaeFNOT Ignoring new targets: 380.90 m.Bjm;Jjm;} ProNav: ac range: 380.899994 m, nav range: 298.499695 m, bearing: 179.026340 deg, approach rate: -0.425757 m/s, LOS rate: 0.117763 deg/s, cmd heading: 130.024918 deg, new cmd heading: 130.158269 deg. 2j};HeadingCmd: 2.271690 target range: 380.899994 and range: 390.80 m. j`c@jjjihhhhfffrfbfB @ɛB 9I ɚiI=I`c@iUi)`c@)*FQ2FQ:FQBFU\5JFYzKMKh9KKKVOJGA<3220.+)$!  G-GSGBO )>EWill construct direction to contact in vehicle frame from tetrahedron phase data.AiEAUchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525506*J"Jp=H I  I II ~BI % =&I .I 6I <:I m FBI9JI9RI9ZI=% =bI=% =jI=ɭ4*3w,GͨA6@Y6@6Z96>y6H@??@H?@?}S?@9?`K?ɨ6@6;6dCRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.776391y^ ~BbIIIjkIj 5٢%y -F=9-jQ ->1Y eG٣eBGyu; u> Nusing accuracyPremultiplier from config49\P=?4Y iaBn @??Dq::î4  3AEZjFNOT Ignoring new targets: 380.90 m.Bj;Jj; -$?I1e ProNav: ac range: 380.899994 m, nav range: 298.312378 m, bearing: 179.077937 deg, approach rate: -0.423590 m/s, LOS rate: 0.116752 deg/s, cmd heading: 130.158270 deg, new cmd heading: 130.313157 deg. 2j}@;HeadingCmd: 2.274394 target range: 380.899994 and range: 390.80 m. j@jjjihhhhfff rf bf Bd@ɛUB]Z Y]IY ]hɚiIzF=I@iUi )@)*F2F:FBF0JFG GrA]Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: Range 10 to 50 : 394.1 m (Round-trip 525.5 ms) speed -0.8 m/s u,DAT read: user:1836> }BDAT read: Tx time:21:31:14.7264 }$Ping request sent.}9w,?註Ay~~BGIMb@Mb@Mb@ )Yx&1?/$:vyA@?T A)AI?AyfAIfI5٢ ǻ  6=9 Q > G٣y %> -Nusing accuracyPremultiplier from config)549-@=?54Y- i-aB5{A?5:5 @=?-?D-;-;-cˮ4A E?AEEu addTargetRange:: Added new target pos. range: 394.100006 m, deltaT: 4.032413 s, deltaX: 3.300018 m, approachRate: 0.818373 m/s, rangeRepo size: 4 Zjy}FNOT Ignoring new targets: 380.90 m.Bj ;Jj ; ProNav: ac range: 380.899994 m, nav range: 298.125824 m, bearing: 179.128617 deg, approach rate: -0.446574 m/s, LOS rate: 0.121394 deg/s, cmd heading: 130.313152 deg, new cmd heading: 130.465287 deg. 2j;HeadingCmd: 2.277049 target range: 380.899994 and range: 394.10 m. j+@jjjihhhhBBfffrfx@bf@y?ɛB I Y!ɚiIѢ=I +@i Ui K) +@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:21:31:14.7256 *F2F:FBF4JFG.-GqBy IvgO_>zK {MK 9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data.{@w,A2,@Y26@2w`92R>y2H^ ?&? < !?@;??`Û?ɨ2,@2N;2eCyB~BBCIIVPIV5٢z z^=9~4jQ > G٣y <  > Nusing accuracyPremultiplier from config493=?4Y iaB!%R @%??D ; ;Ѯ4) -WA)]B*** querying acoustic contact ***jYjYZjquFNOT Ignoring new targets: 380.90 m.Bj};Jj}; ProNav: ac range: 380.899994 m, nav range: 297.964447 m, bearing: 179.171988 deg, approach rate: -0.435995 m/s, LOS rate: 0.117239 deg/s, cmd heading: 130.465287 deg, new cmd heading: 130.595470 deg. 2j;HeadingCmd: 2.279321 target range: 380.899994 and range: 394.10 m. je@jjjihhhhfffrfbf?c?ɛB+/ I h-ɚiI =Ie@iDxUiTY)e@)H:>I IIIBI&I.I6I<:I F*F2F:FBF_0JFEWill 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.GM+I,G1 Bi $?I O >QFw,:A65@Y64T@6~d96>y6H ??@U?@ ???ɨ65@6ڈ;4y^ ~B^=I}Mb@Mb@Mb@yyy y)yY}K?Q rhy}^:?}u}C}9A y)}E AIyyy}AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003290I0I5٢ >=9T$Q > G٣BGy; > Nusing accuracyPremultiplier from config49#=?4Y[ iaB ;?:S @??DL;K;Iٮ4 AEZjFNOT Ignoring new targets: 380.90 m.Bj;Jj%;5 ProNav: ac range: 380.899994 m, nav range: 297.774719 m, bearing: 179.219852 deg, approach rate: -0.445560 m/s, LOS rate: 0.112477 deg/s, cmd heading: 130.595471 deg, new cmd heading: 130.739155 deg. 2j5b;=HeadingCmd: 2.281829 target range: 380.899994 and range: 394.10 m. j={ @j9j9j9i9h9hAhAhE BfAfIfIrfIbfU{?ɛ} B) 隅I ‡;ɚiIT=I{ @iWUiD){ @)J=J=J9J9J=%;J=Fi:J9J9J= K<J= K<J=;J=;*F 2F :F BF JF "G=G=GMZGQGUnAG! B1 M Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255215OU >Lw,5A6l@Y69@6Lhj96@>y6H`b ? ]?\ ?@©?H??@Ơ?ɨ6l@6!;6dC @IDyJ ~BJ:IIR;IR 5٢ZO Z]=9bt~Q b>`` fG٣dyf< f> jNusing accuracyPremultiplier from confighn49jK=?r4Yj ijaBpr @r?j?Dj;jp;j߮4t vAxZjFNOT Ignoring new targets: 380.90 m.Bj%4;Jj%4;5 ProNav: ac range: 380.899994 m, nav range: 297.609436 m, bearing: 179.261347 deg, approach rate: -0.446217 m/s, LOS rate: 0.112085 deg/s, cmd heading: 130.739151 deg, new cmd heading: 130.863702 deg. 2j5ؙ;=HeadingCmd: 2.284003 target range: 380.899994 and range: 394.10 m. j=-@jAjAjAiAhIhIhIhIfQfQfQrfQbf]r?ɛM BMJ IMҁIQ hHɚiI=I-@i0UiN)-@)zKuRIKuh9KqKuKu +.,+,)&%'! *FI2FI:FIBFIJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507096GmHI III& =&I.I6I<:I| FGI BQ Ou >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758971Sw,XOA6j@Y6@6fg96}>y6H` @q?t ? `??F8?`a?ɨ6j@6p;6eCy> ~B>;IFAFAIJgIJ5٢RK: RK=9V3:Q V>TT  G٣y5¹ 5> =Nusing accuracyPremultiplier from config9E49==?E4Y=* i="aBAE @E?=@D=:=@:=4uגB uAuEZjFNOT Ignoring new targets: 380.90 m.Bj:Jj:- ProNav: ac range: 380.899994 m, nav range: 297.423737 m, bearing: 179.308081 deg, approach rate: -0.435009 m/s, LOS rate: 0.109545 deg/s, cmd heading: 130.863706 deg, new cmd heading: 131.003995 deg. 2j-\;5HeadingCmd: 2.286451 target range: 380.899994 and range: 394.10 m. j57U@j1j1j1i9h9h9h9h9fAfAfArfIbfMn? $?Iɛ B%;d )-I1 e VɚaiiIm`=I7U@iUiU0)7U@)*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011729JE JE JA JA JE ;JE *f:JA JA JE M<JE M<JE Է;JE Է;G G B O >Yw,siARg@YR@Rad9R>yRH @uR?[ ? ? @?!??ɨRg@RĈ;RfCyb~Bb8ImMb@Mb@Mb@iii i)iYmQ?~jtZd;Oym5?mmjmA mA)m AImnAiymAI~IE)5٢0 <=9q:Q > G٣BGy > ENusing accuracyPremultiplier from configAM49EzK 5MK K K K   Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514970 `w,WA2qn@Y2@2b92pB>y2H` `O?t ? ^ `? ~B>=IIFdIF5٢N'< R\=9R :Q R>TT VG٣TyVˊ: V> ^Nusing accuracyPremultiplier from config\b49^rfw,-&A:8@Y:@:a9:>y:H@B??`Y%?V?R+?@?ɨ:8@:F;:dCyR~BV5I f=dWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019782-Mb@Mb@Mb@))) )))Y-Dl?I +aa eG٣iym; m> }Nusing accuracyPremultiplier from configq}49u[ mw,A I> @Y>@>^9>nj>y>H i>??`<@ ?8ܫ?p6?c?ɨ> @>a; G٣BGy ]0;  > Nusing accuracyPremultiplier from config49= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775044tw,XЩAZ@YZL@ZE]9Z[>yZH'#?a?`'?@F?@h!?U?ɨZ@ZT;Xyb ~Bf<IIn[In5٢v: vG=9v؅:Q v>xx zG٣xy~,; ~>  Nusing accuracyPremultiplier from config 49  BDAT read: Tx time:21:31:18.7764 $Ping request sent.y1zw,ꩻAJ׹@YJ@J[9J>yJHz( ,?)?'\?]?>??ɨJ׹@J;HyR"~BVJIZAZAuMb@Mb@Mb@qqq q)qYuuV?Mbp?{Gzyur(?u;u#uA u3A)qIqqyuAIrI#5٢M= ?=91:Q > G٣y49 > Nusing accuracyPremultiplier from config497zK} BoHK} 9Ky K} K} -l<'0,   Will construct direction to contact in vehicle frame from tetrahedron phase data.w,fAJ,J.BAJ4J6J61J4J4J6*f:J63J4a>@a>@a>@a>@n%@Yn@n\9n3>ynH`3>?`?@2@??@_O? ?ɨn%@nc;neCyz/~BzRIISI75٢= T=9Q > G٣%BGy%̜; %> -Nusing accuracyPremultiplier from config)549-)Aw,mA62@Y6,@6p^968>y6HG??]L ? ʫ??߭?ɨ62@6;6dCyNJ~BRbI]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004060Mb@Mb@Mb@ )Y"~j?Mb`?~jtxyS#?;ĻSA A) AIAAyAI=Iw 5٢|= >=9Q > G٣y%; > Nusing accuracyPremultiplier from config 49h 9 IA ?mw,P8A2&@Y20@2fa_92c >y2H@!I~`;`?`? L`X??`?N?ɨ2&@2B֌;2eCyNe~BNsIIV@IV 5٢^k= b_=9b$Q b>dd fG٣dyf,: j> nNusing accuracyPremultiplier from confighr49j=I IIIBI&I.I6I<:I FG k}GY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760011rSw,$RAZ@YZm@Z i^9Zd >yZH@>܄?@ ?@@?ɫ??˦?ɨZ@Z2h;ZcCyb~~BbIIj_Ij5٢vfr= vH=9z:Q z>x| ~G٣~BGy~ >  Nusing accuracyPremultiplier from config49rD}w,kAy~BIMb@Mb@Mb@ )Y r?~jtxMbp?y#?Ļ; A)I+Ay=AIaIk5٢U= :=9Q >   G٣ y   > Nusing accuracyPremultiplier from config%49c Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516053zK BHK ػ9K K K [ew,څAJ.J,J,J,J.E ;J,J,J,r"@Yr̿@rS9r>yrH ] ?@?"@j?`?M"?a?ɨr"@rˋ;reCy%~B%I15@AI5VI55٢E"= EW=9MP;Q M>II UG٣QyUq^ U> eNusing accuracyPremultiplier from configYm49]U = $?I= sgG B OU >6w,ݴA2@Y25@2 P92}>y2H a? ???(G?_?ɨ2@2;2bCyN~BRI5Mb@Mb@Mb@111 1)1Y5S㥛?{Gzy&1?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028314y5$&?5#5`e<5A 5A)5 AI5A1y5fAILI5٢= D=9:Q > G٣BGyƹ > Nusing accuracyPremultiplier from config49G;UHeadingCmd: 2.313085 target range: 380.899994 and range: 397.80 m. jU @jQjQjQiQhYhYhYh]*Bfafafarfabfe }@ɛBe 隝BI KɚiI=I @iGWi) @)*FI2FI:FIBFM^0JFIG-ϼGB O-N>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280434 ! I! w,A2٧@Y2@2@N92G>y2H "&X(?@?)?@? ?ܞ?ɨ2٧@2C;0yVBVII^GI^5٢f= fZ=9j:Q j>hh nG٣lyn: r> vNusing accuracyPremultiplier from configpz49r%;= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783997qw,lӪAZ@YZ@ZM9ZD>yZH@&0O6?0?)Ä? =? Ϋ? ?ɨZ@Z\;ZaCyCB I-AGAa rYyB =I<I 5٢e= m3=9mY 8Q m>qq uG٣qy}(; }> Nusing accuracyPremultiplier from config49+ BDAT read: Tx time:21:31:22.8280 $Ping request sent.S˺w,9FAy~mB~IMb@Mb@Mb@ )YQ?V-y&1?y\/?h )IyIZIQ5٢q= R=9Q > G٣BGy   > Nusing accuracyPremultiplier from config49 Will construct direction to contact in vehicle frame from tetrahedron phase data.zKM BHKM 9KI KM KM 0w,O!AH1I1 I5lII5BI1&I1.I16I5<:I5~ F]6@Y]@]ŮV9] >y]H@)x  G٣y< > Nusing accuracyPremultiplier from config49Uw, AyvBv>I|~A]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004243Mb@Mb@Mb@ )Yv?MbMb?y8?<jA A) AIy=AIIH4٢G= H=9Q > G٣y > Nusing accuracyPremultiplier from config49 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256398 I rgw,:A2@Y25@2)Y92z^>y2Hw`>@W?Y??@!? ?R?ɨ2@2׎;2bCynBnSIIvIv4٢P= W=9ѺQ >!! %G٣%BGy%[; -> 5Nusing accuracyPremultiplier from config)=49-;?=4Y-VD i-bB9=s @=?-IAD- ;- ;-m4I MAIZjq}FNOT Ignoring new targets: 380.90 m.Bj;Jj; ProNav: ac range: 380.899994 m, nav range: 294.161499 m, bearing: 180.075467 deg, approach rate: -0.416260 m/s, LOS rate: 0.116738 deg/s, cmd heading: 133.174987 deg, new cmd heading: 133.307499 deg. 2j;;HeadingCmd: 2.326655 target range: 380.899994 and range: 398.90 m. j@jjjihhhhfffrfbf?ɛ?ń I ӼɚiIAj=I@iLZig׼)@)*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508949zK%RIK%+9K!K%K%*J]R="J]%=HQIUC IUIIU0BIU' =&IQ.IQ6IU<:IU FBI JI RI ZI bI jI Ǵe4GEGiByO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760283w,$TAf~@Yf'&@fY9fM>yfH`E|`ˌ??`"~?@j7???ɨf~@fq;fdCyrBrcIIz9Iz 5٢x= J=9!ԹQ >    G٣ y4< > Nusing accuracyPremultiplier from config%49;?%4Y= ibB!% @-?\AD ::/t41 5A5ιEZjaeFNOT Ignoring new targets: 380.90 m.Bjm;Jjm; ProNav: ac range: 380.899994 m, nav range: 293.992615 m, bearing: 180.122469 deg, approach rate: -0.415990 m/s, LOS rate: 0.115841 deg/s, cmd heading: 133.307493 deg, new cmd heading: 133.448580 deg. 2j;HeadingCmd: 2.329117 target range: 380.899994 and range: 398.90 m. jA@jjjihhh h f f f $?Irfbf5{?ɛB4qv 隭I Ka׼ɚiI=IA@iZibȼ)A@)*Fy2Fy:FyBFc0JFPExceeded connect timeout, disconnecting.}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012458JU JU JQ JQ JU } ;JU Fi:JQ JQ JU O<JU O<JU ;JU ;G ټG B O >w,`nA:2D@Y:b@:D[9:>y:H n^ ?@n?h?9e?V?@?ɨ:2D@:Q;:bCyFBFrIMb@Mb@Mb@ )YJ +?i|?5{Gzt?yH?ף;A A) AIyIDI5٢tg= B=9YQ > G٣y}< > Nusing accuracyPremultiplier from config49;?4Y6 i+bBJ?: @?qAD}0;.;{4 AZj  FNOT Ignoring new targets: 380.90 m.Bjz;Jjz;% ProNav: ac range: 380.899994 m, nav range: 293.804291 m, bearing: 180.176544 deg, approach rate: -0.445710 m/s, LOS rate: 0.128062 deg/s, cmd heading: 133.448578 deg, new cmd heading: 133.610906 deg. 2j%Ư;-HeadingCmd: 2.331950 target range: 380.899994 and range: 398.90 m. j->@j)j)j)i1h1h9h9hEBfAfAfArfAbfMk@ɛquw q}Iy }{ڼɚyiyI}=I>@i [iļ)>@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264348*FI2FI:FIBFM^0JFI !I!GvżGy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516159zK BoHK ]9K K K  w,'A2@Y2@2g]92>y2H@4 :?Q?@?? b?e?ɨ2@2=;2aCy>B>uIIf7If 5٢n< nY=jHpbHr<HtIt IvIIvXBIv& =&It.It6Iv<:Ivm F9EQ > G٣BGy ^<  > Nusing accuracyPremultiplier from config%491;?-4Y+0 i6bB)53 @5?AD;O;84Q UA]ѹEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 380.90 m.Bj;Jj; ProNav: ac range: 380.899994 m, nav range: 293.634094 m, bearing: 180.225006 deg, approach rate: -0.438419 m/s, LOS rate: 0.124909 deg/s, cmd heading: 133.610904 deg, new cmd heading: 133.756374 deg. 2jr;HeadingCmd: 2.334489 target range: 380.899994 and range: 398.90 m. jEh@jjjihhhhfffrfbf)@ɛBw 隕I ݼɚiIү=IEh@i\W[iW)Eh@)EE*F5?2F1:F1BF5_0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768217 %$?I!G-S&żG B O5 >  nManaging dock network, ignoring radio surface power off%w,_ A]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020264yeBezIMb@Mb@Mb@ )YV-?{GztyM?ףjA zA)IAAyI 3I  5٢s< %7=9%Q %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config9E49=;?E4Y=[( i=?bBE P?M:M @M?=AD=&;=;=4 AйEJ5J5J51J1J5%;J5=h:J53J1J5 K<J5 K<J5;J5;ZjY]FNOT Ignoring new targets: 380.90 m.Bje;Jj; ProNav: ac range: 380.899994 m, nav range: 293.432068 m, bearing: 180.283052 deg, approach rate: -0.436955 m/s, LOS rate: 0.125631 deg/s, cmd heading: 133.756373 deg, new cmd heading: 133.930629 deg. 2jp;EHeadingCmd: 2.337530 target range: 380.899994 and range: 398.90 m. jM@jIjIjIiIhQhQhYh]BfYffrfbf7 @ɛh V!=4I Gɚ i I =I@i[i˼)@)*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272153  I qgG G B O >Ew,ݻA65@Y6T@6\Qd96l>y6H`ӰJ?? `k? c?  G٣ y e<  > Nusing accuracyPremultiplier from config49;?%4Y! iGbB!% @%?AD;;W4-ڒB 15ӹEZjQ]FNOT Ignoring new targets: 380.90 m.Bje!;Jje!;u ProNav: ac range: 380.899994 m, nav range: 293.263031 m, bearing: 180.330759 deg, approach rate: -0.501140 m/s, LOS rate: 0.141519 deg/s, cmd heading: 133.930625 deg, new cmd heading: 134.073830 deg. 2ju?;HeadingCmd: 2.340030 target range: 380.899994 and range: 398.90 m. j @jjjihhhhfffrfbf&y @ɛ^  I ɚiI!=I @iR[iܒ) @)*F?2F:FBF0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:21:31:25.7684 }TRx dataTimestamp_ set to:1736371887.081916checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526582GnGABQO}7>zKWMK 9KKKBK:KH8>I IIIwBI' =&I.I6Iܰ<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776281..w,gիA6Ҙ@Y6|@6h96I>y6H 4 ??/l??r7?ȕ?ɨ6Ҙ@6c;6bCyJBJqIIV?IVZ 5٢E E<9MA*Q M>II UG٣UBGyU0o< U> eNusing accuracyPremultiplier from configYe49]S;?m4Y] i]PbBim @m?]AD]L:]*:]4q }Ay $?IZjFNOT Ignoring new targets: 380.90 m.Bjc;Jjc; ProNav: ac range: 380.899994 m, nav range: 293.070374 m, bearing: 180.384574 deg, approach rate: -0.464134 m/s, LOS rate: 0.129731 deg/s, cmd heading: 134.073827 deg, new cmd heading: 134.235376 deg. 2j;HeadingCmd: 2.342849 target range: 380.899994 and range: 398.90 m. j>@jjjihhhhfffrfbf`@ɛyz 隍I ɚiI=I>@i4\iā)>@)E]>E>*F2F:FBF0JF}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=4.043406J] J] J] 0JY J] ;J] Fi:J] ـ3JY J] Q<J] Q<J] ;J] ;G} ~ʼG G rAGa Bq O >Ww,﫻A6@Y6{@6͋k96>y6H@O@r?@?rJ@䅰?@Rm?v@?`?ɨ6@6i;6cCyRBVkI5Mb@Mb@Mb@111 1)1Y5&1?S㥻Zd;Oy5P?5/ݽ5j5A 1)5 AI5A1y1IM-IM`5٢]ļ ]I=9ei޺Q e>ai mG٣iym<8< m> }Nusing accuracyPremultiplier from configq}49uN;?4Yu iuTbBR?: @?uADu[;u;u4 AֹEZjFNOT Ignoring new targets: 380.90 m.Bj;Jj; ProNav: ac range: 380.899994 m, nav range: 292.870300 m, bearing: 180.437113 deg, approach rate: -0.492490 m/s, LOS rate: 0.129415 deg/s, cmd heading: 134.235374 deg, new cmd heading: 134.393098 deg. 2j;HeadingCmd: 2.345602 target range: 380.899994 and range: 398.90 m. jX@jjjihhhhBfffrfbfZ@ɛT I bɚiI=IX@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280343i\in)X@) $?IpgE<H=*Fm?2Fq:FqBFum0JFq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536013zK= BoJK= h9K9 K= K= 3cD+X]2IGu ^ZH RH H I  I II BI & =&I .I 6I <:I FGq By O >:w, Ar<@Yr[@r xp9r+I>yrHn`yS ?*?jPi? ?.?;r_CyB^II-8I-@ 5٢=< =9=9=2Q E>AA EG٣AyMJ< M> UNusing accuracyPremultiplier from configQ]49Uu;?]4YU iUXbBaeN@e?UADUz:U:Ua4i mEAmԹEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 380.90 m.Bj;Jj; ProNav: ac range: 380.899994 m, nav range: 292.652191 m, bearing: 180.493904 deg, approach rate: -0.494992 m/s, LOS rate: 0.128983 deg/s, cmd heading: 134.393097 deg, new cmd heading: 134.563598 deg. 2j ;HeadingCmd: 2.348578 target range: 380.899994 and range: 398.90 m. jO@jjjihhhhfffrfbf@ɛam &I ɚiI%=I-O@i-\i-TM)5O@)1EM$=)%= CWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785123  G!A YyB*F2F:FBFy1JF AIAG% sGA B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036187\ w,%AyBYIJ-J-J-1J)J-E ;J-p:J-3J)J-qP<J-qP<J-;J-;5Mb@Mb@Mb@111 1)1Y5|?5^?#~j~jty5M?5㥽5ļ5SA 5A)5AI5A1y5z AIM7IM 5٢Uh ],=9]Q ]>aa eG٣eBGym m> uNusing accuracyPremultiplier from configi}49mVa;?}4YmD im]bB}N?:K@?m BDm;$;m!;m4 dA׹EZjFNOT Ignoring new targets: 380.90 m.Bj ;Jj ; ProNav: ac range: 380.899994 m, nav range: 292.412933 m, bearing: 180.552490 deg, approach rate: -0.504906 m/s, LOS rate: 0.123736 deg/s, cmd heading: 134.563592 deg, new cmd heading: 134.739494 deg. 2j֩;HeadingCmd: 2.351648 target range: 380.899994 and range: 398.90 m. jf@jjjihhhhcBfffrfbfn@ɛ%^ !%"I! %ɚ!i)I-W=I5f@i5\i=y)=f@)AEIEI*EI"EIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288874E - $?I) *F ?2F :F BF 0JF G  G G KG ?G >GYBiO>w,lDAF/@YF@Fs9F\>yFH ^*@?`D?KD?`[?? ?ɨF/@F;FbCjWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.541177yrBrHIIzNIz5٢ L=9 ʺQ  > G٣yf< > Nusing accuracyPremultiplier from config498O;?4Yk ibbB@?BDg;w;4 AڹEZjFNOT Ignoring new targets: 380.90 m.Bj ;Jj ; ProNav: ac range: 380.899994 m, nav range: 292.200592 m, bearing: 180.603857 deg, approach rate: -0.507549 m/s, LOS rate: 0.122869 deg/s, cmd heading: 134.739497 deg, new cmd heading: 134.893709 deg. 2j;HeadingCmd: 2.354339 target range: 380.899994 and range: 398.90 m. j@jjjihhh!h!f)f)f)rf)bf-Y@ɛQ]n Y]@ Ia myɚiiiIm.=Iu@iu \iuI3)u@)yzK[NK]9KKK(eG0"HI IIIwBI&I.I6I<:I F*F?2F:F!BF%5JF!G%uGBOG>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792447 I 1w,-^A>C@Y>@>1q9>>y>HV3ނ??c?@/?ϸ?`~?ɨ>C@>;>cCybBb3IhjAAInYIn5٢vk vM=9vV\:Q z>xx zG٣xy=x< E> Nusing accuracyPremultiplier from config49=;?4Y igbB@?3BD<<弯49 =\AAZjY]FNOT Ignoring new targets: 380.90 m.Bje:Jje: ProNav: ac range: 380.899994 m, nav range: 291.997803 m, bearing: 180.652736 deg, approach rate: -0.452501 m/s, LOS rate: 0.109143 deg/s, cmd heading: 134.893709 deg, new cmd heading: 135.040446 deg. 2jΕ;HeadingCmd: 2.356900 target range: 380.899994 and range: 398.90 m. ju@jjjihhhhfffrfbf@ .@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044467ɛA I ɚiI.Q=Iu@i[i3)u@)*F?2F:FBFA5JFG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296243G B O >[w,5xA B$?IDyޝBޝ)IMb@Mb@Mb@ )YMbX9?~jtMbyA?A QA)vAIAy( AI6I] 5٢ -=9Q > G٣BGy   > =Nusing accuracyPremultiplier from config9E49=);?E4Y=' i=kbBE5B?E:E@@E?=JBD=;=;=į4q uAuݹEZjFNOT Ignoring new targets: 380.90 m.Bj ;Jj ; ProNav: ac range: 380.899994 m, nav range: 291.763947 m, bearing: 180.703646 deg, approach rate: -0.561285 m/s, LOS rate: 0.122290 deg/s, cmd heading: 135.040449 deg, new cmd heading: 135.193302 deg. 2jڧ;HeadingCmd: 2.359568 target range: 380.899994 and range: 398.90 m. j+@jjjihhhh2Bfffrfbf@ɛB (I eQɚaiaIe|=Im+@im[imm^)m+@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548504*F2F:FBFQ4JF"G%=G%=zKVNK9KKKjH <bH <H I  I II ]BI &I .I 6I :I BIȞCJIȞCRIZIbIjI4JU JU JU 0JQ JU } ;JU e:JU ـ3JQ JU O<JU O<JU ;JU ;G] hAG1 BA O] >G$w,sAF_D @YFc@Fzk9FR>yFH@&@-?ta?B?,k?Ӂ?=?ɨF_D @F⒊;FaCyRgBRIIZWIZ5٢b bv=9b;Q b?19 =G٣9y=< =? MNusing accuracyPremultiplier from configAM49E ;?U4YE* iEmbBY]@]?EZBDE-;E-;Eʯ4eےB e:AeܹEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 380.90 m.Bj-;Jj-; ProNav: ac range: 380.899994 m, nav range: 291.589600 m, bearing: 180.741264 deg, approach rate: -0.523113 m/s, LOS rate: 0.112936 deg/s, cmd heading: 135.193308 deg, new cmd heading: 135.306229 deg. 2j;HeadingCmd: 2.361539 target range: 380.899994 and range: 398.90 m. ju#@jjjihhhhfffrfbf@F$@ɛ)5Ч 1=!I9 =ɚ9i9I==IEu#@iEh[iM !UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.800446)Mu#@)Y u$?I}og*Fa2Fa:FaBFe_0JFaG=oGB!O=Q> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.0522757m*w,AFe @YFƒ@Fgg9F.>yFH@ !?`V?@]? ?h? ?ɨFe @F*҉;FbCyN^BN I TV=-Mb@Mb@Mb@))) )))Y-Q?V-y-5?---&A -v@)-AI- A)y- AIEVIE5٢U UB=9];Q ]>YY eG٣aye; e> uNusing accuracyPremultiplier from configq}49ut ;?}4Yu iurbB5?:@?umBDu;u;u ү4 ^A߹EZj=FNOT Ignoring new targets: 380.90 m.Bj=:Jj=:M ProNav: ac range: 380.899994 m, nav range: 291.383575 m, bearing: 180.781455 deg, approach rate: -0.504987 m/s, LOS rate: 0.098583 deg/s, cmd heading: 135.306225 deg, new cmd heading: 135.426884 deg. 2jMP;mHeadingCmd: 2.363645 target range: 380.899994 and range: 398.90 m. jmE@jijijiiihhhhBfffrfbf@ɛUBU,̙ QUX$IQ ]ɚYiYI]=IeE@ie[ie:*)eE@)i*F5?2F1:F9BF9JFIuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306032 iIqG iGa Bi O >?V1w,|ŬA>| @Y>@>:b9>UX>y>H`?M? ?C?=s?ӝ?ɨ>| @>q;hh jG٣jBGynv; n> rNusing accuracyPremultiplier from configpv49r:?v4Yr irvbBxz@z?r~BDr:rn:rد4| ~AZj!-FNOT Ignoring new targets: 380.90 m.Bj-d:Jj-d:= ProNav: ac range: 380.899994 m, nav range: 291.188690 m, bearing: 180.819440 deg, approach rate: -0.505169 m/s, LOS rate: 0.098526 deg/s, cmd heading: 135.426887 deg, new cmd heading: 135.540916 deg. 2jE<;EHeadingCmd: 2.365635 target range: 380.899994 and range: 398.90 m. jMf@jIjQjQiQhQhQhhfffrfbf%j@ɛimaܢ imc(I ɚiIM =If@i[i|r2)f@)HI III?BI' =&I.I6If<:IT FzKjIKh9KKKBK%rA:K%rAJ5J5J51J1J5E ;J5Fi:J53J1J5qP<J5qP<J5;J5;*F?2F:FBFo0JFG G}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810485G-, U $?IY G B O >7w,s߬ABň @YBn@B\9B>yBH`>@?    G٣ y : > Nusing accuracyPremultiplier from config%49:?%4Y izbB)-@-?BD ; ;߯49 =A=EZjFNOT Ignoring new targets: 380.90 m.Bj:Jj:m ProNav: ac range: 380.899994 m, nav range: 290.981476 m, bearing: 180.859848 deg, approach rate: -0.496814 m/s, LOS rate: 0.096952 deg/s, cmd heading: 135.540910 deg, new cmd heading: 135.662222 deg. 2jm;HeadingCmd: 2.367753 target range: 380.899994 and range: 398.90 m. jB@jjjihhhhfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=8.060675ɛ +I SyɚiI =I%B@i%[i%)E)MB@)I*F?2F:FBF0JFG .-G B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.312280 9 IA =w,6ZA^Δ @Y^v@^7X9^>y^H`]`?`7F? 8? ?z?`?ɨ^Δ @^;^bCy6BI)-AMb@Mb@Mb@ )YK7A?y&1?Zd;Oy "?`<jA I@)AI\ Ay AIBI5٢ϼ ==9;Q > G٣y: > Nusing accuracyPremultiplier from config49:?4Y ibBP"?:@?BD;;4  AiZjFNOT Ignoring new targets: 380.90 m.Bj:Jj: ProNav: ac range: 380.899994 m, nav range: 290.778870 m, bearing: 180.896118 deg, approach rate: -0.461466 m/s, LOS rate: 0.082667 deg/s, cmd heading: 135.662228 deg, new cmd heading: 135.771112 deg. 2jb;HeadingCmd: 2.369653 target range: 380.899994 and range: 398.90 m. je@jjjihhh h Bf ffrfbf @ɛaG 隕.I  ɚiIN!=I e@iq[i;U)e@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564631HI III%BI& =&I.I6I<:I FJM @AJM @AJe Je Je 0Ja Je ;Je 3g:Je ـ3Ja Je M<Je M<Je ;Je ;zK RIK 9K K K G KG B O >Dw,)A:“ @Y:j@:R9:G>y:H â?F??6[??\?ɨ:“ @::;8yR@BRII^`I^5٢f< f]=9jd;Q j>hh jG٣hyn5 n> rNusing accuracyPremultiplier from configpv49r:?v4Yr irbBxxz?rBDrv:r:r4 AEB*** querying acoustic contact ***jj=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.817164ZjqFNOT Ignoring new targets: 380.90 m.Bj :Jj : ProNav: ac range: 380.899994 m, nav range: 290.605713 m, bearing: 180.927171 deg, approach rate: -0.448324 m/s, LOS rate: 0.080450 deg/s, cmd heading: 135.771115 deg, new cmd heading: 135.864331 deg. 2j\;HeadingCmd: 2.371280 target range: 380.899994 and range: 398.90 m. j @jjjih $?Ihhhfffrfbf `!@ɛ* 隥2,I  ɚiIj!=I @i[i%-|l)M @)I*F2F:FBF_5JF"G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070745G aG9 BQ Ou >Jw,=-A> @Y>@>M9>Σ>y>H! Č?D?0߱?k?@m? t?ɨ> @>&;>cCyNRBNIeMb@Mb@Mb@aaa a)aYeZd;?l?y&1|ye?e=e`eA e`@)aIe/ Aaye AIu_Iu5٢(= ?=97>;Q > G٣BGy: > Nusing accuracyPremultiplier from config49}:?4Y? ibB(?:@?BD/;;s4 AEZjFNOT Ignoring new targets: 380.90 m.Bjs:Jjs: ProNav: ac range: 380.899994 m, nav range: 290.412750 m, bearing: 180.960872 deg, approach rate: -0.483878 m/s, LOS rate: 0.084564 deg/s, cmd heading: 135.864333 deg, new cmd heading: 135.965502 deg. 2j$h; HeadingCmd: 2.373046 target range: 380.899994 and range: 398.90 m. j @j j j i h hhhBfffrfbf%p"@ɛIMq IM'I  ɚiIv!=I@i[iS})@)*F?2F:FBFV0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.321228 IngGJiG B O >JQw,FA:: @Y:@:dF9:>y:H`r;N?!I?@t?? Ѐ?`F?ɨ:: @:(;:bCyF\BF I J=Ja=RWill construct direction to contact in vehicle frame from tetrahedron phase data.PiPVchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.572602I%XI%n5٢}@< }N=9;Q > G٣y/Ѻ >  Nusing accuracyPremultiplier from config 49 q:?54Y  i bB9=@=? BD ;  ; 4I MnAMEHYIY I]II]BIY&IY.IY6I]<:I] FZjFNOT Ignoring new targets: 380.90 m.Bj :Jj : ProNav: ac range: 380.899994 m, nav range: 290.225159 m, bearing: 180.993741 deg, approach rate: -0.436436 m/s, LOS rate: 0.076521 deg/s, cmd heading: 135.965502 deg, new cmd heading: 136.064175 deg. 2jR;HeadingCmd: 2.374768 target range: 380.899994 and range: 398.90 m. j2@jjjihhhhf f f JJJJJJr:JJJJJ;J;rf1bf5Q#@zKuBoIKu9KqKuKuɛ P%I BɚiIJ="=I 2@i [i ) 2@)*F2F:FBFY0JFm[G YyAUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.824321 $?IG k}G B O >SWw,`A: @Y:@:@9:=>y:H ~/?@xG? @*S?? (? ?ɨ: @:E;8yF}BJIIf6If] 5٢n= nR=9rz;Q r>pp vG٣tyvu: v> ~Nusing accuracyPremultiplier from configx~49z;:?4Yz# izbB@?zBDz:z:z04 %A!ZjY]FNOT Ignoring new targets: 380.90 m.Bje:Jje:u ProNav: ac range: 380.899994 m, nav range: 290.059113 m, bearing: 181.022865 deg, approach rate: -0.460573 m/s, LOS rate: 0.080827 deg/s, cmd heading: 136.064171 deg, new cmd heading: 136.151591 deg. 2ju];}HeadingCmd: 2.376294 target range: 380.899994 and range: 398.90 m. j}2@jyjyjihhhhfffrfbfA$@ɛ恧  &G=I {ɚ)i1I=d"=Will construct direction to contact in vehicle frame from tetrahedron phase data. G٣BGy >  Nusing accuracyPremultiplier from config 49 :?4Y  i bB?:"@? BD 9; ;  4! %VA%EZjIMFNOT Ignoring new targets: 380.90 m.BjUܭ:JjUܭ:e ProNav: ac range: 380.899994 m, nav range: 289.868896 m, bearing: 181.055837 deg, approach rate: -0.438153 m/s, LOS rate: 0.076000 deg/s, cmd heading: 136.151598 deg, new cmd heading: 136.250579 deg. 2jmP;mHeadingCmd: 2.378021 target range: 380.899994 and range: 398.90 m. jm1@jqjqjqiqhqhyhhBfffrfbfF$@ɛ 隽I ɚiIO#=I1@i(\i^ڡ)1@)*Fi2Fi:FiBFiJFiWill construct direction to contact in vehicle frame from tetrahedron phase data.zK BoHK 9K K K /dw,AB~ @YBz@B?19B>yBH`@?P?@?2? ?ܠ?ɨB~ @B߉;BcCyZB^QIbA`If+If~5٢n= n]=9r#x| ~G٣|yx  > Nusing accuracyPremultiplier from config49z:?%4Y* ibB!% @%?BD::c4) 5A1B*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 380.90 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1840> %BDAT read: Tx time:21:31:33.7766 %$Ping request sent.%J= J= J= 1J9 J= ;J= q:J= 3J9 aE @aE @aE @aE @$ kw,MA:} @Y:(@:P+9:>y:H 6?Q?S?nr? ?M?ɨ:} @:ۉ;:aCyRBReIMb@Mb@Mb@ )YI +?~jt?Mb?y9?D<<A )I AyAI;I 5٢= >=9\_;Q > G٣yE > Nusing accuracyPremultiplier from config49k:?4Y ibBO?:@?CDw;;4 !AEZj  FNOT Ignoring new targets: 380.90 m.BjP:JjP:% ProNav: ac range: 380.899994 m, nav range: 289.531616 m, bearing: 181.118051 deg, approach rate: -0.435487 m/s, LOS rate: 0.084504 deg/s, cmd heading: 136.335043 deg, new cmd heading: 136.437335 deg. 2j%g;-HeadingCmd: 2.381281 target range: 380.899994 and range: 398.90 m. j-f@j)j)j1i1h1h1h9hEހBfAfAfIrfYbfe&@ɛq} y}Iy }ɚyiI#=If@iJ\ic)f@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502111 m$?IiE-N!=*F ?2F :F BF _0JF "G =G p= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758952G fHiIi ImIIm?BIi&Ii.Ii6Im<:Im FBIJIRIZI' =bI' =jII4GBO>Ksw,ͭAJ @YJc@J-+9J>yJH`F ?*?@? d?,;J`CybBbII~I~4٢ >  -=9 2t9Q >zKRIK+9KKK    -G٣-BGy-jd< -> =Nusing accuracyPremultiplier from config9E49=#Z:?E4Y=̴ i=bBAE@E?= CD=X:=:=!4I UAQZjy}FNOT Ignoring new targets: 380.90 m.Bj::Jj:: ProNav: ac range: 380.899994 m, nav range: 289.334869 m, bearing: 181.155780 deg, approach rate: -0.415121 m/s, LOS rate: 0.079658 deg/s, cmd heading: 136.437332 deg, new cmd heading: 136.550593 deg. 2jZ;HeadingCmd: 2.383257 target range: 380.899994 and range: 398.90 m. jJ@jjjihhhhfffrfbfo'@ɛB ݾI ɚiI/$=IJ@in]ie)J@)EB=*Fe?2Fa:FaBFm0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007156 IGmnGA Ba O} >yw,f譻A^Will construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261528? @Y=@)9Z>yH`?v? ?`a G٣y; > Nusing accuracyPremultiplier from config49I:?4Y[ icB?:@?2CD;3;9)4ܒB ,AEJK(3 K(.KK"KJeJeJe0JaJe;Jes:Jeـ3JaZjFNOT Ignoring new targets: 380.90 m.Bj:Jj: ProNav: ac range: 380.899994 m, nav range: 289.144379 m, bearing: 181.197486 deg, approach rate: -0.392896 m/s, LOS rate: 0.086078 deg/s, cmd heading: 136.550590 deg, new cmd heading: 136.675792 deg. 2jLl;HeadingCmd: 2.385442 target range: 380.899994 and range: 398.90 m. j@jjjihhh h Bf f f1rf1bf=@al(@ɛ}z 隅]I ѕɚiI$=I@i9]i/)@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509892 IE5 G=*F 2F :F BF _0JF G-`6G Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762678B!O=?Zjw,! A:E @Y:c@:/$9:>y:H7*?$ ?`?^?W?ࠞ?ɨ:E @:';;:_CyBZBBIININ4٢V> Z0=9ZJ;Q Z>\\ ^G٣^BGy^; ^> fNusing accuracyPremultiplier from configdj49fI9:?j4Yf ifcBhj@j?fDCDf:fe:fT14p rApZj  FNOT Ignoring new targets: 380.90 m.Bj:Jj:% ProNav: ac range: 380.899994 m, nav range: 288.953705 m, bearing: 181.239129 deg, approach rate: -0.430164 m/s, LOS rate: 0.094010 deg/s, cmd heading: 136.675787 deg, new cmd heading: 136.800799 deg. ZHRHHI IIIrBI&I.I6Iа<:I F2j ;HeadingCmd: 2.387624 target range: 380.899994 and range: 398.90 m. j@j j j i h h hhfffrfbf@;Y)@ɛBAl 隭I zɚiI$=I@il]iw)@)!E)E)*E)"E)zKuhLKqKqKuKu RK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014821 $?Img*F}?2Fy:FyBFyJFyG ݗG B O >gXw,v2'AFnM @YFl@Ff9F>yFHo-?d?=?Σ?Q"??ɨFnM @F`;FaCmWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269740y޽B I]Mb@Mb@Mb@YYY Y)YY]Q?K~jt?y](?]^]<]XA Y)]AI] AYy]QAIu!Iu5٢> =9I";Q > G٣y4v: > Nusing accuracyPremultiplier from config49)&:?4Yf i&cB*?:x@?[CD;;:4 AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 380.90 m.Bj:Jj:J J  J J J E ;J Oj:J J  ProNav: ac range: 380.899994 m, nav range: 288.733154 m, bearing: 181.296822 deg, approach rate: -0.402087 m/s, LOS rate: 0.105261 deg/s, cmd heading: 136.800793 deg, new cmd heading: 136.974005 deg. 2jz;HeadingCmd: 2.390647 target range: 380.899994 and range: 398.90 m. j^@jjjihhhhpBfffrfbfm*@ɛamT imkIi mmɚqiqIun%=I^@id]i)^@)*FU?2FQ:FQBFQJFQ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517987 ) I) G ܣGi By O >q`w,AA @6As @Y6@6962k>y6H: ]?? P?@?7?'?ɨ6As @6;6`CyBBB/IIJIJ4٢R.> R=9V:Q Z ?\\ ^G٣\y^+; b ? fNusing accuracyPremultiplier from config`f49b:?j4Yb ib0cBhj@j?biCDb ;b~ ;bw@4p rApZj FNOT Ignoring new targets: 380.90 m.Bj :Jj: ProNav: ac range: 380.899994 m, nav range: 288.604950 m, bearing: 181.330278 deg, approach rate: -0.403704 m/s, LOS rate: 0.105396 deg/s, cmd heading: 136.974007 deg, new cmd heading: 137.074419 deg. 2j;HeadingCmd: 2.392400 target range: 380.899994 and range: 398.90 m. j@jjjihhhhfffrfbf+@ɛ  bV  3I  9ɚiI)%=I@i]iХ)@)!EQEQ%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770787*F?2F:FBF0JFH9>I ILIIBI&I.I6I!<:I FzKRLK9KKKGG B O > $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023479퇖w,d[AN @YN8@N9NXs>yNHYD ??2$?@m\? W??ɨN @N,;N_CyVBZBIIb#Ib5٢j= jH=9j-:Q r>| G٣BGy ;  > ]Nusing accuracyPremultiplier from configYe49]; :?e4Y]A i]=cBam@m?]{CD]&:]&:]G4 AEZjFNOT Ignoring new targets: 380.90 m.Bj:Jj: ProNav: ac range: 380.899994 m, nav range: 288.434509 m, bearing: 181.374675 deg, approach rate: -0.395350 m/s, LOS rate: 0.103041 deg/s, cmd heading: 137.074424 deg, new cmd heading: 137.207692 deg. 2j%n;%HeadingCmd: 2.394726 target range: 380.899994 and range: 398.90 m. j-1C@j)j)j)i)h)h1h1h1f9f9f9rf9bfE+@ɛ2F I ɚiIN%=I1C@iy+^ih^)1C@)*F?2F:F!BF%_5JF!EWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277883GE J J J J J } ;J bl:J J G B O- >w,=uA6 @Y6@6y96X>y6HBW|?X?`7 ?|?@|T?` ?ɨ6 @6%z;6cCyNBNWIuMb@Mb@Mb@qqq q)qYuQ?i|?5y&1?yu5?uu`e=9Q > G٣y< > Nusing accuracyPremultiplier from config499?4Y iFcBI8?:H@?CD;;O4 AZjFNOT Ignoring new targets: 380.90 m.BjG;JjG; ProNav: ac range: 380.899994 m, nav range: 288.258759 m, bearing: 181.422774 deg, approach rate: -0.431883 m/s, LOS rate: 0.118271 deg/s, cmd heading: 137.207695 deg, new cmd heading: 137.352082 deg. 2jV;%HeadingCmd: 2.397246 target range: 380.899994 and range: 398.90 m. j%{l@j!j!j!i!h)h)h)h-ƁBf1f1f1rf1bf= ,@ɛae@|> aeIa m9ɚiiiImj%= u$?IyI{l@ia^i|){l@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:31:36.7264 TRx dataTimestamp_ set to:1736371897.916803checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527217*F2F:FBF5JFG zG B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778011jH bH H 8>I  I II BI &I .I 6I <:I Flw,A: @Y:t"@:9:y:Hk`1g??`L?T? 4? ?ɨ: @:#;:bCyFЀBFpIJNAAJLIR%IR5٢Z= Z[=9ZQ Z>\\ ^G٣`yb"< b> fNusing accuracyPremultiplier from configdj49f9?j4Yfa ifOcB@?fCDf>/ ]BDAT read: Tx time:21:31:37.8266 ]$Ping request sent.eʩw,A~Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:31:37.8258 y ހB IMb@Mb@Mb@ )Y%C?ˡEĿ~jth?yZD?'D;A @)3AIyAII4٢W= "=9Q > G٣BGy > Nusing accuracyPremultiplier from config499?4Yڃ iTcBH?: @?CD';$;t^4 AB*** querying acoustic contact ***jj  addTargetRange:: Added new target pos. range: 409.200012 m, deltaT: 14.869753 s, deltaX: 10.300018 m, approachRate: 0.692683 m/s, rangeRepo size: 4 Zj 5FNOT Ignoring new targets: 380.90 m.BjE;JjU;e ProNav: ac range: 380.899994 m, nav range: 287.880981 m, bearing: 181.531504 deg, approach rate: -0.420605 m/s, LOS rate: 0.125907 deg/s, cmd heading: 137.481613 deg, new cmd heading: 137.678498 deg. 2jeѬ;eHeadingCmd: 2.402943 target range: 380.899994 and range: 409.20 m. jm@jijijiiihqhqhqhuށBfyfyfyrf}@3y@bf;?ɛ  * :I jɚiI{%=I@i{^i%+)%@)!*F2F:FBF4JF m$?ImlgWill 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,ΧĮA6 @Y6@6'96tw>y6H`ǝ@h.??n??8?0?ɨ6 @6/m;6^CyBBBIIjIj4٢r= rq=9ruQ r?tt vG٣tyz]< z? ~Nusing accuracyPremultiplier from config|49~9?4Y~+~ i~WcB Z @ ?~CD~a:~:~^d4ݒB AEZjAEFNOT Ignoring new targets: 380.90 m.BjM!;JjM!;] ProNav: ac range: 380.899994 m, nav range: 287.732178 m, bearing: 181.575265 deg, approach rate: -0.480811 m/s, LOS rate: 0.141472 deg/s, cmd heading: 137.678500 deg, new cmd heading: 137.809850 deg. 2j].;eHeadingCmd: 2.405236 target range: 380.899994 and range: 409.20 m. jea@jajajaiihihihqhqfqfqfqrfybf}X?ɛ% 隭I ɚiIJ%=Ia@i^i`|)a@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=0.733241*Fu?2Fy:FyBF}_0JFyGE@HI III)BI&I.I6Iɰ<:I FG9BAO]3>JJ JJJ ;JYk:JJJ$Sy2Hশ@A ?gq?Ԑͷ?ߥ?? j?ɨ2X @2;2_CybBbIIrIr4٢5 5F=9=⎻Q =>9A EG٣AyEp6< E> MNusing accuracyPremultiplier from configIU49Mپ9?U4YMAw iM[cBY] @]?MCDM6;M;Mk4a mAiZjFNOT Ignoring new targets: 380.90 m.Bj;Jj; ProNav: ac range: 380.899994 m, nav range: 287.549377 m, bearing: 181.628579 deg, approach rate: -0.443395 m/s, LOS rate: 0.129398 deg/s, cmd heading: 137.809845 deg, new cmd heading: 137.969886 deg. 2j;HeadingCmd: 2.408029 target range: 380.899994 and range: 409.20 m. j%@jjjihhhhfffrfbf G?ɛB%?|% %6"=%ǼI! %ɚ!i)I-%=I%@i_iGp)%@)E*F?2F:FBFJF"GGR=MWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238976G^GGnAG B O >]mw,YQA2I @Y2vh@2392&>y2H<`Of?@qK?`4Ȋ?*q?ϴ??ɨ2I @2X;0y>B>I 1I5kgmMb@Mb@Mb@iiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491888i i)iYmoʡ?w/Ŀ rhymM?m&mCmA i)mAIiiymzAIeIeK4٢< 5=9!Q > G٣BGya< > Nusing accuracyPremultiplier from config49&9?4Yo iWcBMQ?: @?CD;3;us4 dAEZj1=FNOT Ignoring new targets: 380.90 m.Bj=5;Jj=5;m ProNav: ac range: 380.899994 m, nav range: 287.336029 m, bearing: 181.688365 deg, approach rate: -0.465158 m/s, LOS rate: 0.130447 deg/s, cmd heading: 137.969890 deg, new cmd heading: 138.149381 deg. 2jm ;uHeadingCmd: 2.411162 target range: 380.899994 and range: 409.20 m. juyP@jqjyjyiyhyhyhhBfffrfbf (>?ɛ! @9I ɚiIn%=I%yP@i-^i- F)-yP@))*F?2F:FBF`0JFG-kGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740324H I  I II QBI &I .I 6I <:I ~ FBIiJIiRIiZIibIijImʞ/4J J AAJ J J J J ;J c:J J J }T<J ~T<J $;J $;qSw,$A2 @Y2@27992_#>y2H@!Y?&?R`}?$?P?ఏ?ɨ2 @2?;2`CyBBBI F=F=IJIJ4٢R Rq=9V|Q V?TT ZG٣XyZO< Z? bNusing accuracyPremultiplier from config\b49^9?f4Y^i i^UcBdfR@f?^DD^X:^X:^dy4h nAlzKyK}]9KyK}K}ZjFNOT Ignoring new targets: 380.90 m.Bja;Jja; ProNav: ac range: 380.899994 m, nav range: 287.173981 m, bearing: 181.733340 deg, approach rate: -0.457685 m/s, LOS rate: 0.127100 deg/s, cmd heading: 138.149387 deg, new cmd heading: 138.284390 deg. 2jt;HeadingCmd: 2.413518 target range: 380.899994 and range: 409.20 m. jw@jjjihhhhf!f!f!rf!bf-`?ɛmB@j) 隽I ɚiIb%=Iw@i^i)w@) %$?I)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992560*F2F:FBF0JFG wqG B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247463w,p,AEŃ @YEl@E?9EF>yEH>@_pg+? ?@J#,ε?`?`o?@?ɨEŃ @E;Ay]B]IMb@Mb@Mb@ )Yi|?5?S㥛ĿQyQ?$nA )AI AyAI=I=4٢Uɟ U#=9UNQ U>YY ]G٣Yye^< e> mNusing accuracyPremultiplier from configiu49m9?u4Yma imMcB}U?}~:}@}?m"DDm/;m;m$4 AEMB*** querying acoustic contact ***jIjIZjQUFNOT Ignoring new targets: 380.90 m.Bj];Jj}; ProNav: ac range: 380.899994 m, nav range: 286.922974 m, bearing: 181.800078 deg, approach rate: -0.502717 m/s, LOS rate: 0.133778 deg/s, cmd heading: 138.284392 deg, new cmd heading: 138.484779 deg. 2j;HeadingCmd: 2.417015 target range: 380.899994 and range: 409.20 m. ja@jjjihhhhƁBfffrfbf-|@ɛy}u* y}H]9>IY I]!II]`BIY&IY.IY6I]~<:I]c FGqBO ?w,sfOAn @Yn@nPC9n6>ynHL]@N?\?D@^?`e}?"?`u?ɨn @n;n_CyvӀBvtII%I%4J=J=J=1J9J=e ;J=v:J=3J9J=U<J=U<J=);J=);٢UU U+=9]Q ]>YY ]G٣eBGyeF< e> Nusing accuracyPremultiplier from configi49mr9?4YmX imFcB@?m)w,Y5iAZ.@YZVM@ZEH9Za>yZH^uh1`?)?`];??C?o?ɨZ.@Z ;Z`CyzƀBzdIII٢- -M=9-@Q 5>11 =G٣9y=5>< E> eNusing accuracyPremultiplier from configY}49]`9?}4Y]R i]@cB_@?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255630]QDD]Y<]X<]4 AEZjq}FNOT Ignoring new targets: 380.90 m.Bj};Jj}; ProNav: ac range: 380.899994 m, nav range: 286.478302 m, bearing: 181.916955 deg, approach rate: -0.452512 m/s, LOS rate: 0.118594 deg/s, cmd heading: 138.675803 deg, new cmd heading: 138.835676 deg. 2jǢ;HeadingCmd: 2.423140 target range: 380.899994 and range: 409.20 m. j@jjjihhhhfffrfbf@ @ɛB(: 隝̽I mɚiI.%=I@i5F]i";)@)EE*E"E IjgM Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:21:31:40.7804 ] TRx dataTimestamp_ set to:1736371901.949789e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506900*FE ?2FA :FA BFE _0JFI G˴GqAGrAGBO?Kcw,ANBW@YNu@NJ9N>yNH<|#`/??/l?;Y? ?z?ɨNBW@NgV;NaCybBfJIUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756427%Mb@Mb@Mb@!!! !)!Y%Q?Mb~jty%\O?%%%A %@)%AI%/ A!y%AI=I=%4٢U U=9UyrQ ]>YY ]G٣Yye; e>jHm<bHm<Hu8>Iq IuIIuQBIq&Iq.Iq6Iuu<:Iu] F Nusing accuracyPremultiplier from config49G9?4Y+I i7cB(R?:@?nDD ;3;'4ޒB `AEZj15FNOT Ignoring new targets: 380.90 m.Bj=;Jj=;U ProNav: ac range: 380.899994 m, nav range: 286.189423 m, bearing: 181.986736 deg, approach rate: -0.573126 m/s, LOS rate: 0.138584 deg/s, cmd heading: 138.835671 deg, new cmd heading: 139.045226 deg. 2jU7;]HeadingCmd: 2.426797 target range: 380.899994 and range: 409.20 m. j]P@jYjYjYiYhYhahhBfffrfbf@ɛBXEJ J  J 0J J  ;J Oj:J ـ3J J Q<J Q<J i;J j; !%I! %]5 ɚ)i)I-(%=I-P@i5Ѱ\i5p9:)5P@)1*F2F:FBFo0JFzKYLKs9KKKCdeO7% 5$?I1 Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 412.2 m (Round-trip 549.7 ms) speed -1.0 m/s % ,DAT read: user:1842> -% 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.G% :G B O >Sw,ͣA:@Y:>@:L9:>y:H {y?s?czg?C??X?ɨ:@:t?;:_Cy^B^$IIj#Ij5٢r)- rf=9r޹Q r>tt vG٣vBGyz; z> ~Nusing accuracyPremultiplier from config|49~`79?4Y~C i~1cB#@ ?~DD~;~;~J4 WAM addTargetRange:: Added new target pos. range: 412.200012 m, deltaT: 4.030697 s, deltaX: 3.000000 m, approachRate: 0.744288 m/s, rangeRepo size: 4 ZjIMFNOT Ignoring new targets: 380.90 m.BjU;JjU;e ProNav: ac range: 380.899994 m, nav range: 286.005249 m, bearing: 182.031136 deg, approach rate: -0.542942 m/s, LOS rate: 0.130974 deg/s, cmd heading: 139.045221 deg, new cmd heading: 139.178505 deg. 2jeų;mHeadingCmd: 2.429123 target range: 380.899994 and range: 412.20 m. jmv@jijijiiihqhqhqhyfyfyfyrf@3y@bf`?ɛBa 隵PIQ U ɚQiYI]6%=I]v@ieH\ieс:)ev@)a*F5?2F9:FABFE-5JFI}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:21:31:41.8766 $Ping request sent. ! I!  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249473w,A2/@Y2֤@2NK92>y2H+̛?sq?@}s5?Wz?$^??ɨ2/@2q;0yNBNIMb@Mb@Mb@ )Y'1Z?ˡE+yB?什AA @)AI AyAI I4٢&Z ==9J:Q > G٣ys: > Nusing accuracyPremultiplier from config49#9?4YE= i,cB2D?:R@?DDw;;ݨ4 AE%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 380.90 m.Bj=);Jj=);M ProNav: ac range: 380.899994 m, nav range: 285.780762 m, bearing: 182.080198 deg, approach rate: -0.516267 m/s, LOS rate: 0.112920 deg/s, cmd heading: 139.178505 deg, new cmd heading: 139.325807 deg. 2jM;UHeadingCmd: 2.431694 target range: 380.899994 and range: 412.20 m. jU@jQjQjQiQhYhYhYh]DBfafafarfabfeL?ɛB/` 隝jI !ɚiI I%=I@i[iM)M@)QEY*F?2F:FBFP5JFG GuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501491HI III.BI&I.I6I<:I~ FGA G! BI Ou >Ju Ju Jq Jq Ju ;Ju bl:Jq Jq Ju M<Ju M<Ju 4;Ju 4; AG tAw,fׯA"A :HY:tAy:BzKN:LKN9KLKNKNy}kBޅIAII14٢  L=9Q > G٣y > $?I Nusing accuracyPremultiplier from config499?4Y7 i'cB?DD1;;ޯ4 AZj  FNOT Ignoring new targets: 380.90 m.Bj;Jj;% ProNav: ac range: 380.899994 m, nav range: 285.573303 m, bearing: 182.125650 deg, approach rate: -0.520404 m/s, LOS rate: 0.114098 deg/s, cmd heading: 139.325805 deg, new cmd heading: 139.462260 deg. 2j%;-HeadingCmd: 2.434076 target range: 380.899994 and range: 412.20 m. j-@j)j1j1i1h1h1h9h9f9f9fArfAbfEU?ɛuB8t 隍I "ɚiIWj%=I@iR[i/M>)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753554*F?2F:FBF3JFGGRG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005473w,&qAv@Yv@vM9v' >yvH2`0@?@n? !?@?$?@j?ɨv@v;ty\BIMb@Mb@Mb@ )Y +?I +Mby6?9A @)IAyAII4٢ E=9.Q > G٣BGy: > Nusing accuracyPremultiplier from config 498?4Yb2 i 7?:@?DDZ;;4  A%EZjQUFNOT Ignoring new targets: 380.90 m.Bj]T:Jj]T:m ProNav: ac range: 380.899994 m, nav range: 285.358429 m, bearing: 182.166283 deg, approach rate: -0.518188 m/s, LOS rate: 0.098062 deg/s, cmd heading: 139.462259 deg, new cmd heading: 139.584247 deg. 2jm;uHeadingCmd: 2.436205 target range: 380.899994 and range: 412.20 m. ju@jqjqjqiyhyhyhyhBfffrfbfo?ɛB{ 9I #ɚiIC%=I%@i- -[i-Jy)-@)9 $?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=1.258562GE HNG B! OE >8w,: A:x@Y:@:qP9: >y:H "4޿?;v?` ?T ?`??ɨ:x@:c;:aCyJTBJIIVIV4٢vA5 z\=9z޺Q z>|| ~G٣|yX >  Nusing accuracyPremultiplier from config 49 8?4Y - i (cB@? DD  ; ~ ; 4! %QA- E=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509596ZjaeFNOT Ignoring new targets: 380.90 m.BjmL:JjmL:} ProNav: ac range: 380.899994 m, nav range: 285.165649 m, bearing: 182.202896 deg, approach rate: -0.518194 m/s, LOS rate: 0.098485 deg/s, cmd heading: 139.584246 deg, new cmd heading: 139.694161 deg. 2j}-;HeadingCmd: 2.438123 target range: 380.899994 and range: 412.20 m. j5 @jjjihhhhfffrfbfKc?ɛB I $ɚiI%=I5 @i7ZiK)5 @)EEqAZHRH?AH!I! I%II%BI!&I!.I!6I%Ͱ<:I% F*Fq2Fq:FqBFu_0JFq"G}=G}=zK5KK59K1K5K5 IigGGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763494Xw,!%AFy*@YF I@F7F9F2 >yFH*t@=B@??d@n? hը?3??ɨFy*@F;F_CyNFBNI)P P Vp=Vp=IZ2IZ5٢bL bM=9b\;Q f>dd fG٣dyjD j> nNusing accuracyPremultiplier from configlr49n8?r4Yn( ilpv@v?nDDn:n:nİ4x zAZjFNOT Ignoring new targets: 380.90 m.Bj4:Jj4: ProNav: ac range: 380.899994 m, nav range: 284.959564 m, bearing: 182.242496 deg, approach rate: -0.496040 m/s, LOS rate: 0.095384 deg/s, cmd heading: 139.694157 deg, new cmd heading: 139.813042 deg. 2j;HeadingCmd: 2.440198 target range: 380.899994 and range: 412.20 m. j4,@jjjihhhhfffrfbf@ɛ=BE AEIA M%ɚIiIIU%%=I]4,@i]ZieQ)e4,@)i*F ?2F :F BF JF EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.013643JJ J1JJ ;Jlm:J3JaE@aE@aE@aE@GmGA BI Om > $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265453w,>AF @YF@FyFH b tX$[?@? 2QWݲ?ު?@EP?@?ɨF @F4~;Dy^ G٣BGy: > Nusing accuracyPremultiplier from config498?4Y$ i.cB j)? : @ ?DD ;U;:̰4 A E5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 380.90 m.BjM[:JjM[:e ProNav: ac range: 380.899994 m, nav range: 284.736938 m, bearing: 182.280289 deg, approach rate: -0.528388 m/s, LOS rate: 0.089769 deg/s, cmd heading: 139.813043 deg, new cmd heading: 139.926510 deg. 2jenv;HeadingCmd: 2.442178 target range: 380.899994 and range: 412.20 m. jL@jjjihhhhBfffrfbf@ɛBX XžI 1'ɚiIA&=IL@i4[iA)L@)*F2F:FBFn0JFGehAG!B)OMR>]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517656HI IrIIҀBI&I.I6I<:I| FBI JI RI ZI bI jI AU4w,XA2R @Y2@2`592 >y2H@&R`lR?`?= k?.?׈??ɨ2R @2;2`CyB0BBIIJIJ4٢f j]=9j;Q n>zKnk3IKnͼ9KlKnKntt vG٣xyz z> Nusing accuracyPremultiplier from config|49~W8?4Y~ i~3cB  @ ?~ED~:~:~Ұ4 nA E$?IAZjFNOT Ignoring new targets: 380.90 m.Bj:Jj: ProNav: ac range: 380.899994 m, nav range: 284.549744 m, bearing: 182.312335 deg, approach rate: -0.476267 m/s, LOS rate: 0.081587 deg/s, cmd heading: 139.926507 deg, new cmd heading: 140.022708 deg. 2j_; HeadingCmd: 2.443857 target range: 380.899994 and range: 412.20 m. j (h@j jjihh!h9h9fAfAfArfAbfM@@ɛqu= qu2ҾIy }p(ɚyiyI}%&=I(h@i}=[iO )(h@)EE=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.787016*F2F:FBF0JFGUKG) B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038185Nw, rAJ^J^ J^0J\J^];J^bl:J^ـ3J\ @Y@%-9\^>yH@E{ w9??.@I?@?@??ɨ @T;y5.B5I9=A=Mb@Mb@Mb@999 9)9Y=Gz?S㥫?y&1|y=p?=/]==`= A =@)=hAI=A9y=AIU/IUC5٢]C e3=9eX;Q e>ii mG٣iyu¬ u> }Nusing accuracyPremultiplier from configy49}#8?4Y} i}@cB?:\!@?}ED};};}ڰ4 |AEZjFNOT Ignoring new targets: 380.90 m.Bj@:Jj@: ProNav: ac range: 380.899994 m, nav range: 284.328644 m, bearing: 182.346971 deg, approach rate: -0.510945 m/s, LOS rate: 0.080105 deg/s, cmd heading: 140.022703 deg, new cmd heading: 140.126693 deg. 2j[;HeadingCmd: 2.445672 target range: 380.899994 and range: 412.20 m. j@jjjihhhhBfffrfbf7 @ɛ%B-Ӓ 15ԾI1 5)ɚ1i1I5e&=I=@i=p[i=[ż)E@)A )I1*F2F:FBF1JFG}v¤=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:21:31:44.8347 ETRx dataTimestamp_ set to:1736371905.997569Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.291480GQBYO}Y>P"w,…A2s @Y2L@27&92 >y2H-; G*?Q?`!@Mp?`Ť?@??ɨ2s @2޵;2^CyB7BBIIJCIJ 5٢zA= zf=9z;Q ~>|| G٣BGyu > Nusing accuracyPremultiplier from config498?4Ym iIcB!%:!@%?"ED;%;4) -7A)ZjQ]FNOT Ignoring new targets: 380.90 m.Bj]:Jj]:m ProNav: ac range: 380.899994 m, nav range: 284.155304 m, bearing: 182.374290 deg, approach rate: -0.486971 m/s, LOS rate: 0.076795 deg/s, cmd heading: 140.126699 deg, new cmd heading: 140.208707 deg. 2jmR;uHeadingCmd: 2.447104 target range: 380.899994 and range: 412.20 m. juX@jyjyjyiyhyhyhhWill construct direction to contact in vehicle frame from tetrahedron phase data.jH<bHHI IFIIBI&I.I6I<:I Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.548777fffrfbf`n@ɛBo zG=̾I I-+ɚiI%9W'=I%X@i%[i-pܼ)-X@))*F2F:FBF 5JFJJ 5$?I1zKjIK9KKKRK?JK?GzGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.m DAT read: Range 10 to 50 : 415.4 m (Round-trip 553.9 ms) speed -0.4 m/s } ,DAT read: user:1843> - X#Rx 1: Read range message, but no direction.Q yU CQ  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.m%)w,\AZV @YZPu@Z9Z>yZH@'2 *?`? #?7ߣ? ??ɨZV @ZM;Z_Cy~:B~II -I `5٢j< H=9%nj;Q %>!) -G٣)y- -> 5Nusing accuracyPremultiplier from config1U495ل8?e4Y5 i5ScBim!@m?52ED5;53;54 AE addTargetRange:: Added new target pos. range: 415.399994 m, deltaT: 4.047575 s, deltaX: 3.199982 m, approachRate: 0.790592 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 380.90 m.Bj:Jj: ProNav: ac range: 380.899994 m, nav range: 283.957245 m, bearing: 182.405676 deg, approach rate: -0.473945 m/s, LOS rate: 0.075157 deg/s, cmd heading: 140.208703 deg, new cmd heading: 140.302926 deg. 2jQN; HeadingCmd: 2.448748 target range: 380.899994 and range: 415.40 m. jJ@jjjihhhhfffrf`fy@bf?ɛB틽 隝ʾI ,ɚiI'=IJ@i\i)J@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:21:31:45.9267 $Ping request sent.] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.2496580w,SAZL @YZk@Z9Z>yZH B/Җ`o.? ?}?@N>?RP?ޥ?ɨZL @Z;XyfCBfI)l lMb@Mb@Mb@ )YI +?T㥛 ?y&1|?y9?=`; h@)AI3Ay\AII4٢&= A=9=;Q > G٣y췺 > Nusing accuracyPremultiplier from config49s8?4Y idcB?:0"@?BED ; ;m4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 380.90 m.Bjk:Jjk:- ProNav: ac range: 380.899994 m, nav range: 283.760956 m, bearing: 182.435775 deg, approach rate: -0.445612 m/s, LOS rate: 0.068377 deg/s, cmd heading: 140.302932 deg, new cmd heading: 140.393290 deg. 2j-;;5HeadingCmd: 2.450325 target range: 380.899994 and range: 415.40 m. j5!@j1j1j1i1h9h9h9h}Bfffrfbf`?ɛj y}U¾Iy }f-ɚiI3(=I!@i2]i )!@)*F5?2F1:F1BF53JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501601H7>I I4IIBI( =&I.I6I˰<:I F*J 4="J 4=G GG B O >76w,IڰA>u @Y>x@> 9>>y>H@< Z??@ OԵ?@W@?y|?B?ɨ>u @>E~;xx zG٣zBGy~; ~> Nusing accuracyPremultiplier from config 49d8? 4Y ircBX"@?PED::4 2A%EZjQUFNOT Ignoring new targets: 380.90 m.Bj]:Jj]:m ProNav: ac range: 380.899994 m, nav range: 283.585907 m, bearing: 182.462528 deg, approach rate: -0.496101 m/s, LOS rate: 0.075867 deg/s, cmd heading: 140.393295 deg, new cmd heading: 140.473604 deg. 2jmDP;uHeadingCmd: 2.451727 target range: 380.899994 and range: 415.40 m. ju@jqjqjqiqhyhyhyhyfffrfbf^?zKk3IK+9KKKBK:KɛeBe] aeSIa e3.ɚiiiIm(=Im@i[]iy)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754699EHo=*Fm?2Fq:FqBFuv4JFq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007686G rJ J J /J J ];J *f:J (N3J G BO5>P=w,Ay%gB%IMb@Mb@Mb@ )Y ףp= ?J +?Zd;O?yQ?H=j<\ A @)QAIAyAII4٢n= $= I9Q > G٣y > Nusing accuracyPremultiplier from config 49 iP8?4Y  i cB?:p @? cED ; L; 4! -A)ZjYeFNOT Ignoring new targets: 380.90 m.Bje:Jje:} ProNav: ac range: 380.899994 m, nav range: 283.354431 m, bearing: 182.500207 deg, approach rate: -0.463264 m/s, LOS rate: 0.075469 deg/s, cmd heading: 140.473605 deg, new cmd heading: 140.586732 deg. 2j},O;HeadingCmd: 2.453701 target range: 380.899994 and range: 415.40 m. jq @jjjihh h h Bf ffrfbf?ɛAEM$ QUIQ U,0ɚYiYI](=Imq @im,e^im)mq @)iEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257910EeSE=*F?2F:FBF_0JFG ^G B O >ZH RH @AH 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=1.5099136I <:I F3Dw,A6v @Y6@6 96%>y6HE0x?Ͽ??`U@?? N?@L?ɨ6v @6C;4yBBBIIJIJB4٢R> Vb=9VXX ZG٣Xy^Г; > ENusing accuracyPremultiplier from configAM49E0A8?M4YEk iEcBIM @M?EqEDE&:Ei:ET4y }A}EZjFNOT Ignoring new targets: 380.90 m.Bjȩ:Jjȩ: ProNav: ac range: 380.899994 m, nav range: 283.179810 m, bearing: 182.528613 deg, approach rate: -0.455952 m/s, LOS rate: 0.074218 deg/s, cmd heading: 140.586726 deg, new cmd heading: 140.671998 deg. 2jK; HeadingCmd: 2.455189 target range: 380.899994 and range: 415.40 m. j !@j j j i hhh9)I MCh9fafyf&GvAA YvAys Brf!bf%?ɛy 隥I N1ɚiIMO)=I]!@i] _i]W)e!@)qEE*E"E $?IhgzKK]9KKK]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761703*F 2F :F BF z3JF G GB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013755O%>~Kw,O[1A6, @Y6ҥ@6g96^>y6H?C`e|?d? ?B?sf?Ҝ?ɨ6, @6;6^Cy%B-'III4٢$= =9e;;Q > MG٣MBGy}^ > Nusing accuracyPremultiplier from config49,+8? 4Y[ icB{ @%?ED M<M<4 OAEZjFNOT Ignoring new targets: 380.90 m.Bj:Jj: ProNav: ac range: 380.899994 m, nav range: 282.927307 m, bearing: 182.569821 deg, approach rate: -0.446921 m/s, LOS rate: 0.073002 deg/s, cmd heading: 140.671994 deg, new cmd heading: 140.795728 deg. 2jfH;HeadingCmd: 2.457349 target range: 380.899994 and range: 415.40 m. j5E@jjjihh h h fffrfbf;@ɛAE6j AEdIA M|1ɚIiIIM)=IU5E@iUC_i]% )]5E@)Y $?I)*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265701G oG B O >Rw,JA6n @Y6@6ѯ96>y6HHv@̙?&?r]?@@u?@х? ߛ?ɨ6n @6Ȉ;4yRBRIIMb@Mb@Mb@ )Y333333?~jth??y?D;<A )AI3Ay(AIIx4٢ > L=9;Q > G٣y; > Nusing accuracyPremultiplier from config498? 4Y~ icB ? : @ ?ED;;i4 qA=B*** querying acoustic contact ***j9j9ZjAEFNOT Ignoring new targets: 380.90 m.BjU:JjU:e ProNav: ac range: 380.899994 m, nav range: 282.763611 m, bearing: 182.601046 deg, approach rate: -0.470991 m/s, LOS rate: 0.089893 deg/s, cmd heading: 140.795730 deg, new cmd heading: 140.889459 deg. 2jev;mHeadingCmd: 2.458985 target range: 380.899994 and range: 415.40 m. jm`@jijijiiihqhqhyh}Bfyfyfrfbf`m@ɛB[fH6>I IlIÌBI&I.I6IY<:IH FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517709 m,Ii uz2ɚqiqIu|)=I}`@i}y`i} %)}`@)Ea>E*F!2F!:F!BF)JF)"G5=G5=JmJmJm0JiJm%;Jm e:Jmـ3JiJm K Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773740=Xw,dA: @Y:@:C9:>y:HSki?`D?( W?? z?I?ɨ: @:q;:_CybŀBfcI r=pIvIvT4٢~q= Z=9nŹQ >    G٣ y ; > Nusing accuracyPremultiplier from config%49t8?%4Y icB!%@%?ED` ; ;41 5A5EZjQ]FNOT Ignoring new targets: 380.90 m.Bje:Jje:u ProNav: ac range: 380.899994 m, nav range: 282.600159 m, bearing: 182.632131 deg, approach rate: -0.437606 m/s, LOS rate: 0.083272 deg/s, cmd heading: 140.889454 deg, new cmd heading: 140.982764 deg. 2j}d;HeadingCmd: 2.460613 target range: 380.899994 and range: 415.40 m. jz@jjjihhhhfffrfbf @ɛ@W  I B2ɚiIB*=Iz@i%ai  ) z@)Y*FA2FI:FIBFMo0JFIEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.026643GM c/ GA BQ Ou > ! I) ^w,~A6 @Y6=@6 96>y6HbXY?@۱?7`=? ᠠ?_?>?ɨ6 @6κ;4yVBZIeMb@Mb@Mb@aaa a)aYe#~j? B=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:31:48.8870 TRx dataTimestamp_ set to:1736371910.032791checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2788869 Q > G٣BGyU; > Nusing accuracyPremultiplier from config497?4Y icBI&?:@?ED3;^;e#4 AZjFNOT Ignoring new targets: 380.90 m.Bj :Jj : ProNav: ac range: 380.899994 m, nav range: 282.409943 m, bearing: 182.672757 deg, approach rate: -0.445966 m/s, LOS rate: 0.095312 deg/s, cmd heading: 140.982768 deg, new cmd heading: 141.104726 deg. 2j҂;HeadingCmd: 2.462742 target range: 380.899994 and range: 415.40 m. j@jjjihhhhIBfffrfbfO @ɛIMF IUIQ U,3ɚQiQIU<*=I]@i]ai]I )]@)*F2F:F!BF%0JF!jHbH4=HI IIIBI&I.I6Ḭ<:I FBIJIRIZIbIjIȢ4M Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529551Ge $ G B) OE >J J J 1J J E ;J d:J 3J J qP<J qP<J ;J ;6ew,ϘAFN-@YFK@F9F>yFH`x`d= @o??qNUP?H? i? ?ɨFN-@F0';DyNBNIIVIV74٢^= bV=9bQ b>dd fG٣dyj%8< j> nNusing accuracyPremultiplier from configlr49n7?r4Yn( indBtv`@v?nEDn:n:n*4zߒB z.AzEZj!%FNOT Ignoring new targets: 380.90 m.Bj-j:Jj-j:= ProNav: ac range: 380.899994 m, nav range: 282.240234 m, bearing: 182.708768 deg, approach rate: -0.447621 m/s, LOS rate: 0.095039 deg/s, cmd heading: 141.104728 deg, new cmd heading: 141.212825 deg. 2j=r;EHeadingCmd: 2.464629 target range: 380.899994 and range: 415.40 m. jEz@jAjAjAiIhIhQhQhQfYfYfYrfYbfe,t@ $?Iɛ%B%2?< )-I) -@3ɚ)i)I-ˤ*=I=z@i=`bi=$)=z@)AEIzKBoHKػ9KKK    *F?2F:FBFP5JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784752G GBO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.M DAT read: Range 10 to 50 : 417.0 m (Round-trip 556.1 ms) speed -0.7 m/s M ,DAT read: user:1844> lw, ABDAT read: Tx time:21:31:49.9767 $Ping request sent.yBH o&@? Z?O`p?c???ɨBe@B`;B`CyR BRIXZAI\I\٢$= 1=9ֺQ > G٣y; > Nusing accuracyPremultiplier from config497?4Y] idB@?EDc;;24 A% addTargetRange:: Added new target pos. range: 417.000000 m, deltaT: 4.287311 s, deltaX: 1.600006 m, approachRate: 0.373196 m/s, rangeRepo size: 4 ZjIMFNOT Ignoring new targets: 380.90 m.BjU:JjU:e ProNav: ac range: 380.899994 m, nav range: 282.018433 m, bearing: 182.755615 deg, approach rate: -0.442364 m/s, LOS rate: 0.093507 deg/s, cmd heading: 141.212822 deg, new cmd heading: 141.353475 deg. 2jeX; $?IHeadingCmd: 2.467083 target range: 380.899994 and range: 417.00 m. j@jjjihhhhfffrfz@bf?ɛe BmN2 im;Ii m5<3ɚiiiIu*=Iu@i}}ci}g)}@)y*F=?2F9:F9BF=d3JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.GY G9 By O >&sw,37ͱAV@YV@Vl9VV>yVH@I?`_Y?@=?L?gm?̛?ɨV@V_Պ;V]Cyb"BfIMb@Mb@Mb@ )Y?MbQ?y,?u<A )AIIAyQAII4٢H= S=9Q > G٣BGy< > Nusing accuracyPremultiplier from config49I7?4Y i dB.?:@?ED$;";84  A"EHI III=BI&I.I6I<:Iq F%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 380.90 m.BjEY:JjEY:U ProNav: ac range: 380.899994 m, nav range: 281.863647 m, bearing: 182.793540 deg, approach rate: -0.439270 m/s, LOS rate: 0.107687 deg/s, cmd heading: 141.353470 deg, new cmd heading: 141.467306 deg. 2jUϓ;]HeadingCmd: 2.469070 target range: 380.899994 and range: 417.00 m. j]?@jYjajaiahahahihmBfififirfqbfu?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# xE=I 3ɚiI*=I?@i,wciݼ)?@)JJJ0JJJ`:Jـ3JJJJZ;JZ;*Fi2Fi:FiBFm)4JFq !I-ggG ~zK ADyw,汻Ay~8B~II I Ь4٢%= -U=9-Q 5>19 =G٣9yE E> UNusing accuracyPremultiplier from configQe49U_7?e4YU iU*dBaim?UEDU/Y;UY;U?4 3 AZjaeFNOT Ignoring new targets: 380.90 m.Bjm:Jjm: ProNav: ac range: 380.899994 m, nav range: 281.696350 m, bearing: 182.834607 deg, approach rate: -0.410888 m/s, LOS rate: 0.100922 deg/s, cmd heading: 141.467302 deg, new cmd heading: 141.590576 deg. 2j;HeadingCmd: 2.471222 target range: 380.899994 and range: 417.00 m. j(@jjjihhh!h!f!f!f)rf)bf-?ɛU BUq QU=IY ]2ɚYiYI]G*=Ie(@ie dieQ)(@)EEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000163*F2F:FBF%Y0JF! 5 $?I1 Ge N޼G9 BI Om >,w,AB߾@YB@BE!9B*#>yBH`A??,?b'?@b??ɨB߾@B;B_CyR>BRI Vp=Va=%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250855EMb@Mb@Mb@AAA A)AYEK?Qqq uG٣qy}= }> Nusing accuracyPremultiplier from config497?4Yt i0dB=?:@? FD2;2;F4  A%EZjFNOT Ignoring new targets: 380.90 m.Bj ;Jj ; ProNav: ac range: 380.899994 m, nav range: 281.510681 m, bearing: 182.883640 deg, approach rate: -0.483152 m/s, LOS rate: 0.127678 deg/s, cmd heading: 141.590573 deg, new cmd heading: 141.737767 deg. 2j?;HeadingCmd: 2.473791 target range: 380.899994 and range: 417.00 m. jR@jjjihhhhBfffrfbf?ɛ B =I x2ɚiI*=IR@iA5di")R@)!*F2F:FBF_0JFZHRH?AH5>I I@IIzBI&I.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503319G G ?G >G B O5 >J J J 1J J ;J Fi:J 3J J M<J M<J ;J ;Ww,A276@Y2T@2`&92!>y2Hg`??``S??@%??ɨ276@2V;2^CyBSBBI `I`IJIJ~4٢j= jT=9jDQ n>pp rG٣rBGyv< v> zNusing accuracyPremultiplier from configx]49z7?e4Yz iz7dBae2@e?zFDzjI   2ɚ i I  *=Iz@ifCdiHw)z@)*F?2F:FBFo0JFzKLKh9KKK5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755818Gm'мGABIOe4> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006725w,2t4A2h@Y2@2&92 >y2H4Ha??@t D?kҤ??L?ɨ2h@2B;2_Cyr_Br II I  4٢=b= ED=9E׼Q E>AI MG٣IyMB< M> ]Nusing accuracyPremultiplier from configYm49]ь7?u4Y] i]>dBy@?]3FD]u;];]T4  A'EZj $?IfgFNOT Ignoring new targets: 380.90 m.Bj:Jj: ProNav: ac range: 380.899994 m, nav range: 281.143524 m, bearing: 182.979009 deg, approach rate: -0.420461 m/s, LOS rate: 0.108876 deg/s, cmd heading: 141.875624 deg, new cmd heading: 142.024053 deg. 2jp; HeadingCmd: 2.478787 target range: 380.899994 and range: 417.00 m. j t@j jjihhhhfffrf!bfM`@ɛ B0  $>I c1ɚ i I *=It@iBdiw])t@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259785*FY2FY:FYBF]_0JFYG} S.G qAG rAGQ Ba O} >~w,ƥNA6N@Y6@6)96n >y6H"N'[??@$ 3?a>? a??ɨ6N@6ۧ;6^CyZeBZ'I}Mb@Mb@Mb@yyy y)yY}Cl?ˡEĿ{Gzty};??}'}ף}A }~@)}AI}IAyH4>I IyIIBI( =&I.I6Ir<:IV Fy}AII4٢< @=9kQ > G٣yD< > Nusing accuracyPremultiplier from config49{7?4Y iC?:b@?HFD;;=\4  AB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 380.90 m.Bj5:!;Jj5:!;E ProNav: ac range: 380.899994 m, nav range: 280.946564 m, bearing: 183.032012 deg, approach rate: -0.523441 m/s, LOS rate: 0.140958 deg/s, cmd heading: 142.024058 deg, new cmd heading: 142.183176 deg. 2jEy;MHeadingCmd: 2.481565 target range: 380.899994 and range: 417.00 m. jM@jIjIjQiQhQhQhQh]BfYfYfYrfYbfe%@mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510822ɛB 隥.>I 0ɚiI#*=I@i5di>A)@)eG*F?2F:FBF0JF F YyBGZs }$?IyGBOb>zK :IK +9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762777覙w,{hAV @YV)@V{*9V>yVH \M L? w?@n3@00?M? ?;?ɨV @V_u;V_CyffBf)IIvIv&4٢ ; W=9袹Q >)9 =G٣=BGyE"; E> ]Nusing accuracyPremultiplier from configQe49Uk7?e4YU# iQim@m?UZFDUH;Ut;Ub4y } A}*EZjFNOT Ignoring new targets: 380.90 m.Bj ;Jj ; ProNav: ac range: 380.899994 m, nav range: 280.767975 m, bearing: 183.079904 deg, approach rate: -0.461897 m/s, LOS rate: 0.123947 deg/s, cmd heading: 142.183174 deg, new cmd heading: 142.326943 deg. 2j ;HeadingCmd: 2.484074 target range: 380.899994 and range: 417.00 m. j@jjjihhhihifififqrfqbfu`e@ɛB .>I Y0ɚ iI]*=I@i!diܐ=)@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014947JJJ0JJ];Jb:Jـ3Ja@a@a@a@EG= i Ii *F= ?2F9 :F9 BF= `0JF9 - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267176GשhGG9?GYBaO?:Dw,A6@Y6@6 196>y6H,? G٣yu< > Nusing accuracyPremultiplier from config49S7?4Y i8dBJ?:@?uFD #;!;,l4  AZjFNOT Ignoring new targets: 380.90 m.Bj;Jj; ProNav: ac range: 380.899994 m, nav range: 280.509888 m, bearing: 183.146620 deg, approach rate: -0.492035 m/s, LOS rate: 0.127309 deg/s, cmd heading: 142.326949 deg, new cmd heading: 142.527281 deg. 2j;HeadingCmd: 2.487570 target range: 380.899994 and range: 417.00 m. jZ4@jjjihhhh؁Bff!f!rf!bf%q @ɛB #>I /ɚiI 2*=IZ4@i0ci$ܻ)Z4@)E$=jH-<bH-<H1I1 I5II5ƁBI1&I1.I16I5<:I5v F%Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:21:31:52.9406 5TRx dataTimestamp_ set to:1736371914.318315=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521843*F]?2FY:FYBF]0JFY  $?I G} KGY Bi O >jw,MNA6@Y6G @6=596N>y6H@ ??}O?@?@Q??ɨ6@6^ވ;6^CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.770917yFXBFIzKrk3IKr9KpKrKrIMIM4٢31  5=95nQ 5>99 EG٣AyM8< M> }Nusing accuracyPremultiplier from configy49}??7?4Y} i}3dB@?}FD};}j<}Et4 5 A-EZj9=FNOT Ignoring new targets: 380.90 m.BjE ;JjE ;u ProNav: ac range: 380.899994 m, nav range: 280.281555 m, bearing: 183.205226 deg, approach rate: -0.476066 m/s, LOS rate: 0.122291 deg/s, cmd heading: 142.527279 deg, new cmd heading: 142.703239 deg. 2juڧ;}HeadingCmd: 2.490641 target range: 380.899994 and range: 417.00 m. j}f@jyjyjyiyhhhhfffrfbf@V@ɛ B z   >I #/ɚiI*=If@ici.)f@)EE*E "E EWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 21:31:52.9406 LVL= 23680, 26689, 27330, 32755, AGC= 71, IDX= 463,-0.04,-2.900,-1.167, 2.826,-3.013, PHS= 0.201, 1.894,-0.446, RAW= 345.5, -15.6, CAL= 347.5, -21.2, ROT= 162.5, 21.2 Ygot valid direction response: 21:31:52.9406 LVL= 23680, 26689, 27330, 32755, AGC= 71, IDX= 463,-0.04,-2.900,-1.167, 2.826,-3.013, PHS= 0.201, 1.894,-0.446, RAW= 345.5, -15.6, CAL= 347.5, -21.2, ROT= 162.5, 21.2 PDAT read: Bearing 162.5, 21.2 (Local) ~Local bearing/azimuth received: Bearing 162.5, 21.2 (Local) DAT read: Range 10 to 50 : 419.7 m (Round-trip 559.6 ms) speed -0.8 m/s ,DAT read: user:1845> BDAT read: Tx time:21:31:54.0268 $Ping request sent.En?EZE@E'g E@)EqIE5@iEq>AAEMj)4ll*,ѿ)E4IE_>iEW?EՅ>AA:publishing transmit ping timeرFpublishing direction and range infoA9EZ1?!x:?\пyAAAA A)AIAiAAAAA A)AIAiAAAEMj)4ll*,ѿ)AIAiAAAAJm Jm Ji Ji Jm ;Jm ^:Ji Ji *F ?2F :F BF _0JF I egWill construct direction to contact in vehicle frame from tetrahedron phase data.G%>uG-rAG)GBO-?w,nNDzA2$@Y2lC @2r792>y2H|T^??@g?M?@,? G?ɨ2$@2#;0yNVBNIMMb@Mb@Mb@III I)IYM'1Z?M¿X9vyMB?MnMMA M@)IIIIyMAIeIe4٢u; u =9}mQ }> G٣BGy7; > Nusing accuracyPremultiplier from config49(7?4YC i*dBbF?:@?FDo;R;}4B L A/Ekj?k k kᛴA:kCBkgCZkxcj@"Nd@$$w@EשD[Z1?!x:?\пJkW?RkՅ>*+ݤvma}ix(1#F4d<=3©߿a"kO*kk`q?k 2k'Ak_'%֛?k3 kkCkeM@ addTargetRange:: Added new target pos. range: 419.700012 m, deltaT: 4.034136 s, deltaX: 2.700012 m, approachRate: 0.669291 m/s, rangeRepo size: 4  Added new target pos. range: 419.700012 m, bearing: 209.835548 deg, lat: 36.899814 deg, lon: -122.115336 deg, deltaT: 59.502179 s, deltaX: 38.800018 m, approachRate: 0.652077 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 419.70 m.BjJj ProNav: ac range: 419.700012 m, nav range: 293.865692 m, bearing: 183.880647 deg, approach rate: 0.000000 m/s, LOS rate: 0.122291 deg/s, cmd heading: 142.703238 deg, new cmd heading: 142.882603 deg. 2jHeadingCmd: 2.493772 target range: 419.700012 and range: 419.70 m. j@jjjihh h hBfffrf=@3;z@bf=@q?ɛBk 隍>I m.ɚiI')=I@io,cis )@)HYIY I]II]ЁBIY&IY.IY6I]<:I] FBIJIRIZI( =bI( =jI5*F}?2Fy:FyBF}o0JFy}Will construct direction to contact in vehicle frame from tetrahedron phase data.*JC="JG Gi By $?I O >ݷw,಻A6q@Y6 @6;96 >y6H `??`mQ;?@w?h?@.?ɨ6q@6>w;6]CyRABVII^I^4٢fݽ fX=9f7Q f>hh jG٣hynI< n> rNusing accuracyPremultiplier from configpv49r7?v4Yr ir$dBtz%@z?rFDr#;rO;r4  A%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 419.70 m.Bj5g;Jj5g;E ProNav: ac range: 419.700012 m, nav range: 293.678772 m, bearing: 183.924683 deg, approach rate: -0.498460 m/s, LOS rate: 0.117506 deg/s, cmd heading: 142.882599 deg, new cmd heading: 143.014791 deg. 2jMI;MHeadingCmd: 2.496079 target range: 419.700012 and range: 419.70 m. jM¿@jQjQjQiQhQhQhYhYfYfafarfabfe`?ɛB 隝=I [.ɚiIj)=I¿@irbi`)¿@)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.zKuBIKu+9KqKuKu*FQ2FQ:FQBFUP5JFQG4λGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992351J J J J J ;J b:J J - w,CA QIYnq@Y @1'<9k>yH@`?? ɻ? Ȃ??@V?ɨnq@C;騕_Cyޭ5BޭIeMb@Mb@Mb@aaa a)aYejt?i|?5:vye@?eeԼa eh@)aIeIAayeAII4٢ U /=9i?Q > G٣y]8 > Nusing accuracyPremultiplier from config497?4Y i!dB;C?:@?FD;;ċ4 W A2EZj  FNOT Ignoring new targets: 419.70 m.Bj0;Jj0; ProNav: ac range: 419.700012 m, nav range: 293.444641 m, bearing: 183.976787 deg, approach rate: -0.503186 m/s, LOS rate: 0.112071 deg/s, cmd heading: 143.014790 deg, new cmd heading: 143.171228 deg. 2j%ә;-HeadingCmd: 2.498809 target range: 419.700012 and range: 419.70 m. j-~@j)j)j1i1h1h1h9h=Bf9f9f9rfAbfE E?ɛB& (k=I !.ɚiI)=I~@i bi LȻ) ~@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246095*F?2F:FBF_5JFG sG G ?G B O >ZHY RH] @AHe 3>Ia  Ie IIe ƁBIa &Ia .Ia 6Ie ְ<:Ie Fw,A"Will construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496230:y@Y:h @:s?9: >y:H`Ŏ@X?"?۵?;?`?@¦?ɨ:y@:A;:]CyF,BFIININ4٢VET Vq=9^_Q ^?\` bG٣bBGyb: b? jNusing accuracyPremultiplier from configdj49f6?j4YfC ifdBln@n?fFDfm ;f ;f4p v AtZj FNOT Ignoring new targets: 419.70 m.Bj;Jj;- ProNav: ac range: 419.700012 m, nav range: 293.273712 m, bearing: 184.014871 deg, approach rate: -0.504098 m/s, LOS rate: 0.112380 deg/s, cmd heading: 143.171229 deg, new cmd heading: 143.285546 deg. 2j-@;HeadingCmd: 2.500805 target range: 419.700012 and range: 419.70 m. j/ @jjjihhhhfffrfbf -?ɛUBUt" Y]h=IY ].ɚYiYIeL)=Ie/ @iecbim1)m/ @)i*F-?2F):F)BF-2JF) ]$?IYGDػGBOG>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748410PExceeded connect timeout, disconnecting.zKBHKKK K|w, .Ay%"B%II=I=4٢M- MA=9MQ M>QQ UG٣QyU ]> mNusing accuracyPremultiplier from configa49e6?4YeG iedB?eFDe;ef;e4  A5EZjFNOT Ignoring new targets: 419.70 m.Bj?:Jj?: ProNav: ac range: 419.700012 m, nav range: 293.061340 m, bearing: 184.062291 deg, approach rate: -0.491520 m/s, LOS rate: 0.109829 deg/s, cmd heading: 143.285553 deg, new cmd heading: 143.427914 deg. 2j ; HeadingCmd: 2.503289 target range: 419.700012 and range: 419.70 m. j 5 @jjjihhh!h!f!f!f)rf)bf-9?ɛUB]") Y]} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252260w,{jHA6Q@Y6Rp @65496f>>y6H @ȟ@-o?@?a@?Ą???ɨ6Q@6q>;6^CynBnImMb@Mb@Mb@iii i)iYm1Zd?~jt:vym";?mim A i)mQAImAiymAII4٢I E=9B;Q > G٣y > Nusing accuracyPremultiplier from config496?4Y idBCI-C I-II-BI)&I).I)6I-<:I-a F*F?2F:FBF]0JFG GeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.505072G "G B I dgO >}+w,VDbA6^@Y6/} @6>196>y6H??oi? ???ɨ6^@6;6_CyBBBIDFAIJIJ4٢V7 V[=9VH;Q V>XX ZG٣ZBGy^ ; ^> bNusing accuracyPremultiplier from config`f49bx6?f4Yb ibdBdj?@j?bGDb:b:bۦ4l rApB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 419.70 m.Bj:Jj:% ProNav: ac range: 419.700012 m, nav range: 292.659363 m, bearing: 184.143831 deg, approach rate: -0.509953 m/s, LOS rate: 0.103547 deg/s, cmd heading: 143.556452 deg, new cmd heading: 143.672713 deg. 2j% ;-HeadingCmd: 2.507562 target range: 419.700012 and range: 419.70 m. j-{ @j)j)j1i1h1h1h1h9f9f9fArfAbfE@@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756536ɛB Y;  X2I  ".ɚiI&)=I={ @i=A0bi=Cd)={ @)A unManaging dock network, ignoring radio surface power offzKBIKh9KK K*F?2F:FBF`0JFGKGBO>>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008364Yw,1|A }$?Iy^Z@Yy @.,9B>yH+ @4?? D?0???ɨ^Z@Iۊ;騽\CyBIMb@Mb@Mb@ )Y9v?/$ rhy4?,C A )v@IAy=AII 4٢ ,=9y$;Q > G٣yT > Nusing accuracyPremultiplier from config496?4Yp idB]5?:@?/GDQ;{;+4 A 9EZj15FNOT Ignoring new targets: 419.70 m.Bj=:Jj=:U ProNav: ac range: 419.700012 m, nav range: 292.415649 m, bearing: 184.189410 deg, approach rate: -0.512650 m/s, LOS rate: 0.095956 deg/s, cmd heading: 143.672715 deg, new cmd heading: 143.809566 deg. 2jU;]HeadingCmd: 2.509950 target range: 419.700012 and range: 419.70 m. j] @jYjYjYiYhYhahahm.Bfififirfibfu @ɛ B\? 隝I #_.ɚi!I%)=I% @i-fDbi-?)- @))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262358*F2F:FBF_0JFG :_G ?G >G B jH bH H I  I YII BI ) =&I .I 6I °<:I FO] >-?w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:31:56.9943 TRx dataTimestamp_ set to:1736371918.348758checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513549)4 4jGt 5YY1y5vB}Os@Y} @}(9}K>y}H@@޷?`?@?? ? ?ɨ}Os@}";}^Cy5B5IIEIE4J3K;m3 K;L.K3K3"K3JYJ]JYJYJYJ]_:JYJYJ]M G٣y{; > Nusing accuracyPremultiplier from config496?4Y~ idB@?AGD:P:*4  A ZjY]FNOT Ignoring new targets: 419.70 m.Bje:Jje: ProNav: ac range: 419.700012 m, nav range: 292.210327 m, bearing: 184.227775 deg, approach rate: -0.502496 m/s, LOS rate: 0.093957 deg/s, cmd heading: 143.809565 deg, new cmd heading: 143.924738 deg. 2j;HeadingCmd: 2.511961 target range: 419.700012 and range: 419.70 m. j @jjjihhhhfffrfbf@v, @ɛ"BRK !%xϽI! Mg.ɚQiQI])= m$?IiI @ipYbi) @)EErA*F2F:FBFn0JF"G =G p=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764394zK= BoIK= 9K9 K= K= (G/G] ~G9 BA Ou >gw,֯ABDx@YB @B#9BX>yBH Ɠ⛽?&?[@?|? ??ɨBDx@BE;@yNBNIIVIV74٢^ ^n=9bI\;Q b?dd jG٣jBGynf: r? ~Nusing accuracyPremultiplier from configx49zL6?4Yzz izdB   @ ?zPGDzD\;z\;z&4 A UBDAT read: Tx time:21:31:58.0768 U$Ping request sent.U Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:31:58.0760 Pw,BɳA>@Y>0 @> 9>>y>Hʉ p??Lr??@"??ɨ>@>; G٣y/q; > Nusing accuracyPremultiplier from config49o6?4Yu i(dB*.?:@?cGD8;06;ñ4 A@E- addTargetRange:: Added new target pos. range: 422.399994 m, deltaT: 4.030334 s, deltaX: 2.699982 m, approachRate: 0.669915 m/s, rangeRepo size: 4 Zj)5FNOT Ignoring new targets: 419.70 m.Bj= :Jj= :M ProNav: ac range: 419.700012 m, nav range: 291.816132 m, bearing: 184.299428 deg, approach rate: -0.504779 m/s, LOS rate: 0.089667 deg/s, cmd heading: 144.023350 deg, new cmd heading: 144.139842 deg. 2jM&v;UHeadingCmd: 2.515715 target range: 419.700012 and range: 422.40 m. jUy!@jQjQjQiQhYhYhYh]Bfafafirfm`ffz@bfu:?ɛ%B2 R 隝I r/ɚiIf)=Iy!@ibi)y!@)*FM?2FI:FIBFM05JFIH1>I I.IIkBI&I.I4D6I<:I F=Will construct direction to contact in vehicle frame from tetrahedron phase data.J}J}JyJyJ};J}`:JyJyJ}dL<J}eL<J}Z;J}Z;G3}GrAGG B O > i Ii Uzw,㳻A6@Y6. @6!96v>y6H @t? ?q? 8?ǹ?f?ɨ6@6P҉;6[CyR܀BRIIZIZ4٢f}l f\=9f<,Q f>hh jG٣hyjP; n> rNusing accuracyPremultiplier from configpv49r^6?v4Yrq ir0dBtv@z?rtGDr:rq:r:ʱ4| ~A|B*** querying acoustic contact ***jjZj)5FNOT Ignoring new targets: 419.70 m.Bj5v:Jj5v:M ProNav: ac range: 419.700012 m, nav range: 291.628113 m, bearing: 184.332699 deg, approach rate: -0.504744 m/s, LOS rate: 0.089377 deg/s, cmd heading: 144.139845 deg, new cmd heading: 144.239725 deg. 2jMZu;UHeadingCmd: 2.517458 target range: 419.700012 and range: 422.40 m. jU !@jYjYjYiYhYhYhahafafafirfibfm&?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'Bk[ 隽I /ɚiI&*=I !@i̮bih) !@)ER>E >zK*LKػ9KK K*F?2F:FBFZ0JFG GG͍GBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004457w,wA $?I!@Y!@!9>yH`] ?v?֎?;???V?ɨ@;\CyBIMb@Mb@Mb@ )Y(\?Mb?~jtx?y<;E A $@)`@IzAyABAII4٢8= .=9BQ >ai mG٣mBGym|; m> }Nusing accuracyPremultiplier from configq}49uG6?4Yul iuAdB.?:!@?uGDu>;u;uұ4 AAEZj%FNOT Ignoring new targets: 419.70 m.Bj-:Jj-:= ProNav: ac range: 419.700012 m, nav range: 291.371796 m, bearing: 184.374308 deg, approach rate: -0.515805 m/s, LOS rate: 0.083806 deg/s, cmd heading: 144.239730 deg, new cmd heading: 144.364665 deg. 2jf;HeadingCmd: 2.519639 target range: 419.700012 and range: 422.40 m. jA!@jjjihhhhBfffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256538bf4?ɛ)B+P I o0ɚiIW*=IA!@i=Wbi==)=A!@)A*F?2F:FBF4JFH I  I II VBI &I .I 6I <:I m FBIeʝCJIeʝCRIaZIe) =bIe) =jIe*5G G B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508786w,eAb+@Yb3J!@b 9b*>ybH@LHrݽ??Q\?? ]?`ҡ?ɨb+@bI;b^CynBnIIvIvJ4٢z k=9Q8:Q  ?   G٣yu#< ? Nusing accuracyPremultiplier from config%4986?%4Y`i iLdB)-!@-?GDw;;ر49 =A9ZjYeFNOT Ignoring new targets: 419.70 m.Bjms:Jjms: ProNav: ac range: 419.700012 m, nav range: 291.199615 m, bearing: 184.402131 deg, approach rate: -0.539232 m/s, LOS rate: 0.087186 deg/s, cmd heading: 144.364668 deg, new cmd heading: 144.448185 deg. 2jWo;HeadingCmd: 2.521096 target range: 419.700012 and range: 422.40 m. jY!@jjjihhhhfffrfbf?ɛ*B ] ^ I 0ɚiIO}*=IY!@i%bijJ!J!J)J-J)J)J)J-d:J)J)J)J-dL<J- ;J- ;)eY!@)a $?I cg*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=1.761858G]Ga zKe k3IKa Ka Ke Ke B RK JK ?O >1 w,"1A64!@Y6?!@6W96%>y6HOU?@O?H?g?@??ɨ64!@6 ;6\CyJBJIIVIV4٢^Ӣ; bP=9bҡ;Q b>dd fG٣dyfҺ j> nNusing accuracyPremultiplier from confighr49j"&6?r4YjWe ijYdBpr!@r?jGDj. ;j` ;j_߱4x zAzDEZjFNOT Ignoring new targets: 419.70 m.Bj%:Jj%:- ProNav: ac range: 419.700012 m, nav range: 290.993622 m, bearing: 184.435513 deg, approach rate: -0.524847 m/s, LOS rate: 0.085114 deg/s, cmd heading: 144.448187 deg, new cmd heading: 144.548405 deg. 2j5i;EHeadingCmd: 2.522846 target range: 419.700012 and range: 422.40 m. jMMv!@jIjIjIiQhQhYhahafafifirfibfuyb?ɛ+BX 隥 I 71ɚiI*=IMv!@i9bi)Mv!@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013350*F-?2F):F)BF-i0JF)"G5=G5= !I!G=JiGBAO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264413w,JA @6*@Y6=!@696}B>y6H}P?Z?D?o{?`P?أ?ɨ6*@6H?;6_CyRBRIeMb@Mb@Mb@aaa a)aYe?Mb?ye,?ee=9K<;Q > G٣BGy{ > Nusing accuracyPremultiplier from config49M6?4Y` ikdB,?:!@?GDD;B;4 IAZjFNOT Ignoring new targets: 419.70 m.Bj:Jj:  ProNav: ac range: 419.700012 m, nav range: 290.772186 m, bearing: 184.472504 deg, approach rate: -0.512030 m/s, LOS rate: 0.085601 deg/s, cmd heading: 144.548400 deg, new cmd heading: 144.659458 deg. 2j j;HeadingCmd: 2.524784 target range: 419.700012 and range: 422.40 m. j!@jjjihhh!h%Bf!f!f)rf)bf-@J@ɛ,BtN ٽI 1ɚiI*=I!@i ci)!@) H]0>IY I]II]QBIY&IY.IY6I]<:I]] F*F?2F:FBFo0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517914*Ja"Je=JuJuJqJqJu];Ju*f:JqJqJuI<JuI<JuԷ;JuԷ;GG B $?I O= >w,dA6c!@Y6@!@696?5>y6H pRQ iӼ?@??Jӡ??F?ɨ6c!@6\B;4yNBRIIZIZ4٢z= zT=9~Z;Q ~> G٣y 9  > Nusing accuracyPremultiplier from config496?4Y\ izdB%!@%?GD;_;41 5 A5GEMB*** querying acoustic contact ***jIjIZjaeFNOT Ignoring new targets: 419.70 m.Bjm:Jjm:}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768548 ProNav: ac range: 419.700012 m, nav range: 290.574524 m, bearing: 184.505582 deg, approach rate: -0.513254 m/s, LOS rate: 0.085950 deg/s, cmd heading: 144.659459 deg, new cmd heading: 144.758761 deg. 2jk;HeadingCmd: 2.526517 target range: 419.700012 and range: 422.40 m. jt!@jjjihhhhfffrfbf@6@ɛ-BM I !1ɚiI:+=It!@i4ci&()t!@)!zKYK]9KYK]K]BKmqA:Ki*F2F:FBF/1JFGvGBO >- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020409Xw,ٰ~A \I`u3@YuKR!@u 9u<>yuH LI?m?rݸ?B?T?`ۦ?ɨu3@uNe;qyBI%I%ļ4٢Uc: U6=9] ;Q ]>YY eG٣aye"; e> mNusing accuracyPremultiplier from configiu49m5?}4Ym4X imdBy}!@}?mGDm? ;m ;mv4  AJEZj15FNOT Ignoring new targets: 419.70 m.Bj=:Jj=:E ProNav: ac range: 419.700012 m, nav range: 290.343811 m, bearing: 184.544172 deg, approach rate: -0.497777 m/s, LOS rate: 0.083325 deg/s, cmd heading: 144.758756 deg, new cmd heading: 144.874616 deg. 2jMd;HeadingCmd: 2.528539 target range: 419.700012 and range: 422.40 m. j!@jjjihhhhfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272628ɛ/BCK ýI C2ɚiI`V+=I!@iwci )!@)*F?2F:FBF0JFjHM <bHM <HM />II  IM IIM VBIM * =&II .II 6IM <:IM FG 圼G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:21:32:01.0475 M TRx dataTimestamp_ set to:1736371922.381379M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526241M%w,TAy=B=I Mb@Mb@Mb@    ) Y V-?AA EG٣EBGyE M> UNusing accuracyPremultiplier from configI]49M5?]4YMS iMdB]-?]:e< @e@MGDM;M;Mu4i mCAiZjFNOT Ignoring new targets: 419.70 m.Bj:Jj: ProNav: ac range: 419.700012 m, nav range: 290.139618 m, bearing: 184.579352 deg, approach rate: -0.531306 m/s, LOS rate: 0.091603 deg/s, cmd heading: 144.874610 deg, new cmd heading: 144.980225 deg. 2jw{;HeadingCmd: 2.530382 target range: 419.700012 and range: 422.40 m. j!@jjjihhhhBfffrfbf`6 @ɛaeN@ im0HIi ui2ɚyiyI}t+=I!@ $?Iiѱci ӽ) !@) *F?2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776646G G ?G ?zK BHK 9K K K G B) Oe >,w,eA6O@Y6En!@6x96:s>y6H C6?U?*9?`YU?[??ɨ6O@6;6^CyBBBIIJIJ4٢R = Vh=9Vw;Q V>XX ZG٣XyZ; ^> bNusing accuracyPremultiplier from config`f49b[5?f4Yb5P ibdBdfX @f@bGDb.:bP:b4l nAnMEZjQUFNOT Ignoring new targets: 419.70 m.Bj]:Jj]:m ProNav: ac range: 419.700012 m, nav range: 289.959351 m, bearing: 184.610359 deg, approach rate: -0.497826 m/s, LOS rate: 0.085682 deg/s, cmd heading: 144.980232 deg, new cmd heading: 145.073311 deg. 2jm6k;uHeadingCmd: 2.532007 target range: 419.700012 and range: 422.40 m. jug "@jqjqjqiqhyhyhhfffrfbf`@ɛE0BM= IMII Mć2ɚQiQIup+=I}g "@i}ci})}g "@)Will construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 21:32:01.0475 LVL= 26816, 25521, 30450, 32755, AGC= 70, IDX= 450, 0.01, 1.124, 2.774, 0.403, 0.938, PHS= 0.274, 1.883,-0.538, RAW= 349.2, -15.0, CAL= 350.6, -20.4, ROT= 159.4, 20.4 eYgot valid direction response: 21:32:01.0475 LVL= 26816, 25521, 30450, 32755, AGC= 70, IDX= 450, 0.01, 1.124, 2.774, 0.403, 0.938, PHS= 0.274, 1.883,-0.538, RAW= 349.2, -15.0, CAL= 350.6, -20.4, ROT= 159.4, 20.4 PDAT read: Bearing 159.4, 20.4 (Local) ~Local bearing/azimuth received: Bearing 159.4, 20.4 (Local) *F ?2F :F BF ^0JF %DAT read: Range 10 to 50 : 424.9 m (Round-trip 566.6 ms) speed -0.7 m/s ,DAT read: user:1847> BDAT read: Tx time:21:32:02.1768 $Ping request sent.%?^ @ @)KI/ 2@iK>>.俘i^Lп)I*>i5?N>u:publishing transmit ping timeةuFpublishing direction and range info9S^$C?B'o?S̖ɿy )Ii )Ii>.俘i^Lп)Ii $?IG=NGI BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:32:02.1760 k2w,C̴A6u\@Y6{!@6[m96E>y6He>л?8?Z@w?`X?n? ?ɨ6u\@64a;6\CyB+BBIMb@Mb@Mb@ )Y/$?V-Mb?y&1?< ;@)v@IAypAII4٢= 7=9:Q > G٣y;: > %Nusing accuracyPremultiplier from config!-49%5?-4Y%*K i%dB=Z1?=:=@=@%HD%R;%P;%z 4Y ] A]LEk-GC?k-`#wZ k) k-A:k-sCBk-CZk-l@"-(ꇅ"d@\aw@d*-. tv3O4l@z7-> 1o;2HpE"k-a*k-k-}Qr?k-A 2k-u#Bk-lCʛ?k-A!l k-k-Ck-V@ addTargetRange:: Added new target pos. range: 424.899994 m, deltaT: 4.032759 s, deltaX: 2.500000 m, approachRate: 0.619923 m/s, rangeRepo size: 4 % Added new target pos. range: 424.899994 m, bearing: 212.131177 deg, lat: 36.899489 deg, lon: -122.115851 deg, deltaT: 8.063093 s, deltaX: 5.199982 m, approachRate: 0.644912 m/s, posRepo size: 4 Zj!%FNOT Ignoring new targets: 424.90 m.Bj-Jj)] ProNav: ac range: 424.899994 m, nav range: 332.200623 m, bearing: 192.036371 deg, approach rate: 0.000000 m/s, LOS rate: 0.085682 deg/s, cmd heading: 145.073314 deg, new cmd heading: 145.190527 deg. 2jaeHeadingCmd: 2.534053 target range: 424.899994 and range: 424.90 m. je-"@jijijiihhhh@Bfffrf`fz@bf&?HI I.IIkBI&I.I6I<:I Fɛ1B v5  =I  ݒ2ɚiI+=I-"@ijAdiƺ)-"@)E)E->-GtA*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. YtAy%&B I Ge G9 BI Om >n9w,活A%@Y%T!@%1Q9%3>y%H`"_,@#?o? h?mi?\? ?ɨ%@%\;!y=8B=I E=E=IMIM4]Will construct direction to contact in vehicle frame from tetrahedron phase data.٢m= mS=9mQ u>yy }G٣}BGy.< > Nusing accuracyPremultiplier from config495?4YF idB@@$HD 3;x;84 ; AOEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 424.90 m.Bj@:Jj@: ProNav: ac range: 424.899994 m, nav range: 332.028320 m, bearing: 192.071558 deg, approach rate: -0.430565 m/s, LOS rate: 0.087974 deg/s, cmd heading: 145.190533 deg, new cmd heading: 145.296148 deg. 2jq;HeadingCmd: 2.535896 target range: 424.899994 and range: 424.90 m. j L"@j j j i h1h1h1h1f9f9f9rf9bf=W?ɛ2Bs/ .JE JE JE 1JA JE ;JE 3g:JE 3JA P@w, A $?Ibg]#@Y]!@].s9]q >y]H+`@ɯ?_b?`??!^??ɨ]#@]4E;]XCyޥ=BޭIII4٢5< =>=9E'Q M>QY ]G٣ayu/; }> Nusing accuracyPremultiplier from config49G5?4YA idB@@8HD;1;4  AREZj!%FNOT Ignoring new targets: 424.90 m.Bj-:Jj-:= ProNav: ac range: 424.899994 m, nav range: 331.828400 m, bearing: 192.112306 deg, approach rate: -0.479822 m/s, LOS rate: 0.097856 deg/s, cmd heading: 145.296142 deg, new cmd heading: 145.418459 deg. 2j=P;EHeadingCmd: 2.538031 target range: 424.899994 and range: 424.90 m. jMo"@jIjIjIiIhIhQhQhQfQfYfYrfYbf]?ɛ4Bti- 隕 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.456727+Fw,]A-@Y-!@-m9-C>y-H&`k@?li?B 5y? ?$?`?ɨ-@-,;-^CyEJBEIMb@Mb@Mb@ )Yi|?5?y&1y&1?y1?`e`e< Q@)`@IAyAII̍4٢̈́= M=9S7Q >    G٣ y'0 > Nusing accuracyPremultiplier from config%49<}5?%4Ym= idB%G2?-:-@-@IHD@;;41 5 A1ZjFNOT Ignoring new targets: 424.90 m. $?IBj:Jj:M ProNav: ac range: 424.899994 m, nav range: 331.666168 m, bearing: 192.148183 deg, approach rate: -0.410414 m/s, LOS rate: 0.090807 deg/s, cmd heading: 145.418457 deg, new cmd heading: 145.526141 deg. 2jMGy;UHeadingCmd: 2.539910 target range: 424.899994 and range: 424.90 m. jU"@jQjYjYiYhYhahhTBfffrfbf-;?ɛ5BP' 隝'=I WU2ɚiIzD,=I"@ik eiL¼)"@)E*F2F:FBFJFG GqA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.709418zK FKK 9K K K G VG B O >mULw,43AJF@YJ!@J9J>yJH )3?`u?LR?`؟? CG? ?ɨJF@J~ǐ;J\CyVPBV IXXI^I^4٢f= f`=9j\;Q j>hl nG٣lyn| n> vNusing accuracyPremultiplier from configpv49rl5?z4Yr"9 irdBxzf@z@rYHDrB;r;r&4 x AUEZj!-FNOT Ignoring new targets: 424.90 m.Bj-:Jj-:M ProNav: ac range: 424.899994 m, nav range: 331.510529 m, bearing: 192.182787 deg, approach rate: -0.447986 m/s, LOS rate: 0.099649 deg/s, cmd heading: 145.526141 deg, new cmd heading: 145.630002 deg. 2jMƈ;]HeadingCmd: 2.541723 target range: 424.899994 and range: 424.90 m. je"@jajajaiihihqhqhyfyfyfyrfybf`0?ɛ6B|! 隭Q=I 5@42ɚ1i1I5Y,=IE"@iE_eiEۼ)E"@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.960309*F!2F!:F!BF%/1JF!JJ J0JJ ;JOj:Jـ3JG6GB IO J>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.212231;Sw,MA6h@Y6 !@6>96q>y6H v#`h"`?4o?!Ź?@k3?n{? O?ɨ6h@6&;6]Cy>[B>I Mb@Mb@Mb@    ) Y I +?X9v~jtx?y 94? } ;  ;@) @I zA y pAI-I-94٢=R= =D=9E:Q E>AA EG٣EBGyM; M> Nusing accuracyPremultiplier from configQ49UY5?4YU4 iUdB4?:@@UlHDU8dYw,dgA6@Y64!@696>y6H)`@k?@wg?3?`m???ɨ6@6;6ZCyFeBF'IININ4٢jD= jQ=9n:Q r>tt vG٣tyzAC; ~> Nusing accuracyPremultiplier from config49G5?4Yc/ idB.@@~HDNi;x;044-B - A5WEEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.716820ZjFNOT Ignoring new targets: 424.90 m.BjY:JjY: ProNav: ac range: 424.899994 m, nav range: 331.161255 m, bearing: 192.261320 deg, approach rate: -0.439967 m/s, LOS rate: 0.098945 deg/s, cmd heading: 145.751346 deg, new cmd heading: 145.865720 deg. 2jχ;HeadingCmd: 2.545837 target range: 424.899994 and range: 424.90 m. j"@jjjihhhhfffrfbfTY@ɛ%9B- )-=I) -1ɚ)i1I5h,=I5"@i5Mfi5$`)="@)9EAEAzKMKM9KIKMKM*F%?2F!:F!BF%O5JF!"G)G-=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968302G ޼G B O- >JE JE JA JA JE ;JE d:JA JA I YK`w,yBH<S .? K?h @R??`?@Y?ɨB@Bi|;B^CyNgBN*I R=R=IVIVʴ4٢ba?< bK=9bWFQ f>lp rG٣pyvp+< z> Nusing accuracyPremultiplier from config549{55?=4Y* ieBAMs@M@HD</<F;4q  A!B*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 424.90 m.Bj%L:Jj%L:5 ProNav: ac range: 424.899994 m, nav range: 330.985779 m, bearing: 192.300500 deg, approach rate: -0.386071 m/s, LOS rate: 0.086246 deg/s, cmd heading: 145.865725 deg, new cmd heading: 145.983326 deg. 2j=l;=HeadingCmd: 2.547890 target range: 424.899994 and range: 424.90 m. j=#@jAjAjAiAhAhAhIhIfIfqfqrfqbf} @ɛ:B @=I P[1ɚi I ج,=I#@ifiMXԼ)#@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.223945*F?2F:FBF4JFH .>I  I II BI &I .I 6I <:I x FG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:21:32:05.1519 % TRx dataTimestamp_ set to:1736371926.416686- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.477315vfw,\An%@YnD"@nZ9n>ynHIP@ ?8??'?`?Ƣ?ɨn%@n ;n\CyziBz,IMb@Mb@Mb@ )YCl?MbX9~jthy/?ʡDE A $@)v@IyGAII4JJ٢^< 9=9:Q > G٣BGy^; > Nusing accuracyPremultiplier from config49n"5?4YU% ieB1? : @ @HD#;;B4ߒB  AZEZjAEFNOT Ignoring new targets: 424.90 m.BjMD:JjMD:] ProNav: ac range: 424.899994 m, nav range: 330.807098 m, bearing: 192.342313 deg, approach rate: -0.474718 m/s, LOS rate: 0.111149 deg/s, cmd heading: 145.983327 deg, new cmd heading: 146.108834 deg. 2j];eHeadingCmd: 2.550080 target range: 424.899994 and range: 424.90 m. je4#@jajajaiihihi }$?Iyhyh}xBfffrfbf @ɛzK RIK +9K K K RK ?JK >lw,kAR>l@YR"@R9R>yRH p]`>`1? ?@+:׺?mޞ? ??ɨR>l@R*;R]CyddIrIr4٢v+ ; z[=9zO Q z>x| ~G٣9yEe8< E> MNusing accuracyPremultiplier from configIU49M5?U4YM iMeBQUV@U@MHDM;MB;MI4a e AaZjFNOT Ignoring new targets: 424.90 m.Bj!:Jj!: ProNav: ac range: 424.899994 m, nav range: 330.649628 m, bearing: 192.378912 deg, approach rate: -0.413829 m/s, LOS rate: 0.096227 deg/s, cmd heading: 146.108839 deg, new cmd heading: 146.218688 deg. 2j;HeadingCmd: 2.551997 target range: 424.899994 and range: 424.90 m. jS#@jjjihhhhfffrfbfs@ɛ>B =I 0ɚiI,=I%S#@i%bgi%ƍ)%S#@))E1E1Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 428.1 m (Round-trip 570.9 ms) speed -0.4 m/s ,DAT read: user:1848> BDAT read: Tx time:21:32:06.2268 $Ping request sent.ԼGBO% > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:32:06.2260 sw,$εA6G@Y6"@6C96>y6Hk@2??8d?A? 9?@w?ɨ6G@6ێ;4y^lB^0IMMb@Mb@Mb@III I)IYMkt?/$MbyM 0?MMM A I)IIMAIyMAIeIe4٢u]E< uB=9qQ > G٣y; > Nusing accuracyPremultiplier from config49q4?4Y ir1?:)@@HD@#;;P4  A]E addTargetRange:: Added new target pos. range: 428.100006 m, deltaT: 4.035374 s, deltaX: 3.200012 m, approachRate: 0.792990 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 424.90 m.Bj:Jj: ProNav: ac range: 424.899994 m, nav range: 330.478973 m, bearing: 192.418865 deg, approach rate: -0.411952 m/s, LOS rate: 0.096494 deg/s, cmd heading: 146.218682 deg, new cmd heading: 146.338602 deg. 2jr;HeadingCmd: 2.554090 target range: 424.899994 and range: 428.10 m. j8v#@jjjihhhhBfffrfz@bf ?ɛ%@B% )-(=I)H9I9 I=II=ЁBI=* =&I9.I96I=װ<:I= F U,0ɚQiQIU,=I]8v#@i]gi]l)]8v#@)a*F%?2F!:F!BF)JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.*JR="JR= QIYGU EG) B9 OU >9yw,2赻AJU@YJ$#@J9J/ >yJH`x`5?0?__ ?? ?࣮?ɨJU@J;J\CyZkBZ.IIjIj4٢zŻ zS=9~TQ ~>   G٣BGy< > -Nusing accuracyPremultiplier from config)EWill construct direction to contact in vehicle frame from tetrahedron phase data.=49-+4?M4Y-+ i- eBQU@U@-HD-:;-d;-W4a m Am`EZjFNOT Ignoring new targets: 424.90 m.Bj@:Jj@: ProNav: ac range: 424.899994 m, nav range: 330.316833 m, bearing: 192.456435 deg, approach rate: -0.411525 m/s, LOS rate: 0.095404 deg/s, cmd heading: 146.338606 deg, new cmd heading: 146.451373 deg. 2j;HeadingCmd: 2.556059 target range: 424.899994 and range: 428.10 m. jw#@jjjihqhqhyhyfyfyfyrfbf|~?ɛAB =I @0ɚiI2-=Iw#@i%gi%ȿ)%w#@)!zKBoHK9KKK1cS:% BKrA:KpA*F%?2F!:F!BF%o0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.GM nG) B9 Om > E $?IA w,Ay~jB~-II I 4٢5y F=9Q > G٣y > Nusing accuracyPremultiplier from config5494?=4Y i eBIIU@HD<_<&_4  AmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 424.90 m.Bj:Jj: ProNav: ac range: 424.899994 m, nav range: 330.136902 m, bearing: 192.498204 deg, approach rate: -0.385311 m/s, LOS rate: 0.089494 deg/s, cmd heading: 146.451373 deg, new cmd heading: 146.576748 deg. 2ju;HeadingCmd: 2.558247 target range: 424.899994 and range: 428.10 m. jQ#@jjjihhhhfffrfbf@?ɛ=DB=1 AE=IA E/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.ɚAiiIm3-=IuQ#@iu)hi}ѱ)}Q#@)y*F=?2F9:FABFE|0JFAZH) RH- @AH1 I1  I5 II5 ՁBI1 &I1 .I1 6I5 <:I5 o F) %= ECGm 圼 G |uA Y |uAy BGA BI Oe > @ B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506642Ćw,cA @6@@Y68_#@6I 96>y6HW`w@A??k@O?`@?|D?`?ɨ6@@6J;4yBiB@Mb@Mb@Mb@ )Ygfffff?{GzI +y33?ף94 A @)IzAyGAII4JJ!J0JJ ;J:Jـ3JJ}T G٣y< > Nusing accuracyPremultiplier from config494?4Y3 i c4? : O@ @HD;Y;+f4B  AaEZjAMFNOT Ignoring new targets: 424.90 m.BjM:JjM: ProNav: ac range: 424.899994 m, nav range: 329.964966 m, bearing: 192.537221 deg, approach rate: -0.471723 m/s, LOS rate: 0.107102 deg/s, cmd heading: 146.576748 deg, new cmd heading: 146.693859 deg. 2j;HeadingCmd: 2.560291 target range: 424.899994 and range: 428.10 m. j#@jjjihhhhyBfffrfbf`)?ɛFB  隕=I /ɚiI.-=I#@i Yhi)#@)*Fa2Fa:FaBFm2JFi]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758645G G G qAG B O >zK LK ]9K K K 1w,;6A20@Y2O#@2@&92>y2H@3 4|6?`q? d t?`d??)?ɨ20@2x;0y>dB>'IIVIV4٢jؼ j^=9n+;Q r>pp rG٣rBGyv|) v> zNusing accuracyPremultiplier from configx~49z4?4Yz ix@@ @zIDz[K;z_;zl4! % A!ZjFNOT Ignoring new targets: 424.90 m.Bj:Jj: ProNav: ac range: 424.899994 m, nav range: 329.807007 m, bearing: 192.573197 deg, approach rate: -0.406504 m/s, LOS rate: 0.092629 deg/s, cmd heading: 146.693858 deg, new cmd heading: 146.801838 deg. 2j G~; HeadingCmd: 2.562176 target range: 424.899994 and range: 428.10 m. j #@jjjiQhQhYhYhYfYfafarfabfe@ @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010696ɛHBU Y]8g=IY ]/ɚYiYI]D-=Ie#@iehieƻ)m#@) $?I*FE?2FA:FABFE@5JFAGm o>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263521Gy B O >ۓw,-PAbh8@Yb W#@b59b>ybH@yWx?r?c?k?? *?ɨbh8@b֘;b^CynfBn(ImMb@Mb@Mb@iii i)iYm=9C;Q > G٣y0: > Nusing accuracyPremultiplier from config4934?4Y iS4?:a@@!ID;S;t4B  AdEZjFNOT Ignoring new targets: 424.90 m.Bj:Jj:  ProNav: ac range: 424.899994 m, nav range: 329.619873 m, bearing: 192.614373 deg, approach rate: -0.456263 m/s, LOS rate: 0.100450 deg/s, cmd heading: 146.801843 deg, new cmd heading: 146.925440 deg. 2j ;HeadingCmd: 2.564333 target range: 424.899994 and range: 428.10 m. j$@jjjihhhh%fBf!f!f!rf!bf-B9@H->I III+ =&I.I6I<:Ix FɛJB b=I e/ɚiI_-=I $@i hi ż) $@) EEsA*F2F:FBF]0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514625GfGBO`> $?IJK3 K.-KK"KJJJJJ;Jt:JJJ`<J`<J^;J_;w,4iAJ]r@YJ#@Jw29Jd>yJH`_{?W?sW????ɨJ]r@J#;J\CybaBb#IddIjIj4٢v vV=9z6Q z>xx zG٣|y~< >  Nusing accuracyPremultiplier from config 494?4YN i@@Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7666733IDƔ<<z4B ' AZjFNOT Ignoring new targets: 424.90 m.Bj#:Jj#:% ProNav: ac range: 424.899994 m, nav range: 329.452362 m, bearing: 192.651032 deg, approach rate: -0.417527 m/s, LOS rate: 0.091421 deg/s, cmd heading: 146.925442 deg, new cmd heading: 147.035475 deg. 2j%z;%HeadingCmd: 2.566253 target range: 424.899994 and range: 428.10 m. j-~=$@j)j)j)i)h)h)hqhqfyfyfyrfybf};@ɛULBU"# QU,=IQ ]B/ɚYiYI]k|-=Ie~=$@ie7iieض)e~=$@)zKBoIK9KKK*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=3.021653Gm :XGA Bi O > I w,RՃAy~TB~II I m4٢+} %G=9%Q ->)) -G٣-BGy5 5> ENusing accuracyPremultiplier from configAM49E4?M4YE iAIIM@EEIDEG:E:E4Y ] AegEZjFNOT Ignoring new targets: 424.90 m.Bj:Jj: ProNav: ac range: 424.899994 m, nav range: 329.272217 m, bearing: 192.690529 deg, approach rate: -0.414255 m/s, LOS rate: 0.090875 deg/s, cmd heading: 147.035477 deg, new cmd heading: 147.154031 deg. 2jwy;HeadingCmd: 2.568322 target range: 424.899994 and range: 428.10 m. je_$@jjjihhhhfffrfbf @ɛNB+ I Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:32:09.2043  TRx dataTimestamp_ set to:1736371930.448664 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523607w,!AZ@YZ- $@Z9ZT>yZH@i`J,`q?{?࢓Y?ķ??`r?ɨZ@Zf;Xyf[BfI E$?IAJJJJJM;Jy:JJJ\<J\<J;J;Mb@Mb@Mb@ )Y"~?y&1y&1|y3?`e` A )`@IhAyAII94٢< ?=9N9Q > G٣yԏ< > Nusing accuracyPremultiplier from config49bk4? 4Y i eB 4? : @@XID[;Z;v4 Z A%jE=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 424.90 m.BjU:JjU:e ProNav: ac range: 424.899994 m, nav range: 329.079407 m, bearing: 192.730906 deg, approach rate: -0.499944 m/s, LOS rate: 0.104758 deg/s, cmd heading: 147.154035 deg, new cmd heading: 147.275238 deg. 2jeɏ;mHeadingCmd: 2.570438 target range: 424.899994 and range: 428.10 m. jm$@jijijiiihihqhqhuVBfyfyfyrfybfT @ɛPB( 隵PE>*FA2FA:FABFE`0JFA"GM=GM==Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774658G a.ʼGa Bi O >zK jIK +9K K K @w,AUj(@YU G$@U9U|>yUH r^?Gc?Eѻ?@??B?ɨUj(@U);UZCy}PB} IIIx4٢X L=9TwQ > G٣y.< > Nusing accuracyPremultiplier from config49|X4?4Y) ieBW@@jIDG:&:s4  AZjFNOT Ignoring new targets: 424.90 m.Bj%C:Jj%C:5 ProNav: ac range: 424.899994 m, nav range: 328.898438 m, bearing: 192.768598 deg, approach rate: -0.453645 m/s, LOS rate: 0.094535 deg/s, cmd heading: 147.275244 deg, new cmd heading: 147.388380 deg. 2j5;=HeadingCmd: 2.572412 target range: 424.899994 and range: 428.10 m. j=h$@j9j9j9iAhAhAhAhAfIfIfIrfQbfU@ɛRB0Will construct direction to contact in vehicle frame from tetrahedron phase data.՝Ai՝ADAT read: 21:32:09.2043 LVL= 23104, 31441, 32306, 32755, AGC= 70, IDX= 442, 0.41, 2.845,-1.823, 2.048, 2.708, PHS= 0.224, 1.799,-0.663, RAW= 350.9, -12.5, CAL= 351.9, -17.2, ROT= 158.1, 17.2 Ygot valid direction response: 21:32:09.2043 LVL= 23104, 31441, 32306, 32755, AGC= 70, IDX= 442, 0.41, 2.845,-1.823, 2.048, 2.708, PHS= 0.224, 1.799,-0.663, RAW= 350.9, -12.5, CAL= 351.9, -17.2, ROT= 158.1, 17.2 ePDAT read: Bearing 158.1, 17.2 (Local) m~Local bearing/azimuth received: Bearing 158.1, 17.2 (Local) }DAT read: Range 10 to 50 : 429.9 m (Round-trip 573.3 ms) speed -0.3 m/s 隅ZI )/ɚiI-=Ih$@i ii?)h$@),DAT read: user:1849> BDAT read: Tx time:21:32:10.3269 $Ping request sent.ٝE?ٝ^)ٝ@ٝf_ ڝ@)ڝ`Iڝr0@iڝ`>ڙڙ۝r7x ˿)۝^GI۝R`>i۝?۝8>ۙۙ:publishing transmit ping timeFpublishing direction and range infoؙ -$?I)9؝.\?Z?ƿyؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝r7x ˿)ۙIۙiۙۙۙۙ*F}?2Fy:FyBF}n0JFGUGBO5r>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U JDAT read: TxSync time:21:32:10.3261 v%w,dѶA6.i@Y6ч$@6g%964>y6H` ??H?Y?b??+?ɨ6.i@6I];6\CyBQBBI}Mb@Mb@Mb@yyy y)yY}I +?Mb~jtxy}94?}@}Ļ} A y)yI}Ayy}zAII4٢l; K=99Q > G٣BGym< > Nusing accuracyPremultiplier from config 49D4? 4Y ieB 4? : d @ @}ID/;4<4Y e AelEHyIy I}II}ƁBI}, =&Iy.Iy6I}ð<:I} FkHt)ś?k% k k A:kCBkwCZk3s@"uDZa@z2(Sx@akGxKS.\?Z?ƿJk?Rk8>*&>uN:optwY()ooWLmHRP<"kx*kkcě?k 2kPBkcě?k k'Ak Ck#m@ addTargetRange:: Added new target pos. range: 429.899994 m, deltaT: 4.033380 s, deltaX: 1.799988 m, approachRate: 0.446273 m/s, rangeRepo size: 4 % Added new target pos. range: 429.899994 m, bearing: 217.726232 deg, lat: 36.899315 deg, lon: -122.117448 deg, deltaT: 8.068754 s, deltaX: 5.000000 m, approachRate: 0.619674 m/s, posRepo size: 4 Zj)UFNOT Ignoring new targets: 429.90 m.Bj]Jji} ProNav: ac range: 429.899994 m, nav range: 402.092987 m, bearing: 212.297898 deg, approach rate: 0.000000 m/s, LOS rate: 0.094535 deg/s, cmd heading: 147.388379 deg, new cmd heading: 147.510363 deg. 2jyHeadingCmd: 2.574542 target range: 429.899994 and range: 429.90 m. jJ$@jjjihhhhGBfffrf`fz@bf@;?ɛ TB d0 @I -/ɚiI.=IJ$@iji쳋)%J$@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JF -$?I5_gJ5J5J51J1J5;J5t:J53J1J5=[<J5=[<J5^;J5_;G gG B O >Nw,;붻A>@Y>$$@>V9>->y>H'@I,? |? ?`y? ?C?ɨ>@>Ws;dd fG٣dyjA< j> nNusing accuracyPremultiplier from configlr49nW34?r4Yn ineBpv @v@nIDn;n:n4x z Ax~Will construct direction to contact in vehicle frame from tetrahedron phase data.Zj!5FNOT Ignoring new targets: 429.90 m.Bj5b:Jj5b:E ProNav: ac range: 429.899994 m, nav range: 401.997803 m, bearing: 212.332115 deg, approach rate: -0.275215 m/s, LOS rate: 0.098960 deg/s, cmd heading: 147.510366 deg, new cmd heading: 147.613044 deg. 2jMԇ;MHeadingCmd: 2.576334 target range: 429.899994 and range: 429.90 m. jM$@jQjQjQiQhQhQhYhYfafafarfabfe`֋?ɛUB&>3 隕PI 6/ɚiIJ9.=I$@i(ii![)$@)E*F?2F:FBF05JFG! G!G5GBO">zKKKKKWill construct direction to contact in vehicle frame from tetrahedron phase data. ) I) s9w,"A2n=@Y2\%@2k92p>y2H>"(? '?M?a???ɨ2n=@2H;0y>RB>IDF@AIJIJ4٢zay< zG=9~Q ~>|| G٣y ;<  > Nusing accuracyPremultiplier from config%49n4?-4Y. ieB9=:!@E@ID;;04Q U AUoEZjy}FNOT Ignoring new targets: 429.90 m.Bj:Jj: ProNav: ac range: 429.899994 m, nav range: 401.888947 m, bearing: 212.370548 deg, approach rate: -0.262139 m/s, LOS rate: 0.092576 deg/s, cmd heading: 147.613037 deg, new cmd heading: 147.728367 deg. 2j#~;HeadingCmd: 2.578346 target range: 429.899994 and range: 429.90 m. j%@jjjihhhhfffrfbf ?ɛeWB#1 隕#I @/ɚiI `.=I%@iii)%@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFP5JFZHiRHmAAHu,>Iq IuIIuBIq&Iq.Iq6Iu<:Iu| FG 'G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.Caw,#A6|@Y6 %@6, 96>y6HDca@ջ?@? ?d??y?ɨ6|@6sE;6ZC b$?I`yfPBfIMb@Mb@Mb@ )YI +?V-ym/ A )3@IAyAIIt4٢ >=9Q > G٣BGy< > Nusing accuracyPremultiplier from config49 4?4Yy i!eB4?: @@ID;%;4  ArEB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 429.90 m.Bj-E:Jj-E:= ProNav: ac range: 429.899994 m, nav range: 401.778168 m, bearing: 212.410738 deg, approach rate: -0.260517 m/s, LOS rate: 0.094540 deg/s, cmd heading: 147.728372 deg, new cmd heading: 147.848974 deg. 2jEÁ;EHeadingCmd: 2.580451 target range: 429.899994 and range: 429.90 m. jE&%@jIjIjIiIhIhIhQhU7BfQfYfYrfYbf] c?ɛXB3 隕I FM/ɚiIр.=I&%@iii()&%@)*F2F:FBFY0JFG f AGBOK>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.zK K K K K يw,8A2@Y2x%@2j92>y2HoLkW1j?`?`? ??`ɛ?ɨ2@2,;2\CyBRBBIIJIJ4٢<  W=9 UV;Q  > G٣y ; > %Nusing accuracyPremultiplier from config!-49%3?-4Y%O i%'eB)- @-@%ID%:%;:%S49 = A9ZjFNOT Ignoring new targets: 429.90 m.Bj:Jj: ProNav: ac range: 429.899994 m, nav range: 401.679688 m, bearing: 212.446367 deg, approach rate: -0.255735 m/s, LOS rate: 0.092543 deg/s, cmd heading: 147.848980 deg, new cmd heading: 147.955891 deg. 2j ~;HeadingCmd: 2.582317 target range: 429.899994 and range: 429.90 m. jD%@jjjihhhhfffrfbfe?ɛZB%r3 !%I! %Z/ɚ!i)I-j.=I-D%@i5bEii55䬻)5D%@)1EAEEqAuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975992 $?I*F2F:FBF_0JF"G=GJJJJJJq:JJa@a@a@a@G9"GB O] >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231722Wrw,RA6@Y6p4&@696>y6HZA??`#«??A?^?ɨ6@6齊;6[CyRSBRI)T TmMb@Mb@Mb@iii i)iYm5^I ?A`"ym8?mYii i)mI@ImhAiymQAII4٢; B=99Q > G٣y< > Nusing accuracyPremultiplier from config493?4Y i.eB8?:!@@ID9;<;4  AuEZjFNOT Ignoring new targets: 429.90 m.Bj:Jj: ProNav: ac range: 429.899994 m, nav range: 401.564972 m, bearing: 212.486553 deg, approach rate: -0.275064 m/s, LOS rate: 0.096387 deg/s, cmd heading: 147.955886 deg, new cmd heading: 148.076480 deg. 2jL;H!I! I!I!I!&I!.I!6I%%<:I% F=HeadingCmd: 2.584422 target range: 429.899994 and range: 429.90 m. j=,g%@j9jAjAiAhAhAhIhMDBfIfIfIrfQ GvA9 uYuvAyuJ Bbfuu@ɛ[B 3 `I i/ɚiIy.=I,g%@i6hiˏ),g%@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481294*F2F:FBFJF I*JC="Ja=G G B O >ew,lAnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.731748yvYBvII~I~94٢%< -Q=9-Q ->11 5G٣5BGy > Nusing accuracyPremultiplier from config493?4Y5 i4eB@ID;;4 e AxEZjI]FNOT Ignoring new targets: 429.90 m.Bj]:Jje:} ProNav: ac range: 429.899994 m, nav range: 401.454803 m, bearing: 212.525239 deg, approach rate: -0.265797 m/s, LOS rate: 0.093360 deg/s, cmd heading: 148.076479 deg, new cmd heading: 148.192568 deg. 2j}%;HeadingCmd: 2.586448 target range: 429.899994 and range: 429.90 m. j^%@jjjihhhhfffrfbf@@ɛU]BU^1 QU@IQ ]o/ɚYiYI]4.=Ie^%@ihiŻ)^%@)zKjIKs9KKKBK pA:K rA*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983914 $?I G} J J J J J J :J J GY Bq O >ފw,1xA2SS@Y2q&@2z~92>y2Hj`+@Z?w?6??@?(?ɨ2SS@2;0y>aB>#IIFIF"4٢N#%= NS=9RE[:Q R>PP VG٣TyV< V> ^Nusing accuracyPremultiplier from configX^49Z3?b4YZ$ iZ:eB`b!@b@ZIDZ:Z":ZKȲ4jB j* AjwEZj|FNOT Ignoring new targets: 429.90 m.Bj:Jj: ProNav: ac range: 429.899994 m, nav range: 401.353058 m, bearing: 212.560654 deg, approach rate: -0.280075 m/s, LOS rate: 0.097513 deg/s, cmd heading: 148.192565 deg, new cmd heading: 148.298839 deg. 2j؅;%HeadingCmd: 2.588303 target range: 429.899994 and range: 429.90 m. j%¦%@j!j!j!i!h!h!h)h)f)f1f1rf1bf5 } @ɛ]^B]-- am;Iq }k/ɚyiyI/=I¦%@iVhi%鄻)M¦%@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241477*F92F9:FABFE0JFAjH <bH <HI III&I.I6I<:I FGeҸGm?Gm(?G9 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:32:13.2939  TRx dataTimestamp_ set to:1736371934.481373 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489726w,!:A I$Ro@YR&@R9R:>yRH rT!N?k??y??Vt?`?ɨRo@Rw;PyvgBv)IMb@Mb@Mb@ )YA`"? rhMbp?y9?C; A @)IAyzAII4٢ < :=9ܸQ > G٣y`|; > Nusing accuracyPremultiplier from config49m3?4Y. iBeB9?: @@JD:;';ϲ4B  AzE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 429.90 m.Bj%:Jj%:5 ProNav: ac range: 429.899994 m, nav range: 401.238159 m, bearing: 212.603039 deg, approach rate: -0.261881 m/s, LOS rate: 0.096633 deg/s, cmd heading: 148.298843 deg, new cmd heading: 148.426034 deg. 2j5;=HeadingCmd: 2.590523 target range: 429.899994 and range: 429.90 m. j=!%@j9j9jAiAhAhAhIhM\BfIfIfIrfQbf]`\ @ɛ_BuD+ 隍uzKU k3IKU 9KQ KU KU 1w,#LARK?JK>>@Y>P&@>9> >y>H "w@?@c? F??(w?@'/??ɨ>@>;>ZCyFjBF.IIRIRy4٢V< Z[=9Z :Q Z>\\ bG٣fBGyjRQ; n> Nusing accuracyPremultiplier from configx49z3?4Yz izIeB @@z"JDz eBDAT read: Tx time:21:32:14.3769 e$Ping request sent.eo;=HeadingCmd: 2.592444 target range: 429.899994 and range: 422.10 m. j=%@j9j9j9i9hAhAhAhAfIJUJU"JQJQJU;JU:JQJQffrfaz@bf G?ɛ`Be2* |w,SշA>@Y>&@>9> >y>He~@O?oW? 9O@?@b?`??ɨ>@>J;>]CyNnBN3I%Mb@Mb@Mb@!!! !)!H=+>I9 I=II=ˁBI9&I9.I96I=<:I= FBICJICRIZI, =bI, =jII4Y%A`"?{Gz~jth?y!%ף%D;% A !)%3@I%hA!y%@IeIeЬ4٢}N< }8=9}9Q }> G٣y"; > Nusing accuracyPremultiplier from config49:3?4Yֿ iOeB8:?:@@6JD;;@޲4I U AU}EZjFNOT Ignoring new targets: 429.90 m.Bj:Jj: ProNav: ac range: 429.899994 m, nav range: 401.027771 m, bearing: 212.682453 deg, approach rate: -0.263078 m/s, LOS rate: 0.101467 deg/s, cmd heading: 148.536083 deg, new cmd heading: 148.664333 deg. 2jE; HeadingCmd: 2.594682 target range: 429.899994 and range: 422.10 m. j E&@j j j i h hhhPBfff!rf!bfE ?ɛUaBUؐ' QUl)w,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.6@Y6C&@6&/96>y6HԄU Z?`SL? "V?$?G??ɨ6@6{;6\CyFyBF@I Ja=Jp=IzIz"4٢V= S=9 ȫQ  >   G٣ys; > %Nusing accuracyPremultiplier from config-49?l3?-4Y` iUeB)-@-@HJD:\:41 =j A=EZjaeFNOT Ignoring new targets: 429.90 m.Bjm:Jjm:} ProNav: ac range: 429.899994 m, nav range: 400.929688 m, bearing: 212.720192 deg, approach rate: -0.271063 m/s, LOS rate: 0.104322 deg/s, cmd heading: 148.664327 deg, new cmd heading: 148.777572 deg. 2j0;HeadingCmd: 2.596658 target range: 429.899994 and range: 422.10 m. j/&@jjjihhhhfffrfbf 8?lJTimed out from 2025-01-08T21:22:15.5Zq6lfCompleted lineCaptureHoming:MicromodemComms:CheckIn16 lAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInkVCompleted lineCaptureHoming:MicromodemCommsɛbB 7=I /ɚiI׈/=I/&@i )giڽŻ)/&@)*Fu?2Fq:FqBFu^0JFqzK.JKh9KKK y1GWill construct direction to contact in vehicle frame from tetrahedron phase data.GiBy $?IO5 >J J J 0J J ;J w:J ـ3J w,A6@Y6m&@696po>y6H`N߿L?aB?Q +?@?`AX?@?ɨ6@6k;6ZCyBBBMIIJIJt4٢R`= RQ=9V9Q V>TT ZG٣ZBGyZl; Z> bNusing accuracyPremultiplier from config\b49^ Y3?f4Y^ i^[eBdf@f@^[JD^:^:^4h j AlZjFNOT Ignoring new targets: 429.90 m.Bj :Jj : ProNav: ac range: 429.899994 m, nav range: 400.830353 m, bearing: 212.758315 deg, approach rate: -0.253448 m/s, LOS rate: 0.097293 deg/s, cmd heading: 148.777571 deg, new cmd heading: 148.891968 deg. 2j;HeadingCmd: 2.598655 target range: 429.899994 and range: 422.10 m. j]P&@jjjihhhhfffrfbf6K?5%k%nAggregate::initialize lineCaptureHoming:MicromodemComms16- l-~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6-mWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛcB˳ X=I `.ɚiI/=I]P&@iMafiMfѻ)M]P&@)I*F?2F:FBFJFZH9RH=?AHE,>IA IEIIEՁBIA&IA.IA6IE<:IE FG G ?G /?G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. I ]gWill construct direction to contact in vehicle frame from tetrahedron phase data.Ou+?K w,3A:F`@Y:~'@:9:M >y:H=q߿ i¹??`(z\G?r?ǭ? ?ɨ:F`@:;:YCyBBBOIHHUMb@Mb@Mb@QQQ Q)QYUd;O?{GzMbp?yU4?QU;Q U@)QIUAQyQIuIu4٢}; <99Q > G٣yN< > Nusing accuracyPremultiplier from config49p73?4Y ifeB5?:L @@zJD$;;4B  AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 429.90 m.Bj=:Jj=: ProNav: ac range: 429.899994 m, nav range: 400.654846 m, bearing: 212.824667 deg, approach rate: -0.251077 m/s, LOS rate: 0.094963 deg/s, cmd heading: 148.891963 deg, new cmd heading: 149.091105 deg. 2jX; HeadingCmd: 2.602131 target range: 429.899994 and range: 422.10 m. j O&@j j j i h hhhgBfffrfbf;?ɛMdBUy QU=IQ U.ɚQiYI]d/=IO&@inAfitp)O&@)zK`LK 9KKK*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. }$?IGG B O >-w,TMA~`@Y~'@~9~E>y~H Q߿@/? H?9@׻??&V?k?ɨ~`@~;~\CeWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266527yޥBޭ\III4٢]7= 4=9:Q > G٣y; %> MNusing accuracyPremultiplier from configIU49M]!3?U4YM iMmeBQUx @U@MJDM:MG:M4eB e AeEZjY}FNOT Ignoring new targets: 429.90 m.Bj:Jj: ProNav: ac range: 429.899994 m, nav range: 400.539276 m, bearing: 212.868149 deg, approach rate: -0.239031 m/s, LOS rate: 0.089958 deg/s, cmd heading: 149.091104 deg, new cmd heading: 149.221586 deg. 2jv;HeadingCmd: 2.604408 target range: 429.899994 and range: 422.10 m. j&@jjjihhhhfffrfbf @H)I) I-II-BI-- =&I).I)6I-԰<:I- FɛeB |=I !*.ɚiI/=I &@i ei :̺)&@)EG>E*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516145 $?I *J "J J% J% %J% 1J! J% ;J% :J% 3J! J% cg0w,jAF@YF'@F9F|>yFHA'F߿@ø?!? C?qO? w ??ɨF@F;F[CyRBR]IuMb@Mb@Mb@qqq q)qYuA`"?ˡE{Gzt?yu9?u什uף;q u@)uI@IuQAqyu\@IIm4٢1; F=9];Q > G٣BGy+; > Nusing accuracyPremultiplier from config49/ 3?4Yf iseBG:?: @@JD;;24  AEZjFNOT Ignoring new targets: 429.90 m.Bj :Jj : ProNav: ac range: 429.899994 m, nav range: 400.433685 m, bearing: 212.907876 deg, approach rate: -0.275867 m/s, LOS rate: 0.103818 deg/s, cmd heading: 149.221588 deg, new cmd heading: 149.340800 deg. 2j;%HeadingCmd: 2.606489 target range: 429.899994 and range: 422.10 m. j%&@j!j!j!i)h)h)h1h5mBf1f1f9rf9bf= @ɛefBm Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767255 8=I -ɚiI/=I&@iaei9))&@)!*F2F:FBFQ5JFzKKK]9KKKG 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=3.019306 I  !w,WA "@F3@YF'@F9F[M>yFH@ -?߿??*@d??K?@?ɨF3@Fb;F]CyPR^IIbIb4٢n3 ; rZ=9rZ:Q r>xx zG٣xy~: ~> Nusing accuracyPremultiplier from config 492? 4Y! iyeB   @@JD.:P: 4  AZjAEFNOT Ignoring new targets: 429.90 m.BjMl:JjMl:] ProNav: ac range: 429.899994 m, nav range: 400.336334 m, bearing: 212.944518 deg, approach rate: -0.259417 m/s, LOS rate: 0.097666 deg/s, cmd heading: 149.340802 deg, new cmd heading: 149.450756 deg. 2j];eHeadingCmd: 2.608408 target range: 429.899994 and range: 422.10 m. je'&@jajajaiahihihihifqfqfqrfqbf}w @ɛgB 隥<=I o-ɚiI0=I'&@i eij)'&@)*F2F:FBFW0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274034Gui"GIBQOu>jH <bH 4<H +>I  I II BI &I .I 6I <:I F) ;C5 AGI Y  Y y B'5'w,!;A6w@Y6'@6o96>y6H`BS=߿U??`L]?l?[??ɨ6w@6;6ZCyBBBZIMb@Mb@Mb@ )YbX9? rhyE6?C A )IAy@I-=Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:21:32:17.3611 MTRx dataTimestamp_ set to:1736371938.513128Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525608 $?II-4٢Ub U5=9UE:Q ]>YY ]G٣Yyet: e> Nusing accuracyPremultiplier from configi49m`2?4Ym= im~eB7?:!@@mJDm;m+;m4  AEZj15FNOT Ignoring new targets: 429.90 m.Bj=O:Jj=O:JUJU JU0JQJUT;JU:JUـ3JQJUh<JUh<JU;JU; ProNav: ac range: 429.899994 m, nav range: 400.216370 m, bearing: 212.987329 deg, approach rate: -0.256312 m/s, LOS rate: 0.091496 deg/s, cmd heading: 149.450755 deg, new cmd heading: 149.579226 deg. 2j+{;HeadingCmd: 2.610650 target range: 429.899994 and range: 422.10 m. j'@jjjihhhhpBfffrfbf @ɛhB| H=I M[-ɚQiQI]!0=I'@iAdi)'@)E*F2F:FBF1JF!G) G)Will construct direction to contact in vehicle frame from tetrahedron phase data.Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.775987G= _vGE ?GE ?G B! O= >r\-w,c A6@Y68'@6bK96a>y6H =߿ _?? ?JH?@?(?ɨ6@6z;6[Cy^B^_IIfIf"4٢n< rf=9r?9Q r>tt vG٣vBGyv z> ~Nusing accuracyPremultiplier from configx49z2?4Yza izeB!@@zJDz;z;z4  A5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 429.90 m.BjM:JjM:] ProNav: ac range: 429.899994 m, nav range: 400.121826 m, bearing: 213.021149 deg, approach rate: -0.278065 m/s, LOS rate: 0.099492 deg/s, cmd heading: 149.579230 deg, new cmd heading: 149.680714 deg. 2j];eHeadingCmd: 2.612421 target range: 429.899994 and range: 422.10 m. je1'@jajajiiihihihihqfqfqfrfbfi@ɛeiBeHS im(=Ii m -ɚiiiI750=I1'@i~diڻ)1'@)zKK9KKK  $UWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.030629*FA2Fy:FyBF}_0JFy $?IG- bG B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data.G4w,ѸAuDAT read: 21:32:17.3611 LVL= 12608, 13905, 15506, 20371, AGC= 69, IDX= 96,-0.30,-0.521, 0.903,-1.416,-0.838, PHS= 0.405, 1.788,-0.582, RAW= 354.5, -15.4, CAL= 355.6, -21.4, ROT= 154.4, 21.4 }Ygot valid direction response: 21:32:17.3611 LVL= 12608, 13905, 15506, 20371, AGC= 69, IDX= 96,-0.30,-0.521, 0.903,-1.416,-0.838, PHS= 0.405, 1.788,-0.582, RAW= 354.5, -15.4, CAL= 355.6, -21.4, ROT= 154.4, 21.4 PDAT read: Bearing 154.4, 21.4 (Local) ~Local bearing/azimuth received: Bearing 154.4, 21.4 (Local) DAT read: Range 10 to 50 : 435.0 m (Round-trip 580.0 ms) speed -0.6 m/s ,DAT read: user:1851> BDAT read: Tx time:21:32:18.4769 %@Y%5'@%l9%r>$Ping request sent.?H1I1 I5II5BI1&I1.I16I5<:I5 FEFpublishing direction and range info99=;?Ϗae?Q@Dy鼿y=C9=@1=Q6 =<)=OI=Ei=)\>=/?==z@= =@)=t;I=iw,@i=t;>99=c*A_4G ѿ)=<2 I=M>i=?=d=99]:publishing transmit ping time]Fpublishing direction and range info99=;?Ϗae?Q@Dy鼿y9ɨ%@%b;%\Cy}B}aIA999 9)9I9i99999 9)9I9i999=c*A_4G ѿ)9I9i9999 Mb@Mb@Mb@    ) Y I +?X9vy 94? }   A $@) `@I  y AIIЬ4٢; =9:Q > G٣yx  > Nusing accuracyPremultiplier from config%49?2?%4Y ieB-4?-:UWill construct direction to contact in vehicle frame from tetrahedron phase data.--"@U@JDL<<r&4a e AeE $?I\gk=BH›?k= k9 k= UѸA:k=CBk=CZk=ts@"= v,d@t.䤢x@e}\H=;?Ϗae?Q@Dy鼿Jk=?Rk=d=*={@?muB˶p̧ (@=#b98߻'0xï?"k=*k=nk=\?k=qS9 2k=-Bk=\?k=A k=u#Bk=-Ck=8o@M addTargetRange:: Added new target pos. range: 435.000000 m, deltaT: 4.285837 s, deltaX: 12.899994 m, approachRate: 3.009912 m/s, rangeRepo size: 4 ] Added new target pos. range: 435.000000 m, bearing: 217.953028 deg, lat: 36.899246 deg, lon: -122.117609 deg, deltaT: 8.316955 s, deltaX: 5.100006 m, approachRate: 0.613206 m/s, posRepo size: 4 ZjaFNOT Ignoring new targets: 435.00 m.BjJj ProNav: ac range: 435.000000 m, nav range: 414.358795 m, bearing: 214.161679 deg, approach rate: 0.000000 m/s, LOS rate: 0.099492 deg/s, cmd heading: 149.680713 deg, new cmd heading: 149.868845 deg. 2jHeadingCmd: 2.615705 target range: 435.000000 and range: 435.00 m. jg'@jjjihhhhzBfffrf0{@bf(?ɛE kBE e I M =II M ,ɚI iI IU ]c0=IU g'@iU Gdi] $)] g'@)Y Jm Jm 9Ji Ji Jm ;Jm :Ji Ji Jm j<Jm j<Jm h;Jm h;E E rA*F5 ?2F9 :F9 BF= "5JF9 "GE =GE p=Will construct direction to contact in vehicle frame from tetrahedron phase data.G}GQBqO ?ُA:@Y:'@:9:}=>y:H N(߿&'?`ݭ?@FL???s?ɨ:@:u;:ZCyFBFUIININh4٢Vf Vq=9VMQ Z?XX ^G٣`ybY; b? fNusing accuracyPremultiplier from configdj49f¤2?j4Yf` ifeBlnV"@n@fKDf* ;fh;fT,4p r AvEZj FNOT Ignoring new targets: 435.00 m.BjE:JjE:% ProNav: ac range: 435.000000 m, nav range: 414.272949 m, bearing: 214.192362 deg, approach rate: -0.276685 m/s, LOS rate: 0.098911 deg/s, cmd heading: 149.868844 deg, new cmd heading: 149.960910 deg. 2j-Ç;-HeadingCmd: 2.617312 target range: 435.000000 and range: 435.00 m. j- '@j1j1j1i1h1h1hhfffrfbf?ɛ lBUt p=I =ȑ,ɚ9i9I=v0=IM '@iMc'diM)M '@)I*Fi2Fi:FiBFm_0JFizKeiGNKe9KaKe Ke)}~9.tZF90' GmBKuqA:KuqA%Will construct direction to contact in vehicle frame from tetrahedron phase data. AIAGYBiOb>DxCw,AJ7@YJ'@J&9JN>yJHd ߿ M?`? ?W?n??ɨJ7@J;J[CyVBVTIIbIbQ4٢f jH=9jϺQ j>pt vG٣zBGy~K:; > -Nusing accuracyPremultiplier from config!E49%l2?M4Y% i%eBQUi"@]@%KD%+<%<%34Will construct direction to contact in vehicle frame from tetrahedron phase data.  AZjFNOT Ignoring new targets: 435.00 m.Bj:Jj:M ProNav: ac range: 435.000000 m, nav range: 414.166992 m, bearing: 214.230174 deg, approach rate: -0.225289 m/s, LOS rate: 0.080420 deg/s, cmd heading: 149.960915 deg, new cmd heading: 150.074382 deg. 2jU\;UHeadingCmd: 2.619292 target range: 435.000000 and range: 435.00 m. jU{'@jYjYjYiYhYhYhahafafafirfibf?ɛnB$ x[=I R],ɚiI90=I-{'@i-ci-{)5{'@)1ZHRHAAHI III&I.I6Iϰ<:I FBIJIRIZI- =bI- =jI͔4*F?2F:FBFJF E $?M Will construct direction to contact in vehicle frame from tetrahedron phase data.IA G% +I,G B) J3KO3 K(.KK"KJM JM JM 1JI JM ;JM {:JM 3JI JM p<JM p<JM ;JM ;Ou >Iw,g(AJ(@YJ'@J9J®>yJH 9!߿G?|?@?`C? ?`ެ?ɨJ(@J;JZCyZBZMI)d d f=f=Mb@Mb@Mb@ )YV-?~jtxyh1?LĻ @)I@Iy@IwIR4٢ 9=9:Q > G٣y A  > Nusing accuracyPremultiplier from config49@{2?4Y ieB%1?%:%p#@%@)KD!;b;-;4) - A-EZjQ]FNOT Ignoring new targets: 435.00 m.Bj]:Jj]:m ProNav: ac range: 435.000000 m, nav range: 414.053528 m, bearing: 214.268892 deg, approach rate: -0.299052 m/s, LOS rate: 0.102073 deg/s, cmd heading: 150.074378 deg, new cmd heading: 150.190561 deg. 2jm;uHeadingCmd: 2.621320 target range: 435.000000 and range: 435.00 m. ju'@jyjyjyiyhyhyhheBfffrfbf?ɛoB (=I =,ɚiIʰ0=I'@iciNH)'@)Ea>E>*FM?2FI:FIBFM`0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.Gm{#GI BQ Ou >zK] NK] ]9KY K] !K] RKm ?JKm ? A IA ] Will construct direction to contact in vehicle frame from tetrahedron phase data.Pw,KXBA2@Y2b'@2gi92>y2H /`+߿ ??.U?? D?༬?ɨ2@2?;2\CyZBZGIIbIb4٢n r]=9vq;Q v> G٣y' > Nusing accuracyPremultiplier from config49-h2?4Y ieBg#@@;KDX;;B4 : AEB*** querying acoustic contact ***jjZj15FNOT Ignoring new targets: 435.00 m.Bj=E:Jj=E:E ProNav: ac range: 435.000000 m, nav range: 413.951599 m, bearing: 214.303807 deg, approach rate: -0.254236 m/s, LOS rate: 0.087109 deg/s, cmd heading: 150.190560 deg, new cmd heading: 150.295331 deg. 2jm o;}HeadingCmd: 2.623148 target range: 435.000000 and range: 435.00 m. j}'@jjjihhhhfffrfbf׼?ɛ%pB%2$ IMH I  I II BI &I .I 6I <:I FVw,\A64@Y6'@6964`>y6H`.D߿ ?/?B? ^??@?ɨ64@6m;6[CyRuBR;IeMb@Mb@Mb@aaa a)aYe?{GzMbpye,?e#ea e@)e3@IeQAayef@IuIu(4٢{< A=9[E;Q > G٣BGy > Nusing accuracyPremultiplier from config49vT2?4Y} ieB,?:&@@LKD/;;I4  AZjFNOT Ignoring new targets: 435.00 m.Bj:Jj: ProNav: ac range: 435.000000 m, nav range: 413.836334 m, bearing: 214.337879 deg, approach rate: -0.292336 m/s, LOS rate: 0.086437 deg/s, cmd heading: 150.295335 deg, new cmd heading: 150.397579 deg. 2j Hm; HeadingCmd: 2.624933 target range: 435.000000 and range: 435.00 m. j '@jjjihhhhBBf!f!f!rf!bf%`@ $?IɛqBR,* ;I ,ɚiIl1=I'@iUdi*8)'@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.171102*F?2F:FBF1JFGdGqAGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.420008\w,uAybrBb8IIjIjE4٢v>H vU=9vQ v>xx zG٣xy~ ~>  Nusing accuracyPremultiplier from config 49A2?4Y|z ieB@]KD::O4! % A-EZjIUFNOT Ignoring new targets: 435.00 m.BjU:JjU:m ProNav: ac range: 435.000000 m, nav range: 413.726593 m, bearing: 214.370376 deg, approach rate: -0.286006 m/s, LOS rate: 0.084717 deg/s, cmd heading: 150.397583 deg, new cmd heading: 150.495101 deg. 2jmh;mHeadingCmd: 2.626635 target range: 435.000000 and range: 435.00 m. ju(@jqjqjqiqhqhyhyhyfyffrfbf@ɛsB+,  I  ,ɚiI11=I(@i !di)(@)E*Fu?2Fq:FqBFu!5JFq"G}=G}=GMG BO-,>zKEjIKE9KAKE"KE $?I%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.672026JJ.JJJt;JV:JJa%@a%@a%@a%@%cw,叹A2}@Y2'@2m׼92&>y2H@?߿@\??@:`?@? S??ɨ2}@2Np;2XCy>dB>&IIFIF94٢f fL=9f[;Q f>hh jG٣hyn: n> rNusing accuracyPremultiplier from configpv49r.2?v4Yrv ireBtz&@z@rnKDr:r ;rV4  AEZjIeFNOT Ignoring new targets: 435.00 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.935950Bj7:Jj7:u ProNav: ac range: 435.000000 m, nav range: 413.612213 m, bearing: 214.404286 deg, approach rate: -0.283347 m/s, LOS rate: 0.084025 deg/s, cmd heading: 150.495104 deg, new cmd heading: 150.596860 deg. 2juf;HeadingCmd: 2.628411 target range: 435.000000 and range: 435.00 m. j7(@jjjihhhh)f9fAfarfibfm`+@ɛtB4 隽pI >,ɚiI^w1=I7(@iTdi읞)7(@)jH<bH4=H*>I IIIBI&I.I6IҰ<:I F*F?2F:FBF?5JF $?I- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.176217G fG ?G ?G B O >iw,AZ"@YZ'@ZԼ9Z>yZHj?߿9? ?I?v?'? ?ɨZ"@Z*;Z[CyjfBj(ImMb@Mb@Mb@iii i)iYm/$?{Gzt~jtxym1(?mףmĻi i)m`@Im@iym@II 4٢#< >=9e:Q > G٣BGyI > Nusing accuracyPremultiplier from config49~2?4Y!s ieB4(?:e'@@KD6H;F;C^4  AZjFNOT Ignoring new targets: 435.00 m.Bj :Jj : ProNav: ac range: 435.000000 m, nav range: 413.490967 m, bearing: 214.439603 deg, approach rate: -0.283724 m/s, LOS rate: 0.082668 deg/s, cmd heading: 150.596860 deg, new cmd heading: 150.702842 deg. 2jb;HeadingCmd: 2.630261 target range: 435.000000 and range: 435.00 m. j1V(@jjjihhhh8Bfffrfbf@ @ɛEuBEb4 AE IA MuV,ɚIiIIMv1=Iu1V(@idi )1V(@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:32:21.4650 TRx dataTimestamp_ set to:1736371942.804330@DAT read: $Low SNR acquisition 2Received low SNR in chirp%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.447464*FE?2FA:FABFEZ0JFAG S.Ga Bi O > I zK BIK ػ9K K #K = Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.679974pw,ùA2@Y2'@2Gռ92>y2H )߿@|? ?~n?/?X?`?ɨ2@2j;2\CyN`BR!IIZIZ4٢b bY=9baQ b>dd fG٣dyf; j> nNusing accuracyPremultiplier from confighr49jy2?r4Yjo ijeBpr~'@v@jKDjq ;jq ;jd4x z3 AzEZjFNOT Ignoring new targets: 435.00 m.Bj:Jj:JJ)JJJ;J:JJ ProNav: ac range: 435.000000 m, nav range: 413.384644 m, bearing: 214.470506 deg, approach rate: -0.284355 m/s, LOS rate: 0.082670 deg/s, cmd heading: 150.702837 deg, new cmd heading: 150.795571 deg. 2jb; HeadingCmd: 2.631879 target range: 435.000000 and range: 435.00 m. j p(@j j j ihh1h9h9f9f9f9rfAbfE@t@ɛ 8 隍,I x,ɚiIh1=Ip(@idiv)p(@)EE*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.932162G~FG B Oe >H (>I  I II ՁBI . =&I .I 3D6I |<:I R F G  Y y Bww,ogݹAy\BIMb@Mb@Mb@ )Yy&1?{Gzt?~jtxy`%?ף; A @)I@Iy\@II4٢ 9=9Q > G٣y > Nusing accuracyPremultiplier from config 49v1? 4Y4l ieB c%? : x(@@KDn;; =$?I=[gl4 T AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 435.00 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.184393Bj:Jj:% ProNav: ac range: 435.000000 m, nav range: 413.257996 m, bearing: 214.505982 deg, approach rate: -0.273124 m/s, LOS rate: 0.076530 deg/s, cmd heading: 150.795578 deg, new cmd heading: 150.902039 deg. 2j%R;-HeadingCmd: 2.633737 target range: 435.000000 and range: 435.00 m. jM'(@jQjQjQiQhQhQhYhYfYfYfarfabfe`_2@ɛvB$: 隽TI %,ɚiI72=I'(@i.ei))'(@)*JR="J*F2F:FBFJFG G rAG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.435948G B O >0}w,OA6@Y6(@6qм96!g>y6H߿z?7?{8h?y ? ?,?ɨ6@6;6[CyJ]BJIIRIR4٢Z < Z`=9^:Q ^>\\ bG٣bBGyb,; b> fNusing accuracyPremultiplier from configdj49f1?j4Yf0i ifeBln(@n@fKDf~ ;f;fr4p rF AvEZjFNOT Ignoring new targets: 435.00 m.Bj%:Jj%:5 ProNav: ac range: 435.000000 m, nav range: 413.152985 m, bearing: 214.535278 deg, approach rate: -0.304057 m/s, LOS rate: 0.084846 deg/s, cmd heading: 150.902033 deg, new cmd heading: 150.989942 deg. 2j5h;=HeadingCmd: 2.635272 target range: 435.000000 and range: 435.00 m. j=J(@j9j9j9i9hAhAhAhAfIfQfQrfYbf]@ɛUwBU; UG=ULIY ],ɚYiYI]Ou2=IeJ(@ieJeie2±)eJ(@)i*FA2FA:FABFEl0JFA %$?I!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.687968zK:IK+9KK$K}|vme`\XSPOKHD?:7875/+)&&'%('$"BKrA:KrAJJ#J0JJt;J:Jـ3JG-+PG B O- >w,%A:!@Y:(@:(μ9:>y:H `޿ ??1{?cę?`?ܤ?ɨ:!@:P3;8yF_BF IIRIR4٢Z< ZJ=9Z(5:Q Z>\\ ^G٣\yb; b> fNusing accuracyPremultiplier from configdj49f1?j4Yfe ifeBhj(@n@fKDf;f2;fy4x ~6 AEZj)5FNOT Ignoring new targets: 435.00 m.Bj5H:Jj5H:E ProNav: ac range: 435.000000 m, nav range: 413.036957 m, bearing: 214.567633 deg, approach rate: -0.285667 m/s, LOS rate: 0.079682 deg/s, cmd heading: 150.989938 deg, new cmd heading: 151.087030 deg. 2jEZ;MHeadingCmd: 2.636966 target range: 435.000000 and range: 435.00 m. jM(@jIjQjQiQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.940171hQhahqhyfffrfbf 4@ɛAm5: q}CIy ,ɚiI)2=I(@ieiC)(@)ZH)RH)H5'>I5C I5II5ƁBI1&I5HD.I16I5<:I5 F*Fa2Fa:FaBFeo0JFa"Gm=Gm= 1I9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.192678Ge VG9 BI Oe >Aw,C+AB@YB=(@B̼9B>yBH`޿`v? G٣y; > Nusing accuracyPremultiplier from config49͸1?4Y@b ieB%?:)@@KDO;_N;4 . AZj)5FNOT Ignoring new targets: 435.00 m.Bj51:Jj51:E ProNav: ac range: 435.000000 m, nav range: 412.908691 m, bearing: 214.602972 deg, approach rate: -0.293738 m/s, LOS rate: 0.080954 deg/s, cmd heading: 151.087036 deg, new cmd heading: 151.193086 deg. 2jM;^;UHeadingCmd: 2.638817 target range: 435.000000 and range: 435.00 m. jUa(@jQjYjYiYhYhYhahe-Bfafafarfibfm}@ɛxB: 隝?I -ɚiI3=Ia(@ieiߜ)a(@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mAimAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.444451*Fq2Fq:FqBFu}2JFqGfG B O > 5 $?I9  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.696554zKU 6NKU 9KQ KU %KU      m,w,DARK?JK?y^BIIIP4٢]3 ]Q=9eQ e>aa eG٣eBGym m> uNusing accuracyPremultiplier from configq}49u1?}4Yu _ iueB@uKDu:u;:u4 ? AEJJ!JJJ;J:JJZj FNOT Ignoring new targets: 435.00 m.Bj:Jj:% ProNav: ac range: 435.000000 m, nav range: 412.794983 m, bearing: 214.634354 deg, approach rate: -0.283436 m/s, LOS rate: 0.078247 deg/s, cmd heading: 151.193081 deg, new cmd heading: 151.287254 deg. 2jV;HeadingCmd: 2.640461 target range: 435.000000 and range: 435.00 m. jO(@jjjihhhhfffrfbfc@ɛQ]; TI L-ɚiIJ3=IO(@i0fiF)O(@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.948124Ee$=*F% ?2F! :F) BF- `0JF1 HQ IQ  IU IIU BIU / =&IQ .IQ 6IU <:IU FBIJIRIZI. =bI. =jIf5Gy  Gy )I)G]%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.200340G9BAOe?ޘw,L4eA2sM@Y2l(@2Ǽ92E>y2Hkܳ޿@Ʒ? ;?@߽???_?ɨ2sM@2ى;2XCyvhBz+I)| |Mb@Mb@Mb@ )Yy&1?{Gzt?y`%?ף; A )`@I@yIIV4٢$= =9:Q > G٣y; > Nusing accuracyPremultiplier from config491?4YZ ieBa%?:Y(@@KDk;j;4  AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 435.00 m.Bj8:Jj8:M ProNav: ac range: 435.000000 m, nav range: 412.648315 m, bearing: 214.675991 deg, approach rate: -0.272788 m/s, LOS rate: 0.077469 deg/s, cmd heading: 151.287256 deg, new cmd heading: 151.412211 deg. 2jMT;UHeadingCmd: 2.642642 target range: 435.000000 and range: 435.00 m. jU !)@jQjQjQiQhYhYhyh5Bfffrfbf @ɛyBn5 I qp-ɚiI3=I  !)@ifi!,) !)@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.452085E\J=*F5 ?2F1 :F1 BF5 _0JF9 $?IG]6-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=6.705834G1BIOakOw,~AzK&LK&9K$K&&K&BK,:K,:g@Y:,(@:Ƽ9:>y:H ޿ȷ?%?" ?ݘ???ɨ:g@:S;8yFiBF,IININļ4٢VY]: Z.=9Z*9Q Z>X\ ^G٣\y^H^; ^> vNusing accuracyPremultiplier from configlz49nw1?~4YnV ineB|~s(@~@n LDnh;nO;n̙4  A Zj15FNOT Ignoring new targets: 435.00 m.Bj=c:Jj=c: ProNav: ac range: 435.000000 m, nav range: 412.514069 m, bearing: 214.714032 deg, approach rate: -0.302864 m/s, LOS rate: 0.085848 deg/s, cmd heading: 151.412207 deg, new cmd heading: 151.526365 deg. 2jk;HeadingCmd: 2.644634 target range: 435.000000 and range: 435.00 m. jA)@jjjihhhhfffrf!bf- |@ɛ6 I -ɚiI3=I-A)@i-fi-˾)-A)@)YEaEa*Ei"EiuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.959262*Fq2Fq:FqBFyJFG G"GGjH bH <H &>I  I I I &I .I 6I <:I FG B) OE >dw,TA>@Y>(@>7ȼ9>!m>y>H`yR޿ ?@G?`F?@V??`,?ɨ>@>;>ZCyFxBF?I N$?IL-Mb@Mb@Mb@))) )))Y-HzG?Mbp~jtx?y-=*?--;) ))-@I-v@)y-p@IEIEy4٢ς= -=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.2089229GQ > G٣BGy}4< > Nusing accuracyPremultiplier from config49`1?4YR ieB@*?:d(@@!LD;U;4B j AEZj9=FNOT Ignoring new targets: 435.00 m.BjE:JjE:] ProNav: ac range: 435.000000 m, nav range: 412.376740 m, bearing: 214.753111 deg, approach rate: -0.293184 m/s, LOS rate: 0.083459 deg/s, cmd heading: 151.526367 deg, new cmd heading: 151.643645 deg. 2j]e;]HeadingCmd: 2.646681 target range: 435.000000 and range: 435.00 m. je8c)@jajajaiahahihihqfqfqfqrfqbf}^R@ɛW?. 隥 I J-ɚiIs44=I8c)@iX$giB)8c)@)EEqAJJ#J1JJt;J:J3JJ"n Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.460158w,A2@Y2X(@2˼92C>y2H_2޿ 筷?@? ?,~???ɨ2@2;2\CyRBRKII^I^4٢fW= f\=9jˢQ j>hl nG٣lyn; r> vNusing accuracyPremultiplier from configpv49rN1?z4YrO ireBxz(@z@r1LDr.:r:rv4B  AEZj)-FNOT Ignoring new targets: 435.00 m.Bj5׽:Jj5׽:E ProNav: ac range: 435.000000 m, nav range: 412.269073 m, bearing: 214.783640 deg, approach rate: -0.292588 m/s, LOS rate: 0.082986 deg/s, cmd heading: 151.643641 deg, new cmd heading: 151.735252 deg. 2jMc;MHeadingCmd: 2.648280 target range: 435.000000 and range: 435.00 m. jMj})@jQjQjQiQhQhQhYhYfYfafarfabfe@ɛq( 隕Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.712172zK}uKK}9KyK}'K} w,ԺA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=7.963983:|@Y:>)@:*Լ9:ʍ>y:H <ݿ? ?@c"Խ??ľ??ɨ:|@:;:ZCybBb_IIjIjʴ4٢rP= vI=9z )Q ~>   G٣y< > %Nusing accuracyPremultiplier from config!-49%91?-4Y%-L i%fB15(@5@%BLD%;%A;%49 E AAZjamFNOT Ignoring new targets: 435.00 m.Bjm:Jjm:} ProNav: ac range: 435.000000 m, nav range: 412.147827 m, bearing: 214.817747 deg, approach rate: -0.294532 m/s, LOS rate: 0.082877 deg/s, cmd heading: 151.735248 deg, new cmd heading: 151.837598 deg. 2jc;HI IIIˁBI&I.I6I"<:I F]HeadingCmd: 2.650066 target range: 435.000000 and range: 435.00 m. j])@jajajiihhhhfffrfbf\ @ɛ  I=I % S-ɚ!i!I%4=I-)@i5gi5nv)5)@)1*F?2F:FBF@5JF IZgGBO_>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.215995*J C="J %=J J 9J 0J J J :J ـ3J J J J h;J h;)w,NA2I@Y2h)@2!ܼ92>y2H' ݿҷ?+^?`@Bٽ?`+?@?T?ɨ2I@24t;0>PExceeded connect timeout, disconnecting.yBBFdIeMb@Mb@Mb@aaa a)aYe|?5^? G٣BGy; > Nusing accuracyPremultiplier from config49%1?4YH i fBO.?:$@@ULDB;;4 { AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 435.00 m.Bj:Jj: ProNav: ac range: 435.000000 m, nav range: 412.037842 m, bearing: 214.854582 deg, approach rate: -0.260730 m/s, LOS rate: 0.087345 deg/s, cmd heading: 151.837591 deg, new cmd heading: 151.948127 deg. 2jo;HeadingCmd: 2.651995 target range: 435.000000 and range: 435.00 m. jJ)@jjjih!h!h!h%YBf)f)f)rf)bf-L!@ɛ @h=I )-ɚiI4=I%J)@i%gi%V%)%J)@)!E1E5>eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.470100*F?2F:FBF^0JFG S. m $?Iq G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.720019zK KK +9K K (K w,ΪA @2@Y2M)@2v92>y2H7 ݿ?#?@t?͜?@?H?ɨ2@2҇;2XCyBBB}IIJIJЬ4٢v#= vU=9zYQ z>xx ~G٣|y+< >  Nusing accuracyPremultiplier from config 49 1?4Y mD i fB$@@ fLD  ; X; 4! % A!ZjIMFNOT Ignoring new targets: 435.00 m.BjU:JjU:u ProNav: ac range: 435.000000 m, nav range: 411.937042 m, bearing: 214.888026 deg, approach rate: -0.263419 m/s, LOS rate: 0.087420 deg/s, cmd heading: 151.948131 deg, new cmd heading: 152.048487 deg. 2j}o;HeadingCmd: 2.653747 target range: 435.000000 and range: 435.00 m. j)@jjjihhhhfffrfbf !@ɛ@ x=I  ,ɚ iI4=I)@igi ^))@)*F2F:FBF_0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.971972) G-ZHRH@AHI IIIBI0 =&I.I6I <:I FU AGi G Y y nAB O- > Y IY Cw, "A6@Y6)@6y96D>y6H@IB iݿ)A?(?Iɽ?9??@?ɨ6@6;6[CynBnI-5only read 2 of 4 data items for water velocity. Device response is::WS,32768,-32768,V  =@= =@= =@=  =@= IEIEK4٢U< UC=9UXQ ]>YY ]G٣Yye; e> ubBottom track data is 0.4 s old, using for 20.0 s. uNusing accuracyPremultiplier from configiu49m0?}4Ymm@ imfB}+:y}|:}%@}@mxLDm';m>mó4B  AEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.224902ZjFNOT Ignoring new targets: 435.00 m.Bj:Jj: ProNav: ac range: 435.000000 m, nav range: 411.826324 m, bearing: 214.924525 deg, approach rate: -0.262501 m/s, LOS rate: 0.086559 deg/s, cmd heading: 152.048480 deg, new cmd heading: 152.158007 deg. 2jm;HeadingCmd: 2.655658 target range: 435.000000 and range: 435.00 m. jN)@jjjihhhhfffrfbf «"@ɛ!-x )-=I) -6|,ɚ1i1I5O4=I=N)@i=!giE{)EN)@)JJBAJJ%JJJ;J:JJJok<Jpk<J~;J~;*Fy2Fy:FyBFyJFy mnManaging dock network, ignoring radio surface power offG] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=9.476214Gy B O >y6H2P@%1ݿ@j?@?`? ??#?ɨ6@6k;6ZCyBBBIIJIJb4٢Vy|= VW=9V5bQ V>XX ZG٣ZBGy^< ^> fbBottom track data is 0.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`f49b-0?j4Yb< ib#fBj :hjL:jP%@j@bLDb(;b*M?bdz4p rF ArEZj  FNOT Ignoring new targets: 435.00 m.Bj:Jj:- ProNav: ac range: 435.000000 m, nav range: 411.724915 m, bearing: 214.957670 deg, approach rate: -0.268335 m/s, LOS rate: 0.087724 deg/s, cmd heading: 152.158009 deg, new cmd heading: 152.257468 deg. 2j-p;5HeadingCmd: 2.657394 target range: 435.000000 and range: 435.00 m. j5*@j1j1j1i1h1h9hAhAfAfAfIrfIbfMm#@ɛuxBu, >I ,ɚiI{4=I*@iӺgi^)*@) E1 $?I*F2F:FBFp0JFGrA GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.728102zKVBJK9KK)KGk}G ?G?GBO >Mw,>VAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.97999366@Y6U*@6].96X>y6H^cܿ$? ?@$1???Ƣ?ɨ66@6n;6YCyBɁBFIININ4٢VV}= VJ=9VQiQ Z>XX ZG٣Xy^/< b> fbBottom track data is 1.2 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j49bs0?j4Yb8 ib-fBj9ln%:n%@n@bLDbL;bs?b˳4t vAtZjFNOT Ignoring new targets: 435.00 m.Bj:Jj%:- ProNav: ac range: 435.000000 m, nav range: 411.616272 m, bearing: 214.992888 deg, approach rate: -0.267851 m/s, LOS rate: 0.086850 deg/s, cmd heading: 152.257470 deg, new cmd heading: 152.363152 deg. 2j5kn;HeadingCmd: 2.659239 target range: 435.000000 and range: 435.00 m. j0*@jjji!h!h)HqIq IuIIuBIu/ =&Iq.Iq6Iuǰ<:Iu Fhhfffrf bf5\$@ɛC* -">I) -o+ɚ)i)I-w4=I50*@i5gi5LF)=0*@)9 I*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ww,pA>t@Y>S*@>@ 9>>y>Hkvܿ/?@XT?@S3>?q?y?@ġ?ɨ>t@>@;>[CybсBbI U U UU UU  U U UMb@Mb@Mb@QQQ Q)QYU/$?J +~jth?yU G٣y< > Nusing accuracyPremultiplier from config49;0?4Y(4 i3fBT:U>?:+"@@LD~ ; ;Nӳ4 AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 435.00 m.Bjuh:Jjuh: ProNav: ac range: 435.000000 m, nav range: 411.505554 m, bearing: 215.034861 deg, approach rate: -0.256382 m/s, LOS rate: 0.097221 deg/s, cmd heading: 152.363147 deg, new cmd heading: 152.489101 deg. 2jq;HeadingCmd: 2.661437 target range: 435.000000 and range: 435.00 m. jT*@jjjihhhhBfffrfbf3$%@5Will construct direction to contact in vehicle frame from tetrahedron phase data.5IQ U7*ɚYiYI]4=IuT*@iuĐgi}L3)}T*@)y*FA2FA:FIBFM0JFI $?IGm hAGA BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:1853>  BDAT read: Tx time:21:32:29.4271  $Ping request sent. y2H@y9ܿ;?@?zB@xw? O?-?@f?ɨ2@2E;2YCy>B>IIVIV4٢%ͱ= -Q=9-덻Q ->11 5G٣5BGy5!< ]> eNusing accuracyPremultiplier from configam49eխ0?m4Ye/ ie9fBimj"@m@eLDe;:e\:e8ڳ4B AEZj!-FNOT Ignoring new targets: 435.00 m.Bj-:Jj-: ProNav: ac range: 435.000000 m, nav range: 411.403290 m, bearing: 215.073260 deg, approach rate: -0.249008 m/s, LOS rate: 0.093523 deg/s, cmd heading: 152.489096 deg, new cmd heading: 152.604322 deg. 2j^;HeadingCmd: 2.663448 target range: 435.000000 and range: 435.00 m. ju*@jjjihhhhfffrfbf%@ɛwBlܼ vV>I E7*ɚiI4=I%u*@i%qkgi%u)%u*@))*F?2F:FBFP5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:21:32:29.4263 Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250797jHu<bHu<H%>I I II!BI0 =&I.I6Iܰ<:I FBIMțCJIMțCRIIZIM/ =bIM0 =jIM׸4G .-G G G B O > I Yw,ΣAy~߁B~IMb@Mb@Mb@ )YʡE?ʡE~jth?y=?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501941ケ A )@IQAy@II1h4٢a @=9Q > G٣y > Nusing accuracyPremultiplier from config49A0?4Y* i>fB @?: @@LD;;4 0A Zj9=FNOT Ignoring new targets: 435.00 m.BjE:JjE:U ProNav: ac range: 435.000000 m, nav range: 411.300659 m, bearing: 215.114954 deg, approach rate: -0.252394 m/s, LOS rate: 0.102560 deg/s, cmd heading: 152.604321 deg, new cmd heading: 152.729433 deg. 2jŌ;HeadingCmd: 2.665632 target range: 435.000000 and range: 435.00 m. j*@jj!j!i!h!h)hQhUBfQfYfYrfabfeY&@ɛQ] Y]P>IY ey)ɚaiIV4=I*@i/QgiE=)*@)JJ+J0JJ<;JȆ:Jـ3JJ|o<J|o<J;J;*F]?2FY:FYBFeM5JFaU Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iQ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754763G jGy B O >w,ȳA2F@Y2-e+@2 92z>y2H@`ۿ? ?a?`?8??ɨ2F@2;0y:ށB>IIJIJ4٢n_ n[=9nRQ n>pp rG٣pyv< v> zNusing accuracyPremultiplier from configx~49z0?~4Yz& izDfB|r!@@zLDzB;zB;z4B :AEZj9=FNOT Ignoring new targets: 435.00 m.BjE:JjE:U ProNav: ac range: 435.000000 m, nav range: 411.207886 m, bearing: 215.151653 deg, approach rate: -0.249158 m/s, LOS rate: 0.098584 deg/s, cmd heading: 152.729437 deg, new cmd heading: 152.839559 deg. 2jUP;]HeadingCmd: 2.667553 target range: 435.000000 and range: 435.00 m. j]2*@jYjYjaiahahahahifififirfibfuz'@ɛB/Ѽ 隭RN>I p(ɚiI2y4=I2*@igi{Н)2*@) }$?I}Yg*FI2FI:FIBFM^0JFIG%f AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007342GBO(>zK5JK59K1K5+K5RKE ?JKE?U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257849ˮw,׻A2r@Y2+@2-92E>y2H GؓۿkU?@-9?T|@P?@?o?^?ɨ2r@2C;2ZCyjBnIIvqIvJH4٢~dQ= ~F=9~Q ~> G٣BGy~~<  > Nusing accuracyPremultiplier from config 49 o0?4Y ! i KfB!@%@ LD ; ; L4) -A-ºEZjYeFNOT Ignoring new targets: 435.00 m.Bj7:Jj7: ProNav: ac range: 435.000000 m, nav range: 411.103546 m, bearing: 215.192205 deg, approach rate: -0.253248 m/s, LOS rate: 0.098449 deg/s, cmd heading: 152.839553 deg, new cmd heading: 152.961237 deg. 2j!;HI I4 II@BI&I.I6I<:I F HeadingCmd: 2.669677 target range: 435.000000 and range: 435.00 m. j*@jjji!h!hQhYhafffrfbf6`(@ɛ)-Cܼ -#=-d>I) 5(ɚ1i1I5:4=I=*@i=fi=A޺)=*@)aEmN>Ei M$?II*F-?2F):F)BF-_0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510375G= ei@G B! O= >zw,p_A6@Y6~#,@6196>y6HJۿ?@"?@Y@6?`N;?{??ɨ6@6I;4yRBRIMb@Mb@Mb@ )YT㥛 ?Zd;MbyA? A @)@Iyp@II̍4٢ k; <=9E4Q > G٣y%2D< %> -Nusing accuracyPremultiplier from config)=49-X0?=4Y- i-NfB=C?=:="@E@-MD-1;-)0;-4I MAImB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 435.00 m.Bj:Jj: ProNav: ac range: 435.000000 m, nav range: 410.990417 m, bearing: 215.235797 deg, approach rate: -0.259396 m/s, LOS rate: 0.099981 deg/s, cmd heading: 152.961240 deg, new cmd heading: 153.092051 deg. 2j;;HeadingCmd: 2.671960 target range: 435.000000 and range: 435.00 m. jf+@jjjihhhhBfffrfbfG-)@ɛ0Ǽ e>I dd'ɚiI4=If+@i6fi9)f+@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761940*F?2F:FBFJFG4λGABIOmV> U$?IY Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013787]w,: AzK"k3IK"9K K",K"BK*pA:K*pAJ;3K;3 K;/.K3K3"K3JVJV.JV1JTJV$ ;JVV:JV3JTa^@a^@a^@a^@-?@Y-Y^,@-59-0>y-H. 7ۿ[??@2?.?`UQ??ɨ-?@-;-XCyBImImW4٢|q A=9MQ > G٣y < > Nusing accuracyPremultiplier from config490B0?4Y iRfBN"@ @%MD;;_4 źEZjYeFNOT Ignoring new targets: 435.00 m.Bje:Jjm: ProNav: ac range: 435.000000 m, nav range: 410.878601 m, bearing: 215.278527 deg, approach rate: -0.258071 m/s, LOS rate: 0.098647 deg/s, cmd heading: 153.092051 deg, new cmd heading: 153.220276 deg. 2jf;HeadingCmd: 2.674198 target range: 435.000000 and range: 435.00 m. j&+@jjjihhh h f f frfbf^*@ɛy}.ռ y隅d>I [&ɚiI%3=I&+@iei2:)&+@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266811*F2F:FBFJFZHRH?AHI IM IITBI&I.I6I<:Im FG i"G qAG I II G B O >w, %A>y@Y>y,@>79>>y>H~ {ڿg˹?^?Z U?@?@??ɨ>y@>x;>YCyJBJI]Mb@Mb@Mb@YYY Y)YY]x&1?"~jMby]A?]S㽹Y]/ A Y)]@I]hAYy]f@}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518027IuIuƕ4٢ \=9yQ > G٣BGy< > Nusing accuracyPremultiplier from config49.0?4Y iUfBC?:t#@@7MD!; ;4 AȺEZjFNOT Ignoring new targets: 435.00 m.Bj :Jj:- ProNav: ac range: 435.000000 m, nav range: 410.778381 m, bearing: 215.314873 deg, approach rate: -0.279208 m/s, LOS rate: 0.101285 deg/s, cmd heading: 153.220281 deg, new cmd heading: 153.329347 deg. 2j5;=HeadingCmd: 2.676102 target range: 435.000000 and range: 435.00 m. j=AE+@jAjAjAiAhAhIhQhUBfYfYfYrfabfe`*@ɛqtǼ 隍[>I %ɚiI3=IAE+@i4#ei7;)AE+@)E8F=E5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771150*Fi 2Fi :Fi BFi JFi "Gu =Gu =GU 7:G B 5$?I5XgO]>w,3CA2N@Y2,@2!;92>y2H T`6ڿSι?nh? ¶*a?)b?{? ?ɨ2N@2%;2[Cy>B>IIJIJ4٢RŮ R:=9VQ V>XX ZG٣XyZ; ^> bNusing accuracyPremultiplier from config\f49^0?f4Y^  i^ZfBdf#@j@^MMD^w;^;^o 4l n AnƺEZj  FNOT Ignoring new targets: 435.00 m.Bj:Jj:% ProNav: ac range: 435.000000 m, nav range: 410.657562 m, bearing: 215.358573 deg, approach rate: -0.275152 m/s, LOS rate: 0.099551 deg/s, cmd heading: 153.329346 deg, new cmd heading: 153.460484 deg. 2j%;-HeadingCmd: 2.678391 target range: 435.000000 and range: 435.00 m. j-j+@j)j)j)i1h1h1h1h1f9f9f9rf9bfE+@ɛxB/ռ X>I 4%ɚiI93=Ij+@iWdi- ;)j+@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022774E$=*Fu?2Fq:FqBFu0JFyzKBoIK9KK-KJJ1JJJ ;J:JJG:Gq By O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276395 G! 9 e jYa ye BH I  I S II YBI &I .I 6I <:I V F%w,\A>@Y>_,@>=9>߃>y>H|lڿ˹?`U?Q? ???ɨ>@>;>ZCyjԁBnII%I%n4٢}` }1=9Q > G٣y.; > Nusing accuracyPremultiplier from config49/?4Y i`fB $?I #@ @dMD'<'<4 AɺEZjY]FNOT Ignoring new targets: 435.00 m.Bjew:Jjw: ProNav: ac range: 435.000000 m, nav range: 410.528931 m, bearing: 215.405054 deg, approach rate: -0.269035 m/s, LOS rate: 0.097247 deg/s, cmd heading: 153.460485 deg, new cmd heading: 153.599972 deg. 2jz;HeadingCmd: 2.680825 target range: 435.000000 and range: 435.00 m. j+@jjjihhhhfffrf bf [,@ɛ15~ 15H7>I1 ={$ɚ9i9I=2=IE+@iEciE:)E+@)IEQEQ*EQ"EQWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:32:32.4234 TRx dataTimestamp_ set to:1736371953.636826checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527144*F 2F :F BF `0JF G  G U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778667Gm ;Gu ?Gu >GIBiO>&+w,]m{A6"@Y6,@6N@96 >y6H@ڿ?q@?@\?@?` ??ɨ6"@6%6;6YCyB́BBI]Mb@Mb@Mb@YYY Y)YY]K?I + G٣BGyU; > Nusing accuracyPremultiplier from config49/?4YZ ibfB;?:x%@@xMD;;L4 A̺EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 435.00 m.Bj:Jj: ProNav: ac range: 435.000000 m, nav range: 410.404175 m, bearing: 215.446654 deg, approach rate: -0.290727 m/s, LOS rate: 0.096973 deg/s, cmd heading: 153.599971 deg, new cmd heading: 153.724809 deg. 2j; HeadingCmd: 2.683004 target range: 435.000000 and range: 435.00 m. j W+@j j j ihhh!h%Bf!f!f!rf)bf- t-@ɛ]yBe{ qu)>Iy #ɚiI2=I-W+@i-wci5](:)5W+@)1 $?I*F ?2F :FBF>1JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:32:32.4234 LVL= 28656, 29233, 32754, 32755, AGC= 67, IDX= 508, 0.00, 1.649, 3.053, 0.731, 1.357, PHS= 0.381, 1.744,-0.629, RAW= 355.1, -14.4, CAL= 355.7, -19.8, ROT= 154.3, 19.8 Ygot valid direction response: 21:32:32.4234 LVL= 28656, 29233, 32754, 32755, AGC= 67, IDX= 508, 0.00, 1.649, 3.053, 0.731, 1.357, PHS= 0.381, 1.744,-0.629, RAW= 355.1, -14.4, CAL= 355.7, -19.8, ROT= 154.3, 19.8 DAT read: Range 10 to 50 : 444.0 m (Round-trip 592.1 ms) speed -0.6 m/s ,DAT read: user:1854> BDAT read: Tx time:21:32:33.5271 $Ping request sent.}d;?}%!}DS@} }@)};ﰾI}Z,@i};>yy}|; ?xlkA<Ͽ)}C I}b>i}b?}ª=yy5:publishing transmit ping time=Fpublishing direction and range infoy9}7`dR?@ F?躿yyyyy y)yIyiyyyyy y)yIyiyyy}|; ?xlkA<Ͽ)yIyiyyyyJJJJJ!;JJJzK :IK 9K K .K x /rzG0'   g-Iae@* G :GA BI Oe >%w,:A>@Y>5,@>.?9>tA >y>H -ڿ?@C?@e? ?@Au?`?ɨ>@>;>ZCyJŁBJI\^AI~I~t4٢4 R=9(9Q =>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU49M@/?U4YMZ iMdfBy}t%@}@MMDM;M;M%#4  AWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:32:33.5263 kVʦǛ?k] k kA:kCBkvCZky@"hp sGc@\)y@LqUG7`dR?@ F?躿Jkb?Rkª=*lrtU .s@ p1@A?cWNN$?"kp*k3k1Zƛ?k< 2kBkk kPBk_Ckt@ addTargetRange:: Added new target pos. range: 444.000000 m, deltaT: 14.869195 s, deltaX: 9.000000 m, approachRate: 0.605278 m/s, rangeRepo size: 4  Added new target pos. range: 444.000000 m, bearing: 223.764787 deg, lat: 36.899246 deg, lon: -122.117989 deg, deltaT: 14.869195 s, deltaX: 9.000000 m, approachRate: 0.605278 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 444.00 m.BjJj ProNav: ac range: 444.000000 m, nav range: 430.742371 m, bearing: 219.138590 deg, approach rate: 0.000000 m/s, LOS rate: 0.096973 deg/s, cmd heading: 153.724814 deg, new cmd heading: 153.849016 deg. 2jHeadingCmd: 2.685172 target range: 444.000000 and range: 444.00 m. j%+@j!j!j!i!h!h!hIhIfIfQfQrfU{@bfU5=?Hu$>Iq IuM IIuTBIq&Iq.Iq6Iu<:Iuy Fɛ >I _#ɚiIq2=I+@i1ci)+@)*F?2F:FBFi4JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.G 9Ga Bq O >J J AA9+w,A6@Y6+,@6?96 >y6H ڿz? 9? `yy }G٣yy: > Nusing accuracyPremultiplier from config49/?4Y iefB3?:(@@MD#;e";W*4 L AϺEZjFNOT Ignoring new targets: 444.00 m.Bj:Jj: ProNav: ac range: 444.000000 m, nav range: 430.637512 m, bearing: 219.174415 deg, approach rate: -0.278478 m/s, LOS rate: 0.095165 deg/s, cmd heading: 153.849014 deg, new cmd heading: 153.956514 deg. 2j;HeadingCmd: 2.687048 target range: 444.000000 and range: 444.00 m. j+@jjjih!h!h!h%UBf)f)f)rf)bf5#U?ɛ]zB]3 aeT>Ia m"ɚiiiImX@2=Iu+@iuDbiu )u+@)y*F 2F :F BF2JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.GݻGrAGGBOE> u ~$?Iq 2w,NȼA"Will construct direction to contact in vehicle frame from tetrahedron phase data.yEBEIIUIUd4٢eF eK=9mQ m>ii mG٣uBGyu u> Nusing accuracyPremultiplier from config49\/?4Y iffB@MD< <`14  AҺEZjFNOT Ignoring new targets: 444.00 m.JJ2JJJ$;Jh:JJBj:Jj:  ProNav: ac range: 444.000000 m, nav range: 430.535156 m, bearing: 219.209460 deg, approach rate: -0.237040 m/s, LOS rate: 0.081179 deg/s, cmd heading: 153.956507 deg, new cmd heading: 154.061669 deg. zK/OKKK/K8x< 2j%^;%HeadingCmd: 2.688883 target range: 444.000000 and range: 444.00 m. j%,@j)j)j)i)h)hihqhqfqfqfyrfybf}?ɛ =I -5"ɚ)i1I5 2=I5,@i="Lbi=w)=,@)9*F?2F:FBF3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iH} #>Iy  I} : II} EBI} 1 =&Iy .Iy 6I} {<:I} K FBI9JI9RI9ZI=0 =bI9jI=ɇ5G ˴G B O > } }$?Iy lf8w,;㼻Ab@Yb,@b?9b7>ybH@1ڿ G٣y > Nusing accuracyPremultiplier from config49/?4Y ijfB*?: ,@@MD;;84  AZj%FNOT Ignoring new targets: 444.00 m.Bj%:Jj%:5 ProNav: ac range: 444.000000 m, nav range: 430.417267 m, bearing: 219.243425 deg, approach rate: -0.300302 m/s, LOS rate: 0.086544 deg/s, cmd heading: 154.061665 deg, new cmd heading: 154.163588 deg. 2j5m;HeadingCmd: 2.690662 target range: 444.000000 and range: 444.00 m. j3,@jjjihhhh0BfffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.bf@ ?ɛ?  =I I"ɚiI1=I3,@ipbi )3,@)*F?2F:FBF^0JFG G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >>w,A63[@Y6y,@6n:96%>y6H Gۿ?ȝ?b?K? T?}?ɨ63[@6;6XCyBBBnIIJIJ.4٢R R_=9V`;Q V>TX ZG٣XyZ Z> bNusing accuracyPremultiplier from config\b49^/?f4Y^ i^nfBdf+@f@^MD^ :^q:^!?4rB v, AzպEZjFNOT Ignoring new targets: 444.00 m.Bj@:Jj@: ProNav: ac range: 444.000000 m, nav range: 430.315704 m, bearing: 219.272970 deg, approach rate: -0.263282 m/s, LOS rate: 0.076609 deg/s, cmd heading: 154.163585 deg, new cmd heading: 154.252242 deg. 2jMR;HeadingCmd: 2.692209 target range: 444.000000 and range: 444.00 m. j)M,@jjjihhhhff f rf bf  } ?ɛm{Bm q隕=I "ɚiI1=I)M,@i b |$?IWgiLH))M,@)*F?2F:FBF_0JFGEWill construct direction to contact in vehicle frame from tetrahedron phase data.GBOf>zKM MKM h9KI KM 0KM  ':>744//,1BK] qA:K] oAUlEw,A>@Y>-,@>Q39>e >y>HXۿI?@?:@5? {?ϰ??ɨ>@>І;>ZCybBbiIIjIj4٢r5 rF=9vp|;Q v>tx zG٣zBGyz8 z> Nusing accuracyPremultiplier from config|49~k/? 4Y~ i~rfB +@@~MD~0;~2;~VF4) 5J A5غE]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 444.00 m.Bju:Jju: ProNav: ac range: 444.000000 m, nav range: 430.202454 m, bearing: 219.306370 deg, approach rate: -0.285281 m/s, LOS rate: 0.084157 deg/s, cmd heading: 154.252241 deg, new cmd heading: 154.352467 deg. 2jg;HeadingCmd: 2.693959 target range: 444.000000 and range: 444.00 m. ji,@jjjihhWill 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-@ɛ `=I !ɚiI 1=Ii,@ir!biߚ)i,@)ZHRH@AH">IC I II,BI2 =&I.I2D6If<:I; F*F2F:FBFo0JF IG׹GQBYOu>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506760J J 9J 0J J );J :J ـ3J J 7yJH@@Pۿ@y?@P!?vA+? ? ?\?ɨJ`@Jώ;JWCyB`IAMb@Mb@Mb@ )Y}?5^I??{GzyM"?<#A @)~@II@y@II:4٢  ==9;Q > G٣y > Nusing accuracyPremultiplier from config49V/?4Y i{fBs"?:.@@MD;Y;M4B  A׺EZj!%FNOT Ignoring new targets: 444.00 m.Bj-:Jj-: ProNav: ac range: 444.000000 m, nav range: 430.078125 m, bearing: 219.338960 deg, approach rate: -0.290923 m/s, LOS rate: 0.076280 deg/s, cmd heading: 154.352467 deg, new cmd heading: 154.450263 deg. 2jfQ;HeadingCmd: 2.695666 target range: 444.000000 and range: 444.00 m. jɅ,@jjjihhhhBfffrfbf`3@ɛae i隭@C=I y!ɚiIM1=IɅ,@ikbih)Ʌ,@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758336*F2F:FBFn0JFGňGBO>  {$?I m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014297ҕRw,JA6;@Y6n+@6i$96G >y6HKۿbR?,?Êt?ы?7??ɨ6;@6D;4yBBBiIIJIJ4٢R= R[=9RG;Q V>TX ZG٣XyZ Z> bNusing accuracyPremultiplier from config\b49^lD/?f4Y^2 i^fBdj.@j@^ND^.;^.;^jT4p rQ ArںEZj  FNOT Ignoring new targets: 444.00 m.Bj:Jj:% ProNav: ac range: 444.000000 m, nav range: 429.971222 m, bearing: 219.367077 deg, approach rate: -0.285794 m/s, LOS rate: 0.075188 deg/s, cmd heading: 154.450262 deg, new cmd heading: 154.534635 deg. 2j%gN;-HeadingCmd: 2.697138 target range: 444.000000 and range: 444.00 m. j-,@j)j)j)i1h1h1h1h9f9f9f9rf9bfE &@ɛim/ qu|=Iq u&!ɚqiqIuz1=I},@i}Kbix),@)zK=MK=]9K9K=1K=Qjg[PL=75-*&$ RKIJKM>*F92F9:F9BF=1JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262174Ge'H!>I I IIBI&I.I6I<:Ix FG9 BQ O} > I Xw,dAyqqMb@Mb@Mb@ )YCl?J +?~jtxy;?H=Ļ p@)@I@yQ@II4٢5 e 54=9=Q =>AA EG٣EBGyU U> ]Nusing accuracyPremultiplier from configYm49]&./?u4Y]p i]fB}?}:}0@}@]ND]ؙ;];]a\4Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516251B ݺEZjFNOT Ignoring new targets: 444.00 m.BjH:JjH:  ProNav: ac range: 444.000000 m, nav range: 429.833313 m, bearing: 219.400207 deg, approach rate: -0.278835 m/s, LOS rate: 0.067006 deg/s, cmd heading: 154.534642 deg, new cmd heading: 154.634063 deg. 2j 7;HeadingCmd: 2.698874 target range: 444.000000 and range: 444.00 m. jX,@jjjihhhaheBfififirfibfm ( @ɛbJ%J%4J!J!J%%;J%r:J!J!J%<J%<J%;J%; y}P|=I 4C!ɚiIf1=IX,@i&ci]Z˼)X,@)*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:32:36.5273  TRx dataTimestamp_ set to:1736371957.920647 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767229G ?;G B O >E&_w,A6H@Y6+@696T >y6H`٠ۿ@] 1 5G٣1y5} 5> ENusing accuracyPremultiplier from config9E49=f/?M4Y= i=fBIM0@M@=%ND=;=;=c4q }* AyZjFNOT Ignoring new targets: 444.00 m.BjH:JjH: ProNav: ac range: 444.000000 m, nav range: 429.717346 m, bearing: 219.428119 deg, approach rate: -0.329147 m/s, LOS rate: 0.079245 deg/s, cmd heading: 154.634062 deg, new cmd heading: 154.717822 deg. 2jY;HeadingCmd: 2.700336 target range: 444.000000 and range: 444.00 m. jL,@jjjihhhhfffrfbfX@ x$?Iɛqu# qu=Iq }!ɚyiyI}Z1=IL,@i wci@ּ)L,@)*F]?2FY:FYBFe4JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020592GvżzK DMK h9K K 2K BK5 rA:K5 rAGY Bi O >fw,NA) "6CV-G`vWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 21:32:36.5273 LVL= 25584, 32753, 30898, 32755, AGC= 68, IDX= 468, 0.31,-1.265, 0.139,-2.246,-1.501, PHS= 0.324, 1.688,-0.748, RAW= 356.1, -11.9, CAL= 356.6, -16.6, ROT= 153.4, 16.6 EYgot valid direction response: 21:32:36.5273 LVL= 25584, 32753, 30898, 32755, AGC= 68, IDX= 468, 0.31,-1.265, 0.139,-2.246,-1.501, PHS= 0.324, 1.688,-0.748, RAW= 356.1, -11.9, CAL= 356.6, -16.6, ROT= 153.4, 16.6 MPDAT read: Bearing 153.4, 16.6 (Local) M~Local bearing/azimuth received: Bearing 153.4, 16.6 (Local) amDAT read: Range 10 to 50 : 447.0 m (Round-trip 596.0 ms) speed -0.4 m/s Yy B,DAT read: user:1855> BDAT read: Tx time:21:32:37.6271 $Ping request sent.I IIIBI3 =&I.I6I<:IT F@Y+@-6:publishing transmit ping timeFpublishing direction and range infox9zc%?% j9?GKGyzCxzcz zx)xIzDizT>zb?z|?z>@zȭT z)@)zVIzuY+@izV>xxzNR֧'}tC#J}H'wʿ)zv Iz CU>izy?z]=xx:publishing transmit ping timeFpublishing direction and range infox9zc%?% j9?GKGyxxxx x)xIxixxxxx x)xIxixxxzNR֧'}tC#J}H'wʿ)xIxixxxx9>yH ۿN?-?RK?@? ?`?ɨ@-;YCyޕBޝtIII4٢}[< } =9;Q > G٣yM8 > Nusing accuracyPremultiplier from config49..?4Y ifB0@@lNDzc%?% j9?GKGJkzy?Rkz]=*zl'gsؕi s((.:7@z(t=]pwqu?"kzn*kz3kz-)ț?kz 2kzBkzcě?kzqS9 kz-Bkz#Ckz/v@ addTargetRange:: Added new target pos. range: 447.000000 m, deltaT: 4.285744 s, deltaX: 3.000000 m, approachRate: 0.699995 m/s, rangeRepo size: 4 ] Added new target pos. range: 447.000000 m, bearing: 225.586836 deg, lat: 36.899315 deg, lon: -122.118000 deg, deltaT: 4.285744 s, deltaX: 3.000000 m, approachRate: 0.699995 m/s, posRepo size: 4 ZjaeFNOT Ignoring new targets: 447.00 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.BjJj ProNav: ac range: 447.000000 m, nav range: 424.278748 m, bearing: 220.241779 deg, approach rate: 0.000000 m/s, LOS rate: 0.079245 deg/s, cmd heading: 154.717828 deg, new cmd heading: 154.861679 deg. 2jHeadingCmd: 2.702846 target range: 447.000000 and range: 447.00 m. jo,@jjjihhi hi hi fq fq fq rfu {@bfu 2?ɛ zB ʛ =I R ɚ i I O1=I o,@i 5di hX) o,@) J J 3J J J |";J :J J J Hz<J Iz<J ;J ;*F 2F :F BF x0JF Gp6ϼG ?G?EWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO ?pjnw,vA6@Y6 ,@6_96X>y6HE`nۿ9?^?}? ?@9w? ?ɨ6@6;6WCyRBRIMb@Mb@Mb@ )Y~jt?Zd;?~jth?y?y=D;3A Z@)h@II@y @IIn4٢aF= O=9U G٣BGyl; > Nusing accuracyPremultiplier from config49!.?4Yk ifBn?:W2@@KND] ;;t4  AE%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 447.00 m.Bj=:Jj=:M ProNav: ac range: 447.000000 m, nav range: 424.160370 m, bearing: 220.270152 deg, approach rate: -0.327711 m/s, LOS rate: 0.078567 deg/s, cmd heading: 154.861685 deg, new cmd heading: 154.946826 deg. 2jMW;UHeadingCmd: 2.704332 target range: 447.000000 and range: 447.00 m. jU-@jQjQjQiQhYhYhYh]Bfafafarfabfm?ɛ15  15T=I1 =_ ɚ9i9I=?1=IE-@idi!ڼ)-@) w$?I*F2F:FBFP5JF5Will 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 >zK gKK K K 3K Muw,<ֽA2 @Y2),@292>y2H`dVۿ\??% Լ?@ߢ?F? v?ɨ2 @2ԋ;0yRBRI`bAIjIjƕ4٢v8= vZ=9zAg:Q z>xx zG٣|ym^; m> }Nusing accuracyPremultiplier from configq}49u`.?4YuA iufBv2@@uZNDu ;u ;uz4 * AZjFNOT Ignoring new targets: 447.00 m.Bj:Jj: ProNav: ac range: 447.000000 m, nav range: 424.043640 m, bearing: 220.298046 deg, approach rate: -0.299868 m/s, LOS rate: 0.071677 deg/s, cmd heading: 154.946830 deg, new cmd heading: 155.030536 deg. 2jD;HeadingCmd: 2.705793 target range: 447.000000 and range: 447.00 m. j+-@jjjihhhhfffrfbf?ɛEyBMYK IM >II MWɚIiQIU'1=I]+-@i]di]aټ)]+-@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995409H>I III&I.I6Iа<:I F*F2F:FBFZ0JF IGqGI BY O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241807Kw{w,A*J4="J=JJ;JJJ$;J:JJJU~<JU~<J2;J2;R4@YRGS,@RE9R>yRHw,ۿ@I??`M`Î?`?&?@?ɨR4@Rތ;RXCy~ʁB~IMb@Mb@Mb@ )YGz? ףp= ?{Gz?yp?Q8=#<A )~@I@yII{4٢R= ==95Q > G٣y; > Nusing accuracyPremultiplier from configm49'.?m4Y ifBu?u:u0@u@kNDǎ<<74 AEZjFNOT Ignoring new targets: 447.00 m.Bj:Jj: ProNav: ac range: 447.000000 m, nav range: 423.922455 m, bearing: 220.328878 deg, approach rate: -0.280099 m/s, LOS rate: 0.071282 deg/s, cmd heading: 155.030541 deg, new cmd heading: 155.123062 deg. 2jC;HeadingCmd: 2.707408 target range: 447.000000 and range: 447.00 m. j-F-@jjjihhhh!Bfffrfbf@T?ɛ2 ">I fɚiI:1=I%-F-@i%[ei%`Ҽ)%-F-@))*F?2F:FBF]0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493901G ټGi Bq O > v$?I _w,N A @6#@Y6B,@64N96q>y6H_:ۿ?S?W` ?`h?@?ߠ?ɨ6#@6;4yBBBIIJIJפ4٢R#> R`=9R-;Q V>TT VG٣VBGyZG7 Z> ^Nusing accuracyPremultiplier from config\f49^.?f4Y^ i^fBdf0@j@^yND^z@;^3;^4l nAp]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.746014ZjFNOT Ignoring new targets: 447.00 m.Bj:Jj:  ProNav: ac range: 447.000000 m, nav range: 423.817596 m, bearing: 220.355672 deg, approach rate: -0.281671 m/s, LOS rate: 0.071994 deg/s, cmd heading: 155.123063 deg, new cmd heading: 155.203466 deg. 2j E;HeadingCmd: 2.708812 target range: 447.000000 and range: 447.00 m. j5+]-@j1j1j9i9h9h9h9hAfAfAfIrfIbfM`?ɛxB \_>I ɚiI0=I+]-@ileiՎ)+]-@)*F?2F:FBF_0JFzKRIK+9KK4KG~>Լ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998709ZH RH H I  I  II BI &I .I 6I <:I V FBIuɚCJIuɚCRIqZIu3 =bIu3 =jIuɭ'5G B O >Uw,#A 4I8yB%I -p=)Mb@Mb@Mb@ )Y'1Z?I +?Mb?y"?94<< -@)h@I@y@II:4٢ = (=9Q > G٣y > Nusing accuracyPremultiplier from config49/.?4Y ifB"?:-@@ND;g;a4B ;AE]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249902ZjaeFNOT Ignoring new targets: 447.00 m.Bjmص:Jjmص:} ProNav: ac range: 447.000000 m, nav range: 423.684448 m, bearing: 220.394981 deg, approach rate: -0.269166 m/s, LOS rate: 0.079490 deg/s, cmd heading: 155.203468 deg, new cmd heading: 155.321431 deg. 2j}6Z;HeadingCmd: 2.710870 target range: 447.000000 and range: 447.00 m. j~-@jjjihhhhDBfffrfbf?J@ɛwB) 隕ń>I ɚiI0=I~-@infi-s)~-@)*F?2F:FBFJFG + Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501863G B O >jw,>A6C@Y6Sb,@6 96\>y6H``=ۿZt??U`ľ?ٞ?@&??ɨ6C@6I!;6YCyB III4٢5<> 5g=95;Q =>99 =G٣9yE; E? MNusing accuracyPremultiplier from configIU49Mߊ.?U4YM iMgBQ]=-@]@MNDM ;M` ;MA4a eoAeEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 447.00 m.Bjв:Jjв: ProNav: ac range: 447.000000 m, nav range: 423.595306 m, bearing: 220.421213 deg, approach rate: -0.265568 m/s, LOS rate: 0.078165 deg/s, cmd heading: 155.321425 deg, new cmd heading: 155.400137 deg. 2jV;HeadingCmd: 2.712244 target range: 447.000000 and range: 447.00 m. jh-@jjjihhhhfffrfbf @ t$?I ɛN]s %>I! 5ɚ9i9I=;m0=IMh-@iMQfiM)Mh-@)Q*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753906GfJJ:J1JJJ:J3Ja@a@a@a@G B O >zK &~JK 9K K 5K RK JK > ʕw,|HXA>P@Y>mo,@> 9>>y>H`ۿz?]??Dy?H??ɨ>P@>;>XCyb,Bb IIvIv#4٢z= zO=9~d>:Q ~> G٣BGy;  > %Nusing accuracyPremultiplier from config!549%w.?54Y% 5tIi%gB15I-@=@%ND%^;%\;%34A EAAZjimFNOT Ignoring new targets: 447.00 m.Bju}:Jju}: ProNav: ac range: 447.000000 m, nav range: 423.489838 m, bearing: 220.452240 deg, approach rate: -0.274070 m/s, LOS rate: 0.080646 deg/s, cmd heading: 155.400136 deg, new cmd heading: 155.493239 deg. 2jb];HeadingCmd: 2.713869 target range: 447.000000 and range: 447.00 m. j-@jjjihhhhfffrfbfH@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005906ɛvBJ L 隝z>I ~ɚiI'0=I-@iVgiD)-@)H>I I4 II@BI4 =&I.I6Iq<:I? F*F2F:FBF0JF I GGG B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.) i) - checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258082w,$rA2v@Y2,@21 92>y2Hq7ڿo?x?t?߲?`aa eG٣aym2< u> Nusing accuracyPremultiplier from config 49 a.?4Y  i #gB.?%:%'@%@ ND !; ; ˥4-B -9A-EZjQ]FNOT Ignoring new targets: 447.00 m.Bj] :Jj] :m ProNav: ac range: 447.000000 m, nav range: 423.389709 m, bearing: 220.489804 deg, approach rate: -0.230704 m/s, LOS rate: 0.086571 deg/s, cmd heading: 155.493245 deg, new cmd heading: 155.605963 deg. 2jmm;}HeadingCmd: 2.715836 target range: 447.000000 and range: 447.00 m. j}C-@jyjyjihhhhBfffrfbf @ɛuB1 {>I ZɚiI/=IC-@igi)C-@)E]>E>*F2F:FBFB3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:32:40.6283 TRx dataTimestamp_ set to:1736371961.967455checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513760G s$?IVgG B O ܢw,A6@Y6,@6$ 96m>y6H@!4ڿ V?`\T?@ ??8?/?ɨ6@6.;6XCyRTBRM II^I^4٢f= fT=9j8Q j>ll nGrWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.762074٣tyv; z> ~Nusing accuracyPremultiplier from configx49zO.?4Yz iz0gB (@ @zNDz;z;z94B ~AEZj9=FNOT Ignoring new targets: 447.00 m.BjE:JjE:U ProNav: ac range: 447.000000 m, nav range: 423.304504 m, bearing: 220.521599 deg, approach rate: -0.231854 m/s, LOS rate: 0.086537 deg/s, cmd heading: 155.605957 deg, new cmd heading: 155.701362 deg. 2j]m;eHeadingCmd: 2.717501 target range: 447.000000 and range: 447.00 m. je-@jajajaiahihihihifqfqfqrfqbf}y@ɛtBs 隥U>I  ɚiI|/=I-@i>hiU)-@)JJAJJJ,';J/:JJ*Fy2Fy:FyBF4JFzKKKK6KBK:KGGqBWill construct direction to contact in vehicle frame from tetrahedron phase data.jH<bH<HI Is IIsBI&I.I6I<:IM F DAT read: 21:32:40.6283 LVL= 24992, 27041, 30194, 32755, AGC= 68, IDX= 429, 0.41,-0.004, 1.393,-0.940,-0.320, PHS= 0.404, 1.760,-0.623, RAW= 355.4, -14.7, CAL= 356.1, -20.4, ROT= 153.9, 20.4  Ygot valid direction response: 21:32:40.6283 LVL= 24992, 27041, 30194, 32755, AGC= 68, IDX= 429, 0.41,-0.004, 1.393,-0.940,-0.320, PHS= 0.404, 1.760,-0.623, RAW= 355.4, -14.7, CAL= 356.1, -20.4, ROT= 153.9, 20.4  PDAT read: Bearing 153.9, 20.4 (Local)  ~Local bearing/azimuth received: Bearing 153.9, 20.4 (Local) % DAT read: Range 10 to 50 : 447.6 m (Round-trip 596.9 ms) speed -0.4 m/s % ,DAT read: user:1856> 5 BDAT read: Tx time:21:32:41.7272 5 $Ping request sent.5 >y؝Cؙ؝a؝i ٝu)ٙIٙOu >iٝ>ٝG?ٝ|ٝ(~@ٝG\ ڝ>@)ڝKIڝo+@iڝK>ڙڙ۝C.?q|鿳#Iп)۝! I۝>i۝?۝K=ۙۙ :publishing transmit ping time1  Fpublishing direction and range infoؙ9؝a]?O;?>>yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝C.?q|鿳#Iп)ۙIۙiۙۙۙۙ I dw, AybB=^ IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:32:41.7264 Mb@Mb@Mb@ )YI +?KMb?y94?^<IA C@)I@y@II4٢O= =9Q >!! %G٣%BGy% %> 5Nusing accuracyPremultiplier from config1=49584.?=4Y58 i5;gBE5?E:E$@E@5ND5&;5D;54I M AIke1Û?kW6 k kOA:kCBk>CZk~y@"md@%@`$y@/Fa]?O;?>>Jk?RkK=*[FOt73n-s8@.W;jAN%I{?"km*kzkP<Û?k_X 2kBkk_X kBk4Cky@u addTargetRange:: Added new target pos. range: 447.600006 m, deltaT: 4.043319 s, deltaX: 0.600006 m, approachRate: 0.148394 m/s, rangeRepo size: 4  Added new target pos. range: 447.600006 m, bearing: 223.359416 deg, lat: 36.899315 deg, lon: -122.118356 deg, deltaT: 4.043319 s, deltaX: 0.600006 m, approachRate: 0.148394 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 447.60 m.BjJj ProNav: ac range: 447.600006 m, nav range: 444.411346 m, bearing: 223.670471 deg, approach rate: 0.000000 m/s, LOS rate: 0.086537 deg/s, cmd heading: 155.701361 deg, new cmd heading: 155.849756 deg. 2jHeadingCmd: 2.720091 target range: 447.600006 and range: 447.60 m. j.@jjjihhhhBfffrf{@bf?ɛusB}& y}h>Iy }fɚyiyI/=I.@ioii!8).@)E*FY 2FY :FY BF] 0JFY  Will construct direction to contact in vehicle frame from tetrahedron phase data.G} +GyBO>w,rľA r$?Ino@Yn,-@nY9n)$>ynHٿЊ?I? `*?ʢ?@J? s?ɨno@n;ly B  IIIk4٢$> _=91Q > G٣y= > Nusing accuracyPremultiplier from config49!.?4Y iBgBP%@@ND5;5;"4 AEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 447.60 m.BjF:JjF:% ProNav: ac range: 447.600006 m, nav range: 444.347229 m, bearing: 223.702884 deg, approach rate: -0.188719 m/s, LOS rate: 0.095415 deg/s, cmd heading: 155.849754 deg, new cmd heading: 155.947006 deg. 2j%;-HeadingCmd: 2.721789 target range: 447.600006 and range: 447.60 m. j-1.@j)j)j)i1h1h1h1h9f9f9f9rf9bfEE?ɛqud; quh?Iy }\hɚyiyI}ؓ.=I1.@iuJ[3K[O3 K[(.KSKS"KSJ}J}5JyJyJ}d&;J}:JyJyzK= BoHK9 K9 K= 7K= RKM >JKM > [G |uA YY |uAy "BU Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987881Gw,&޾AH>I I IIBI&I.I6Iz<:ID Fv@Yv.@vyvH, ٿ_?@W/? H?M? [?ؑ?ɨv@v;vVCy-B- IIEbIE-4٢= K=9#Q > G٣y< > Nusing accuracyPremultiplier from config49 .?4Y iJgB%@@ OD::?ô4 RAEZjyFNOT Ignoring new targets: 447.60 m.Bj&:Jj&: ProNav: ac range: 447.600006 m, nav range: 444.273773 m, bearing: 223.738910 deg, approach rate: -0.174800 m/s, LOS rate: 0.085744 deg/s, cmd heading: 155.947002 deg, new cmd heading: 156.055098 deg. 2jak;HeadingCmd: 2.723675 target range: 447.600006 and range: 447.60 m. jP.@jjjihhhhfffrfbf? q$?I ɛamP1; im ?Ii m`ɚiiiIu^.=IuP.@i}Yii}))}P.@)*F2F:FBFO0JFGq GunAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239935*J} C="Jy G Gi By O >mw,RAyB IMb@Mb@Mb@ )YʡE?PnMb`?y=?;MA @)@IyAAIgI64٢/= G=9-Q ->11 5G٣5BGy= => ENusing accuracyPremultiplier from configAM49E-?M4YE iENgBM@?M:U%#@U@EODE;E;Eʴ4Y ] AYZjFNOT Ignoring new targets: 447.60 m.Bjk:Jjk: ProNav: ac range: 447.600006 m, nav range: 444.206940 m, bearing: 223.778451 deg, approach rate: -0.165790 m/s, LOS rate: 0.098101 deg/s, cmd heading: 156.055097 deg, new cmd heading: 156.173736 deg. 2j;HeadingCmd: 2.725746 target range: 447.600006 and range: 447.60 m. jr.@jjjihhhhBfffrfbfn?ɛrBH4; ?I lyɚiIop-=Ir.@iii&)r.@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492723E!E%rA*F2F:FBF_0JFG]ϼ o$?I GB)OEQ> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744449ISw,J$AJ&J&?J&0J$J&l-;J&&:J&ـ3J$Bl @YB .@B|#9Bk>yBHY@ؿ ?@_? @.? :n?k?ؖ?ɨBl @B;BYCynBn IIzIzk4٢k= W=9%ûQ %>!! -G٣)y-U= -> 5Nusing accuracyPremultiplier from config1=495j-?E4Y5 i5SgBAE$@E@50OD5;51;5д4I MAUEZjFNOT Ignoring new targets: 447.60 m.Bjo:Jjo:  ProNav: ac range: 447.600006 m, nav range: 444.144257 m, bearing: 223.813342 deg, approach rate: -0.164451 m/s, LOS rate: 0.091551 deg/s, cmd heading: 156.173737 deg, new cmd heading: 156.278425 deg. 2j R{; HeadingCmd: 2.727573 target range: 447.600006 and range: 447.60 m. j.@jjjihhhhff!f!rf!bf%@%?ɛIUXS< U-I5C I5!II5BI55 =&I1.I16I5<:I5V FG.GB IO>}w,C,AyB I}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247946Mb@Mb@Mb@ )Y+?l¿Mbyv>?A 5@)p@Iyf@IIF4٢< @=9Q >a eG٣iym m> }Nusing accuracyPremultiplier from configq}49u-?4Yu iuOgB=B?:"@@uFODu;u#;uش4 B AEZjFNOT Ignoring new targets: 447.60 m.Bj<:Jj<: ProNav: ac range: 447.600006 m, nav range: 444.074768 m, bearing: 223.855994 deg, approach rate: -0.160383 m/s, LOS rate: 0.098459 deg/s, cmd heading: 156.278430 deg, new cmd heading: 156.406406 deg. 2j$;HeadingCmd: 2.729807 target range: 447.600006 and range: 447.60 m. j'.@jjjihhhhBfffrfbf`Մ@ɛ~; !%r?I! %X ɚ!i!I%(,=I-'.@i5>ii5;)5'.@)1*F2F:FBF`0JF"GG=G{#GG=?GyBO^>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500109 n$?I ew,EA6r!@Y6/@6(96k>y6H@ x@+ؿP?@?:ȿ?o?ak?`"?ɨ6r!@6;6XCyBBB IIJIJ4٢R; R_=9RKhQ V>TX ZG٣ZBGyZ< Z? bNusing accuracyPremultiplier from config`f49be-?f4Yb ibLgBdf[#@j@bWODb:b:b޴4l nAlZj FNOT Ignoring new targets: 447.60 m.Bj :Jj :% ProNav: ac range: 447.600006 m, nav range: 444.018219 m, bearing: 223.889277 deg, approach rate: -0.162282 m/s, LOS rate: 0.095525 deg/s, cmd heading: 156.406401 deg, new cmd heading: 156.506261 deg. 2j%;-HeadingCmd: 2.731550 target range: 447.600006 and range: 447.60 m. j5.@j1j1j1i1h9hhhfffrfbfp@ɛ 9<< ?I9 =t ɚ9i9I=ۄ+=IE.@iEhiEfu)E.@)IEE>*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=2.751910G5ZG B O5 >zK k3IK 9K K 9K RK ?JK ?H! I!  I% 4!II% BI! &I! .I! 6I% <:I% J FBIJIRIZI4 =bI4 =jI:'5E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004798w,R_A2!@Y2/@2)92#>y2H i׿灸?c?iG@ښ?@&/?`_H? j?ɨ2!@2x;2VCy:B> I)@ @ B=Ba=IFIF҅4٢n: nG=9rܹQ r>pt vG٣tyv< v> zNusing accuracyPremultiplier from configx~49z-?4Yz izIgB#@@zkODz* ;z ;z4  AEMB*** querying acoustic contact ***jIjIZjFNOT Ignoring new targets: 447.60 m.Bj%:Jj%: ProNav: ac range: 447.600006 m, nav range: 443.950531 m, bearing: 223.928522 deg, approach rate: -0.159921 m/s, LOS rate: 0.092736 deg/s, cmd heading: 156.506258 deg, new cmd heading: 156.624012 deg. 2j~;HeadingCmd: 2.733605 target range: 447.600006 and range: 447.60 m. ja.@jjjihhhhfffrfbf@ɛ9=x*< AE?IA EV_ ɚAiAIER*=IMa.@iMlhiUoo[)Ua.@ m$?IUg)E)=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257232*F12F1:F1BF5`0JF1G9 G=rAJu Ju 5Ju 1Jq Ju $;Ju :Ju 3Jq Ju |zyBH@_@5׿L?`X?hU@JU?P??#?ɨBg!@B@;BYCyNBN I-Mb@Mb@Mb@))) )))Y-x&1?S㥛ĿL7A`堿y-A@?-$-+-3A --@)-h@I))y-@IEIE4٢U  U4=9]Q ]>YY ]G٣aye< e> uNusing accuracyPremultiplier from configi}49m3-?}4Ymv im=gBD?:#@@mODm6;m;m4 B 'AEZjFNOT Ignoring new targets: 447.60 m.Bj:Jj:Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:32:44.7326 TRx dataTimestamp_ set to:1736371965.997178checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509509M ProNav: ac range: 447.600006 m, nav range: 443.877686 m, bearing: 223.972436 deg, approach rate: -0.165179 m/s, LOS rate: 0.099593 deg/s, cmd heading: 156.624010 deg, new cmd heading: 156.755774 deg. 2jU;UHeadingCmd: 2.735904 target range: 447.600006 and range: 447.60 m. jU/@jYjYjYiYhYhYhaheBfafifirfibfm kX @ɛ; ?I ɚ i I *=I/@ix%hi!g)/@)EEV< l$?I*F?2F:FBF/1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760162G g{G B O% >:w,}wA6# "@Y6)0@6(96>y6Ha*׿_? ;A?[@? ??^?ɨ6# "@6>;6XCyRBR ITV@AIZIZƕ4٢bn bU=9f:Q f>dd fG٣jBGyj ; j> rNusing accuracyPremultiplier from configpv49rv-?v4Yr ir3gBtv7#@z@rODr&:r:r4| ~TAZj!-FNOT Ignoring new targets: 447.60 m.Bj-\:Jj-\:E ProNav: ac range: 447.600006 m, nav range: 443.815613 m, bearing: 224.009729 deg, approach rate: -0.161764 m/s, LOS rate: 0.097201 deg/s, cmd heading: 156.755778 deg, new cmd heading: 156.867673 deg. 2jEj;MHeadingCmd: 2.737857 target range: 447.600006 and range: 447.60 m. jU9/@jQjjihhhhfffrfbf u@ɛ1U[%< Y]?IY ]@ɚYiYI]2y)=Im9/@imgimIC )m9/@zKu:IKu+9KqKu:KuBKrA:KrA)jHbHH>IWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: Range 10 to 50 : 450.9 m (Round-trip 601.2 ms) speed -0.6 m/s 5,DAT read: user:1857> =BDAT read: Tx time:21:32:45.8272 =$Ping request sent.=_w,رAJ="@YJ%\0@J&9Jy>yJH W}׿`n??g t?Eۤ?@??ɨJ="@J*;JWCyVBV IJ J 9J J J %;J  :J J J <J <J g;J h;Mb@Mb@Mb@ )Y/$?Dl+y G٣yP; > Nusing accuracyPremultiplier from config 49\-? 4Y i%gB5@?:"%@@ODI;WH;4! %{A%EU addTargetRange:: Added new target pos. range: 450.899994 m, deltaT: 4.032376 s, deltaX: 3.299988 m, approachRate: 0.818373 m/s, rangeRepo size: 4 ZjY]FNOT Ignoring new targets: 447.60 m.Bje :Jje :m ProNav: ac range: 447.600006 m, nav range: 443.729523 m, bearing: 224.054949 deg, approach rate: -0.178923 m/s, LOS rate: 0.094000 deg/s, cmd heading: 156.867671 deg, new cmd heading: 157.003358 deg. 2ju;}HeadingCmd: 2.740226 target range: 447.600006 and range: 450.90 m. j}_/@jyjyjyiyhyhhhՁBfffrf`f.|@bfr?ɛ9=E; 9=[?I9 E ɚAiAIEA(=IM_/@iMMgiM)M_/@)QEYEY*EY"EYWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JF"G=G= = k$?I9 G ïG ?G ?G B O >|w,οAB:g"@YBڅ0@B&9B>yBH`ߦ@^׿@|?@?`se?ڤ??{?ɨB:g"@Bf;@yRBV II^I^)4٢fE׽ fF=9f(7Q f>nWill construct direction to contact in vehicle frame from tetrahedron phase data.ll rG٣pyr; r> vNusing accuracyPremultiplier from configtz49vF-?~4Yv ivgB|~F%@~@vODv;v$;vJ4 +A EZj15FNOT Ignoring new targets: 447.60 m.Bj=8:Jj=8:M ProNav: ac range: 447.600006 m, nav range: 443.654999 m, bearing: 224.093875 deg, approach rate: -0.180087 m/s, LOS rate: 0.094080 deg/s, cmd heading: 157.003359 deg, new cmd heading: 157.120156 deg. 2jM!;UHeadingCmd: 2.742264 target range: 447.600006 and range: 450.90 m. jUA/@jYjYjYiYhYhYhahafafafarfibfm?ɛ; 隝 ?I :ɚiI#(=IA/@ifi)A/@)*Fe?2Fi:FiBFm\0JFizKBoHKKK;KWK}" RK?JK>G)GBO>H1I1 I5G!II5 BI56 =&I1.I16I5<:I5 FWill construct direction to contact in vehicle frame from tetrahedron phase data. j$?I w,v迻ABg"@YB0@B$9BX>yBH* ^׿ Wֶ??se? ?%??ɨBg"@BƱ;BVCyVBV IIfsIfK4٢~ G=9:Q >    G٣ BGy8 > -Nusing accuracyPremultiplier from config!549%0-?54Y%k i% gB99=@%OD%t;%t;%x 4M B ]eA]EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 447.60 m.Bj:Jj:u ProNav: ac range: 447.600006 m, nav range: 443.581207 m, bearing: 224.132535 deg, approach rate: -0.165082 m/s, LOS rate: 0.086501 deg/s, cmd heading: 157.120155 deg, new cmd heading: 157.236153 deg. 2juum;}HeadingCmd: 2.744289 target range: 447.600006 and range: 450.90 m. j}m/@jyjjihhhhfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ=sB= ; 9e?Ia m&:ɚiiiImXu'=Ium/@iu:pfiu>L)um/@)yJJ?JJJJ&:JJJJJ;J;*F?2F:F BF P0JF G ˴G- qAG- qAG B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505654w,^GAJؕ"@YJw0@JD#9J>yJH ˯`6׿ڜ??|2B?s??`?ɨJؕ"@Ja;JWCymBl I aIiMb@Mb@Mb@ )Yx? ףp= I +yK7?Q94A @)$@I@y@IWI44٢ >=9 :Q > G٣yw; > Nusing accuracyPremultiplier from config49-?4Y igBu9?u:uU)@}@ODߗ<<4 A EZjFNOT Ignoring new targets: 447.60 m.Bj:Jj: ProNav: ac range: 447.600006 m, nav range: 443.488434 m, bearing: 224.170678 deg, approach rate: -0.223865 m/s, LOS rate: 0.092061 deg/s, cmd heading: 157.236159 deg, new cmd heading: 157.350614 deg. 2j|;HeadingCmd: 2.746286 target range: 447.600006 and range: 450.90 m. j(/@jjji h h hhBfffrfbf`+?ɛAE\; IMb>II UBɚQiQIU&=I](/@i]bfi])](/@)a*F?2F:FBF_0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758129G}G B O >)i i G vA =  Y= vAy= Bw,S AzKN)PNKN9KLKN<KN   y]BY II-I-4٢= =T=9EQ E>AI MG٣IyM M> UNusing accuracyPremultiplier from configQ]49U -?e4YU iUfBaae@UODUB;U;U4i m{Au EZjFNOT Ignoring new targets: 447.60 m.Bj:Jj: ProNav: ac range: 447.600006 m, nav range: 443.405182 m, bearing: 224.204977 deg, approach rate: -0.230010 m/s, LOS rate: 0.094777 deg/s, cmd heading: 157.350620 deg, new cmd heading: 157.453533 deg. 2j;HeadingCmd: 2.748083 target range: 447.600006 and range: 450.90 m. j/@jjjihhhhfffrfbf@?ZH@ARHH>I I(!IIBI&I.I1D6I<:Io FɛtBPI; t>I ˆɚiI_f&=I%/@i%Pei-E)-/@))eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011777*F?2F:FBF`0JF ]h$?I]TgGpGB) O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261689J J J J 8J J J );J :J J J 7<J 7<J ;J ; w,5A6im"@Y60@6, 96>y6Hei׿*? ?rн?`$???ɨ6im"@6ވ;4yrPBrH IMb@Mb@Mb@ )YS?X9vMby/? @);@I@yII]4٢ C=9Q} G٣BGyF > Nusing accuracyPremultiplier from config49,?4Y ifBy/?:.@@ PD#;!; 4 AEZj  FNOT Ignoring new targets: 447.60 m.Bj3:Jj3: ProNav: ac range: 447.600006 m, nav range: 443.299469 m, bearing: 224.239425 deg, approach rate: -0.252397 m/s, LOS rate: 0.082268 deg/s, cmd heading: 157.453537 deg, new cmd heading: 157.556907 deg. 2ja;HeadingCmd: 2.749887 target range: 447.600006 and range: 450.90 m. j%/@jjjihhhhdBfffrfbf|u@ɛUuBU0 QUR>IQ ])yɚYiYI]j%=Ie%/@ieeie"W)e%/@)i*F 2F:FBFJFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.513631 AIAGe Gm ?Gm ?GA BQ Ou >w,0OAbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.765491E{V"@YEu0@E9EY<>yEHl@f׿?@?m`v'??o? ?ɨE{V"@E(Ɉ;Aye>Be3 II}I}4٢ L=9c;Q > G٣ysd > Nusing accuracyPremultiplier from config49,?4Y ifB.@@PD;:(4 rAZjFNOT Ignoring new targets: 447.60 m.Bj:Jj:- ProNav: ac range: 447.600006 m, nav range: 443.198456 m, bearing: 224.272534 deg, approach rate: -0.200771 m/s, LOS rate: 0.065820 deg/s, cmd heading: 157.556905 deg, new cmd heading: 157.656253 deg. 2j54;5HeadingCmd: 2.751621 target range: 447.600006 and range: 450.90 m. j50@j9j9j9i9h9h9hAhAfAfIfIrfIbfMZ@ɛq} y}s>Iy D\ɚiI%=I0@iYei")0@)*F]?2F:FBF_0JF"G=G=zK].KK]h9KYK]=K]HI I IIBI&I.I6Iϰ<:I~ FuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019955 - g$?I) G Gy B O >+!w,|jAVQ"@YV.p0@VR99V>yVH`Ռ׿?@?j`u?+??`?ɨVQ"@V;VVCyn5Bn' IIzIzE4٢ 8  M=9 ;Q > G٣yE > %Nusing accuracyPremultiplier from config!-49%,?-4Y%  i%fB15-@5@%-PD%z:%,;%.4A EAEEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 447.60 m.Bj:Jj:U ProNav: ac range: 447.600006 m, nav range: 443.098602 m, bearing: 224.305350 deg, approach rate: -0.297385 m/s, LOS rate: 0.097756 deg/s, cmd heading: 157.656257 deg, new cmd heading: 157.754728 deg. 2j]-;uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.269987HeadingCmd: 2.753340 target range: 447.600006 and range: 450.90 m. j60@jjjihhhhfffrfbfM@ @ɛIMJ IM>II UɚQiQIUw4%=I]60@i]Cei] ;)]60@)Y*JER="JEp=*F)2F):F)BF-0JF)G} {#% Will construct direction to contact in vehicle frame from tetrahedron phase data.- BDAT read: Rx Time:21:32:48.8353 5 TRx dataTimestamp_ set to:1736371970.029349= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524139Ga B O >!w,RA 4I4>A"@Y>1`0@>C,ռ9>aX>y>H{׿@]??f׾?@ä?5??ɨ>A"@>S;ai mG٣mBGyuJ u> }Nusing accuracyPremultiplier from configy49}s,?4Y}| i}fB%?:3@@}?PD}j;};}764 B AEZjFNOT Ignoring new targets: 447.60 m.Bj:Jj: ProNav: ac range: 447.600006 m, nav range: 442.978149 m, bearing: 224.336438 deg, approach rate: -0.320063 m/s, LOS rate: 0.082630 deg/s, cmd heading: 157.754735 deg, new cmd heading: 157.848025 deg. 2jb;HeadingCmd: 2.754968 target range: 447.600006 and range: 450.90 m. jdQ0@jjjihhhhBfffrfbf @ɛvBX- >I ɚiI$=IdQ0@i>eiF _)dQ0@)*F?2F:F BF S5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774533JmJiJm0JiJm,';JiJmـ3Jia}@a}@a}@a}@GK7GrAGrAG B O >|1'w,+AzKbKb+9K`Kb>Kb& jH)bH-<HE>IA IE IIEBIA&IA.IE2D6IE<:IEg FBICJICRIZI6 =bI6 =jIh42"@Y\Q0@;9E>yH:׿`y0?' ?`@]? ?O#??ɨ2"@|;騵TCWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:32:48.8353 LVL= 25488, 28401, 29378, 32755, AGC= 72, IDX= 453,-0.00,-0.484, 0.888,-1.524,-0.822, PHS= 0.426, 1.757,-0.705, RAW= 357.3, -13.8, CAL= 357.7, -19.1, ROT= 152.3, 19.1 yޭ*Bޭ III4Ygot valid direction response: 21:32:48.8353 LVL= 25488, 28401, 29378, 32755, AGC= 72, IDX= 453,-0.00,-0.484, 0.888,-1.524,-0.822, PHS= 0.426, 1.757,-0.705, RAW= 357.3, -13.8, CAL= 357.7, -19.1, ROT= 152.3, 19.1  PDAT read: Bearing 152.3, 19.1 (Local)  ~Local bearing/azimuth received: Bearing 152.3, 19.1 (Local) ٢  5=90;Q > G٣yB %> -Nusing accuracyPremultiplier from config! Ue$?IYeDAT read: Range 10 to 50 : 453.0 m (Round-trip 604.0 ms) speed -0.6 m/s ,DAT read: user:1858> BDAT read: Tx time:21:32:49.9272 $Ping request sent.4 Acn r)IHi>`?z4Ѝ@Ϣv @)㭪I*@i㭪>~&)]Doο)n IBu>iߛ?6=]:publishing transmit ping timeر]Fpublishing direction and range info9<??D?W1ñy )Ik8ɛ?k ߢ k k^+Ai )Ii~&)]Doο)Ii:kCBkCZk\~@"(҇c@no=z@Bgn?<??D?W1ñJkߛ?Rk6=* Cr tR@@oivyr%DI çɚiIϢ$=Iw0@i (Uei !) w0@)I  Will construct direction to contact in vehicle frame from tetrahedron phase data.Չ iՉ  JDAT read: TxSync time:21:32:49.9264 *F ?2F :F BF o0JF G  G G :_GBO-?0w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.%-"@Y%wL0@%k頼9%>y%H`׿gO?`2%?P^??@&??ɨ%-"@%;%VCy]#B] I ud$?IqMb@Mb@Mb@ )Y?Dl?:vy ?O=TA )@IQ@y@II4٢˼ =9=H;Q =>AA EG٣AyMP M> UNusing accuracyPremultiplier from configQ]49U{|,?]4YUw iUfBe!?e:es7@e@UgPDU;U;UG4q uKAuEZjFNOT Ignoring new targets: 453.00 m.Bj<:Jj<: ProNav: ac range: 453.000000 m, nav range: 440.089569 m, bearing: 225.170020 deg, approach rate: -0.347733 m/s, LOS rate: 0.081410 deg/s, cmd heading: 157.979762 deg, new cmd heading: 158.094669 deg. 2j{_;]HeadingCmd: 2.759273 target range: 453.000000 and range: 453.00 m. j]0@jYjajaiahahahihmBfififirfqbf?ɛ굻 !>I gDɚiIo$=I0@i&tei/)%0@)!*F?2F:FBF 1JFGGaBiO>Will construct direction to contact in vehicle frame from tetrahedron phase data.J J 6J J J J {:J J '6w, A6h!"@Y6@0@6e96Pi >y6H@׿!? 0?_Ѿ?hL?`??ɨ6h!"@63;6WCy>+BB IIJIJ4٢RD= R{=9R#;Q V ?TT VG٣VBGyZ Z ? ^Nusing accuracyPremultiplier from config\b49^Nl,?b4Y^Qv i^fBdff7@f@^tPD^` ;^G:^!M4l n AnEZj FNOT Ignoring new targets: 453.00 m.Bj :Jj : ProNav: ac range: 453.000000 m, nav range: 439.992798 m, bearing: 225.192740 deg, approach rate: -0.312625 m/s, LOS rate: 0.073415 deg/s, cmd heading: 158.094673 deg, new cmd heading: 158.162848 deg. 2j%I;%HeadingCmd: 2.760463 target range: 453.000000 and range: 453.00 m. j%k0@j)j)j)i)h)h)h1h1f1f1f1rf9bf=?ɛiu0: qu&>Iq ɚiI?$=Ik0@i%/ei%M)%k0@)!zK-KK-s9K)K-?K-RK= ?JK=?H]>IY I] II]BI]5 =&IY.IY6I]m<:I]9 F5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF4JF uc$?I}SgG NG ?G >G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.1R G٣y > Nusing accuracyPremultiplier from config49V,?4Yt ifB ?:8@@PD;{;T4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 453.00 m.Bj:Jj: ProNav: ac range: 453.000000 m, nav range: 439.855835 m, bearing: 225.223401 deg, approach rate: -0.316144 m/s, LOS rate: 0.070794 deg/s, cmd heading: 158.162852 deg, new cmd heading: 158.254863 deg. 2jWB; HeadingCmd: 2.762069 target range: 453.000000 and range: 453.00 m. j 0@j j j i hhhhBfffrfbfB?ɛ8 >I ɚiI9$=I0@iei%橼)%0@)!*F?2F:FBFY0JF"GG==Will construct direction to contact in vehicle frame from tetrahedron phase data.=T****** received valid address query ******=R****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode. YIYG- 圼G B) OU >9Cw, A6R!@Y60@6Pw96DH>y6H`qf׿@1?`[?O =?@? DX?@}?ɨ6R!@6bu;6VCyR6BR( IIXIX٢b= bX=9f"dd jG٣hyjX j> 5Nusing accuracyPremultiplier from config1=495&B,?=4Y5r i5fBAE8@E@5PD5;5;5[4I MAMEZjquFNOT Ignoring new targets: 453.00 m.Bj}:Jj}: ProNav: ac range: 453.000000 m, nav range: 439.733490 m, bearing: 225.251021 deg, approach rate: -0.314796 m/s, LOS rate: 0.071088 deg/s, cmd heading: 158.254868 deg, new cmd heading: 158.337753 deg. 2j%C;HeadingCmd: 2.763515 target range: 453.000000 and range: 453.00 m. jn0@jjjihhhhfffrfbf?ɛuB/3 C>I ɚiI#=In0@ifiɼ)n0@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704538*Fu?2Fq:FqBFu_0JFqJqJuAJqJqJqJu/:JqJqGUG1BAO]>ZHI RHM @AHU >IU C IU IIU BIU 4 =&IQ .IQ 6IU <:IU X FzK :IK h9K K @K BK pA:K qAE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.955561 U b$?IQ cIw,b'A:!@Y:G/@: I9:%x>y:Hؿ`@?|?`F@}?#?`~? o?ɨ:!@:1;8yRBBR7 IIbIbK4٢jp= jI=9j;Q n>pp rG٣rBGyvP v> Nusing accuracyPremultiplier from config| 49~-,? 4Y~-q i~gBm8@@~PD~tM;~M;~sb4! %PA-!EZjamFNOT Ignoring new targets: 453.00 m.Bju@:Jju@: ProNav: ac range: 453.000000 m, nav range: 439.609375 m, bearing: 225.279216 deg, approach rate: -0.308279 m/s, LOS rate: 0.070051 deg/s, cmd heading: 158.337746 deg, new cmd heading: 158.422354 deg. 2jL@;HeadingCmd: 2.764992 target range: 453.000000 and range: 453.00 m. j0@jjjihhhhfffrfbf)@ɛ۸ 隵>I ޼ɚiI~#=I0@ifi߼)0@)*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210846GS&żGqAGG B O >KPw,2>AA~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459430y OB H I a$?IMb@Mb@Mb@ )Yx&1?{Gz?99 =G٣9y= E> MNusing accuracyPremultiplier from configAM49E,?U4YE5o iEgBU!?U:]7@]@EPDE;E*;E@j4m B mAm EZjFNOT Ignoring new targets: 453.00 m.Bj:Jj: ProNav: ac range: 453.000000 m, nav range: 439.471558 m, bearing: 225.311227 deg, approach rate: -0.311712 m/s, LOS rate: 0.072424 deg/s, cmd heading: 158.422358 deg, new cmd heading: 158.518420 deg. 2jF;HeadingCmd: 2.766668 target range: 453.000000 and range: 453.00 m. j1@jjjihhhh Bfffrfbf@ɛ; >I ۼɚiIy#=I 1@i  gi s)1@)*F!2F):F)BF)JF)G5qA G1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715150GM FټG! B1 Ou >J J BJ J J d&;J :J J m ~GVw, B[A4 N$YLyNA^o!@Y^/@^w9^>y^HoؿPb?`v?CE ?`ߎ? \?`*?ɨ^o!@^Aƍ;^WCyjhBjf IIvIvQ4٢~6> ~_=9~p G٣iyu: u> }Nusing accuracyPremultiplier from configy49}w,?4Y}m i}gB7@@}PD}? ;} ;}p4 "A#EZjFNOT Ignoring new targets: 453.00 m.Bj:Jj: ProNav: ac range: 453.000000 m, nav range: 439.354156 m, bearing: 225.338511 deg, approach rate: -0.308562 m/s, LOS rate: 0.071729 deg/s, cmd heading: 158.518418 deg, new cmd heading: 158.600292 deg. 2jD;HeadingCmd: 2.768097 target range: 453.000000 and range: 453.00 m. j(1@jjjihhhhfffrfbf`@ɛ-tB5; 15,>I1 5ؼɚ9i9I=XD#=IE(1@iEgiEn)E(1@)IH>I I IIBI&I.I6I<:Ig FzKk3IK9KKAKRK?JK>*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.963626 `$?IGVGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.218130A\w,uABm!@YB 0@B9B6>yBHƘ׿@t*?`S?@nK??t??ɨBm!@Bg|;BXCy|B IMb@Mb@Mb@ )Y%C??{Gz?yZ$?L=#<A x@)@Iy@II4٢ɺ= ?=9d:Q > G٣BGy@; > Nusing accuracyPremultiplier from config49+?4YYk i#gB$?:4@@PD;;'x4 A&EB*** querying acoustic contact ***j!j!ZjFNOT Ignoring new targets: 453.00 m.Bj:Jj: ProNav: ac range: 453.000000 m, nav range: 439.234619 m, bearing: 225.369669 deg, approach rate: -0.274154 m/s, LOS rate: 0.071479 deg/s, cmd heading: 158.600298 deg, new cmd heading: 158.693798 deg. 2j8D;HeadingCmd: 2.769729 target range: 453.000000 and range: 453.00 m. j?C1@jjjihhhh0Bfffrfbf# @ɛ.< 隍b?I g/ռɚiIm#=I?C1@i hi)?C1@)E*F92F9:FABFE0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467614 IGe G ?G >GY Ba O >Icw,ЎA2"@Y2}50@2i92>y2Hם ׿`?`};? FO ?`)m~???ɨ2"@29;2WCybBb IdfAIjIj(4٢r= rZ=9v;Q v>tt zG٣xyzH; z>  Nusing accuracyPremultiplier from config 49+? 4Ybi i+gB4@@PD:0;~4 %A!ZjAMFNOT Ignoring new targets: 453.00 m.BjM~:JjM~:e ProNav: ac range: 453.000000 m, nav range: 439.126282 m, bearing: 225.397847 deg, approach rate: -0.306639 m/s, LOS rate: 0.079773 deg/s, cmd heading: 158.693804 deg, new cmd heading: 158.778357 deg. 2jeZ;mHeadingCmd: 2.771205 target range: 453.000000 and range: 453.00 m. jmm[1@jijijiiihihqhqhqfyfyfrfbf @ɛsB,υ< 隵?I ҼɚiI_"=Im[1@irhi)m[1@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:32:52.9389 TRx dataTimestamp_ set to:1736371974.313808checking for new query: numPingsReceived=0, elapsed TxPingTime=3.722073*FQ2FQ:FQBFU5JFQ"G]=G]=Jmـ3Km(3 KiKiKi"KiJEJE:JAJAJE|";JE:JAJAGufGQBaO}>HI I IIBI3 =&I.I6I<:In F- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.972614zK BoIK 9K K BK  _$?I iiw,BA 2"@YP0@% ջ9c>yH ~׿}? K"?dS '?`Xz??v?ɨ 2"@!;VCy5B5 IIUIUn4٢}K= }?=9} ;Q }> G٣yl~; > Nusing accuracyPremultiplier from config49+?4Y(g i4gB5@@PD ::/4 B A)EZjFNOT Ignoring new targets: 453.00 m.Bj:Jj: ProNav: ac range: 453.000000 m, nav range: 439.002563 m, bearing: 225.429938 deg, approach rate: -0.289339 m/s, LOS rate: 0.075073 deg/s, cmd heading: 158.778361 deg, new cmd heading: 158.874663 deg. 2jN;HeadingCmd: 2.772886 target range: 453.000000 and range: 453.00 m. jv1@jjjihhhhf f frfbf@ɛrB;[< ?I /ͼɚi I #p"=eWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:32:52.9389 LVL= 28624, 32417, 27442, 32755, AGC= 70, IDX= 457, 0.04,-1.542,-0.312,-2.632,-1.967, PHS= 0.513, 1.702,-0.668, RAW= 359.9, -14.9, CAL= 0.3, -20.9, ROT= 149.7, 20.9 Ygot valid direction response: 21:32:52.9389 LVL= 28624, 32417, 27442, 32755, AGC= 70, IDX= 457, 0.04,-1.542,-0.312,-2.632,-1.967, PHS= 0.513, 1.702,-0.668, RAW= 359.9, -14.9, CAL= 0.3, -20.9, ROT= 149.7, 20.9  PDAT read: Bearing 149.7, 20.9 (Local)  ~Local bearing/azimuth received: Bearing 149.7, 20.9 (Local) DAT read: Range 10 to 50 : 455.6 m (Round-trip 607.5 ms) speed -0.1 m/s %,DAT read: user:1859> -BDAT read: Tx time:21:32:54.0273 -$Ping request sent.-iimd>w߿DT& >zп)m*ImV>imJə?mw߿DT& >zп)iIiiiiiiJIJI*F?2F:FBFG2JFG =G rAG G B O >5pw,9*A Will construct direction to contact in vehicle frame from tetrahedron phase data. @I@bc"@Ybs0@b\9bO>ybH`h $׿@n?A? \t:? x?`?D?ɨbc"@b;bUCyĂB IMb@Mb@Mb@ )YˡE?y&1?{Gz?y'?`e< @)@Iyp@II4٢= ;=9::Q > G٣BGy@; > Nusing accuracyPremultiplier from config 49 +? 4Yvd i;gB'?:1@@ QDK;0;Ӎ4 EA,EkQISƛ?k k k^A:kCBk7CZkJ}@"lvd@Gz@ &[k2?C1?ϑJkJə?Rk<*1u`s8#gtPo-J@_da"q( Q?vk?"kؤ*kk/vś?kj$R 2k{Bkk kBkUCk|@u addTargetRange:: Added new target pos. range: 455.600006 m, deltaT: 4.284384 s, deltaX: 2.600006 m, approachRate: 0.606856 m/s, rangeRepo size: 4  Added new target pos. range: 455.600006 m, bearing: 226.758243 deg, lat: 36.899369 deg, lon: -122.118504 deg, deltaT: 4.284384 s, deltaX: 2.600006 m, approachRate: 0.606856 m/s, posRepo size: 4 Zj FNOT Ignoring new targets: 455.60 m.BjJjE ProNav: ac range: 455.600006 m, nav range: 446.666077 m, bearing: 226.437961 deg, approach rate: 0.000000 m/s, LOS rate: 0.075073 deg/s, cmd heading: 158.874667 deg, new cmd heading: 158.974579 deg. 2jIMHeadingCmd: 2.774630 target range: 455.600006 and range: 455.60 m. jU1@jQjQjQiQhQhQhYh]BfYffrfy|@bfO?ɛ f<  )?I  ȼɚiI"=I1@i]E}ii]p,)]1@)a*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iG 8G B O >$"ww,dA6"@Y60@6 B96>y6Hy``׿@Q??j?`.~?@}?`j?ɨ6"@6;4ynۂBn I za=z%=IId4٢== =V=9E؏Q M>QQ UG٣Qy]8< e> uNusing accuracyPremultiplier from configq49u +?4Yub iuBgB1@@uQDuY;uZ;u4 AH>I I IIӂBI&I.I6I<:Is FBICJICRIZI4 =bI4 =jI5ZjFNOT Ignoring new targets: 455.60 m.Bj:Jj: ProNav: ac range: 455.600006 m, nav range: 446.567841 m, bearing: 226.467809 deg, approach rate: -0.238270 m/s, LOS rate: 0.072411 deg/s, cmd heading: 158.974579 deg, new cmd heading: 159.064142 deg. 2jF;HeadingCmd: 2.776193 target range: 455.600006 and range: 455.60 m. j%1@jjjihhhhf f 5Will construct direction to contact in vehicle frame from tetrahedron phase data.f9rf9bf= x'? }\$?IzKjIK9KKCKɛqB< 5?I FüɚiIP!=I %1@i ii ͼ)%1@)*F2F:FBF^0JFG ټG  Will construct direction to contact in vehicle frame from tetrahedron phase data.Bi O >,L}w,"A:"@Y:'0@:L*J@"JB%=JFJF.JDJDJF%;JFV:JDJDJFy:H@0׿]k??r8?ട???ɨ:"@:7;:WCyVBV !I=Mb@Mb@Mb@999 9)9Y=K7A`?+{Gzt?y=+?==ף;=hA =@)=Q@I99y= @IUrIUJ4٢ei= eH=9mPQ m>iq uG٣qyuj; u> Nusing accuracyPremultiplier from config49`+?4Y_ iDgBM+?:8-@@-QDa;;4 A/EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 455.60 m.Bj:Jj: ProNav: ac range: 455.600006 m, nav range: 446.481262 m, bearing: 226.500838 deg, approach rate: -0.232406 m/s, LOS rate: 0.088678 deg/s, cmd heading: 159.064136 deg, new cmd heading: 159.163242 deg. 2jos;HeadingCmd: 2.777923 target range: 455.600006 and range: 455.60 m. j|1@jjjihhhqhuǁBfyfyfyrfybf}'?ɛ!= }??I F{ɚiIj+!=I|1@i(jivƼ)|1@)*F?2F:FBF_0JFEWill 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. iIiGϼG B O >3w,o»A6#@Y6k"1@6śٻ96q>y6H` ׿`?_?x VW=9Z :;Q Z>X\ ^G٣^BGy^M; b> fNusing accuracyPremultiplier from config`f49bq+?j4YbJ\ ibEgBhj_-@j@b=QDb.:bP:bJ4p rApZj  FNOT Ignoring new targets: 455.60 m.BjC:JjC:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485056 ProNav: ac range: 455.600006 m, nav range: 446.399689 m, bearing: 226.531777 deg, approach rate: -0.214635 m/s, LOS rate: 0.081423 deg/s, cmd heading: 159.163243 deg, new cmd heading: 159.256078 deg. 2j_;HeadingCmd: 2.779543 target range: 455.600006 and range: 455.60 m. j1@jjjihhhhfffrfbfC?ɛ=pB=y = AEL?IA EzɚAiAIEp =IM1@iM~tjiU)U1@)*FM?2FI:FIBFM`0JFQZHRH?AH>I I4!IIBI&I.I6Iʰ<:I FGvżGBO > U [$?IY e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739426zKE KE 9KA KE DKE ^w,~+»A>I/#@Y>M1@>,9>Z>y>H @ֿ 9?%7?9@…?`#u?? ?ɨ>I/#@>M;>VCyNBRD!IIZIZ4٢rް= vF=9vk;Q v>xx zG٣xyzw; ~> Nusing accuracyPremultiplier from config 49\+? 4YCY iFgB-@@NQD::}4! -@-2EZj  FNOT Ignoring new targets: 455.60 m.BjR:JjR:- ProNav: ac range: 455.600006 m, nav range: 446.310791 m, bearing: 226.565274 deg, approach rate: -0.203354 m/s, LOS rate: 0.076639 deg/s, cmd heading: 159.256078 deg, new cmd heading: 159.356588 deg. 2j-bR;5HeadingCmd: 2.781297 target range: 455.600006 and range: 455.60 m. j=2@j9j9j9i9h9h9hAhAfAfAfIrfIbfM@?ɛqu= y}!V?Iy }ȴɚyiyI}" =I2@iֿjij)2@)*FA2FI:FIBFM0JFQ"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.997307JJFJ1JJD#;Jǔ:J3JJ{<J{<J ;J ;GnG B O > A IA Fw,WE»AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245055f[e#@Yf1@f+A9fE>yfHֿ`_??B"?!r?@d? S?ɨf[e#@f) ;dyr:Bri!I}Mb@Mb@Mb@yyy y)yY}M?ʡE:vy}n2?}-}T}A }@)}$@I}@yy}\@IIQ4٢H > ?=9j:Q > G٣y; > =Nusing accuracyPremultiplier from config1=495E+?E4Y5kU i5ow,1_»A6դ#@Y6s1@6wn96#>y6H`8ֿ+ݬ?? n`p?m?(?ਤ?ɨ6դ#@6;4yBBBBr!IIJIJ4٢n%= nX=9r;Q r>pp vG٣vBGyv'< v> zNusing accuracyPremultiplier from configx~49z2+?4YzLR iz3gB*@@zsQDz ;z ;z4  @Zj15FNOT Ignoring new targets: 455.60 m.Bj=":Jj=":U ProNav: ac range: 455.600006 m, nav range: 446.159180 m, bearing: 226.635260 deg, approach rate: -0.189807 m/s, LOS rate: 0.087048 deg/s, cmd heading: 159.472117 deg, new cmd heading: 159.566589 deg. 2jUn;]HeadingCmd: 2.784962 target range: 455.600006 and range: 455.60 m. j]<2@jajajaiahahahihifififqrfqbfu@H >I Iy!IIHBI&I.I6I<:IJ Fɛc<= Ni?I .ɚiI=I<2@i0kiˣ)<2@) Y$?IRg5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749917*Fu?2Fq:FqBFu;5JFqzKBHK9KKEKGUG1BaO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004958ĝw,\y»AJ@JB;J@J@J@JB:J@J@J@J@JB2;JB2;N#@YN2@Nc\j9Ny>yNH 8Cֿ`??`?@Km???ɨN#@N;Ly^JB^|!I b=b=MMb@Mb@Mb@III I)IYM +?T㥛 yM6?MM̼MzA M@)IIIIyM@IeIe{4٢u;= u@=9u-9Q }>yy }G٣yy< > Nusing accuracyPremultiplier from config49F+?4Y9N i"gB9?:J'@@QDp;;4 B -@7EB*** querying acoustic contact ***jjZjQUFNOT Ignoring new targets: 455.60 m.Bj]!:Jj]!:m ProNav: ac range: 455.600006 m, nav range: 446.089508 m, bearing: 226.673683 deg, approach rate: -0.157816 m/s, LOS rate: 0.087046 deg/s, cmd heading: 159.566593 deg, new cmd heading: 159.681878 deg. 2jn;HeadingCmd: 2.786974 target range: 455.600006 and range: 455.60 m. j]2@jjjihhhhBfffrfbf rH @ɛ2*= "m?I 5pɚiI ==I%]2@i%qYki%b얼)%]2@)i*F?2F:FBF'5JFG rA G  I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.253490GG B O > w,`»A62$@Y6]Q2@6b96>y6H`տH?D?m6?Xl?D??ɨ62$@6ޏ;4yR_BR!IIZIZ4٢b= bW=9bg9Q f>dd fG٣dyj?G< j> nNusing accuracyPremultiplier from configlr49n'+?r4YnJ ingBtv'@v@nQDn:n.:nŵ4x z@z:EWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:32:57.0286 TRx dataTimestamp_ set to:1736371978.348829checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506261ZjFNOT Ignoring new targets: 455.60 m.Bj":Jj": ProNav: ac range: 455.600006 m, nav range: 446.025909 m, bearing: 226.708138 deg, approach rate: -0.164689 m/s, LOS rate: 0.089234 deg/s, cmd heading: 159.681872 deg, new cmd heading: 159.785252 deg. 2j t; HeadingCmd: 2.788779 target range: 455.600006 and range: 455.60 m. j Z{2@jjjihhhhfffrfbf @ɛ!%D= !%w?I! - ɚ)i)I-=I=Z{2@i=jkiEW)EZ{2@)I) ,C G1I uYqyu0B*F92F9:FABFE4JFAjHybH}<H!>I I!IIBI2 =&I.I3D6I<:I F X$?IM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757063zKM KI KI KM FKM BK] qA:K] rAG S.GA BY O >̭w,`ʬ»AZ'$@YZš2@Z|G[9Z2 >yZH `տ`j?`9?@ĺ h? hk?`D?ӥ?ɨZ'$@Zhi;ZUCyj`Bj!IIIQ4٢%D; %D=9%9Q %>)) -G٣-BGy5 A< 5> =Nusing accuracyPremultiplier from config9E49= *?E4Y=F i=gBIM'@M@=QD=:=\:=̵4Q U@YZjyFNOT Ignoring new targets: 455.60 m.Bj:Jj: ProNav: ac range: 455.600006 m, nav range: 445.954987 m, bearing: 226.745851 deg, approach rate: -0.179978 m/s, LOS rate: 0.095717 deg/s, cmd heading: 159.785254 deg, new cmd heading: 159.898410 deg. 2ja;HeadingCmd: 2.790754 target range: 455.600006 and range: 455.60 m. j2@jjjihhhhfffrfbf@ɛWV= Cx?I 2ɚiI|=I 2@i hki;Va)2@)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 447.8 m (Round-trip 597.1 ms) speed -0.1 m/s ,DAT read: user:1860>  BDAT read: Tx time:21:32:58.1273 $Ping request sent. I U Will construct direction to contact in vehicle frame from tetrahedron phase data.] JDAT read: TxSync time:21:32:58.1265 w,C»Ay]gB]!IMb@Mb@Mb@ )Yv?QMby8?\hA @)Q@I$@y @II҅4٢ < ;=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)549-*?54Y-[B i-fB5sBf)f1f1rf5{@bf5?ɛp@= 隥X{?I ɎɚiI; =I12@i vkiX)12@)*F?2F:FBFJF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.G _Gq By O >!w,y»A6 +%@Y6I3@6$Ί96"+>y6H^*տ`?:[?=s? Yq?$? ?ɨ6 +%@6%;6TCyn^Bn!IIzIzv}4٢? _=9Q  >    G٣ y< >H%#>I%C I%!II%BI%1 =&I!.I!6I%<:I%q F ENusing accuracyPremultiplier from configAM49E*?M4YE> iEfBIM'@U@EQDE:E:E ۵4Y ]@]@EZjFNOT Ignoring new targets: 455.60 m.Bj:Jj: ProNav: ac range: 455.600006 m, nav range: 445.822327 m, bearing: 226.820209 deg, approach rate: -0.168136 m/s, LOS rate: 0.092122 deg/s, cmd heading: 160.018997 deg, new cmd heading: 160.121527 deg. 2j|;HeadingCmd: 2.794648 target range: 455.600006 and range: 447.80 m. j2@jjjihhhhfffrfbf?ɛ^c= v?I DɚiI@q=I2@iOki)2@)E e>E > EV$?IAWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFo0JFzKBHK+9KKGKRK>JK?Gk}GBOA> Will construct direction to contact in vehicle frame from tetrahedron phase data. U nManaging dock network, ignoring radio surface power offw,k»AV%@YVU3@Vo9V >yVHJ> ԿgL?S?`?`q?N?3?ɨV%@VW;VWCybcBb!IMb@Mb@Mb@ )Yl?SÿI +y7?94zA @);@I@y\@IyIxV4٢< ?=9EQ > G٣BGy.< > Nusing accuracyPremultiplier from config49b*?4Y: ifB;?:2'@@QDh;;k4 @B*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 455.60 m.Bj|:Jj|:- ProNav: ac range: 455.600006 m, nav range: 445.753662 m, bearing: 226.858915 deg, approach rate: -0.162427 m/s, LOS rate: 0.091573 deg/s, cmd heading: 160.121532 deg, new cmd heading: 160.237667 deg. 2j-b{;5HeadingCmd: 2.796675 target range: 455.600006 and range: 447.80 m. j52@j1j1j1i1h9h9h9h=?BfAfAfArfAbfM ?ɛqBNI= 9y?I CɚiI\=I-2@i58ji5)52@)A )I)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.G G B O >sw,D1ûA2C&@Y2=4@2ˑ92`>y2H`@R`Y0Կ9e?@ht?E`3?o9r? ?c?ɨ2C&@2;2VCyB]BB!I F=F=IJsIJK4٢R R^=9VTT VG٣TyZ< Z> ^Nusing accuracyPremultiplier from config\b49^*?b4Y^7 i^fBdf'@f@^QD^:^:^4h j@jCEZj FNOT Ignoring new targets: 455.60 m.Bj :Jj : ProNav: ac range: 455.600006 m, nav range: 445.692017 m, bearing: 226.892640 deg, approach rate: -0.166994 m/s, LOS rate: 0.091373 deg/s, cmd heading: 160.237672 deg, new cmd heading: 160.338862 deg. 2j%z;%HeadingCmd: 2.798441 target range: 455.600006 and range: 447.80 m. j-3@j)j)j)i)h)h)h1h1f1f1f9rf9bf=?ɛimf= imu?Iq uskyɚqiqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499060IuM=I3@ijiyA:)3@) *F2F:FBF]5JFG GJJ-J1JJ!;Jч:J3Ja@a@a@a@GVa;GaBqO9>H%%>I! I% "II%BI%0 =&I!.I!6I%Ȱ<:I% FBIJIRIZI2 =bI2 =jIz5 U$?I!- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750274zK BoIK K K HK BK) :K- pAw,@.ûANyg&@YN4@Nt_9N(>yNH@]@ӿ63?`/? ?@k?~? N?ɨNyg&@N?;LyZ_BZ!IInInݜ4٢%&< -A=9- ;Q ->11 5G٣1y5U*< 5> ENusing accuracyPremultiplier from config9M49=*?M4Y=3 i=fBIM'@M@= RD=\:=:=C4Q ]@]FEZjFNOT Ignoring new targets: 455.60 m.Bj :Jj : ProNav: ac range: 455.600006 m, nav range: 445.620026 m, bearing: 226.931412 deg, approach rate: -0.170364 m/s, LOS rate: 0.091767 deg/s, cmd heading: 160.338868 deg, new cmd heading: 160.455202 deg. 2j{;%HeadingCmd: 2.800472 target range: 455.600006 and range: 447.80 m. j%:3@j!j!j!i)h)h)h)h1f1f1f1rf1bf] ?ɛrBK= v?I pkɚiI2=I:3@iAiiJ;):3@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007211*F12F1:F1BF=Y5JF9G- ԑG B O5 > I % Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254248w,GûA~`&@Y~4@~@9~>y~H4dӿy!?@% ? @k?f^?9??ɨ~`&@~;~XCy-PB-!IMb@Mb@Mb@ )YtV?~jtÿZd;Oy2?j< )$@I@y@IIn4٢-E -<=9-ke;Q 5>99 =G٣=BGyEλ; M> UNusing accuracyPremultiplier from configI]49MNo*?]4YM. iMkfB]A7?e:e'@e@MRDMH%;M#;M4m B m@mHEZjFNOT Ignoring new targets: 455.60 m.Bj:Jj: ProNav: ac range: 455.600006 m, nav range: 445.549255 m, bearing: 226.970288 deg, approach rate: -0.162320 m/s, LOS rate: 0.089181 deg/s, cmd heading: 160.455200 deg, new cmd heading: 160.571847 deg. 2jt;HeadingCmd: 2.802507 target range: 455.600006 and range: 447.80 m. jH\3@jjjihhhh"Bfffrfbf @ɛN= n?I ^ɚiI|=I H\3@i fii vo;)H\3@)*F2F:FBF?5JFG}:G9BAOew>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506334J- J- #J- 0J) J- <;J- :J- ـ3J) C w,]aûA6&@Y64@6~C96>y6H`bhӿ0??|a?oH?R??ɨ6&@6 ;6VCyR=BRl!IIZIZQ4Hf&>Id IdIdIf. =&Id.If4D6If˰<:If F٢rѽ rb=9r9O;Q v>tt vG٣tyz; z> Nusing accuracyPremultiplier from config|49~\*? 4Y~+ i~SfB  '@ @~.RD~;~;~,4 @ R$?IQgZjFNOT Ignoring new targets: 455.60 m.Bj:Jj:- ProNav: ac range: 455.600006 m, nav range: 445.490540 m, bearing: 227.002443 deg, approach rate: -0.153203 m/s, LOS rate: 0.083912 deg/s, cmd heading: 160.571846 deg, new cmd heading: 160.668325 deg. 2j5Zf;HeadingCmd: 2.804191 target range: 455.600006 and range: 447.80 m. jw3@jjjihhhhfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758604ɛsB@= !%e?II U6QɚQiQIU!=I]w3@ie/hia)w3@)zKKh9KKIK*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=3.010916G ;G B9 O >w,s}ûA*J"Ja=Vҽ&@YVp4@VE99VX>yVH`Mk sӿw ?@??௨;?@?ɨVҽ&@V1;VUCy^2Bb^!IUMb@Mb@Mb@QQQ Q)QYUkt?K7A:vyU 0?U UTUA U@)UQ@IU@QyU@ImIm:4٢}H }7=9}+;Q }> G٣y(; > Nusing accuracyPremultiplier from config49NE*?4Y' i3fB3?:)@@BRD;t;4 @KEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 455.60 m.Bj:Jj: ProNav: ac range: 455.600006 m, nav range: 445.409210 m, bearing: 227.041143 deg, approach rate: -0.191575 m/s, LOS rate: 0.091175 deg/s, cmd heading: 160.668329 deg, new cmd heading: 160.784449 deg. 2jJz;}HeadingCmd: 2.806218 target range: 455.600006 and range: 447.80 m. j}3@jyjjihhhhBfffrfbf]x @ɛ%tB%lL= !% _?I! %Fɚ)i)I-+=I-3@i5Khi5V:)53@)9 I*F?2F:FBF^0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263256G G B O= >_lw,@ûA6}&@Y64@6D:96v>y6Hl{ӿ`?? `|? hRU"? װ?ɨ6}&@6m;6VCyB!BBI!IIJIJ#4٢Rӵ R[=9V;Q V>TT ZG٣ZBGyZ: Z>fWill construct direction to contact in vehicle frame from tetrahedron phase data.fBDAT read: Rx Time:21:33:01.1314 jTRx dataTimestamp_ set to:1736371982.381579jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516359 nNusing accuracyPremultiplier from configlr49n1*?r4Yn$ infBtv)@v@nSRDny;n2:n 4x z@xZj%FNOT Ignoring new targets: 455.60 m.Bj%:Jj%:5 ProNav: ac range: 455.600006 m, nav range: 445.340515 m, bearing: 227.073869 deg, approach rate: -0.182421 m/s, LOS rate: 0.086918 deg/s, cmd heading: 160.784443 deg, new cmd heading: 160.882636 deg. 2j5n;=HeadingCmd: 2.807932 target range: 455.600006 and range: 447.80 m. j='3@j9jAjAiAhIhIhIhIfQfQfQrfQbfu@W @ɛuBxA= V?I .;ɚiIb=I'3@igiT:)'3@) J]J]"JYJYJ];J]:JYJY*F?2F:FBF_0JFjH!bH%<H-'>I) I-!II-BI)&I).I)6I-<:I- F Q$?IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766481G?:G B O1 zK jIK 9K K JK |w,VûAv&@Yv&4@v&+;9vF >yvH jӿ%??*@? #ue??ɨv&@vΉ;vUCyB@!II-I-.4٢= =A=9EK;Q E>AI MG٣IyM M> UNusing accuracyPremultiplier from configQ]49U*?]4YU iUeBae)@e@UfRDU;U;U4m B m,@uNEZjFNOT Ignoring new targets: 455.60 m.Bj:Jj: ProNav: ac range: 455.600006 m, nav range: 445.264557 m, bearing: 227.110281 deg, approach rate: -0.181136 m/s, LOS rate: 0.086846 deg/s, cmd heading: 160.882633 deg, new cmd heading: 160.991888 deg. 2jhn;HeadingCmd: 2.809839 target range: 455.600006 and range: 447.80 m. je3@jjjihhhhfffrfbf@<@ɛvBQ>=  R?I  1ɚiIo=Ie3@ifgi=)e3@)Will construct direction to contact in vehicle frame from tetrahedron phase data.i=DAT read: Range 10 to 50 : 450.0 m (Round-trip 600.0 ms) speed -0.4 m/s U,DAT read: user:1861> eBDAT read: Tx time:21:33:02.2273 $Ping request sent.w,_{ûAyB'!IMb@Mb@Mb@ )YK7?Mb ףp= yI,?Q8v@ @)$@I@yz@II4٢Ľ ?=9Q > G٣y > Nusing accuracyPremultiplier from config49*?4Y ieB%W.?%:%,@%@yRD;;f4) -<A-QE] addTargetRange:: Added new target pos. range: 450.000000 m, deltaT: 4.038061 s, deltaX: 2.200012 m, approachRate: 0.544819 m/s, rangeRepo size: 4 ZjaeFNOT Ignoring new targets: 455.60 m.Bjmz:Jjmz: ProNav: ac range: 455.600006 m, nav range: 445.177490 m, bearing: 227.146006 deg, approach rate: -0.202885 m/s, LOS rate: 0.083264 deg/s, cmd heading: 160.991889 deg, new cmd heading: 161.099085 deg. 2jd;-HeadingCmd: 2.811709 target range: 455.600006 and range: 450.00 m. j5 3@j1j1j1i1h1h1h9h=Bf9fAfArfE |@bfE 2?ɛwB*= F?I %ɚiIm=I 3@i-fi-uL)5 3@)1*F?2F:FBFb0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.U~Gm|uA Y|uAyBJm Jm Ji Ji Jm ;Jm :Ji Ji G <G B O >H% (>I% C I% !II% BI% - =&I! .I! 6I% <:I% FҨw,RûA :P$?I8J(&@YJ4@Jo;9J >yJH2jӿI?`C?@Y?@Mq??ɨJ(&@J3;HyfBf!IInIn4٢ {  Z=9;Q > G٣y=ȹ => mNusing accuracyPremultiplier from configYu49])?4Y] i]eB,@@]RD]Q<];] "4 AZjFNOT Ignoring new targets: 455.60 m.Bj%X:Jj%X:- ProNav: ac range: 455.600006 m, nav range: 445.100433 m, bearing: 227.177718 deg, approach rate: -0.194715 m/s, LOS rate: 0.080145 deg/s, cmd heading: 161.099082 deg, new cmd heading: 161.194233 deg. 2j5\;=Will construct direction to contact in vehicle frame from tetrahedron phase data.EHeadingCmd: 2.813370 target range: 455.600006 and range: 450.00 m. jEA4@jAjAjAiIhIhIhQhYfYfYfarfabfe0?ɛxB:= 隽@?I ɚiIL=IA4@ifiW7)A4@)zKBHKh9KKKK #2:@>AGMMHGEFJMIF?93)(#!*F?2F:FBF0JFG V'S Will construct direction to contact in vehicle frame from tetrahedron phase data.G BI Oe >w,>ûA^Q&@Y^4@^~;9^9>y^H@@l ӿ`??8x? o,D??ɨ^Q&@^ĝ;^TCyjBj !IMb@Mb@Mb@ )YHzG?/${Gzy=*?,#@ x@)I@y@II4٢l @=9NQ > G٣BGy: > Nusing accuracyPremultiplier from config49)?4Y ieB*?:x1@@RD;;`)4 ATEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 455.60 m.Bj:Jj: ProNav: ac range: 455.600006 m, nav range: 444.997253 m, bearing: 227.211121 deg, approach rate: -0.255141 m/s, LOS rate: 0.082618 deg/s, cmd heading: 161.194227 deg, new cmd heading: 161.294459 deg. 2jb;HeadingCmd: 2.815119 target range: 455.600006 and range: 450.00 m. j*4@jjjihhhhBfffrfbf?ɛ=yBE* %= UO$?IQ Ae9?Ia mɚiiiImm=Iu*4@iudfiu)u*4@)y*F?2F:FBF%4JF!EWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.G] ԑG9 BI Oa w,<ĻANWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.487863r&'@Yr;5@r';9r?>yrHy\ӿ ?/?'`O?w)R? ?ɨr&'@rz;rUCyuׂB} III]4٢{ӽ L=9e;Q > G٣y\< > Nusing accuracyPremultiplier from config49)?4Y ieB1@@RD!;v";e04 AWEZjFNOT Ignoring new targets: 455.60 m.Bj :Jj : ProNav: ac range: 455.600006 m, nav range: 444.897369 m, bearing: 227.243062 deg, approach rate: -0.248755 m/s, LOS rate: 0.079565 deg/s, cmd heading: 161.294453 deg, new cmd heading: 161.390297 deg. 2jkZ;%HeadingCmd: 2.816792 target range: 455.600006 and range: 450.00 m. j%RF4@j!j!j)i1h1h9h9h9f9fAfArfAbfEk?ɛmzBu&= quk.?Iq uM ɚyiyI}E=I}RF4@irfiiҺ)RF4@)*F2F:FBF5JFZHRH@AH)>I I!IIgBI&I.I6Iް<:I F EN$?IAUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741014GG B O >zK MK 9K K LK  59 BA?$<BK! :K! w,1ĻAy%ςB% IIEIEs4٢U~* UO=9]Q ]>aa eG٣aym m> uNusing accuracyPremultiplier from configq}49ut)?}4Yu iueByy@uRDu ;u;uC74 AZjFNOT Ignoring new targets: 455.60 m.Bj6:Jj6: ProNav: ac range: 455.600006 m, nav range: 444.799744 m, bearing: 227.274330 deg, approach rate: -0.248634 m/s, LOS rate: 0.079651 deg/s, cmd heading: 161.390294 deg, new cmd heading: 161.484118 deg. 2jZ;HeadingCmd: 2.818429 target range: 455.600006 and range: 450.00 m. j&a4@jjjihhhhfffrfbf 1?ɛ|Br= )?I DɚiI%s=I=&a4@i=eiEh)E&a4@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993964*F2F:FBFZ0JFJMJMJIJIJM5;JMt:JIJIJMVce Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243869bw,KĻAVd!'@YV@5@V#<9Vp>yVH9zdӿ`EҠ?`~?+I?~`*?x?ɨVd!'@Via;TybȂBb IUMb@Mb@Mb@QQQ Q)QYUMbX?~jtS㥛yU*?UDU/ݼUv@ Q)QIQQyQIIy4٢ E=9# G٣BGy.#: > Nusing accuracyPremultiplier from config49N)?4Y i|eB*?:w4@@RD|;_;>4 AZEZjFNOT Ignoring new targets: 455.60 m.Bj:Jj%:- ProNav: ac range: 455.600006 m, nav range: 444.685852 m, bearing: 227.306869 deg, approach rate: -0.273423 m/s, LOS rate: 0.078139 deg/s, cmd heading: 161.484113 deg, new cmd heading: 161.581758 deg. 2j5V;=HeadingCmd: 2.820134 target range: 455.600006 and range: 450.00 m. j=}4@j9j9j9i9h9hAhAhElBfAfIfIrfIbfM@ɛ}}B}p= y隅%?I XɚiI3=I}4@ix[eiU)}4@)*F)2F):F)BF-]0JF)G1 G1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496161GMԑG B O5 >H *>I  I s!II CBI , =&I .I 6I <:I FBI˜CJI˜CRIZI- =bI- =jI˿q5 % M$?I! tw,eĻA:'@Y:>5@:8<9:+7 >y:Hy`iӿ?M?@s,@1?M??ɨ:'@:#ފ;8yrBr IIzIz4٢  U=9 `;Q  > G٣yr > %Nusing accuracyPremultiplier from config!-49%)?-4Y% i%neB)5u4@5@%RD%:%:%7E4= B =A=\EZjimFNOT Ignoring new targets: 455.60 m.BjuE:JjuE: ProNav: ac range: 455.600006 m, nav range: 444.581055 m, bearing: 227.336874 deg, approach rate: -0.273646 m/s, LOS rate: 0.078366 deg/s, cmd heading: 161.581758 deg, new cmd heading: 161.671793 deg. 2j W;HeadingCmd: 2.821705 target range: 455.600006 and range: 450.00 m. jі4@jjjihhhhfffrfbfY@ɛ~BO= ?I cɚiI=%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750348Iі4@iei"Ļ)і4@)*F2F:FBF_0JFzK%SyOK%9K!K%MK%RK5 ?JK5?GXG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999820JK 3 K .KK"KJm Jm Ji Ji Jm ;Jm p:Ji Ji Jm =[<Jm =[<Jm ;Jm ;+ w, ĻAy]B] IMb@Mb@Mb@ )YQ?y&1?~jty(?`e<@ b@)@I@y@I I b4 %L$?I)٢- -1=95Q 5>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU49MGo)?U4YMo iMbeB])?]:]6@]@MRDM;M1;MFM4e B eAe_EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 455.60 m.Bj:Jj: ProNav: ac range: 455.600006 m, nav range: 444.446014 m, bearing: 227.372034 deg, approach rate: -0.293078 m/s, LOS rate: 0.076332 deg/s, cmd heading: 161.671793 deg, new cmd heading: 161.777306 deg. 2jQ;HeadingCmd: 2.823547 target range: 455.600006 and range: 450.00 m. j4@jjjihhhhFBfffrfbf@ @ɛB ܯ=  ?I  лɚ iIU=I4@iddi$.)4@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256733*F?2F:FBFJFG̻G B O >F&w,RĻAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:33:05.2347 TRx dataTimestamp_ set to:1736371986.416524checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508824B&@YBQ5@B(`<9B>yBH@ qâӿ?ଵ? 9!@x?@"??ɨB&@B;BTCyRBR IIZIZЬ4٢-?Ѽ -_=9- ;Q ->11 5G٣5BGy= ]> eNusing accuracyPremultiplier from configam49e[)?m4Ye ieXeBiu6@u@eSDe:e:eS4 AZjFNOT Ignoring new targets: 455.60 m.Bj :Jj :% ProNav: ac range: 455.600006 m, nav range: 444.338440 m, bearing: 227.400338 deg, approach rate: -0.284122 m/s, LOS rate: 0.074773 deg/s, cmd heading: 161.777306 deg, new cmd heading: 161.862238 deg. 2j%CM;-HeadingCmd: 2.825029 target range: 455.600006 and range: 450.00 m. j-F4@j)j1j1i1hQhQhYhYfYfYfarfabfe/ @ɛB= ?I ɚiI@=IF4@i-di=A)F4@) *F?2F:FBFo0JF"G=G=jHbH<H+>I IG!II BI+ =&I.I6Iڰ<:I F 5K$?I5PgWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760823G >uG B O >zK= BHK= ]9K9 K= NK= (. q,w,b1ĻA2'&@Y24@23t<92>y2H@Ylӿ??y{?(@c?`?ɨ2'&@2L;2UCybBb IIrIr94٢z8! zN=9zI;Q z>| G٣y \ > %Nusing accuracyPremultiplier from config!-49%kF)?-4Y% i%NeB156@5@%SD%~:%:%Z49 =AEbEZjFNOT Ignoring new targets: 455.60 m.Bjƫ:Jjƫ:m ProNav: ac range: 455.600006 m, nav range: 444.223969 m, bearing: 227.430638 deg, approach rate: -0.283606 m/s, LOS rate: 0.075088 deg/s, cmd heading: 161.862233 deg, new cmd heading: 161.953156 deg. 2j!N;HeadingCmd: 2.826616 target range: 455.600006 and range: 450.00 m.EWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:33:05.2348 LVL= 24288, 31329, 25746, 32755, AGC= 68, IDX= 465,-0.00, 3.095,-2.068, 2.013, 2.564, PHS= 0.620, 1.698,-0.554, RAW= 1.4, -17.7, CAL= 3.4, -25.3, ROT= 146.6, 25.3 Ygot valid direction response: 21:33:05.2348 LVL= 24288, 31329, 25746, 32755, AGC= 68, IDX= 465,-0.00, 3.095,-2.068, 2.013, 2.564, PHS= 0.620, 1.698,-0.554, RAW= 1.4, -17.7, CAL= 3.4, -25.3, ROT= 146.6, 25.3  j F4@jjjihPDAT read: Bearing 146.6, 25.3 (Local) ~Local bearing/azimuth received: Bearing 146.6, 25.3 (Local) hhhfDAT read: Range 10 to 50 : 452.4 m (Round-trip 603.3 ms) speed -0.7 m/s fAfIrfQbf]@d@u,DAT read: user:1862> JJ@AJJJJJJr:JJJJJ;J;%BDAT read: Tx time:21:33:06.3274 %$Ping request sent.%AAEm,ݿE䣄f|ӿ)EiwIEl>iEć?ErAA-:publishing transmit ping time!-Fpublishing direction and range infoA9E'?`S=?]n?yAAAA A)AIAiAɛeBeO< ae[?Ia m'ɚiiiIm=IuF4@AAAA A)AIAiAAAEm,ݿE䣄f|ӿ)AIAiAAAAiVdii)F4@)Ea>E> I!*FM ?2FQ :FQ BFU _0JFQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:33:06.3266 GU ei@GBO=>M4w,g ĻAVP&@YV4@Vkh<9V?>yVH Hlӿl?@z?@`?@ r?@?ɨVP&@V_;VTCy^Bb IMb@Mb@Mb@ )YZd;O?Q?:vy~*?<T`@ x@)@I@y@IIЬ4٢E %=9:Q > G٣y7 > Nusing accuracyPremultiplier from config49+)?4YZ iDeB*?:7@@(SDI;I;Cc4  A eEk\ƛ?kٖ, k k ĻA:k3CBkCZk9O~@"nf@|wy@_E?'?`S=?]n?Jkć?Rkr*׶QrQdt\5L@a4va忨xmH?"k*k"k"ś?k, 2kBk"ś?k, kuBkoCkO~@ addTargetRange:: Added new target pos. range: 452.399994 m, deltaT: 4.030205 s, deltaX: 2.399994 m, approachRate: 0.595502 m/s, rangeRepo size: 4  Added new target pos. range: 452.399994 m, bearing: 227.669672 deg, lat: 36.899350 deg, lon: -122.118556 deg, deltaT: 12.104199 s, deltaX: -3.200012 m, approachRate: -0.264372 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 452.40 m.BjJj ProNav: ac range: 452.399994 m, nav range: 448.872833 m, bearing: 227.671302 deg, approach rate: 0.000000 m/s, LOS rate: 0.075088 deg/s, cmd heading: 161.953156 deg, new cmd heading: 162.061566 deg. 2j=HeadingCmd: 2.828508 target range: 452.399994 and range: 452.40 m. j=F5@j9j9j9i9h9hAhAhECBfAfIfIrfM`fF|@bfM?ɛ!= ?I ɚiIS=IF5@idi_[)F5@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JF % I$?I! H I  I (!II BI , =&I GD.I 6I ٰ<:I G ^G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.m:w,ĻA2&@Y2?5@2lx<922=y2HpحӿE6?@?e19?ϐ??ɨ2&@2=;2WCyrBr II I 4٢Z; X=9%yQ %>!) -G٣-CGy-; -> 5Nusing accuracyPremultiplier from config1=495E)?E4Y5 i5*J C="J p=J J J J J ;J p:J J J `<J `<J ;J ; % H$?I! ZAw,SŻA6[&@Y64@6K~<96I>y6H@)n`ӿ@ ? ?l+?Џ>4?@?ɨ6[&@6;6TCy>B> IMb@Mb@Mb@ )Y rh??MbyC+?L=v@ b@);@I@y3@I5I5ƕ4٢EO= EG=9MPZ:Q M>QQ UG٣Qy]} ]> eNusing accuracyPremultiplier from configam49e)?m4Ye ie7eBm+?u:u9@u@eJSDe;e;eq4y }A}hEB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 452.40 m.BjU:JjU:e ProNav: ac range: 452.399994 m, nav range: 448.626068 m, bearing: 227.730870 deg, approach rate: -0.309631 m/s, LOS rate: 0.072511 deg/s, cmd heading: 162.147612 deg, new cmd heading: 162.240320 deg. 2jeG;HeadingCmd: 2.831628 target range: 452.399994 and range: 452.40 m. jd95@jjjihhhhQBfffrfbf?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.ɛEBM+(= IM?II U|4~ɚQiQIU~"=I]d95@i]`di] M)ed95@)*F?2F:FBF@5JFG= !wG B! )I I } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.415998O > G  Y y ) B l@ BKGw,KvŻA6&@Y64@60<96I>y6H`Pm2ӿD?@?.&w?b??ɨ6&@6G];4yRBR IIrIrW4٢z zP=9 9Q  > G٣yMY > %Nusing accuracyPremultiplier from config-49 (?-4Y= i3eB159@5@ZSD|4;S;w4A EAEkEZjimFNOT Ignoring new targets: 452.40 m.Bju;:Jju;: ProNav: ac range: 452.399994 m, nav range: 448.499512 m, bearing: 227.760563 deg, approach rate: -0.333840 m/s, LOS rate: 0.078348 deg/s, cmd heading: 162.240325 deg, new cmd heading: 162.329428 deg. 2jW;HeadingCmd: 2.833183 target range: 452.399994 and range: 452.40 m. jR5@jjjihhhhfffrfbf?ɛ&= ?I ^bɚiIM=IR5@ideib)R5@) G$?IZHRHH,>I I!IIBI+ =&I.I6I<:I F*F?2F:FBF[0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.668446G'GBO>zK JK h9K K PK Mw,N9ŻA6&@Y64@6<96Y >y6HXf.ӿԚ?@?`?@?`B?@?ɨ6&@6=;4yB‚BB IIJIJ4٢Zz= ^O=9bs?;Q b>dh jG٣jCGyj%޻ j> rNusing accuracyPremultiplier from configlr49nS(?v4Yn in.eBtv9@v@nkSDnC:n:n~4x ~KA|Zj)5FNOT Ignoring new targets: 452.40 m.Bj5=:Jj5=:=Will construct direction to contact in vehicle frame from tetrahedron phase data.AiEAEchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.920224U ProNav: ac range: 452.399994 m, nav range: 448.373383 m, bearing: 227.790391 deg, approach rate: -0.318282 m/s, LOS rate: 0.075292 deg/s, cmd heading: 162.329431 deg, new cmd heading: 162.418942 deg. 2jUN;mHeadingCmd: 2.834745 target range: 452.399994 and range: 452.40 m. jmxl5@jqjqjqiyhhhhfffrfbf0@ɛEBE-!= AE?IA M[@ɚIiIIM=IUxl5@iu_ei})}xl5@)*F2F:FBF^0JF"G=G= F$?IGPWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.173640G B O >ޑTw,*SŻA2Ow&@Y24@2F<92h>y2H _Կ Ԅ? " ?@m-?U`?7?ɨ2Ow&@2;0yRɂBR ImMb@Mb@Mb@iii i)iYmB`"?+?MbPym.?m=mm@ mx@)iIm@iym@II?4٢< ==9 ;Q > G٣ytԻ > Nusing accuracyPremultiplier from config49^(?4Y i*eB"/?:68@@~SD/#;";b4 AnEZjFNOT Ignoring new targets: 452.40 m.Bj:Jj:  ProNav: ac range: 452.399994 m, nav range: 448.239197 m, bearing: 227.823893 deg, approach rate: -0.312815 m/s, LOS rate: 0.078121 deg/s, cmd heading: 162.418948 deg, new cmd heading: 162.519481 deg. 2j tV;HeadingCmd: 2.836500 target range: 452.399994 and range: 452.40 m. j75@jjjihh!h!h%mBf!f)f)rf)bf-b@ɛ)= !?I aɚiIX7=I75@iei&ؼ)75@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.425251*F2F:FBF_0JFJJ J1JJ-;Jbl:J3Ja@a@a@a@ IHI III&I.I6I<:I FGźG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.675792Zw,JmŻAvQ[&@Yvy4@vv<9v^ >yvHnZu1Կ`Ȁ?@:??`0?S?ɨvQ[&@vԒ;vUCy5ςB5 IIEIE4٢]< ]N=9e];Q e>aa mG٣iym m> }Nusing accuracyPremultiplier from configq49uK(?4Yu iu'eB8@@uSDuo;u:uQ4 B AqEZjFNOT Ignoring new targets: 452.40 m.BjG:JjG: ProNav: ac range: 452.399994 m, nav range: 448.116058 m, bearing: 227.854815 deg, approach rate: -0.310256 m/s, LOS rate: 0.077932 deg/s, cmd heading: 162.519475 deg, new cmd heading: 162.612267 deg. 2jU;HeadingCmd: 2.838120 target range: 452.399994 and range: 452.40 m. j5@jjjihhhhfffrfbfu`b@ɛBW-= 隝$?I +ɚiI=I5@iBfi)5@)zKRIK9KKQK*F2F:FBFJF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.927993GؼG B O5 > E$?I aw,zŻA6(j&@Y6ň4@6<96~>y6H\$ԿQ!?e,?HI? זKk??ɨ6(j&@6=;6SCy>ڂBB I%Mb@Mb@Mb@!!! !)!Y%@5^I ?Q?~jtxy%b0?%<%Ļ! %@)%h@I!!y%@IEIE"4٢Mf= UK=9U ;Q U>YY ]G٣]CGye; e> mNusing accuracyPremultiplier from configiu49m̐(?u4Ym im eBu0?:^7@@mSDmÙgw,ŻA:I&@Y:4@:5<9:>JBJBJB0J@JBe ;JBv:JBـ3J@y:H`a Կ@F? ?` t?B>?@?ɨ:I&@:bg;:UCyVBV!II^I^4٢fZ= fS=9j/:Q j>hl nG٣lyr2; r> vNusing accuracyPremultiplier from configtz49v!{(?z4Yv iveBxz7@z@vSDv:ve:v4 0AtEZj9EFNOT Ignoring new targets: 452.40 m.BjEi:JjMi:U ProNav: ac range: 452.399994 m, nav range: 447.874451 m, bearing: 227.917241 deg, approach rate: -0.331179 m/s, LOS rate: 0.085420 deg/s, cmd heading: 162.707742 deg, new cmd heading: 162.799600 deg. 2j]~j;eHeadingCmd: 2.841389 target range: 452.399994 and range: 452.40 m. jeQ5@jajijiiihihihqhqfqfqfqrfybf} @ɛwO= 隭P/?I %[ɚiIk;=IQ5@i5giI)Q5@) %D$?I!jHYbH]=He->IeC Ie(!IIeBIe* =&Ia.Ia6Ie<:Ie| FBIAJIARIAZIE+ =bIE+ =jIE¹5*FQ2FQ:FQBF]5JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:33:09.3385 TRx dataTimestamp_ set to:1736371990.700822checking for new query: numPingsReceived=0, elapsed TxPingTime=3.685122GqGQBaO>zK% K! K! K% RK% 1k~p`QB4)# pmw,@ŻA:&@Y:Y4@:!<9:>y:Hfiӿ`1?`?`c Ȭ?@#`7?@?ɨ:&@:옏;:SCyFBF!IININ\4٢V= VL=9ZF;Q Z>xx  G٣ Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.937370y5<; 5> ENusing accuracyPremultiplier from config9E49=c(?M4Y= i=eBIM7@M@=SD=:=:=c4Q ]A]wEZjyFNOT Ignoring new targets: 452.40 m.Bj:Jj: ProNav: ac range: 452.399994 m, nav range: 447.746674 m, bearing: 227.950091 deg, approach rate: -0.309341 m/s, LOS rate: 0.079551 deg/s, cmd heading: 162.799594 deg, new cmd heading: 162.898173 deg. 2jaZ;HeadingCmd: 2.843109 target range: 452.399994 and range: 452.40 m. j5@jjjihhhhfffrfbf3@ɛ B vB= N2?I :ɚiI=I5@i gi%;P)%5@)) C$?I *F ?2F :FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 455.2 m (Round-trip 607.0 ms) speed -0.4 m/s ,DAT read: user:1863> BDAT read: Tx time:21:33:10.4274 $Ping request sent.tw,xŻABd&@YB4@B<9B >yBHk<ӿ`D?`??`?@?ɨBd&@B;BUCynBn!IprA}Mb@Mb@Mb@yyy y)yY}|?5^?Mb?Mby}-?}<}}QA }@)yIyyyyIIP4٢)o= <=98z:Q > G٣CGy; > Nusing accuracyPremultiplier from config49L(?4Y i eB-?:6@@SDQ;;4 AzE addTargetRange:: Added new target pos. range: 455.200012 m, deltaT: 4.281432 s, deltaX: 2.800018 m, approachRate: 0.653991 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 452.40 m.Bj:Jj: ProNav: ac range: 452.399994 m, nav range: 447.624268 m, bearing: 227.983027 deg, approach rate: -0.277749 m/s, LOS rate: 0.074755 deg/s, cmd heading: 162.898168 deg, new cmd heading: 162.997002 deg. 2j6M;HeadingCmd: 2.844834 target range: 452.399994 and range: 455.20 m. j6@jjjihhhhBfffrf@3s|@bfࣩ?ɛBV @= f8?I ؅9ɚiI~=%Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:21:33:10.4266 I6@iIhic)6@)*FU?2FY:FYBF]P5JFYJJ JJJE ;Jun:JJ IHU.>IQ IUA!IIUBIQ&IQ.IQ6IUȰ<:IU FG] G1 BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. {w,LŻA6 '@Y6x(5@6:<96>y6H1u ӿǙ?x?@?&D ??ɨ6 '@6H;6TCyRBR)!IIZIZݜ4٢f= fY=9fQ f>hh jG٣hyj < n> eNusing accuracyPremultiplier from configYe49]Y7(?m4Y] i]eBim6@m@]SD]~:];:]4q !AZjFNOT Ignoring new targets: 452.40 m.Bj@:Jj@: ProNav: ac range: 452.399994 m, nav range: 447.509338 m, bearing: 228.013713 deg, approach rate: -0.303217 m/s, LOS rate: 0.080979 deg/s, cmd heading: 162.997000 deg, new cmd heading: 163.089082 deg. 2jM^;%HeadingCmd: 2.846442 target range: 452.399994 and range: 455.20 m. j%,6@j!j!j!i!h)h)h)h)f)f1fQrfQbf]`Q?ɛ=B=`= AE ??II Mr:ɚIiiIm=Iu,6@iuxhiuټ)},6@)yzK =UMK ػ9K K SK RK?JK?*F?2F:FBFS0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.G- fG) BY O >  B$?I \w,w.ƻA64'@Y68S5@6گ<96b>y6H`{?gӿ^?`k?*d?`?@g?ɨ64'@6;6SCy>B>>!IMb@Mb@Mb@ )YV-?~jt~jtxy-?ĻA )I@y@I5I5F4٢E= EB=9MuѹQ M>II MG٣IyU; U> Nusing accuracyPremultiplier from config49 (?4Y' idB-?:3@@SD<;;跶4 B :@{EUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 452.40 m.Bjm϶:Jjm϶: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: 452.399994 m, nav range: 447.399017 m, bearing: 228.047337 deg, approach rate: -0.262124 m/s, LOS rate: 0.079912 deg/s, cmd heading: 163.089085 deg, new cmd heading: 163.189983 deg. 2j_[;HeadingCmd: 2.848202 target range: 452.399994 and range: 455.20 m. jH6@jjjihh hhہBfffrfbfCg?ɛc= 隍PG?I M:ɚiI =IH6@ipii ּ)H6@)*Fa2Fa:FaBFe\0JFaG VM Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257534Ga Bi O >cw,"ƻAJ6J6J61J4J6;J6Fi:J63J4Fq'@YF5@F|<9F>'>yFH`@~,ӿ m?12?V%":?P?\?ɨFq'@F~;FTCyNBRC!I Va=V=IZIZQ4٢b< bS=9bQQ f>dd fG٣fCGyjG< j> nNusing accuracyPremultiplier from configlr49n (?r4Yn indBtv3@v@n TDn;n;na4x z@z~EZj15FNOT Ignoring new targets: 452.40 m.Bj=:Jj=:M ProNav: ac range: 452.399994 m, nav range: 447.300964 m, bearing: 228.076966 deg, approach rate: -0.269134 m/s, LOS rate: 0.081342 deg/s, cmd heading: 163.189981 deg, new cmd heading: 163.278886 deg. 2jML_;UHeadingCmd: 2.849754 target range: 452.399994 and range: 455.20 m. jU_b6@jQjQjQiQ A$?Ihhhhfffrfbf 9?ZHRHH I  I f!II 9BI &I .I 5D6I <:I v FɛMBMs= QUH?Iq u;ɚyiyI}|* =I}_b6@i_iiƼ)_b6@)*F12F1:F9BF=_0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508948Gm~>ԼGI BY Ou >zK jIK +9K K TK BK :K qATIw,;ƻAR'@YR(5@RqN<9Rh>yRH`rӿ%?&?*`*@?\)N?S?ɨR'@RW;RSCyZ%BZO!IIbIb4٢ji<= nH=9n.:Q n>pp rG٣pyrH; v> zNusing accuracyPremultiplier from configt~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761054-49v'?-4Yv ivdB)-4@-@vTDvB-w,UƻAyr7Brd!IMb@Mb@Mb@ )YˡE?Mb~jty'?DhA b@)@I@yp@II94٢= 9=9Q  >    G٣ y > Nusing accuracyPremultiplier from config%49'?%4Y idB-)(?-:-2@-@/TD<;;8Ͷ45 B 5J@=E%-G=vAY zYvAy4BZjFNOT Ignoring new targets: 452.40 m.Bj1:Jj1: ProNav: ac range: 452.399994 m, nav range: 447.084595 m, bearing: 228.143986 deg, approach rate: -0.233627 m/s, LOS rate: 0.074397 deg/s, cmd heading: 163.376636 deg, new cmd heading: 163.479989 deg. 2j;L;HeadingCmd: 2.853264 target range: 452.399994 and range: 455.20 m. j6@jjjihhhhBff Will construct direction to contact in vehicle frame from tetrahedron phase data.i%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266474f rf)bf=.@ɛ-B-;Zm= )-U?I1 5Tn;ɚ1i1I5 =I=6@i=+ji=Լ)=6@)*Fa2Fa:FiBFiJFiJJJ0JJ ;J3g:Jـ3J IOgH/>I I!IIRBI) =&I.I6IŰ<:I FG] Tż Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516895G9 BI Oe >^w,oƻAB'@YB~6@Bb<9B>yBHu`ҿd?F?`4 h?`k '_?H?ɨB'@B;BUCyNBBNr!ITVAIZIZP4٢^~= b`=9bh;Q b>dd fG٣fCGyja< j> nNusing accuracyPremultiplier from configlr49n'?r4Yn indBpr3@r@n>TDn":n:nӶ4 @EZjFNOT Ignoring new targets: 452.40 m.Bj:Jj: ProNav: ac range: 452.399994 m, nav range: 446.994293 m, bearing: 228.172370 deg, approach rate: -0.269715 m/s, LOS rate: 0.084798 deg/s, cmd heading: 163.479990 deg, new cmd heading: 163.565162 deg. 2jh;HeadingCmd: 2.854751 target range: 452.399994 and range: 455.20 m. j<6@jjjihhhhfffrfbf @ɛUB]= Y]VZ?IY ]r͉;ɚYiaIe =I<6@idji)<6@)zK]BoIK]9KYK]UK]*Fi2Fq:FqBFu1JFq Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768955GϼGy *J "J a=B O > >$?I Z@w,eqƻA2K(@Y2$6@2(]<92>y2H S@ҿ?`G?V8?`J||?`?ɨ2K(@21Q;0yRKBR~!ImMb@Mb@Mb@iii i)iYmQ?ʡEMbym(?mmmA i)mh@Im@iyiIIg4٢*= >=9;Q > G٣y; > Nusing accuracyPremultiplier from config49'?4Y idB'*?:/@@PTD5;3;۶4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 452.40 m.Bj 9:Jj 9: ProNav: ac range: 452.399994 m, nav range: 446.903778 m, bearing: 228.207061 deg, approach rate: -0.216922 m/s, LOS rate: 0.083153 deg/s, cmd heading: 163.565163 deg, new cmd heading: 163.669254 deg. 2jDd;%HeadingCmd: 2.856567 target range: 452.399994 and range: 455.20 m. j%6@j!j!j!i)h)h)h)h5 Bf1f1f1rf9bf=@!@ɛeBe= aeM^?Ii mʠ;ɚiiiIm =uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020950I6@i'jik)6@)*F?2F:FBF_5JFG- )G B - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273765O= >jw,NƻA60>(@Y6\6@6<96>y6HVtҿ֧?m?@؛???ɨ60>(@6 ;4yrPBv!II~I~m4٢ K<  T=9 :Q  > G٣yE< E> MNusing accuracyPremultiplier from configIU49M'?]4YMD iMdBY]=/@]@MaTDM ;M6;M4i m@mE =$?IjH<bHp<H0>I I!IIlBI&I.I6Iذ<:I FZjFNOT Ignoring new targets: 452.40 m.Bj:Jj: ProNav: ac range: 452.399994 m, nav range: 446.820770 m, bearing: 228.238574 deg, approach rate: -0.209119 m/s, LOS rate: 0.079406 deg/s, cmd heading: 163.669255 deg, new cmd heading: 163.763813 deg. 2jY;HeadingCmd: 2.858218 target range: 452.399994 and range: 455.20 m. j 6@jjjihhhhfffrfbf@{N @ɛ5B5;= 9= `?I9 =;ɚ9i9I=Ӊ =IE 6@iEjiM{E)M 6@)I*FU?2FQ:FQBFU4JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:33:13.4402 TRx dataTimestamp_ set to:1736371994.732736checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526064GźGa Bq O >zK BoHK 9K K VK w,-%ƻAFi(@YFf6@FEk<9F>yFHrKҿ?C?DEF? g? ?ɨFi(@F\;FSCybUBb!IrWill construct direction to contact in vehicle frame from tetrahedron phase data.titzchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778509II4٢< J=9Y:Q >)) -G٣-CGy5:; 5> =Nusing accuracyPremultiplier from config9E49=׍'?E4Y= i=dBIMi/@M@=rTD=":=:=4Q UW@UEZjy}FNOT Ignoring new targets: 452.40 m.Bj:Jj: ProNav: ac range: 452.399994 m, nav range: 446.735046 m, bearing: 228.270907 deg, approach rate: -0.217350 m/s, LOS rate: 0.081994 deg/s, cmd heading: 163.763812 deg, new cmd heading: 163.860828 deg. 2ja;HeadingCmd: 2.859911 target range: 452.399994 and range: 455.20 m. j7@jjjihhhhfffrfbf@s@ɛB= a?I L;ɚiI =I 7@i ki ) 7@)JmJm Jm1JiJme ;Jmlm:Jm3*F?2F:FBF_0JFJiJmU} DAT read: Range 10 to 50 : 456.4 m (Round-trip 608.6 ms) speed 0.0 m/s  ,DAT read: user:1864>  BDAT read: Tx time:21:33:14.5274  $Ping request sent. ڑڑەh9tؿP-\>!+п)ەgIە >iەw?ە2ۑۑ- :publishing transmit ping time؉ 5 Fpublishing direction and range infoؑ9ؕF-9Iq??a?(^?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑەh9tؿP-\>!+п)ۑIۑiۑۑۑۑ|w,)ƻA6?(@Y66@6<96>y6Hk`ҿ`ޒ??N ?@􏚿``?:?ɨ6?(@6;4ybbBb!I }@} }@} }@}  }@} IIs4٢o= <=95:Q > G٣ y <  > =bBottom track data is 0.4 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E495\w'?E4Y5 i5dBE+:AM:M/@M@5TD5y);5>5"4 @kQ =Λ?k؋ k kƻA:k3CBkCZk*@"MAbd@sz@%q1SC@F-9Iq??a?(^?Jkw?Rk2*t![-q4?"vYX@} |z3#ƹ/fC?"k*kyk8͛?kx 2k$Ckkj$R k{BkCk'@U addTargetRange:: Added new target pos. range: 456.399994 m, deltaT: 4.032026 s, deltaX: 1.199982 m, approachRate: 0.297613 m/s, rangeRepo size: 4 e Added new target pos. range: 456.399994 m, bearing: 232.219711 deg, lat: 36.899350 deg, lon: -122.118572 deg, deltaT: 8.313458 s, deltaX: 4.000000 m, approachRate: 0.481148 m/s, posRepo size: 4 ZjiFNOT Ignoring new targets: 456.40 m.BjJj ProNav: ac range: 456.399994 m, nav range: 447.707733 m, bearing: 228.427495 deg, approach rate: 0.000000 m/s, LOS rate: 0.081994 deg/s, cmd heading: 163.860828 deg, new cmd heading: 163.974954 deg. 2jHeadingCmd: 2.861903 target range: 456.399994 and range: 456.40 m. jk)7@jjjihhhhfffrf`f|@bf@.?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:33:14.5266 ɛEBM = IMpg?II M;ɚIiQIU^ =IUk)7@i]Jki]T)]k)7@)YE*F%?2F!:F!BF!JF! yIyHI I!IIBI* =&I.I6Iʰ<:I FBIeǝCJIeǝCRIaZIe* =bIe* =jIeǰ4GE 秼G B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data.]w,TƻA6@(@Y67@6<961>y6Hѿf?J?<[[?=`8j?w?ɨ6@(@6&ԏ;4yBeBB!IIJIJ4٢R)< Rc=9VlQ V>TT ZG٣XyZ]< Z> bbBottom track data is 0.8 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\f49^d'?f4Y^4 i^pdBj :hjQ:j/@j@^TD^';^K?^84l nT@rEZjFNOT Ignoring new targets: 456.40 m.Bj%:Jj%:- ProNav: ac range: 456.399994 m, nav range: 447.630402 m, bearing: 228.456094 deg, approach rate: -0.219991 m/s, LOS rate: 0.081371 deg/s, cmd heading: 163.974961 deg, new cmd heading: 164.060771 deg. 2j-`_;UHeadingCmd: 2.863401 target range: 456.399994 and range: 456.40 m. jUA7@jQjYjYiYhYhYhahafafafarfibfm Ui?ɛB!= 7h?I %<ɚ iIS=IA7@iZki)A7@)zKK+9KKWK*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G% S.*Jm 4="Ji Ju Ju Ju 0Jq Ju ;Ju u:Ju ـ3Jq Ju }T<Ju ~T<Ju D;Ju D;G B } ;$?I O >6w, ǻA6U)@Y6s7@6<960>y6Htlѿ 0?6b?q?`T!t? ?ɨ6U)@6f;6UCy^_B^!I        Mb@Mb@Mb@ )YK7A`?Dly+?O ̼A x@)@I@y\@IIE4٢ۼ ;=96Q > G٣CGyQ< > Nusing accuracyPremultiplier from config49N'?4Y iUdBT:.?:*@@TDeWill construct direction to contact in vehicle frame from tetrahedron phase data./;<4} B }@}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 456.40 m.Bj:Jj: ProNav: ac range: 456.399994 m, nav range: 447.556152 m, bearing: 228.492882 deg, approach rate: -0.168084 m/s, LOS rate: 0.083293 deg/s, cmd heading: 164.060775 deg, new cmd heading: 164.171157 deg. 2jd;HeadingCmd: 2.865327 target range: 456.399994 and range: 456.40 m. ja7@jjjihh h h-;Bf1f1f1rf1bf5?ɛBC= 隥Rd?I  <ɚiI*=Ia7@iRki|V)a7@)*F2F:FBFJFG m 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,K$ǻA6'])@Y6{7@6"+<96>y6H XX ZG٣XyZ: ^> bNusing accuracyPremultiplier from config`f49b;'?j4Yb ib=dBhj*@j@bTDb1;b1;bU4p r@tZj FNOT Ignoring new targets: 456.40 m.Bj:Jj: %:$?I%NgZH9RH9HE1>IA IE!IIEBIE) =&IA.IA6IEð<:IE F ProNav: ac range: 456.399994 m, nav range: 447.493073 m, bearing: 228.524139 deg, approach rate: -0.183027 m/s, LOS rate: 0.090706 deg/s, cmd heading: 164.171151 deg, new cmd heading: 164.264936 deg. 2jy;HeadingCmd: 2.866964 target range: 456.399994 and range: 456.40 m. jV|7@jjji!h!h!h!h)f)f)f1rfQbfU`a?ɛBTr= o<d?I b<ɚiI{=IV|7@iRkiHn)V|7@)*F2F:FBF0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.481705G:_G B O >zK} BoIK} ]9Ky K} XK} 5w,+m>ǻA>)@Y>7@>=<9>>y>H@PG3ѿ`ؑ?@+?s`N'?3 S ??ɨ>)@>ڔ; G٣ y @;  > Nusing accuracyPremultiplier from config49&'?4YH i$dB+@@TD<<4e B e9@mEZjFNOT Ignoring new targets: 456.40 m.Bj<:Jj<:JK(3 K(.KK"KJMJMJM1JIJM;JM~:JM3JIJMY<JMY<JMn;JMn; ProNav: ac range: 456.399994 m, nav range: 447.421875 m, bearing: 228.559064 deg, approach rate: -0.154350 m/s, LOS rate: 0.075727 deg/s, cmd heading: 164.264929 deg, new cmd heading: 164.369722 deg. 2jO;HeadingCmd: 2.868793 target range: 456.399994 and range: 456.40 m. jM7@jjjihhhhfffrfbf? 59$?I9ɛB== f?I Ϟ&<ɚiI\=IM7@i{IkiY)%M7@)!*F2F:FBF`0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.984808G]  ~G1 B9 OU >Kw,UgZǻAb)@Yb8@bX<9b >ybH@|uп@]?_?}:^?`Gꚿg)?Ӡ?ɨb)@b;bTCynbBn!I)p p v=tuMb@Mb@Mb@qqq q)qYu?ףp= ÿV-yu,?uuq ub@)u@Iqqyu@II"4٢м 2=9e;Q > G٣CGym@< > =Nusing accuracyPremultiplier from config9E49='?E4Y=E i=dBEs1?E:E*@M@=TD=*$;=";=4Q U@]EZjyFNOT Ignoring new targets: 456.40 m.BjT:JjT: ProNav: ac range: 456.399994 m, nav range: 447.344391 m, bearing: 228.599802 deg, approach rate: -0.181495 m/s, LOS rate: 0.095440 deg/s, cmd heading: 164.369718 deg, new cmd heading: 164.491954 deg. 2j;HeadingCmd: 2.870926 target range: 456.399994 and range: 456.40 m. jA7@jjjihhhhCBfffrfbf`H @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236978ɛBş= b?I |0<ɚiIE=IA7@i 0ki |-) A7@) *F2F:FBF4JFH=3>I9 I=!II=BI9&I9.I96I=<:I=Z F yIyG% UG B O% >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488961qw,H1tǻAn =*@Yn[8@n[=<9n x>ynHп@ ?T?@xT?&?@R?ɨn =*@n;nSCyzYBz!I  BAI I 4٢%= %S=9%Y:Q ->)) -G٣)y5`< 5> ENusing accuracyPremultiplier from config9E49=&?M4Y=* i=cBIMm*@M@=TD=~:=:=Z4Q ])@YZjFNOT Ignoring new targets: 456.40 m.Bj :Jj : ProNav: ac range: 456.399994 m, nav range: 447.282684 m, bearing: 228.631592 deg, approach rate: -0.166323 m/s, LOS rate: 0.085697 deg/s, cmd heading: 164.491951 deg, new cmd heading: 164.587333 deg. 2j@k;HeadingCmd: 2.872591 target range: 456.399994 and range: 456.40 m. j7@jjjihhhhfffrfbf@s@ɛBw= .]?I :<ɚiIԱ=I7@i5ji$)7@)zK-K-h9K)K-YK-RK5>JK5>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741924E8<*F?2F:FBF0JFJJJ0JJe ;J~o:Jـ3JJU<JU<J;J; 8$?I G= K7GQ GQ G B O= >w,ǻA*Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992946y-VB-!IMb@Mb@Mb@ )YX9v?I +ƿQ롿y3?94\A @)Iy@IEIE4٢U= U-=9]Q ]>YY ]G٣aye e> uNusing accuracyPremultiplier from configi}49m&?}4Ym imcB}9?:7)@@mUDmP;mpN;m4 S@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 456.40 m.Bjz:Jjz: ProNav: ac range: 456.399994 m, nav range: 447.207001 m, bearing: 228.674141 deg, approach rate: -0.159738 m/s, LOS rate: 0.089820 deg/s, cmd heading: 164.587328 deg, new cmd heading: 164.714998 deg. 2jv;HeadingCmd: 2.874819 target range: 456.399994 and range: 456.40 m. j 7@jjjihhhhKBfffrfbfm@ɛ%B%^= !%Z?I) -T/H<ɚ)i)I-[=I5 7@i51ji5")5 7@)9E`=<) &C-G*F5?2F1:F1BF5P5JF1Ay %YyBWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244765G JG B! O= >jHU <bHU <H] 4>I] C IY IY I] ( =&IY .IY 6I] <:I] m FTw,ᳩǻA $I(j*@YjH8@j+<9jR>yjH@Zп@,?@Q?͜W?ɡ=?d?ɨj*@j;hy FB w!III4٢-0 -a=95:Q 5>11 =G٣= CGy=D< => ENusing accuracyPremultiplier from configAM49EB&?M4YE iEcBQU)@U@EUDE:E:E%4Y eF@mEZjFNOT Ignoring new targets: 456.40 m.Bj:Jj: ProNav: ac range: 456.399994 m, nav range: 447.146576 m, bearing: 228.706827 deg, approach rate: -0.166081 m/s, LOS rate: 0.089850 deg/s, cmd heading: 164.714998 deg, new cmd heading: 164.813068 deg. 2jv;HeadingCmd: 2.876531 target range: 456.399994 and range: 456.40 m. j8@jjjihhhhfffrfbf @ɛB= Q?I Q<ɚiI=I8@iji+)8@) EE*E"EuWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:21:33:17.5311 }TRx dataTimestamp_ set to:1736371998.765285checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498535*FU?2FQ:FQBF]85JFYzK BoIK 9K K ZK % Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749052G -,G B O >w,ǻAB +@YBU+9@B<9B>yBH`›Ͽ@'?r?  i?_v&??ɨB +@BW;@yJ5BJc!IIVIV4JXJZAA٢n nG=9rI9Q r>pp rG٣pyv< v> %Nusing accuracyPremultiplier from configU49&?]4Y icBY]*@]@(UDa<i;;-4a eS@iZjI]FNOT Ignoring new targets: 456.40 m.Bj:Jj: 5$?I5 ProNav: ac range: 456.399994 m, nav range: 447.076782 m, bearing: 228.744091 deg, approach rate: -0.158456 m/s, LOS rate: 0.084616 deg/s, cmd heading: 164.813066 deg, new cmd heading: 164.924876 deg. 2j5Ih;uHeadingCmd: 2.878482 target range: 456.399994 and range: 456.40 m. j} 98@jjjihhhhfffrfbf?@ɛB[}= G?I b_<ɚiI3=I 98@i[iiD) 98@)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 449.6 m (Round-trip 599.5 ms) speed -1.0 m/s ,DAT read: user:1865> %BDAT read: Tx time:21:33:18.6275 -$Ping request sent.-y6H Ͽ@@??@ sU?@1 ??ɨ6NP+@6?Ґ;6RCy%2B-_!I]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:21:33:18.6267 Mb@Mb@Mb@ )Y7A`?MbX9Ŀ/$y6?!,3A b@)@Iy@II4٢RZ :=9:Q > G٣y<  > Nusing accuracyPremultiplier from config 49 &?4Y U i [cBC;?:% ,@%@ mw,RǻA6+@Y6=9@6 P<96>y6H ৯ο^?V? ?)n?o?ɨ6+@6ǐ;6UCyZB^D!IIfIfm4٢n1 n^=9nHkQ r>pp rG٣r CGyv< v> zNusing accuracyPremultiplier from configx~49z&?~4YzG iz 4$?I Will construct direction to contact in vehicle frame from tetrahedron phase data.9Sw,$ȻAy~ B~/!IMb@Mb@Mb@ )YzG?S㥛 ףp= y 7?$Q8 x@)@I@yG@I5I54٢Eܚ E6=9EQ E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe49]r&?e4Y]ٱ i]cBmq:?m:m.@m@]bUD]? ;] ;]C4y }@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 456.40 m.Bj:Jj: ProNav: ac range: 456.399994 m, nav range: 446.823730 m, bearing: 228.855914 deg, approach rate: -0.218624 m/s, LOS rate: 0.088518 deg/s, cmd heading: 165.141092 deg, new cmd heading: 165.260416 deg. 2jr;HeadingCmd: 2.884338 target range: 456.399994 and range: 449.60 m. j8@jjjihhhhBfffrfbf?ɛ B x= 隭]/?I wz<ɚiIEv=I8@ihiP)8@)*F?2F:FBFJF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.G J J J 1J J ;J un:J 3J G ZH RH H 5>I  I !II BI &I .I 6I <:I d FBIUʞCJIQRIQZIU( =bIU( =jIU 4B O > 3$?I Mg!~ w,q,ȻAy%B-!II=I= 4٢E M\=9QQ ]>Ya eG٣aya e> mNusing accuracyPremultiplier from configiu49m]&?}4Ym imbByy}@msUDmr#;mL$;mI4 B AEZjFNOT Ignoring new targets: 456.40 m.Bj:Jj: ProNav: ac range: 456.399994 m, nav range: 446.742218 m, bearing: 228.888984 deg, approach rate: -0.218600 m/s, LOS rate: 0.088702 deg/s, cmd heading: 165.260416 deg, new cmd heading: 165.359643 deg. 2js;HeadingCmd: 2.886070 target range: 456.399994 and range: 449.60 m. j`8@jjjihhhhfffrfbfй?ɛB%z= !% ?I! %<ɚ!i)I- =I-`8@i5Uhi5-9()5`8@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507028*F?2F:FBF3JFG i"GB O% >zK JK ]9K K \K  #`)E3yhWI@5-* Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758429ew,/EȻA6+@Y6)9@6<96>y6H+ο?q?w?@? 0?@?ɨ6+@6&;6SCyRڂBV II^I^4٢n nR=9vPxx zG٣z CGy~ : ~> Nusing accuracyPremultiplier from config 49G&? 4Y ibB.@@UDe::wP4 AEZjAEFNOT Ignoring new targets: 456.40 m.BjM:JjM:] ProNav: ac range: 456.399994 m, nav range: 446.657288 m, bearing: 228.923528 deg, approach rate: -0.217678 m/s, LOS rate: 0.088555 deg/s, cmd heading: 165.359645 deg, new cmd heading: 165.463298 deg. 2j]s;mHeadingCmd: 2.887879 target range: 456.399994 and range: 449.60 m. jm8@jqjqjqiyhhhhfffrfbf?ɛB5i= n?I Ԅ<ɚiIӵ=I8@i"gi v)8@) u2$?Iy*F2F:FBFY5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010541GOPG B O >w,c_ȻA6+@Y69@6ت=96X>y6H@2 οRZ?B?`p??@+?ɨ6+@6J;4yBȂBB I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.262159EMb@Mb@Mb@AAA A)AYEQ?B`"۹/$yE5?EνE,EA E@)E@IE@AyE@IuIuk4٢ 2=9|;Q > G٣y1n; > Nusing accuracyPremultiplier from config49.&?4Y ibB7?:uS1@u@UD<<X4y }A}EJJJ0JJJt:Jـ3JZj FNOT Ignoring new targets: 456.40 m.Bj]:Jj]:H56>I1 I5!II5bBI5' =&I1.I56D6I5<:I5 FM ProNav: ac range: 456.399994 m, nav range: 446.545837 m, bearing: 228.963232 deg, approach rate: -0.227392 m/s, LOS rate: 0.081029 deg/s, cmd heading: 165.463300 deg, new cmd heading: 165.582442 deg. 2jMo^;UHeadingCmd: 2.889959 target range: 456.399994 and range: 449.60 m. jU8@jQjQjQiQhQhYhYh]΁BfYfafarfabf Y@ɛMBUM= QU ?IQ ]W<ɚYiYI] m= u1$?IqI8@igi})8@)*FQ2FY:FYBF]3JFYGeqA GerAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514443G} xGQ Ba O} >w,yȻA:+@Y:/9@:G=9:x>y:H` QοЉC?4?ڡ?૩?ɨ:+@:н;:QCyBBB IININ4٢V Vk=9Vܤ;Q V?X\ ^G٣\y^; ^? fNusing accuracyPremultiplier from config`j49b&?n4Yb ibbBlnu1@n@bUDb";b;b^4p rAtZj FNOT Ignoring new targets: 456.40 m.Bj:Jj:% ProNav: ac range: 456.399994 m, nav range: 446.462158 m, bearing: 228.992903 deg, approach rate: -0.264720 m/s, LOS rate: 0.093880 deg/s, cmd heading: 165.582446 deg, new cmd heading: 165.671473 deg. 2j-ۀ;-HeadingCmd: 2.891513 target range: 456.399994 and range: 449.60 m. j59@j1j1j1i1h1h9h9h9f9fAfArfAbfE`}j@ɛ B e`= >I <ɚiI)6=I9@iBgiU)9@)!zKr*NK9KK]K# %Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767057*F2F:FBFZ0JF 1I1G g{G B) Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018178ذ$w,ȻA^^+@Y^:@^]=9^>y^Hfοfu?`?`ʢ`w??ɨ^^+@^˖;^RCyjBj ImMb@Mb@Mb@iii i)iYm9v?S㥫Q롿ym4?m/]m\mA m@)m@Iiiym@I} I}e4٢ ==9H;Q > G٣yߥ; > Nusing accuracyPremultiplier from config49;&?4Y% isbB5?:5@@UD5;4;f4 IAEeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 456.40 m.BjS:JjS: ProNav: ac range: 456.399994 m, nav range: 446.339996 m, bearing: 229.028768 deg, approach rate: -0.272889 m/s, LOS rate: 0.080138 deg/s, cmd heading: 165.671470 deg, new cmd heading: 165.779095 deg. 2j[;HeadingCmd: 2.893391 target range: 456.399994 and range: 449.60 m. jR-9@jjjihhhhBfffrfbf @ɛuBuE= qu>Iy }U<ɚyiyI} =IR-9@ifiG)R-9@)*FA2FA:FABFM\0JFI=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.270318G b(J J J J J ;J lm:J J H I  I Z!II /BI &I .I 5D6I <:I FG B O > - 0$?I) *w,犭ȻA6N,@Y6::@6|=96p>y6H9Ϳr `?`ۆ? |l?@?ɨ6N,@6;4y>~BB IIJ!IJ5٢j!: jW=9ngi;Q n>lp rG٣r CGyr; r> vNusing accuracyPremultiplier from configtz49v%?z4Yv ivYbB|5@@vUDvy-;v-;vl4  B bA EZj9EFNOT Ignoring new targets: 456.40 m.BjE:JjE:U ProNav: ac range: 456.399994 m, nav range: 446.231812 m, bearing: 229.060356 deg, approach rate: -0.296059 m/s, LOS rate: 0.086467 deg/s, cmd heading: 165.779100 deg, new cmd heading: 165.873889 deg. 2j]]m;]HeadingCmd: 2.895046 target range: 456.399994 and range: 449.60 m. jemH9@jajajaiahahahihifififqrfqbfuX @ɛBGb== <隥>I EI<ɚiI*=ImH9@iFfi\ )mH9@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:33:21.6590 TRx dataTimestamp_ set to:1736372002.797648checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524414*Fi2Fi:FqBFu`0JFqGpGqAGGiByO>zK LK 9K K ^K E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7741651w,nȻA:-,@Y:L:@:#=9:>y:H ͿMz=?4~?9~??ɨ:-,@:;:TCy^hB^f IIfIf4٢n$ٽ nJ=9nP;Q n>pp rG٣pyv-; v> zNusing accuracyPremultiplier from configx~49z%?~4Yzӟ iz;bB5@@zUDzgP;z'[;zs4) 5A1ZjY]FNOT Ignoring new targets: 456.40 m.Bje:Jje: /$?I ProNav: ac range: 456.399994 m, nav range: 446.116486 m, bearing: 229.093985 deg, approach rate: -0.282542 m/s, LOS rate: 0.082409 deg/s, cmd heading: 165.873890 deg, new cmd heading: 165.974801 deg. 2j:b;HeadingCmd: 2.896807 target range: 456.399994 and range: 449.60 m. jHe9@jj!j!i!hQhQhahifffrfbf΅@ɛ-B5\ = 9eЩ>Ia e<ɚaiaIet=ImHe9@imGfiu2`7)uHe9@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026337*F?2F:FBF_0JFE ~GY Y y BG5 b(G) B1 OM >7w,BȻA6R,@Y65q:@6)=96>y6H@R$ lͿ9?`?> ?@/?ɨ6R,@6R;6QCyBZBBU IDFA~Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 470.5 m (Round-trip 627.4 ms) speed -0.5 m/s ,DAT read: user:1866> BDAT read: Tx time:21:33:22.7775 $Ping request sent.AA EG٣AyE; M> uNusing accuracyPremultiplier from configq}49u%?}4Yu iu$bB}-?}:D:@@uUDu;u+;u{4 AE% addTargetRange:: Added new target pos. range: 470.500000 m, deltaT: 4.283239 s, deltaX: 20.899994 m, approachRate: 4.879484 m/s, rangeRepo size: 4 Zj!-FNOT Ignoring new targets: 456.40 m.BjMT:JjUT:e ProNav: ac range: 456.399994 m, nav range: 445.975739 m, bearing: 229.128508 deg, approach rate: -0.305243 m/s, LOS rate: 0.074894 deg/s, cmd heading: 165.974799 deg, new cmd heading: 166.078400 deg. 2jeM;HeadingCmd: 2.898615 target range: 456.399994 and range: 470.50 m. j9@jjjihhhhtBfffrfh}@bf@z?HI I!IIBI&I.I6I<:I| FɛmBm= quǙ>Iq u<ɚyiyI}5= .$?II9@ieiJ})9@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:33:22.7767 G *G B O >>w,LȻA6d,@Y65:@6`0=96>y6H%QͿ p?oM?` y?`ӥ?ɨ6d,@6;6UCyVBBV7 IIbIb4٢j jd=9j;Q n>ll nG٣r CGyr I; r> vNusing accuracyPremultiplier from configtz49v˨%?z4Yv ivbB|~V:@~@vVDv;v<;v偷4 =A EZj)5FNOT Ignoring new targets: 456.40 m.Bj5>:Jj5>:M ProNav: ac range: 456.399994 m, nav range: 445.863220 m, bearing: 229.156072 deg, approach rate: -0.330464 m/s, LOS rate: 0.080976 deg/s, cmd heading: 166.078399 deg, new cmd heading: 166.161112 deg. 2jMJ^;UHeadingCmd: 2.900059 target range: 456.399994 and range: 470.50 m. jU9@jQjQjQiQhYhahahafififirfibfm@ӽ?ɛB8= 隥>I \<<ɚiIc=I9@ikei]2)9@)zKRIK+9KK_KRK ?JK> Will construct direction to contact in vehicle frame from tetrahedron phase data.EJJJJJe ;Jr:JJJaJaJ;aJ;a*F2F:FBFo0JF IG= j- Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BA O] >eEw,ɻA2,@Y2:@21=92>y2H*n̿|?)? :5 #?@?ɨ2,@2WB;2RCy>4B>% IeMb@Mb@Mb@aaa a)aYeK7?i|?5?~jtyeI,?eq=eeA e@)aIe@aye@I}I}Y4٢, >=92:Q > G٣ya; > Nusing accuracyPremultiplier from config49%?4Y ibB-?:|@@@VD;;g4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 456.40 m.Bj:Jj:  ProNav: ac range: 456.399994 m, nav range: 445.704651 m, bearing: 229.187270 deg, approach rate: -0.368586 m/s, LOS rate: 0.072543 deg/s, cmd heading: 166.161113 deg, new cmd heading: 166.254739 deg. 2j $G;HeadingCmd: 2.901693 target range: 456.399994 and range: 470.50 m. jU9@jjjihhh!h%XBf!f!f)rf)bf-@?ɛUāBU= Y]^>IY ]Ø<ɚYiYI]2=IeU9@iejdimP_ٺ)U9@)E8<*F92F9:F9BF=R5JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.Ge pZH RH ?AGY Bq ,$?I O >H I  I II BI &I .I 6I <:I m F)Kw,.ɻA2,@Y2&:@2~6=92R>y2H*̿t?` ?Ϧ`#? ?ɨ2,@2};2QCyr%Br IIzIz4٢ T=9 BH;Q  >   G٣y': > %Nusing accuracyPremultiplier from config%49z%?-4Y iaB)-@@-@'VD::!41 =)A=EZjaeFNOT Ignoring new targets: 456.40 m.Bjmq:Jjmq:} ProNav: ac range: 456.399994 m, nav range: 445.562683 m, bearing: 229.215231 deg, approach rate: -0.369290 m/s, LOS rate: 0.072758 deg/s, cmd heading: 166.254741 deg, new cmd heading: 166.338652 deg. 2j}G;HeadingCmd: 2.903157 target range: 456.399994 and range: 470.50 m. jT9@jjjihhhhfffrfbf?ɛƁBv= =>I  <ɚiIH[=IT9@idiw=)T9@)EE*E"EuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256916*F2F:FBF_5JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509992zK K S9K K `K G= ïG B! OU > Rw,HɻAJJBAJJJJJ ;J3g:JJJ}T<J~T<J;J;r",@Yr:@r?y<=9rO>yrH N-̿@/qn11 5G٣5CGy=; => ENusing accuracyPremultiplier from configAM49Ec%?M4YE iEaBQ]@@]@E9VDE^;EG_;EW4q urAEZj1=FNOT Ignoring new targets: 456.40 m.Bj=?:JjE?: ProNav: ac range: 456.399994 m, nav range: 445.410278 m, bearing: 229.245179 deg, approach rate: -0.354139 m/s, LOS rate: 0.069613 deg/s, cmd heading: 166.338657 deg, new cmd heading: 166.428531 deg. 2j?;HeadingCmd: 2.904726 target range: 456.399994 and range: 470.50 m. j9@jjjih h1hAhIfqfyfrfbf`HU?ɛȁBq< %>I ?<ɚiIӡ=I9@i*diH$)9@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761120*F}?2Fy:FBF5JFG b(G B O >;Xw,ۅbɻA>,@Y>:@>mG=9> >y>H@*̿@w8@b?#@g?*먿 ?c?ɨ>,@>k;>SCyRBRIrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012976EMb@Mb@Mb@AAA A)AYEMbX?Cl?Mb`yE*?E;=EEA E@)EI@IE@AyEz@I]I]4٢m  mH=9u;Q u>qq }G٣yy}E }> Nusing accuracyPremultiplier from config49pL%?4Y/ iaB:E@@KVDf;5;z4 B AEZjFNOT Ignoring new targets: 456.40 m.Bjv:Jjv: ProNav: ac range: 456.399994 m, nav range: 445.243713 m, bearing: 229.273487 deg, approach rate: -0.425434 m/s, LOS rate: 0.072329 deg/s, cmd heading: 166.428528 deg, new cmd heading: 166.513483 deg. 2jF;HeadingCmd: 2.906209 target range: 456.399994 and range: 470.50 m. jR9@jjjihhhhCBfffrfbf @ɛʁBƅ< >I  <ɚiI~=I%R9@i%ci-)-R9@)a *$?IH7>I IS IIYBI&I.I6I<:Ii FBIJIÞCRIZI' =bI' =jIû 4*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=2.264844Gm ݻGA BQ O >2e^w,`|ɻA6,@Y6:@6O=96>y6H`(@hͿ`*jw? @?%奔@??ɨ6,@6 ';6QCyJ BNIIb-Ib`5٢v^ zS=9z;Q ~>  G٣ y | > -Nusing accuracyPremultiplier from config)549-%6%?4Y- i-aBD@@-\VD-<-<-U4 AZj=FNOT Ignoring new targets: 456.40 m.Bj=:Jj=:M ProNav: ac range: 456.399994 m, nav range: 445.083954 m, bearing: 229.300708 deg, approach rate: -0.387207 m/s, LOS rate: 0.065999 deg/s, cmd heading: 166.513482 deg, new cmd heading: 166.595175 deg. 2jM-5;}HeadingCmd: 2.907634 target range: 456.399994 and range: 470.50 m. j}:@jyjyjyiyhyhhhfffrfbf @ɛ́B< 隽=I <ɚiI+=I:@ici`Fٻ):@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516902zKBoIKh9KKaK*F2F:FBF^0JF*Ja"Je=JuJuJqJqJue ;Jup:JqJqJuU<JuU<Ju;Ju; IG |G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768827New,?ɻA @2qw,@Y2 :@2xfU=929>y2H$ UͿ?@?@Z??ɨ2qw,@2Sx;2SCy<<=Mb@Mb@Mb@999 9)9Y=NbX9?K7A?I +?y=%?= >=94<=3A =C@)9I=@9y=@IU2IU5٢e,: eC=9e_;Q m>ii mG٣mCGyu~ u> Nusing accuracyPremultiplier from configy49}%?4Y}z i}aB(?:F@@}mVD}E9;}7;}4 AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 456.40 m.Bj:Jj: ProNav: ac range: 456.399994 m, nav range: 444.913422 m, bearing: 229.328233 deg, approach rate: -0.431962 m/s, LOS rate: 0.069749 deg/s, cmd heading: 166.595171 deg, new cmd heading: 166.677779 deg. 2jx?;HeadingCmd: 2.909076 target range: 456.399994 and range: 470.50 m. jM.:@jjjihhhh=Bfffrfbf @5@ɛ5́B=< 9==I9 =Ϟ<ɚAiAIEt=IEM.:@iMciMB)MM.:@)I*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020849G̻GBO>jHI bHM < )$?I H} 8>Iy  I} 4 II} @BIy &Iy .I} 6D6I} <:I} k FLwkw,ɻA6)k,@Y6ĉ:@6Z=96pm>y6H@"sͿ@?,?Vo?`?ɨ6)k,@6;6RCyRBRIIZIZ%4٢b = bU=9b&a;Q f>dd fG٣dyj@ j> 5Nusing accuracyPremultiplier from configl=49n %?=4Yn: inaBAEF@E@n}VDn`I s<ɚiI<=I$D:@ibci.0)$D:@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272977*F?2F:FBF0JFGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. i A BDAT read: Rx Time:21:33:25.7993  TRx dataTimestamp_ set to:1736372007.081622 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526907zK BIK 9K K bK  _rw,ɻAJJJ1JJ-;Js:J3JJ0W<J1W<Jy;Jy; N($?ILzT,@Yzds:@z(`=9zv>yzH ~૤Ϳ$+?`UQQ UG٣QyUT }> Nusing accuracyPremultiplier from config49=$?4Y iaBF@@VD::4 AZj FNOT Ignoring new targets: 456.40 m.Bja:Jja:- ProNav: ac range: 456.399994 m, nav range: 444.581970 m, bearing: 229.382004 deg, approach rate: -0.412278 m/s, LOS rate: 0.067047 deg/s, cmd heading: 166.754151 deg, new cmd heading: 166.839152 deg. 2j58;}HeadingCmd: 2.911892 target range: 456.399994 and range: 470.50 m. j}r\:@jyjyjyiyhhhhfffrfbfA~ @ɛЁB<  =, >I y<ɚ!i!I%2,=Ier\:@iWci)V)r\:@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.777185*F?2F:FBF0JFG K7G B O >xw,ɻAZWill construct direction to contact in vehicle frame from tetrahedron phase data.rDAT read: 21:33:25.7993 LVL= 20672, 21537, 21922, 29875, AGC= 68, IDX= 321,-0.10,-2.016,-1.268, 2.827,-2.851, PHS= 0.923, 1.630,-0.609, RAW= 12.0, -19.1, CAL= 15.3, -27.8, ROT= 134.7, 27.8 vYgot valid direction response: 21:33:25.7993 LVL= 20672, 21537, 21922, 29875, AGC= 68, IDX= 321,-0.10,-2.016,-1.268, 2.827,-2.851, PHS= 0.923, 1.630,-0.609, RAW= 12.0, -19.1, CAL= 15.3, -27.8, ROT= 134.7, 27.8 zPDAT read: Bearing 134.7, 27.8 (Local) z~Local bearing/azimuth received: Bearing 134.7, 27.8 (Local) DAT read: Range 10 to 50 : 463.2 m (Round-trip 617.6 ms) speed -0.3 m/s  ,DAT read: user:1867>  BDAT read: Tx time:21:33:26.9275 $Ping request sent.Z㭪 Zܸ>)ZUlIZv@iZUl>XXZp"ҿٙuԿ)Z@IZ ߪ>iZ?Z :2XXE:publishing transmit ping timeMFpublishing direction and range infoX9Zgi@B??6T*?yXXXX X)XIXiXXXX IHI III&I.I6I<:I FX X)XIXiXXXZp"ҿٙuԿ)XIXiXXXX}Mb@Mb@Mb@yyy y)yY}K7A?{Gz?S㥛?y} "?}#>}/!! %G٣%CGy- -> ]Nusing accuracyPremultiplier from configQ]49U$?e4YU iUaBeI'?e:ecHe@UVDU;U;U÷4 0AǻEkZ=Kvț?kZvi kX kZ_ɻA:kZCBkZCZkZ̀@"Z75g@맚y@wp T@Zgi@B??6T*?JkZ?RkZ :2*Zqp}uDnV_@Z,'.XX>?"kZ*kZGkZ*Ǜ?kZ_ 2kZ@CkZ*Ǜ?kZ}# kZBkZ#CkZf@m addTargetRange:: Added new target pos. range: 463.200012 m, deltaT: 4.031968 s, deltaX: -7.299988 m, approachRate: -1.810527 m/s, rangeRepo size: 4 } Added new target pos. range: 463.200012 m, bearing: 230.613650 deg, lat: 36.899409 deg, lon: -122.118632 deg, deltaT: 12.347989 s, deltaX: 6.800018 m, approachRate: 0.550698 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 463.20 m.BjJj ProNav: ac range: 463.200012 m, nav range: 444.277191 m, bearing: 230.507780 deg, approach rate: 0.000000 m/s, LOS rate: 0.067047 deg/s, cmd heading: 166.839146 deg, new cmd heading: 166.948552 deg. 2jHeadingCmd: 2.913802 target range: 463.200012 and range: 463.20 m. j{:@jjjihhhhoBfffrf@3|@bf a?ɛuҁBu<"< quJ!>Iq }J٠<ɚyiyI}A=I{:@i\cim){:@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:21:33:26.9267 *FY 2FY :FY BF] l0JFY G UG9BIOm>w,4ʻA:[+,@Y:I:@:Zi=9: >y:H` Ϳ@] IA Eo<ɚAiAIE}=IM:@iMpciMm)U:@)QzKk3IKh9KKcK !$%$$$$#! "  *F?2F:FBFG5JF*J%C="J%a= ]&$?IYG=ggG BA e Will construct direction to contact in vehicle frame from tetrahedron phase data.O >w,LʻA) J GZtAd ~Y~tAy~B-vG,@Y-f:@-\Wg=9->y-H 5`Ϳ>:2?`? 欿 e??ɨ-vG,@-/;-SCy]HBe> Iii=Mb@Mb@Mb@999 9)9Y=Mb?+η?Q?y=#?=v==<=A 9)=AI=@9y=@IUIUJ4٢e= m2=9mQ m>qq uG٣qy},u; }> Nusing accuracyPremultiplier from config49i$?4Y\ iaB$?:#C@@VD;t;ѷ4B AͻEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 463.20 m.Bj:Jj: ProNav: ac range: 463.200012 m, nav range: 443.976105 m, bearing: 230.560166 deg, approach rate: -0.359780 m/s, LOS rate: 0.068459 deg/s, cmd heading: 167.011062 deg, new cmd heading: 167.105760 deg. 2j;;HeadingCmd: 2.916546 target range: 463.200012 and range: 463.20 m. j:@jjjih h hhBfffrfbf ?ɛԁB]X = f>I) -r<ɚ)i)I-,=I5:@i5ci5[)5:@)9Will 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.ZHRHAAJ aIaK 3 K .-KK"KJEJE JE0JAJE;JEbl:JEـ3JAa@a@a@a@HI IS IIYBI&I.I5D6Ip<:IV FEH<*FA 2FI :FI BFM o0JFI } Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248128GM,GU?GU ?G!B1OM?mKw,;ʻA:w,@Y::@:i=9:$>y:H@z$KͿ@WŖ?`@?1@??ɨ:w,@:.;8yFXBFR IININ4٢VƑ= V8=9Z:Q Z>\\ ^G٣^CGy^< b> fNusing accuracyPremultiplier from config`j49b[$?j4Yb ibaBlnbC@n@bVDb.;bO/;bjٷ4p rApZj FNOT Ignoring new targets: 463.20 m.Bj*:Jj*:- ProNav: ac range: 463.200012 m, nav range: 443.814392 m, bearing: 230.590711 deg, approach rate: -0.365900 m/s, LOS rate: 0.069139 deg/s, cmd heading: 167.105755 deg, new cmd heading: 167.197425 deg. 2j-=;5HeadingCmd: 2.918146 target range: 463.200012 and range: 463.20 m. j5:@j1j1j9i9h9h9h9hAfAfAfArfAbfMO?ɛՁBy= l>I 1F<ɚiIt=I%:@i%ci%s)%:@)!EEy=*F?2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501572zK[BMK9KKdK U%$?IQJYJYG3}G B O5 >2w,UʻA"Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754634e,@Ye:@ep=9e>yeH %1ͿGi@a?J? ? ?ɨe,@e;eRCy}hB}f IMb@Mb@Mb@ )Y#~j?&1?V-?y%?P=<`A @)AI;@y=@II4٢-~= -4=95Ia;Q 5>19 EG٣AyE; E> UNusing accuracyPremultiplier from configIU49My$?]4YM iMaB]&?]:]F?@]@MVDM;M;MY4a AлEZj)5FNOT Ignoring new targets: 463.20 m.Bj5:Jj5:m ProNav: ac range: 463.200012 m, nav range: 443.663910 m, bearing: 230.623529 deg, approach rate: -0.317673 m/s, LOS rate: 0.069303 deg/s, cmd heading: 167.197430 deg, new cmd heading: 167.295917 deg. 2jm?>;uHeadingCmd: 2.919865 target range: 463.200012 and range: 463.20 m. ju:@jqjqjqiqhyhyhyh}Bfffrfbf{?ɛׁB = >I v<ɚiIe=Ie:@imcim)m:@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004173Eȿ=E M #$?II Jm Jm Jm 2Ji Jm ;Jm ~o:Jm c3Ji *F} ?2Fy :Fy BF} 0JFy H I  I  II }BI &I .I 6D6I t<:I Y FG ~GyBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256197O? w,2vʻAZW,@YZ:@Z+v=9Z>yZH(&`/$Ϳ L?@ ? i ??ɨZW,@Zz;ZSCybBf I)h hIrIr14٢z= z-=9zJ;Q z>|| ~G٣~CGy:  > Nusing accuracyPremultiplier from config 49  `$?4Y F i aBQ?@@ VD : : 4) -*A-ӻEZjQ]FNOT Ignoring new targets: 463.20 m.Bje{:Jje{:u ProNav: ac range: 463.200012 m, nav range: 443.507111 m, bearing: 230.657727 deg, approach rate: -0.345586 m/s, LOS rate: 0.075398 deg/s, cmd heading: 167.295921 deg, new cmd heading: 167.398551 deg. 2juN;}HeadingCmd: 2.921656 target range: 463.200012 and range: 463.20 m. j}i:@jyjyjyiyhhhhfffrfbf@ɛ؁BX00= 隽M>I 4ة<ɚiIX=Ii:@i>ci;)i:@)E!E!*E!"E!UPExceeded connect timeout, disconnecting.*F]?2FY:FYBFe1JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.աiեAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.508437zK5 cKK5 h9K1 K5 eK5  I Ge 'G9 BI Om >w,ʻAB,@YBQ:@B:z=9B>yBHg(̿ W'?l< ?@EQ??ɨB,@Bn[;BPCybBb III4٢= %F=9-J3;Q ->)1 5G٣1y5yu; 5> ENusing accuracyPremultiplier from config9E49=I$?M4Y=7 i=aBIMj?@M@=WD=;=d;=4a eAmֻEZj FNOT Ignoring new targets: 463.20 m.Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763883Bj:Jj5: ProNav: ac range: 463.200012 m, nav range: 443.370056 m, bearing: 230.687562 deg, approach rate: -0.319110 m/s, LOS rate: 0.069488 deg/s, cmd heading: 167.398552 deg, new cmd heading: 167.488086 deg. 2j>;HeadingCmd: 2.923218 target range: 463.200012 and range: 463.20 m. j;@jjjihhhhfffrfbf`o@ɛ5ځB52= 15B>I9 ]<<ɚYiYI]H=Ie;@ieKcie)m;@)i*F2F:FBF15JFG5 ( Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012095G B) OM > #w,oʻAjH<bHp< 2"$?I4HLIL IN IINBIL&IL.IL6INð<:IN FBIJIRIZIbIjI<`4J^J^ J^1J\J^-;J^Oj:J^3J\J\afJ\afJ^i;afJ^j;af=,@Y=k;@={=9=>y=H ?,̿s蛿? | ?l?ח?ɨ=,@=;=SCyuBu IEMb@Mb@Mb@AAA A)AYEJ +?QZd;O?yE(?EEjqq uG٣qy}f; }> Nusing accuracyPremultiplier from config491$?4Y' iaB(?:7@@#WDJK;I;4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 463.20 m.Bj:Jj: ProNav: ac range: 463.200012 m, nav range: 443.251495 m, bearing: 230.722235 deg, approach rate: -0.273339 m/s, LOS rate: 0.079958 deg/s, cmd heading: 167.488082 deg, new cmd heading: 167.592127 deg. 2j[;HeadingCmd: 2.925035 target range: 463.200012 and range: 463.20 m. j3;@jj!j!i!h!h!h)h-UBf1f1f1rf1bf58{ @ɛ]ہBeM= ae>Ia m?$<ɚiiiIml=Iu3;@iuciu)u3;@)q*F2F:FBFZ0JFGrA GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264332G ňG ?G >G B O > E nManaging dock network, ignoring radio surface power off+w,TʻA:|,@Y:;@:1{=9:F>y:H/̿?`?`4a@2??ɨ:|,@:U܉;:PCyBBF IININ4٢V*~= Vl=9VQ Z?XX ZG٣Xy^g; ^? bNusing accuracyPremultiplier from config`f49b_$?f4Yb ibaBhj7@j@b1WDb:b:b4n B nAnػEZj FNOT Ignoring new targets: 463.20 m.Bj:Jj:% ProNav: ac range: 463.200012 m, nav range: 443.158936 m, bearing: 230.749233 deg, approach rate: -0.271993 m/s, LOS rate: 0.079352 deg/s, cmd heading: 167.592133 deg, new cmd heading: 167.673144 deg. 2j%Y;-HeadingCmd: 2.926448 target range: 463.200012 and range: 463.20 m. j-J;@j)j1j1i1h1h1h9h9f9f9fArfAbfE`u2 @]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:21:33:29.9393 mTRx dataTimestamp_ set to:1736372011.112868uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518161ɛ܁BBY= 隝m>I ~<ɚiI=IJ;@idi)J;@)*F5?2F1:F1BF5_0JF1 e!$?IazKeKKe 9KaKefKeGqGQBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771370i1w,o+ʻAy~B~ IMb@Mb@Mb@ )Yq= ףp?ʡE~jtx?y+?ケ; A @)AI@y@II4٢o= 9=9Q > G٣CGy > Nusing accuracyPremultiplier from config49 $?4Y iaB.?: 0@@EWDg;;[4B JAۻEZj)-FNOT Ignoring new targets: 463.20 m.Bj5}:Jj5}:E ProNav: ac range: 463.200012 m, nav range: 443.072205 m, bearing: 230.786285 deg, approach rate: -0.196924 m/s, LOS rate: 0.084143 deg/s, cmd heading: 167.673139 deg, new cmd heading: 167.784317 deg. 2jEf;MHeadingCmd: 2.928389 target range: 463.200012 and range: 463.20 m. jUj;@jQjQjYiYhYhYhYheBfafafarfabfm@>@ɛށBR= 隝>I ^<ɚiI=Ij;@i(diYZ)j;@)*Fi2Fi:FiBFm`0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 455.7 m (Round-trip 607.6 ms) speed -0.7 m/s ,DAT read: user:1868> BDAT read: Tx time:21:33:31.0276 %$Ping request sent.%\w,( ʻAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:33:31.0268 >x-@Y>x;@>u=9>>y>H <B˿g2`?f? ۶+??ɨ>x-@>&;>RCyN̂BR II^I^ 4٢= X=9aQ >    G٣ yu< > Nusing accuracyPremultiplier from config%49#?%4Y iaB)-0@-@UWD4;|4; 4 AE addTargetRange:: Added new target pos. range: 455.700012 m, deltaT: 4.043406 s, deltaX: -7.500000 m, approachRate: -1.854872 m/s, rangeRepo size: 4 ZjIUFNOT Ignoring new targets: 463.20 m.Bj]:Jj]:m ProNav: ac range: 463.200012 m, nav range: 442.996307 m, bearing: 230.817920 deg, approach rate: -0.186596 m/s, LOS rate: 0.077790 deg/s, cmd heading: 167.784321 deg, new cmd heading: 167.879244 deg. 2jmU;uHeadingCmd: 2.930046 target range: 463.200012 and range: 455.70 m. juޅ;@jqjyjyiyhyhyhhfffrf@3{|@bf/?ɛ]B]u[= Y]>Ia e <ɚaiaIeۿ=Iޅ;@i!diGH)ޅ;@)E]>E>*FM?2FI:FIBFIJFI"GU=GU=Will construct direction to contact in vehicle frame from tetrahedron phase data. 1 I1 Gm D&zK JK 9K K gK GY Bi O >pCw,˻A2-@Y2;@2*en=92>y2HE@ʿ0?~ ?Vȭe??ɨ2-@2:;0y:ӂB: IIFIF4٢J= NQ=9RQ V>XX ^G٣\ybSK< b> jNusing accuracyPremultiplier from confighn49j#?n4Yjn ijaBlr0@r@jfWDj;j;j4t vAv޻EZjFNOT Ignoring new targets: 463.20 m.Bj:Jj: ProNav: ac range: 463.200012 m, nav range: 442.915955 m, bearing: 230.850918 deg, approach rate: -0.220019 m/s, LOS rate: 0.090370 deg/s, cmd heading: 167.879247 deg, new cmd heading: 167.978259 deg. 2jx;HeadingCmd: 2.931774 target range: 463.200012 and range: 455.70 m. j.;@jjjihhh)h)fYfafirfbf&?=Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛB{`= >I %0<ɚ!i!I% =IM.;@iMdiMέ%)M.;@)Q*F?2F:FBFo0JFG*UGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. % $?I) ZH9 RH= @AHA IA  IE !IIE BIA &IA .IA 6IE {<dmw,<+˻A:Iu] F6.@Y62<@6c=96@!>y6H L{ʿ?ʖ??y%?ྍ?ɨ6.@6';6SCyBԂBB IMb@Mb@Mb@ )Y|?5^?ClǿMby2?d;/ A @)3AI@yzAII٢ *;  5=9 Q > %G٣%CGy%; -> ENusing accuracyPremultiplier from config9M49=#?M4Y= i=baB]8?]:]+@]@={WD=a;=;=4a eAmEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 463.20 m.Bj:Jj: ProNav: ac range: 463.200012 m, nav range: 442.842712 m, bearing: 230.891698 deg, approach rate: -0.161391 m/s, LOS rate: 0.089873 deg/s, cmd heading: 167.978257 deg, new cmd heading: 168.100615 deg. 2jv;5HeadingCmd: 2.933909 target range: 463.200012 and range: 455.70 m. j5+;@j9j9j9i9h9h9hAhEʂBfAfAfIrfIbfMN?ɛBg= 隽i>I &5<ɚiI=I +;@i }ci ) +;@)*F?2F:FBF0JFEWill 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% f AG B O- >Tw,E˻ABe.@YB<@B[=9BZ: >yBH`W@Nɿjp??]?@Z?ɨBe.@B;BRCyJ΂BJ IIVIVK4٢^  ^b=9^'ŻQ ^>`` bG٣`yf< f> jNusing accuracyPremultiplier from confighn49j#?r4Yj ijGaBpr],@r@jWDjO;j;j!4t zAxZjFNOT Ignoring new targets: 463.20 m.Bj%:Jj%:5 ProNav: ac range: 463.200012 m, nav range: 442.783020 m, bearing: 230.924105 deg, approach rate: -0.168238 m/s, LOS rate: 0.091351 deg/s, cmd heading: 168.100613 deg, new cmd heading: 168.197850 deg. 2j5z;=HeadingCmd: 2.935606 target range: 463.200012 and range: 455.70 m. j=;@j9j9j9i9hAhAhAhAfIfIfIrfIbfU` ?ɛBjo= 隅>I <ɚiI=I;@ici~­);@Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.501668)E $?IzKBoHK 9KKhK*F?2F:FBF3JFJJJJJe ;JJJa@a@a@a@G GnAG5G BA ] Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756626O >M &Ge vA Y vAy Bw,s_˻A6 .@Y6<@6gW=96f >y6H amȿ`Ж?@u?@; ?@?ɨ6 .@6;6PCyAA MG٣IyM/p< M> UNusing accuracyPremultiplier from configQ49U՛#?4YU| iUaB*@?:m)@@UWDUI1 5<ɚ9i9I=k=IE<@iE2cim)m<@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006367 $?IH9>I I(!IIBI&I.I6I<:I F*F?2F:F!BF% 5JF!Ge ԑGA Ba O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257306Cw,zy˻AV-/@YVL=@VS=9V>yVH?k@nȿN@\?c(?@2x5C?`?ɨV-/@Vt;VQCy B  III4٢-& -J=9- Q 5>11 5G٣5CGy=zt< => MNusing accuracyPremultiplier from configAM49Eq#?U4YEy iE`BQU)@U@EWDE;E:Eb04Y ]SAeEZjFNOT Ignoring new targets: 463.20 m.Bjk:Jjk: ProNav: ac range: 463.200012 m, nav range: 442.667206 m, bearing: 231.002091 deg, approach rate: -0.149094 m/s, LOS rate: 0.098975 deg/s, cmd heading: 168.317144 deg, new cmd heading: 168.431830 deg. 2jڇ;HeadingCmd: 2.939690 target range: 463.200012 and range: 455.70 m. j#<@jjjihhhhfffrfbf @ɛBs\= 隕>I )<ɚiIf=I]#<@i](bie~i:)e#<@)i*FI2FI:FQBFUW0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510111 $?IG HNG G J J J J J J y:J J zK K K K iK  Bvj_ZUQLGDBBABCIIKF>6)!Gi By O >+w,8˻A6/@Y6=@6!O=96>y6H sdǿ !? y? ?X?ɨ6/@6Sq;4yBBB IIJIJ 4٢R"T RT=9R (Q V>TT VG٣TyZsk< Z> ^Nusing accuracyPremultiplier from config\b49^p#?b4Y^u i^`Bdf%*@f@^WD^:^":^74h UAQZjFNOT Ignoring new targets: 463.20 m.Bjg:Jjg: ProNav: ac range: 463.200012 m, nav range: 442.611023 m, bearing: 231.038465 deg, approach rate: -0.138671 m/s, LOS rate: 0.089789 deg/s, cmd heading: 168.431837 deg, new cmd heading: 168.540972 deg. 2j|v;-HeadingCmd: 2.941595 target range: 463.200012 and range: 455.70 m. j-C<@jQjQjYiYhahhhf%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765787fIfQrfYbf]`C@ɛUBUL= QU>IY ]<ɚYiYI]i=IC<@ibiw ;)C<@) *Fy2Fy:FyBF}[0JFyG 9 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015704 I G B jH <bH 4<H 8>I  I !II BI &I .I 6I ǰ<:I FO >Żw,˻Ay=B= IMb@Mb@Mb@ )YS?e;Oο/$y:?t, h@)IAII@yAII 4٢  6=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-49%V#?-4Y%jq i%`B-D?5:5)@5@%WD%#;%;%>4=B =6AEEeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 463.20 m.Bj}2:Jj}2: ProNav: ac range: 463.200012 m, nav range: 442.545380 m, bearing: 231.081810 deg, approach rate: -0.153034 m/s, LOS rate: 0.101064 deg/s, cmd heading: 168.540969 deg, new cmd heading: 168.671023 deg. 2j;HeadingCmd: 2.943865 target range: 463.200012 and range: 455.70 m. jGh<@jjjihhhhނBfffrfbf}S @ɛB L= 隽r>I L<ɚiI]=IGh<@iaiT:)Gh<@)*F?2F:FBF_0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266694G ;G B O >Tw,˻A:i$0@Y:C>@:mC=9:>y:H`qX$ƿ`Ȗ6y?`-??`Bk z? Ƞ?ɨ:i$0@:";:RCy^Bb IIjIjg4٢rb+ r_=9r&Q r>tt vG٣vCGyz< z> ~Nusing accuracyPremultiplier from configx49zA#?4Yz n izn`B*@ @zWDz;z.:zZE4B 9AEZjAEFNOT Ignoring new targets: 463.20 m.BjM:JjM:] ProNav: ac range: 463.200012 m, nav range: 442.489471 m, bearing: 231.117102 deg, approach rate: -0.152852 m/s, LOS rate: 0.096501 deg/s, cmd heading: 168.671016 deg, new cmd heading: 168.776907 deg. 2j]t;eHeadingCmd: 2.945713 target range: 463.200012 and range: 455.70 m. je<@jajajaiihihihihqfqfq}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517450fqrfbfl= @ɛBd ?= >I $?I u<^<ɚyiyIg=I<@i`i<)<@)JJ@AJJJJJJ~o:JJzK NK 9K K jK  *F?2F:FBFo0JFGe;G9BAOuW>= Will construct direction to contact in vehicle frame from tetrahedron phase data.U BDAT read: Rx Time:21:33:34.0653 e TRx dataTimestamp_ set to:1736372015.413677} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777903w,4˻A2S0@Y2{r>@2 <=92u]>y2H@ſ9(?(3?@wV?@Ģ?ɨ2S0@2ʲ;2SCyVlBVk I5Mb@Mb@Mb@111 1)1Y5S?mͿMby15n5@5\ A 5~@)5AI11y5AIMIM&4٢]Kƽ ]C=9e%Q e>aa eG٣aym?; m> uNusing accuracyPremultiplier from configq}49u)#?}4YuIj iu=`BKD?:E+@@uXDuZ;u;uL4 AEZjFNOT Ignoring new targets: 463.20 m.Bj:Jj: ProNav: ac range: 463.200012 m, nav range: 442.422272 m, bearing: 231.157382 deg, approach rate: -0.160271 m/s, LOS rate: 0.096081 deg/s, cmd heading: 168.776911 deg, new cmd heading: 168.897768 deg. 2j;HeadingCmd: 2.947822 target range: 463.200012 and range: 455.70 m. j<@jjjihhhhBfffrfbf`Ó@ɛB4C*= 隽s>I X<ɚiI=I<@i =`i<)<@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022721*F?2F:FBF0JFG GrA $?IKgHqIq Iu IIu΂BIq&Iq.Iq6Iu<:Iuq FBI9JI9RI9ZI9bI9jI=Ň:4G$;Gi Bq O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.w,F˻A"DAT read: 21:33:34.0653 LVL= 19136, 19537, 18418, 23443, AGC= 71, IDX= 180,-0.16, 2.489,-3.082, 1.002, 1.709, PHS= 0.868, 1.540,-0.709, RAW= 13.1, -16.7, CAL= 14.9, -24.4, ROT= 135.1, 24.4 &Ygot valid direction response: 21:33:34.0653 LVL= 19136, 19537, 18418, 23443, AGC= 71, IDX= 180,-0.16, 2.489,-3.082, 1.002, 1.709, PHS= 0.868, 1.540,-0.709, RAW= 13.1, -16.7, CAL= 14.9, -24.4, ROT= 135.1, 24.4 *PDAT read: Bearing 135.1, 24.4 (Local) .~Local bearing/azimuth received: Bearing 135.1, 24.4 (Local) RDAT read: Range 10 to 50 : 475.1 m (Round-trip 633.5 ms) speed -0.8 m/s V,DAT read: user:1869> ZBDAT read: Tx time:21:33:35.1776 Z$Ping request sent.Zm; m%>)m^ ھIm}@im^ >iim)ѿ~Q+iҿ)mImk>im?mˆCiin:publishing transmit ping timeXrFpublishing direction and range infoi9m7cċ?R!?gW٣#K?yiiii i)iIiiiiiii i)iIiiiiim)ѿ~Q+iҿ)iIiiiiḯ0@Yg>@3=9>yHȋ4Uſ@6[6?]9?}`))?#?ɨ̈́0@;);PCyHB> IiI-I-4٢=7 =L=9EQ E>AI MG٣IyM; M> UNusing accuracyPremultiplier from configQ49U#?4YUf iU`B%u+@%@UXDU?"km3*km.vkm қ?kmE/_ 2kmOCkikm_ km$CkmCkm.@ addTargetRange:: Added new target pos. range: 475.100006 m, deltaT: 4.284505 s, deltaX: 19.399994 m, approachRate: 4.527943 m/s, rangeRepo size: 4 M Added new target pos. range: 475.100006 m, bearing: 237.090610 deg, lat: 36.899409 deg, lon: -122.118647 deg, deltaT: 8.327911 s, deltaX: 11.899994 m, approachRate: 1.428929 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 475.10 m.BjUJjQe ProNav: ac range: 475.100006 m, nav range: 443.381897 m, bearing: 231.302170 deg, approach rate: 0.000000 m/s, LOS rate: 0.096081 deg/s, cmd heading: 168.897765 deg, new cmd heading: 169.036293 deg. 2jaHeadingCmd: 2.950240 target range: 475.100006 and range: 475.10 m. j<@jjjihhhhfffrf}@bf% ]?ɛmBӓ= 隅t#>I U<ɚiI=I<@iP_i$%<)<@)*F5?2F9:F9BF=0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.՝Ai՝AJDAT read: TxSync time:21:33:35.1768 $?IJ J J J J -;J q:J J zKE :KKE 9KA KE kKE G} <<G9 Ba O >w,h̻A &0@Y >@ .=9 `D>y H@@E.ſ!+N?;`?C?b?ɨ &0@ ; SCy(B IIIפ4٢ <=9XQ >)) 5G٣5CGy7; >Will construct direction to contact in vehicle frame from tetrahedron phase data. mNusing accuracyPremultiplier from configa49e"?4Yeub ie_B+@@e,XDe;Z/ w,.̻AF0@YF>@F&=9F >yFH`bĿgɐ``?7 ^b?zݤ`i?g?ɨF0@F҈;DyRBRI}Mb@Mb@Mb@yyy y)yY}K?V-ǿ&1y}^:?}|?}P}A }h@)}IAI}`@yy}3AII74٢e" N=96Q > G٣y; > Nusing accuracyPremultiplier from config49'"?4Y_ i_B@?:p/@@w,6H̻A60@Y6>@6k!=96W>y6HĿ8?<'?(,[??ɨ60@6P;6PCyBBBI Jp=J=ININ4٢VG V]=9VoQ V>XX ZG٣\yfұ; j> vNusing accuracyPremultiplier from configpz49ri"?z4Yr\ ir_Bxz/@z@rNXDr;r1;rh4 " AEWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.234407Zj9=FNOT Ignoring new targets: 475.10 m.BjEY:JjEY:U ProNav: ac range: 475.100006 m, nav range: 443.157776 m, bearing: 231.415571 deg, approach rate: -0.202728 m/s, LOS rate: 0.092825 deg/s, cmd heading: 169.272045 deg, new cmd heading: 169.376552 deg. 2jU~; e$?IamHeadingCmd: 2.956178 target range: 475.100006 and range: 475.10 m. jm2=@jijijqiqhqhqhyhyfyfyfrfbf|^?ɛMBMvi< IM QII u<ɚqiqIup=I}2=@i}P]i}n <)}2=@)zKBHK59KKlK*F?2F:FBFJFGO <Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493397G B O= >';w, b̻A6L1@Y6$?@6=96̶>y6H:Ŀl ? JE? g<@#?y?ɨ6L1@64;6RCyrˁBrImMb@Mb@Mb@iii i)iYm ףp= ?ʡE/$ymQ8?mケm,mA i)mAImv@iymAII4٢ؽ 9=9uQ > G٣CGy; > Nusing accuracyPremultiplier from config49"?4Y^Z id_B ;?:j5@@cXD;;gp4   A Zj1=FNOT Ignoring new targets: 475.10 m.Bj=E:Jj=E:U ProNav: ac range: 475.100006 m, nav range: 443.044037 m, bearing: 231.453919 deg, approach rate: -0.260881 m/s, LOS rate: 0.087982 deg/s, cmd heading: 169.376547 deg, new cmd heading: 169.491623 deg. 2jUq;]HeadingCmd: 2.958187 target range: 475.100006 and range: 475.10 m. j]R=@jYjYjaiahahahahm-Bfififirfibfu 3P?ɛBڿ< 隭XԽI 7 <ɚiI=IR=@i'\iR<)R=@) QIY]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.744708*Fu?2Fq:FqBFu_0JFqG} G}"G}G}HI I4 II@BI&I.I5D6IѰ<:I FJEJEJAJAJE;JE~o:JAJAJEX Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998314ew,c|̻AJ0@YJ2?@J=9J]_ >yJHॗ`HĿk? J?~z?ڭ?ɨJ0@Jf͈;JSCyZBZmII-I-4٢M$j MT=9UvQ U>YY ]G٣Yye* e> mNusing accuracyPremultiplier from configiu49m\"?u4Ym!X imB_Bq}X5@}@muXDmS;m;m)w4B I AEZjFNOT Ignoring new targets: 475.10 m.BjR:JjR: ProNav: ac range: 475.100006 m, nav range: 442.944031 m, bearing: 231.487835 deg, approach rate: -0.258150 m/s, LOS rate: 0.087567 deg/s, cmd heading: 169.491622 deg, new cmd heading: 169.593391 deg. 2jbp;HeadingCmd: 2.959963 target range: 475.100006 and range: 475.10 m. j p=@jjjihhhhfffrfbf@ɛB07< II <ɚiI|=I- p=@i-[i-;)- p=@)1E9E9*F2F:FBFJFGiBqO> E$?IAuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250245zK JK 9K K mK R%w,R̻AyU{BUBIaeAI}I}4٢* D=9Q > G٣y > Nusing accuracyPremultiplier from config49؄"?4YU i_B@XDs;Sd;~4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505214)! ) ) YyA c AEZjFNOT Ignoring new targets: 475.10 m.Bj:Jj: ProNav: ac range: 475.100006 m, nav range: 442.835388 m, bearing: 231.524746 deg, approach rate: -0.214217 m/s, LOS rate: 0.072798 deg/s, cmd heading: 169.593392 deg, new cmd heading: 169.704153 deg. 2j G;HeadingCmd: 2.961896 target range: 475.100006 and range: 475.10 m. j=@jjj1i9h9h9h9hAfAfAfArfAbfMr@ɛB>L< 隽ȋI {<ɚiID~=I=@i<[ig;)=@)*Fi2Fi:FiBFiJFiGaBqO> - $?I) } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754292H 7>I  I II BI &I .I 6I <:I Fv+w,f̻AJJ JJJ ;Jlm:JJJQ<JQ<J;J;F۾0@YFu>@F=9F>yFH2 ׷Ŀu}K?@K@S?K?@ѳ?ɨF۾0@Fd;FPCyRYBRI-only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.0 +0.00, 20.00,935.82  @ @ @  @ IIT4٢-, -S=95Q 5>11 =G٣=CGy= => MbBottom track data is 0.4 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAU49En"?U4YEqS iE^BU+:Q]k:]5@]@EXDEaB;E2>E탸4i ml AmEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 475.10 m.Bj~;Jj~; ProNav: ac range: 475.100006 m, nav range: 442.737762 m, bearing: 231.558394 deg, approach rate: -0.328407 m/s, LOS rate: 0.113214 deg/s, cmd heading: 169.704151 deg, new cmd heading: 169.805116 deg. 2je;HeadingCmd: 2.963658 target range: 475.100006 and range: 475.10 m. jU=@jQjjihhhhfffrfbf@k@ɛ B BI! %<ɚ!i!I%=I-=@i-LZiuN:)u=@)q*F ?2F :F BF 0JF GB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010991OK>_2w,̻A2פ0@Y2q>@2=92">y2HE`Ŀ@6`~? L@?@Kѡ@Õ??ɨ2פ0@2^;2QCyR;BRI dIdIZ$IZd5٢n) rO=9rQ r>tt vG٣tyv v> ~bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from configx49zW"? 4YzQ iz^B  :  >: 4@ @zXDz+V;zG?zq4 \AZjAMFNOT Ignoring new targets: 475.10 m.BjM:JjM:]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.262456m ProNav: ac range: 475.100006 m, nav range: 442.637817 m, bearing: 231.593095 deg, approach rate: -0.254080 m/s, LOS rate: 0.088238 deg/s, cmd heading: 169.805114 deg, new cmd heading: 169.909243 deg. 2ju:r;}HeadingCmd: 2.965476 target range: 475.100006 and range: 475.10 m. j}[=@jyjyjyiyhyhhhfffrfbf`7Z @ɛ B 隽ϾI tL<ɚiI7\=I[=@iRZiԺ)[=@)ER>E>*F=?2F9:F9BF=P5JFAzKBoHK9KKnKGu{/;GQBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.5 BDAT read: Rx Time:21:33:38.2198 = TRx dataTimestamp_ set to:1736372019.457119M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5212938w,̻A2z0@Y2>>@2 =92>y2HB7ſD6@I?H@J ?w ?c?ɨ2z0@2؈;0yBBBI F=F=             Mb@Mb@Mb@ )Yq= ףp??Qy+?<urA @)AI@yAI-I-H4٢= =D=9E"ٺQ E>AI MG٣IyMʻ M> Nusing accuracyPremultiplier from configQ49UU@"?4YU6P iU^BT:+?:'A@@UXDUIy I}`II}BI}( =&Iy.Iy6I}Ѱ<:I} FI=@iYi)=@)*FE?2FA:FABFE_5JFAJK3 KA.KK"KJmJmJiJiJm-;Jmq:JiJiJm0W<Jm1W<Jm;Jm;GpGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: Range 10 to 50 : 478.5 m (Round-trip 638.0 ms) speed -0.4 m/s - ,DAT read: user:1870> 5 BDAT read: Tx time:21:33:39.3276 5 $Ping request sent.5 w,ܷ̻A2eF0@Y2d>@2 =92*>y2H@@ſXJ9?;D?}??ɨ2eF0@2{;2SCy>BBIIJIJ14٢vo vO=9v9Q v>x1 5G٣=CGy= => ENusing accuracyPremultiplier from configAM49E)"?M4YEPO iE^Bqu@@u@EXDE;E;E4}B AEU addTargetRange:: Added new target pos. range: 478.500000 m, deltaT: 4.043993 s, deltaX: 3.399994 m, approachRate: 0.840752 m/s, rangeRepo size: 4 ZjQ]FNOT Ignoring new targets: 475.10 m.Bj]:Jje:u ProNav: ac range: 475.100006 m, nav range: 442.353699 m, bearing: 231.653825 deg, approach rate: -0.349876 m/s, LOS rate: 0.075138 deg/s, cmd heading: 170.001742 deg, new cmd heading: 170.091497 deg. 2j}DN;}HeadingCmd: 2.968657 target range: 475.100006 and range: 478.50 m. j}x=@jjjihhhhfffrf}@bf`?ɛ5B=m 9=I9 = Z<ɚ9i9IE =Imx=@imYim)mx=@)q*F?2F:FBF2JF IuWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:21:33:39.3268 Gi"G B O >zK JK +9K K oK 3Ew,ͻA6 0@Y6?>@6=968c>y6Hˆ`ſ%?`@`N???ɨ6 0@6(;6PCyRBRIIfIf4٢j nL=9519 =G٣9y=ʻ E> MNusing accuracyPremultiplier from configAM49E6"?U4YEeN iE^BQU@@U@EXDE7:Ez:E̝4a eAaZjFNOT Ignoring new targets: 475.10 m.Bj:Jj: ProNav: ac range: 475.100006 m, nav range: 442.214813 m, bearing: 231.683845 deg, approach rate: -0.363348 m/s, LOS rate: 0.078561 deg/s, cmd heading: 170.091491 deg, new cmd heading: 170.181578 deg. 2jW;HeadingCmd: 2.970229 target range: 475.100006 and range: 478.50 m. j;>@jjjihhhhfffrfbf f?ɛB㍟ I <ɚiI6 =I;>@iYiB);>@)E9Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JF"G C=G =GUGBOA> $?I Hm 5>Ii  Im IIm LBIi &Ii .Ii 6Im <:Im F Will construct direction to contact in vehicle frame from tetrahedron phase data.BI)JI)RI)ZI)bI)jI-ʇ4*JQ "JQ Je Je Je 1Ja Je ;Je lm:Je 3Ja Je f<Je f<Je ;Je ;^Kw,1ͻA F/@YF=@F<=9F>yFH>3dƿ`F ???d@??ɨF/@F;FMCyRրBRxI\^AMb@Mb@Mb@ )Y!rh?I +?Mbp?yl'?9=; A @)AIQAy(AIIT4٢ <=9rٺQ > G٣y/ > Nusing accuracyPremultiplier from config49!?4YN i^B(?:lF@@XD;;74B A E]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 475.10 m.Bjܙ:Jjܙ: ProNav: ac range: 475.100006 m, nav range: 442.050415 m, bearing: 231.713227 deg, approach rate: -0.376181 m/s, LOS rate: 0.067257 deg/s, cmd heading: 170.181581 deg, new cmd heading: 170.269759 deg. 2j8;HeadingCmd: 2.971768 target range: 475.100006 and range: 478.50 m. jr1>@jjjihhhhBBfffrfbf,6?ɛMB 隕I %S<ɚiI =Ir1>@i&YiyӇ)r1>@)*FA2FA:FIBFIJFIWill 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 rAG G B O >Rw,7KͻA $?IF/@YF=@F^=9F>yFH|`ƿĖo?8(?@)Kf?@I?ɨF/@FS;FPCyRˀBRjIIbIb4٢jt j[=9j>Q n>ll nG٣rCGyr r> vNusing accuracyPremultiplier from configtz49v!?z4YvM iv^B|~7F@~@vYDv;vI;v4 A  EEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257242ZjIUFNOT Ignoring new targets: 475.10 m.BjU:JjU:e ProNav: ac range: 475.100006 m, nav range: 441.907166 m, bearing: 231.739046 deg, approach rate: -0.394237 m/s, LOS rate: 0.071080 deg/s, cmd heading: 170.269758 deg, new cmd heading: 170.347241 deg. 2jm C;mHeadingCmd: 2.973120 target range: 475.100006 and range: 478.50 m. jmG>@jqjqjqiqhqhqhyhyfyffrfbfL?ɛBoؼ "F=%I <ɚiI =IG>@iZii[)G>@)*F2F:FBFo0JFGmUzK iJK 9K K pK -/!GwG)B1OM1>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512142Xw,<eͻAy~B~QIMb@Mb@Mb@ )Yx&1? rh?t<A @)vAIyAII4٢b :=9Q > G٣y > Nusing accuracyPremultiplier from config 49!? 4Y N i^BO%?:G%@YDR;;c4) -A5EZjiuFNOT Ignoring new targets: 475.10 m.Bj}:Jj: %$?I!U ProNav: ac range: 475.100006 m, nav range: 441.724884 m, bearing: 231.767218 deg, approach rate: -0.412975 m/s, LOS rate: 0.063853 deg/s, cmd heading: 170.347240 deg, new cmd heading: 170.431792 deg. 2jUI/;]HeadingCmd: 2.974596 target range: 475.100006 and range: 478.50 m. j]_>@jYjYjYiYhYhYhahe7Bfafafirfbfz?ɛB H3>I IIIBI&I.I6I<:I F0I1 5A<ɚ1i9I=i| =I=_>@iECTZiEL)E_>@MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761128)aEQEUrAJ)J)JJJJJ ;JJJJ}T<J~T<JJ*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=2.013005_w,~ͻAZ_7/@YZU=@Z6=9Z >yZHr@ǿ|`O?&Q?D?`Ұ?ɨZ_7/@Z~K;ZOCyzBzWI =p=I I 4٢3< W=9%e:Q %>!! -G٣)y- -> 5Nusing accuracyPremultiplier from config1=495!?=4Y5/N i5^BAEGE@5$YD5 ;52 ;54I MWAIZjFNOT Ignoring new targets: 475.10 m.Bj:Jj: ProNav: ac range: 475.100006 m, nav range: 441.569427 m, bearing: 231.791642 deg, approach rate: -0.416155 m/s, LOS rate: 0.065404 deg/s, cmd heading: 170.431798 deg, new cmd heading: 170.505093 deg. 2j3;HeadingCmd: 2.975875 target range: 475.100006 and range: 478.50 m. jt>@jjjihhhhfffrfbf@ɛB- /IQ Us<ɚQiYI]]0 =I]t>@ieٸZie)et>@)a*F-?2F):F)BF-u1JF)Go>GB IOL>]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264997zK OK s9K K qK gGV)yU8!ypic^ZXQLFDB=<;9620/-+**&`ew,˘ͻA2 /@Y23=@2ӛ=92.>y2Hto)ǿBx? fH?@ ?ի?ɨ2 /@2I;2SCy:B:MIIFIFv4٢J1 NS=9Nf:Q N>PP RG٣RCGyVM V> ZNusing accuracyPremultiplier from configX^49Zw!?^4YZRN iZ^B\bGb@Z4YDZ%;Z;Z4d fAjEZjFNOT Ignoring new targets: 475.10 m.Bjc:Jjc: ProNav: ac range: 475.100006 m, nav range: 441.410797 m, bearing: 231.816710 deg, approach rate: -0.388194 m/s, LOS rate: 0.061369 deg/s, cmd heading: 170.505099 deg, new cmd heading: 170.580333 deg. 2jw(;HeadingCmd: 2.977188 target range: 475.100006 and range: 478.50 m. jA>@jjjihhhhfffrfbf@ɛB˩ 隭S4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517224I w<ɚiI=IA>@i'U[i!)A>@)  $?I Ee P"=jH <bH <H 2>I C I II BI ) =&I .I 4D6I m<:I R Fm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769827*F 2F :F BF _0JF *J9 "J9 Gm~FG9BIOe ?nw,-ͻA6 /@Y6(=@6t=96>y6HanPȿk_v $?u?뷠|1?@j?ɨ6 /@6);6MCy>BBJIMb@Mb@Mb@ )YCl?S?L7A`?y;?>+=A @)AIAyGAI- I-4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021992٢߻ =98Q > G٣y& > Nusing accuracyPremultiplier from config49o!?4YN i^B$?:]F@LYD;;ʸ4B AEB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 475.10 m.Bj-Y:Jj-Y:E ProNav: ac range: 475.100006 m, nav range: 441.171051 m, bearing: 231.853054 deg, approach rate: -0.433311 m/s, LOS rate: 0.065723 deg/s, cmd heading: 170.580327 deg, new cmd heading: 170.689419 deg. 2jEk4;MHeadingCmd: 2.979092 target range: 475.100006 and range: 478.50 m. jMs>@jQjQjQiQhQhQhYh]ABfYfYfYrfabfe8_@ɛB 隕~6I OG<ɚiI=Is>@i\i)s>@)ESE=*F?2F:FBF0JFGa.ʼGBOe>  $?Ie Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273057J= J= J= 0J9 J= ;J= ~o:J= ـ3J9 aE @aE @aE @aE @Etw,ͻAJ`/@YJ$=@J=9Jxd>yJH#n ȿC s [?`` ??೤?ɨJ`/@J;;JRCyZBZVIIbIb4٢jqH= jZ=9nQ n>pp rG٣pyr6 v> zNusing accuracyPremultiplier from configtz49vcr!?~4YvN iv^B|~dF@v[YDv;v;vSѸ4  ]A Zj9EFNOT Ignoring new targets: 475.10 m.BjEY:JjEY:U ProNav: ac range: 475.100006 m, nav range: 441.016327 m, bearing: 231.876566 deg, approach rate: -0.415102 m/s, LOS rate: 0.063099 deg/s, cmd heading: 170.689419 deg, new cmd heading: 170.759977 deg. 2jU7-;zK]aOK]9KYK]rK]$$#"   BKa:KauHeadingCmd: 2.980324 target range: 475.100006 and range: 478.50 m. ju>@jqjqjqiqhyhyhhfffrfbf[_ @ɛ B 隽2I  <ɚiI=I>@iƸ\iJ )>@)EE*E"EU~GWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:33:42.3708 TRx dataTimestamp_ set to:1736372023.489002checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533016) YyB*F?2F:FBF0JF I G a&G B O >H 1>I  I II BI &I .I 6I <:I m Fh){w,ͻAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7770806/@Y6-=@6Q=96->y6H` oǿ OoJ?E`+`?}i L??ɨ6/@6 ;6QCy ĀB bIMb@Mb@Mb@ )Y)\(?/$?ˡE?yG!?1>'=A @)vAIAypAII4٢/= ;=9>uQ > G٣CGy˟: > Nusing accuracyPremultiplier from config49Z!?4YO i^B +%? : eH @mYD(n;l;ظ4 AEZjFNOT Ignoring new targets: 475.10 m.Bj:Jj: ProNav: ac range: 475.100006 m, nav range: 440.840393 m, bearing: 231.905093 deg, approach rate: -0.384305 m/s, LOS rate: 0.062340 deg/s, cmd heading: 170.759975 deg, new cmd heading: 170.845591 deg. 2j!+;HeadingCmd: 2.981818 target range: 475.100006 and range: 478.50 m. j%>@j!j!j!i!h!h!h)h-YBfifqfqrfqbfu@ɛ"BƼ 隥.I Zg<ɚiI(=I>@i]i )>@)E*Fy2Fy:FyBF}o4JFyGrA GrAGmWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029967G1B9OU>w,λA6/@Y66=@6/<960>y6Hp ,ǿs9d@? @?1?`l?ɨ6/@6M;6PCyNڀBN}I Vp=Va=IZ(IZ)5٢b^= b]=9fBQ f>dd fG٣dyj: j> rNusing accuracyPremultiplier from configpv49rF!?v4Yr#O ir_Btv_Hv@r|YDre:r:rj߸4| ~\A~EZj!%FNOT Ignoring new targets: 475.10 m.Bj-ٞ:Jj-ٞ:= ProNav: ac range: 475.100006 m, nav range: 440.691681 m, bearing: 231.929223 deg, approach rate: -0.427798 m/s, LOS rate: 0.069437 deg/s, cmd heading: 170.845598 deg, new cmd heading: 170.918012 deg. 2j=>;EHeadingCmd: 2.983082 target range: 475.100006 and range: 478.50 m. jE>@jAjAjAiAhIhIhIhIfQfQfQ e $?Iirfbf @ɛ%#B% !%T$I! -<ɚ)i)I-ua=I5>@iU"^iUpf)U>@)Y=Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: Range 10 to 50 : 479.1 m (Round-trip 638.9 ms) speed -0.4 m/s ],DAT read: user:1871> eBDAT read: Tx time:21:33:43.4777 e$Ping request sent.m Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:33:43.4769 Mw,_"λAyUBUIMb@Mb@Mb@ )Y{Gz?)\(?I +?y#?G=94=AA @) AIAy AIIH4٢= )=9Q > G٣y > Nusing accuracyPremultiplier from config49$+!?4YN i_B&?:QG@@YDC;;24 1I19 =A=E addTargetRange:: Added new target pos. range: 479.100006 m, deltaT: 4.285141 s, deltaX: 0.600006 m, approachRate: 0.140020 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 475.10 m.BjK:JjK:  ProNav: ac range: 475.100006 m, nav range: 440.497559 m, bearing: 231.963350 deg, approach rate: -0.371059 m/s, LOS rate: 0.065262 deg/s, cmd heading: 170.918012 deg, new cmd heading: 171.020438 deg. 2j '3;HeadingCmd: 2.984870 target range: 475.100006 and range: 479.10 m. j?@jjjiZHyRH}@AHI IIIBI&I.I6I<:I| FhhhhBfffrf}@bf`5A?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ%BVe 隽I <ɚiIE=I?@i,_i:)?@)*FM?2FI:FIBFM@5JFI"GU=GU=Gm OGq Gq GI BY Ou >w,?λA*Will construct direction to contact in vehicle frame from tetrahedron phase data.yjBjIIvIv&4٢~= ~[=9Q >  G٣ CGyi u> }Nusing accuracyPremultiplier from configq}49u!?4YuN iu'_B@uYDu:u ;u4 ?AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 475.10 m.BjԤ:JjԤ: ProNav: ac range: 475.100006 m, nav range: 440.356018 m, bearing: 231.988266 deg, approach rate: -0.409169 m/s, LOS rate: 0.072052 deg/s, cmd heading: 171.020437 deg, new cmd heading: 171.095210 deg. 2jE;HeadingCmd: 2.986175 target range: 475.100006 and range: 479.10 m. j}?@jjjihhhhfffrfbfz?ɛU&B]Z Y]IY ]H<ɚYiaIe=Im}?@im_im:O)m}?@)q*F?2F:FBF^0JF  $?IGWill 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.GBO>J J J 1J J ;J lm:J 3J )w,XλA6Ly/@Y6=@6n<96;>y6H`{z@ ǿxj??d?>&?`?ɨ6Ly/@62;6QCzKNBoJKN=9KLKNtKNyV BZI\^AIfIf44٢j= nN=9%Q ->)) -G٣)y5w< 5> =Nusing accuracyPremultiplier from config9E49=!?E4Y=N i=9_BIMG@M@=YD=7:=7:=~4Q UAU!EZjyFNOT Ignoring new targets: 475.10 m.Bj:Jj: ProNav: ac range: 475.100006 m, nav range: 440.202637 m, bearing: 232.014962 deg, approach rate: -0.389052 m/s, LOS rate: 0.067738 deg/s, cmd heading: 171.095214 deg, new cmd heading: 171.175330 deg. 2j9;HeadingCmd: 2.987573 target range: 475.100006 and range: 479.10 m. jf4?@jjjihhhhfffrfbf@9?ɛ'B͌   I  +<ɚ i I |{=If4?@if`i<)f4?@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256385*F?2F:FBF_0JFG?GqBO> $?IHm 0>Ii  Im IIm 3BIm * =&Ii .Ii 6Im <:Im s FBI-ʝCJI-ʝCRI)ZI-) =bI-) =jI- 5% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505641w,ҦrλA:ح/@Y:r=@:><9:I.>y:H ƿT|?g?i? vǔgq?;?ɨ:ح/@:^;:PCyF"BFIJ\J^?A=Mb@Mb@Mb@999 9)9Y=L7A`?+?~jt?y=+'?=====A =@)= AI=A9y=AIUIU4٢e= eB=9mQ m>ii mG٣qyu; u> Nusing accuracyPremultiplier from config49 ?4YM iF_B'?:A@@YD*};;4B A$EZjFNOT Ignoring new targets: 475.10 m.Bj :Jj : ProNav: ac range: 475.100006 m, nav range: 440.064484 m, bearing: 232.045188 deg, approach rate: -0.315672 m/s, LOS rate: 0.069085 deg/s, cmd heading: 171.175332 deg, new cmd heading: 171.266037 deg. 2j=;HeadingCmd: 2.989156 target range: 475.100006 and range: 479.10 m. jVN?@jjjihhhh Bfffrfbf c?ɛ}(B? 隅I C<ɚiI =IVN?@igai)VN?@)*F?2F:FBFJFGqA GqA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757813G e G ?G ?G B O > I w,脌λA>/@Y>=@><9>>y>H 4`ƿ?`F?` ?Vf? ؝?ɨ>/@>c;>OCy^ rS=9rxQ r>tt vG٣vCGyvE0; z> ~Nusing accuracyPremultiplier from configx49z ?4YzL izR_B  A@ @zYDz+;z+;zv4 KA!ZjA]FNOT Ignoring new targets: 475.10 m.BjuA:JjuA: ProNav: ac range: 475.100006 m, nav range: 439.934998 m, bearing: 232.073493 deg, approach rate: -0.356351 m/s, LOS rate: 0.077921 deg/s, cmd heading: 171.266037 deg, new cmd heading: 171.350979 deg. 2jU;HeadingCmd: 2.990639 target range: 475.100006 and range: 479.10 m. jf?@jjjihhhhfffrfbf@ɛ)BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009959] Y]IY ep<ɚaiiImz=Imf?@iXaiX)f?@)JJJ0JJe ;Jq:Jـ3J*F?2F:FBF0JFzKBIK9KKuKYyrprWsR4  G Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262188G B O >*w,"rλAb/@Yb>@bn<9b>ybHF@ſ??#@?`퐿:?@]?ɨb/@blI;bPCynGBnI v=v=Mb@Mb@Mb@ )Y/$?{Gz~jt?y&1?# )/ AIAyzAIID4٢K= 9=9Q > }$?Iy G٣y8< > Nusing accuracyPremultiplier from config49w ?4YJ i[_B1?:9@@YD[;-; 4  A'EZjFNOT Ignoring new targets: 475.10 m.Bj%s:Jj%s:U ProNav: ac range: 475.100006 m, nav range: 439.802643 m, bearing: 232.111580 deg, approach rate: -0.284671 m/s, LOS rate: 0.081941 deg/s, cmd heading: 171.350977 deg, new cmd heading: 171.465270 deg. 2jU`;]HeadingCmd: 2.992634 target range: 475.100006 and range: 479.10 m. j]O?@jYjYjYiYhYhahh=Bfffrfbf@ɛ+BWYH I  I 'II fBI &I .I 6I հ<:I  FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513833 I V|<ɚiI=IO?@ibbiJ)O?@)*F2F:FBF~0JF]$>Invalid EZ Servo response:"\r"1-$(Communications Fault! -$ w,;9λA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765730:B0@Y:`>@:5g<9:: >y:HNyIſ?vD?`m(L?ߌ??ɨ:B0@:U;:RCyFcBF$IININ4٢V8> Vc=9ZݻQ Z>`d fG٣hy%A< %> ]Nusing accuracyPremultiplier from config)e49-o ?e4Y-fI i-c_Bae/:@e@-YD-6;-;-4q u Au*EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 475.10 m.Bj:Jj:u ProNav: ac range: 475.100006 m, nav range: 439.701141 m, bearing: 232.140528 deg, approach rate: -0.283041 m/s, LOS rate: 0.080742 deg/s, cmd heading: 171.465274 deg, new cmd heading: 171.552139 deg. 2ju];}HeadingCmd: 2.994150 target range: 475.100006 and range: 479.10 m. j}&?@jyjjihhhhfffrfbf@ɛ=,B=U AEKɾIA Ediw<ɚAiAIEG=Im&?@ibi&)&?@)*FA2FA:FABFE_5JFA $M4Uninitialize Rudder Servo.$MPowering down m$?IiGM GM"G}G}GqAGG9BIOeU>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018348o;w,#λAb0@Yb?@b1<9b!>ybH|ÿ%??i6@T ?$` ?ʙ?ɨb0@bҍ;bPCzKjNKj9KhKjvKjyvmBv1II~I~4٢ XK=  D=9NcQ > G٣ CGy< > -Nusing accuracyPremultiplier from config!-49%` ?54Y%G i%n_B:@@%ZD%<%<%4  AZjFNOT Ignoring new targets: 475.10 m.Bj:Jj: ProNav: ac range: 475.100006 m, nav range: 439.581909 m, bearing: 232.173616 deg, approach rate: -0.291213 m/s, LOS rate: 0.080838 deg/s, cmd heading: 171.552140 deg, new cmd heading: 171.651433 deg. 2j];HeadingCmd: 2.995883 target range: 475.100006 and range: 479.10 m. j?@jjjih h h hfffrfbf @ɛE-BE]J AE뿾IA MUr<ɚIiIIM=IU?@iUciUV)U?@)YUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271688*F2F:FBFP0JFGBO:> U$?IQH />I  I lII BI &I .I 6I ߰<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:33:46.5114  TRx dataTimestamp_ set to:1736372027.768753 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522973bw,λAJ@J@J@J@J@J@J@J@JBUyfH "¿@L??=? |vd0?`T?ɨfZ1@fǍ;dy~BGI)-AMb@Mb@Mb@ )Y㥛 ?ʡE:v?y5?ケ<&A v@) AIvAyf AIIm4٢$=  <=9 ͻQ  > G٣y%+a< %> -Nusing accuracyPremultiplier from config)549-Cw ?u4Y-3E i-o_Bu8?}:}4@}@-ZD-+<-`+<-a 4 1 A-EZjFNOT Ignoring new targets: 475.10 m.Bj:Jj: ProNav: ac range: 475.100006 m, nav range: 439.476471 m, bearing: 232.212120 deg, approach rate: -0.243649 m/s, LOS rate: 0.088997 deg/s, cmd heading: 171.651437 deg, new cmd heading: 171.766977 deg. 2jOt; HeadingCmd: 2.997899 target range: 475.100006 and range: 479.10 m. j ?@j j)j1i1h1h1h9h=Bf9f9f9rfAbfE`i @ɛ/B5u r"=LI m<ɚiI̻=I?@iqBciQ)?@) *F?2F:FBFJF $4Initializing EZServoServo.]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.773695 $u 2Initializing RudderServo.GA BQ !e ^Clearing failed state for component RudderServo1e Om > Y Ie JgDOw, ϻAy5B5XIIEIE94٢U= UV=9]Q ]>YY ]G٣aye e> uNusing accuracyPremultiplier from configi}49mRa ?}4YmB imq_Byy}@m.ZDm<;m:m '4B  A0EWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:33:46.5114 LVL= 22224, 21809, 19858, 29939, AGC= 69, IDX= 330, 0.28,-2.089,-1.039, 2.772,-2.235, PHS= 0.234, 1.243,-1.279, RAW= 6.6, -1.8, CAL= 6.5, -3.7, ROT= 143.5, 3.7 Ygot valid direction response: 21:33:46.5114 LVL= 22224, 21809, 19858, 29939, AGC= 69, IDX= 330, 0.28,-2.089,-1.039, 2.772,-2.235, PHS= 0.234, 1.243,-1.279, RAW= 6.6, -1.8, CAL= 6.5, -3.7, ROT= 143.5, 3.7 PDAT read: Bearing 143.5, 3.7 (Local) ~Local bearing/azimuth received: Bearing 143.5, 3.7 (Local) mDAT read: Range 10 to 50 : 472.1 m (Round-trip 629.5 ms) speed -0.5 m/s },DAT read: user:1872> }BDAT read: Tx time:21:33:47.6277 $Ping request sent.ٵ?ٵFٵ=ٵ ڵV=)ڵ AIڵJ @iڵ A=ڱڱ۵篃flٿ'dYu9u7K addTargetRange:: Added new target pos. range: 472.100006 m, deltaT: 4.031323 s, deltaX: -7.000000 m, approachRate: -1.736403 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 475.10 m.BjŽ:JjŽ:)۵aI۵^_=i۵ú?۵E۱۱:publishing transmit ping time؁Fpublishing direction and range infoر9صsu?˦4?v0d?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱ5 ProNav: ac range: 475.100006 m, nav range: 439.384491 m, bearing: 232.245782 deg, approach rate: -0.226630 m/s, LOS rate: 0.082956 deg/s, cmd heading: 171.766977 deg, new cmd heading: 171.867982 deg. 2j5c;5HeadingCmd: 2.999662 target range: 475.100006 and range: 472.10 m. j=w?@j9j9j9i9h9h9ڱڱ۵篃flٿ'dYu9u7K)۱I۱i۱۱۱۱hhfffrf}@bf@I?ɛ0BX8 隅nI si<ɚiI=Iw?@i{ci+)w?@)EE*Fq2Fq:FqBFu^0JFqGIBQzKmKm 9KiKmwKm) O>G ! MYIyUBu Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:33:47.6269 w,'ϻA32@YQ@@®9#>yH/%N?n?!) -G٣-!CGyMF< U> ]bBottom track data is 0.5 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQe49U(F ?e4YUJ@ iUt_Bm+:H.>I IIIˁBI&I.I6Iڰ<:I Fo:5@@UCZDUwU-4  A3Ek_H!?ko k kHmϻA:k CBkkCZkCŎ@"Oy=J@!?}@@@su?˦4?v0d?Jkú?RkE*9Ws\K{P6[@ο\T,N'4N?"k*kkʺ?k { 2k,Ck8͛?kx k,CkCkL9@ZjFNOT Ignoring new targets: 475.10 m.Bj:Jj:Will construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 475.100006 m, nav range: 439.267120 m, bearing: 232.287099 deg, approach rate: -0.253047 m/s, LOS rate: 0.089102 deg/s, cmd heading: 171.867982 deg, new cmd heading: 171.991966 deg. 2jt;HeadingCmd: 3.001826 target range: 475.100006 and range: 472.10 m. j@@jjjihhhhfffrfAbfEF?ɛ2B Ի 隕I d<ɚiI=I@@i6cci&)@@)JJJ1JJ;Ju:J3JJY<JY<JD;JD;*Fq2Fq:FqBFqJFqGIBaO}>:[w,~AϻAWill construct direction to contact in vehicle frame from tetrahedron phase data.yBlI -=-=I5I5ʴ4٢M= Mp=9UQ U?QY ]G٣Yy] e? mbBottom track data is 0.8 s old, using for 20.0 s. mNusing accuracyPremultiplier from configau49e2 ?u4Yeb> iew_B} :yA:@eSZDeh;eO?e14B  AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 475.10 m.BjP:JjP: ProNav: ac range: 475.100006 m, nav range: 439.183319 m, bearing: 232.316670 deg, approach rate: -0.272873 m/s, LOS rate: 0.096306 deg/s, cmd heading: 171.991963 deg, new cmd heading: 172.080692 deg. 2j0;HeadingCmd: 3.003375 target range: 475.100006 and range: 472.10 m. jJ7@@jjjihhhhfffrfbf!?ɛ3B5! 隭I 2a<ɚiI$=IJ7@@i[ci]R)J7@@) $?IE5|(H=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF_0JFG9 BI O >ƌw,x[ϻA:2@Y: A@:9:{">y:H@` =?B?@[X?`?i9?`Ϙ?ɨ:2@:ˌ;:NCyZBZeIIbIbt4٢j jQ=9n/Q n>ll nG٣lyr< r> zbBottom track data is 1.2 s old, using for 20.0 s. zNusing accuracyPremultiplier from configt~49v ?~4YvA< iv|_B~9|~:~X6@@veZDv+;v]?v*54   A6EZjAEFNOT Ignoring new targets: 475.10 m.BjM:JjM:] ProNav: ac range: 475.100006 m, nav range: 439.083252 m, bearing: 232.350840 deg, approach rate: -0.256095 m/s, LOS rate: 0.087470 deg/s, cmd heading: 172.080688 deg, new cmd heading: 172.183222 deg. 2j]p;eHeadingCmd: 3.005164 target range: 475.100006 and range: 472.10 m. jeT@@jajajaiazKmBoHKm9KiKmxKmu%AA7,# hihyhyhfffrfbf%`ء?ɛM5BUV QUIQ U0]<ɚQiYI]=I]T@@ieciewp)eT@@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235761E$=Ea>E*FU?2FY:FYBFeh0JFaGiBO> $?IH I  I II BI + =&I .I 6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486179w,:uϻAJ2J2J0J0J2;J2r:J0J0J2I_<J2J_<J2;J2;R>i3@YRׇA@RG9RyJ#>yRH.^T? ?`a@?Z? R?v?ɨR>i3@RV;Py^B^cI        Mb@Mb@Mb@ )YX9v?}?5^I̿I +y=?Mb94A `@) AI Ay3 AII)4٢ͻ <=9Q > G٣"CGy< > Nusing accuracyPremultiplier from config49 ?4Y8 il_BT:7F?:`/@@zZDc;b;<4B U A]9EZjFNOT Ignoring new targets: 475.10 m.Bj:Jj: ProNav: ac range: 475.100006 m, nav range: 438.998138 m, bearing: 232.393367 deg, approach rate: -0.190463 m/s, LOS rate: 0.095183 deg/s, cmd heading: 172.183222 deg, new cmd heading: 172.310827 deg. 2j;HeadingCmd: 3.007391 target range: 475.100006 and range: 472.10 m. jy@@jjjihhhhBfffrfbf` ?ɛ]7Bew aegIa eAY<ɚaiiIm=Iy@@iabi6)y@@)EE*E"E=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.737991*F?2F:FBF_0JFG B O > $?I cw,bϻA63@Y6A@6g96y'#>y6H;`@%?l?g??@ZN? n?ɨ63@6;6PCy>BBVIDDIJIJ~4٢R4q R`=9RQ V>TT VG٣TyZ< Z> ^Nusing accuracyPremultiplier from config\b49^ ?b4Y^5 i^__Bdf/@f@^ZD^q:^C:^%C4h j AjzKoNK9KKyK}vsrnmhecZF50..,**.<[npkfb][XUPOMKDA<731/243140.-,-,(RK ?JK ?M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2418417w,ϻAMX=4@YM[B@M9MQ">yMHɹ`]s?`?º?nh?J??`B?@?ɨMX=4@M[;MQC yIyyޅ{BލCIMb@Mb@Mb@ )Y333333?e;OοZd;Oy9?tjSA v@)Iy AI5I54٢M M2=9MJwQ U>QQ UG٣Qy]t< ]> eNusing accuracyPremultiplier from configam49e?m4Ye72 ieG_BuC?u:u.@u@eZDe;e};e*K4y } AyZjFNOT Ignoring new targets: 475.10 m.Bjg:Jjg: ProNav: ac range: 475.100006 m, nav range: 438.841980 m, bearing: 232.473285 deg, approach rate: -0.191075 m/s, LOS rate: 0.101592 deg/s, cmd heading: 172.417539 deg, new cmd heading: 172.550623 deg. 2jq;HeadingCmd: 3.011576 target range: 475.100006 and range: 472.10 m. j@@jjjihhhh؂Bfffrfbfe@j@jHbHp<H->IC III, =&I.I6I<:I FBIJIRIZI* =bI+ =jIü25ɛ;BͼE 隽I O<ɚiI=I@@iVXai ;)@@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496583*F?2F:FBF5JFJ[3K[O3 K[(.KSKS"KSJJJJJ;Js:JJJ]<J]<Jy;Jy;GBO5r>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7457754w, ϻA6_4@Y6B@6T96N#>y6H p䷿ ڠ? h?s ?0?R?@Ė?ɨ6_4@6 ڌ;6MCyJjBN.IIVIV94٢5J 5]=95Q =>99 =G٣9yE< E> mNusing accuracyPremultiplier from configIu49MM?u4YMH/ iM5_Bq}.@}@MZDM6;M&:MQ4  A>EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 475.10 m.Bj3:Jj3:- ProNav: ac range: 475.100006 m, nav range: 438.773132 m, bearing: 232.508884 deg, approach rate: -0.180214 m/s, LOS rate: 0.093197 deg/s, cmd heading: 172.550618 deg, new cmd heading: 172.657430 deg. 2j-;5HeadingCmd: 3.013441 target range: 475.100006 and range: 472.10 m. j56@@j1j9j9i9h9h9hAhAfAfafirfibfm@!@ɛ=BD ҾI J<ɚiI=I6@@i`i<<) 6@@)  m$?ImIg*Fu?2Fy:FyBF}^0JFyGQBaO}7>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997851w,ޮϻA2(5@Y2*GC@24)92q#>y2H@ ??y ??X?C?ɨ2(5@2;2PCy:ZB>IIFIFx4٢NŪ NU=9RQ R>PT VG٣V#CGyV< V> ^Nusing accuracyPremultiplier from configXb49Z?b4YZG, iZ#_B`bu/@b@ZZDZ;Z;ZSX4jB j AjAEZj|FNOT Ignoring new targets: 475.10 m.BjT:JjT: ProNav: ac range: 475.100006 m, nav range: 438.699554 m, bearing: 232.545890 deg, approach rate: -0.198415 m/s, LOS rate: 0.099811 deg/s, cmd heading: 172.657429 deg, new cmd heading: 172.768467 deg. 2j;%HeadingCmd: 3.015378 target range: 475.100006 and range: 472.10 m. j%@@j!j!j!i!h)h)h)h)f1f1f1rf1bf=` @ɛe?Be@# aeIa eLYE<ɚiiiIm=Im@@iu_iuHe<)u@@)yzKNK]9KKzK(&%$$#umk^/    Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250046*FI2FI:FIBFM_0JFI YIYGu\ GqGqG)B9OU>H ,>I  I II ЁBI &I .I 6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:33:50.6649  TRx dataTimestamp_ set to:1736372031.800822 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503116w, ϻAy~BB~IMb@Mb@Mb@ )Y +?K7ɿ!! %G٣!y- -> ENusing accuracyPremultiplier from config9E49=?M4Y=C) i= _B]=?]:]2@]@=ZD=;=*;=?`4q uV AuDEZjY]FNOT Ignoring new targets: 475.10 m.Bje:Jje: ProNav: ac range: 475.100006 m, nav range: 438.598877 m, bearing: 232.587684 deg, approach rate: -0.209129 m/s, LOS rate: 0.086835 deg/s, cmd heading: 172.768460 deg, new cmd heading: 172.893870 deg. 2j`n;HeadingCmd: 3.017567 target range: 475.100006 and range: 472.10 m. jA@jjjihhhhBfffrfbf4 @ɛBB `I WZ=<ɚ i I =IA@i7^iչV<)A@)E!E!*F?2F:FBFJF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754582G]G1BAO]v> M $?II w,XлA6r6@Y6 "D@696">y6H@D? ?i?@yO?A?ࣖ?ɨ6r6@6Ќ;4yBBBIIJIJ4٢R*b Re=9RCQ V>TT VG٣TyZ= Z> ^Nusing accuracyPremultiplier from config\f49^'u?f4Y^& i^^Bdf3@f@^ZD^@;^"A;^pf4l nAlZjFNOT Ignoring new targets: 475.10 m.Bj |:Jj |: ProNav: ac range: 475.100006 m, nav range: 438.517029 m, bearing: 232.620216 deg, approach rate: -0.250138 m/s, LOS rate: 0.099441 deg/s, cmd heading: 172.893876 deg, new cmd heading: 172.991491 deg. 2j};%HeadingCmd: 3.019271 target range: 475.100006 and range: 472.10 m. j%;A@j!j!j)i)h)h)h)h1f1f1f1rf1bf=@+@ɛmCBm imIq uE7<ɚqiqIu#=}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.005997I;A@i%T]i%2d<)-;A@)9JmJmJm0JiJmM;Jmz:Jmـ3Jia}@a}@a@a@*F ?2F :F BF o0JF G9)<GBOA>zKMK+9KK{KE Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:33:50.6649 LVL= 16368, 20465, 18034, 27043, AGC= 67, IDX= 462, 0.10,-1.878,-1.057, 2.844,-2.145, PHS= 0.355, 1.134,-1.297, RAW= 11.7, -1.8, CAL= 11.5, -3.9, ROT= 138.5, 3.9  Ygot valid direction response: 21:33:50.6649 LVL= 16368, 20465, 18034, 27043, AGC= 67, IDX= 462, 0.10,-1.878,-1.057, 2.844,-2.145, PHS= 0.355, 1.134,-1.297, RAW= 11.7, -1.8, CAL= 11.5, -3.9, ROT= 138.5, 3.9  PDAT read: Bearing 138.5, 3.9 (Local)  ~Local bearing/azimuth received: Bearing 138.5, 3.9 (Local)  DAT read: Range 10 to 50 : 474.7 m (Round-trip 633.0 ms) speed -0.7 m/s  ,DAT read: user:1873> - BDAT read: Tx time:21:33:51.7793 5 $Ping request sent.5 E &?E E Q>A E M>)E 'gIE @iE 'g=A A E )|HDԿ_Dk^"()E )IE F=iE :ڻ?E #A A  :publishing transmit ping time)  Fpublishing direction and range infoA 9E 8 ?qIm?ՄL?yA A A A A )A IA iA A A A A A )A IA iA A A E )|HDԿ_Dk^"()A IA iA A A A w,y*лA n$?Ip =6@Y[D@Ƽ9 ">yH| +? ʲ?`}?Ϙ?D?7?ɨ =6@H;OCyBIAMb@Mb@Mb@ZHRHAAH%+>I! I%lII%BI!&I!.I!6I%<:I% F )Yi|?5?(\¿{Gzy1?z#SA )I Ay( AI]I]g4٢mq m#=9u]@Q u>qy }G٣}$CGy}; }> Nusing accuracyPremultiplier from config49]X?4Y$ i^B5?:7@@[DE;t;,o4 %AGEkUa??kUȼ kQ kUo#лA:kUYCBkUCZkU?D@"Uiƭ2$H@ -#}@fƅ=R@U8 ?qIm?ՄL?JkU:ڻ?RkU#*Uf^Sۜ_{㯥b@U~Ŀr"!?"kU*kUkU?kUBQ 2kUUCkU қ?kUE/_ kU@CkUCkU/1@mWill construct direction to contact in vehicle frame from tetrahedron phase data.} addTargetRange:: Added new target pos. range: 474.700012 m, deltaT: 4.286020 s, deltaX: 2.600006 m, approachRate: 0.606625 m/s, rangeRepo size: 4  Added new target pos. range: 474.700012 m, bearing: 260.098828 deg, lat: 36.899688 deg, lon: -122.119034 deg, deltaT: 16.646477 s, deltaX: -0.399994 m, approachRate: -0.024029 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 474.70 m.BjJj- ProNav: ac range: 474.700012 m, nav range: 449.206421 m, bearing: 238.479585 deg, approach rate: 0.000000 m/s, LOS rate: 0.099441 deg/s, cmd heading: 172.991493 deg, new cmd heading: 173.146915 deg. 2j)5HeadingCmd: 3.021984 target range: 474.700012 and range: 474.70 m. j5/hA@j1j1j9i9h9h9hahetBfafafirfm@3}@bfmY?ɛGBfڼ 隽]I ,<ɚiI{=I/hA@i \i;<)/hA@)*J9"J=%=*F?2F:FBF_0JF% Will construct direction to contact in vehicle frame from tetrahedron phase data.G= y<GM ?GM ?G B! OE >~w,EFлA tq6@Y  D@ YԼ9 a>y HŰn??׏ \?G? ^?`۞?ɨ tq6@ x; yBIII4٢N Z=9Q > G٣y\< > Nusing accuracyPremultiplier from configE49>B?E4Y" i^BIM8@M@[D-<-<u4UB UXA]JEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 474.70 m.Bj:Jj: $?I  ProNav: ac range: 474.700012 m, nav range: 449.130035 m, bearing: 238.512885 deg, approach rate: -0.201173 m/s, LOS rate: 0.087717 deg/s, cmd heading: 173.146921 deg, new cmd heading: 173.246839 deg. 2jp;HeadingCmd: 3.023728 target range: 474.700012 and range: 474.70 m. jA@jijijiiihihihqhqfqffrfbf ?ɛIB}3' 3I 3n#<ɚiIJN=IA@iZi<)A@)*F2F: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.GΩ<GBO>JeJe%Je1JaJe%;Je:Je3Ja AG |uA  PY |uAy 9Bw,_лA2Q6@Y2MpD@2eܼ92>y2HM@?@`x?`? Q?nH??ɨ2Q6@2y;0ybȀBbfIIjIj4٢r rY=9r5Q r>tt vG٣tyzT ~>zK=JK=9K9K=|K=! ##&.49;;<<<856442-,+'BKI:KMmA Nusing accuracyPremultiplier from configy49},?4Y} i}^B7@@}'[D}:}:}|4 !AMEZjFNOT Ignoring new targets: 474.70 m.BjX:JjX:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975728 ProNav: ac range: 474.700012 m, nav range: 449.054108 m, bearing: 238.546391 deg, approach rate: -0.204370 m/s, LOS rate: 0.090200 deg/s, cmd heading: 173.246833 deg, new cmd heading: 173.347367 deg. 2jw;%HeadingCmd: 3.025482 target range: 474.700012 and range: 474.70 m. j%A@j!j!j!i!h!h)h)h)f)f1f1rf9bf=`-7?ɛKBp> 隥AI Q<ɚiI'=IA@ilYi m<)A@)*F ?2F:FBFP5JF $?I H9I9 I=II=[BI=- =&I9.I96I=ǰ<:I= F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228238G ~<G rAG pAG B O >w,yлA676@Y6VD@696ʨ >y6Hh`??V?s?@ؤ?}?ɨ676@6;4y>B>DIUMb@Mb@Mb@QQQ Q)QYUq= ףp? rh{GzyU+?UCQUA U`@)U AIUE AQyU\ AIuIuļ4٢0 A=9LQ > G٣%CGyv > Nusing accuracyPremultiplier from config494?4Y i^B,?:t>@@9[D;+;4 AZjFNOT Ignoring new targets: 474.70 m.Bj:Jj: ProNav: ac range: 474.700012 m, nav range: 448.951477 m, bearing: 238.578897 deg, approach rate: -0.253932 m/s, LOS rate: 0.080447 deg/s, cmd heading: 173.347373 deg, new cmd heading: 173.444915 deg. 2j\;HeadingCmd: 3.027185 target range: 474.700012 and range: 474.70 m. jfA@jjjih h h h BfffrfbfT?ɛENBEH AMPII M<ɚIiIIM=IUfA@i]~Xi]y%<)]fA@)aEi*F?2F:FBFk3JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479822G;< IG B O% >$w,лA2Will construct direction to contact in vehicle frame from tetrahedron phase data.0i2A6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731874> 6@Y>P,D@>&9>q>y>HJp0?i?Тa?#?`|?(?ɨ> 6@>l;>LCyrBrIIzIz4٢  R=9 j ;Q  > G٣y%׻ > %Nusing accuracyPremultiplier from config!-49%l?-4Y%b i%^B15C>@5@%J[D%Vo;%p;%4MB MAMPEZjquFNOT Ignoring new targets: 474.70 m.Bj}:Jj}: ProNav: ac range: 474.700012 m, nav range: 448.854370 m, bearing: 238.609982 deg, approach rate: -0.249185 m/s, LOS rate: 0.079783 deg/s, cmd heading: 173.444922 deg, new cmd heading: 173.538196 deg. 2j[;HeadingCmd: 3.028813 target range: 474.700012 and range: 474.70 m. jA@jjjihhhhfffrfbfl?ɛPB'C^ .aI u<ɚiIQ$=IA@i9WinK|<)A@)JEJEJE0JAJE;JE~:JEـ3JA*FU?2FY:FYBF]^0JFYG<zKIMK9KK}K#   RK ?JK?GBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983751O%> $?I *w,֭лAr5@Yr%C@rټ9r>yrH @CW ?@x_??3?`Sn?`O?ɨr5@r3;rOCyuBIH*>I IIIBI&I.I3D6I<:I FMb@Mb@Mb@ )Y~jt?:v?I +y$?<9A @) AI Ay= AII14٢b߽ 9=9@;Q >    G٣ y > Nusing accuracyPremultiplier from config%49?%4Y i^B%$?-:-F@-@\[D;I;:41 5A5SEZjY]FNOT Ignoring new targets: 474.70 m.Bje:Jje:u ProNav: ac range: 474.700012 m, nav range: 448.715424 m, bearing: 238.641522 deg, approach rate: -0.316706 m/s, LOS rate: 0.071913 deg/s, cmd heading: 173.538195 deg, new cmd heading: 173.632845 deg. 2j}iE;HeadingCmd: 3.030465 target range: 474.700012 and range: 474.70 m. j#A@jjjihhhhBfffrfbf`@ɛSB3`a nI j;ɚiI!=I#A@iVi;<)#A@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.235487*FA2FI:FIBFM_0JFIGmo<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=2.4892161w,eлAFȰ5@YFaC@Fռ9F>yFH@5}x? ?@٥ ?`v?`h? )) -G٣-&CGy-\ѻ 5> =Nusing accuracyPremultiplier from config1E495z?E4Y5 i5^BAMF@M@5k[D5q:5:54Q UAQZjyFNOT Ignoring new targets: 474.70 m.Bj:Jj: ProNav: ac range: 474.700012 m, nav range: 448.599152 m, bearing: 238.668104 deg, approach rate: -0.313331 m/s, LOS rate: 0.071653 deg/s, cmd heading: 173.632848 deg, new cmd heading: 173.712616 deg. 2jD;HeadingCmd: 3.031857 target range: 474.700012 and range: 474.70 m. j B@jjjihhhhfffrfbf@ɛUB I fX;ɚiI =I B@iUSViU <)U B@)Y $?I*F?2F:FBFJFGrA GrA}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739668GY=<JUJU"JU1JQJU;JU:JU3JQGBO= >7w,O>лA6q5@Y6C@6μ96V=y6H4 3?q?"b ?Й? b? S?ɨ6q5@6͎;6QCyBLBBIIJ IJ4٢R RS=9R';Q V>TT VG٣TyZ! Z> ^Nusing accuracyPremultiplier from config\b49^t?b4Y^ i\dffF@f@^{[D^:;^l;^y4h jAnVE~B*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 474.70 m.Bj$:Jj$:% ProNav: ac range: 474.700012 m, nav range: 448.478363 m, bearing: 238.696019 deg, approach rate: -0.310388 m/s, LOS rate: 0.071752 deg/s, cmd heading: 173.712611 deg, new cmd heading: 173.796378 deg. 2j%D;-HeadingCmd: 3.033319 target range: 474.700012 and range: 474.70 m. j-!B@j)j)j)i1h1h1h1h9f9f9fArfAbfEL@ɛuWBuzKLK9KK~KBKpA:KqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991660 qI  J;ɚiIE=I%!B@i%ʹUi%,;)%!B@))*F?2F:FBFo0JFGP < $?IG!BQO^>H(>I IrIIҀBI. =&I.I6I<:IZ FBIǜCJIǜCRIZI- =bI- =jIrA5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243491`>w,mлA2N?5@Y2]C@2ȼ92=y2H "/ӵ`?\?@5Y?}??@,?ɨ2N?5@2{;2NCyR=BRI-Mb@Mb@Mb@))) )))Y-Mb?ʡE?~jtxy-#?-=-Ļ-A -v@)-vAI))y- AIEIE4٢U* U?=9]*:Q ]>aa eG٣aym m> uNusing accuracyPremultiplier from configq}49u]?}4Yu iu^B}D$?: G@u[Du;u5;u4B lAYEZjFNOT Ignoring new targets: 474.70 m.Bj:Jj: ProNav: ac range: 474.700012 m, nav range: 448.328644 m, bearing: 238.725363 deg, approach rate: -0.352075 m/s, LOS rate: 0.069028 deg/s, cmd heading: 173.796376 deg, new cmd heading: 173.884438 deg. 2j~=;HeadingCmd: 3.034856 target range: 474.700012 and range: 474.70 m. j;B@jjjihhhh[BfffrfbfKr @ɛYB &I  =;ɚiI*=I;B@i8Ui):);B@) Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:33:54.8199 TRx dataTimestamp_ set to:1736372036.084827checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496866*F?2F:FBF0JF IG O <G G rAG B O >mEw,ѻA"Will construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747678: 5@Y:f(C@:~9:G=y:H`??`}?B/?$? #?ɨ: 5@:F;:OCyF0BFIIVIV4٢^G ^U=9^z;Q b>`` bG٣b'CGyfV f> jNusing accuracyPremultiplier from confighn49j?n4Yj ij^Blr?Gr@j[Dj ;jT ;j4t vAtZjFNOT Ignoring new targets: 474.70 m.Bj%:Jj%:- ProNav: ac range: 474.700012 m, nav range: 448.194916 m, bearing: 238.751799 deg, approach rate: -0.348216 m/s, LOS rate: 0.068857 deg/s, cmd heading: 173.884445 deg, new cmd heading: 173.963776 deg. 2j5=;=HeadingCmd: 3.036241 target range: 474.700012 and range: 474.70 m. j=QB@j9j9j9i9h9hAhAhAfAfIfIrfIbfMR~@ɛ}[B} }O=}̊I 4;ɚiI=IQB@iTirM)QB@)*F?2F:FBFR5JF"G=G=G']?;GB OEQ>Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 21:33:54.8199 LVL= 14640, 19169, 16962, 23667, AGC= 68, IDX= 465,-0.18,-2.703,-1.769, 2.023,-2.912, PHS= 0.297, 1.190,-1.351, RAW= 9.7, -1.2, CAL= 9.6, -3.0, ROT= 140.4, 3.0 -Ygot valid direction response: 21:33:54.8199 LVL= 14640, 19169, 16962, 23667, AGC= 68, IDX= 465,-0.18,-2.703,-1.769, 2.023,-2.912, PHS= 0.297, 1.190,-1.351, RAW= 9.7, -1.2, CAL= 9.6, -3.0, ROT= 140.4, 3.0 5PDAT read: Bearing 140.4, 3.0 (Local) =~Local bearing/azimuth received: Bearing 140.4, 3.0 (Local) EDAT read: Range 10 to 50 : 477.3 m (Round-trip 636.4 ms) speed -0.3 m/s M,DAT read: user:1874> UBDAT read: Tx time:21:33:55.9278 U$Ping request sent.UQ?-\-> +>)PwVI @iPwV=ƹ)ֿW/ r * )VIdeT G٣y > -Nusing accuracyPremultiplier from config549Iw?54Y i^B=$?=:=A=@[D)<;4A EAM\Ek AP(?k J5 k  k %ѻA:k CBk CZk B@" q+i̍F@Lv}@CdM@ 1 1?;O?d.?Jk ټ?Rk * ))UkpPq| 9b]@ ׅ(ƿ"b#?I7?"k *k Nk 辙?k ^ 2k ~4Ck ʺ?k BQ k k Ck  @JJ)J0JJT;J:Jـ3JJhXRw,KѻA Z$?I\y  IIx491Q 5>19 =G٣9y9 => ENusing accuracyPremultiplier from configAM49Ec?U4YE iE^BQQU@E[DEy;E;E漹4eB eAe_EZjFNOT Ignoring new targets: 477.30 m.Bjۿ:Jjۿ: ProNav: ac range: 477.299988 m, nav range: 457.106903 m, bearing: 256.292198 deg, approach rate: -0.246925 m/s, LOS rate: 0.083868 deg/s, cmd heading: 174.076537 deg, new cmd heading: 174.158910 deg. 2j;f;HeadingCmd: 3.039646 target range: 477.299988 and range: 477.30 m. jB@jjjihhhhfffrfbff?ɛ_B7 )I  ;ɚiI=IB@iNTi M) B@) *F2F:FBF5JFG]'HWill construct direction to contact in vehicle frame from tetrahedron phase data.GB!O=.>Xw,˝eѻA"Will construct direction to contact in vehicle frame from tetrahedron phase data.zK^BHK^9K\K^K^y~6B~III4٢Ea< E<9IQ M>II MG٣U(CGyQ U> eNusing accuracyPremultiplier from configYe49]M?e4Y]{ i]^Biim@][D];:]:]ù4 AbEB*** querying acoustic contact ***jjZj)]FNOT Ignoring new targets: 477.30 m. $?IBj:Jj:] ProNav: ac range: 477.299988 m, nav range: 457.016937 m, bearing: 256.322805 deg, approach rate: -0.197721 m/s, LOS rate: 0.067280 deg/s, cmd heading: 174.158909 deg, new cmd heading: 174.250749 deg. 2j]8;HeadingCmd: 3.041249 target range: 477.299988 and range: 477.30 m. jԣB@jjjihhhahififqfqrfqbfu ?HI I!IIBI&I.I6I <:I FɛMaBMW IMʊII Ur:ɚQiQIU=IԣB@iTiIػ)ԣB@)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.J J $J J J ;J ':J J J j<J j<J ;J ;E +,=E *FU ?2FQ :FQ BFU `0JFY Ga  Ge qAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500529GxGB)OE?Vbw,ωѻAR4I4@YRgB@RYļ9R)=yRH d Ĩ?? 0??? F?ɨR4I4@R)b;RPCy^CB^I}Mb@Mb@Mb@yyy y)yY}RQ?/$?X9v?y}"?}1>}<}A }QA)yIyyyyII٢h1=  =9-Q > G٣y > Nusing accuracyPremultiplier from config49.? $?4Yl! i_BF&?:B@[D~;ފ;ι4 +AeEZjFNOT Ignoring new targets: 477.30 m.Bj:Jj:- ProNav: ac range: 477.299988 m, nav range: 456.894531 m, bearing: 256.367044 deg, approach rate: -0.231061 m/s, LOS rate: 0.083530 deg/s, cmd heading: 174.250748 deg, new cmd heading: 174.383499 deg. 2j-Me;5HeadingCmd: 3.043566 target range: 477.299988 and range: 477.30 m. j5B@j1j1j1i1h9h9h9h=CBfAfAfQrfQbf]HD?ɛcB鐽 隍 I @cɚiI<=IB@i]/Ti$Λ)B@)EQO=*F5?2F9:F9BF=2JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752673G} <ӻ) M &Ge vAGy B O > X Y vAy Byhw,닣ѻAy~]B~III4٢=> =R=9=Q E>AI MG٣IyU U> ]Nusing accuracyPremultiplier from configYe49]|?e4Y]" i]+_Biim@][D]:]:]Թ4q u_A}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004213qZjFNOT Ignoring new targets: 477.30 m.Bj̯:Jj̯: ProNav: ac range: 477.299988 m, nav range: 456.812103 m, bearing: 256.396915 deg, approach rate: -0.212019 m/s, LOS rate: 0.076848 deg/s, cmd heading: 174.383499 deg, new cmd heading: 174.473129 deg. 2jR;HeadingCmd: 3.045130 target range: 477.299988 and range: 477.30 m. jkB@jjjihhhhfffrfbfd=@zKjIK9KKKRK%?JK%>ɛ-eB5 15I1 =Rɚ9i9I=!=IEkB@iE`TiEF)EkB@)IEIEI*EQ"EQ IjH!bH%<HM'>IMC IM4IIMBIM/ =&II.II6IM԰<:IM F*F2F:FBF#1JFG͍5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256736GI BY O} >J J -J J J <;J ч:J J J |o<J |o<J ;J ;nw,gѻA64@Y6%2B@6~96>y6H@@sXg?g?` ?n ?oW?ۺ?ɨ64@6 B;6MCyNpBRI]Mb@Mb@Mb@YYY Y)YY]L7A`?y&1?/$?y]+'?]`=],=]XA ]@)]AI] AYyYIu Iu4٢Ż= F=94[;Q > G٣)CGy% > Nusing accuracyPremultiplier from config49?4Yp" iI_B)?:E@ \DE;D;ܹ4B AhEZjFNOT Ignoring new targets: 477.30 m.Bj:Jj: ProNav: ac range: 477.299988 m, nav range: 456.734161 m, bearing: 256.429598 deg, approach rate: -0.189363 m/s, LOS rate: 0.079418 deg/s, cmd heading: 174.473125 deg, new cmd heading: 174.571190 deg. 2jZ;HeadingCmd: 3.046842 target range: 477.299988 and range: 477.30 m. jvB@jj j i h h hhpBf1f1f1rf9bf=&@ɛmfBuJ y}{Iy }ӺɚyiyI}n=IvB@iTip)vB@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509613*F2F:FBFO0JF"G=G= $?IGS.G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760121wuw,@NѻA^3@Y^pB@^9ݼ9^n>y^H@`?׵? j`v? ?` ?`L?ɨ^3@^>;\yfBfIIrIr4٢z> zT=9zힺQ ~>|| ~G٣|y K  > Nusing accuracyPremultiplier from config49?4Y" %tIie_B!%E%@\D +;`+;4) -A-kEZjQ]FNOT Ignoring new targets: 477.30 m.Bj]ڵ:Jj]ڵ:m ProNav: ac range: 477.299988 m, nav range: 456.661469 m, bearing: 256.460312 deg, approach rate: -0.188109 m/s, LOS rate: 0.079493 deg/s, cmd heading: 174.571193 deg, new cmd heading: 174.663351 deg. 2jm8Z;}HeadingCmd: 3.048450 target range: 477.299988 and range: 477.30 m. j}C@jyjyjyiyhyhhhfffrfbf3@ɛgB nI  ɚiI3W=IC@iUi@Ҽ)C@)*FI2FI:FIBFM_0JFQG%nGBO (>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012137zKmBoIKm9KiKmKmBKuqA:KurA $?I ,{w,+ѻAHn%>Il InlIIǹBIl&Il.Il6In/<:In F4@YyH@*ວ?`>? P??`5?%?ɨ4@Kۉ;騽OCyB>IMb@Mb@Mb@ )YK7?y&1? ףp= ?yI,?`e=Q8=A A)`AI AyG AII4٢= 1=9`CQ > G٣y*; > Nusing accuracyPremultiplier from config49?4Y" i_BD-?:F@@/\D;;4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264835 AB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 477.30 m.Bj5j:Jj5j:E ProNav: ac range: 477.299988 m, nav range: 456.598816 m, bearing: 256.498539 deg, approach rate: -0.134972 m/s, LOS rate: 0.082363 deg/s, cmd heading: 174.663346 deg, new cmd heading: 174.778042 deg. 2jEb;HeadingCmd: 3.050452 target range: 477.299988 and range: 477.30 m. j:C@jjjihhhhBfffrfbfe~ @ɛMiBMrq QU`IQ UnPɚQiQIU=I]:C@iUi3м):C@)JJ5J1JJ;J:J3JJ/r<J0r<J;J;*F?2F:FBFJFG= EGA GA  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:33:58.9702  TRx dataTimestamp_ set to:1736372040.116709 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517318G B! O= >&w, һA6)4@Y6GB@60Ѽ96 >y6Hc빿 [? ? A=?`F%?`Ҭ?@Ӯ?ɨ6)4@62;6RCyBǀBBeIIJIJ4٢r:> rn=9vRRQ v?tt zG٣z*CGyz; z? %Nusing accuracyPremultiplier from config%49:?%4YP" i_B)-F@-@>\DX:X:45B 5A E$?IA]nEZjFNOT Ignoring new targets: 477.30 m.Bjd:Jjd: ProNav: ac range: 477.299988 m, nav range: 456.551758 m, bearing: 256.527272 deg, approach rate: -0.133432 m/s, LOS rate: 0.081479 deg/s, cmd heading: 174.778039 deg, new cmd heading: 174.864245 deg. 2j_;HeadingCmd: 3.051957 target range: 477.299988 and range: 477.30 m. jCSC@jjjihhhhfffrf1bf5> @ɛjB RQI @wɚiIIX=ICSC@iUiּ)CSC@)*F?2F:FBF`0JFG GrAGjSͼWill construct direction to contact in vehicle frame from tetrahedron phase data.i checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768747GyBO]>Ljw,$һA6f4@Y6B@6;޼96>y6H2@丿@?@? @? ڛ?`] ?`3?ɨ6f4@6H;6LCyR؀BRyII^I^4٢z= zI=9zچQ ~>| G٣y(< > Nusing accuracyPremultiplier from config 49 q?4Y " i _B0G@@ O\D ; ; 4! -yA5qEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026011Zj!-FNOT Ignoring new targets: 477.30 m.BjE:JjM:zKJKKKK ProNav: ac range: 477.299988 m, nav range: 456.496552 m, bearing: 256.560508 deg, approach rate: -0.131423 m/s, LOS rate: 0.079132 deg/s, cmd heading: 174.864249 deg, new cmd heading: 174.963971 deg. 2j:Y;HeadingCmd: 3.053697 target range: 477.299988 and range: 477.30 m. joC@jjjihhhhfffrfbf@s@ 5$?I1ɛkB8d II $aɚiIM=I%oC@iE mViEǼ)EoC@)I*F?2F:F BF _0JF H#>I III BI1 =&IHD.I2D6I<:I FBIƛCJIƛCRIZI/ =bI/ =jId5- Will construct direction to contact in vehicle frame from tetrahedron phase data.m DAT read: 21:33:58.9702 LVL= 20352, 23265, 23442, 32755, AGC= 64, IDX= 452,-0.43, 0.618, 1.413,-0.869, 0.389, PHS= 0.317, 1.071,-1.261, RAW= 11.5, -1.3, CAL= 11.3, -3.1, ROT= 138.7, 3.1 u Ygot valid direction response: 21:33:58.9702 LVL= 20352, 23265, 23442, 32755, AGC= 64, IDX= 452,-0.43, 0.618, 1.413,-0.869, 0.389, PHS= 0.317, 1.071,-1.261, RAW= 11.5, -1.3, CAL= 11.3, -3.1, ROT= 138.7, 3.1 } PDAT read: Bearing 138.7, 3.1 (Local) } ~Local bearing/azimuth received: Bearing 138.7, 3.1 (Local)  DAT read: Range 10 to 50 : 478.6 m (Round-trip 638.2 ms) speed -0.3 m/s  ,DAT read: user:1875>  BDAT read: Tx time:21:34:00.0778  $Ping request sent. - ?- sh- M>- ޹ - I>)- k]I- @i- k]=) ) - XCEԿcw3XwJM*J 4="J 4=)- RI- mw,>һAb4@Yb+B@bVv9bf8>ybH0`f@Vť?`Ue? Ά *? m?T? "?ɨb4@b"Ί;bNCynBIMb@Mb@Mb@ )Y|?5^?S㥛+?y2?/ݼ=A QA)AI/ Ay AIuIu94٢= '=9mNQ > G٣yH; > Nusing accuracyPremultiplier from config49ɋ?4Y i_B[3?:?@@e\Dx;;4B AtEMPExceeded connect timeout, disconnecting.k]+L-?k]rQ Will construct direction to contact in vehicle frame from tetrahedron phase data.kY k]8һA:k]LCBk]CZk]RԐ@"]BE@(l}@iʖR@]yn? Kz?sƶ9?Jk]/?Rk]F*].Uo|a@][Cƿ}bY}ވ#?"k]*k]vk]'?k]JnX 2k]NCk]'?k] { k]NCk],Ck]cː@  addTargetRange:: Added new target pos. range: 478.600006 m, deltaT: 4.288018 s, deltaX: 1.300018 m, approachRate: 0.303175 m/s, rangeRepo size: 4  Added new target pos. range: 478.600006 m, bearing: 259.316008 deg, lat: 36.900989 deg, lon: -122.119746 deg, deltaT: 4.288018 s, deltaX: 1.300018 m, approachRate: 0.303175 m/s, posRepo size: 4 ZjMFNOT Ignoring new targets: 478.60 m.BjMJjI] ProNav: ac range: 478.600006 m, nav range: 454.350433 m, bearing: 259.253523 deg, approach rate: 0.000000 m/s, LOS rate: 0.079132 deg/s, cmd heading: 174.963970 deg, new cmd heading: 175.081296 deg. 2jYHeadingCmd: 3.055745 target range: 478.600006 and range: 478.60 m. jTC@jjjihhhhBfffrf}@bfV?ɛlB>\  j;I  Ųɚ i I $ =ITC@iViü)TC@)9 )I)*F ?2F :F BF `0JF G S&żE Will construct direction to contact in vehicle frame from tetrahedron phase data.G B) OM >Tw,ZһA24@Y28B@28=92>y2HDbٶh?`>:?͉ @?XƟ? oh?ۦ?ɨ24@2B;2PCy>BBIIJIJ4٢V> Vo=9VۻQ Z?XX ZG٣Z+CGy^=^< ^? bNusing accuracyPremultiplier from config`f49bx?f4Yb ib_Bhj@@j@bt\Dbz:b":b4l nAlZj FNOT Ignoring new targets: 478.60 m.Bj:Jj:- ProNav: ac range: 478.600006 m, nav range: 454.339539 m, bearing: 259.283247 deg, approach rate: -0.035075 m/s, LOS rate: 0.095693 deg/s, cmd heading: 175.081299 deg, new cmd heading: 175.170471 deg. 2j-X;5HeadingCmd: 3.057302 target range: 478.600006 and range: 478.60 m. j5ԪC@j1j1j1i1h1h1h9h9fffrfbfC?ɛmB}q 隝.I  ɚiIo =IԪC@i7 WiV)ԪC@)E9*F?2F:FBF1JF"GG=Will construct direction to contact in vehicle frame from tetrahedron phase data.zKyJKKKKG  $?I G B O >H ">I C I II QBI 2 =&I .I 6I <:I e Ftw,F?tһA^v5@Y^.C@^}9^>y^Hߑ?`{?? ?]?`?ɨ^v5@^;^LCyz%B~IMb@Mb@Mb@ )Y`"?EԸI +?y7?ƽ9<A @) AI Ay AII٢= ;=9MQ > G٣yO; > Nusing accuracyPremultiplier from config49^?4Y i_B9?:c:@@\D@;;+4Will construct direction to contact in vehicle frame from tetrahedron phase data. AwEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 478.60 m.Bj:Jj:  ProNav: ac range: 478.600006 m, nav range: 454.353027 m, bearing: 259.323213 deg, approach rate: 0.029357 m/s, LOS rate: 0.086978 deg/s, cmd heading: 175.170474 deg, new cmd heading: 175.290368 deg. 2j n;HeadingCmd: 3.059394 target range: 478.600006 and range: 478.60 m. jC@jjjihhh!h%mBf!f!firfibfm`\?JJAAɛnB5F 隍$I *ʻɚiI =IC@iTWig)C@)*FU?2FQ:FQBFU2JFY e nManaging dock network, ignoring radio surface power off 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! B) OE >  $?I 3Yw,[ һAy 4B II%I%t4٢-= 5U=95Q 5>99 =G٣9yE E> MNusing accuracyPremultiplier from configIU49MGG?U4YM[ iM`BQQU@M\DM+;M-;M4eB e AmzEZjFNOT Ignoring new targets: 478.60 m.Bj:Jj: ProNav: ac range: 478.600006 m, nav range: 454.365051 m, bearing: 259.358203 deg, approach rate: 0.033276 m/s, LOS rate: 0.096831 deg/s, cmd heading: 175.290371 deg, new cmd heading: 175.395339 deg. 2j;HeadingCmd: 3.061226 target range: 478.600006 and range: 478.60 m. j!C@jjjihhhhfffrfbfj?ɛ%oB%Z !%MI! -,׻ɚ)i)I- =I5!C@i5ēWi=j)=!C@)9*F2F:FBF]0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498785J3K3 K/.KK"KJJJJJ;JJJa@a@a@a@G ]GBO>Ȇw,һA6A5@Y6٭C@6X96q>y6H%N೿Rh?}?Ԑ?t?`?ף?ɨ6A5@6 q;6OC>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750857yFABFIIVIV 4٢fĆ= fQ=9jVBQ j>ll rG٣r,CGyrd< v> ~Nusing accuracyPremultiplier from config|49~/?4Y~ i~`B  :@ @~\D~1;~0;~4! % A%}EZjamFNOT Ignoring new targets: 478.60 m.Bju-:Jj}-:zKK9KKKm ProNav: ac range: 478.600006 m, nav range: 454.375336 m, bearing: 259.394196 deg, approach rate: 0.025753 m/s, LOS rate: 0.090128 deg/s, cmd heading: 175.395337 deg, new cmd heading: 175.503314 deg. 2jmjw;uHeadingCmd: 3.063111 target range: 478.600006 and range: 478.60 m. ju D@jqjqjyiyhyhyhyhfffrfbf`K? $?IɛpBk@ '=I TɚiI<!=I D@iWij) D@) EEqA*F?2F:FBFJFG GqAjH<bH<H!>I IYIIBI&I.I6I<:I| F=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.005803GfG B O > kw,һAy~UB~IMb@Mb@Mb@ )Yv?(\¿Mb`?y8?z;A A)vAI Ay3 AII4٢ն= ==9Q > G٣y > Nusing accuracyPremultiplier from config49 ?4Yc i`BE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506807w,һAJBJB,J@J@JB|";JBL:J@J@R6@YR%>D@R?$9R4>yRH@8 @Ʃ?`6>?C??R?`?ɨR6@R;Py^_B^ IIfIf4٢nNI= rV=9r-Q r>tt vG٣tyvL< z> ~Nusing accuracyPremultiplier from config|49~P?4Y~g i~`B 7@ @~\D~:~~:~)4 - AE~G) Ui YQyUBZjFNOT Ignoring new targets: 478.60 m.Bj\:Jj\: ProNav: ac range: 478.600006 m, nav range: 454.430298 m, bearing: 259.469288 deg, approach rate: 0.058980 m/s, LOS rate: 0.084524 deg/s, cmd heading: 175.622687 deg, new cmd heading: 175.728568 deg. 2jh;HeadingCmd: 3.067042 target range: 478.600006 and range: 478.60 m. jkJD@jjjihhhhfffrfbf !1@ɛqB; 8 I -ɚ)i)I-).!=I5kJD@i5OWi5NR)=kJD@)9*F2F:FBFJFGo>}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759697GBOj>zK-k3IK-h9K)K-K- IH} >Iy  I} II} BIy &Iy .Iy 6I} <:I} e FӼw,:һA^o6@Y^D@^(*9^n2>y^H Q+?`#?@?`O?b2??ɨ^o6@^;^MCyj`Bj!I n=np=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010889Mb@Mb@Mb@ )YK?I +ƿy&1y^:?94`eA QA)Iy\ AI-I-"4٢E; E6=9E `Q E>II MG٣M-CGyU1< U> ]Nusing accuracyPremultiplier from configYe49]=?e4Y] i]`Be??e:m5@m@]\D];];]14uB u AuEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 478.60 m.Bj":JjE":U ProNav: ac range: 478.600006 m, nav range: 454.470245 m, bearing: 259.511421 deg, approach rate: 0.097879 m/s, LOS rate: 0.103223 deg/s, cmd heading: 175.728569 deg, new cmd heading: 175.854954 deg. 2jU;]HeadingCmd: 3.069248 target range: 478.600006 and range: 478.60 m. j]nD@jYjYjaiahahihqhuBfqfqfqrfybf}`@ɛrB &6   I  r ɚ iI[8!=InD@iOWi9)nD@)EedO=EiEi Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263755*F ?2F :F BF ^0JF $?I GQGB9Om?Gw,$ӻAFc6@YFD@F19FU>yFH ' ?[Ȱ?r`ݴ?(3???ɨFc6@F`x;FPCyVcBV%II^I^(4٢jC< j2=9j,xQ j>ll nG٣lyn)< r> vNusing accuracyPremultiplier from configtz49v?z4Yv iv`B|~6@~@v\Dv:v:v94  AEZj9=FNOT Ignoring new targets: 478.60 m.BjE:JjE:U ProNav: ac range: 478.600006 m, nav range: 454.509674 m, bearing: 259.554445 deg, approach rate: 0.085746 m/s, LOS rate: 0.093557 deg/s, cmd heading: 175.854954 deg, new cmd heading: 175.984017 deg. 2jUj;]HeadingCmd: 3.071501 target range: 478.600006 and range: 478.60 m. j]wD@jYjYjYiYhahahihifififirfqbfu@" @Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:34:03.1227 TRx dataTimestamp_ set to:1736372044.404631checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515849ɛ5sB=T4 9=8I9 eMɚaiaIe:!=ImwD@imWim^)mwD@)qE=-|,=JJ3J0JJ ;J:Jـ3J*F?2F:FBF_0JFGk}GIBQOuW>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767663 u $?Iu HgzK jIK 9K K K #^ vlbUMGRK ?JK >!gw,/ӻA.7@Y.-E@.489._>y.H ルY?:? ?`???ɨ.7@.ߍ;.OCyBfBB)IIbIbЬ4٢< %G=95}Q =>aa mG٣qZHRH@AH!I! I%II%ՁBI%3 =&I!.I!6I%<:I%i Fy2< > Nusing accuracyPremultiplier from config49?4Yw i`B!-S6@-@]DZ<j<A4B  AEZjyFNOT Ignoring new targets: 478.60 m.Bj:Jj:Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 21:34:03.1227 LVL= 15584, 17857, 18530, 25667, AGC= 67, IDX= 444, 0.33, 0.478, 1.282,-1.106, 0.245, PHS= 0.321, 1.084,-1.354, RAW= 12.2, -0.5, CAL= 12.0, -2.0, ROT= 138.0, 2.0 5Ygot valid direction response: 21:34:03.1227 LVL= 15584, 17857, 18530, 25667, AGC= 67, IDX= 444, 0.33, 0.478, 1.282,-1.106, 0.245, PHS= 0.321, 1.084,-1.354, RAW= 12.2, -0.5, CAL= 12.0, -2.0, ROT= 138.0, 2.0 =PDAT read: Bearing 138.0, 2.0 (Local) E~Local bearing/azimuth received: Bearing 138.0, 2.0 (Local) MDAT read: Range 10 to 50 : 480.5 m (Round-trip 640.7 ms) speed -0.5 m/s U,DAT read: user:1876> ]BDAT read: Tx time:21:34:04.2279 ]$Ping request sent.]?O^ Z>5 PwV>)5hhfffrf~@bf?I%@i5=Sӓӿ wc),Iy:H WR`?(?k?`? )?3?ɨ:\7@:';:PCyB^BFI]Mb@Mb@Mb@YYY Y)YY]bX9?K7A`ſL7A`堿y]E6?]+]+]&A ]A)]AI]E AYy] AIuIu4٢)  =9Q > G٣.CGy< > Nusing accuracyPremultiplier from config49?4Y i`Bh;?:7@@-]Dr#;";.K4 ' AEk*'# ?k  k kR+:ӻA:k@CBkCZks@"3:B@}@m/,S@˖l?sw? K?Jk4?Rk)*0,Jtj|Ϲ Db@f"z`+F'-w?"kP*kUkx ?k  2kRCk辙?kJnX kkcCk?@ addTargetRange:: Added new target pos. range: 480.500000 m, deltaT: 4.033009 s, deltaX: 1.899994 m, approachRate: 0.471111 m/s, rangeRepo size: 4 % Added new target pos. range: 480.500000 m, bearing: 263.317544 deg, lat: 36.901015 deg, lon: -122.119777 deg, deltaT: 4.033009 s, deltaX: 1.899994 m, approachRate: 0.471111 m/s, posRepo size: 4 Zj)-FNOT Ignoring new targets: 480.50 m.Bj5Jj1E ProNav: ac range: 480.500000 m, nav range: 456.774323 m, bearing: 260.062920 deg, approach rate: 0.000000 m/s, LOS rate: 0.085645 deg/s, cmd heading: 176.114597 deg, new cmd heading: 176.240495 deg. 2jAMHeadingCmd: 3.075977 target range: 480.500000 and range: 480.50 m. jMD@jIjIjIiIhQhQhQhUBfYfYfYrfYbfe?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ5vB569 159 I1 5#ɚ9i9I= !=I=D@ie Wie)eD@)iEqEq*Eq"EqJJJJJ!;JJJ*F2F:FBFP0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. Q IQ G ;3zK ѓNK K K K @=42,+($"   G B O >qw, pӻA2 7@Y2E@2aBI92 >y2H [$LfR?h?`O?%?w??ɨ2 7@2y;2NCy:LB:IIFIF4٢N9 ND=9NjQ N>PP RG٣PyVj< V> ZNusing accuracyPremultiplier from configX^49ZGt?^4YZ iZ_B\^7@b@ZA]DZS;Zu;ZyR4d f AdZjxuFNOT Ignoring new targets: 480.50 m.Bju::Jj}:: ProNav: ac range: 480.500000 m, nav range: 456.804016 m, bearing: 260.101052 deg, approach rate: 0.072247 m/s, LOS rate: 0.092772 deg/s, cmd heading: 176.240491 deg, new cmd heading: 176.354879 deg. H>I III&I.I6I<:Iz FBIuCJIuCRIqZIu2 =bIu2 =jIu[42j5~;mHeadingCmd: 3.077973 target range: 480.500000 and range: 480.50 m. juD@jqjyjyiyhhhhfffrfbf-?ɛxB#F 8I  -ɚiI!=ID@i%Vi%)%D@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JFJYJ]?AG}OPGIBYOuy>U Will construct direction to contact in vehicle frame from tetrahedron phase data.Xw,KɊӻAJ 8@YJk+F@JM9J{>yJHP[[q??`>e?`t?@ƭ??ɨJ 8@JZ;JQCyRGBRI5Mb@Mb@Mb@111 1)1Y5"~?Pn+y53?551 5`@)5AI5 A1y5f AIMIMF4٢] ]>=9m`'Q m>ii uG٣u/CGyu < }> Nusing accuracyPremultiplier from configy49}Z?4Y} i}_B>7?: $?I+;@@}T]D}.|;}z;}Y4  AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 480.50 m.Bj:Jj: ProNav: ac range: 480.500000 m, nav range: 456.817780 m, bearing: 260.139650 deg, approach rate: 0.031792 m/s, LOS rate: 0.089155 deg/s, cmd heading: 176.354883 deg, new cmd heading: 176.470674 deg. 2jt;HeadingCmd: 3.079994 target range: 480.500000 and range: 480.50 m. jE@jjjihhhh{BfffrfbfĐ?ɛyBx] !%I! M&l4ɚIiIIM)!=IUE@iUBViUu[X9)UE@)Q*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.G i"G G qAGY Ba O > w,6ӻAf:8@Yf|YF@fIQ9fO>yfH`@:ݡ@? ?/ q?H&?i?@m?ɨf:8@f(.;fNCyz-BzIIEIE4٢U UL=9U Q ]>Ya eG٣aye; e> uNusing accuracyPremultiplier from configiu49mSC?}4Ym3 im_BY;@@mg]Dm=3;m3;m`4B  AEZjFNOT Ignoring new targets: 480.50 m.Bj:Jj: ProNav: ac range: 480.500000 m, nav range: 456.829926 m, bearing: 260.175573 deg, approach rate: 0.030449 m/s, LOS rate: 0.090055 deg/s, cmd heading: 176.470669 deg, new cmd heading: 176.578435 deg. 2j7w;HeadingCmd: 3.081875 target range: 480.500000 and range: 480.50 m. jq=E@jjjihhhhfffrfbf?ɛzBq !%x&I! %L<ɚ!i!I-A!=I-q=E@i5%Ui=Hn:)=q=E@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750657*F?2F:FBF0JF $?IzK^MKKKKHI IIIBI&I.I6Ii<:I< FG5zQG! BY O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003301Ow,mӻA*JR="J%=JJ.JJJ$ ;JV:JJJ;vyfH@¡@)?@m?L?/o?ڎ? Z?ɨfB8@f[;fMCyr BrIuMb@Mb@Mb@qqq q)qYu/$?bX9ȶ G٣y: > Nusing accuracyPremultiplier from config49+?4Y i_B-?:>@@y]Dn;;9h4 AEZjq}FNOT Ignoring new targets: 480.50 m.Bj}:Jj: ProNav: ac range: 480.500000 m, nav range: 456.828156 m, bearing: 260.210778 deg, approach rate: -0.004124 m/s, LOS rate: 0.082033 deg/s, cmd heading: 176.578435 deg, new cmd heading: 176.684052 deg. 2j1a;HeadingCmd: 3.083719 target range: 480.500000 and range: 480.50 m. j[E@jjjihhhh9Bfffrfbf-K@ɛ]|B]99j Y]-IY ec3FɚaiaIe]!=Im[E@im3aUi"1ֹ)[E@)*F?2F:FBF/1JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254479 yIyG 9G B O >w,qӻA2c8@Y2F@2MH923 >y2H@נ?i?`f'?x?`e? ?ɨ2c8@2X>;2OCyBBBIIJIJ~4٢RA7 RZ=9V:Q V>TX ZG٣Z0CGyZn; Z> bNusing accuracyPremultiplier from config\b49^?f4Y^ i^_Bdf>@f@^]D^;^;^n4h nSAlZj FNOT Ignoring new targets: 480.50 m.Bj :Jj: ProNav: ac range: 480.500000 m, nav range: 456.826202 m, bearing: 260.242639 deg, approach rate: -0.005439 m/s, LOS rate: 0.088720 deg/s, cmd heading: 176.684057 deg, new cmd heading: 176.779639 deg. 2j%s;%HeadingCmd: 3.085387 target range: 480.500000 and range: 480.50 m. j-vE@j)j)j)i)h)h)h1h1f1f1f9rf9bf=@mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.505992ɛqu5օ y}2I Nɚ!i!I%!=I-vE@i-XTi-s8)-vE@)1*F?2F:FBF$5JFGqA GGzQG% ?G%9?GB % Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758864OE > ] $?Ia zK KK 9K K K y2H?` 9?@[? 9?`N?3?ɨ26i8@2X;2MCyRBRIIZIZ4٢b՛ bI=9f ;Q f>dd fG٣hyjr: j>HAIA IElIIEBIA&IA.IA6IE<:IE F eNusing accuracyPremultiplier from config1495?4Y5 i5_B>@@5]D5^:<5;5u4B AEZj FNOT Ignoring new targets: 480.50 m.Bj-:Jj5:u ProNav: ac range: 480.500000 m, nav range: 456.824188 m, bearing: 260.277135 deg, approach rate: -0.004633 m/s, LOS rate: 0.079349 deg/s, cmd heading: 176.779639 deg, new cmd heading: 176.883128 deg. 2jY;EHeadingCmd: 3.087193 target range: 480.500000 and range: 480.50 m. jEE@jIjIjqiqhyhhhfffrfbf @ɛu~Bur q};Iy }xYɚyiyI}!=Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010198IE@i(TiF()E@)JEJE@JE1JAJE$;JE:JE3JAJEU~<JEU~<JE;JE;*F]?2FY:FaBFe@5JFaG Gy B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261994Qw, ԻA6b8@Y6F@6@96WG >y6H@g`Y?@5k???6?n?ɨ6b8@6V;6KC IyBIMb@Mb@Mb@ )YJ +?Q롿V-y(?\A 3@)AIyAIIs4٢bN 9=9;Q > G٣y b >  Nusing accuracyPremultiplier from config 49v?4Y i_B)?:C@@]D;$;";}4! %%A%EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 480.50 m.Bj:Jj: ProNav: ac range: 480.500000 m, nav range: 456.800018 m, bearing: 260.313665 deg, approach rate: -0.056896 m/s, LOS rate: 0.085996 deg/s, cmd heading: 176.883130 deg, new cmd heading: 176.992725 deg. 2jl;HeadingCmd: 3.089106 target range: 480.500000 and range: 480.50 m. jE@jjjihhhh%Bf!f!f!rf!bf-@n @ɛ"n 隵5AI RcɚiI!=IE@iM6Ti#R)E@)*Fi2Fi:FiBFmY0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:34:07.2753 TRx dataTimestamp_ set to:1736372048.436789checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515088)% ž= - C GG i" Y y 3B} @G B O >} BA w,%ԻA:j8@Y:OF@: >9:y >y:H Ԡ9?t-??q?*??ɨ:j8@:;:NCybBbIIjIj4٢r~ r]=9vJ:Q v>tx zG٣z1CGyz: z> Nusing accuracyPremultiplier from config|49~? 4Y~ i~_B  C@ @~]D~z:~:~ 4 AZjAMFNOT Ignoring new targets: 480.50 m.BjM&:JjU&:e ProNav: ac range: 480.500000 m, nav range: 456.779816 m, bearing: 260.344233 deg, approach rate: -0.056377 m/s, LOS rate: 0.085306 deg/s, cmd heading: 176.992727 deg, new cmd heading: 177.084436 deg. 2je-j;mHeadingCmd: 3.090706 target range: 480.500000 and range: 480.50 m. jm"E@jijijiiqhqhqhqhyfyfyfrfbf` @ɛeBmy imwGIi !lɚiIJ"=I"E@i*Siw)"E@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767160 $?I*Fu?2Fq:FyBF}^0JF"G=G=zKk3IK+9KKKZH9RH9HM>II IM@IIMzBII&II.II6IM<:IM FGV'SGGrAG B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022527J] J] 1J] 0JY J] $ ;J] :J] ـ3JY J] ;v<J] y2HbΩ? ?@?A?`.?`S?ɨ2Z8@2';2LCyBBBI Fa=Fa=Mb@Mb@Mb@ )YE? G٣y  > Nusing accuracyPremultiplier from config 49 ?4Y n i _B&?%:%iH@%@ ]D @#; !; ʋ4-B -A-EZjFNOT Ignoring new targets: 480.50 m.Bjϳ:Jjϳ: ProNav: ac range: 480.500000 m, nav range: 456.734406 m, bearing: 260.379970 deg, approach rate: -0.099865 m/s, LOS rate: 0.078602 deg/s, cmd heading: 177.084429 deg, new cmd heading: 177.191653 deg. 2jW;HeadingCmd: 3.092578 target range: 480.500000 and range: 480.50 m. jE@jjj i hhhhЁBfffrfbf6@ɛEBMb imHIi uwɚqiqIu0"=I}E@i4Siл)E@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 21:34:07.2753 LVL= 20208, 23217, 21698, 28531, AGC= 68, IDX= 455, 0.22, 1.354, 2.112,-0.325, 1.035, PHS= 0.408, 1.124,-1.363, RAW= 13.8, -1.5, CAL= 13.5, -3.5, ROT= 136.5, 3.5 -Ygot valid direction response: 21:34:07.2753 LVL= 20208, 23217, 21698, 28531, AGC= 68, IDX= 455, 0.22, 1.354, 2.112,-0.325, 1.035, PHS= 0.408, 1.124,-1.363, RAW= 13.8, -1.5, CAL= 13.5, -3.5, ROT= 136.5, 3.5 5PDAT read: Bearing 136.5, 3.5 (Local) 5~Local bearing/azimuth received: Bearing 136.5, 3.5 (Local) EDAT read: Range 10 to 50 : 482.4 m (Round-trip 643.3 ms) speed -0.3 m/s M,DAT read: user:1877> MBDAT read: Tx time:21:34:08.3779 U$Ping request sent.U;ߏ?vϢv>Pwּ :Fq>)5zIx@i5z=G>ѿ#vW͔)VIѿ#vW͔)Ii IG g{Ga Bq O >*(w,YԻA6V8@Y6'uF@6B696? >y6H 𒡿f?Τ?? Ԧ?@/??ɨ6V8@6;6OCyBBBIIJIJ4٢f f_=9f4;Q f>ll G٣y%9 %> -Nusing accuracyPremultiplier from config)549-?54Y-] i-_B1=Will construct direction to contact in vehicle frame from tetrahedron phase data.AiEAEeH@E@-]D-z;-z;-U4Q UAUEkR; ?kA k knMLԻA:k3CBkCZkeՒ@"^t lF@z t}@ @ 5W@XP̷? ŽB?b ?Jk?Rk JF* +Lw[I|q~c@*彿@{x?"kJ*kXakf ?k 2k]Ck?k kRCkCk_%@ addTargetRange:: Added new target pos. range: 482.399994 m, deltaT: 4.283332 s, deltaX: 1.899994 m, approachRate: 0.443578 m/s, rangeRepo size: 4  Added new target pos. range: 482.399994 m, bearing: 262.904496 deg, lat: 36.901103 deg, lon: -122.119802 deg, deltaT: 4.283332 s, deltaX: 1.899994 m, approachRate: 0.443578 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 482.40 m.BjJj ProNav: ac range: 482.399994 m, nav range: 457.410126 m, bearing: 261.673362 deg, approach rate: 0.000000 m/s, LOS rate: 0.078602 deg/s, cmd heading: 177.191650 deg, new cmd heading: 177.278722 deg. 2jHeadingCmd: 3.094097 target range: 482.399994 and range: 482.40 m. jF@jjjihhhhfffrf`f&~@bf ?ɛ)-Ù )-OI) -,Ԁɚ1i1I5"=I=F@i=ƇSi=C)=F@)A*F?2F:FBFp0JFGٻGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I zKU BHKU ]9KQ KU KU  Ww,sԻABK:KqAFB8@YF7aF@F59Fu >yFH@1De?@n?`'`?`,?`pt vG٣tyv H v> ~Nusing accuracyPremultiplier from configx49z0?4YzI iz_BQH@@z]Dz;z ;zM4 AZj9=FNOT Ignoring new targets: 482.40 m.BjEe:JjEe:U ProNav: ac range: 482.399994 m, nav range: 457.375580 m, bearing: 261.705611 deg, approach rate: -0.088214 m/s, LOS rate: 0.082355 deg/s, cmd heading: 177.278721 deg, new cmd heading: 177.375475 deg. 2jUb;]HeadingCmd: 3.095786 target range: 482.399994 and range: 482.40 m. j]\!F@jYjYjYiYhYhahahafafifirfibfm8?ɛB 隍/OI Y ɚiIY#=I\!F@iIlSiL!&)\!F@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFJJ(JJJ;J9:JJJ/r<J/r<J-;J.;GJG ?G ?G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.9#w,ӇԻA &$?I$ ((y]B]IMb@Mb@Mb@ )YˡE?&1?y'?P= 3@)AIy\AII4٢ <  9=9Q >! %G٣%2CGy% %> 5Nusing accuracyPremultiplier from config)=49-w?=4Y- i-_B=q(?=:=FE@-^D-.';-$;-4MߒB MAMEeB*** querying acoustic contact ***jajaZjFNOT Ignoring new targets: 482.40 m.Bjݰ:Jjݰ:] ProNav: ac range: 482.399994 m, nav range: 457.323700 m, bearing: 261.741427 deg, approach rate: -0.111979 m/s, LOS rate: 0.077314 deg/s, cmd heading: 177.375477 deg, new cmd heading: 177.482937 deg. 2je=T;eHeadingCmd: 3.097661 target range: 482.399994 and range: 482.40 m. je@F@jijijiihhhhBfffrfbf B?ɛ-B-c 15?PI1 5cɚ1i1I5#=I=@F@i=\SiEh?<)E@F@)A*F]?2FY:FYBF]0JFY]Will construct direction to contact in vehicle frame from tetrahedron phase data.]T****** received valid address query ******]R****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.GE +I,G B) OM >Fd)w,AdԻA6;i8@Y6ӇF@6a896'; >y6H`J k?@9?@f? ?`,U?)?ɨ6;i8@6a;6MCyBހBBIIJIJ4٢R܎ Vd=9V-Q V>XX ZG٣XyZ2; ^> bNusing accuracyPremultiplier from config`f49bc?f4Yb ib `BdfFj@b^Dba;b;bF4p rAvEZj!-FNOT Ignoring new targets: 482.40 m.Bj5+:Jj5+: ProNav: ac range: 482.399994 m, nav range: 457.281342 m, bearing: 261.770362 deg, approach rate: -0.124239 m/s, LOS rate: 0.084877 deg/s, cmd heading: 177.482930 deg, new cmd heading: 177.569745 deg. 2ji;HeadingCmd: 3.099177 target range: 482.399994 and range: 482.40 m. jXF@jjjihhh!h!f!f!f)rf)bf-`>?ɛ" 隝RI  ɚiI!$=IXF@iKSi%+)XF@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498179) 5$?I9*FM?2FI:FIBFM05JFIzK]KK]9KYK]K]RKe>JKe>jHbH<HI IIIQBI&I.I6I<:I FBIJIRIZI3 =bI3 =jIƜ4GO8GQ B O >u Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753875K0w,O>ԻA6K8@Y6iF@6096נ >y6H \%?`{+?`}(? ?b?g?ɨ6K8@6 ݌;6OCynBrImMb@Mb@Mb@iii i)iYmNbX9?Mb? G٣yg > Nusing accuracyPremultiplier from config49IL?4Y0 i`Bt&?:E@#^D;;ڮ4ޒB AEZjFNOT Ignoring new targets: 482.40 m.Bj:Jj: ProNav: ac range: 482.399994 m, nav range: 457.226044 m, bearing: 261.804906 deg, approach rate: -0.128683 m/s, LOS rate: 0.080395 deg/s, cmd heading: 177.569742 deg, new cmd heading: 177.673384 deg. 2j\;HeadingCmd: 3.100986 target range: 482.399994 and range: 482.40 m. jvF@jjjih h h1h5Bf1f1f1rf9bf=d?ɛu 隭OI $ɚiI$=IvF@iQSid)vF@)*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002269 )I)G .-G G G B O >u6w,?ԻA6C8@Y6aF@6|.+96 >y6H U?@k? Ӯ(?`7d?fa??ɨ6C8@6=;6MCyBBBIIJIJK4٢R>< RZ=9Vo;Q V>TX ZG٣Z3CGyZ$ Z> fNusing accuracyPremultiplier from config`f49b7?f4Yb ib/`BhjEj@b3^Db:b:bg4p rApWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254162ZjFNOT Ignoring new targets: 482.40 m.Bj-:Jj-: ProNav: ac range: 482.399994 m, nav range: 457.178467 m, bearing: 261.834802 deg, approach rate: -0.121848 m/s, LOS rate: 0.076575 deg/s, cmd heading: 177.673383 deg, new cmd heading: 177.763082 deg. 2j6R;HeadingCmd: 3.102551 target range: 482.399994 and range: 482.40 m. j2F@jjjihhYhihfffrfbf χ@JJ*J1JJ$ ;JC:J3Ja@a@a@a@ɛAUx Y]LIY ] ɚYiYI]$=Iu2F@iudSiux|)u2F@)*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=2.506565  $?I GM W]G! B1 OU >#yRH ꢿj?d?`%8?`R?p?@?ɨR.38@Rq;RKCyZBZIIfIfP4٢jƥ= nG=9nHk;Q n>pp rG٣pyv0 v> zNusing accuracyPremultiplier from configt~49vw!?~4Yv ivB`BE@vD^Dv.;v.;v4  #AEZj15FNOT Ignoring new targets: 482.40 m.Bj۽:Jj۽: ProNav: ac range: 482.399994 m, nav range: 457.126892 m, bearing: 261.867461 deg, approach rate: -0.131049 m/s, LOS rate: 0.082993 deg/s, cmd heading: 177.763077 deg, new cmd heading: 177.861064 deg. 2jc;HeadingCmd: 3.104261 target range: 482.399994 and range: 482.40 m. j7F@jjjihhh9h9fAfAfIrfIbf}@ɛ( =Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.761099]DI PTɚiIl%=I7F@iSi')7F@)*F?2F:FBFJFG JiG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.  $?I  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012366Cw,PջA~368@Y~TF@~ 9~ >y~H@B<颿 Ӧ?ҥ?g,?@?c? ?ɨ~368@~0;~MCy BIMb@Mb@Mb@ )Yv/?T㥛 ?Mb?yx)?=< )3AIvAyIIʴ4٢= 9=9&;Q > G٣y }9 > Nusing accuracyPremultiplier from config49?4YK iY`BI*?:E@W^DD;;ĺ4ݒB AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 482.40 m.Bj:Jj: ProNav: ac range: 482.399994 m, nav range: 457.069550 m, bearing: 261.904859 deg, approach rate: -0.125126 m/s, LOS rate: 0.081615 deg/s, cmd heading: 177.861063 deg, new cmd heading: 177.973271 deg. 2j `;HeadingCmd: 3.106220 target range: 482.399994 and range: 482.40 m. jMF@jjjihhh h ԁBf f frfbf  @ɛ9= AEQ;IA E[ɚAiAIM%=IMMF@iMSiU)UMF@)Q*F2F:FBF_0JFG G5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262079G'JJ1J0JJ ;J:Jـ3JG B O >7Iw,*(ջAB,8@YBKF@B9B >yBH`WK?`*m?1 ?ϬU??4??ɨB,8@B͌;BNCyRBRI\^AIdId٢r< r^=9v $;Q v>xx zG٣z4CGy~Һ > Nusing accuracyPremultiplier from config 49 (?%4Y  i k`B!%F-@ f^D *J 4="J ?Pw,BջA>:8@Y>,YF@>59>>y>H v֢? ߯?ݫ@y?~;? ?@?ɨ>:8@>;>MCyJ!BJIeMb@Mb@Mb@aaa a)aYe(\?/$?y&1?ye.?e,=e`e G٣y-: >  Nusing accuracyPremultiplier from config549J?54Y i`B5r.?5:5 H5@{^D;;Һ4A E AEEZjFNOT Ignoring new targets: 482.40 m.Bjf:Jjf: ProNav: ac range: 482.399994 m, nav range: 456.975891 m, bearing: 261.973223 deg, approach rate: -0.109100 m/s, LOS rate: 0.086727 deg/s, cmd heading: 178.059903 deg, new cmd heading: 178.178387 deg. 2jn;EHeadingCmd: 3.109800 target range: 482.399994 and range: 482.40 m. jeG@jijijiiihihihqhuށBfqfqfyrfybf} @ɛIU Y]0IY ]$ɚYiY $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:34:11.4271 LVL= 18448, 20689, 19074, 28947, AGC= 64, IDX= 442,-0.43, 3.023,-2.537, 1.437, 2.776, PHS= 0.336, 1.018,-1.342, RAW= 13.7, -0.1, CAL= 13.4, -1.5, ROT= 136.6, 1.5 Ygot valid direction response: 21:34:11.4271 LVL= 18448, 20689, 19074, 28947, AGC= 64, IDX= 442,-0.43, 3.023,-2.537, 1.437, 2.776, PHS= 0.336, 1.018,-1.342, RAW= 13.7, -0.1, CAL= 13.4, -1.5, ROT= 136.6, 1.5 PDAT read: Bearing 136.6, 1.5 (Local) ~Local bearing/azimuth received: Bearing 136.6, 1.5 (Local) DAT read: Range 10 to 50 : 483.8 m (Round-trip 645.1 ms) speed -0.4 m/s ,DAT read: user:1878>  BDAT read: Tx time:21:34:12.5279  $Ping request sent. ٥M?٥ƫ٥Gt>٥ ڥ|o>)ڥPwּIڥk@iڥPw<ڡڡۥѿVw1`)ۥt}Iۥ,;iۥi?ۥtCۡۡ:publishing transmit ping time Fpublishing direction and range infoء9إ2d?bX?#:FH?yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥѿVw1`)ۡIۡiۡۡۡۡ*F2F:FBF_0JFG} ~FG9 BI O] >Vw,Wx\ջA Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:21:34:12.5271 }AGy6B {YyBIII٢ =  Q=9Q > G٣y > MNusing accuracyPremultiplier from configIU49Mo?U4YM iM`BYY]@M^DM:M:Mٺ4eܒB e0 AEJـ3K(3 K(.KK"KJJ/J1JJ!;Jڈ:J3JkF ?kBׇ k kaUNջA:kCBk7CZk@"os  @@.ߞ}@#FV@2d?bX?#:FH?Jki?RktC*>@FMYJr|vhc@hWx(s?DX4?"k*k6k 1 ?ki0 2k^Ckf ?k  kk Ck @ addTargetRange:: Added new target pos. range: 483.799988 m, deltaT: 4.031735 s, deltaX: 1.399994 m, approachRate: 0.347244 m/s, rangeRepo size: 4  Added new target pos. range: 483.799988 m, bearing: 264.290627 deg, lat: 36.901193 deg, lon: -122.119830 deg, deltaT: 4.031735 s, deltaX: 1.399994 m, approachRate: 0.347244 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 483.80 m.BjJj ProNav: ac range: 483.799988 m, nav range: 458.079163 m, bearing: 263.276047 deg, approach rate: 0.000000 m/s, LOS rate: 0.086727 deg/s, cmd heading: 178.178394 deg, new cmd heading: 178.281306 deg. 2jHeadingCmd: 3.111596 target range: 483.799988 and range: 483.80 m. jc$G@jjjihh!h!h)f)f)f1rf5<~@bf5@?ɛyF 隅%I ɚiI/'=Ic$G@iěTie)c$G@)*FU?2FQ:FYBF]0JFY"GiGm> iIiWill construct direction to contact in vehicle frame from tetrahedron phase data.G Gq By O >B\w,YvջAH>I  IMIIBI &I .I 6I<:Ix FF^N8@YFlF@Fe9F9>yFH`:@ڔ??]?VѢ??`?ɨF^N8@F ;Dyb>BbIzKfiJKf9KdKfKf r=rp=IvIvs4٢~$= ~]=9~;Q > G٣5CGy JV;  > Nusing accuracyPremultiplier from config49?4Y i`B!%G%@^DC:e:ߺ4) - A5EZjQ]FNOT Ignoring new targets: 483.80 m.Bj]:Jj]:m ProNav: ac range: 483.799988 m, nav range: 458.045990 m, bearing: 263.306763 deg, approach rate: -0.097019 m/s, LOS rate: 0.089839 deg/s, cmd heading: 178.281311 deg, new cmd heading: 178.373464 deg. 2jmv;uHeadingCmd: 3.113204 target range: 483.799988 and range: 483.80 m. ju>G@jqjyjyiyhyhyhhfffrfbf-@E?ɛ  !I  ]ɚiaIez'= Will construct direction to contact in vehicle frame from tetrahedron phase data.I}>G@i-Ti5Ҿ)5>G@)aJJ@A*FU?2FQ:FQBFUV5JFQG  ] $?IY Gi By O  Will construct direction to contact in vehicle frame from tetrahedron phase data.Ycw,DջAJR8@YJ.qF@J9Jr>yJH e _Ф?|?ߴ@{?A?'??ɨJR8@JԔ;JLCyVTBVIMb@Mb@Mb@ )YB`"? rh?:v?y.?C<T<A @)AI`AyII]4٢&= >=9';Q > G٣y: > Nusing accuracyPremultiplier from config49͕?4Y i`B.?:G@@^Dg;/;~4  B A Zj1=FNOT Ignoring new targets: 483.80 m.Bj= :Jj= :M ProNav: ac range: 483.799988 m, nav range: 458.017303 m, bearing: 263.343339 deg, approach rate: -0.066523 m/s, LOS rate: 0.084824 deg/s, cmd heading: 178.373464 deg, new cmd heading: 178.483199 deg. 2jMh;HeadingCmd: 3.115119 target range: 483.799988 and range: 483.80 m. j^G@jjjihhhhBfffrfbf ?ɛ=B=ڀ 9=I9 EɻɚAiAIE'=IM^G@i(KUi&˼)^G@)*F)2F):F)BF-3JF)%Will construct direction to contact in vehicle frame from tetrahedron phase data.JJ0JJJJ_:JJGM G! B1 OM >jw,ջAj\A8@Yj_F@j9j >yjH I@ɢ` s?y? ɰ?@??Ͱ?ɨj\A8@j;jKCyvkBv/II~I~4٢ =  X=9H*Q > G٣y5 %> -Nusing accuracyPremultiplier from config!-49%?54Y% i%`B15G@5@%^D%:% ;%4EےB E AMEeB*** querying acoustic contact ***jajaZjq}FNOT Ignoring new targets: 483.80 m.Bj}:Jj}: ProNav: ac range: 483.799988 m, nav range: 457.992584 m, bearing: 263.375459 deg, approach rate: -0.065208 m/s, LOS rate: 0.084735 deg/s, cmd heading: 178.483198 deg, new cmd heading: 178.579563 deg. 2jh;HeadingCmd: 3.116801 target range: 483.799988 and range: 483.80 m. jyG@jjjihhhhfffrfbf`?ɛ<́  I ɚiIW,(=IyG@iֲUi޼)yG@ $?I)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******}Querying Benthos address 50 with one ping in standard two-way mode.*Fu?2Fq:FqBFu^0JFqG}rA G}qAjHbH<H!I! I%II%BI!&I!.I!6I%߰<:I% FzKURIKUػ9KQKUKUGļGiByO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753987pw,<ջAF##8@YFAF@F9FA >yFH``|?dk?.a? Ř? ؖ? Ԭ?ɨF##8@Fyљ;FMCyjBnHIppMb@Mb@Mb@ )Y/$?I +:v?y&1?94A )AIAyfAII?4٢&= ?=9?:Q > G٣6CGy > Nusing accuracyPremultiplier from config49#g?4Y. i`B41?:E@@^D ;;4  AEZj)5FNOT Ignoring new targets: 483.80 m.Bj5:Jj5:E ProNav: ac range: 483.799988 m, nav range: 457.976837 m, bearing: 263.412492 deg, approach rate: -0.036769 m/s, LOS rate: 0.086476 deg/s, cmd heading: 178.579558 deg, new cmd heading: 178.690663 deg. 2jEdm;MHeadingCmd: 3.118740 target range: 483.799988 and range: 483.80 m. jMqG@jIjQjQiQhQhQhYh]3BfYfYfYrfabfe?ɛB-:l 隕@I |¼ɚiIx(=IqG@i2IVi?)qG@) $?I*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004219G ޼G B O >#ww,ٴջA6}08@Y6OF@696>y6Hx,`???@? JҢ?? #?ɨ6}08@6ᇚ;6OCyNBN\IIVIV(4٢^2= ^]=9b֛Q b>`d fG٣dyf; f>nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255386 rNusing accuracyPremultiplier from configpv49rQ?v4Yr ir`Bxz!E@z@r^Dr:r:r 4| Y AZj)-FNOT Ignoring new targets: 483.80 m.Bj5:Jj5:E ProNav: ac range: 483.799988 m, nav range: 457.963226 m, bearing: 263.444379 deg, approach rate: -0.036671 m/s, LOS rate: 0.085913 deg/s, cmd heading: 178.690658 deg, new cmd heading: 178.786319 deg. 2jEk;MHeadingCmd: 3.120410 target range: 483.799988 and range: 483.80 m. jM̴G@jIjIjIiQhQhQhYhYfYfYfarfabfeCH@ɛt n 隝I _WżɚiIf(=I̴G@iVin)̴G@)E*F-?2F):F)BF-o0JF1Gn IGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507338H >I  I II ځBI &I .I 6I հ<:I FBIJIRIZI2 =bI2 =jI[4<}w,ջA2h[8@Y2yF@2`92v>y2H HΡ`Ҍ?ש? >?Ӣ???ɨ2h[8@2[֙;2KCyRBRkIIZIZ44٢-m= -D=9-DQ 5>11 5G٣1y=; => ENusing accuracyPremultiplier from configAM49Ef9?M4YER iE`BIULE@U@E^DE:En:EW4zK]BoIKYKYK]K]BKepA:Kai m AuEZjFNOT Ignoring new targets: 483.80 m.Bj:Jj: ProNav: ac range: 483.799988 m, nav range: 457.947296 m, bearing: 263.480422 deg, approach rate: -0.038224 m/s, LOS rate: 0.086489 deg/s, cmd heading: 178.786321 deg, new cmd heading: 178.894456 deg. 2jmm;HeadingCmd: 3.122297 target range: 483.799988 and range: 483.80 m. jG@jjjihhhhfffrfbf@ɛBޮ` I \ȼɚiI(=I G@i dWi E) G@)*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=2.762386JJ4JJJ ;Jr:JJJw $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0115138$w,^ֻAV8@YV3F@VK9V5>yVH7,W"?q?ŧ(??@hS? ?ɨV8@VU;VMCy~B~}IMb@Mb@Mb@ )Y> ףp=?I +MbP?y1?94:AA @)3AIyAII4٢ω= A=9:Q >9 =G٣=7CGyE"< E> UNusing accuracyPremultiplier from configIe49M?e4YM iM`BeF2?e:eB@e@M_DM|j;MO;M 4uڒB uy AuļEZjFNOT Ignoring new targets: 483.80 m.BjR:JjR: ProNav: ac range: 483.799988 m, nav range: 457.942841 m, bearing: 263.518541 deg, approach rate: -0.010184 m/s, LOS rate: 0.087131 deg/s, cmd heading: 178.894457 deg, new cmd heading: 179.008815 deg. 2j0o;HeadingCmd: 3.124293 target range: 483.799988 and range: 483.80 m. jkG@jjjihhhhhBfffrfbf @ɛ~BdV NӾI S˼ɚ i I 4)=IkG@iWiߧ)kG@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263336GvG B O >Nw,;+ֻA:8@Y:W G@:99:L>y:H ` Ƥ? ? lQ?"?@u?ܤ?ɨ:8@:;:NCyFBFIININb4٢Zӗ= Z^=9Zr9Q ^>\\ bG٣`ybP< b> fNusing accuracyPremultiplier from configdj49f ?j4Yf ifaBlnC@n@f_Df!;f;f14rB rX AvǼEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 483.80 m. e$?IaBj:Jj: ProNav: ac range: 483.799988 m, nav range: 457.938263 m, bearing: 263.549458 deg, approach rate: -0.012940 m/s, LOS rate: 0.087399 deg/s, cmd heading: 179.008808 deg, new cmd heading: 179.101559 deg. 2jo;HeadingCmd: 3.125912 target range: 483.799988 and range: 483.80 m. jH@jjjih h]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:21:34:15.5804 mTRx dataTimestamp_ set to:1736372056.753976}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519136hhfffrfbf/T @ɛ }B m:T  hľII UͼɚQiQIU6i)=I]H@i]q\Xi]gм)]H@)aEErA*FE?2FA:FABFM3JFIZHRHHI IIIBI&I.I6I<:I FzKuBoHKu 9KqKuKuRK?JK?G 8G  Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770714BI O >J J .J J J ;J V:J J J s<J s<J ;J ;b6w,EֻAFNB9@YF`G@F>9F&>yFH Aje? ?@<@a?`¦?`?@?ɨFNB9@F*ؕ;FJCyZˁB^IMMb@Mb@Mb@III I)IYMi|?5?{Gz~jtxyM1?MףMĻM+A M@)MAIMvAIyMAIeIe4٢m= u?=9um;Q u>yy }G٣yyG< > Nusing accuracyPremultiplier from config49&?4Y iaB2?:0@@@+_DI;H;4 AZjFNOT Ignoring new targets: 483.80 m.Bju:Jju: ProNav: ac range: 483.799988 m, nav range: 457.946136 m, bearing: 263.586866 deg, approach rate: 0.018380 m/s, LOS rate: 0.087324 deg/s, cmd heading: 179.101562 deg, new cmd heading: 179.213785 deg. 2jo;HeadingCmd: 3.127871 target range: 483.799988 and range: 483.80 m. j/H@jjjihhhhtBfffrfbf`/@ɛ5|B59K 9==I9 =$мɚ9i9I=)=IE/H@iE,XiMͻ)M/H@)I ]$?IY*F?2F:FBF05JFG GrAmWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: Range 10 to 50 : 486.3 m (Round-trip 648.4 ms) speed -0.4 m/s ,DAT read: user:1879> -X#Rx 1: Read range message, but no direction.iym&CiT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GiѼGG>G B O >aw,^^ֻA6Α9@Y6eG@6C968>y6H}G+? #?>{?`fǢ? ? ?ɨ6Α9@6֓;6LC^Will construct direction to contact in vehicle frame from tetrahedron phase data.b@DAT read: T time:21:34:16.6780 f^unknown deviceResponse_: T time:21:34:16.6780 fJDAT read: TxSync time:21:34:16.6772 jchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.272955y}ԁB}III 4٢|3= G=9bQ > G٣8CGyB< > Nusing accuracyPremultiplier from config49A?4Y i aB@@@=_D;b;4B xAʼEm addTargetRange:: Added new target pos. range: 486.299988 m, deltaT: 4.032528 s, deltaX: 2.500000 m, approachRate: 0.619959 m/s, rangeRepo size: 4 ZjimFNOT Ignoring new targets: 483.80 m.Bj:Jj: ProNav: ac range: 483.799988 m, nav range: 457.952484 m, bearing: 263.622657 deg, approach rate: 0.015025 m/s, LOS rate: 0.084713 deg/s, cmd heading: 179.213782 deg, new cmd heading: 179.321151 deg. 2jh;HeadingCmd: 3.129745 target range: 483.799988 and range: 486.30 m. jMH@jjjihhhhfffrfd~@bfU?ɛu{B}5D y}Iy *^ҼɚiI8)=IMH@iXik)MH@)*FI2FI:FIBFMo2JFQ =$?I9uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.523296G ^G B O >H I  I  II ,BI &I .I 6I ۰<:I Fw,UxֻAFW9@YFG@F79F>yFHeB? ? %@?>8?a?Т?ɨFW9@F+ؒ;FNCyVہBVII^I^a4٢j = jX=9nQ n>ll nG٣lyrrL< r> vNusing accuracyPremultiplier from configtz49v?~4Yv iv aB|~@@~@vN_Dv;v;vu&4 :A ͼEZj)5FNOT Ignoring new targets: 483.80 m.Bj5U:Jj5U:M ProNav: ac range: 483.799988 m, nav range: 457.957245 m, bearing: 263.655796 deg, approach rate: 0.013020 m/s, LOS rate: 0.090632 deg/s, cmd heading: 179.321153 deg, new cmd heading: 179.420569 deg. 2jMx;]HeadingCmd: 3.131480 target range: 483.799988 and range: 486.30 m. j]*jH@jYjYjaiahahahahifififirfqbfu޻?ɛzBh6I 隥ĞI {$ԼɚiI$)=I*jH@zKk3IK+9KKKBKrA:KiYi͔)*jH@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779153*F 2F :FBF_0JFJ}J}/JyJyJ}|";J}ڈ:JyJyJ}Hz<J}Iz<J}s;J}s;GEʩG! B1 OM > ! I! } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.027979prw,ֻA6[c:@Y6H@696=>y6H @g@aB?@?`?`sң?? ğ?ɨ6[c:@6;6MCyNBRIeMb@Mb@Mb@aaa a)aYeV-?B`"۹y&1ye-?eνe`eeA e@)eAIeAayeAIuIu4٢?= @=995Q > G٣y < > Nusing accuracyPremultiplier from config49ɫ?4Y i aB/?:X?@@a_D;+ ;-4B AмEZjFNOT Ignoring new targets: 483.80 m.BjW:JjW: ProNav: ac range: 483.799988 m, nav range: 457.969330 m, bearing: 263.692308 deg, approach rate: 0.028119 m/s, LOS rate: 0.084954 deg/s, cmd heading: 179.420573 deg, new cmd heading: 179.530106 deg. 2j6i;HeadingCmd: 3.133391 target range: 483.799988 and range: 486.30 m. j%|H@j!j!j!i!h!h!h)h-Bf)f)f1rf9bf= ?ɛeyBe|: imuIi m$*ּɚiiiIm)=Iu|H@i}Yi}KS)}|H@)y*F-?2F):F)BF)JF)"G5=G5p=) UGm|uA Y|uAyBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.279466G]FǓG) B1 OU >w,ֻA6:@Y6CH@69x$96&>y6H@a٨o? |?Y`?@V ? ?@R? ?ɨ6:@6Kh;6NC b$?IdyjBjIIvpIvF4٢z< ~T=9~rQ > G٣9CGy @<  > Nusing accuracyPremultiplier from config%49?%4Y i!-?@-@r_D;:441 5A1MB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 483.80 m.Bje:Jjm:u ProNav: ac range: 483.799988 m, nav range: 457.978729 m, bearing: 263.725456 deg, approach rate: 0.024503 m/s, LOS rate: 0.086410 deg/s, cmd heading: 179.530102 deg, new cmd heading: 179.629542 deg. 2j}5m;HeadingCmd: 3.135127 target range: 483.799988 and range: 486.30 m. jH@jjjihhhhfffrfbf ?ɛxBD= XI h׼ɚiIt *=IH@iYi?)H@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.549129*Fq2Fq:FqBFuo0JFqGM_G)B1OM1>HiIi ImA IImJBIi&Ii.Ii6Imݰ<:Im FzKKh9KKKu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.802712*J "J a=J J ,J 0J J ;J L:J ـ3J J s<J s<J ;J ;w,aֻA2;@Y2y2H`$?@?Pf }?:?`v??ɨ2;@2 ;2MCy>B>IMb@Mb@Mb@ )YZd;O?1Zd rhy~*?"۽C+A @)IAyAII4٢ < ;=9v:Q >   G٣ y 2<  > Nusing accuracyPremultiplier from config%49}?%4Y iaB%,?%:%c?@%@_D;r;K<4Q UAUӼEZjFNOT Ignoring new targets: 483.80 m.Bj:Jj: ProNav: ac range: 483.799988 m, nav range: 457.991119 m, bearing: 263.762310 deg, approach rate: 0.027881 m/s, LOS rate: 0.082930 deg/s, cmd heading: 179.629549 deg, new cmd heading: 179.740108 deg. 2jc;HeadingCmd: 3.137057 target range: 483.799988 and range: 486.30 m. jH@jj j i hhhhBfffrfbf%@ ? $?IɛwB#5 隽\I {ټɚiI*=IH@iXi)H@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.052034*F92F9:F9BF=_0JF9G% *UG- ?G- >G B O% >w,UֻA6D;@Y6bI@696 >y6H`?1.?tҪ`f??R\?`?ɨ6D;@6;e;6ICyBBBIIJIJh4٢R#< Rb=9V;Q V>Tp G٣Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303448y ; > %Nusing accuracyPremultiplier from config!-49%h?-4Y% i%aB15?@5@%_D%g;%;%B4=B =}A=ּEZjimFNOT Ignoring new targets: 483.80 m.Bju:Jju: ProNav: ac range: 483.799988 m, nav range: 458.001282 m, bearing: 263.793861 deg, approach rate: 0.027712 m/s, LOS rate: 0.086035 deg/s, cmd heading: 179.740103 deg, new cmd heading: 179.834754 deg. 2j.l;UHeadingCmd: 3.138709 target range: 483.799988 and range: 486.30 m. jUH@jQjQjQiYhYhYhYhafaffrfbf@@ɛvB99 I ۼɚiI4*=IH@iXiݻ)H@)*FU?2FY:FYBF]0JFYGi GiG-J $?IG BO5p>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.557101HY IY  I] S II] YBI] 3 =&IY .IY 6I] v<:I] D Fؽw,'ֻA:;@Y:I@:#9:>y:H-H??V=? ̐?.??ɨ:;@:b;:MCyBBBIHHININ4٢V VK=9Zr:Q ^>`` bG٣b:CGyf6< f> jNusing accuracyPremultiplier from confighn49j R?=4Yj ijaBAE?@E@j_Dju 15!I9 =Hݼɚ9i9I=N*=IEH@iEQXiEߏ)EH@)I*F?2F:FBF@5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i=A]checking for new query: numPingsReceived=0, elapsed TxPingTime=6.811886Gu>uGI BQ Ou > $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.0593285w,<׻AJ;@YJI@J@9Ja>yJHVUiq G٣y; >  Nusing accuracyPremultiplier from config 49 39?4Y  i `B)?:@@@ _D ; x; Q4! !%ټEZjiFNOT Ignoring new targets: 483.80 m.Bj(:Jj(: ProNav: ac range: 483.799988 m, nav range: 458.017151 m, bearing: 263.864080 deg, approach rate: 0.014287 m/s, LOS rate: 0.085309 deg/s, cmd heading: 179.933889 deg, new cmd heading: 180.045407 deg. 2j0j;HeadingCmd: 3.142385 target range: 483.799988 and range: 486.30 m. jI@jjjihhhhBfffrfbf`; @ɛuB7 I R߼ɚiIg*=IIiNWiKr)I@)!*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311972JUJU9JQJQJU ;JU :JQJQa]@a]@a]@a]@G ćG G rAGy B O >w,-׻A I>;@Y> J@>9>O>y>H ! ?9#?yR@ 8?r?Z"? f?ɨ>;@>;;>KCyJBJIIRIR4٢Zx< ZY=9Zy:Q Z>\\ bG٣`yb; b> fNusing accuracyPremultiplier from configdj49fQ%?j4Yf if`BlnA@r@f_Df-;f-;fW4vB vAvܼEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 483.80 m.Bj:Jj: ProNav: ac range: 483.799988 m, nav range: 458.021637 m, bearing: 263.893825 deg, approach rate: 0.011999 m/s, LOS rate: 0.079560 deg/s, cmd heading: 180.045412 deg, new cmd heading: 180.134647 deg. 2jgZ;HeadingCmd: 3.143943 target range: 483.799988 and range: 486.30 m. j[6I@jjjihhhhfffrfbf@7 @ɛ-? 隍'Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563459I ɚiIs*=I[HiWis+)[6I@)ZH RH AAHI IZ II^BI2 =&I.I6I<:Ik FBIJIRIZIbIjI:4*FA2FA:FABFET0JFA"GM=GM=zKNK 9KKKzhK85+z_F+ }yphb[ROIEDBB>;9841/-)'(($$ !#$G g{M Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:21:34:19.7208 u TRx dataTimestamp_ set to:1736372061.056539G  checking for new query: numPingsReceived=0, elapsed TxPingTime=7.826911B O >~w,1G׻AE<@YE?.J@E9E>yEH(?w?⑿} ?`"?`?ϩ?ɨE<@Ex;EMCyuB}I ==-Mb@Mb@Mb@))) )))Y-w/?Zd;OZd;Oy-&?-j-j-A ))-zAI))y-AIEIEh4٢Uv U2=9U6:Q ]>aa eG٣e;CGymb; u> }Nusing accuracyPremultiplier from configy49} ?4Y} i}`B(?:A@@ $?I}_D}p<}W<}_4 A%߼EZjamFNOT Ignoring new targets: 483.80 m.Bjm:Jju:} ProNav: ac range: 483.799988 m, nav range: 458.024689 m, bearing: 263.931691 deg, approach rate: 0.006658 m/s, LOS rate: 0.082612 deg/s, cmd heading: 180.134642 deg, new cmd heading: 180.248238 deg. 2jb;HeadingCmd: 3.145925 target range: 483.799988 and range: 486.30 m. jVI@jjjihhhhlBfffArfAbfE@^@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067512ɛ=tB_8 隽I sɚiI*=IHiB9WiL ))VI@)*F?2F:FBFK3JFG xG B O >Ow,nb׻A.Will construct direction to contact in vehicle frame from tetrahedron phase data.FDAT read: 21:34:19.7208 LVL= 17584, 17009, 17026, 25587, AGC= 67, IDX= 329, 0.12, 0.577, 1.152,-1.171, 0.189, PHS= 0.477, 1.010,-1.363, RAW= 17.6, -1.2, CAL= 17.3, -3.0, ROT= 132.7, 3.0 NYgot valid direction response: 21:34:19.7208 LVL= 17584, 17009, 17026, 25587, AGC= 67, IDX= 329, 0.12, 0.577, 1.152,-1.171, 0.189, PHS= 0.477, 1.010,-1.363, RAW= 17.6, -1.2, CAL= 17.3, -3.0, ROT= 132.7, 3.0 RPDAT read: Bearing 132.7, 3.0 (Local) V~Local bearing/azimuth received: Bearing 132.7, 3.0 (Local) ZDAT read: Range 10 to 50 : 479.0 m (Round-trip 638.7 ms) speed -0.2 m/s ^,DAT read: user:1880> bBDAT read: Tx time:21:34:20.8280 b$Ping request sent.b.G?.v.nF>. .#>).PwVI.2:@i.PwV=,,.W~d˿^)*{@←Y5Д).~I.y%H` %?O?`?Ѣ?Y?`?ɨ%F#<@JJ4J1JJJr:J3J%S;%LCyuBuIII4٢ 9=9:Q >1 5G٣1y=-; => Nusing accuracyPremultiplier from config49?4Y i`BA@@_DrB<H?<g4 %A!k.?B?k.+g k, k.`c׻A:k.CBk.CZk.(@".\IP8B@讈|@!ko^@._ ?ҙ}?'=:]?Jk.إ?Rk.-b*.Îߓ6`s!{謴 Mg@.ɲ"qRp!?"k.T*k.k.O ?k.- N 2k.Y{Ck.x ?k. k.]Ck.Ck.$ѓ@% addTargetRange:: Added new target pos. range: 479.000000 m, deltaT: 4.299442 s, deltaX: -7.299988 m, approachRate: -1.697892 m/s, rangeRepo size: 4 YIae Added new target pos. range: 479.000000 m, bearing: 267.066971 deg, lat: 36.901245 deg, lon: -122.119802 deg, deltaT: 8.331970 s, deltaX: -4.799988 m, approachRate: -0.576093 m/s, posRepo size: 4 ZjamFNOT Ignoring new targets: 479.00 m.BjmJji ProNav: ac range: 479.000000 m, nav range: 455.029480 m, bearing: 264.665238 deg, approach rate: 0.000000 m/s, LOS rate: 0.082612 deg/s, cmd heading: 180.248241 deg, new cmd heading: 180.365203 deg. 2jHeadingCmd: 3.147967 target range: 479.000000 and range: 479.00 m. jIxI@jjjihhhhfffrf}@bf@8?ɛUsBUF? QU#IY ]4ɚYiYI] *=IekHieVie\)eIxI@)i*F 2F :F BF Y0JF -Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:21:34:20.8272 He >Ia  Ia Ia Ie 3 =&Ia .Ia 6Ie <:Ie c FG- g{G5 ?G5 >G B O >%w,W~׻AV.T<@YVrJ@V 9V >yVH `-?,?@[*@???*?ɨV.T<@VR̊;VKCyjBnIzKvR OKv]9KtKvKv I%I%d4٢5; 5Z=9=Q =>9A EG٣Aym[< m> uNusing accuracyPremultiplier from configq}49u?}4YuB iu`By}A@}@u_Du:um ;u%n4ߒB AEZjFNOT Ignoring new targets: 479.00 m.Bj:Jj: ProNav: ac range: 479.000000 m, nav range: 455.034088 m, bearing: 264.695085 deg, approach rate: 0.013958 m/s, LOS rate: 0.090405 deg/s, cmd heading: 180.365202 deg, new cmd heading: 180.454742 deg. 2j-x;HeadingCmd: 3.149529 target range: 479.000000 and range: 479.00 m. jI@jjjihhhhfffrfbf ?ɛ5rB=RP 9=$I9 EĖɚAiAIEG*=IMЍHiMViM')MI@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F :F BF _0JF G G $?IGyGQ Bi O >u Will construct direction to contact in vehicle frame from tetrahedron phase data.w,+׻Afg<@YfWJ@f9f\>yfH/?d? co?`T9?!?ѩ?ɨfg<@f;fLCyrׁBrIttMb@Mb@Mb@ )Y r?v/ G٣ Nusing accuracyPremultiplier from config49_?4Y i`BL$?:$E@@`D;{;eu4ޒB 9AEZjFNOT Ignoring new targets: 479.00 m.Bj߱:Jj߱: ProNav: ac range: 479.000000 m, nav range: 455.025848 m, bearing: 264.728583 deg, approach rate: -0.019125 m/s, LOS rate: 0.077754 deg/s, cmd heading: 180.454745 deg, new cmd heading: 180.555242 deg. 2jrU;HeadingCmd: 3.151284 target range: 479.000000 and range: 479.00 m. jI@jjjihhhhMBfffrfbf jM?ɛ=qB=D5G 9=0I9 EɚAiAIE+=ImqHiuv8Viu6*)uI@)q*Fe?2Fi:FqBFu`0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.JJ1JJJ|";J:JJG p I G B O >w,&׻A6ߣ<@Y6vJ@6/96M>y6H@$?@I?#8?_? ?h?ɨ6ߣ<@6;6KCyRفBRIIZIZy4٢bO=< f[=9fMQ f>hh jG٣hyjt!< n> 5Nusing accuracyPremultiplier from config1=Will construct direction to contact in vehicle frame from tetrahedron phase data.E495?M4Y5t i1IM_E@M@5`D5#X;5#X;5|4Q ]'AYuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 479.00 m.Bjҿ:Jjҿ: ProNav: ac range: 479.000000 m, nav range: 455.017456 m, bearing: 264.759505 deg, approach rate: -0.022757 m/s, LOS rate: 0.083852 deg/s, cmd heading: 180.555245 deg, new cmd heading: 180.648013 deg. 2j0f;HeadingCmd: 3.152903 target range: 479.000000 and range: 479.00 m. j(I@jjjihhhhfffrfbf@G?ɛb?N I P{ɚiI9+=IVHiUi !)(I@) jHU<bHQHaIa IeG IIeOBIa&Ia.Ia6Ie<:Ie F*F?2F:FBFm1JFzKeLKe9KaKeKeRK} ?JK}?GGrAGGWill 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.By O >qw,׻AZ£<@YZXJ@Z;9ZV>yZH@= #%?P? "%@&?Mf?`?Q?ɨZ£<@Z>;ZLCyj΁BjI %$?I!uMb@Mb@Mb@qqq q)qYuS㥛?+=9]Q > G٣y* > Nusing accuracyPremultiplier from config49?4Y? i&?:4G@@0`Df;;m4 AEZjFNOT Ignoring new targets: 479.00 m.BjM:JjM: ProNav: ac range: 479.000000 m, nav range: 455.000488 m, bearing: 264.793853 deg, approach rate: -0.040445 m/s, LOS rate: 0.081876 deg/s, cmd heading: 180.648012 deg, new cmd heading: 180.751060 deg. 2j`;HeadingCmd: 3.154701 target range: 479.000000 and range: 479.00 m. jI@jjjihhhh4Bfffrfbf ~?ɛUoBUBL Q]áIY ]FɚYiYI]Lf+=Ie9HiesxUie#)eI@)iUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756271*F!2F!:F!BF-1JF)"G5=G5=Gm ï ~G vA1 m Yu vAyu BG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007078w,x׻A6<@Y6QJ@6^96 >y6H RҠ?k? fe?ª?? ^?ɨ6<@6;6KCyBÁBBIIJIJ4JbJb0Jb0J`JbD#;Jb_:Jbـ3J`٢mL uM=9uk;Q u>yy G٣=CGy.; > Nusing accuracyPremultiplier from config49ц?4Y iMG@@A`Dy;S;f4ݒB AEZjFNOT Ignoring new targets: 479.00 m.Bj:Jj: ProNav: ac range: 479.000000 m, nav range: 454.984131 m, bearing: 264.826472 deg, approach rate: -0.040757 m/s, LOS rate: 0.081279 deg/s, cmd heading: 180.751066 deg, new cmd heading: 180.848927 deg. 2j_;%HeadingCmd: 3.156409 target range: 479.000000 and range: 479.00 m. j%J@j!j)j)i)h)h1hyhyfyffrfbf`Y@ɛnB. W ԪI %Rɚ!i!I%8+=I-Hi- Ui-)EJ@)Q $?I*F?2F:FBFP5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259258G- b(HY IY  I] 4 II] @BIY &IY .IY 6I] <:I] _ FG B O- > w,s׻A22<@Y2J@292/ >y2H@??~Y ?`?`ڔ?=?ɨ22<@2f;2LCyPPIrIr"4٢zۅ zR=9~Z;Q ~> G٣y   > Nusing accuracyPremultiplier from config49q?4Y i%FG@%@Q`D ;? ;/4) -A)zK]yJK]9KYK]K]BKepA:KaZjiuFNOT Ignoring new targets: 479.00 m.Bju:Jju: ProNav: ac range: 479.000000 m, nav range: 454.968445 m, bearing: 264.858211 deg, approach rate: -0.040395 m/s, LOS rate: 0.081735 deg/s, cmd heading: 180.848929 deg, new cmd heading: 180.944148 deg. 2j``;HeadingCmd: 3.158071 target range: 479.000000 and range: 479.00 m. jJ@jjjihhhhfffrfbf2@ɛmB|\ I ɚiI+=IHiTi)J@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512071*F]?2Fa:FaBFm^0JF $?IGG?G?GiByO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763131w,bNػAyBIMb@Mb@Mb@ )YS㥛? rhy$?CA )AIyII4٢%Kʼ -8=9-Q ->11 5G٣9y= => ENusing accuracyPremultiplier from configAM49E~Y?M4YE iE`BU$?U:UGU@Ec`DE;Ey;E4Y ]AeEZjFNOT Ignoring new targets: 479.00 m.Bj:Jj: ProNav: ac range: 479.000000 m, nav range: 454.934052 m, bearing: 264.893913 deg, approach rate: -0.078194 m/s, LOS rate: 0.081177 deg/s, cmd heading: 180.944142 deg, new cmd heading: 181.051257 deg. 2j^;HeadingCmd: 3.159940 target range: 479.000000 and range: 479.00 m. jwGiTiMк)w $?I Z3 w,I,3ػA2<@Y2BJ@2p 92 >y2H?_?@Al?--?@hh jG٣hyjz; n> vNusing accuracyPremultiplier from configpv49rE?z4YrO ir`B|~F~@rr`DrF;r)G;r54ܒB  A EWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2672425B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 479.00 m.BjM:JjM: ProNav: ac range: 479.000000 m, nav range: 454.905975 m, bearing: 264.922854 deg, approach rate: -0.077442 m/s, LOS rate: 0.079831 deg/s, cmd heading: 181.051253 deg, new cmd heading: 181.138081 deg. 2j&[;HeadingCmd: 3.161456 target range: 479.000000 and range: 479.00 m. jKUJ@jjjihhhhfffrfbfK~ @ɛ]jBeX|_ aeIa eɚaiiImX,=ImkGi[TiV)KUJ@)HI I! II1BI&I.I6I<:IN F*FI2FI:FIBFM_0JFIzKjIK9KKKGWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:34:23.8838 TRx dataTimestamp_ set to:1736372065.088656checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520195Ga Bq O >*J a="J J+3K+O3 K#K#K#"K#J J 3J J J !;J :J J J xy2H@?.@?๮?Ԡ?@Nx?@߮?ɨ2<@2Ȥ;2OC XI\ybBbIMb@Mb@Mb@ )Ysh|??I +?I +y)?9<94 @)hAIAyQAII94٢ 8=94:Q >    G٣ >CGy Ɍ9 > Nusing accuracyPremultiplier from config%49:-?%4Y i`B%*?%:%D-@`D;;41 5B A5EZjaeFNOT Ignoring new targets: 479.00 m.BjmP:JjmP:} ProNav: ac range: 479.000000 m, nav range: 454.861237 m, bearing: 264.959524 deg, approach rate: -0.101488 m/s, LOS rate: 0.083192 deg/s, cmd heading: 181.138078 deg, new cmd heading: 181.248099 deg. 2j}`d;HeadingCmd: 3.163376 target range: 479.000000 and range: 479.00 m. jtJ@jjjihhhhfffrfbf @ɛ=iBE] AEIA EcɚAiAIMƥ,=IUGiU2%TiU`)UtJ@)Q5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772554*F%?2F!:F!BF!JF!Ge ڽGi Gi GQ B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 21:34:23.8838 LVL= 12960, 11441, 12578, 17955, AGC= 68, IDX= 46,-0.03, 3.010,-2.757, 1.170, 2.603, PHS= 0.495, 0.970,-1.436, RAW= 19.3, -0.3, CAL= 18.8, -1.8, ROT= 131.2, 1.8 5 Ygot valid direction response: 21:34:23.8838 LVL= 12960, 11441, 12578, 17955, AGC= 68, IDX= 46,-0.03, 3.010,-2.757, 1.170, 2.603, PHS= 0.495, 0.970,-1.436, RAW= 19.3, -0.3, CAL= 18.8, -1.8, ROT= 131.2, 1.8 = PDAT read: Bearing 131.2, 1.8 (Local) E ~Local bearing/azimuth received: Bearing 131.2, 1.8 (Local) M DAT read: Range 10 to 50 : 488.7 m (Round-trip 651.7 ms) speed -0.4 m/s U ,DAT read: user:1881> Dw,"fػABDAT read: Tx time:21:34:24.9780 $Ping request sent.Qx?ηiw> >)IC@i=,ǿ^I`pN!3s)I7;i;?đ.:publishing transmit ping time.Fpublishing direction and range info9 -T?fM??y )Ii )Ii,ǿ^I`pN!3s)IiUt<@YU J@Uo9UF >yUH J?ش??@%?+?)?ɨUt<@U;UKCy޵B޵III4٢F< 3=9!:Q > G٣yP $?I  > Nusing accuracyPremultiplier from config49 ?4YT i`B!%D%@`De:P:%4) -1 A)kyA ?kv k keػA:kYCBkCZk @"1s<@9J)hB}@.f(a@ -T?fM??Jk;?Rkđ*TAUۖ"Vz,{vuW."i@Ayƶnp(IʨT?"k*kkQ?k-9 2kCk 1 ?kk^CkNCk*@ addTargetRange:: Added new target pos. range: 488.700012 m, deltaT: 4.037567 s, deltaX: 9.700012 m, approachRate: 2.402440 m/s, rangeRepo size: 4  Added new target pos. range: 488.700012 m, bearing: 268.804315 deg, lat: 36.901266 deg, lon: -122.119802 deg, deltaT: 4.037567 s, deltaX: 9.700012 m, approachRate: 2.402440 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 488.70 m.BjJj ProNav: ac range: 488.700012 m, nav range: 454.617096 m, bearing: 265.290431 deg, approach rate: 0.000000 m/s, LOS rate: 0.083192 deg/s, cmd heading: 181.248099 deg, new cmd heading: 181.374784 deg. 2j  HeadingCmd: 3.165587 target range: 488.700012 and range: 488.70 m. jJ@jjjihhhhAfAfAfArfM@3~@bfMe?ɛgB-U 隽hI ɚiI,=IGi;Si)J@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:21:34:24.9772 *F?2F:FBFJF"G=Gp=HI I II'BI&I.I6Ir<:I@ FBIJIRIZI3 =bI3 =jI~ 4G ;3G B O > w,"ػA6<@Y6?J@6 96[ >y6H`͠?@?q TP?m#??`?ɨ6<@6RҊ;zKJBoIKJ 9KHKJKJ  ;q7 4yjBjI n=lIrIrm4٢s< ^=9;Q >!! %G٣!y% ->5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i5A Nusing accuracyPremultiplier from configy49}?4Y} i}aBD@}`D};};}4ےB  AEJJ0JJJT1;J_:JJJ<J<JX;JX;ZjFNOT Ignoring new targets: 488.70 m.Bj&:Jj&:e ProNav: ac range: 488.700012 m, nav range: 454.581940 m, bearing: 265.320625 deg, approach rate: -0.091177 m/s, LOS rate: 0.078312 deg/s, cmd heading: 181.374785 deg, new cmd heading: 181.465373 deg. 2jeV;mHeadingCmd: 3.167168 target range: 488.700012 and range: 488.70 m. jmJ@jijijiiihihqhqhqfffrfbf@{?ɛ]eB]i\^ Ye묾Ia eFɚaiaIeH-=ImlGimSimە- }$?Iy)mJ@)*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G (Gi By O >('w,WػA>b<@Y>J@>j99> >y>H JR? W?Ӭ@ ? q?8p?O?ɨ>b<@>;>MCybB`}Mb@Mb@Mb@yyy y)yY}q= ףp?X9v?y}+?}<}}A }~@)}AI}Ayy}\AII4٢3; >=9pQ > G٣?CGyy : > Nusing accuracyPremultiplier from config49?4YK i aB+?:ED@`D;;ݼ4ڒB  AEZj  FNOT Ignoring new targets: 488.70 m.Bj:Jj: ProNav: ac range: 488.700012 m, nav range: 454.538055 m, bearing: 265.355734 deg, approach rate: -0.121629 m/s, LOS rate: 0.097320 deg/s, cmd heading: 181.465367 deg, new cmd heading: 181.570707 deg. 2j%;HeadingCmd: 3.169007 target range: 488.700012 and range: 488.70 m. jJ@jjjihhhh Bfffrfbf ?ɛ-dB-Lg 15۪I1 5"ɚ1i1I5-=I=NGiwSiFC)J@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F9BF=0JF9 -$?I)G] -,Ge ?Ge >G1 BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data.L-w,ȷػAjH<bHHI I II!BI&I.I6I_<:I2 Fe=@Ye#K@e 9e >yeHA8Ƣ?@ZƜ?`h?yؠ??}?ɨe=@ek;eLCyuB}III)4٢-/< L=9̺Q > G٣y6 < > Nusing accuracyPremultiplier from config49m?4Y iaB D@`D" ;C ;û4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 488.70 m.Bj:Jj: ProNav: ac range: 488.700012 m, nav range: 454.495514 m, bearing: 265.389168 deg, approach rate: -0.106068 m/s, LOS rate: 0.083368 deg/s, cmd heading: 181.570703 deg, new cmd heading: 181.671014 deg. 2jd;HeadingCmd: 3.170757 target range: 488.700012 and range: 488.70 m. jJ@jjjihhhhfffrfbf?ɛ%bB%] !%ۦI! -ɚ)i)I--=Iu2GiuSiuF%)uJ@)y*F!2F!:F!BF%4JF!G) G-nAzKwoMKh9KKKWill 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.J5J5/J51J1J5 $;J5ڈ:J53J1J5|<J5|<J5r;J5s;G KGq B O > ! I) 44w,ػAJD<@YJK@J9J>yJHY ?S?ꟿ 6?N3??`6?ɨJD<@J;JJCyZǁBZI\^AEMb@Mb@Mb@AAA A)AYEm?~jt?~jth?yE.?ED=ED;ErA Eh@)Ev@IEAAyEfAIUIU4٢em= eN=9mO;Q m>ii uG٣qyuP u> Nusing accuracyPremultiplier from configy49}?4Y} i}$aB/?:B@}`D};};}ʻ4 AEZjaeFNOT Ignoring new targets: 488.70 m.Bjmʸ:Jjmʸ:uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744146 ProNav: ac range: 488.700012 m, nav range: 454.446808 m, bearing: 265.422844 deg, approach rate: -0.116820 m/s, LOS rate: 0.080778 deg/s, cmd heading: 181.671011 deg, new cmd heading: 181.772048 deg. 2j];HeadingCmd: 3.172521 target range: 488.700012 and range: 488.70 m. j K@jjjihhhhBfffrfbfpe?ɛ%`B%*V !%&I) -ɚIiIIM#.=IU!GiUSi]V)] K@)Y*F%?2F!:F!BF%@5JF!G {#G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996311^:w,ػAN<@YNuK@Nnj9N<>yNH`!2?@g?;?XP?Ӷ?N?ɨN<@N҉;NLCyXXIbIb"4٢j7; jT=90;Q >!! %G٣%@CGy%]: -> 5Nusing accuracyPremultiplier from config)=49-?=4Y-F i-0aB9=B=@-`D-: ;- ;-ѻ4MْB MAMEZjquFNOT Ignoring new targets: 488.70 m.Bj}:Jj}: ProNav: ac range: 488.700012 m, nav range: 454.398621 m, bearing: 265.456216 deg, approach rate: -0.129080 m/s, LOS rate: 0.089403 deg/s, cmd heading: 181.772043 deg, new cmd heading: 181.872169 deg. 2jlu;HeadingCmd: 3.174268 target range: 488.700012 and range: 488.70 m. j6'K@jjjihhhhfffrfbf, @ $?Iɛ^Bd0[ I ɚiIb.=I~FiSig)6'K@)*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248241HI I II'BI&I.I6I<:IQ FG*UGqAGpAGBO>FAw,mYٻA:)<@Y:K@:79:Q >y:H?g?s?e? >?5?ɨ:)<@:"J;:KCyFЁBFIIRIR4٢Vw4= ZM=9Z%;Q Z>\\zK^K^9K\K^K^ fG٣dyjź j>rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.500154 vNusing accuracyPremultiplier from configlv49n?z4Yn inpGw,@4ٻA)%= CJ Glx -rY1y5Be|<@YeK@e<9eܷ >yeH`?y? V???@@?ɨe|<@e;ayuځBuI ==Mb@Mb@Mb@ )YV-?L7A`? G٣y: > Nusing accuracyPremultiplier from config49r?4Y iLaB-?:D@aD#;8;4 AZjFNOT Ignoring new targets: 488.70 m.Bj%:Jj%:5 ProNav: ac range: 488.700012 m, nav range: 454.301697 m, bearing: 265.528921 deg, approach rate: -0.105171 m/s, LOS rate: 0.084306 deg/s, cmd heading: 181.972086 deg, new cmd heading: 182.090315 deg. 2j5ng;=HeadingCmd: 3.178076 target range: 488.700012 and range: 488.70 m. j=eK@j9jAjAiAhAhAhIhMBfIfIfQrfQbfU`W@ɛZBF 隅I WXɚiI.=IFi& TiS)eK@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004302*F?2F:FBF_0JF $?IGM  ~G! B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259496AMw, 9ٻAZHPRHR@AHV>IT IV( IIV6BIT&IT.IT6IVr<:IV? Fr=@YrK"K@r9r>yrH`Gqx?@T?,J?A?`?@?ɨr=@rj;rMCyBII5I5b4٢Ef= MZ=9M9Q M>IQ UG٣UACGyU.@; U> eNusing accuracyPremultiplier from configYm49]]?m4Y]! i]XaBimDm@]#aD];];]4}ؒB }A}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 488.70 m.Bj:Jj: ProNav: ac range: 488.700012 m, nav range: 454.263794 m, bearing: 265.559222 deg, approach rate: -0.106441 m/s, LOS rate: 0.085101 deg/s, cmd heading: 182.090316 deg, new cmd heading: 182.181227 deg. 2ji;HeadingCmd: 3.179662 target range: 488.700012 and range: 488.70 m. jK@jjjihQhQhYhYfYfYfarfabfe  @ɛXBpG 隝fI ɚiI3/=IFi-Tih)K@)*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508189zKBoHKKKKRK% ?JK%?JJ,J0JJJL:Jـ3JJJJ;J;G5 'GM ?GM >GI $?I B O >܄Tw,8RٻAB. =@YB'K@Bq9B >yBH-`?? ۩??`??ɨB. =@B^1;BJCyNBRI]Mb@Mb@Mb@YYY Y)YY]m?{Gz?y&1|?y].?]ף<]`;]\ A ]~@)]hAI]AYy]AImIm.4٢}Ja= F=9Q > G٣yT: > Nusing accuracyPremultiplier from config49E?4Y ieaB.?:3E@5aDf;;24 :A EZjFNOT Ignoring new targets: 488.70 m.Bj :Jj : ProNav: ac range: 488.700012 m, nav range: 454.225220 m, bearing: 265.594380 deg, approach rate: -0.093541 m/s, LOS rate: 0.085263 deg/s, cmd heading: 182.181226 deg, new cmd heading: 182.286708 deg. 2jj;HeadingCmd: 3.181503 target range: 488.700012 and range: 488.70 m. jK@jjjihh h h3Bfffrfbf%,@ɛMUBM)>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:21:34:28.0362 ]TRx dataTimestamp_ set to:1736372069.372783echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.761331 aeFJIa eͫɚiiiImn/=IuFiu]Tiuf)uK@)y*F%?2F):F)BF-0JF)G1 G5rAGIG! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012391Zw,lٻA IIQu&=@YuEK@u9u,O>yuH?@A?ʨ`??`?O?ɨu&=@uS;uICyޅBލIIIݜ4٢u= G=99Q > G٣y; > Nusing accuracyPremultiplier from config49u.?4Y iqaBE@GaD ;o;Y4גB A EZj FNOT Ignoring new targets: 488.70 m.BjS:JjS:% ProNav: ac range: 488.700012 m, nav range: 454.186615 m, bearing: 265.629240 deg, approach rate: -0.094061 m/s, LOS rate: 0.084945 deg/s, cmd heading: 182.286711 deg, new cmd heading: 182.391302 deg. 2j%0i;HeadingCmd: 3.183329 target range: 488.700012 and range: 488.70 m. jK@jjjihhh)h)f)f)f)rf1bf5@@ɛSB%3 !%+I! %jMɚ)i)I-ߥ/=I- dFi5Ti5&S)5K@)1]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:34:28.0362 LVL= 18368, 17473, 18114, 26739, AGC= 63, IDX= 453,-0.04,-2.433,-2.182, 2.200, 2.908, PHS= 1.030, 1.240,-0.711, RAW= 24.4, -16.5, CAL= 27.7, -24.8, ROT= 122.3, 24.8 *F2F:FBF0JFYgot valid direction response: 21:34:28.0362 LVL= 18368, 17473, 18114, 26739, AGC= 63, IDX= 453,-0.04,-2.433,-2.182, 2.200, 2.908, PHS= 1.030, 1.240,-0.711, RAW= 24.4, -16.5, CAL= 27.7, -24.8, ROT= 122.3, 24.8 ]PDAT read: Bearing 122.3, 24.8 (Local) ]~Local bearing/azimuth received: Bearing 122.3, 24.8 (Local) HI IA IIJBI&I.I6I~<:IH FDAT read: Range 10 to 50 : 490.5 m (Round-trip 654.0 ms) speed -0.7 m/s ,DAT read: user:1882> BDAT read: Tx time:21:34:29.1281 $Ping request sent.]r ]>)]kݾI]D@i]k>YY]L5@=0]цL:ҿ)]տI]>i]"И?]\YYu:publishing transmit ping timeuFpublishing direction and range infoY9]/a?BN?%65?yYYYY Y)YIYiYYYYY Y)YIYiYYY]L5@=0]цL:ҿ)YIYiYYYYG vGy B O >caw,ٻA:@=@Y:_K@:9:>y:H`'h? p?zڧ%??`?`?ɨ:@=@:;:KC^Will construct direction to contact in vehicle frame from tetrahedron phase data.yb BfIIrIrפ4٢z= zW=9~7Q ~>| G٣BCGy; >  Nusing accuracyPremultiplier from config 49 ?4Y w zKBHKKKKBK%qA:K!i }aB)-D-@ WaD ; ; 49 =SAAk 7?k,E k kxٻA:k@CBkCZk|@"+[ne@v;z@ugagw,zٻAy-B5I-}only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 87.78, 80.54, 81.55  }@} }@} }@}  }@} II]4٢= A=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49a?4Y iaB+:|:@jaDV;>4֒B AEZjFNOT Ignoring new targets: 490.50 m.Bj:Jj: ProNav: ac range: 490.500000 m, nav range: 446.375946 m, bearing: 265.622952 deg, approach rate: -0.090971 m/s, LOS rate: 0.082615 deg/s, cmd heading: 182.489513 deg, new cmd heading: 182.599844 deg. 2jb;HeadingCmd: 3.186969 target range: 490.500000 and range: 490.50 m. jKK@jjjihhhhf f f rfbfDf?ɛ=NB=) AE@IA M!ɚIiIIM/=IUk(FiUUi]k)]KK@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.JJ4J1JJ\;Jr:J3Ja @a @a @a @*F?2F:FBFJ5JF 9I9G G B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data._mw,GUٻAjH bH"p<H&>I&C I&f II&iBI&4 =&I$.I$6I&<:I&R FBI JI RI ZI bI jI 4Nϯ=@YNeK@N9N%>yNH`o?'? 勵ྙf?6?=?۞?ɨNϯ=@N6D;Lyb%Bb IIjIjkf4٢M= MO=9U)Q U>QQ ]G٣Yy]k< ]> mbBottom track data is 0.8 s old, using for 20.0 s. mNusing accuracyPremultiplier from configau49e?u4Yes ieaBu :y}L:D@e{aDed;eR?e4 AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 490.50 m.Bj:Jj: ProNav: ac range: 490.500000 m, nav range: 446.336670 m, bearing: 265.657132 deg, approach rate: -0.106348 m/s, LOS rate: 0.092559 deg/s, cmd heading: 182.599848 deg, new cmd heading: 182.702398 deg. 2j~;HeadingCmd: 3.188758 target range: 490.500000 and range: 490.50 m. jL@jjjihhhhfffrfbf`?ɛLBx !%TI! %Rɚ!i)I-J 0=I- Fi5rUi5)5L@)9*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.zKuBoHKu+9KqKuKuGzGBO> E $?II |tw,j1ٻAy5B%' I        Mb@Mb@Mb@ )Yoʡ?V-y&1|?y-? ;@)AIyfAIIa4٢P= A=9Q > G٣CCGy > Nusing accuracyPremultiplier from config49?4Yq iaBT:9-?: H@ @aDyH;8; 4 A}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.472092Zj%FNOT Ignoring new targets: 490.50 m.Bj%:Jj-: ProNav: ac range: 490.500000 m, nav range: 446.315460 m, bearing: 265.693664 deg, approach rate: -0.047228 m/s, LOS rate: 0.081350 deg/s, cmd heading: 182.702397 deg, new cmd heading: 182.811998 deg. 2jQ_;HeadingCmd: 3.190671 target range: 490.500000 and range: 490.50 m. j3L@jjjihhhhhBfffrfbf?ɛJB7 0&I zɚiI40=I%Ei5(LUi=)=3L@)IEE*F2F:FBF\0JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723310GE GU ?GU >J5 J5 <J5 0J1 J5 (;J5 :J5 ـ3J1 GA BI Oe >zw,ٻA6i]>@Y6{L@6%96>y6HqJ?@[?Zl:??? G?ɨ6i]>@6q;6JCyNABN6 IIVIV4٢bz= b^=9b;Q b>dd fG٣dyf< j> r$?It vNusing accuracyPremultiplier from configtz49v?z4Yv ivaB|~sH~@vaDv;v;v\4ՒB A EZj)5FNOT Ignoring new targets: 490.50 m.Bj5:Jj=:M ProNav: ac range: 490.500000 m, nav range: 446.294312 m, bearing: 265.725719 deg, approach rate: -0.061965 m/s, LOS rate: 0.093924 deg/s, cmd heading: 182.811994 deg, new cmd heading: 182.908163 deg. 2jM;MHeadingCmd: 3.192350 target range: 490.500000 and range: 490.50 m. jUuOL@jQjQjQiQhQhYhahafafafarfibfmL9?ɛ-HB5? qubIq uoɚyiyI}C*0=I@Ei0IA IE IIEBIA&IA.IA6IE<:IE] FG_G B O >w, ڻA6>@Y6xL@6E96I >y6H`@[{?@?~??jO?@I?ɨ6>@6V;6KCrWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.226898yzFBz< I|~AIIݜ4٢< E=9;Q >! %G٣!y%; %> 5Nusing accuracyPremultiplier from config)549-?=4Y- i-aB9EJHE@-aD-+?;-?;-4I MsAUEzK]k3IK]9KYK]K]ZjFNOT Ignoring new targets: 490.50 m.Bj:Jj: ProNav: ac range: 490.500000 m, nav range: 446.270264 m, bearing: 265.761378 deg, approach rate: -0.057938 m/s, LOS rate: 0.085917 deg/s, cmd heading: 182.908163 deg, new cmd heading: 183.015146 deg. 2jk;HeadingCmd: 3.194217 target range: 490.500000 and range: 490.50 m. j nL@jjjihhhhfffrfbfm@ɛFBL  7I  lɚiI%80=I%Ei-%Ui-')- nL@))PExceeded connect timeout, disconnecting. $?I*F5?2F9:F9BFEo0JFAGeuFG!B)OEQ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478472w,!ڻA^>@Y^L@^X+9^c>y^H@?@2?|ޭj?`bd?@:??ɨ^>@^;^MCynYBnS IMb@Mb@Mb@ )YV-?T㥛 Mb`?y-?; )IAy=AII4٢7= <=9j:Q > G٣DCGy`; >  Nusing accuracyPremultiplier from config 49 5?4Y T i aBQ.?%:%F@%@ aD #9; ^7; -ԒB 5A5EZjY]FNOT Ignoring new targets: 490.50 m.Bjey:Jjey:u ProNav: ac range: 490.500000 m, nav range: 446.258484 m, bearing: 265.799298 deg, approach rate: -0.027222 m/s, LOS rate: 0.087633 deg/s, cmd heading: 183.015151 deg, new cmd heading: 183.128914 deg. 2jup;}HeadingCmd: 3.196203 target range: 490.500000 and range: 490.50 m. j}L@jyjyjyiyhhhhBfffrfbfU@ɛDB` 8&=I _ɚiI=0=I EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731426iUio")L@) JJ@J1JJ $;J:J3J*F?2F:FBFJF IG jG rAG rAG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982395ZH) RH) H5 >I1  I5 I7w,<;ڻAIuBIq&Iq.Iq6Iu<:IuN Fr~>@YrL@rw9rV>yrH ? ?E"|h?ל?@9?E?ɨr~>@rۇ;rLCyzaBz^ III4٢%2= %Y=9%:Q ->)) -G٣)y5^: 5> =Nusing accuracyPremultiplier from config9E49=v?E4Y= i=aBIMF@M@=aD=;=/;=)4Q UAYuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 490.50 m.Bj:Jj: ProNav: ac range: 490.500000 m, nav range: 446.248291 m, bearing: 265.832137 deg, approach rate: -0.027077 m/s, LOS rate: 0.087236 deg/s, cmd heading: 183.128915 deg, new cmd heading: 183.227434 deg. 2jzo;HeadingCmd: 3.197922 target range: 490.500000 and range: 490.50 m. jL@jjjihhhhfffrfbf @ɛmCBmf imw=I .ɚiI?0=ItEiTi5)L@)*Fm?2Fi:FiBFm2JFi"Gu=Gu=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234435zK!K!K!K%K%>eo[F7-& G{#G $?I  nManaging dock network, ignoring radio surface power offB9 O} >w,xUڻA6>@Y6>M@696; >y6H@3_?h9?Ӛ`}@? }?`;?Ъ?ɨ6>@6܇;6KCyBqBBq I Fp=Fp=UMb@Mb@Mb@QQQ Q)QYUE? G٣y; > Nusing accuracyPremultiplier from config49_?4Y iaB'?:F@@aDr;;04 AEUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:21:34:32.1774 eTRx dataTimestamp_ set to:1736372073.412687echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.487549Zjq}FNOT Ignoring new targets: 490.50 m.Bj}Q:JjQ: ProNav: ac range: 490.500000 m, nav range: 446.241516 m, bearing: 265.867082 deg, approach rate: -0.015621 m/s, LOS rate: 0.080572 deg/s, cmd heading: 183.227433 deg, new cmd heading: 183.332270 deg. 2j/];HeadingCmd: 3.199752 target range: 490.500000 and range: 490.50 m. jL@jjjihhhhBfffrfbfs @ɛEABE֮ټ IM=Iq uɚqiqIu3;0=I}VEi}Ti}#)}L@)uG*F?2F:FBF_5JF YyBG GY6 Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740383G B O >J J 0J J J !;J _:J J pHw,RoڻA6_>@Y6M@6|96>>y6H-!?@?8F?Y??`?ɨ6_>@6ԇ;6JC F$?IDy^wB^x IIjIj4٢rA< rU=9r9Q r>tt vG٣vECGyz 9 z> ~Nusing accuracyPremultiplier from config|49~J?4Y~t i~aB  F@ @~aD~;~;~74ӒB A!EZj9EFNOT Ignoring new targets: 490.50 m.BjM:JjM:] ProNav: ac range: 490.500000 m, nav range: 446.235352 m, bearing: 265.899309 deg, approach rate: -0.016947 m/s, LOS rate: 0.088599 deg/s, cmd heading: 183.332277 deg, new cmd heading: 183.428959 deg. 2j]8s;eHeadingCmd: 3.201439 target range: 490.500000 and range: 490.50 m. jebL@jajajiiihihihihqfqfqfqrfybf}`J@ɛ?BԂʼ 隭=I ׈ɚiIw20=IS;EiTi=)bL@)E*F]?2Fa:FaBFeZ0JFieWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:34:32.1774 LVL= 17392, 18641, 16562, 27203, AGC= 69, IDX= 331, 0.23, 0.099, 0.485,-1.796,-0.383, PHS= 0.570, 0.915,-1.416, RAW= 22.1, -0.6, CAL= 21.7, -2.3, ROT= 128.3, 2.3 Ygot valid direction response: 21:34:32.1774 LVL= 17392, 18641, 16562, 27203, AGC= 69, IDX= 331, 0.23, 0.099, 0.485,-1.796,-0.383, PHS= 0.570, 0.915,-1.416, RAW= 22.1, -0.6, CAL= 21.7, -2.3, ROT= 128.3, 2.3 8DAT read: $Error in header *Received a bad headerH>I I IIɂBI&I.I6I<:IT F%X#Rx 1: Read direction message, but no range.%\direction in FSK: [0.060136,0.943164,0.326840]i9m8Wʮ?얊g.??imCmH m@)mCjImEim?mq=j?m}?m|>m+ m>)ml$ImO@iml$=imprv̫QKJڵ 톿)mڿImj7 2w,a5ڻA6?@Y6.M@6X961\>y6H GH?|?@t+?`d?? ?ɨ6?@6;6KCyRBR I^Will construct direction to contact in vehicle frame from tetrahedron phase data.bT****** received valid address query ******bR****** received valid ping request ******breceived new query, but waiting for acoustic response period to elapseIZIZ)4٢jj= jK=9j8/:Q n>ll nG٣pyrm; r> vNusing accuracyPremultiplier from configtz49ve4?z4Yv$ ivaB|~/F@~@vbDv;vI;v>4 A Zj1=FNOT Ignoring new targets: 490.50 m.Bj= :Jj= :M ProNav: ac range: 490.500000 m, nav range: 446.228424 m, bearing: 265.933162 deg, approach rate: -0.017178 m/s, LOS rate: 0.083946 deg/s, cmd heading: 183.428965 deg, new cmd heading: 183.530524 deg. 2jMqf;]HeadingCmd: 3.203212 target range: 490.500000 and range: 490.50 m. j]mM@jYjYjYiYhYhahahafafifirfibfmHA@JJ@AzKbNK]9KKK BK:Kɛ5>B56 1= >I9 E3ɚAiAIM$0=IHEiTi^/)mM@) $?I*F-?2F1:F1BF=^0JF9Ga GauWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******}R****** received valid ping request ******}received new query, but waiting for acoustic response period to elapseGhAGa Bq O >[w,AڻA @yB IMb@Mb@Mb@ )Y%C?K{GztyZ$?^ף A h@)QAIy=AII4٢< :=9Q > G٣y > Nusing accuracyPremultiplier from config 49w? 4Y i%?:TD@@bDN;WL;dF4ҒB %JA%$EZjIUFNOT Ignoring new targets: 490.50 m.BjU=:JjU=:e ProNav: ac range: 490.500000 m, nav range: 446.229340 m, bearing: 265.969722 deg, approach rate: 0.002082 m/s, LOS rate: 0.083160 deg/s, cmd heading: 183.530530 deg, new cmd heading: 183.640211 deg. 2jeJd;mHeadingCmd: 3.205126 target range: 490.500000 and range: 490.50 m. jm M@jijqjqiqhqhqhyh}Bfyfyfrfbf;@ɛI ׌ɚiI0=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 elapseI Di θTi}M) M@)*F=?2F9:F9BF=_0JF9 $?IG] .-G9 BI Oe >} 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 elapsejH <bH <H I  I II BI &I .I 6I ٰ<:I Fw,ڻAL0?@YNM@<ۼ9>yH ı? ?^`>4?v? ??ɨL0?@p;yB II-I-t4٢5Y =V=9=|:Q =>AA EG٣EFCGyMǫ; M> UNusing accuracyPremultiplier from configQe49U?e4YU iQimuD@m@U'bDU4o;Uo;UM4q ZA'EB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 490.50 m.Bj :Jj:E ProNav: ac range: 490.500000 m, nav range: 446.229828 m, bearing: 266.001485 deg, approach rate: 0.001236 m/s, LOS rate: 0.080430 deg/s, cmd heading: 183.640209 deg, new cmd heading: 183.735496 deg. 2jE\;EHeadingCmd: 3.206789 target range: 490.500000 and range: 490.50 m. jM I ]ɚiI]0=IDiTiD) Will construct direction to contact in vehicle frame from tetrahedron phase data.iAT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseJJ1JJJ|";J:JJJHzڼ9FyFH@<@ &?(?,\ `9*?u???`?ɨFI?@F;FMCyVBZ IMb@Mb@Mb@ )Y{Gz?I +I +?y#?994<@ Q@)AIy@II4٢h= @=9:Q > G٣yn; > Nusing accuracyPremultiplier from config49?4YX iaB#?: G@8bDl;;zT4  A =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 elapseZjFNOT Ignoring new targets: 490.50 m.Bj(:Jj(:- ProNav: ac range: 490.500000 m, nav range: 446.202454 m, bearing: 266.036194 deg, approach rate: -0.062451 m/s, LOS rate: 0.079191 deg/s, cmd heading: 183.735490 deg, new cmd heading: 183.839625 deg. 2j-dY;=HeadingCmd: 3.208607 target range: 490.500000 and range: 490.50 m. j=YM@j9j9j9i9hAhAhAhEaBfIfIfrfbfn@ɛ5B= 9=X9I9 =+ɚAiAIE0=IDiTi I)YM@)*F92F9:F9BFAJFA 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 KG B O >w,kڻA $?I:p?@Y:M@:5׼9:>y:HQ?Ú?>`??`??ɨ:p?@:|N;:LCybB` f=f=hj@AIjIj̍4٢rш v[=9v .:Q v>tx zG٣xyz; z> Nusing accuracyPremultiplier from config| 49~? 4Y~ i~aB  F @~HbD~:~n:~Z4ђB A*EZjIMFNOT Ignoring new targets: 490.50 m.BjU:JjU: ProNav: ac range: 490.500000 m, nav range: 446.177979 m, bearing: 266.066690 deg, approach rate: -0.070900 m/s, LOS rate: 0.088345 deg/s, cmd heading: 183.839623 deg, new cmd heading: 183.931115 deg. 2jr;HeadingCmd: 3.210204 target range: 490.500000 and range: 490.50 m. jsM@jjjihhhhfffrfbf% @ɛBN 8I ɚiIv+0=IDi%Ti%=)%sM@)!*F2F:FBF0JFMWill 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 elapseH>I I !IIBI5 =&I.I6I<:Io FBIMřCJIMřCRIIZIM4 =bIM4 =jIMܴ4GMG B O >w,| ۻA6?@Y6;M@6r׼96>y6H@Y?a?;>S%?@b?`?4?ɨ6?@67;6JCy>B> INWill 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 elapseIVIV44٢^o ^M=9b8Q b>`` bG٣fGCGyfO0; f> jNusing accuracyPremultiplier from confighn49j2?r4Yj ijaBprFr@jXbDj;j;ja4t v,Az-EJJCAJK KKK"KJJ/J0JJ $;Jڈ:Jـ3JJ|<J|<Jr;Js;Zj!-FNOT Ignoring new targets: 490.50 m.Bj-X:Jj-X:] ProNav: ac range: 490.500000 m, nav range: 446.151672 m, bearing: 266.099283 deg, approach rate: -0.060802 m/s, LOS rate: 0.075338 deg/s, cmd heading: 183.931120 deg, new cmd heading: 184.028906 deg. 2j]N;eHeadingCmd: 3.211910 target range: 490.500000 and range: 490.50 m. jeM@jajajaiihihizKuBIKuh9KqKuKu!=Tfvhhff $?Ifrfbf@ɛae imIi m2ɚiiiImF0=IŏDiTiAH)M@)EE>*F?2F:FBFp0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseGE KG B! OE >̢w,8$ۻA2!?@Y2M@2 Լ92 >y2HW t?>[?C`!? ? ?l?ɨ2!?@2lw;0yBBB IUMb@Mb@Mb@QQQ Q)QYUx&1?bX9ȶQyU!?UEUuU A Q)UQAIUAQyUfAIeIen4٢}  @=9/:Q > G٣yr; > Nusing accuracyPremultiplier from config49@?4YX iaB.#?:E@@ibD3;12;pi4 gAZjFNOT Ignoring new targets: 490.50 m.Bjj:Jjj:  ProNav: ac range: 490.500000 m, nav range: 446.150146 m, bearing: 266.134315 deg, approach rate: -0.003873 m/s, LOS rate: 0.088920 deg/s, cmd heading: 184.028901 deg, new cmd heading: 184.133996 deg. 2j t; HeadingCmd: 3.213744 target range: 490.500000 and range: 490.50 m. jM@jjjihhhhBfffrfbfF$@ɛBY 隝I GɚiIY0=IqDiTi)M@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F?2F:FBF_5JF %$?I)G KG B O >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 elapseZH RH H I  I !II BI &I .I 6I Ű<:I x Fw,=ۻAZ?@YZUM@Z; ռ9Z>yZH%??@vg@?⠚?{??ɨZ?@Z|;ZICyfBf IIrIr4٢~x< ~T=9'Q >   G٣ y 9;  > eNusing accuracyPremultiplier from config}49?}4Y iaB@E@@ybDe<e<'p4ВB JA0EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 490.50 m.Bj:Jj: ProNav: ac range: 490.500000 m, nav range: 446.148285 m, bearing: 266.165765 deg, approach rate: -0.004699 m/s, LOS rate: 0.079393 deg/s, cmd heading: 184.133991 deg, new cmd heading: 184.228340 deg. 2jY;HeadingCmd: 3.215391 target range: 490.500000 and range: 490.50 m. jM@jjjihhhhfffrfbft@ɛIMh Y];IY eɚaiaIek0=I}VDi}hTi}6)}M@)*Fi2Fi:FqBFuP0JFqWill 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*JR="JJJ?JJJ$;J&:JJJU~<JU~<J;J;GzKMK+9KKK}yxsolieb`\YWUR 1 I9 Gi By O >w,xWۻA2?@Y2M@2 Ҽ92Y/>y2H7?` G٣HCGy.A: > Nusing accuracyPremultiplier from config49̈́?4Y iaB!?:G@@bDж;;w4ϒB iA3E5Will 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 elapseZjaeFNOT Ignoring new targets: 490.50 m.Bjm:Jjm:] ProNav: ac range: 490.500000 m, nav range: 446.138855 m, bearing: 266.200584 deg, approach rate: -0.022132 m/s, LOS rate: 0.081720 deg/s, cmd heading: 184.228343 deg, new cmd heading: 184.332802 deg. 2j]V`;eHeadingCmd: 3.217214 target range: 490.500000 and range: 490.50 m. jeM@jajajaiahhhhBfffrfbf @ɛy}\  pI ɚiIb0=I8DiTilFO)M@)E *F2F:FBFj4JF 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 K7G G G B O >  $?I w,qۻA6U?@Y6N@66Ҽ96W>y6H δ?.O?F@!?@??d?@?ɨ6U?@6;6ICyRxBRz II^I^4٢fdS fX=9j7Q j>hh nG٣lyn; n> vNusing accuracyPremultiplier from configpv49rp?v4Yr iraBxz+G@z@rbDr:r:r*~4 AZj!5FNOT Ignoring new targets: 490.50 m.Bj=q:Jj=q:M ProNav: ac range: 490.500000 m, nav range: 446.130249 m, bearing: 266.230807 deg, approach rate: -0.023704 m/s, LOS rate: 0.083248 deg/s, cmd heading: 184.332804 deg, new cmd heading: 184.423475 deg. 2jMd;UHeadingCmd: 3.218797 target range: 490.500000 and range: 490.50 m. jUN@jQjQjQiQhQhYhahafafafarfibfm @ɛim 隕0¼I %ɚiI٠0=IDizTi^A)N@)*FI2FI:FIBFM_0JFIUWill 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 Im !IImBIi&Ii.Ii6Im<:Imi FGmTGI BY Ou >ӿw,ۻANWill construct direction to contact in vehicle frame from tetrahedron phase data.PiPRT****** received valid address query ******RR****** received valid ping request ******Rreceived new query, but waiting for acoustic response period to elapse^@@Y^\1N@^Zм9^>y^H@ @5? O?~ @ ? ?@??ɨ^@@^D;^MCyddIrIrK4٢vYt: zH=9z9Q ~>|| ~G٣|y; >JJ/JJJD#;Jڈ:JJJ{<J{<Jr;Js; Nusing accuracyPremultiplier from config49Y?4YX iaBFG@@bD::Յ4  A56EZjq}FNOT Ignoring new targets: 490.50 m.Bj}:Jj}: $?I ProNav: ac range: 490.500000 m, nav range: 446.119843 m, bearing: 266.266417 deg, approach rate: -0.023250 m/s, LOS rate: 0.079562 deg/s, cmd heading: 184.423481 deg, new cmd heading: 184.530313 deg. 2jhZ;HeadingCmd: 3.220662 target range: 490.500000 and range: 490.50 m. jRN@jjjizKOKh9KKKOPMJGE?>?<:898:64222422../0..*)('$" !!!  hIhIhQhQfQfQfQrfYbf] @ɛBt AEƼII U<ɚQiQI];0=IdDipTiE)RN@)*F=?2F9:F9BF=^0JF9UWill construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******mreceived new query, but waiting for acoustic response period to elapse) ž= = ~GQ i Y y AGU GY6G1 BA O] >w,{ۻAy~kB~j IMb@Mb@Mb@ )Yx&1?ˡEI +y!?'94 A )IAyAII4٢Bu >=9Q > G٣ICGy > Nusing accuracyPremultiplier from config49#D?4Yw i!?:G@bDyg;"{;ތ4ΒB A 9EZjIUFNOT Ignoring new targets: 490.50 m.BjU:Jj]:u ProNav: ac range: 490.500000 m, nav range: 446.098663 m, bearing: 266.299010 deg, approach rate: -0.052996 m/s, LOS rate: 0.081560 deg/s, cmd heading: 184.530319 deg, new cmd heading: 184.628103 deg. 2ju_;}HeadingCmd: 3.222368 target range: 490.500000 and range: 490.50 m. j}H;N@jyjjihhhhBfffrfbf`ͦ!@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 elapseɛ5 PI XgɚiI0=ImCiptTi[`)H;N@) $?I*F?2F:FBF`0JFG hAG ?G !?G B O >jH5 <bH5 <H1 I1  I5 II5 ݂BI1 &I1 .I1 6I5 ۰<:I5 FM Will construct direction to contact in vehicle frame from tetrahedron phase data.U T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapse!w,wۻAj;@@YjYN@j$ϼ9jPU>yjH@l@/Ե? h?`@ /???&?ɨj;@@j;jICy%cB%` IIUIU4٢e% eN=9mo9Q m>ii mG٣qyuN; u> Nusing accuracyPremultiplier from config49.?4Y iaBG@bDE;TE;ؓ4 TAzK] |NK] 9KY K] K]    ' w,PۻAB=@@YB[N@BHϼ9BΗ>yBHYܵ? 3?!'`(UW??!?໪?ɨB=@@B;BKCyNVBNO IuMb@Mb@Mb@qqq q)qYuw/?~jt G٣yn9 > Nusing accuracyPremultiplier from config49?4Y iaB '?:E@bD;^;4 AWill 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 elapseZjAMFNOT Ignoring new targets: 490.50 m.BjM̺:JjU̺:e ProNav: ac range: 490.500000 m, nav range: 446.047607 m, bearing: 266.365104 deg, approach rate: -0.071479 m/s, LOS rate: 0.081656 deg/s, cmd heading: 184.725048 deg, new cmd heading: 184.826393 deg. 2je)`;mHeadingCmd: 3.225829 target range: 490.500000 and range: 490.50 m. jmsN@jijijiiihihhhoBfffrfbf ;#@ɛAEe IM½II mɚiiqIuz<1=IuCi}h~Ti} k)}sN@)yE]>E>*F ?2F :F BF M1JF GK Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iխ A T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG B O >J J .J J J ;J V:J J a @a @a @a @ e $?Ia 3w,+ۻA:Z@@Y:yN@: vѼ9:>y:H` T?`?`4`@I`?`.?V)?j?ɨ:Z@@:;:ICyRYBRT IIZIZK4٢bա< bY=9fl Q f>dd fG٣dyj; j> nNusing accuracyPremultiplier from configlr49n?r4YnD inaBtvEv@nbDne:n:n4~͒B ~A?EZj!-FNOT Ignoring new targets: 490.50 m.Bj-:Jj-:= ProNav: ac range: 490.500000 m, nav range: 446.019836 m, bearing: 266.396445 deg, approach rate: -0.075498 m/s, LOS rate: 0.085210 deg/s, cmd heading: 184.826394 deg, new cmd heading: 184.920425 deg. 2jEi;EHeadingCmd: 3.227470 target range: 490.500000 and range: 490.50 m. jEߎN@jAjIjIiIhIhIhQhQfQfQfQrfYbf]`A#@ɛB`! 隕I 1ɚiId1=I֐CiTie)ߎN@)*F12F1:F1BF54JF1H>I I II΂BI&I.I6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. w, ܻA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2yFH`r?? |صa?@4?*? c?ɨFi@@FxE;FJCyNMBRE IIVIV4٢^m bK=9bD9Q b>dd fG٣fJCGyf; f> rNusing accuracyPremultiplier from configpv49r?v4Yr iraBtzEz@rbDr:r:r4~̒B ~A~BEZj!%FNOT Ignoring new targets: 490.50 m.Bj- :Jj- := ProNav: ac range: 490.500000 m, nav range: 445.989899 m, bearing: 266.430151 deg, approach rate: -0.074174 m/s, LOS rate: 0.083516 deg/s, cmd heading: 184.920419 deg, new cmd heading: 185.021543 deg. 2j=Ce;EHeadingCmd: 3.229235 target range: 490.500000 and range: 490.50 m. jEʫN@jAjAjAiIhIhIhIhQfQfQfYrfabfes$@ $?Iɛim% quXI ɚiI1=IsCiޕTir)ʫN@)zK=LK=]9K9K=K=*F2F:FBFO0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data./F w, &ܻAJJ@@YJN@J%Ѽ9J>yJHT`?$>?@? `i?#?71?@$?ɨJJ@@J9;HyVKBVB I ^=^p=]Mb@Mb@Mb@YYY Y)YY](\?Mb`?y&1|y]'?];]`]A Y)]@I]hAYy]AIIn4٢+ 6=9Q >!! -G٣)y-%e; 5> ENusing accuracyPremultiplier from configAM49E?M4YET iEaBM'?u:u3Cu@EcDE;E|;En4y } AyZjFNOT Ignoring new targets: 490.50 m.Bj:Jj: ProNav: ac range: 490.500000 m, nav range: 445.944916 m, bearing: 266.467511 deg, approach rate: -0.098157 m/s, LOS rate: 0.081531 deg/s, cmd heading: 185.021546 deg, new cmd heading: 185.133638 deg. 2j_;HeadingCmd: 3.231192 target range: 490.500000 and range: 490.50 m.mWill construct direction to contact in vehicle frame from tetrahedron phase data.uBDAT read: Response Not Received }*response not received},DAT read: user:1884> BDAT read: Tx time:21:34:40.0782 $Ping request sent.I  I II BI &I .I 1D6I )<:I FBIJIRIZI5 =bI5 =jIÓ4% Will construct direction to contact in vehicle frame from tetrahedron phase data.- JDAT read: TxSync time:21:34:40.0774 5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251598G] NG1 BA O] >1w,@ܻAZ9@@YZN@Z'Ҽ9Z>yZH`m{??&ƶE a?@Y?3(?k?ɨZ9@@Zl;XyfGBf> IIrIr4٢s ^=9PQ > G٣!y%; %> MNusing accuracyPremultiplier from config)U49-?U4Y- i-aBY]C]@- cD-;-;-㶼4a e"AeEEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 490.50 m.Bj:Jj: ProNav: ac range: 490.500000 m, nav range: 445.907532 m, bearing: 266.498228 deg, approach rate: -0.099833 m/s, LOS rate: 0.082036 deg/s, cmd heading: 185.133643 deg, new cmd heading: 185.225803 deg. 2j4a;%HeadingCmd: 3.232800 target range: 490.500000 and range: 490.50 m. j%2N@j!j!j!i!h!hihihififqfqrfqbfun&@ɛ7. I fɚiI%2=I9CiTio)2N@))*F?2F:FBF_0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501930 IG =uG ?G >zK .JK 9K K K G B O >Zw,aZܻA^g@@Y^N@^+nռ9^=>y^H?? `pQ????ɨ^g@@^ɇ;\yjEBj; IuMb@Mb@Mb@qqq q)qYuS㥛?~jthyu$&?uDuu A u@)uQAIuAqyuAII4٢4 @=9EQ > G٣KCGy"; > Nusing accuracyPremultiplier from config49?4Y iaB%&?:C@1cD;+;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761879C4}˒B 1AHEZjFNOT Ignoring new targets: 490.50 m.Bj6:Jj6:5 ProNav: ac range: 490.500000 m, nav range: 445.867584 m, bearing: 266.533034 deg, approach rate: -0.090909 m/s, LOS rate: 0.079214 deg/s, cmd heading: 185.225796 deg, new cmd heading: 185.330221 deg. 2j5tY;5HeadingCmd: 3.234622 target range: 490.500000 and range: 490.50 m. j=O@j9j9j9i9h9h9hAhEEBfffrfbf@O'@ɛ ^+ I ɚiINA2=I-Ci5Ti5{)5O@)A*F?2F:FBFJFG G Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013884G% ZsJ J DJ 0J J $;J :J ـ3J $?I G B O= >w,ttܻA>@@Y>yN@>ܸݼ9>C>y>H  L?@%?৛]?=?@?ֻ?ɨ>@@>潋;>ICyFBBF8 IIRIRk4٢VW_ Z\=9Z82Q Z>\\ ^G٣\yb; b> fNusing accuracyPremultiplier from configdj49fn?j4Yf ifaBlnqCr@fAcDfE;fE;fļ4t vFAtZjFNOT Ignoring new targets: 490.50 m.Bj:Jj:- ProNav: ac range: 490.500000 m, nav range: 445.831940 m, bearing: 266.563753 deg, approach rate: -0.104232 m/s, LOS rate: 0.089837 deg/s, cmd heading: 185.330216 deg, new cmd heading: 185.422382 deg. 2j-v;5HeadingCmd: 3.236231 target range: 490.500000 and range: 490.50 m. j5iO@j1j9j9i9h9h9hAhAfAfAfIrfIbfM]'@ɛy} 3 隅 I 2:ɚiIn2=IMCiTiq)iO@)EEpA*F12F1:F1BF50JF1Hu>Iq Iu IIuBIq&Iq.Iq6Iue<:Iu1 F%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266062GUsG)B9OU>Fi#w,NܻA6@@Y6"N@6p96_>y6H@@Nj?M? `?!m?@^??ɨ6@@6i;6KCBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.517927yFCBDIR|IR[4٢Zs|: ZJ=9ZiQ Z>`` bG٣`yb_: f> jNusing accuracyPremultiplier from configdj49fg?n4Yf ifaBprkCr@fQcDf!;f{!;f˼4t v?AvKEZjFNOT Ignoring new targets: 490.50 m.Bj:Jj:- ProNav: ac range: 490.500000 m, nav range: 445.793304 m, bearing: 266.597111 deg, approach rate: -0.095664 m/s, LOS rate: 0.082604 deg/s, cmd heading: 185.422383 deg, new cmd heading: 185.522466 deg. 2j-b;5HeadingCmd: 3.237978 target range: 490.500000 and range: 490.50 m. j5;O@j1j1j1i1JAJEAAhAhIhIhIfIfQfQrfQbfU(@ e$?Iaɛae- aej Ia eɚiiiIm2=IuBiTi);O@)zKu&~JKuػ9KqKuKuB[]VOHB?954,&(*&BK:KpA*F?2F!:F!BF-0JF15Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769712G9G B! OE >)w,E,ܻA6p@@Y6N@6V\96e>y6H c0?`9?u@E, ?J?Z??ɨ6p@@6B;6ICy^?B^3 I Mb@Mb@Mb@    ) Y (\?Mb?Mb`y .? <  / A $@) `@I A y I=I=4٢ezz m2=9uו9Q u>y G٣LCGy > Nusing accuracyPremultiplier from config49e?4Y iaB.?:jB@fcD';&;Ӽ4ʒB WANEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021775ZjFNOT Ignoring new targets: 490.50 m.Bj:Jj: ProNav: ac range: 490.500000 m, nav range: 445.742340 m, bearing: 266.636958 deg, approach rate: -0.103826 m/s, LOS rate: 0.081186 deg/s, cmd heading: 185.522459 deg, new cmd heading: 185.642012 deg. 2j^;HeadingCmd: 3.240064 target range: 490.500000 and range: 490.50 m. j7]O@jjjihhhh?Bfffrfbf)@ɛ. (I! %M< ɚ!i!I-;2=I5Bi52&Ui5똼)57]O@)9 M$?IQJ]J]:J]1JYJ]%;J]:J]3JY*F92F9:F9BF=0JFA"GE=GAjHe <bHe <Hm >Ii  Im IIm BIi &Ii .Ii 6Im ڰ<:Im FG k}E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274833Gy B O > {0w,ܻA6Ѧ@@Y6fN@6ݼ96 >y6Hop? 9?J̶7?`?A?.?ɨ6Ѧ@@6Fn;6KCyPPIZIZݜ4٢bɎ bi=9b:Q f>dd fG٣dyjf j? nNusing accuracyPremultiplier from configlr49nJQ?r4Yn2 inbBtvBv@nucDn;nP:nټ4x zYAxZj!%FNOT Ignoring new targets: 490.50 m.Bj-:Jj-:5 ProNav: ac range: 490.500000 m, nav range: 445.704834 m, bearing: 266.666902 deg, approach rate: -0.117591 m/s, LOS rate: 0.093891 deg/s, cmd heading: 185.642014 deg, new cmd heading: 185.731854 deg. 2j=߀;EHeadingCmd: 3.241632 target range: 490.500000 and range: 490.50 m. jEvO@jAjAjAiAhAhIhIhIfIfQfQrfQbfU e*@ɛH}6 隭 I › ɚiI 3=ĮBi`Ui)vO@)EV>E>*Fu?2Fq:FqBFuM4JFqGM<GBO5.>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526063 9I9zK% MK% 9K! K% K% 6w,ܻAbL@@YbN@b.߼9b.>ybH@8?@g?@>Ï?? y?&?ɨbL@@bG;bHCylpWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777894Mb@Mb@Mb@ )YQ?Mb`? G٣y > Nusing accuracyPremultiplier from config49w4?4Y ibB`/?:lC@cD ;;4ɒB UAQE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 490.50 m.Bj:Jj%:- ProNav: ac range: 490.500000 m, nav range: 445.654907 m, bearing: 266.710575 deg, approach rate: -0.099377 m/s, LOS rate: 0.086940 deg/s, cmd heading: 185.731859 deg, new cmd heading: 185.862893 deg. 2j5n;5HeadingCmd: 3.243919 target range: 490.500000 and range: 490.50 m. j5`O@j1j9j9i9h9h9hAhEDBfAfAfIrfIbfM`f+@ɛ}B6. 隅I O. ɚiIM3=IUBiUidҼ)`O@)*F2F:FBFO5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029838 % $?I! G ݗG B OE >y6H ϶?I0? HB>? IIfIf4٢~"^= l=98Q ?    G٣ MCGy #  ? Nusing accuracyPremultiplier from config%49s"?%4Y| ibB!%yC-@cD;I;941 5A5UEZjaeFNOT Ignoring new targets: 490.50 m.Bjm,:Jjm,:} ProNav: ac range: 490.500000 m, nav range: 445.623993 m, bearing: 266.737884 deg, approach rate: -0.098555 m/s, LOS rate: 0.087065 deg/s, cmd heading: 185.862889 deg, new cmd heading: 185.944820 deg. 2jo;HeadingCmd: 3.245349 target range: 490.500000 and range: 490.50 m. jγO@jjjihhhhfffrfbf ,@ɛ1 I } ɚiIw3=IkBiCw,vPݻA6P@@Y6N@696+W>y6H`o?s΍?`\W?@ ? ??ɨ6P@@6U;6ICBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.533825yVIBV@ Il z$?I|nAIIW4٢?; K=9eQ > %G٣!y%; %> -Nusing accuracyPremultiplier from config)549-I ?54Y-# i-%bB9JM JM;JIJIJM';JM:JIJIJM݁Iw,7)ݻAr@@YrwO@r.9r!'>yrHӸ?u? `Y?`ϳ?`R?_?ɨr@@r֎;pyPBH IMb@Mb@Mb@ )YʡE?Mby&1|?y-2?`; @)@IhAyAIIt4٢= ?=9ެQ > G٣y-O< > Nusing accuracyPremultiplier from config49N?4Y i1bB22?:C@cD;K;4 AZjFNOT Ignoring new targets: 490.50 m.Bjq:Jjq: ProNav: ac range: 490.500000 m, nav range: 445.543060 m, bearing: 266.810873 deg, approach rate: -0.097441 m/s, LOS rate: 0.090681 deg/s, cmd heading: 186.050159 deg, new cmd heading: 186.163817 deg. 2jx;HeadingCmd: 3.249171 target range: 490.500000 and range: 490.50 m. jmO@jjjihhhhPBfffrfbf -@ɛEBE( y}LԽIy }E ɚyiIo3=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037862IH-BiWi)mO@) $?I*F?2F:FBFJFZH! RH% AAH5 >I5 C I5 II5 BI1 &I1 .I1 6I5 <:I5 f FGM ԼG B! = Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:34:43.1441 LVL= 16368, 19649, 14930, 19667, AGC= 70, IDX= 117, 0.16,-0.755,-0.396,-2.674,-1.305, PHS= 0.638, 0.957,-1.371, RAW= 22.7, -2.1, CAL= 22.4, -4.3, ROT= 127.6, 4.3  Ygot valid direction response: 21:34:43.1441 LVL= 16368, 19649, 14930, 19667, AGC= 70, IDX= 117, 0.16,-0.755,-0.396,-2.674,-1.305, PHS= 0.638, 0.957,-1.371, RAW= 22.7, -2.1, CAL= 22.4, -4.3, ROT= 127.6, 4.3  PDAT read: Bearing 127.6, 4.3 (Local)  ~Local bearing/azimuth received: Bearing 127.6, 4.3 (Local)  DAT read: Range 10 to 50 : 496.3 m (Round-trip 661.8 ms) speed -0.3 m/s  ,DAT read: user:1885>  BDAT read: Tx time:21:34:44.2282  $Ping request sent. = Q  = +>)= `I= Ӈ@i= `=9 9 = b*8*ձ$e)= HٿO >I= |S=i= e?= 9 9  :publishing transmit ping time  Fpublishing direction and range info9 9= 7U?1??y9 9 9 9 9 )9 I9 i9 9 9 9 9 9 )9 I9 i9 9 9 = b*8*ձ$e)9 I9 i9 9 9 9 ;Pw,MCݻAA@YyHt?B?"?IH?n?:?ɨA@b;騹yOBG III4٢,< H=9Q > G٣NCGy%L; %> -Nusing accuracyPremultiplier from config)u49-&?u4Y-h i-;bBy}C}@-cD-m)<-)<-4 [Ekm}?km\ ki kmP@ݻA:km&CBkmkCZkmB@"m9@E@nCv}@Ѳd@m7U?1??Jkme?Rkm*mԄpl@cvX{F&Dm@m'{T:?H?c6 v(1?"km*kmc@kmu?km 2kmCkmO ?km- N kmCkmCkmH@e addTargetRange:: Added new target pos. range: 496.299988 m, deltaT: 15.135606 s, deltaX: 5.799988 m, approachRate: 0.383202 m/s, rangeRepo size: 4  Added new target pos. range: 496.299988 m, bearing: 270.832212 deg, lat: 36.901422 deg, lon: -122.119663 deg, deltaT: 15.135606 s, deltaX: 5.799988 m, approachRate: 0.383202 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 496.30 m.BjJj ProNav: ac range: 496.299988 m, nav range: 440.247070 m, bearing: 269.077723 deg, approach rate: 0.000000 m/s, LOS rate: 0.090681 deg/s, cmd heading: 186.163814 deg, new cmd heading: 186.280257 deg. 2jHeadingCmd: 3.251204 target range: 496.299988 and range: 496.30 m. jP@jjjihhhhf1f1f1rf5@bf5`6?ɛB>' ӽI % ɚ!i!I% 4=I- Bi-}Wi-s>)-P@)1Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I*F2F:FBFJFJe Je>JaJaJe(;Je:JaJaJe<Je<Je;Je;zK k3IK 9K K K G= EG9 B O- >UWw,^ݻAWill construct direction to contact in vehicle frame from tetrahedron phase data.yXBR I %=%a=Mb@Mb@Mb@ )Y@5^I ?I +y&1|?yb0?94 )QAIyAIhIV84٢M= ==9}Q > G٣y > Nusing accuracyPremultiplier from config49?4Y iGbBj0?:C@cD;;4ǒB xA^EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 496.30 m.Bj:Jj:- ProNav: ac range: 496.299988 m, nav range: 440.217499 m, bearing: 269.118138 deg, approach rate: -0.069935 m/s, LOS rate: 0.095585 deg/s, cmd heading: 186.280255 deg, new cmd heading: 186.401508 deg. 2j-2;5HeadingCmd: 3.253320 target range: 496.299988 and range: 496.30 m. j5e6P@j1j1j1i9h9h9h9hE]BfAfAfArfIbfMn?ɛuBu$ quIy } ɚyiyI}/4=IPAisWi#Ҽ)e6P@) EEqA*F?2F:FBFo0JF $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G G B O% >3{]w,axݻA2a{A@Y2O@292 >y2HU@?1@?`Ԇ&?֟?`(O?@?ɨ2a{A@2W";2JCyRaBR^ IIZTIZ4٢bI I IIBI8 =&I.I6I<:Ia FBIJIRIZI6 =bI6 =jIȏ5I5OAi5{"Xi5)5fPP@)9-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991971*F?2F:FBF1JFG GqAGrϼGyBO^> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243081:edw,oݻAJ"J J"0J J",';J J"ـ3J J"0<J"1<J J bA@YbOO@bb9b<>ybH@@q?r? ? o?`??ɨbA@bN;`y_B[ IIEgIE64٢u u?=9}Q }>y G٣OCGyT; > Nusing accuracyPremultiplier from config49?4Y@ i\bBC@dD ;;I4 6AZjFNOT Ignoring new targets: 496.30 m.Bj:Jj:M ProNav: ac range: 496.299988 m, nav range: 440.164368 m, bearing: 269.186542 deg, approach rate: -0.069675 m/s, LOS rate: 0.089212 deg/s, cmd heading: 186.492441 deg, new cmd heading: 186.606734 deg. 2jUt;]HeadingCmd: 3.256902 target range: 496.299988 and range: 496.30 m. j]qP@jajajaiahahahihifffrfbf?ɛB I Z ɚiI^4=IAitXi?)qP@)zKKKKK""!*F?2F:FBFO5JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495115G- ϼG B O- >ߌjw,F@ݻA>6A@Y>˶O@>9>l>y>H`q?x%?@ }``p?X?@? e?ɨ>6A@>$ܘ;QQ UG٣Qy]إ ]> eNusing accuracyPremultiplier from configam49e|?m4Ye iegbBuu0?u:uI I IIĂBI9 =&I.I6Iİ<:Iq FG B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000294tqw,vݻA:|A@Y:O@:]9:)>y:H+`?}E?wx?Y7?L?ଥ?ɨ:|A@:g;:ICyBuBFv IIVIV4٢^ڟ= ^T=9~H&:Q ~> G٣yߔ;  > Nusing accuracyPremultiplier from config %49 e?%4Y X i qbB!-D-@ (dD ]; eA; !45ŒB 5~A5gEZjYeFNOT Ignoring new targets: 496.30 m.Bjex:Jjex:u ProNav: ac range: 496.299988 m, nav range: 440.115448 m, bearing: 269.257200 deg, approach rate: -0.061995 m/s, LOS rate: 0.088944 deg/s, cmd heading: 186.713384 deg, new cmd heading: 186.818727 deg. 2ju*t;}HeadingCmd: 3.260602 target range: 496.299988 and range: 496.30 m. j}P@jyjjihhhhfffrfbf@ɛB I r ɚiI4=IrAiYiü)P@)*F}?2F:FBF_0JF"G=G= M$?IIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252046J;3K;3 K;/.K3K3"K3JeJeIJe1JaJe,;JeU:Je3JaJe<Je<Je;Je;GļGiByO>zK- KLK- 9K) K- K-   7xlc]YQ"ww, ݻAbCB@Yb#P@b 9bao>ybH #?\?=rR?P?`0??ɨbCB@bB;bJCyn~Bn IzWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503333Mb@Mb@Mb@ )YDl?II MG٣UPCGyU2< U> ]Nusing accuracyPremultiplier from configYe49]YL?e4Y] i]~bBc-?:C@];dD]<]<](4ĒB 4AjE]B*** querying acoustic contact ***jYjYZjFNOT Ignoring new targets: 496.30 m.Bj:Jj: ProNav: ac range: 496.299988 m, nav range: 440.086731 m, bearing: 269.296486 deg, approach rate: -0.060292 m/s, LOS rate: 0.082486 deg/s, cmd heading: 186.818733 deg, new cmd heading: 186.936598 deg. 2jpb;HeadingCmd: 3.262659 target range: 496.299988 and range: 496.30 m. jhP@jjjihhhhBfffrfbf@ɛm~Bu qu|Iy p ɚiIM4=IMPAi&vYiƘ)hP@)*F?2F:FBF[0JF -$?I)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755245G L¼G B O >}w,|ݻA6KB@Y6jP@6696>y6H =? ? IVkG?l|?? ?ɨ6KB@6!;6HCyBBB I Jp=Jp=ININ4٢V!= V^=9V_nQ V>XX ZG٣Xy^I< ^> bNusing accuracyPremultiplier from config`f49bs8?f4Yb ibbBdfCj@bKdDb;b,;b/4a eAiZjFNOT Ignoring new targets: 496.30 m.Bjv:Jjv: ProNav: ac range: 496.299988 m, nav range: 440.063385 m, bearing: 269.327194 deg, approach rate: -0.068279 m/s, LOS rate: 0.089815 deg/s, cmd heading: 186.936595 deg, new cmd heading: 187.028724 deg. 2jv; HeadingCmd: 3.264267 target range: 496.299988 and range: 496.30 m. j P@j j j ihhhhfffrf!bf%ۯ@ɛIMG IU iI I II؂BI&I.I0D6I<:IV FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008156*F?2F:FBF_0JFG- !G B O- > ! I)  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259127'w,޻AZ!B@YZP@Z9Z^>yZHvP?{Č?C%fT?u?:?7?ɨZ!B@Z;XynBn III4٢% %C=9-Q ->11 G٣yPN< > Nusing accuracyPremultiplier from config49?4Y@ ibB+C@]dD:P:64 AmEZjFNOT Ignoring new targets: 496.30 m.Bj{:Jj{: ProNav: ac range: 496.299988 m, nav range: 440.033173 m, bearing: 269.365074 deg, approach rate: -0.073379 m/s, LOS rate: 0.092009 deg/s, cmd heading: 187.028720 deg, new cmd heading: 187.142369 deg. 2j|; HeadingCmd: 3.266251 target range: 496.299988 and range: 496.30 m. j @ Q@j j j i hhhhfffrfbf% @ɛM}BU QUDCۊw,-޻A2B@Y2QQ@292{>y2H k?=?@`@\?۠???ɨ2B@28X;0yBBB I=@= =Mb@Mb@Mb@999 9)9Y=Fx?Mb?y=+?=̼=<=E A =@)=`@I=hA9i=IUIU#4٢ey= eF=9m뛺Q m>ii mG٣uQCGyuD< u> }Nusing accuracyPremultiplier from configy49}c ?4Y} i}bB+?:C@}odD};}D;}=4ÒB ApE $?IZjFNOT Ignoring new targets: 496.30 m.BjJ:JjJ: ProNav: ac range: 496.299988 m, nav range: 440.007111 m, bearing: 269.399837 deg, approach rate: -0.064981 m/s, LOS rate: 0.086680 deg/s, cmd heading: 187.142375 deg, new cmd heading: 187.246669 deg. 2jm;HeadingCmd: 3.268071 target range: 496.299988 and range: 496.30 m. j(Q@jjjihhhhfffrfbf @ɛ=|B=Zk AEIC I !IIBI: =&I.I6I˰<:Is FGBO >% Will construct direction to contact in vehicle frame from tetrahedron phase data.] DAT read: 21:34:47.2848 LVL= 16672, 19441, 15938, 24083, AGC= 66, IDX= 325,-0.19, 1.601, 1.692,-0.436, 0.929, PHS= 0.761, 0.810,-1.368, RAW= 28.9, -1.9, CAL= 28.6, -4.2, ROT= 121.4, 4.2 m Ygot valid direction response: 21:34:47.2848 LVL= 16672, 19441, 15938, 24083, AGC= 66, IDX= 325,-0.19, 1.601, 1.692,-0.436, 0.929, PHS= 0.761, 0.810,-1.368, RAW= 28.9, -1.9, CAL= 28.6, -4.2, ROT= 121.4, 4.2 u PDAT read: Bearing 121.4, 4.2 (Local) u ~Local bearing/azimuth received: Bearing 121.4, 4.2 (Local) } DAT read: Range 10 to 50 : 489.3 m (Round-trip 652.4 ms) speed -0.3 m/s  ,DAT read: user:1886>  BDAT read: Tx time:21:34:48.3783  $Ping request sent. )- ^I- Bi- B?- )\O?- - ^ ?-  - r>)- Q I- @i- Q =) ) - ) L¦Q )- y˿I- n=i- ?- ) )  :publishing transmit ping time؉  Fpublishing direction and range info) 9- g;/?o=?@N-?y) ) ) ) ) )) I) i) ) ) ) ) ) )) I) i) ) ) - ) L¦Q )) I) i) ) ) ) Ñw,^fG޻A22:C@Y2XQ@2C92E>y2H@@?@?`\W?`A֠?`&? 6?ɨ22:C@2g;2ICy>BB IIJIJ@4٢rf< rS=9v>8Q v>tt vG٣xyz5< z> %Nusing accuracyPremultiplier from config!-49%K?-4Y%} i%bB)-?C5@%dD%:%:%tD4 AkUC5?kU%I kQ kUB޻A:kUCBkUCZkU@"U=1A@{@й(lLhj@Ug;/?o=?@N-?JkU?RkU*Uzc:@0Ϫ;y:y1q@U1K<,=?gw,Qa޻AnWill construct direction to contact in vehicle frame from tetrahedron phase data.UC@YU5Q@UH 9U>yUH`h4?y'?& VWS?`;H??Z?ɨUC@U_;UHCyeBe Iuu uMb@Mb@Mb@qqq q)qYu~jt?I +Mbp?yu$?u9u;u A q)uv@IuAqyuAIUI4٢E= 0=99Q > G٣y1< > Nusing accuracyPremultiplier from config49?4YC ibB$?:B@dD:;8;vL4 PAsEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 489.30 m.Bj&:Jj&:5 ProNav: ac range: 489.299988 m, nav range: 437.346466 m, bearing: 270.861586 deg, approach rate: -0.058059 m/s, LOS rate: 0.089241 deg/s, cmd heading: 187.355600 deg, new cmd heading: 187.470994 deg. 2j=t;UHeadingCmd: 3.271986 target range: 489.299988 and range: 489.30 m. jU8hQ@jQjQjQiYhYhahhBfffrfbf@a?ɛyT2 隍 o=I  ɚiIK~4=I|@iYi)8hQ@)*FQ2FQ:FQBFU3JFQ"G]=G]= $?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.JM JM WJI JI JM t4;JM :JI JI G} KGQ BY O >w,H{޻A6C@Y6!Q@6 96!=y6Hy"? ɑ?yui8?`v?pM??ɨ6C@6ff;6JCyBBB IIJIJa4٢RG= Rs=9V-Q V?TT ZG٣ZRCGyZ ; Z? Nusing accuracyPremultiplier from config%49?%4Y ibB!-B-@dD+;,;R45’B 5A5vEZjaeFNOT Ignoring new targets: 489.30 m.Bjm:Jjm:} ProNav: ac range: 489.299988 m, nav range: 437.327026 m, bearing: 270.890781 deg, approach rate: -0.055892 m/s, LOS rate: 0.083942 deg/s, cmd heading: 187.470989 deg, new cmd heading: 187.558577 deg. 2j}of;HeadingCmd: 3.273515 target range: 489.299988 and range: 489.30 m. jDQ@jjjihhhhfffrfbf&?ɛzB Ț=I  ɚiIn4=Iq@iYi+9)DQ@)ER>E!>H=>I9 I=!II=BI=; =&I9.I96I=Ӱ<:I=x F*F2F:FBF[0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995469Gm{#G)B1OU2> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247226w,޻AbC@YbC R@by 9bV.=ybH``F?X@?^q@g\?`Vn?n?` ?ɨbC@b;bGCynBn I)p pIv`Iv(*4٢1= E=93!9Q >    G٣ y ; > Nusing accuracyPremultiplier from config%49 ?-4Y ibB)-OB-@dDL?;?;Y41 =AAZjamFNOT Ignoring new targets: 489.30 m.Bjm:Jjm:} ProNav: ac range: 489.299988 m, nav range: 437.303741 m, bearing: 270.924702 deg, approach rate: -0.057591 m/s, LOS rate: 0.083904 deg/s, cmd heading: 187.558579 deg, new cmd heading: 187.660350 deg. 2jTf;HeadingCmd: 3.275291 target range: 489.299988 and range: 489.30 m. j^Q@jjjihhhhfffrfbf_?ɛ[ \=I  ɚiIiX4=IV@ioZYi+)^Q@)*F2F:FBF_0JFzKQJK9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503499G^%GBO>*w,֮޻A2C@Y2`R@2 92*.=y2Hqi?^?¿ +n?Z?? ?ɨ2C@2;2KCy>B> I Mb@Mb@Mb@    ) Y {Gz?I +Mb`?y #?  %$?I! ; E A @) @I  y AI5I5r4٢E9< EF=9M(Q M>II MG٣IyU; U> eNusing accuracyPremultiplier from configam49eۛ?m4YeT iebBm#?m:m;Bm@edDe;e;e`4}B AyEZjAMFNOT Ignoring new targets: 489.30 m.BjM:JjM:UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751328} ProNav: ac range: 489.299988 m, nav range: 437.279877 m, bearing: 270.959263 deg, approach rate: -0.055105 m/s, LOS rate: 0.079806 deg/s, cmd heading: 187.660349 deg, new cmd heading: 187.764035 deg. 2j[;HeadingCmd: 3.277101 target range: 489.299988 and range: 489.30 m. jQ@jjjihhhhBfffrfbfϋ?ɛeyBJu#JuRJu0JqJuD<;Ju:Juـ3JqeZ 隭=I 2 ɚiI=4=Ic@i-Yiܻ)Q@)*F?2F:FBFJFjH5<bH5p<H= >I9 I=.!II= BI=< =&I9.I96I=<:I=9 FBIȗCJIȗCRIZI: =bI: =jI\5G Z Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003752Gy B O >w,޻A6C@Y6ZR@6= 96~^=y6HTl?`?¿kP?㜡? ? ?ɨ6C@6;6ICybBb IIjIj_v4٢vû vP=9vO9Q v>xx zG٣zSCGy~k9 ~> Nusing accuracyPremultiplier from config 49ۆ? 4Y ibB :B@dD:":g4 A%|EZjAMFNOT Ignoring new targets: 489.30 m.BjM:JjM:e ProNav: ac range: 489.299988 m, nav range: 437.257416 m, bearing: 270.991975 deg, approach rate: -0.060561 m/s, LOS rate: 0.088206 deg/s, cmd heading: 187.764031 deg, new cmd heading: 187.862173 deg. 2je#r;mHeadingCmd: 3.278813 target range: 489.299988 and range: 489.30 m. jmQ@jijijiiqhqhqhqhfffrfbf@"@ɛټ 隽=I a ɚiI)&4=IG@iYi()Q@)E*F5?2F1:F9BF=b0JF9 $?IeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255355G1G=qAG=pAGBO=>zK &~JK ]9K K K 1^w,޻AFWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.511122=eC@Y=R@= 9=>y=H`s "W?,?hg|? C?R? J?ɨ=eC@=*;=GCyMBM IMb@Mb@Mb@ )Y+?~jtMbP?y?ļ: A )`@IzAyAIIHo4٢u%= ,=99Q > G٣y > Nusing accuracyPremultiplier from config49 n?4Y ibB?:B@dD~};Nm;o4mB uXAuEB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 489.30 m.Bj-/:Jj-/:= ProNav: ac range: 489.299988 m, nav range: 437.232422 m, bearing: 271.030606 deg, approach rate: -0.049260 m/s, LOS rate: 0.076142 deg/s, cmd heading: 187.862167 deg, new cmd heading: 187.978068 deg. 2jeQ;eHeadingCmd: 3.280836 target range: 489.299988 and range: 489.30 m. je8Q@jijijiiihihihqhuBfqfqfyrfybf}5@ɛuټ  =I  il ɚ iI4=I]}&@ie YimK)m8Q@)q $?I*FI2FQ:FQBFU_0JFQ-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759625JM JM XJM 1JI JM 6;JM :JM 3JI Gu -,GI BY Ou >Tw,~;޻A6C@Y6Q@6 96 >y6H`k?@? a ;e V?U? ??ɨ6C@6Ÿ;6HCy>BB IIJIJa4٢RX*< Rr=9Ri:Q R?TT VG٣TyZ Z? bNusing accuracyPremultiplier from config`f49bN\?f4Ybc ibbBdjBj@bdDbF;by;bu4l nIAlH} >I}C I};!II}BI}= =&Iy.I}/D6I}<:I}e FZjFNOT Ignoring new targets: 489.30 m.Bj:Jj: ProNav: ac range: 489.299988 m, nav range: 437.215057 m, bearing: 271.058251 deg, approach rate: -0.053286 m/s, LOS rate: 0.084834 deg/s, cmd heading: 187.978062 deg, new cmd heading: 188.060998 deg. 2jh;HeadingCmd: 3.282284 target range: 489.299988 and range: 489.30 m. jR@jjj i h h hhfffrfbf@ɛNǼ 隭8=I  ɚiI3=I@i Yi|)R@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012612*F]?2Fa:FaBFe0JFaGo/D I G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263207J) J- @A|w,\߻AZC@YZQ@Z@ 9ZI >yZHh?=?{a?`/? x?@?ɨZC@Z9;ZJCynBn IIvIv_v4٢~# E=97:Q >   G٣ TCGy Uz  > Nusing accuracyPremultiplier from config%49F?%4Y ibB)-B-@eDD;TE;}45B =QA=EZjaeFNOT Ignoring new targets: 489.30 m.Bjmk:Jjmk:} ProNav: ac range: 489.299988 m, nav range: 437.194458 m, bearing: 271.091963 deg, approach rate: -0.052194 m/s, LOS rate: 0.085425 deg/s, cmd heading: 188.060994 deg, new cmd heading: 188.162137 deg. 2jj;HeadingCmd: 3.284049 target range: 489.299988 and range: 489.30 m. j-R@jjjihhhhfffrfbf@= @ɛͼ =I ڹ ɚiI3=I?i;Yi|2)-R@)!EIEMsAzKBHK9KKK*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:34:51.4368 TRx dataTimestamp_ set to:1736372092.576107checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519768GM k}G! B) OM >w,0߻A $?IyB IMb@Mb@Mb@ )Y-?=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7674709Q > G٣y > Nusing accuracyPremultiplier from config49<0?4Y ibBF?:&B @eDb:;U;4! -<A)Jm JmcJiJiJm9;Jmϣ:JiJiZjFNOT Ignoring new targets: 489.30 m.Bj":Jj": ProNav: ac range: 489.299988 m, nav range: 437.170746 m, bearing: 271.126913 deg, approach rate: -0.049863 m/s, LOS rate: 0.073497 deg/s, cmd heading: 188.162136 deg, new cmd heading: 188.266990 deg. 2jI;HeadingCmd: 3.285879 target range: 489.299988 and range: 489.30 m. jKR@jjjihhhhBfffrf bf  @ɛY]Ҽ Y]=IY e< ɚiI3=I?i9rYiY)KR@)*FA2FA:FABFED3JFAGI GMrAZHqRHqH}>Iy I}G!II} BI}> =&Iy.Iy6I}<:I}X F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019136Ge D&G B O >w,عJ߻A60D@Y6NR@696~>y6HG?? j¿UJ?۠?]?L?ɨ60D@6';6HCyrBr II~I~r4٢  ;  X=9 -:Q > G٣y< > %Nusing accuracyPremultiplier from config!-49%?-4Y% i%bB15A5@%#eD%:%:%C49 =/AEEZjamFNOT Ignoring new targets: 489.30 m.Bju:Jju: ProNav: ac range: 489.299988 m, nav range: 437.148590 m, bearing: 271.157267 deg, approach rate: -0.066567 m/s, LOS rate: 0.091205 deg/s, cmd heading: 188.266993 deg, new cmd heading: 188.358060 deg. 2j_z;HeadingCmd: 3.287468 target range: 489.299988 and range: 489.30 m. jeR@jjjihhhhfffrfbf H@ɛ h=I .ɚiI3=Iӹ?iyYi%`)eR@) $?I*F?2F:FBFV0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Ai%DAT read: 21:34:51.4368 LVL= 18160, 21649, 15042, 25075, AGC= 67, IDX= 441,-0.28, 2.293, 2.302, 0.200, 1.560, PHS= 0.821, 0.789,-1.363, RAW= 30.7, -2.3, CAL= 30.6, -4.9, ROT= 119.4, 4.9 -Ygot valid direction response: 21:34:51.4368 LVL= 18160, 21649, 15042, 25075, AGC= 67, IDX= 441,-0.28, 2.293, 2.302, 0.200, 1.560, PHS= 0.821, 0.789,-1.363, RAW= 30.7, -2.3, CAL= 30.6, -4.9, ROT= 119.4, 4.9 UPDAT read: Bearing 119.4, 4.9 (Local) ]~Local bearing/azimuth received: Bearing 119.4, 4.9 (Local) uDAT read: Range 10 to 50 : 490.7 m (Round-trip 654.3 ms) speed -0.2 m/s ,DAT read: user:1887> BDAT read: Tx time:21:34:52.5283 $Ping request sent.+ ?l$ ܸ?)%I^@i%='?,ڱ,B隤)mǿI$=iXf?*%:publishing transmit ping timeة%Fpublishing direction and range info9aYc?M4R?nDwj?y )Ii )Ii'?,ڱ,B隤)IiGGBO>zK K 9K K K RK ?JK ? ~G1 Y X Y y BRw,d߻A"Will construct direction to contact in vehicle frame from tetrahedron phase data.]bD@Y]R@] 9]>y]H%-y?=^?`Yÿ OV?ࡡ?? ?ɨ]bD@];]ECyީ޵ ImMb@Mb@Mb@iii i)iYmrh|?I +Mbp?ym?m9m;m A m@)iImAiymAIvI&Q4٢P: '=9;n:Q > G٣UCGy+< > %Nusing accuracyPremultiplier from config!-49%?-4Y%o i% cB-?-:-A5@%7eD%;%;% 4=B =)A]EkR??kۏ k kKU߻A:kYCBkCZknk@"Oq*!B@"ͫ${@ "/1l@aYc?M4R?nDwj?JkXf?Rk**پ sY@@3QxKYvq@$!?kU鿇e>9?"k*kBkɐ?kt 2kCCku?k kCkCk@ addTargetRange:: Added new target pos. range: 490.700012 m, deltaT: 4.284570 s, deltaX: 1.400024 m, approachRate: 0.326760 m/s, rangeRepo size: 4 - Added new target pos. range: 490.700012 m, bearing: 274.696811 deg, lat: 36.901543 deg, lon: -122.119256 deg, deltaT: 4.284570 s, deltaX: 1.400024 m, approachRate: 0.326760 m/s, posRepo size: 4 Zj15FNOT Ignoring new targets: 490.70 m.Bj]JjYm ProNav: ac range: 490.700012 m, nav range: 403.615814 m, bearing: 271.697389 deg, approach rate: 0.000000 m/s, LOS rate: 0.091205 deg/s, cmd heading: 188.358067 deg, new cmd heading: 188.500329 deg. 2jiuHeadingCmd: 3.289951 target range: 490.700012 and range: 490.70 m. juR@jjjihhhhBfffrf@3~@bf w? $?IɛJ\Ӽ =I [ɚi!I%gx3=I%$?i-mYi-vC)-R@))Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF@5JFG lVG% rAG% rAG B O >aw,^߻AH.>I.C I.M!II.%BI.@ =&I,.I..D6I.<:I.v FbE@Yb S@b` 9b>ybH8x?@;?@% Ŀ-5?@k?@ ??ɨbE@b':;bJCynBn IIzUIz4٢r< n=94Q  ? G٣y^< ? %Nusing accuracyPremultiplier from config%49K?-4Y icB15XA5@DeD,;-;љ49 =A=E]B*** querying acoustic contact ***jYjYZjaFNOT Ignoring new targets: 490.70 m.Bj:Jj: ProNav: ac range: 490.700012 m, nav range: 403.597595 m, bearing: 271.725791 deg, approach rate: -0.058075 m/s, LOS rate: 0.090537 deg/s, cmd heading: 188.500326 deg, new cmd heading: 188.585534 deg. 2jx;HeadingCmd: 3.291439 target range: 490.700012 and range: 490.70 m. jR@jjjihhhhfffrfbfz?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.ɛzB° 隵">I  ɚiI\3=Ix?ihFYiһ)R@)*F?2F:FBF_0JF )I)Gf AG B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983632JQ JQ J] *J] sJ] 0JY J] A;J] :J] ـ3JY J] "y:Hd@}?:$?mſ,??O?F?ɨ:E@:;:GCyRÂBR IIZ[IZK!4٢b= fO=9fQ f>hh jG٣lynT< r> vNusing accuracyPremultiplier from configpv49r/?z4Yr ircBxz@z@rSeDr:r:r4B @EZj)-FNOT Ignoring new targets: 490.70 m.Bj5:Jj5:E ProNav: ac range: 490.700012 m, nav range: 403.574005 m, bearing: 271.759784 deg, approach rate: -0.059785 m/s, LOS rate: 0.086156 deg/s, cmd heading: 188.585539 deg, new cmd heading: 188.687526 deg. 2jEl;MHeadingCmd: 3.293219 target range: 490.700012 and range: 490.70 m. jMR@jIjIjIiIhQhQhahafafafarfibfm?ɛQ[ 隥>I ɚiIO63=I[?ikXi彺)R@)*FU?2FQ:FQBFQJFQzK-ezKK)K)K-GMOK-BK}pA:K}mAGiBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237949OH> % $?I) ARw,歳߻A6#F@Y6UBT@6 96>y6H~w?? VDƿ!???`?ɨ6#F@6ސ;6HCyRBR IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487521MMb@Mb@Mb@III I)IYMʡE?:vyM?MTMM/ A I)M@IMhAIyMAI]II]d4٢mkC m@=9uE޸Q u> G٣yݵ< > Nusing accuracyPremultiplier from config49?4Y i"cB?:3?@deDn;;E4 @EZjFNOT Ignoring new targets: 490.70 m.Bj :Jj : ProNav: ac range: 490.700012 m, nav range: 403.541351 m, bearing: 271.797278 deg, approach rate: -0.075600 m/s, LOS rate: 0.086812 deg/s, cmd heading: 188.687528 deg, new cmd heading: 188.800017 deg. 2jPn;HeadingCmd: 3.295182 target range: 490.700012 and range: 490.70 m. jCR@jjjihhhhBfffrfbf%?ɛ%{B%ļ !%r >I! -hɚ)i)I-3=Iq;?iKXi;)CR@)*Fe?2Fa:FaBFaJFajHYbH]<He>IeC IaIaIeD =&Ia.Ie-D6Ie<:Iex FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742441G UG ?G ?G B O >:w,߻A6F@Y6T@6>96Y>y6HBuq?y?ǿw.??A?@W?ɨ6F@6;4yBBB IIJ}IJ]4٢V( VX=9ZU;Q Z>XX ZG٣ZVCGy~L< ~> Nusing accuracyPremultiplier from config%49y?%4Y i*cB)->-@seDJ;;41 5#A1ZjaeFNOT Ignoring new targets: 490.70 m.Bjm}:Jjm}: ProNav: ac range: 490.700012 m, nav range: 403.511169 m, bearing: 271.830380 deg, approach rate: -0.078708 m/s, LOS rate: 0.086329 deg/s, cmd heading: 188.800021 deg, new cmd heading: 188.899334 deg. 2jl;HeadingCmd: 3.296915 target range: 490.700012 and range: 490.70 m. jS@jjjihhhhfffrf $?IIgbf ?ɛhż =I ɚiI2=I ?iWi֗<)S@)*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991649GJ55J5J1J1J5SJ;J5:J1J1J5<J5<J5<J5<GaBiO8>zK} KKy Ky K} K}   Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245770gw,r߻A],F@Y]U@]d9]>y]Htm@(?kt?ǿ ??k?`P?ɨ],F@]a;YyB IMb@Mb@Mb@ )YʡE?~jt? G٣y6<  > Nusing accuracyPremultiplier from config49?4Y} i8cB?:<@eD;;'4-B -A-EZjFNOT Ignoring new targets: 490.70 m.Bj:Jj:  ProNav: ac range: 490.700012 m, nav range: 403.461792 m, bearing: 271.870845 deg, approach rate: -0.101924 m/s, LOS rate: 0.083538 deg/s, cmd heading: 188.899332 deg, new cmd heading: 189.020741 deg. 2j Se;HeadingCmd: 3.299034 target range: 490.700012 and range: 490.70 m. ja#S@jjjihhhAhEBfAfAfIrfIbfM@l@ɛ|BA̼ $?I 隽T=I 8ɚiI2=IU>iVid-<)a#S@)*Fu?2Fq:FqBFu0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496420*J-4="J-%=G ;G G G B O >HKw,;AH>IC IT!II*BIG =&IID.I6I<:Ir FBIUCJIUCRIUCZIU@ =bIUA =jIUl6J%G@YJDU@J9J>yJH Lgӗ?q?@?@ȿ`@?@C? T???ɨJ%G@JB݉;HyRBV IIZfIZ44٢5< =l=9=ȑ:Q =?AA EG٣AyM@< M? UNusing accuracyPremultiplier from configQe49U?e4YU iUCcBae;m@UeDUI;UuI;U14uB u@uEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 490.70 m.Bj:Jj: ProNav: ac range: 490.700012 m, nav range: 403.424744 m, bearing: 271.900596 deg, approach rate: -0.111357 m/s, LOS rate: 0.089432 deg/s, cmd heading: 189.020745 deg, new cmd heading: 189.110006 deg. 2ju;HeadingCmd: 3.300592 target range: 490.700012 and range: 490.70 m. jI! %ɚ!i!I-ŷ2=I->i-Vi56O<)5 I- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999495JE <JE JA JA JE O;JE y:JA JA JE H<JE I<JE "<JE "<Mvw,A6HG@Y6fgU@696>y6H 'd(?lm?ȿ @u?@#?e? T?ɨ6HG@6o(;6ICyBBB IIJsIJK4٢nT; nP=9r.:Q r>pp rG٣vWCGyv; v> zNusing accuracyPremultiplier from configx~49z,w?~4Yz izOcB;@zeDz;z!;z Ľ4  @ Zj15FNOT Ignoring new targets: 490.70 m.BjE:JjE:U ProNav: ac range: 490.700012 m, nav range: 403.382355 m, bearing: 271.934347 deg, approach rate: -0.109021 m/s, LOS rate: 0.086814 deg/s, cmd heading: 189.110002 deg, new cmd heading: 189.211265 deg. 2jUQn;]HeadingCmd: 3.302360 target range: 490.700012 and range: 490.70 m. j]YS@jYjajaiahahahihifififirfqbfu " @ɛ}B01 >I ZpɚiI*2=I>i.UiPP<)YS@)zK+LK]9KK*F?2F:FBFI4JFKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257234G9)<G B O > $?I w,#4A:nG@Y:U@:9:>y:H ` ?wm?@ȿ[;???k?ɨ:nG@:[l;8y^Bb IrWill construct direction to contact in vehicle frame from tetrahedron phase data.rBDAT read: Rx Time:21:34:55.5889 vTRx dataTimestamp_ set to:1736372096.856653vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.504539eMb@Mb@Mb@aaa a)aYex&1?S㥛yeA ?e/ݼee A a)e`@IeAayaIiI:4٢ʼ ?=99Q > G٣y; > Nusing accuracyPremultiplier from config49`?4Y  iVcBg ?:N?@eD;;˽4 @EJQJUAAZjFNOT Ignoring new targets: 490.70 m.Bj(:Jj(: ProNav: ac range: 490.700012 m, nav range: 403.350677 m, bearing: 271.972186 deg, approach rate: -0.070314 m/s, LOS rate: 0.083998 deg/s, cmd heading: 189.211266 deg, new cmd heading: 189.324793 deg. 2jf;HeadingCmd: 3.304341 target range: 490.700012 and range: 490.70 m. jSzS@jjjihhhhff f rf bf   @ɛ]~B]p ɼ ae=Ia eɚaiaIe2=Ib>iITiT<)SzS@)*FE?2FA:FABFMY0JFIZH!RH%@AH->I-C I)I)I-J =&I).I-,D6I-߰<:I-c FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755591Gm F<G! B1 OU >w,NA 1IqyuBu IIrIJ4٢ ;=9Q > G٣y > Nusing accuracyPremultiplier from config49J?4Y$ i]cB @eD;;+ӽ4B AEZjiuFNOT Ignoring new targets: 490.70 m.Bj}':Jj': ProNav: ac range: 490.700012 m, nav range: 403.318512 m, bearing: 272.010814 deg, approach rate: -0.074670 m/s, LOS rate: 0.089680 deg/s, cmd heading: 189.324798 deg, new cmd heading: 189.440691 deg. 2j/v;HeadingCmd: 3.306364 target range: 490.700012 and range: 490.70 m. jwS@jjjihhhhfffWill construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 21:34:55.5889 LVL= 16928, 23889, 19170, 24387, AGC= 69, IDX= 447,-0.45, 0.153,-0.060,-1.952,-0.643, PHS= 0.884, 0.630,-1.313, RAW= 36.1, -2.0, CAL= 36.2, -4.5, ROT= 113.8, 4.5 ]Ygot valid direction response: 21:34:55.5889 LVL= 16928, 23889, 19170, 24387, AGC= 69, IDX= 447,-0.45, 0.153,-0.060,-1.952,-0.643, PHS= 0.884, 0.630,-1.313, RAW= 36.1, -2.0, CAL= 36.2, -4.5, ROT= 113.8, 4.5 PDAT read: Bearing 113.8, 4.5 (Local) ~Local bearing/azimuth received: Bearing 113.8, 4.5 (Local) DAT read: Range 10 to 50 : 492.3 m (Round-trip 656.5 ms) speed -0.4 m/s ,DAT read: user:1888> BDAT read: Tx time:21:34:56.6783 $Ping request sent.i%FNSi%t7<)%wS@)) )Ii )Ii.98 ?x:dKdlw)Ii*F?2F:FBFl3JFG GzK KK 9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:34:56.6775 G G B! Oe >j:w,mjAmG@YU@~9m>yH$_11 5G٣5XCGy=; => ENusing accuracyPremultiplier from configAM49Ez1?M4YE/ iEfcBU$?U:Ul@U @EeDE<;E;E(۽4Y eAa }$?IkqV#?kpV( k kGWA:k&CBkhCZk @"ƽ^;@1'y@zzp@D?Nj?q#?Jk?RkU*ඪ8>K@wFws@@r›޼?;O`5迺n?"k7*k^Bk2w#?k m 2k>Ck!m?k_F k0CkCk`@ addTargetRange:: Added new target pos. range: 492.299988 m, deltaT: 4.032653 s, deltaX: 1.599976 m, approachRate: 0.396755 m/s, rangeRepo size: 4 5 Added new target pos. range: 492.299988 m, bearing: 278.478494 deg, lat: 36.901704 deg, lon: -122.119223 deg, deltaT: 4.032653 s, deltaX: 1.599976 m, approachRate: 0.396755 m/s, posRepo size: 4 Zj1=FNOT Ignoring new targets: 492.30 m.Bj=Jj9M ProNav: ac range: 492.299988 m, nav range: 401.392151 m, bearing: 274.620490 deg, approach rate: 0.000000 m/s, LOS rate: 0.089680 deg/s, cmd heading: 189.440692 deg, new cmd heading: 189.561356 deg. 2jImHeadingCmd: 3.308470 target range: 492.299988 and range: 492.30 m. jmS@jijijiiihhhhBfffrf~@bfV?ɛB ̼ =I 87ɚiIV2=I-a>i5 Ri5+<)5S@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG I3<H >I C I I I K =&I .I +D6I <:I o FG B O >!w,AN~G@YNU@ND9N >yNH _>?Gj?@#ȿ?2ǟ?? v?ɨN~G@N‡;NICyZBZ IIbbIb-4٢n< n{=9rQ r ?pp rG٣pyv v ? zNusing accuracyPremultiplier from configx~49z ?4Yz izmcB @zeDz";zP#;z4 B @E-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 492.30 m.BjE:JjE:]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: 492.299988 m, nav range: 401.380859 m, bearing: 274.650300 deg, approach rate: -0.035421 m/s, LOS rate: 0.093514 deg/s, cmd heading: 189.561355 deg, new cmd heading: 189.650786 deg. 2jZ;HeadingCmd: 3.310031 target range: 492.299988 and range: 492.30 m. jS@jjjihhh h f f f rfbf@C?ɛB:/ 隅`=I ɚiIB2=I)H>iQi!<)S@)*FI2FI:FIBFIJFI IGo[< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984226G B O >VF'w,4A~٭G@Y~mU@~9~`u >y~HGZd?p?Jɿ@ @t?D9?^??ɨ~٭G@~nx;~FCyB II-AI-k3)A A٢mT uA=9ȺQ >~~G|uA G٣ rY|uAyOByh; > Nusing accuracyPremultiplier from config 49 P?4Y  i vcB=@ @ eD : : 4 1AEZjFNOT Ignoring new targets: 492.30 m.Bj :Jj := ProNav: ac range: 492.299988 m, nav range: 401.364868 m, bearing: 274.690772 deg, approach rate: -0.034471 m/s, LOS rate: 0.087245 deg/s, cmd heading: 189.650789 deg, new cmd heading: 189.772210 deg. 2jEo;MHeadingCmd: 3.312150 target range: 492.299988 and range: 492.30 m. jMDS@jIjIjIiIhQhQhQhQfYfYfYrfYbf] ?ɛB1Լ 隕=I ЖɚiIc-2=Ir%>i!Qi]0%<)DS@zKBHK9KKK}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239827)EI*F)2F):F1BF1JF1"G==G== u $?Iy GU O <G) 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492117BA Oe >w-w,|AJKO3 KϚ.KK"KJ-KJ-J-2J)J-[;J-:J-c3J)a=@a=@a=@a=@y޵B޵ IAEMb@Mb@Mb@AAA A)AYE(\?I +MbP?yE'?E9E:E A E$@)E3@IEhAAyEAI]7I]3٢m< m:=9uQ u>qq }G٣}YCGy > Nusing accuracyPremultiplier from config49X?4Y' i~cB'?:w> @ fDu(<'<4 AZjAMFNOT Ignoring new targets: 492.30 m.BjM:JjU: ProNav: ac range: 492.299988 m, nav range: 401.341888 m, bearing: 274.730083 deg, approach rate: -0.055415 m/s, LOS rate: 0.094802 deg/s, cmd heading: 189.772216 deg, new cmd heading: 189.890156 deg. 2j;HeadingCmd: 3.314209 target range: 492.299988 and range: 492.30 m. jT@jjjihhhhBfffrfbfQ?ɛ=B=μ 9=`=I9 E;ɚAiAIE2=IM>iM)dPiMH<)]T@)iH>I IM!II%BIL =&I.I6IѰ<:IT F*Fe?2Fa:FaBFep0JFa}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743412G 9)<Ga Bi O >WS4w,$A $?I:G@Y:U@:9:4>y:H\X?.+a?|ɿ `?`?? $?ɨ:G@:+;:HCyNBN IIVzIV=X4٢^  ^l=9b;Q b?`d fG٣dyfr; f? nNusing accuracyPremultiplier from confighn49j?r4Yj$ ijcBpr^>r @jfDjS;j;j4zB z-A~EZjFNOT Ignoring new targets: 492.30 m.Bj:Jj: ProNav: ac range: 492.299988 m, nav range: 401.322876 m, bearing: 274.762212 deg, approach rate: -0.054812 m/s, LOS rate: 0.092632 deg/s, cmd heading: 189.890160 deg, new cmd heading: 189.986553 deg. 2jJ~;HeadingCmd: 3.315891 target range: 492.299988 and range: 492.30 m. j7T@jjjihhhhfffrfbf ?ɛEBM.ϼ IM=II MɚIiIIUi 2=IU(=i]Oi]*<)]7T@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996872*F?2F:FBFP5JFG4<GaBqO:> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250675zK K K K K :w,YAymBm IMb@Mb@Mb@ )YFx?y&1y+?`e A @)I@IAy\@IuIud4٢} /=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y icB+?:= @,fDg;;4 GAEZjFNOT Ignoring new targets: 492.30 m. $?IBj:Jj: ProNav: ac range: 492.299988 m, nav range: 401.292725 m, bearing: 274.806764 deg, approach rate: -0.067088 m/s, LOS rate: 0.099137 deg/s, cmd heading: 189.986548 deg, new cmd heading: 190.120211 deg. 2j;5HeadingCmd: 3.318224 target range: 492.299988 and range: 492.30 m. j5]T@j1j1j9i9hAhAhIhUBfYfYfarfibfm`@ɛBۼ 隕=I !ɚiI2=I=i`Oi&;)]T@)EErAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499603*F?2F:FBFU5JFG GJ5GJ5J51J1J5cX;J5x:J53J1G O <H >I C I G!II BI M =&I .I 6I ڰ<:I X FG B O= >tAw,XA:BG@Y:U@:"#9:^&>y:H\y?0Q?:ɿ@L?yC??`?ɨ:BG@:;8yFBF I N=N=IRIR{4٢Z Zn=9^O;Q b?`` bG٣bZCGyfû f? jNusing accuracyPremultiplier from confighn49jl?n4Yj ijcBpr=r @j;fDj ;j ;j#4t vJAt=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.751425B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 492.30 m.Bj:Jj:  ProNav: ac range: 492.299988 m, nav range: 401.271118 m, bearing: 274.839605 deg, approach rate: -0.059234 m/s, LOS rate: 0.090038 deg/s, cmd heading: 190.120214 deg, new cmd heading: 190.218742 deg. 2j+w;=HeadingCmd: 3.319943 target range: 492.299988 and range: 492.30 m. j=yT@j9j9j9i9hAhAhAhAfIfIfIrfIbfM`y@ɛBŞؼ 隽X=I ^zɚiI$1=I¥=iNiB;)yT@)*F?2F:FBFY0JFGe; IGYBaOY>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003297Gw,A>wG@Y>TU@>ȳټ9> >y>H` ?QE?@ȿg@D? 5?? ?ɨ>wG@>lR;>ICyNBN IIZIZm4٢b bI=9b;&;Q b>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr49nښ?r4Yn! incBpv=v @nLfDn~:n;:n8 4~B ~A~EZj!%FNOT Ignoring new targets: 492.30 m.Bj-=:Jj-=:= ProNav: ac range: 492.299988 m, nav range: 401.246613 m, bearing: 274.878289 deg, approach rate: -0.063475 m/s, LOS rate: 0.100208 deg/s, cmd heading: 190.218747 deg, new cmd heading: 190.334808 deg. 2j=;EHeadingCmd: 3.321969 target range: 492.299988 and range: 492.30 m. jE$T@jAjIjIiIhIhIhQhQfQfQfYrfYbf]v @ɛBk 隍P+=I YɚiI2=I=i9Nis)$T@)!*F?2F:FBF^0JFzKBHK9KKKUWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.258668BKqA:KrAGO;GBO> $?I Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:34:59.7401  TRx dataTimestamp_ set to:1736372100.892601 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508398Mw,9A:LjG@Y:U@JPJJJJk_;J:JJ:4Ӽ9:ȏ>y:H>b?P@?ȿyS?q?EE?˺?ɨ:LjG@:ч;:HCyAE IMb@Mb@Mb@ )YDl?~jtx?Mb`yO-?; )3@I@yf@I-sI-K4٢E(; E4=9E~:Q M>II MG٣IyU U> eNusing accuracyPremultiplier from configam49e?m4Ye# iecBmQ-?u:u<u @e`fDe;eA;e&4}B }AEZjFNOT Ignoring new targets: 492.30 m.Bj:Jj: ProNav: ac range: 492.299988 m, nav range: 401.210297 m, bearing: 274.921832 deg, approach rate: -0.080120 m/s, LOS rate: 0.096072 deg/s, cmd heading: 190.334805 deg, new cmd heading: 190.465444 deg. 2j݃;HeadingCmd: 3.324249 target range: 492.299988 and range: 492.30 m. jT@jjjihhhhlBfffrfbf`/ @ɛB. p&=I F3ɚiI2=I%6_=i%Mi%oTM)%T@)!HU>IQ IU;!IIUBIUO =&IQ.IU*D6IU&<:IU FBIđCJIđCRIēCZIL =bIL =jIO5*F2F:FBF_0JF"G=Gp=G!G?G?GABIOeU>]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759407 $?I Tw,hSA:;G@Y:ZU@:μ9:I>y:Hfi?8?@kȿ`h#2?ܙ?@!! %G٣%[CGy% %> 5Nusing accuracyPremultiplier from config)=49-m?E4Y-$ i-cBAE/<E @-pfD-@;-i@;-4I MAUEZjq}FNOT Ignoring new targets: 492.30 m.Bj:Jj: ProNav: ac range: 492.299988 m, nav range: 401.181976 m, bearing: 274.956867 deg, approach rate: -0.077604 m/s, LOS rate: 0.096010 deg/s, cmd heading: 190.465439 deg, new cmd heading: 190.570551 deg. 2jǃ;HeadingCmd: 3.326084 target range: 492.299988 and range: 492.30 m. jT@jjjihhhhfffrfbf@ɛB  Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K 9K K K RKU >JKU >m DAT read: 21:34:59.7401 LVL= 18768, 22161, 18994, 27619, AGC= 70, IDX= 458, 0.05,-3.108, 3.101, 1.103, 2.449, PHS= 0.815, 0.699,-1.349, RAW= 32.7, -1.6, CAL= 32.5, -3.8, ROT= 117.5, 3.8  Ygot valid direction response: 21:34:59.7401 LVL= 18768, 22161, 18994, 27619, AGC= 70, IDX= 458, 0.05,-3.108, 3.101, 1.103, 2.449, PHS= 0.815, 0.699,-1.349, RAW= 32.7, -1.6, CAL= 32.5, -3.8, ROT= 117.5, 3.8  PDAT read: Bearing 117.5, 3.8 (Local)  ~Local bearing/azimuth received: Bearing 117.5, 3.8 (Local)  DAT read: Range 10 to 50 : 493.2 m (Round-trip 657.6 ms) speed 0.1 m/s  ,DAT read: user:1889>  BDAT read: Tx time:21:35:00.8284 Zw,ݔmAz$Ping request sent.zy5H'i\s?p&?=ȿ`c%`.? ?@F??ɨ5$G@5?;1 ڹ)ڹIڹiڹڹڹ۽zb?gK,ubaR)۹I۹i۹۹۹۹y5B5 I QIY%Mb@Mb@Mb@!!! !)!Y% rh??Mb`?y%C+?%<%;%vA %@)%I@I%v@!y%@I=vI=&Q4٢m`F; m=9u-:Q }> G٣y5 > Nusing accuracyPremultiplier from config 49P? 4Y& icBb+?:: @fD,Q<N<"4) -A)kJe7"?kS(,9 k kiA:kCBkCZk<@"u;@lŨz@ qs;n@+zo?'kK?HұII  IM .!IIM BIM P =&II .II 6IM <:IM _ FG vϻ Will construct direction to contact in vehicle frame from tetrahedron phase data.GIBYOu>bw,OAR F@YR U@RҼ9R=yRH`(n ?Yj?ǿ4a?YO???ɨR F@R:>;RICyhhI HI <3٢h: `=9% Q %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config1=495<?E4Y5[( i5cBAm:m @5fD5;5;5(4uB uAuEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 493.20 m.Bj:Jj: ProNav: ac range: 493.200012 m, nav range: 398.871216 m, bearing: 275.481122 deg, approach rate: -0.092448 m/s, LOS rate: 0.102681 deg/s, cmd heading: 190.729809 deg, new cmd heading: 190.832817 deg. 2j;HeadingCmd: 3.330661 target range: 493.200012 and range: 493.20 m. j)U@j!j!j!i!h)h)h)h)f1f1f1rf1bf5`[?ɛ 隭 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.phw,A6޲F@Y6qT@6TԼ96=y6Hus@?Fk?\_ǿ@7@w?@曚?`ľ??ɨ6޲F@6T;4yRBR IXZDAIZEIZ3٢ <  M=9  @Q  > G٣\CGy > %Nusing accuracyPremultiplier from config!-49%&?-4Y%) i%cB)-:5 @%fD% :%q:%/4=B =A=EZjimFNOT Ignoring new targets: 493.20 m.Bjuw:Jjuw: ProNav: ac range: 493.200012 m, nav range: 398.838104 m, bearing: 275.519149 deg, approach rate: -0.084670 m/s, LOS rate: 0.097248 deg/s, cmd heading: 190.832822 deg, new cmd heading: 190.946912 deg. 2j{;HeadingCmd: 3.332652 target range: 493.200012 and range: 493.20 m. j-JU@jjjihhhhfffrfbf #?ɛEBE/zKBoIK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.943557BK!:K%oA QU=IQ ]5ɚYiaIeL2=I}"ow,{AfIhF@Yf܆T@f#8޼9fq>yfH@y4?'q?ƿ`8^? %ƛ??়?ɨfIhF@f{;fFCyvBv I}Mb@Mb@Mb@yyy y)yY} rh?L7A`?{Gzt?y},?}+=}ף;} A y)yI}@yy}@IHI<3٢9 A=90Q > G٣y0 > Nusing accuracyPremultiplier from config49\?4Y+ icB,?:: @fD;;F74jH<bHHݼ>IC I(!IIBIQ =&I.I6I<:Ii F AEZjFNOT Ignoring new targets: 493.20 m.Bj:Jj:- ProNav: ac range: 493.200012 m, nav range: 398.800964 m, bearing: 275.559917 deg, approach rate: -0.082242 m/s, LOS rate: 0.090285 deg/s, cmd heading: 190.946913 deg, new cmd heading: 191.069229 deg. 2jMw;UHeadingCmd: 3.334787 target range: 493.200012 and range: 493.20 m. jU'mU@jQjQjQiQhQhYhYh]iBfafafarfabfe52?ɛB> `~ $?I vw,OA"PExceeded connect timeout, disconnecting.:z"F@Y: AT@:5?Լ9:'>y:HX? e?QCƿ9? $?6??ɨ:z"F@:߻;:GCyBBB IIRvIR&Q4٢V\< Z[=9ZU;Q Z>\\ -G٣)y-B4 -> =Nusing accuracyPremultiplier from config1E495?E4Y5- i5cBAE:E @5fD5 ;5D;5>4I UAQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.697270ZjFNOT Ignoring new targets: 493.20 m.Bj:Jj: ProNav: ac range: 493.200012 m, nav range: 398.768463 m, bearing: 275.597048 deg, approach rate: -0.090257 m/s, LOS rate: 0.103123 deg/s, cmd heading: 191.069228 deg, new cmd heading: 191.180630 deg. 2j;HeadingCmd: 3.336731 target range: 493.200012 and range: 493.20 m. jU@jjjihhhhfffrfbf?ɛ 0  $?I 9|w,GA:iF@Y:.T@:2Ҽ9:M >y:H`]?ʨ]? ƿ6J?E?1?` ?ɨ:iF@:;8y~B~ I  AMb@Mb@Mb@ )Y!rh?Zd;O?{Gz?yl'?j<=#< A @)3@I`@yp@IpIF4٢G/< :=9]:Q > G٣]CGy)) > Nusing accuracyPremultiplier from config49? 4Y. icB'?:9 @fD;u;E4=B EAEZj FNOT Ignoring new targets: 493.20 m.Bj :Jj:E ProNav: ac range: 493.200012 m, nav range: 398.728333 m, bearing: 275.637007 deg, approach rate: -0.088200 m/s, LOS rate: 0.087831 deg/s, cmd heading: 191.180629 deg, new cmd heading: 191.300516 deg. 2jEq;MHeadingCmd: 3.338824 target range: 493.200012 and range: 493.20 m. jMJU@jIjIjIiIhIhIhQhU[BfQfQfYrfYbf]@ɛB¾  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452975w,  A6 F@Y6V)T@6̼֙96~ >y6HO?B?ƿ`3_?? ??ɨ6 F@6ao;4yRBR IIZaIZ+4٢b= b\=9b:Q f>dd fG٣dyjt j> rNusing accuracyPremultiplier from configpv49r<?v4Yrc0 ircBtz9z @rfDr:re:rK4~B ~sAEZjFNOT Ignoring new targets: 493.20 m.Bj:Jj: ProNav: ac range: 493.200012 m, nav range: 398.694153 m, bearing: 275.671301 deg, approach rate: -0.096985 m/s, LOS rate: 0.097318 deg/s, cmd heading: 191.300512 deg, new cmd heading: 191.403403 deg. 2j;HeadingCmd: 3.340620 target range: 493.200012 and range: 493.20 m. jU@jjjihhhhfffrfbf@ɛae im=Ii mBxɚiiiImԁ2=I}SDw,&A>-F@Y>KT@>gͼ9>>y>Hܒ?i3`,Xƿ+`g? K?`? ܪ?ɨ>-F@>:;>ICybBb IIj{IjZ4٢r6g= rH=9vF|Q v>tt zG٣xyz; z> Nusing accuracyPremultiplier from config|49~g? 4Y~2 i~dB  9  @~fD~m ;~ ;~S4 %A!UB*** querying acoustic contact ***jQjQZjiuFNOT Ignoring new targets: 493.20 m.Bj:Jj: ProNav: ac range: 493.200012 m, nav range: 398.655945 m, bearing: 275.709262 deg, approach rate: -0.095282 m/s, LOS rate: 0.094676 deg/s, cmd heading: 191.403402 deg, new cmd heading: 191.517297 deg. 2j;HeadingCmd: 3.342607 target range: 493.200012 and range: 493.20 m. jHU@jjjihhhhfffrfbfu,@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.960137zK NK+9KKKv3lVD6+# ɛiu y隅Hx=I =ɚiI2=Im2,w,Q@AB,BF@YB`T@BRμ9B>yBH@}t?bU Ӂƿt# `?`ə?@T??ɨB,BF@B;BHCyNBN I Vp=Va=]Mb@Mb@Mb@YYY Y)YY]NbX9?I +?Q?y]%?]94=]u<]/ A Y)]`@I]@Yy]@Hۼ>I III&I.I6Iհ<:IK FIu\Iu#4٢$< >=9ZQ > G٣^CGy E; > Nusing accuracyPremultiplier from config49?4Y3 idB&?:9 @gD;;Z4 @ýEZj FNOT Ignoring new targets: 493.20 m.Bj :Jj:% ProNav: ac range: 493.200012 m, nav range: 398.616974 m, bearing: 275.748841 deg, approach rate: -0.091904 m/s, LOS rate: 0.093347 deg/s, cmd heading: 191.517302 deg, new cmd heading: 191.636050 deg. 2j- ;-HeadingCmd: 3.344680 target range: 493.200012 and range: 493.20 m. j-=V@j1j1j1i1h1h9h9h=Bf9fAfArfAbfEmu @ɛmBmּ qul=Iq u ɚyiyI}2=I}xWw,ZA2-uF@Y2T@2Ҽ929>y2H`y*"?31`ƿ`?$_?R?@_?ɨ2-uF@2*;2ECy>B> IIF}IF]4٢j}< jY=9jƺQ j>ll nG٣lyr< r> vNusing accuracyPremultiplier from configtz49v?z4Yv_5 iv"dB|x9 @vgDvrB;vB;v'a4 B @ ƽEZj1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.7130765FNOT Ignoring new targets: 493.20 m.BjMQ:JjMQ:] ProNav: ac range: 493.200012 m, nav range: 398.582245 m, bearing: 275.783499 deg, approach rate: -0.092116 m/s, LOS rate: 0.091937 deg/s, cmd heading: 191.636052 deg, new cmd heading: 191.740036 deg. 2j]a|;eHeadingCmd: 3.346495 target range: 493.200012 and range: 493.20 m. je,V@jajajaiahihihihifqfqfqrfbf>~@ɛ\ּ 隵=I ɚiI2=I;iFQi),V@)JVJJJJd;Jx:JJJԵ<JԵ<J:"<J:"<*FU?2FQ:FQBFU0JFQ"G]=G]=GUOG)B9OU>Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 21:35:03.8916 LVL= 22048, 20849, 21026, 29971, AGC= 65, IDX= 457, 0.14, 0.069, 0.082,-1.926,-0.686, PHS= 0.844, 0.816,-1.243, RAW= 30.7, -4.1, CAL= 30.9, -7.5, ROT= 119.1, 7.5 zKm ZMKm 9Ki Km Km  Ygot valid direction response: 21:35:03.8916 LVL= 22048, 20849, 21026, 29971, AGC= 65, IDX= 457, 0.14, 0.069, 0.082,-1.926,-0.686, PHS= 0.844, 0.816,-1.243, RAW= 30.7, -4.1, CAL= 30.9, -7.5, ROT= 119.1, 7.5  8DAT read: $Error in header  *Received a bad headeru X#Rx 1: Read direction message, but no range.m \direction in FSK: [0.106621,0.881600,0.459797] |$?I Jg96[K?Z$6?لYQm? VqQ "R)uIAibX?`P?>+ ?C  ?) I6 @i >?^\?qr~mf()ǿI&f=i ?۝ T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse^w,stA2SF@Y2T@2Fcټ92>y2H@uw?ea8ǿ?+???ɨ2SF@2;2GCynĂBn IMMb@Mb@Mb@III I)IYMMb?y&1?:v?yM ?M`ai G٣ys; > Nusing accuracyPremultiplier from config49du?4Y,7 i3dB ?:: @1gD;J;i4 @Zj!%FNOT Ignoring new targets: 493.20 m.MWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******UR****** received valid ping request ******Ureceived new query, but waiting for acoustic response period to elapseBjUE:Jj]E: ProNav: ac range: 493.200012 m, nav range: 398.544678 m, bearing: 275.827483 deg, approach rate: -0.075140 m/s, LOS rate: 0.087983 deg/s, cmd heading: 191.740035 deg, new cmd heading: 191.871999 deg. 2jq;HeadingCmd: 3.348798 target range: 493.200012 and range: 493.20 m. jRV@jjjihhhhBfffrfbf% wV@ɛuBuNZϼ qu=Iy }~bɚyiyI}2=I;i~Rivz)RV@)*FU?2FQ:FQBF]o0JFYHؼ>IC I;!IIBI&I.I6I<:IZ FBIEǏCJIEǏCRIAZIER =bIEQ =jIE s5G} Q Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseGq B O >dw,tA2F@Y2AT@2H߼92I>y2Htp?0b ǿ q2? 3?B?@[?ɨ2F@2=f;0y>ʂB> I@@IFaIF+4٢== =m=9E Q E?AA EG٣M_CGym< m? }Nusing accuracyPremultiplier from configy49}c?4Y}s8 i}?dB: @}?gD};};}o4B a@ɽE {$?IZj)-FNOT Ignoring new targets: 493.20 m.Bj5:Jj5:E ProNav: ac range: 493.200012 m, nav range: 398.517914 m, bearing: 275.858265 deg, approach rate: -0.076635 m/s, LOS rate: 0.088145 deg/s, cmd heading: 191.871994 deg, new cmd heading: 191.964345 deg. 2jEq;mHeadingCmd: 3.350410 target range: 493.200012 and range: 493.20 m. jmmV@jijijiiqhqhqhyhyfffrfbf`ɪ@ɛ =I ɚi!I%A~2=I-;i-PSi5k_)5mV@)1*FQ2FY:FYBF]2JFYWill 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 elapseJYJJJJsf;J:JJJڷ<J۷<J'<J'<G GY Bq O >+w,AB$F@YBU@BS9B >yBH+l4?`ǿ{`=?@v???ɨB$F@Bb;BHCyR̂BR IIfIfd4٢r%< rQ=9vQ v>xx zG٣xy~; > Nusing accuracyPremultiplier from config 49 O?4Y 9 i MdBe: @ NgD < ŗ< v4 =@̽EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 493.20 m.Bjc:Jjc: ProNav: ac range: 493.200012 m, nav range: 398.487213 m, bearing: 275.892953 deg, approach rate: -0.078296 m/s, LOS rate: 0.088471 deg/s, cmd heading: 191.964338 deg, new cmd heading: 192.068410 deg. 2jr;%HeadingCmd: 3.352226 target range: 493.200012 and range: 493.20 m. j%V@j!j!j!i!h!h)h)h)f)f1f1rf1bf5@7@ɛaeJ im|=IiWill 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 mvɚiIn2=I֔;i Si)V@)!zKUBoIKQKQKUKU I*FM?2FQ:FQBFUP5JFQG]rA G]rAG d- 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 elapseGa B O >J J BAw,ƅAHr׼>Ip IrM!IIr%BIrS =&Ip.Ip6Ir+<:Ir Fy=܂B= IMb@Mb@Mb@ )YCl?Mb?I +?y;?<94</ A @)I@I@yf@IeI34٢]b= ]4=9eQ e>ai mG٣iym m> }Nusing accuracyPremultiplier from configq}49u8?4Yu[; iuZdBE?:`< @u`gDu;u;uj~4 =@ZjFNOT Ignoring new targets: 493.20 m.Bj:Jj: ProNav: ac range: 493.200012 m, nav range: 398.460663 m, bearing: 275.933030 deg, approach rate: -0.061361 m/s, LOS rate: 0.092628 deg/s, cmd heading: 192.068417 deg, new cmd heading: 192.188655 deg. 2jG~;HeadingCmd: 3.354325 target range: 493.200012 and range: 493.20 m. jBV@jjjihhhhBfffrfbf @ɛ!%! !%>I! -Tuɚ)i)I-)W2=I5sr;i5Ti5k~)5BV@)9*F?2F:FBFP0JFWill 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 z$?IGp.G ?G?Gi By O >'Ķw,,aA6nG@Y6UU@6f96N>y6H/a?ރb@ȿ ``(?\?`1??ɨ6nG@6L;4y>߂BB IIJiIJ:4٢Rw< Vk=9VQ V?XX ZG٣Z`CGyZI< ^? bNusing accuracyPremultiplier from config`f49b&?f4Yb< ibedBdf;j @bngDbP:bq:b~4nBrWill 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 n@vнEZjFNOT Ignoring new targets: 493.20 m.Bj:Jj:5 ProNav: ac range: 493.200012 m, nav range: 398.438782 m, bearing: 275.963965 deg, approach rate: -0.062633 m/s, LOS rate: 0.088556 deg/s, cmd heading: 192.188655 deg, new cmd heading: 192.281467 deg. 2j5s;5HeadingCmd: 3.355945 target range: 493.200012 and range: 493.20 m. jV@jjjihhhhfffrf bf `m@ɛB\ 隭>I EɚiI<2=IW;i[Ui')V@)*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 elapseG- zK RIK K K K G B1 I O% >cw,y2H,^`P?lc ɿ<,? ň?@d? ?ɨ2OG@29;2GCy>B> !IMMb@Mb@Mb@III I)IYMʡE?{Gz{Gz?yM?M#M# G٣y{; > Nusing accuracyPremultiplier from config49?4Y= ipdB?:= @gD ;;4 #@ZjFNOT Ignoring new targets: 493.20 m.Bj:Jj:  ProNav: ac range: 493.200012 m, nav range: 398.418976 m, bearing: 276.002339 deg, approach rate: -0.045763 m/s, LOS rate: 0.088669 deg/s, cmd heading: 192.281464 deg, new cmd heading: 192.396589 deg. 2j is;HeadingCmd: 3.357954 target range: 493.200012 and range: 493.20 m. jV@jjjihhh!h%Bf!f!f!rf)bf-@ɛQ]g ae3>Ia maɚiiiI2=I6;iUi)V@)!EMe>EM>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 elapseJ]JJJJi;JH:JJa@a@a@a@*F?2F:FBF_0JF"G=G=GN޼GyBO_>Hм>IC Im!II>BIT =&I.I(D6I<:I F 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 elapseIw,jA6G@Y6!U@6P96!>y6HX@?Ο_`qɿy!?Ct?j??ɨ6G@6;4yNBN !I %y$?I!I^\I^#4٢]; ]J=9eQ e>aa mG٣iym< m> }Nusing accuracyPremultiplier from configq}49u?4Yu> iu{dBo= @ugDu;u;u*4B @ӽEZjFNOT Ignoring new targets: 493.20 m.Bj8:Jj8: ProNav: ac range: 493.200012 m, nav range: 398.399902 m, bearing: 276.038078 deg, approach rate: -0.046474 m/s, LOS rate: 0.087086 deg/s, cmd heading: 192.396593 deg, new cmd heading: 192.503817 deg. 2jo;%HeadingCmd: 3.359825 target range: 493.200012 and range: 493.20 m. j%aW@j!j!j!i)hQhQhQhQfYfYfarfibf@ɛB|™ R4>I K$ɚiI/1=I5T;i5 Vi=i߼)=aW@)9*F}?2Fy:FyBFJFWill 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) C YyA] A@] BG VG G G B O >{#w,<*ANG@YN(V@N 9Ne >yNH aS"?Gbɿ@S? ?`V??ɨNG@N;NHCyZB^!IIfQIf4٢n = nS=9nQ r>pp rG٣raCGyv< v> zNusing accuracyPremultiplier from configx~49z ?~4Yz@ izdB:=  @zgDz5;z$5;z4 @ֽE5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 493.20 m.BjM:JjM:] ProNav: ac range: 493.200012 m, nav range: 398.381042 m, bearing: 276.072287 deg, approach rate: -0.049123 m/s, LOS rate: 0.089105 deg/s, cmd heading: 192.503814 deg, new cmd heading: 192.606445 deg. 2j]t;eHeadingCmd: 3.361617 target range: 493.200012 and range: 493.20 m. je$W@jajajaiahahihihififqfqrfybf}<@ɛE| 隭@>I ɚiI1=I:i7sViqּ)$W@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapsezKmKiKiKmKm  "$%"!    %w$?I)*F12F9:F9BFE0JFAG)Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseJe aJe Je 0Ja Je l;Je :Je ـ3Ja w,QDAZH RH"?AH&Ǽ>I&C I&!II&RBI&W =&I$.I&'D6I&<:I&a FZh.H@YZLV@Zx_9Z[0!>yZHvM?"`Fʿnr? ? F?ɖ?ɨZh.H@Zw;ZICybBf!I]Mb@Mb@Mb@YYY Y)YY]Q?V-~jtx?y](?]];] A ]@)YI]AYyYI}YI}4٢-= @=9Q > G٣y.< > Nusing accuracyPremultiplier from config49?4Y0A idBX?:> @gD;;`4 @ZjFNOT Ignoring new targets: 493.20 m.Bj:Jj: ProNav: ac range: 493.200012 m, nav range: 398.367523 m, bearing: 276.109598 deg, approach rate: -0.030412 m/s, LOS rate: 0.083934 deg/s, cmd heading: 192.606444 deg, new cmd heading: 192.718382 deg. 2jif;HeadingCmd: 3.363570 target range: 493.200012 and range: 493.20 m. jDW@jjjihhhhςBfffrfbf  @ɛMBM@ QUP>IQ UfɚQiQIUҐ1=I]:i]eVie̼)eDW@)aE-Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse*F%?2F!:F!BF%0JF!G) G) v$?IGE 0ռG B) OE >-2w,.^A6WH@Y6|vV@696s5!>y6H IX?``ϗʿ~v?*XX ZG٣Xy^; ^> fNusing accuracyPremultiplier from config`j49bm?j4Yb(B ibdBhn>n @bgDbG;b=7;b4rB r@vٽEZj  FNOT Ignoring new targets: 493.20 m.Bj:Jj:% ProNav: ac range: 493.200012 m, nav range: 398.355133 m, bearing: 276.142546 deg, approach rate: -0.034812 m/s, LOS rate: 0.092575 deg/s, cmd heading: 192.718377 deg, new cmd heading: 192.817223 deg. 2j%"~;-HeadingCmd: 3.365295 target range: 493.200012 and range: 493.20 m. j-aW@j)j)j)i)h)h1hQhQfYfYfYrfYbfe@d@ɛBY| 隭RK>I >ɚiIU`1=I:iEWicȼ)aW@)*F2F:FBF_5JFEWill 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 elapseGϼG?G>G zK ,iMK 9 I B! K K K O > \w,xA>qH@Y>V@>1j9> >y>HBe?p_˿k?@?`? ?ɨ>qH@>us;>FCyFBF(!I)H H N=Np=Mb@Mb@Mb@ )Y1Zd?Mb~jthy"?@D\ A @)3@IyAAAIQI4٢;= 8=9[Q > G٣bCGy< > Nusing accuracyPremultiplier from config49?4Y!C idB?:@@ @gD@;{;4B f@ܽEZj9=FNOT Ignoring new targets: 493.20 m.BjE0:JjE0:U ProNav: ac range: 493.200012 m, nav range: 398.347046 m, bearing: 276.181274 deg, approach rate: -0.018273 m/s, LOS rate: 0.087509 deg/s, cmd heading: 192.817224 deg, new cmd heading: 192.933410 deg. 2jU9p;]HeadingCmd: 3.367323 target range: 493.200012 and range: 493.20 m. j]9W@jYjYjYiYhahahaheBfififirfibfm @ɛmBmy quJ^>Iq uɚqiqIuu#1=I}|:i}Wim)9W@)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 elapseJ3K3 K.KK"KJ]cJ]J]1JYJ]Cn;J]:J]3JY*Fe?2Fa:FaBFeC5JFaHM¼>IMC IM!IIMbBIMZ =&II.IM&D6IMҰ<:IM3 FG `ɼGa Bi 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 elapseCw,aA6H@Y6uV@696dT">y6H@=u? 8_^n˿K?`?@1? ؔ?ɨ6H@6;6CCyLPIZcIZy/49~ Q > -u$?I)) -G٣1y5; 5> ENusing accuracyPremultiplier from config9E49=?M4Y=C i=dBIM@M @=gD=:=:=T4Q QYZjyFNOT Ignoring new targets: 493.20 m.Bj:Jj: ProNav: ac range: 493.200012 m, nav range: 398.339600 m, bearing: 276.214484 deg, approach rate: -0.019593 m/s, LOS rate: 0.087384 deg/s, cmd heading: 192.933405 deg, new cmd heading: 193.033037 deg. 2jo;HeadingCmd: 3.369062 target range: 493.200012 and range: 493.20 m. jW@jjjihhhhfffrfbf]!@ɛBc \>I IxɚiI0=I:iWiTv)W@)*F?2F:FBF_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 ******received new query, but waiting for acoustic response period to elapseGfGBO >nw,jA:VH@Y:W@: 9:">y:Hl7@k&?@\˿u? W?B??`?ɨ:VH@:r9;:FCyFBF3!IINWIN44٢b{< f<9n Q n>pp rG٣pyr; v> zNusing accuracyPremultiplier from configx49z?4YzD izdB? @zgDz;z#;z:4 @߽E-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 493.20 m.BjE:JjE:U ProNav: ac range: 493.200012 m, nav range: 398.331238 m, bearing: 276.248980 deg, approach rate: -0.021139 m/s, LOS rate: 0.087209 deg/s, cmd heading: 193.033030 deg, new cmd heading: 193.136520 deg. 2jUgo;]HeadingCmd: 3.370868 target range: 493.200012 and range: 493.20 m. j]NW@jYjajaiahahahihififqfqrfybf}<("@ɛB^[ 隥2l>I ɚiI٥0=Ihc: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 elapseiU#Xi]欼)]NW@)qzKKK]9KKK*F?2F:F -t$?I)BFJFYG Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG B O >Jm dJm Ji Ji Jm o;Jm :Ji Ji H= >I= C I= !II= qBI= [ =&I9 .I9 6I= <<:I= ~ FBǏCJǏCUw,9ARI5CZI5W =bI5W =jI5o6j^I@Yj}W@j29j#">yjH+? Sy̿@?8?@bD?@g?ɨj^I@j.;jHCy!-4!I5A1Mb@Mb@Mb@ )Yףp= ? ףp= ~jtxy?Q8ĻE A )@IQAy @IfI44٢.; 9=9BQ > G٣cCGyji< > Nusing accuracyPremultiplier from config49k?4YE idB%? : ?  @gD/;;ľ4uB u@uEZjFNOT Ignoring new targets: 493.20 m.Bj_:Jj_: ProNav: ac range: 493.200012 m, nav range: 398.318756 m, bearing: 276.288039 deg, approach rate: -0.027570 m/s, LOS rate: 0.086279 deg/s, cmd heading: 193.136522 deg, new cmd heading: 193.253703 deg. 2jl;HeadingCmd: 3.372913 target range: 493.200012 and range: 493.20 m. jW@jjjihhhhBf f f rfbf #@ɛ5B5[t 9=j>I9 =$ɚ9i9I=+Q0=IEA:ieSXim\)mW@)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 elapse*F2F:FBF^0JF s$?IGE G B) OE >w,sA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2T****** received valid address query ******6R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapseVoI@YVW@VE9Vq#>yVHy&L?EI̿??T?u?ɨVoI@V(;VGCyf Bf/!IInnInB4٢v( v[=9z,Q z>xx zG٣xy~; ~> Nusing accuracyPremultiplier from config 49W? 4YF idB> @ hD::a˾4! %@!ZjQUFNOT Ignoring new targets: 493.20 m.Bj]:Jj]:m ProNav: ac range: 493.200012 m, nav range: 398.307617 m, bearing: 276.321303 deg, approach rate: -0.031135 m/s, LOS rate: 0.092980 deg/s, cmd heading: 193.253700 deg, new cmd heading: 193.353494 deg. 2jm>;uHeadingCmd: 3.374655 target range: 493.200012 and range: 493.20 m. juYW@jqjqjqiqhyhyhhfffrfbf#@ɛBE 隽a>I ɚiI 0=I\%:inXiX)YW@)*Fi2Fi:FiBFm`0JFiGq GqGES.GB)OEQ>Will construct direction to contact in vehicle frame from tetrahedron phase data.yBH`a ??D "RͿ`V ^?@?@>?,?ɨBI@B;BECyPR0!I=Mb@Mb@Mb@999 9)9Y=?yy }G٣y; > Nusing accuracyPremultiplier from config49A?4Y-H idBH ?:= @hD;N;Ҿ4B @EZjFNOT Ignoring new targets: 493.20 m.BjH:JjH:u ProNav: ac range: 493.200012 m, nav range: 398.290192 m, bearing: 276.359164 deg, approach rate: -0.041500 m/s, LOS rate: 0.090173 deg/s, cmd heading: 193.353489 deg, new cmd heading: 193.467079 deg. 2juw;}HeadingCmd: 3.376637 target range: 493.200012 and range: 493.20 m. j}X@jyjyjihhhhĂBfffrfbf($@ɛ5B5o 9=_>IA EaɚAiIuWill construct direction to contact in vehicle frame from tetrahedron phase data.uI I!IIvBI\ =&I.I6I<:IN FG D&G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% y2H @??H8TͿf?@|f?@$??ɨ2MJ@2X;2IC Er$?IEKgyE BE-!I U=QIkI=4٢  G=9Q > G٣y *< > Nusing accuracyPremultiplier from config49P,?4YiI idBy= @/hD;+<ھ4Y ]@]EZjFNOT Ignoring new targets: 493.20 m.Bj :Jj :u ProNav: ac range: 493.200012 m, nav range: 398.272064 m, bearing: 276.396492 deg, approach rate: -0.041616 m/s, LOS rate: 0.085698 deg/s, cmd heading: 193.467075 deg, new cmd heading: 193.579063 deg. 2j}Ak;HeadingCmd: 3.378592 target range: 493.200012 and range: 493.20 m. j:X@jjjihhhhfffrfbf@%@ɛmBm:r imX>Ii u+ɚqiqIu1e/=I}9i}7Xi}+f)}:X@)*F]?2FY:FYBF]0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1891> BDAT read: Tx time:21:35:11.7784 $Ping request sent. w,-A65J@Y6 TX@696,">y6H`L?-28οनR? ?,?w?ɨ65J@6;4y> BB/!IIJeIJ34٢R; R]=9VQ V>TT VG٣ZdCGyZ< Z> ^Nusing accuracyPremultiplier from config\b49^X?b4Y^J i^dBdfI=f @^>hD^:^:^d4l n@l~B*** querying acoustic contact ***j|j|ZjamFNOT Ignoring new targets: 493.20 m.Bjm@:Jjm@: ProNav: ac range: 493.200012 m, nav range: 398.255585 m, bearing: 276.429348 deg, approach rate: -0.045877 m/s, LOS rate: 0.091470 deg/s, cmd heading: 193.579063 deg, new cmd heading: 193.677635 deg. 2j{;HeadingCmd: 3.380312 target range: 493.200012 and range: 493.20 m. j WX@jjjihhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:35:11.7776 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249929fffrfbf <&@ɛmBm"R iu0Y>I ɚiIO/=I9iCXiWX) WX@)E Mq$?IQzKUBIKU]9KQKUKU#*(# *F?2F:FBFR5JF"GE=GE>Gm i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502455JA JE AAGI Bq O >ZH RH AAH >I  I !II {BI ^ =&I JD.I %D6I <:I X Fw,&FA6,pJ@Y6X@6!96p>y6H ]?Bh?cοAD?e/? h?`?ɨ6,pJ@6;6DCy> B>,!IMb@Mb@Mb@ )Yjt?Q롿Mby ?\ @)IQAy@IWI44٢ER E3=9ETQ M>II MG٣Iyu<< u> }Nusing accuracyPremultiplier from configy49}S?4Y}K i}dB!?:< @}PhD} ;};}t4B @EZjFNOT Ignoring new targets: 493.20 m.Bj m:Jj m:% ProNav: ac range: 493.200012 m, nav range: 398.233459 m, bearing: 276.470978 deg, approach rate: -0.048420 m/s, LOS rate: 0.091111 deg/s, cmd heading: 193.677636 deg, new cmd heading: 193.802533 deg. 2j%z;-HeadingCmd: 3.382492 target range: 493.200012 and range: 493.20 m. j-zX@j)j)j)i)hihqhqhu˂Bfqfyfyrfybf}@"'@ɛBy O>I U#ɚiIc.=I9i;Xi'2F)zX@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754055*FY2FY:FYBF]P5JFa =p$?I9G JiG G Gy B O >w,=`A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003923v G|uAJaJJ1JJl;J:J3JJ@yjH `?j?lο/(???f?ɨj]J@ eYe|uAyexAjȵ;jGCyuBu%!II:I3٢Ѽ V=9aQ > G٣yg@ > 5Nusing accuracyPremultiplier from configU49 ?U4YM idBY] =] @_hD;;4eB eJ@eEZjFNOT Ignoring new targets: 493.20 m.Bj:Jj: ProNav: ac range: 493.200012 m, nav range: 398.215729 m, bearing: 276.505133 deg, approach rate: -0.045632 m/s, LOS rate: 0.087907 deg/s, cmd heading: 193.802533 deg, new cmd heading: 193.905004 deg. 2jQq;HeadingCmd: 3.384281 target range: 493.200012 and range: 493.20 m. jX@jjjihhhhfffrf!bf-@,'@ɛBOt 隝B>I YɚiI l.=I9iXit)X@)*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256097G *U Q IQ zKu ܗLKq Kq Ku Ku G B O} >w,wzAyEBE$!IMb@Mb@Mb@ )Yףp= ?MbMbpy? A h@)@IAyI#I%x3٢s B=9Q > G٣eCGy% %> -Nusing accuracyPremultiplier from config)549-G ?=4Y-N i-dB=?=:=d:= @-phD-!;-@;-f4I MW@QZjFNOT Ignoring new targets: 493.20 m.Bjd:Jjd: ProNav: ac range: 493.200012 m, nav range: 398.185822 m, bearing: 276.542294 deg, approach rate: -0.073661 m/s, LOS rate: 0.091533 deg/s, cmd heading: 193.905000 deg, new cmd heading: 194.016490 deg. 2jE{;HeadingCmd: 3.386227 target range: 493.200012 and range: 493.20 m. jX@jjjihhhhłBfff]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.510403rfbf (@*J R="J p=ɛ-B- 15l=>I1 5˧ɚ1i1I=.=I=g9i=XiE)EX@)H>I III&IID.I6I`<:I F*F!2F!:F!BF%]0JF!G= r Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761853G B1 O] >$w,tA6pWJ@Y6vX@6%%96>y6H ?0Wc?zο`*?B?@v?ਖ਼?ɨ6pWJ@6;6ECyBBB !IIJhIJV84٢R Re=9RKƹQ R>TT VG٣TyZ؍ Z> ^Nusing accuracyPremultiplier from config\b49^& ?b4Y^O i^dBdfj:f @^~hD^;^:^4h ro$?Ip j@]EZjFNOT Ignoring new targets: 493.20 m.Bj:Jj: ProNav: ac range: 493.200012 m, nav range: 398.160583 m, bearing: 276.573876 deg, approach rate: -0.068441 m/s, LOS rate: 0.085652 deg/s, cmd heading: 194.016496 deg, new cmd heading: 194.111249 deg. 2j k;HeadingCmd: 3.387880 target range: 493.200012 and range: 493.20 m. jX@jjjihhhhfffrfbfex)@ɛB} 3>I tɚ i I -=I5L9i5FXi5瓼)5X@)9*F2F:FBF_0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011856JmJJJJv;J:JJJZ<JZ<J1<J1<G ňG ?G 0?G B O > +w,nLA>J@Y>X@>#9>i>y>H6?W?ο 4 ,=?_r?j??ɨ>J@>;>FCyHHIRgIR649Zq:Q b>`d fG٣dyfS; f> nNusing accuracyPremultiplier from confighr49jn ?r4YjQ ijdBpr@:r @jhDj;jl;j4zB z{@zEB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 493.20 m.Bj%:Jj%:5 ProNav: ac range: 493.200012 m, nav range: 398.131287 m, bearing: 276.609976 deg, approach rate: -0.075030 m/s, LOS rate: 0.092459 deg/s, cmd heading: 194.111244 deg, new cmd heading: 194.219551 deg. 2j5};MHeadingCmd: 3.389771 target range: 493.200012 and range: 493.20 m. jMX@jIjIjIiIhQhQhQhQfYfYfarfabfe;*@ɛBLy 隕j0>I JɚiI}-=I-9iXi)X@)Will construct direction to contact in vehicle frame from tetrahedron phase data.AiAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.275563*F12F1:F1BF5}0JF1 m$?IzKmBHKm9KiKmKmq3 GUD&G1B9OU>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515986J! J! H >I  I !II vBI [ =&I .I &D6I <:I a F1w,'AyrBr#!IMb@Mb@Mb@ )Y r? G٣fCGy > Nusing accuracyPremultiplier from config49Κ ?4YcS idB#?:8 @hD;;Y 4 Q@EZj  FNOT Ignoring new targets: 493.20 m.Bj:Jj:- ProNav: ac range: 493.200012 m, nav range: 398.091949 m, bearing: 276.649540 deg, approach rate: -0.090626 m/s, LOS rate: 0.091157 deg/s, cmd heading: 194.219557 deg, new cmd heading: 194.338260 deg. 2j-=z;5HeadingCmd: 3.391843 target range: 493.200012 and range: 493.20 m. j5Y@j1j1j1i9h9h9h9hEĂBfAfAfArfAbfM+@ɛuBu` qu80>Iy }ZɚyiyI}'-=I 9i'Yi;)Y@)*F ?2F :F BF 0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768635 l$?IG5GB O- >8w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.0199556J@Y6gY@67%96$>y6H` "?C?{Ͽ ՖK?@?`?`c?ɨ6J@6L;4yFBF!IINnINB4٢V V\=9VmoQ V>XX ZG٣Xy^Җ< ^>JreJrJpJpJro;Jr+:JpJpJr<Jr<Jr>3<Jr>3< ENusing accuracyPremultiplier from configA]49E ?e4YEU iEdBae 8e @EhDE;E;E4mB m@uEZjFNOT Ignoring new targets: 493.20 m.Bj :Jj : ProNav: ac range: 493.200012 m, nav range: 398.055420 m, bearing: 276.684738 deg, approach rate: -0.092596 m/s, LOS rate: 0.089230 deg/s, cmd heading: 194.338266 deg, new cmd heading: 194.443870 deg. 2jt;HeadingCmd: 3.393686 target range: 493.200012 and range: 493.20 m. j&2Y@jjj i h h h hfffrfbf +@ɛ}B} 隅 $>I IɚiIK,=I8i/6YiYi)&2Y@)*Fu?2Fq:FqBFu)2JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273378G圼GqAGG B I O >zK LK 9K K K G>w,ARG-K@YRKY@R2$9R>yRH|@i@?`!?E п ݐ` #? ?x??ɨRG-K@R;RGCybBb&!IjAjAeMb@Mb@Mb@aaa a)aYey&1?Q?Mb`?ye`%?eai mG٣iy}< > Nusing accuracyPremultiplier from config49bo ?4YWW idB%?:5 @hD<<4B]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:35:14.8462 LVL= 18480, 19745, 18466, 26803, AGC= 67, IDX= 487, 0.40, 1.108, 0.683,-1.176, 0.154, PHS= 1.042, 0.576,-1.333, RAW= 40.7, -2.6, CAL= 41.4, -5.8, ROT= 108.6, 5.8  Ygot valid direction response: 21:35:14.8462 LVL= 18480, 19745, 18466, 26803, AGC= 67, IDX= 487, 0.40, 1.108, 0.683,-1.176, 0.154, PHS= 1.042, 0.576,-1.333, RAW= 40.7, -2.6, CAL= 41.4, -5.8, ROT= 108.6, 5.8 BDAT read: Rx Time:21:35:14.8462 %TRx dataTimestamp_ set to:1736372116.070414 @%Ee@DAT read: $Low SNR acquisition m2Received low SNR in chirpZjy}FNOT Ignoring new targets: 493.20 m.Bj۽:Jj۽: ProNav: ac range: 493.200012 m, nav range: 398.003021 m, bearing: 276.725715 deg, approach rate: -0.106111 m/s, LOS rate: 0.082992 deg/s, cmd heading: 194.443874 deg, new cmd heading: 194.566821 deg. 2jc;HeadingCmd: 3.395832 target range: 493.200012 and range: 493.20 m. jNUY@jjjiX#Rx 1: Read direction message, but no range.\direction in FSK: [0.059754,0.798990,0.598368]9< ?S?dxϋ%?0H!M "H)hICiB`?ht?o5?9 8?)4QϽI_?i4Q=?크? kifu)9I.7==í?6$T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsehh h Bf f frfbf,@H)I) I-!II-qBI-\ =&I).I)6I-<:I-N FBIĊCJIĊCRIēCZI\ =bI\ =jIV5ɛB 隍,>I ɚiIv,=Ig8i;YiL])NUY@)*FQ2FQ:FQBFU0JFQ 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 k$?I O >iEw,JAB%fK@YBY@B_%9Bn>yBH@7`ew? 3Cп"? ? Nv??ɨB%fK@B;BFCyNBN$!IIVhIVV84٢^ ^^=9^LQ b>`d fG٣jgCGyj< j> nNusing accuracyPremultiplier from configlr49n\ ?v4Yn-Y ineBtv5v @nhDn;n-;nD 4x z+@|Zj%FNOT Ignoring new targets: 493.20 m.Bj%:Jj-:5 ProNav: ac range: 493.200012 m, nav range: 397.960052 m, bearing: 276.758788 deg, approach rate: -0.139170 m/s, LOS rate: 0.107132 deg/s, cmd heading: 194.566818 deg, new cmd heading: 194.666049 deg. 2j= ;EHeadingCmd: 3.397563 target range: 493.200012 and range: 493.20 m. jEqY@jAjAjAiAhAhIhIhQfQfQfYrfYbf]}-@ɛB.!f 隍&>I r"ɚiI6,=I8if5YiYG)qY@)*FQ2FY:FYBF]P0JFYGa GaWill 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 elapseJbJJJJ{m;J[:JJJ<J<J+<J+<GcGYByO>TKw,V0A6XK@Y6Y@69S%96GY>y6H?XE@j{п`.1 ?`? s?`?ɨ6XK@6֏;4yBBB#!IIJ[IJK!4٢RA RN=9R7Q V>TT VG٣TyZ< Z> ^Nusing accuracyPremultiplier from config\b49^H ?f4Y^5[ ftIi^eBdfx5j @^hD^G;^WH;^0'4l n*@rE~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 493.20 m.Bj :Jj:% ProNav: ac range: 493.200012 m, nav range: 397.912262 m, bearing: 276.794972 deg, approach rate: -0.120107 m/s, LOS rate: 0.090949 deg/s, cmd heading: 194.666047 deg, new cmd heading: 194.774612 deg. 2j%y;-HeadingCmd: 3.399458 target range: 493.200012 and range: 493.20 m. j-Y@j)j)j)i)h)h1h1h1f1f1]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 elapsef9rfbfOS.@ɛEBEy7 AM!>II MɚIiQIu+=I}8i}!Yi}o0)}Y@) j$?I *F2F:FBF]0JF zKjIK]9KKK GKG ?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 B O- >H ¼>I C I I I [ =&I .I 6I <:I H FnRw,3JAy~B~%!I u@u u@u u@u  u@} I}vI}&Q4٢; <=9Q > G٣y > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49y1 ?4Yo] i#eB+:: @hDo;a>W-4 @ZjFNOT Ignoring new targets: 493.20 m.BjH:JjH:  ProNav: ac range: 493.200012 m, nav range: 397.860016 m, bearing: 276.834689 deg, approach rate: -0.120329 m/s, LOS rate: 0.091485 deg/s, cmd heading: 194.774606 deg, new cmd heading: 194.893772 deg. 2j ${;HeadingCmd: 3.401538 target range: 493.200012 and range: 493.20 m. j̲Y@jjjihhh!h!f!f!f!rf)bf-P'/@ɛ]B] Y]!>IY e޼ɚaiaIe+=Iml8imYimS)m̲Y@)qEE*F?2F:FBF_0JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******}received new query, but waiting for acoustic response period to elapse I G5F5G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ******% received new query, but waiting for acoustic response period to elapse$Xw,rdA6ZK@Y6Z@6&96 P>y6H@@?Uп.v@?`ܤ??`̘?ɨ6ZK@6];6ICyB BB,!IINnINB4٢Vs< VZ=9VQ Z>XX ZG٣ZhCGyuJ< }> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49 ?4Y_ i1eB :W:'5 @iD"<W?14B @EZj9=FNOT Ignoring new targets: 493.20 m.BjE:JjE:u ProNav: ac range: 493.200012 m, nav range: 397.810944 m, bearing: 276.871153 deg, approach rate: -0.118697 m/s, LOS rate: 0.088210 deg/s, cmd heading: 194.893765 deg, new cmd heading: 195.003170 deg. 2j}&r;HeadingCmd: 3.403447 target range: 493.200012 and range: 493.20 m. jY@jjjihhhhfffrf bf0@ɛBNK )>I ݼɚi!I%s3+=I-M8i-Xi- )-Y@)9*F?2F:FBFJF"G=G=uWill 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 elapse i$?IG% KzK &KK 9K K K G! By O >F^w,}A2-L@Y2_LZ@2$(927>y2Hs7?Vѿn3??`?`R?ɨ2-L@2>;2HCyv Bv.!I        Mb@Mb@Mb@ )Yjt?+?y ?= A Q@)@IX@y@IId4٢; :=9iQ > G٣y< > Nusing accuracyPremultiplier from config49 ?4Ya i>eBT:!?:3 @iD~$; ;(94B @EZjFNOT Ignoring new targets: 493.20 m.Bj :Jj : ProNav: ac range: 493.200012 m, nav range: 397.756561 m, bearing: 276.907825 deg, approach rate: -0.130302 m/s, LOS rate: 0.087880 deg/s, cmd heading: 195.003171 deg, new cmd heading: 195.113203 deg. 2j>q;Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseHeadingCmd: 3.405368 target range: 493.200012 and range: 493.20 m. j Y@j j j i hhhhBfffrfbf%j0@Ju\JuJqJqJuh;Ju:JqJqa}@a}@a}@a}@ɛBy 隭L)>I gܼɚiI:*=I(.8iXi )Y@)Huȼ>IuC IqIqIuX =&Iq.Iu'D6Iu<:Ium F*F?2F:FBFJFG  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG B O > h$?I 7ew,ƗA (*@ZPL@YZ\oZ@Z'9Z%>yZHl)X?4[i%ѿ9k? ?`b?@?ɨZPL@Z<;ZFCyjBjA!IIvzIv=X4٢z= ~X=9~':Q ~> G٣y ;  > Nusing accuracyPremultiplier from config49 ?4Yc iJeB3% @$iD\ ; ;?4) -@)ZjFNOT Ignoring new targets: 493.20 m.Bj!:Jj!: ProNav: ac range: 493.200012 m, nav range: 397.706421 m, bearing: 276.941379 deg, approach rate: -0.135938 m/s, LOS rate: 0.090981 deg/s, cmd heading: 195.113206 deg, new cmd heading: 195.213880 deg. 2jy;HeadingCmd: 3.407125 target range: 493.200012 and range: 493.20 m. jVZ@jjjihhhhfffrfbf0@ɛ5BUCP QUE>IY ]SۼɚYiYI]*=Ie_8ieٶXieTz )eVZ@)i*F?2F:FBF~0JF) GvAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse 4YvAyPAG׹G B O >kw,AZ7L@YZʫZ@Zt{'9ZU>yZHG?`_ѿ`4d@(?@?C??ɨZ7L@Z;Xy~B~=!II%uI%aO4EWill construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapse٢Uf UD=9]18Q ]>YY eG٣eiCGyeL< e> mNusing accuracyPremultiplier from configiu49mE ?}4Ymf imXeBy}3} @m5iDm ;m ;m G4 @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 493.20 m.Bj:Jj: ProNav: ac range: 493.200012 m, nav range: 397.650665 m, bearing: 276.978167 deg, approach rate: -0.136144 m/s, LOS rate: 0.089841 deg/s, cmd heading: 195.213883 deg, new cmd heading: 195.324262 deg. 2jv;HeadingCmd: 3.409051 target range: 493.200012 and range: 493.20 m. j-Z@jjjihhhhfffrfbf/1@ɛB} b !%X<>I! %Xڼɚ!i!I%c,*=I-7i5Xi5)5-Z@)9 }g$?Iy*F?2F:FBFb4JFG GzK%k3IK%(9K!K%K%  GGBO>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 elapseJ [J J 0J J h;J :J ـ3J jHm <bHm <H} ͼ>I} C I} !II} BI} V =&Iy .I} (D6I} <:I} g F(rw,|A:L@Y:OZ@:&9:>y:H .-?b|ѿ@ha@?פ?!??ɨ:L@:H;:GCyVBVG!I=Mb@Mb@Mb@999 9)9Y=V-?~jt?y=|?==9= A =;@)9I99y=@IUqIUJH4٢e= eI=9eC9Q m>ii mG٣iyuw; u> Nusing accuracyPremultiplier from config49[ ?4Y\h ieeB?: y3  @FiD;;lN45B 50@= EZjyFNOT Ignoring new targets: 493.20 m.Bj:Jj: ProNav: ac range: 493.200012 m, nav range: 397.594482 m, bearing: 277.015191 deg, approach rate: -0.131063 m/s, LOS rate: 0.086381 deg/s, cmd heading: 195.324258 deg, new cmd heading: 195.435345 deg. 2j!m;HeadingCmd: 3.410990 target range: 493.200012 and range: 493.20 m. jMZ@jjjihhhhBfffrfbf q1@ɛ]B],[ aeI>Ia ehؼɚaiaIet)=I 7iJXi4)MZ@)UWill 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-_5JF) iIiGM ;3GM ?GM ?G! B) 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]xw,XXARYL@YR[@Rs&9Rw>yRH`l?4d@Rѿ([@q? ̤? ?@?ɨRYL@R;RDCyM-BMX!I)Q QIeIe_v4٢u!= uJ=9F9Q > G٣y < > Nusing accuracyPremultiplier from config49 ?4Yj iqeB@3 @UiD;;AU4 S@Zj!-FNOT Ignoring new targets: 493.20 m.Bj-:Jj5:M ProNav: ac range: 493.200012 m, nav range: 397.541748 m, bearing: 277.049489 deg, approach rate: -0.134350 m/s, LOS rate: 0.087392 deg/s, cmd heading: 195.435345 deg, new cmd heading: 195.538252 deg. 2jUo;HeadingCmd: 3.412786 target range: 493.200012 and range: 493.20 m. jkZ@jjjihhhhfffrfbfI2@ɛ=B=1 AEb>IA Eu׼ɚAiAIMNb)=Ie7ie XieH)ekZ@)1E9*F2F:FBFH5JF]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 Uf$?IYG G! BI O >zK -LK +9K K K   vw,?AF5M@YF"[@Fe'9F(9>yFH@h?lb`ѿ)X ????ɨF5M@F;FECyn1Bn]!IMb@Mb@Mb@ )Yx&1?Q?~jth?yA ?u<D;A C@)@I@y@I~IT_4٢< C=9aɹQ > G٣jCGy ; > Nusing accuracyPremultiplier from config49 ?4Yl ieBM ?:5 @fiD;f;\4 B @  EWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseZjFNOT Ignoring new targets: 493.20 m.Bj9:Jj9: ProNav: ac range: 493.200012 m, nav range: 397.494598 m, bearing: 277.086415 deg, approach rate: -0.111186 m/s, LOS rate: 0.087087 deg/s, cmd heading: 195.538248 deg, new cmd heading: 195.649039 deg. 2jo;HeadingCmd: 3.414720 target range: 493.200012 and range: 493.20 m. jŊZ@jjjihhhh5Bf9fA*JI"JM=JUYJUJU1JQJUsf;JU5:JU3JQfrfbf^s2@ɛBse. h>I ռɚiI(=I7iWi0)ŊZ@)Hμ>I I!IIBIT =&I.I6I<:Io F*F2F:FBFO0JFG 4λe Will construct direction to contact in vehicle frame from tetrahedron phase data.e T****** received valid address query ******m R****** received valid ping request ******m received new query, but waiting for acoustic response period to elapseGq B O > 9 IE Lgw, A6(M@Y66G[@6%96>y6H@ ]$?~aѿ@V@9?? ? ?ɨ6(M@6*;4yBCBBs!IIJqIJJH4٢R= Ra=9RR:Q R>TT VG٣TyZ; ^> Nusing accuracyPremultiplier from config 49 A ?4Y pn i eB_5 @ uiD S; ; c4) -@)ZjQ]FNOT Ignoring new targets: 493.20 m.Bje::Jje::u ProNav: ac range: 493.200012 m, nav range: 397.451843 m, bearing: 277.119595 deg, approach rate: -0.119530 m/s, LOS rate: 0.092772 deg/s, cmd heading: 195.649034 deg, new cmd heading: 195.748585 deg. 2ju~;}HeadingCmd: 3.416457 target range: 493.200012 and range: 493.20 m. j}=Z@jyjyjyiyhhhhfffrfbf`2@ɛBX*Ż )>I uԼɚiIq(=Ixx7i˓Wi)=Z@)*FU?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 elapseGİ˻GrAGGBO->.#w,u2A6XM@Y6'w[@6:&96 >y6H #?R?a`"ҿ@P?NӤ?``?L?ɨ6XM@6;6GCyRLBR!IIZnIZB4٢b*<= bH=9bLQ f>dd fG٣dyjV; j> nNusing accuracyPremultiplier from configlr49nQ| ?r4Ynpp ineBtv.5v @niDn;n;nj4x zC@zE%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 elapseB*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 493.20 m.BjE:JjE:M ProNav: ac range: 493.200012 m, nav range: 397.405884 m, bearing: 277.154800 deg, approach rate: -0.114987 m/s, LOS rate: 0.088089 deg/s, cmd heading: 195.748591 deg, new cmd heading: 195.854216 deg. 2jUq;UHeadingCmd: 3.418301 target range: 493.200012 and range: 493.20 m. j]qZ@jYjYjYiYhahahahafififirfibfmV03@ c$?Iɛ]B]h޻ aeō>Ia e`ҼɚaiaIe(=ImEZ7imFWimR)mqZ@)qEE*F?2F:FBF!JF!zKH LK]9KKKGXWill 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 elapseJi Jm @AJ3K;w3 K;.-K3K3"K3Ju ZJu Jq Jq Ju ;g;Ju :Jq Jq G B H м>I  I !II BI &I .I 6I Ұ<:I ? FBIɍCJIɌCRIɔCZIV =bIV =jIJA6O > w,2LAy~UB~!IMb@Mb@Mb@ )YT㥛 ?~jt?y!?D<A Z@)~@I3@y@I}I]4٢"= <=9Q > G٣kCGy > Nusing accuracyPremultiplier from config49\f ?4Yr ieB !?:r5 @iD5;;q4B @EZj FNOT Ignoring new targets: 493.20 m.Bj':Jj':- ProNav: ac range: 493.200012 m, nav range: 397.356598 m, bearing: 277.193559 deg, approach rate: -0.114020 m/s, LOS rate: 0.089679 deg/s, cmd heading: 195.854213 deg, new cmd heading: 195.970506 deg. 2j-/v;HeadingCmd: 3.420331 target range: 493.200012 and range: 493.20 m. jZ@jjjihhhhBfffrfbf 3@ɛ9Ep E=E>IA EsмɚAiQIU'=Im97iuWiuOλ)uZ@)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 elapse I*Fe?2Fa:FaBFaJFaG 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 elapse(5w,fA"M@Y[@'%9>yH@-?cmҿI?`u??@?ɨ"M@;ECycB!II-qI-JH4٢M?= MQ=9Uu:Q U>Ya eG٣ayeE< m> }Nusing accuracyPremultiplier from configq49uR ?4Yut iueB%5 @uiDuu;ut;uzx4 @ZjaeFNOT Ignoring new targets: 493.20 m.Bjm[:Jjm[: ProNav: ac range: 493.200012 m, nav range: 397.311127 m, bearing: 277.228538 deg, approach rate: -0.109863 m/s, LOS rate: 0.084522 deg/s, cmd heading: 195.970504 deg, new cmd heading: 196.075452 deg. 2jh;HeadingCmd: 3.422162 target range: 493.200012 and range: 493.20 m. j[@jjjihhhhfffrfbf 4@ɛBI `XμɚiI '=I7i}Vi`[)[@)*F?2F:FBFn0JF=Will 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 elapse b$?IG G G ?G B O >zK BHK 9K K K   w,Ar M@Yr[@rS#9r>yrH@@T?`)1 5G٣1y5Ɋ; 5> ENusing accuracyPremultiplier from config9E49=>< ?E4Y=v i=eBM#?M:M37M @=iD=(;=;=4]B ]@]EZjyFNOT Ignoring new targets: 493.20 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 ******received new query, but waiting for acoustic response period to elapse ProNav: ac range: 493.200012 m, nav range: 397.269257 m, bearing: 277.267809 deg, approach rate: -0.102446 m/s, LOS rate: 0.096097 deg/s, cmd heading: 196.075456 deg, new cmd heading: 196.193281 deg. 2j;HeadingCmd: 3.424219 target range: 493.200012 and range: 493.20 m. jf&[@jjjihhhhBfffrfbfq4@ɛBM 隅²>IHӼ>IC I "IIBIS =&I.I)D6I<:Ix F ˼ɚiI &=I P6i dVi΀)f&[@)E%V>E%>*F2F:FBF0JFG V'SE 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 G B O >]Hw,YAFM@YFh\@F9}#9F>yFH ?g@fҿ?y?Cn?`a?.?ɨFM@Fv;FDCyRyBR!II^I^m4٢fq< fc=9fQ j>hh jG٣jlCGyn < n> rNusing accuracyPremultiplier from configpv49r) ?v4YrIx ireBxz7z @riDr":re:rH4Y ]Z@]EZjFNOT Ignoring new targets: 493.20 m.Bj::Jj:: ProNav: ac range: 493.200012 m, nav range: 397.233765 m, bearing: 277.300565 deg, approach rate: -0.094355 m/s, LOS rate: 0.087089 deg/s, cmd heading: 196.193277 deg, new cmd heading: 196.291553 deg. 2jo;HeadingCmd: 3.425934 target range: 493.200012 and range: 493.20 m. jB[@jjjihhhh!f!f!f!rf!bf-64@ɛ‚B: e>I ɼɚiI&=I56iViW,)B[@)Will construct direction to contact in vehicle frame from tetrahedron phase data.w,A6|N@Y6.\@6G"96G>y6H+?j`ҿ< k?G?`?`?ɨ6|N@65;6ECyBBB!IIJuIJaO4٢RJ= R9=9Vl/:Q V>XX ZG٣Xy^g; ^> eNusing accuracyPremultiplier from configam49e ?m4Yexz ieeBiu6u @eiDe:e:e`4y }@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 493.20 m.Bj:Jj:% ProNav: ac range: 493.200012 m, nav range: 397.187775 m, bearing: 277.342781 deg, approach rate: -0.100889 m/s, LOS rate: 0.092621 deg/s, cmd heading: 196.291550 deg, new cmd heading: 196.418214 deg. 2j-B~;-HeadingCmd: 3.428144 target range: 493.200012 and range: 493.20 m. j5f[@j1j1j9i9hAhAhAhAfIfIfIrfIbfUG5@ɛ9 >I ƼɚiI~%=I6iIY I]."II]܃BI]Q =&IY.IY6I]<:I]d FGe OPGi Gi G9 BI Om > w,zAymBm!IA-]only read 2 of 4 data items for bottom velocity. Device response is::BS, -3, -7,A  ]@] ]@] e@e  e@e ImvIm&Q4٢u (= }/=9}Q }> `$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1893> BDAT read: Tx time:21:35:22.7285 $Ping request sent. bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49 ?4Y| ieB+::!% @iDN3<O>@4-B -@-EZjFNOT Ignoring new targets: 493.20 m.Bj:Jj%:- ProNav: ac range: 493.200012 m, nav range: 397.139771 m, bearing: 277.387077 deg, approach rate: -0.094064 m/s, LOS rate: 0.086808 deg/s, cmd heading: 196.418209 deg, new cmd heading: 196.551111 deg. 2j5Mn;]HeadingCmd: 3.430464 target range: 493.200012 and range: 493.20 m. j][@jYjYjYiYhYhahahafafifirfibfm 5@ɛÂBj: I>I QüɚiI$=I6i5fUir) [@)E%E%*E!"E!~G 5 WY1 y5 qAE } Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:35:22.7277  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250159J JJ J 0J J Z;J :J ـ3J J <J <J !<J !<*F! 2F) :F) BF- o0JF) G1  G1 G5g{GBO5?'w,A:hvN@Y:\@:!9: x >y:H "^?n`-4ӿ;/2? 5?@n}??ɨ:hvN@:CZ;:FCyFBF!IIRdIR?14٢Z= v-=9z9Q z>|| ~G٣~mCGy~i< ~>  bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49 ?4Y~ ieB :%Y:%6% @iDl;n?L4) -@- EZjQ]FNOT Ignoring new targets: 493.20 m.Bj]:Jj]:m ProNav: ac range: 493.200012 m, nav range: 397.094696 m, bearing: 277.427192 deg, approach rate: -0.110447 m/s, LOS rate: 0.098307 deg/s, cmd heading: 196.551111 deg, new cmd heading: 196.671470 deg. 2ju;uHeadingCmd: 3.432565 target range: 493.200012 and range: 493.20 m. ju$[@jyjyjyiyhyhyhhfffrfbf16@ɛ; [>I 8ɚiI{:$= _$?IIp6ihUiX)$[@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500391*F2F:FBF5JFGePGB)Om4>zKyJKh9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752187*J% C="J! Hu ݼ>Iu C Iu N"IIu BIu O =&Iq .Iu *D6Iu ɰ<:Iu C Fw, AB=N@YBТ\@B+"9B[ >yBH@}k?mNAӿ,-1?`W?y?¬?ɨB=N@Bv3;@yZBZ!I E E EE EE  E E EMb@Mb@Mb@AAA A)AYEuV?yy }G٣yyn; > Nusing accuracyPremultiplier from config49( ?4Y ieBT:(?:8 @jD^;;4B @#EZjFNOT Ignoring new targets: 493.20 m.Bj:Jj: ProNav: ac range: 493.200012 m, nav range: 397.060638 m, bearing: 277.466907 deg, approach rate: -0.081257 m/s, LOS rate: 0.094764 deg/s, cmd heading: 196.671472 deg, new cmd heading: 196.790628 deg. 2j;HeadingCmd: 3.434644 target range: 493.200012 and range: 493.20 m. j7[@jjjihhhhBff frfbfv6@ɛ; >I :½ɚiIב#=I}N6i jTi <) 7[@) *F?2F:FBFP4JF IWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005100GXG B O >5w,&A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256307FN@YF%\@Fw 9F >yFH x?r eӿ&@:?@^?P?g?ɨFN@F;FGCyNBR!IIZ6IZm3٢b= bV=9b:Q b>dd fG٣dyf; j>JvFJvJtJtJvW;Jv:JtJtJv<Jv<JvE<JvE< Nusing accuracyPremultiplier from config 49r ? 4Yg ieB  8 @!jD::d4 @ZjQeFNOT Ignoring new targets: 493.20 m.Bje:Jje: ProNav: ac range: 493.200012 m, nav range: 397.028992 m, bearing: 277.503282 deg, approach rate: -0.081713 m/s, LOS rate: 0.093927 deg/s, cmd heading: 196.790632 deg, new cmd heading: 196.899764 deg. 2j;HeadingCmd: 3.436549 target range: 493.200012 and range: 493.20 m. jl[@jjjihhhhfffrfbfj7@ɛĂB< 隭>I 쿺ɚiI"=IJ/6ipPTi)l[@)*F2F:FBF]0JF"G=G= ^$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509631GV'SG B O >"w,.@AzKa3JK+9KKK1GOPSSRRTTSPONNOLLJKD7* !XNkhARN@Y\@[9a >yH }u?y`yӿ#faa eG٣enCGye,; m> uNusing accuracyPremultiplier from configq}49uz ?}4Yuo iueB}&?}:}8} @u4jDu;u3;uJ4%B %r@-&EmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760806}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 493.20 m.Bj!:Jj!:JJ ProNav: ac range: 493.200012 m, nav range: 396.989777 m, bearing: 277.545432 deg, approach rate: -0.081384 m/s, LOS rate: 0.087484 deg/s, cmd heading: 196.899764 deg, new cmd heading: 197.026227 deg. 2j(p;HeadingCmd: 3.438756 target range: 493.200012 and range: 493.20 m. j\@jjjihhhhBZHRH?AH >I C I m"II BI M =&I .I +D6I ܰ<:I T Ff9f9fArfAbfE`~7@ɛłB< >I "ɚiI:"=I 6iSi=U)\@)1*F?2F:FBF^0JF ]$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012118G ?G B O >`Gw,UZARN@YR|\@RI9R >yRH@uH?Э຀ӿ# 0?A?૪?@?ɨRN@Ru;RHCy\^!IIfvIf&Q4٢n蒺 ng=9r;Q r>pp vG٣tyvk: v> zNusing accuracyPremultiplier from configx~49z ?~4Yz izeB8 @zCjDzq ;z ;zz4  k@ )EZj1UFNOT Ignoring new targets: 493.20 m.Bj]:Jj]:m ProNav: ac range: 493.200012 m, nav range: 396.959106 m, bearing: 277.578432 deg, approach rate: -0.095018 m/s, LOS rate: 0.102245 deg/s, cmd heading: 197.026232 deg, new cmd heading: 197.125241 deg. 2jmW;uHeadingCmd: 3.440485 target range: 493.200012 and range: 493.20 m. ju0\@jqjqjqiqhhhhfffrfbf 7@ɛQUk< Y]>IY ]>ɚYiYI]!=Ie5iepSim)m0\@)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=2.264245J7J|JJJK;JŰ:JJJ<J<J5<J5<GU*G B) OM >qw,0tA2N@Y29]@292 >y2H3qն?RU`bӿ`!L?@?Mf?h?ɨ2N@2!;2DCyRBR"IIXIX٢b< bL=9br;Q f>dd fG٣dyju; j> nNusing accuracyPremultiplier from configlr49n}v ?r4Yn؇ ineBtv7v @nTjDn;n8;nz4x z4@x E\$?IAZjFNOT Ignoring new targets: 493.20 m.Bj:Jj:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516287 ProNav: ac range: 493.200012 m, nav range: 396.924133 m, bearing: 277.615787 deg, approach rate: -0.082942 m/s, LOS rate: 0.088598 deg/s, cmd heading: 197.125243 deg, new cmd heading: 197.237317 deg. 2j7s; HeadingCmd: 3.442441 target range: 493.200012 and range: 493.20 m. j P\@j j j i h h hqhqfqfyfyrfybf x>8@ɛƂBm,< iu]>Iq uJ^ɚqiqIu!=I}5i}fSi}ߌ)}P\@)*FE?2FA:FIBFIJFIGQ GQzK=NK=9K9K=K=3)" Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768229G g{H >I  I "II BI L =&I .I 6I <:I / FBIɏCJIɏCRIZIO =bIO =jIɶ<6G B O >Xw,| Ay=B= "IMb@Mb@Mb@ )Y{Gz?MbI +y#?94A @)v@I@y(@ItIM4٢< 8=9Q > G٣oCGy  > Nusing accuracyPremultiplier from config 49 _ ?4Y  i eB#?:6 @ fjD ; p; 9ſ4-B -@-,EZjQFNOT Ignoring new targets: 493.20 m.Bjh:Jjh: ProNav: ac range: 493.200012 m, nav range: 396.880035 m, bearing: 277.656273 deg, approach rate: -0.104454 m/s, LOS rate: 0.095910 deg/s, cmd heading: 197.237312 deg, new cmd heading: 197.358785 deg. 2j ;-HeadingCmd: 3.444561 target range: 493.200012 and range: 493.20 m. j-s\@j1j1j1i1h1h1h9h=Bf9f9fArfAbfE;8@ 1I1ɛ}ǂB}d)< y}e>I LɚiIq =I5i%SiK˻)s\@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020401*F=?2F9:F9BF=o0JFAG% G B O- >ew,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272288:;N@Y:]@:49:U >y:H n?@ mӿ ?l?O;??ɨ:;N@:;:FCybÃBb"IIruIraO4٢~< \=9   G٣yg; > -Nusing accuracyPremultiplier from config)=49-)L ?E4Y-ʋ i-eBAEx6E @-ujD-];-];-˿4UB Uy@]/EZjFNOT Ignoring new targets: 493.20 m.Bjx:Jjx: ProNav: ac range: 493.200012 m, nav range: 396.842590 m, bearing: 277.690534 deg, approach rate: -0.089558 m/s, LOS rate: 0.081950 deg/s, cmd heading: 197.358781 deg, new cmd heading: 197.461572 deg. 2j`; HeadingCmd: 3.446355 target range: 493.200012 and range: 493.20 m. j \@j j j i h!h!h)h)fififqrfqbfuI9@ɛȂBfk< >I ɚiI=I5iRiѻ)\@)*F?2F:FBF0JF Z$?I!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524118G ̻G ?G ?G B O >sw,AzKMKLKM9KIKMKMyAAMb@Mb@Mb@ )YPn?Mb`? rhy$?;CA $@)IyIjI;49Q >) -G٣1MWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:21:35:25.8000 eTRx dataTimestamp_ set to:1736372127.139263mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.780897y= u> Nusing accuracyPremultiplier from configy49}n3 ?4Y}Y i}eB'$?:4 @}jD};};}4Կ4 jHbH<H>IC I"II(BIH =&I.I,D6I<:Ig FJ,JqJ1JJLC;J:J3JJ|<J|<JH <JH < B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 493.20 m.Bj:Jj:- ProNav: ac range: 493.200012 m, nav range: 396.785736 m, bearing: 277.734407 deg, approach rate: -0.117741 m/s, LOS rate: 0.090870 deg/s, cmd heading: 197.461575 deg, new cmd heading: 197.593212 deg. 2j-ty;]HeadingCmd: 3.448652 target range: 493.200012 and range: 493.20 m. j]\@jYjYjYiYhYhahaheBfafifirfbf 9@ɛɂBp2< >I ᦼɚiIA=Ih5iRi )\@)E!*F2F:FBF0JF"G=G= Y$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028441G G B O >w,\ABRO@YB"]@Bzۼ9BO8 >yBHm?@qW`_ӿ@g!P?wq? V?`?ɨBRO@BJ;BCCyHJ"IIzIzkf4٢#:  <9 Y  G٣pCGy; > %Nusing accuracyPremultiplier from config-49j! ?-4Y7 ieB1545 @jD5;x5;Xڿ4EB M`@M4EZjiuFNOT Ignoring new targets: 493.20 m.BjuA:Jj}A: ProNav: ac range: 493.200012 m, nav range: 396.744293 m, bearing: 277.766382 deg, approach rate: -0.133840 m/s, LOS rate: 0.103274 deg/s, cmd heading: 197.593206 deg, new cmd heading: 197.689141 deg. 2j;HeadingCmd: 3.450326 target range: 493.200012 and range: 493.20 m. j&\@jjjihhhhfffrfbf`9@ɛʂB@ҟ< >I ɚiI5=IM5iͪRi)&\@)*F2F:FBFP0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 500.4 m (Round-trip 667.3 ms) speed -0.2 m/s ,DAT read: user:1894> BDAT read: Tx time:21:35:26.8786 $Ping request sent. ! I% Mgw,A>UO@Y>]@>¸Ѽ9>>y>H_n@?@CX@ӿ@"@8?\6? ?S?ɨ>UO@>;>DCyJ΃BJ"IIVrIVJ4٢^T= ^Q=9bI;Q b>`` bG٣`yf4# f> jNusing accuracyPremultiplier from confighn49j\ ?n4YjK ihpr4r @jjDj ;j* ;j-4t v@v7EWill construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:35:26.8778 5 addTargetRange:: Added new target pos. range: 500.399994 m, deltaT: 25.986827 s, deltaX: 7.199982 m, approachRate: 0.277063 m/s, rangeRepo size: 4 Zj1=FNOT Ignoring new targets: 493.20 m.BjE:JjE:U ProNav: ac range: 493.200012 m, nav range: 396.698364 m, bearing: 277.801979 deg, approach rate: -0.117287 m/s, LOS rate: 0.090913 deg/s, cmd heading: 197.689143 deg, new cmd heading: 197.795946 deg. 2jUy;]HeadingCmd: 3.452190 target range: 493.200012 and range: 500.40 m. j]\@jYjYjaiahahahahifififirfm`fF@bfu ?ɛ˂B*< 隥a?I AɚiIE=I/5i1Ri?2)U\@)Y*F2F:FBF^0JFzKKK9KKKGjGGGBWill construct direction to contact in vehicle frame from tetrahedron phase data.OH >I C I "II -BI E =&I .I -D6I <:I FJ] $J] gJY JY J] =;J] :JY JY J] <J] <J] <J] <dw,AyσB "IMb@Mb@Mb@ )Y"~j? rh?MbyS#?C<A @)I@y@I^I&4٢; 9=9Q > G٣y > Nusing accuracyPremultiplier from config49 ?4Y̔ ieBo#?:3  @jD;;:K;4 @Zj9EFNOT Ignoring new targets: 493.20 m.BjE^:JjM^:] ProNav: ac range: 493.200012 m, nav range: 396.640472 m, bearing: 277.841878 deg, approach rate: -0.131507 m/s, LOS rate: 0.090648 deg/s, cmd heading: 197.795940 deg, new cmd heading: 197.915654 deg. 2j]x;eHeadingCmd: 3.454280 target range: 493.200012 and range: 500.40 m. je]@jajajaiihihihqhuBfqfqfyrfybf}?ɛ̂Bfn< 隭~?I mɚiI+=I 5iВRiCL)]@) X$?IEIEIWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG GsAGmK7) C ~~GG) B1 OU >e |uAy FY |uAy A Will construct direction to contact in vehicle frame from tetrahedron phase data.<5 w,*AZyZHw@?@ӿ.@?@?? ?ɨZ    G٣ qCGy > Nusing accuracyPremultiplier from config%49 ?%4Y ieB!%U3- @jD:.:{45B 51@5:EZjYeFNOT Ignoring new targets: 493.20 m.Bjm:Jjm:} ProNav: ac range: 493.200012 m, nav range: 396.592163 m, bearing: 277.875901 deg, approach rate: -0.128528 m/s, LOS rate: 0.090532 deg/s, cmd heading: 197.915660 deg, new cmd heading: 198.017743 deg. 2j}x;HeadingCmd: 3.456062 target range: 493.200012 and range: 500.40 m. j0]@jjjihhhhfffrfbfM?ɛ΂BP< ?I 0sɚiI+(=I4i1Ri﹍)0]@)*F?2F:FBF`0JF W$?I Will construct direction to contact in vehicle frame from tetrahedron phase data.GKGBOE >w,=DAzKvJKvh9KtKvKvmfN@Ym\@mm!¼9mC>ymH@=}:f?7_ӿ2u?C?N?L?ɨmfN@m>Z;mGCy}փBy=Mb@Mb@Mb@999 9)9Y=}?5^I?{Gz?y&1|y=M"?=#==`=zA 9)=I@I=`@9y=@IUSIU4eWill construct direction to contact in vehicle frame from tetrahedron phase data.٢m*; m5=9u/S;Q u>qq }G٣yy} }>ZHRH@AH>IC I"II2BIB =&IHD.I.D6I<:I F Nusing accuracyPremultiplier from config49" ?4Y ifB"?:H1 @jD;;r4B @=EJ#JjJ0JJD<;Jp:Jـ3JJi<Ji<J% <J% <B*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 493.20 m.Bj߼:Jj5߼:E ProNav: ac range: 493.200012 m, nav range: 396.525116 m, bearing: 277.916581 deg, approach rate: -0.136056 m/s, LOS rate: 0.082563 deg/s, cmd heading: 198.017744 deg, new cmd heading: 198.139802 deg. 2jEb;MHeadingCmd: 3.458192 target range: 493.200012 and range: 500.40 m. jMS]@jIjIjQiQhQhhhւBfffrfbfg?ɛςBj[< 0?I )ɚ i I 1=I54i= RiE)ES]@)AEeC>Ee>*F2F:FBF_0JF V$?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 1܌G ?G ?G B O >Aw,m^A:N@Y:0\@:9: >y:H`|j?1jӿ0`? -v? I? ?ɨ:N@:;:ECyBBF:"I HJ=INyINxV4٢Vƫ= Zm=9Z I Lkw,HxA6ȨN@Y6Z\@696 >y6H| `a?K0gӿ0.?Yߒ?I??ɨ6ȨN@6;6GCyRBR5"IIZIZv}4٢b bI=9b;Q f>dd fG٣frCGyj" j>rWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264090 vNusing accuracyPremultiplier from configlz49n ?z4Yn7 in fBxzA1z @njDn:nG:n~4 h@@EZjFNOT Ignoring new targets: 493.20 m.Bjc:Jjc:% ProNav: ac range: 493.200012 m, nav range: 396.415436 m, bearing: 277.983262 deg, approach rate: -0.138099 m/s, LOS rate: 0.084099 deg/s, cmd heading: 198.231037 deg, new cmd heading: 198.339867 deg. 2j%f;-HeadingCmd: 3.461684 target range: 493.200012 and range: 500.40 m. j-:]@j)j)j)i)h)h1hyhyfyfyfrfbf@r@ɛтBm謎< qux?Iq uPɚqiqIuQ=I}{4i}Sin):]@)*F-?2F1:F1BF=1JF9zKUBHKU9KQKUKURK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516029H>IC I"IIS$w,#ARN@YR^\@RF9R78 >yRH yv?:`ӿ`,*?@?`X?@H?ɨRN@R;RDCyZBZ="ImMb@Mb@Mb@iii i)iYmx&1?+?y&1|ymA ?m=ii i)iImv@iym@IIq4٢= ==9Z;Q > G٣ygz; > Nusing accuracyPremultiplier from config49 ?4YР ifB ?:21 @ kD;; 4 @ZjFNOT Ignoring new targets: 493.20 m.Bj:Jj:  ProNav: ac range: 493.200012 m, nav range: 396.352875 m, bearing: 278.021326 deg, approach rate: -0.154293 m/s, LOS rate: 0.093891 deg/s, cmd heading: 198.339869 deg, new cmd heading: 198.454079 deg. 2j߀;HeadingCmd: 3.463677 target range: 493.200012 and range: 500.40 m. j]@jjjih!h!h!h%Bf)f)f)rf)bf-b@ =U$?I9ɛe҂Be< imi ?Ii mJɚiiiIm=Ir4iSi&v)]@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769350*F?2F:FBFS5JFG )G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020704~*w,A @bN@Yb\@bfw9b' >ybHwb}?mjӿN)T???`_?ɨbN@bZ;bFCynBnO"IIvIvr4٢~ŕ= U=9;Q >    G٣ y : > Nusing accuracyPremultiplier from config%49 ?%4Y" ifB!%'1% @kD:;:45B 5@5CEZjaeFNOT Ignoring new targets: 493.20 m.Bjm*:Jjm*:} ProNav: ac range: 493.200012 m, nav range: 396.297089 m, bearing: 278.055265 deg, approach rate: -0.144519 m/s, LOS rate: 0.087936 deg/s, cmd heading: 198.454083 deg, new cmd heading: 198.555916 deg. 2j}eq;HeadingCmd: 3.465455 target range: 493.200012 and range: 500.40 m. j]@jjjihhhhfffrfbf@ɛӂB< ?I lɚiI=IuU4iu^2Ti}eü)}]@)y*F 2F :F BF O0JF  %T$?I)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272198G-6G! B1 OM >ji1w,AzKQKU9KQKUKUBK:KqAUN@Y]@W9x>yHs@ɑ?b<`ӿ#?@^?`{?ٮ?ɨUN@1;騱yBN"IjH5<bH5p<H5>I1 I5"II5FBI5= =&I1.I5/D6I5װ<:I5m FUWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:21:35:29.9515 ]TRx dataTimestamp_ set to:1736372131.168796]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525228BICJICRIZIB =bIB =jIӚ6JJBAMb@Mb@Mb@ )YT㥛 ?Q?~jtxy!?\=ĻA @)I3@y@I|I[4٢0m =9%f;Q %>!) -G٣-sCGy-I; -> =Nusing accuracyPremultiplier from config1=495e ?E4Y5\ i5fBEG!?E:E{1E @50kD5B;5;5.4MB U @UFEmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 493.20 m.BjH:JjH: ProNav: ac range: 493.200012 m, nav range: 396.220459 m, bearing: 278.103137 deg, approach rate: -0.142214 m/s, LOS rate: 0.088861 deg/s, cmd heading: 198.555921 deg, new cmd heading: 198.699565 deg. 2js;HeadingCmd: 3.467962 target range: 493.200012 and range: 500.40 m. j]@jjjihhhhBfffrfbf ' @ɛՂB#<  ?I  Kɚ i I  =I,4iկTi ȼ)]@) S$?I*F?2F:FBFQ5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776449G ͿG G ?G B O >]8w,rA2jO@Y2%]@2KF92U>y2HCo?@|ӿl?OɈ?.?N?ɨ2jO@2$M;2DCy:B>`"IIF{IFZ4٢N3= R=9Rd;Q R?TT VG٣TyV; Z? ^Nusing accuracyPremultiplier from config\b49^U ?b4Y^7 i^fB`f^1f @^=kD^~:^~:^!4h j@hZjFNOT Ignoring new targets: 493.20 m.Bj:Jj:U ProNav: ac range: 493.200012 m, nav range: 396.176392 m, bearing: 278.130540 deg, approach rate: -0.130081 m/s, LOS rate: 0.080897 deg/s, cmd heading: 198.699560 deg, new cmd heading: 198.781777 deg. 2jU^;eHeadingCmd: 3.469397 target range: 493.200012 and range: 500.40 m. je ^@jijjihhhhfffrfbf`@ɛׂBWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 501.6 m (Round-trip 668.8 ms) speed -0.3 m/s ,DAT read: user:1895> BDAT read: Tx time:21:35:31.0286 $Ping request sent.;Jmg:JiJia}@a}@a}@a}@)*F=?2F9:F9BF={2JF9 i Ii G} S&żGQ Ba } Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:35:31.0278 O >8>w,%AR"O@YRPA]@R-9RP>yRH`+k`?ҹ ӿ ?A?c??ɨR"O@Rۈ;RGCyZ BZl"I@AI |I [4٢E4= E@=9Mti;Q M>II UG٣QyU; U> eNusing accuracyPremultiplier from configYm49]@ ?m4Y]ƪ i]fBquB1u @]NkD]x1;]1;](4y }u@IE addTargetRange:: Added new target pos. range: 501.600006 m, deltaT: 4.032960 s, deltaX: 1.200012 m, approachRate: 0.297551 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 493.20 m.Bj/:Jj/: ProNav: ac range: 493.200012 m, nav range: 396.115509 m, bearing: 278.168199 deg, approach rate: -0.154164 m/s, LOS rate: 0.095375 deg/s, cmd heading: 198.781782 deg, new cmd heading: 198.894779 deg. 2j;HeadingCmd: 3.471369 target range: 493.200012 and range: 501.60 m. j*^@jjjihhhhfffrfY@bf?ɛ؂B$< 隍?I (xɚiI=I3i'aUiJȼ)*^@)*F2F:FBF_0JFG G"GGzKMJQJKM9KIKMKMWill construct direction to contact in vehicle frame from tetrahedron phase data.HI I"IIUBI&I.I6I<:I F*Jq"JuR=G B O5 > ] Q$?IY xEw, A6=O@Y62\]@6)96(>y6H g?cӿ?@?0?`c? ?ɨ6=O@6;6DCy>B>u"I-only read 0 of 1 data item for altitude. Device response is::BD, -26.51, +688.19, 0  @ @ @   @  I II d4٢T = K=9%+:Q %>)) -G٣-tCGy5{; 5> EbBottom track data is 0.4 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M49=, ?M4Y=6 i=fBU+:QU:U'1U @=^kD=@;=>=.4]B ]@eLE%Will construct direction to contact in vehicle frame from tetrahedron phase data.Zj)-FNOT Ignoring new targets: 493.20 m.Bj]:Jj]:m ProNav: ac range: 493.200012 m, nav range: 396.057526 m, bearing: 278.203926 deg, approach rate: -0.136760 m/s, LOS rate: 0.084276 deg/s, cmd heading: 198.894781 deg, new cmd heading: 199.001975 deg. 2jmZg;uHeadingCmd: 3.473240 target range: 493.200012 and range: 501.60 m. juI^@jqjqjqiqhqhhhfffrfbf"?ɛقBd< j?I YppɚiI%=I%'3i-XUi-9ɼ)-I^@))*F2F:FBFJFGGGBOF> Will construct direction to contact in vehicle frame from tetrahedron phase data.JCKKO3 KK(.KCKC"KCJu ,Ju cJq Jq Ju LC;Ju ϣ:Jq Jq ;Kw,w0A6NO@Y6m]@6D/969>y6H@Vd?@mԿc!??&?`&?ɨ6NO@6S;4yfBf"IInSIn4٢v>= vO=9vwQ v>xx zG٣xy~+; ~>  bBottom track data is 0.8 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config 49c ?4Y ifB :]:1 @nkDG;L?534! %d@)ZjQUFNOT Ignoring new targets: 493.20 m.Bj]/:Jj]/:m ProNav: ac range: 493.200012 m, nav range: 396.000732 m, bearing: 278.238838 deg, approach rate: -0.152282 m/s, LOS rate: 0.093627 deg/s, cmd heading: 199.001974 deg, new cmd heading: 199.106728 deg. 2jm;uHeadingCmd: 3.475068 target range: 493.200012 and range: 501.60 m. jug^@jqjqjqiqhyhyhhfffrfbf@G@?ɛۂB'= !?I hɚiI=I23i#Vi<м)g^@) P$?I*F2F:FBF0JFGiBqO>EWill construct direction to contact in vehicle frame from tetrahedron phase data.EAiEAڊRw,ߩJAH$I$ I&"II&jBI&> =&I$.I$6I& <:I& FFWill construct direction to contact in vehicle frame from tetrahedron phase data.zKJKJh9KHKJKJj%yjH 1g` ?hӿ [?`*\?S`? ?ɨj% G٣y( > Nusing accuracyPremultiplier from config49 ?4Y i!fBT:?:56 @kD;;T;4B @PEZj FNOT Ignoring new targets: 493.20 m.Bj :Jj: ProNav: ac range: 493.200012 m, nav range: 395.958588 m, bearing: 278.279074 deg, approach rate: -0.090984 m/s, LOS rate: 0.086872 deg/s, cmd heading: 199.106722 deg, new cmd heading: 199.227442 deg. 2jzn;HeadingCmd: 3.477175 target range: 493.200012 and range: 501.60 m. j^@jjjihhhh=Bfffrfbf?ɛ܂B< 隝 &?I 'v^ɚiI;p=I3iVil)^@) I*FE?2FA:FABFEo0JFIGB)OEs>=Will construct direction to contact in vehicle frame from tetrahedron phase data. G vA Xw,RdA 2 Y2vAy6UBJ )O@YJG]@J/v"9J>yJH>j %?U@ӿM? N???ɨJ )O@J X;JDCy^0B^"IIftIfM4٢n1= no=9r+@;Q r?tt zG٣xy~^ ? -Nusing accuracyPremultiplier from config)549- ?54Y-\ i)1=G6= @-kD-1;-t;-jA4A E+@AeB*** querying acoustic contact ***jajaZjq}FNOT Ignoring new targets: 493.20 m.Bj:Jj: ProNav: ac range: 493.200012 m, nav range: 395.927368 m, bearing: 278.309238 deg, approach rate: -0.089354 m/s, LOS rate: 0.086338 deg/s, cmd heading: 199.227438 deg, new cmd heading: 199.317935 deg. 2jm;HeadingCmd: 3.478754 target range: 493.200012 and range: 501.60 m. j^@jjjihhhhfffrfbf .2?ɛ}ނB:= 隅T)?I WɚiIo=I{3i/8Wi6)^@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JYJ]_J]0JYJYJ]:J]ـ3JY*F?2F:FBF 3JF O$?INgGM o>GU ?GU >G! B) OM >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261939^w, ,~A6H?O@Y6]]@696D>y6Hf`?!`ӿ`V? ?? ?ɨ6H?O@6%ތ;6ECyR6BR"IIsIK4٢]< G=9;Q > G٣uCGy%@Y; %> -Nusing accuracyPremultiplier from config)549- ?54Y-; i-"fB1=16= @-kD-%;-y;-xH4EB E@ESEZjquFNOT Ignoring new targets: 493.20 m.Bj@:Jj@: ProNav: ac range: 493.200012 m, nav range: 395.890961 m, bearing: 278.344216 deg, approach rate: -0.090194 m/s, LOS rate: 0.086662 deg/s, cmd heading: 199.317938 deg, new cmd heading: 199.422883 deg. 2jm;HeadingCmd: 3.480586 target range: 493.200012 and range: 501.60 m. j^@jjjihhhhfffrfbf`!@ɛ߂BfB = U+?I ̷NɚiI`=I]3iOWiS)^@)*Fu?2Fq:FqBFu4JFqGMa.ʼG B1O8>zK}BHK}]9KyK}K}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517060HYIY I]"II]~BIY&IY.IY6I]<:I]Z F I ĺew,AJCO@YJּ]@J&9J m>yJH X ')? VRQԿ`, E?`du?B?`?ɨJCO@Jj;JFCynABn"I v=vR=Mb@Mb@Mb@ )Y-?S㥫Mbpy5?/]A @)v@I3@yG@IjI;4٢&J= ?=9;Q > G٣y]< > Nusing accuracyPremultiplier from config49@ ?4Y ifB?:9 @kD;;O4 @VEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765857Zj9=FNOT Ignoring new targets: 493.20 m.BjE:JjE:U ProNav: ac range: 493.200012 m, nav range: 395.866638 m, bearing: 278.382485 deg, approach rate: -0.056613 m/s, LOS rate: 0.089081 deg/s, cmd heading: 199.422877 deg, new cmd heading: 199.537692 deg. 2jUt;]HeadingCmd: 3.482590 target range: 493.200012 and range: 501.60 m. j]^@jYjajaiahahahihmQkw,AJ]O@YJ^@Jw9J>yJHBM`f?*ߑԿ@i?r?z0?Ƭ?ɨJ]O@J;HyV=BV"IIbIbHo4٢jŚ j\=9jo:Q j>! %G٣!y%2< %> 5Nusing accuracyPremultiplier from config)549- ?=4Y-^ i-fB9=9= @-kD-;-;-V4A MI@IZjiuFNOT Ignoring new targets: 493.20 m.Bj}:Jj}: ProNav: ac range: 493.200012 m, nav range: 395.844177 m, bearing: 278.416494 deg, approach rate: -0.059432 m/s, LOS rate: 0.089992 deg/s, cmd heading: 199.537693 deg, new cmd heading: 199.639724 deg. 2j w;HeadingCmd: 3.484370 target range: 493.200012 and range: 501.60 m. j^@jjjihhhhfffrfbf[J @ɛB= 6-?I f<ɚiImM=I3iXiϼ)^@) ]N$?IY*Fu?2Fq:FqBFu\0JFqGM޼GB-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270235O=/>rw,AjHybH}<FWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524893zKdKf9KdH*>I( I* #II*BI*? =&I(.I(6I*z<:I*) FKfKf"CR\b\M5#yUFBU"I=Mb@Mb@Mb@999 9)9Y=Cl?)\(qq uG٣uvCGy} }> Nusing accuracyPremultiplier from config49` ?4YC ifB?:9 @kD;c;_4B @YEZjFNOT Ignoring new targets: 493.20 m.Bj:Jj: ProNav: ac range: 493.200012 m, nav range: 395.815796 m, bearing: 278.459757 deg, approach rate: -0.059019 m/s, LOS rate: 0.089971 deg/s, cmd heading: 199.639722 deg, new cmd heading: 199.769519 deg. 2jv;eHeadingCmd: 3.486636 target range: 493.200012 and range: 501.60 m. je %_@jajajaiahahihihmKBfifqfqrfqbfu@A @ɛB8o= t0?I `1ɚiIs=I2i9xw,lA2nP@Y2^@23x92 >y2H1 ?1տ ?xo?g?ժ?ɨ2nP@2F;2DCyNABR"ITTIZxIZT4٢b  b=9b -;Q f ?dd jG٣hynU= n ? rNusing accuracyPremultiplier from configpv49r6 ?v4Yr irfBtz8z @rkDr:r;:rd4~B @\EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 493.20 m.Bj:Jj:E ProNav: ac range: 493.200012 m, nav range: 395.795166 m, bearing: 278.488276 deg, approach rate: -0.060708 m/s, LOS rate: 0.083929 deg/s, cmd heading: 199.769523 deg, new cmd heading: 199.855086 deg. 2jEff;MHeadingCmd: 3.488129 target range: 493.200012 and range: 501.60 m. jU=_@jQjyjyiyhyhhhfffrfbfk@ɛ5B5%= 15-?I1 =)ɚ9i9I=1=IE32iEpYiED')E=_@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026231*F2F:FBF_0JFJ J YJ J J 6;J :J J  uL$?IqGVG B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.M DAT read: Range 10 to 50 : 502.5 m (Round-trip 670.1 ms) speed -0.4 m/s U ,DAT read: user:1896> ] BDAT read: Tx time:21:35:35.1787 ] $Ping request sent.] yFH@ <^? Gnտ`h[?l?`??ɨFP@F݊;FECyr8Br"IIzpIzF4٢%n4 %D=9-':Q ->)1 ]G٣Yy]}n< e> mNusing accuracyPremultiplier from configau49ev ?u4YeV ie fBqu8 @ekDeYEei>*F?2F:FBFn0JFH>IC I#IIBI= =&I.I6Iɰ<:Ie FBIŕCJIŕCRIœCZI> =bI> =jI<5GWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:35:35.1779 zKMK9KKK /?Zz*JER="JEa=GBO> y Iy w,WAj4Q@YjnS_@j9jH>yjH3?p>տ _v?St? X?@O?ɨj4Q@j;jFCyv>Bv"I}Mb@Mb@Mb@yyy y)yY}S㥛?i|?5:vy}$&?}q}T}A y)}@Iyyy}@ISI4٢A< B=9_Q > G٣wCGy_%< > Nusing accuracyPremultiplier from config49` ?4Y. ifB&?:[8 @kD;^;0s4 @_EWill construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 493.20 m.Bj[:Jj[:m ProNav: ac range: 493.200012 m, nav range: 395.735992 m, bearing: 278.565176 deg, approach rate: -0.069637 m/s, LOS rate: 0.089769 deg/s, cmd heading: 199.968609 deg, new cmd heading: 200.085804 deg. 2jmmv;uHeadingCmd: 3.492156 target range: 493.200012 and range: 502.50 m. ju|_@jqjqjqiyhyhyhyhRBfffrfbf?ɛ%BMw= IM\)?II UAɚQiQIU=I]92i]jYi]!rx)]|_@)*F2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >Y3w,E,3A2cQ@Y2&_@2霻92ݰ>y2H@6 `?,`%տb?s?Y? ?ɨ2cQ@2ۋ;2ECyB2BB"IIJWIJ44٢R-{ R]=9VZ9Q V>TT VG٣XyZ; Z> bNusing accuracyPremultiplier from config\f49^M ?f4Y^ i^eBdf,8f @^lD^;^;^y4jB n@rbEZjFNOT Ignoring new targets: 493.20 m.Bj:Jj: %K$?I! ProNav: ac range: 493.200012 m, nav range: 395.708557 m, bearing: 278.599825 deg, approach rate: -0.076352 m/s, LOS rate: 0.096434 deg/s, cmd heading: 200.085802 deg, new cmd heading: 200.189755 deg. 2j%\;-HeadingCmd: 3.493970 target range: 493.200012 and range: 502.50 m. j-6_@j)j1jQiQhQhYhYhYfYfafarfabfe~?ɛB= "?I ɚiI=I~2i-qYim)6_@) Will construct direction to contact in vehicle frame from tetrahedron phase data.*FA2FA:FABFE2JFAGGBO%o>ZH RH H >I  I I I &I w,MA6Will construct direction to contact in vehicle frame from tetrahedron phase data..I)6I-<:I-H FJ|J|JJ\J0JJ\8;J.:Jـ3JJ  G٣y > Nusing accuracyPremultiplier from config4923 ?4YY ieB<%?:5 @#lD!;Q;^4 [@ZjFNOT Ignoring new targets: 493.20 m.Bj-:Jj-: ProNav: ac range: 493.200012 m, nav range: 395.660370 m, bearing: 278.645887 deg, approach rate: -0.100676 m/s, LOS rate: 0.096247 deg/s, cmd heading: 200.189757 deg, new cmd heading: 200.327960 deg. 2j;HeadingCmd: 3.496382 target range: 493.200012 and range: 502.50 m. j _@j j j i h h hh.Bfffrfbf?ɛEBMf= IM?II MɚIiIIU =IUZ2i]Yi]#)]_@)YEi J$?I *F2F:FBF_5JF"G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data.G! G B O% >Dw,fA6Q@Y6S`@6a96>y6H J@S?@P{`ֿǞ ?ip??l?ɨ6Q@6;6DCyB$BB"IIJIJ{4٢R R=9Vb;Q V?TT VG٣ZxCGyZ< ^? fNusing accuracyPremultiplier from config`f49b(# ?j4Yb ibeBhj85j @b0lDb:b":bȇ4rB r@reEZj FNOT Ignoring new targets: 493.20 m.Bj:Jj: ProNav: ac range: 493.200012 m, nav range: 395.628723 m, bearing: 278.674464 deg, approach rate: -0.102163 m/s, LOS rate: 0.092261 deg/s, cmd heading: 200.327959 deg, new cmd heading: 200.413698 deg. 2jE};HeadingCmd: 3.497879 target range: 493.200012 and range: 502.50 m. j?_@jjj i h h hQhYfYfYfYrfabfe!?ɛBr=  ?I ɚiI=I vB2uWill construct direction to contact in vehicle frame from tetrahedron phase data.i aYiz)?_@)*FA2FA:FABFES3JFI I$?IG- G B O= >- Will construct direction to contact in vehicle frame from tetrahedron phase data.,w,AN@R@YN0_`@N/@9N>yNH`? f?ֿQ ?h??`?ɨN@R@N ;LyZBZy"IbAbAIfIfkf4٢ne nG=9n:;Q r>pp rG٣pyv.< v> zNusing accuracyPremultiplier from configx~49z ?~4Yz izeB4 @zAlDz ;z ;z4  \@ hE5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 493.20 m.BjE:JjM:U ProNav: ac range: 493.200012 m, nav range: 395.585938 m, bearing: 278.712212 deg, approach rate: -0.104031 m/s, LOS rate: 0.091791 deg/s, cmd heading: 200.413692 deg, new cmd heading: 200.526946 deg. 2j]{;eHeadingCmd: 3.499856 target range: 493.200012 and range: 502.50 m. je_@jajajaiahahihihififqfqrfqbfus@ɛBZC= 隭?I 2ɚiI=I"2iPYi}F)_@)*F12F1:F1BF5_0JF1G hAGBO$>H>I I#IIBI< =&I.I0D6Iϰ<:Ik 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.*J%C="J%p=JMJIJM1JIJM$9;JIJM3JIJM<JM<JIJIzKNK9KKK*))%$"$%&#$$#"##"  I Ww,}AFpR@YFD`@F9F >yFH?@l̩@(ֿ@}@ۜ?[c??@?ɨFpR@Fŋ;FFCy Bk"IMb@Mb@Mb@ )YK7A`?MbpS㥛y+?/ݼ )@I3@y@IIk4٢SQ ;=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5171149z:Q > G٣y; > Nusing accuracyPremultiplier from config49? 4Y ieB &+? : 1  @TlD8;7;4 @ZjAEFNOT Ignoring new targets: 493.20 m.BjM:JjM:5 ProNav: ac range: 493.200012 m, nav range: 395.523651 m, bearing: 278.753594 deg, approach rate: -0.142573 m/s, LOS rate: 0.094737 deg/s, cmd heading: 200.526950 deg, new cmd heading: 200.651115 deg. 2j5;=HeadingCmd: 3.502023 target range: 493.200012 and range: 502.50 m. j=#!`@j9j9jAiAhAhAhAhMBfIfifirfqbfu`@ɛBg<  ?I WɚiI=I1iq^Yi)#!`@)) CG Yy=B*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769458G "G qAG qAG B O >w,qtA:_R@Y:`@:4%9:9>y:H+`?9`j6׿ x?d]??x?ɨ:_R@:Ћ;:DCy^B^b"IIfIf{4٢r& r[=9vl:Q v>tt zG٣zyCGyz0< z> Nusing accuracyPremultiplier from config|49~y? 4Y~? i~eB  O1  @~dlD~:~;:~4B @kEZjAEFNOT Ignoring new targets: 493.20 m.BjM:JjM:] ProNav: ac range: 493.200012 m, nav range: 395.469879 m, bearing: 278.788747 deg, approach rate: -0.144806 m/s, LOS rate: 0.094680 deg/s, cmd heading: 200.651109 deg, new cmd heading: 200.756584 deg. 2j];eHeadingCmd: 3.503863 target range: 493.200012 and range: 502.50 m. jeL?`@jijijiiihihihqhqfq G$?IffrfbfO@ɛB= 隽?I ջɚiIC=Ii1i,Yi%)L?`@)*F12F9:F9BF=o0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021876GUG)B9O]>jH <bH <H I  I "II tBI &I .I 6I װ<:I q Fjw, TA&Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276093JxJzWJxJxJxJz:JxJxJxJxJz<Jz<zKMKs9KKK *R@Y`@ZϺ9q>yH $?r#`׿Ex@f?*Y?@?`?ɨ*R@;CCyBT"I %=%=5Mb@Mb@Mb@111 1)1Y5sh|??y&1? rhy5)?5`<5C5A 5@)5`@I5`@1y5@IUIUkf4٢}0 '=99Q > G٣y ; > Nusing accuracyPremultiplier from config49H?4Y ieB0*?:9. @ylD@;;4B &@nEZj FNOT Ignoring new targets: 493.20 m.Bj:Jj:% ProNav: ac range: 493.200012 m, nav range: 395.384003 m, bearing: 278.834509 deg, approach rate: -0.173121 m/s, LOS rate: 0.092272 deg/s, cmd heading: 200.756581 deg, new cmd heading: 200.893895 deg. 2j-M};-HeadingCmd: 3.506260 target range: 493.200012 and range: 502.50 m. j-f`@j1j1j1i1h1h1h9h=Bf9f9f9rfAbfE>B @ }F$?IɛB< 隝1>I ŻɚiI=IE&1iEcXiEc)Ef`@)A*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:35:38.2540 TRx dataTimestamp_ set to:1736372139.484671checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526103G ҸлG ?G >G B O >xw,5*Ay=B=J"II]I]%x4٢uB }s=9}Q ? G٣y ? Nusing accuracyPremultiplier from config49?4Y. ieB @lDb; ;4 @oEZjq}FNOT Ignoring new targets: 493.20 m.Bj}:Jj}: ProNav: ac range: 493.200012 m, nav range: 395.324829 m, bearing: 278.866123 deg, approach rate: -0.168267 m/s, LOS rate: 0.089912 deg/s, cmd heading: 200.893895 deg, new cmd heading: 200.988752 deg. 2jv;HeadingCmd: 3.507915 target range: 493.200012 and range: 502.50 m. j`@jjjihhhhfffrfbf@ɛBE<  >I  ɚ i I4w=I1iXi)`@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778030*F2F:FBF0JF yIyGG B! OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: 21:35:38.2540 LVL= 16880, 22049, 17794, 29619, AGC= 68, IDX= 450, 0.22,-0.220,-0.898,-2.569,-1.402, PHS= 1.270, 0.552,-1.170, RAW= 46.7, -6.1, CAL= 50.0, -11.1, ROT= 100.0, 11.1 = Ygot valid direction response: 21:35:38.2540 LVL= 16880, 22049, 17794, 29619, AGC= 68, IDX= 450, 0.22,-0.220,-0.898,-2.569,-1.402, PHS= 1.270, 0.552,-1.170, RAW= 46.7, -6.1, CAL= 50.0, -11.1, ROT= 100.0, 11.1 E PDAT read: Bearing 100.0, 11.1 (Local) E ~Local bearing/azimuth received: Bearing 100.0, 11.1 (Local) ] DAT read: Range 10 to 50 : 503.3 m (Round-trip 671.1 ms) speed -0.2 m/s ] ,DAT read: user:1897> e BDAT read: Tx time:21:35:39.3787 e $Ping request sent.e    amr8?B}7aY9) o壿I =i M׵? ‚=   :publishing transmit ping timea  Fpublishing direction and range info 9 E=F?[[?Wp?y     ) I i      ) I i    amr8?B}7aY9) I i    {w,FAyeBeE"IIuIu4٢ G=9Q > G٣zCGy > Nusing accuracyPremultiplier from config49?4Y ieBQQU @lD0m<_m<ɲ4eB e@erEk5`j?k58 k1 k58A:k5CBk5CZk57@"5ܗ~$?K@eUv@^Ɨ7u@5E=F?[[?Wp?Jk5M׵?Rk5‚=*5; ^tO@Ns&Vx@5tʰ *?og99(?"k5?*k5;~Bk5cOݏ?k5E 2k5Ck5cOݏ?k5_ k5Ck5bCk5t@ addTargetRange:: Added new target pos. range: 503.299988 m, deltaT: 4.031993 s, deltaX: 0.799988 m, approachRate: 0.198410 m/s, rangeRepo size: 4  Added new target pos. range: 503.299988 m, bearing: 281.496426 deg, lat: 36.901752 deg, lon: -122.119139 deg, deltaT: 38.334791 s, deltaX: 10.099976 m, approachRate: 0.263468 m/s, posRepo size: 4 Zj-FNOT Ignoring new targets: 503.30 m.Bj5Jj1u ProNav: ac range: 503.299988 m, nav range: 390.766724 m, bearing: 279.362051 deg, approach rate: 0.000000 m/s, LOS rate: 0.089912 deg/s, cmd heading: 200.988753 deg, new cmd heading: 201.109364 deg. 2jq}HeadingCmd: 3.510020 target range: 503.299988 and range: 503.30 m. j}-`@jyjyjyiyhyhyhhfffrft@bf`1?ɛB<H)I) I-"II-[BI)&I).I-/D6I-<:I-= F AEs>IA E6ɚIiIIM^=IM{1iUچXiU~)U-`@)QuWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:35:39.3779 J!JZJJJ:;*FM?2FI:FIBF]0JFYJ%:JJJ<J<J<J<zKH LK9KKK m E$?Ii G UGY Ba O} >~w,v4AFJS@YF1ia@FeI9F>yFH<?Q ׿ h?@,U?5"?^?ɨFJS@F!;FBCy~B~>"IAAWill construct direction to contact in vehicle frame from tetrahedron phase data.-Mb@Mb@Mb@))) )))Y-?v/?~jty-,?-xi=-D-A )))I-3@)y-@IyIxV4٢ϼ 7=9:Q > G٣yup<  > Nusing accuracyPremultiplier from config 49 %?4Y  i eBq-?:7+ @ lD ; {; 4I M-@MuEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 503.30 m.Bj:Jj: ProNav: ac range: 503.299988 m, nav range: 390.676483 m, bearing: 279.404447 deg, approach rate: -0.224042 m/s, LOS rate: 0.105280 deg/s, cmd heading: 201.109360 deg, new cmd heading: 201.236576 deg. 2j;HeadingCmd: 3.512241 target range: 503.299988 and range: 503.30 m. j`@jjjihhhhނBf f f rf bf f?ɛB< 隥>I ⠻ɚiI=I'W1iFXiנ)`@)*Fy2Fy:FyBF}`5JFyE Will construct direction to contact in vehicle frame from tetrahedron phase data.E T****** received valid address query ******E R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.G jG B O >w,a5A60S@Y6Na@6'96P>y6H! ?@Pf׿}j2?ad?? ?ɨ60S@6;6ECyRBR?"I zD$?I~OgI^I^Ho4٢ &;  n=9 "mQ  ? G٣y* ? -Nusing accuracyPremultiplier from config!549%{?54Y%h i%eB15S+5 @%lD%;%;%4A E@AZjimFNOT Ignoring new targets: 503.30 m.Bju:Jju: ProNav: ac range: 503.299988 m, nav range: 390.608337 m, bearing: 279.436730 deg, approach rate: -0.205428 m/s, LOS rate: 0.097335 deg/s, cmd heading: 201.236579 deg, new cmd heading: 201.333445 deg. 2j;HeadingCmd: 3.513932 target range: 503.299988 and range: 503.30 m. jA`@jjjihhhhfffrfbf@?ɛBE< >I ɚiI4[=It;1i$XiO\ )A`@)*F?2F:FBF[0JFGѻWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997529GABQOm5>ZH RH AAH I  I "II FBI &I .I 6I Ű<:I d FBIʖCJIʖCRIZI< =bI< =jIʸ4e Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250563w,@MPAzKBIK9KKK  4S@Y9a@&Q9>yH@ m?@׿`?`$j?K?@L?ɨ4S@;騽CCyBB"IMb@Mb@Mb@ )Y> ףp=?{Gz?{Gzty1?ף=ףzA @)@I@y@I`I(*4٢; /=9KQ > G٣{CGy2 > Nusing accuracyPremultiplier from config49zc?4Y{ ieB 3? : ) @lDe;;4-B -@-xEZj C$?IMFNOT Ignoring new targets: 503.30 m.BjU:JjU:e ProNav: ac range: 503.299988 m, nav range: 390.503204 m, bearing: 279.482203 deg, approach rate: -0.219194 m/s, LOS rate: 0.094834 deg/s, cmd heading: 201.333445 deg, new cmd heading: 201.469901 deg. 2je*;mHeadingCmd: 3.516313 target range: 503.299988 and range: 503.30 m. jmF a@jijjihhhhۂBfffrfbf@Ѯ?ɛBt< _>I %Íɚ!i!IE =IMo1iM XiU8)UF a@)Q*F?2F :F BF 2JF }Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499943GE PG B1 OU >w,jjAJR@YJp a@J9 K9JF>yJHN@Iq uې~ɚqiqI =I0iXi+y)'a@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751635JeJeXJe0JaJe6;Je:Jeـ3Jaa}@a}@a}@a}@*FY2FY:FYBF]_0JFYG-ZGBO N> Im Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003537w,O˃A:R@Y::`@:--9:>y:H ?Dt8׿@?De?=?0?ɨ:R@:;8ybBbB"IIjIj4٢r5< rM=9vL:Q v>tt vG٣tyzS z> ~Nusing accuracyPremultiplier from config|49~<?4Y~ i~eB  )  @~lD~i:~\:~4B @{EZjAMFNOT Ignoring new targets: 503.30 m.BjM:JjM:] ProNav: ac range: 503.299988 m, nav range: 390.339142 m, bearing: 279.554524 deg, approach rate: -0.219594 m/s, LOS rate: 0.097450 deg/s, cmd heading: 201.570221 deg, new cmd heading: 201.686906 deg. 2je…;eHeadingCmd: 3.520101 target range: 503.299988 and range: 503.30 m. jeTIa@jijijiiihihihqhqfqfqfqrfybf}@ɛ Bhk< 隭>I biɚiI. =Ia0iAXi7)TIa@)*Fq2Fq:FqBFuo0JFqH >I I"II =&I.I0D6Iհ<:Iq F Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258731GI6zKoKKh9KKKRK-?JK->GBO> B$?I w,ʩAy%B%C"IeWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509322EMb@Mb@Mb@AAA A)AYE?333333?~jtx?yE,?E=E;EA E@)EI@IE@AyEQ@II҅4٢_; 1=9Q > G٣|CGy > Nusing accuracyPremultiplier from config49h%?4Y ieB-?:Z* @mD;;4 @~EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 503.30 m.Bj :Jj: ProNav: ac range: 503.299988 m, nav range: 390.242859 m, bearing: 279.598250 deg, approach rate: -0.208672 m/s, LOS rate: 0.094788 deg/s, cmd heading: 201.686907 deg, new cmd heading: 201.818115 deg. 2j;HeadingCmd: 3.522391 target range: 503.299988 and range: 503.30 m. jna@jjjihhhh؂Bfffrfbf@@ɛm Bu|H< qu>Iq uMɚqiyI}b =I}ܰ0iTXim)na@)*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=2.759534J J \J 1J J $9;J .:J 3J G `6G G rAG B O >h>w,eA6R@Y6F`@6:96W( >y6H+#?`"!׿Ύ@d?@Tc? w?\?ɨ6R@6D;6AC BA$?IBPgyNBNP"IIVIV]4٢^"w= bn=9bz:Q b?dd fG٣dyf f? nNusing accuracyPremultiplier from confighr49j?r4Yj ijeBtvy*v @jmDj55;j|4;j4| ~ @|Zj!%FNOT Ignoring new targets: 503.30 m.Bj-e:Jj-e:= ProNav: ac range: 503.299988 m, nav range: 390.171814 m, bearing: 279.630803 deg, approach rate: -0.207354 m/s, LOS rate: 0.095030 deg/s, cmd heading: 201.818115 deg, new cmd heading: 201.915795 deg. 2j=o;EHeadingCmd: 3.524096 target range: 503.299988 and range: 503.30 m. jEȊa@jAjAjAiAhAhIhIhIfIfQfQrfbf @ɛm B "= >I \8ɚiI[ =I0iXiż)Ȋa@)!mWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013259*F2F:FBF0JFG G B O >jH bH <H >I  I "II ABI < =&I .I 6I ݰ<:I v F% Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266668P'w,kAzKJK9KKKBK:K-0R@Y-`@- 9-->y-H? r3׿@lV?9:a?`?@%?ɨ-0R@-z;-CCy=B=^"IMb@Mb@Mb@ )Y rh?Zd;O?Mb?y,?j<=<zA )`@Iy@II҅4٢Z4=  +=9 9Q  > G٣ydL; > %Nusing accuracyPremultiplier from config-49F?-4Y ieB5,?5:5-5 @(mDX);(;4=B =e@=EZja u@$?IquFNOT Ignoring new targets: 503.30 m.Bj}J:Jj}J: ProNav: ac range: 503.299988 m, nav range: 390.085999 m, bearing: 279.676633 deg, approach rate: -0.179455 m/s, LOS rate: 0.095859 deg/s, cmd heading: 201.915801 deg, new cmd heading: 202.053320 deg. 2j;HeadingCmd: 3.526496 target range: 503.299988 and range: 503.30 m. ja@jjjihhhhBf!f!f)rf1bf5`_ @ɛB < 隽>I 0ɚiI =Im0iKYiȼ)a@)*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՅAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.519087AG ) U YY y] BG} EGQ Bi O >Nw,:A:hR@Y:`@:'*9:}>y:H`?@ tQ׿ _?@Qe?@\??ɨ:hR@:f;:DCyBBFw"IIJIJt4٢R= V{=9ZȺQ Z ?X\ ^G٣^}CGyb'; b? fNusing accuracyPremultiplier from configdj49fn?j4Yf ifeBhn,n @f7mDfE Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.01950366w,A6#R@Y6 a@6B$96>y6H t5?@ho!m׿@!y?@Xd? -?`?ɨ6#R@6;6CCyR BR"I\\IfIfi4٢U9= E=9q9Q >)) -G٣1y5; 5> =Nusing accuracyPremultiplier from config9E49=?E4Y= i=eBIM,M @=ImD=:=:=#4Q Uz@QZjFNOT Ignoring new targets: 503.30 m.Bjn:Jjn:= ProNav: ac range: 503.299988 m, nav range: 389.951569 m, bearing: 279.747916 deg, approach rate: -0.180383 m/s, LOS rate: 0.095484 deg/s, cmd heading: 202.147112 deg, new cmd heading: 202.267202 deg. 2j=;EHeadingCmd: 3.530229 target range: 503.299988 and range: 503.30 m. jEDa@jAjAjAiAhAhIhIhIfIfQfQrfbfc@ɛB= H5>I1 I5"II5PBI1&I1.I16I5ϰ<:I5m Fm?Ii mX˺ɚiiiIu =Iup00iu[Zi}ȼ)}Da@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 504.3 m (Round-trip 672.4 ms) speed -0.6 m/s  ,DAT read: user:1898> BDAT read: Tx time:21:35:43.5787 $Ping request sent.}bw,HAB$S@YBGCa@Bl:9B">yBH; h? @Π׿m *?`Qg? T??ɨB$S@B,;@y^+B^"I=Will construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:21:35:43.5779 ]Mb@Mb@Mb@YYY Y)YY]HzG?{Gz?~jtx?y]=*?]ף<];]A ]@)YI]3@YyYIuIub4٢SA= 3=9DQ > G٣y; > Nusing accuracyPremultiplier from config49?4Y ieBR*?: / @\mDI5<4<4 @EMB*** querying acoustic contact ***jIjI] addTargetRange:: Added new target pos. range: 504.299988 m, deltaT: 4.285513 s, deltaX: 1.000000 m, approachRate: 0.233344 m/s, rangeRepo size: 4 ZjaeFNOT Ignoring new targets: 503.30 m.BjmT:JjmT: ProNav: ac range: 503.299988 m, nav range: 389.881500 m, bearing: 279.790728 deg, approach rate: -0.156175 m/s, LOS rate: 0.095440 deg/s, cmd heading: 202.267200 deg, new cmd heading: 202.395658 deg. 2j;HeadingCmd: 3.532471 target range: 503.299988 and range: 504.30 m. jb@jjjihhhh Bfffrf̄@bf@I?ɛ5B5= 15 ?I1 =ɚ9i9I=d =IE 0i^WZi⿼)b@)*F?2F:FBF]0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.J J KJ 0J J 4.;J ^:J ـ3J GA G B) OE > = =$?I9 w,8A6 ;S@Y6Ya@6u96Q>y6Hv}?˩ ׿ f s?n?L?`?ɨ6 ;S@6;4y^>B^"IIjIjd4٢rI= ri=9r(Q v>tt vG٣v~CGyz; z> ]Nusing accuracyPremultiplier from configI]49M*?e4YMf iMeBae.e @MkmDM1;M;ML4mB u@uEZjFNOT Ignoring new targets: 503.30 m.Bj:Jj: ProNav: ac range: 503.299988 m, nav range: 389.825317 m, bearing: 279.824939 deg, approach rate: -0.162020 m/s, LOS rate: 0.098673 deg/s, cmd heading: 202.395663 deg, new cmd heading: 202.498311 deg. 2jo;HeadingCmd: 3.534262 target range: 503.299988 and range: 504.30 m. jZ1b@jjjihhhhfffrfbf ?ɛB3= <?I G9ɚ i I  =IZ/iZif8ļ)Z1b@)*F2F:FBF_0JFGrA GrAUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.749815GEGrAGGBO>ZH! RH! H- >I- C I- "II- oBI- ; =&I) .I) 6I- <:I- T F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000945uw,RA=uS@Y=a@=<9=o>y=Hµ?3׿\[?'r?J}??ɨ=uS@=;=DCyeRBe"IquAzKBIK+9KKK I Mb@Mb@Mb@    ) Y Mb?Mb`?y #? ̼ ; A ) v@I  y @I%MI%{4٢5Ӥ= 5*=9=IQ =>99 =G٣AyE+; E> UNusing accuracyPremultiplier from configIU49Mc?U4YM iI]2#?]:]3] @M~mDM;M#;M4a mE@iZjFNOT Ignoring new targets: 503.30 m.Bj:Jj:% ProNav: ac range: 503.299988 m, nav range: 389.774048 m, bearing: 279.868337 deg, approach rate: -0.109361 m/s, LOS rate: 0.092584 deg/s, cmd heading: 202.498307 deg, new cmd heading: 202.628518 deg. 2j-(~;-HeadingCmd: 3.536535 target range: 503.299988 and range: 504.30 m. j-Vb@j1j1j1i1h1h1h9heWBfifqfqrfybf?ɛBo@= !%?I! %ɚ!i!I%v+ =I-/i-_[i-#鹼)5Vb@)1*F2F:FBFJFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252933G9 G B OE >w,mlA6~S@Y6a@6t96f>y6HP?LLؿ5R??w?@ӛ?Ө?ɨ6~S@6֊;4yB^BB"IIJ5IJ3٢V= V=9ZEQ Z ?XX ZG٣\y^< ^ ? fNusing accuracyPremultiplier from config`f49bJ?f4Yb ibeBhj2j @bmDb);bK;b4nB nq@rEZj FNOT Ignoring new targets: 503.30 m.Bj 4:Jj 4:% ProNav: ac range: 503.299988 m, nav range: 389.738831 m, bearing: 279.897743 deg, approach rate: -0.110560 m/s, LOS rate: 0.092325 deg/s, cmd heading: 202.628517 deg, new cmd heading: 202.716744 deg. 2j%r};-HeadingCmd: 3.538075 target range: 503.299988 and range: 504.30 m. j-ob@j)j)j1i1h1h1h9h9f9f9f9rfAbfEa?ɛmBmZ= imc#?Iq u9ɚqiqIuv=I}/i} 7[i}N)}ob@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506372JYJY*F2F:FBF0JF <$?IGͿGBO>u Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756883ft!w,A6S@Y6'a@6tp96>y6H?`f> FؿqH2?` r?!??ɨ6S@6;6CCyBgBB"IININi4٢Vj'= VL=9ZN;Q Z>XX ^G٣\y^; ^> fNusing accuracyPremultiplier from config`f49bo?j4Yb0 i`hj2j @bmDb:bC:b4l r@rEZj FNOT Ignoring new targets: 503.30 m.Bj  :Jj :% ProNav: ac range: 503.299988 m, nav range: 389.693817 m, bearing: 279.934795 deg, approach rate: -0.112064 m/s, LOS rate: 0.092254 deg/s, cmd heading: 202.716750 deg, new cmd heading: 202.827919 deg. 2j%@};-HeadingCmd: 3.540015 target range: 503.299988 and range: 504.30 m. j-b@j)j)j1i1h1h1h1h9fffrfbf?ɛ B -9=  &?I  cX:ɚiI=I=/i=y[i=+Ω)=b@)AHI I#IIBI: =&I.I6IŰ<:Ig FBIJIRIZIbIjI5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008731JJrJJJ0;J:JJJJp_(w,:A%z T@Y% ?b@%_q9%>y%H֍@O?@/ ؿQ<`BP?+n?p? p?ɨ%z T@%;%BCy=uB="I E=E=Mb@Mb@Mb@ )YT㥛 ?L7A`尿Mb`y!?+ @)@II@y3@II4٢%i= %#=9%:Q %>11 5G٣5CGy=6< => ENusing accuracyPremultiplier from configAM49EhU?U4YE iEeB]!?e:}x6} @EmDE;E?;E$4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 503.30 m.Bjp:Jjp: ProNav: ac range: 503.299988 m, nav range: 389.656891 m, bearing: 279.981131 deg, approach rate: -0.072605 m/s, LOS rate: 0.091115 deg/s, cmd heading: 202.827918 deg, new cmd heading: 202.966939 deg. 2j z;HeadingCmd: 3.542441 target range: 503.299988 and range: 504.30 m. j\b@jjjihhhhBfffrfbf@ɛMBM.k4= QU,?IQ U#|:ɚYiYI])=IZh/iy[ii_)\b@)E <*Fq2Fq:FqBFu0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515466 a Ia Ge G1 B9 O] >I.w,mA6YT@Y6'xb@6K96[>y6H@܂?þؿ2@!?pi?i?Ǫ?ɨ6YT@6p;4yBBB"IIJIJ4٢R= Rg=9V:Q V>TT VG٣XyZ!< Z> %Nusing accuracyPremultiplier from config-49B?-4YZ ieB15?6= @mDP|;|;C+4UB ]@]EZjFNOT Ignoring new targets: 503.30 m.Bjw:Jjw: ProNav: ac range: 503.299988 m, nav range: 389.629303 m, bearing: 280.014922 deg, approach rate: -0.074393 m/s, LOS rate: 0.091127 deg/s, cmd heading: 202.966940 deg, new cmd heading: 203.068320 deg. 2j(z;HeadingCmd: 3.544211 target range: 503.299988 and range: 504.30 m. jYb@jjjih hh1h9f9f9fArfAbfE2@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769457ɛB9M= 隝 3?I ;ɚiIo=I[K/iU[i)Yb@)EE*E"EH} >Iy I}A#II}BIy&Iy.Iy6I}Ͱ<:I}m F*F ?2F :F BF z0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023188J= J= CJ= 1J9 J= 4.;J= 9:J= 3J9 J= C<J= D<J= \;J= ];G Z ] :$?IY G B O>K6w,IhAzKk3IK9KKKBK :K"pART@YRZc@R 9R>yRHh`?Y=ٿ@B?Ya`?.??ɨRT@Rs;Py^B^"IMb@Mb@Mb@ )YʡE?sh|?I +y?94 )@I3@y@IIm4٢ژ #=9;Q > G٣CGyC< >  Nusing accuracyPremultiplier from config49*?4Y ieB%?:q7 @mDc;4o;345B = @=EZjamFNOT Ignoring new targets: 503.30 m.Bjmj:Jjuj:} ProNav: ac range: 503.299988 m, nav range: 389.598846 m, bearing: 280.059517 deg, approach rate: -0.063112 m/s, LOS rate: 0.092417 deg/s, cmd heading: 203.068313 deg, new cmd heading: 203.202108 deg. 2j};HeadingCmd: 3.546546 target range: 503.299988 and range: 504.30 m. jb@jjjihhhhBfffrfbf@Q @ɛu B}ED= y}^1?Iy }011;ɚyiI=I%/i[iL)b@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273090*FA2FI:FIBFM_5JFIG] ͍Ge qAGa GA BQ O} > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:35:46.6570  TRx dataTimestamp_ set to:1736372147.805509 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526767qyBHW hG?@ՇٿA "?VM? 2? ά?ɨB34U@B`;@yNBN #IIVIV{4٢b = b`=9b/D;Q b>dd fG٣dyj_< j> nNusing accuracyPremultiplier from configlr49n?r4Yn. ineBpv 7v @nmDn ;n;n2:4x z-@xZj!%FNOT Ignoring new targets: 503.30 m.Bj-:Jj-:5 ProNav: ac range: 503.299988 m, nav range: 389.575256 m, bearing: 280.092612 deg, approach rate: -0.065286 m/s, LOS rate: 0.091597 deg/s, cmd heading: 203.202103 deg, new cmd heading: 203.301394 deg. 2js{;HeadingCmd: 3.548279 target range: 503.299988 and range: 504.30 m. jc@jjjihhhhfffrf bf `- @ =9$?I9ɛ"Bb= 隝K7?I S;ɚiIg=I/i[ia$)c@)*Fm?2Fi:FiBFmP0JFiGEUGB O-N>]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiY]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777059"YCw, AH4I4 I6a#II6ԄBI69 =&I4.I46I6<:I6 FVsU@YVc@V":9V>yVH]K {?孿oٿ@?@=]Dd? ?ɨVsU@Vw;Ty~B #IIIy4٢%j %D=9%q;Q %>)) -G٣)y5< 5> =Nusing accuracyPremultiplier from config9E49=?E4Y= i=eBAE6M @=mD=:=:=xA4Q U6@UEZjFNOT Ignoring new targets: 503.30 m.Bj:Jj: ProNav: ac range: 503.299988 m, nav range: 389.547485 m, bearing: 280.130415 deg, approach rate: -0.066671 m/s, LOS rate: 0.090762 deg/s, cmd heading: 203.301400 deg, new cmd heading: 203.414817 deg. 2j(y;HeadingCmd: 3.550258 target range: 503.299988 and range: 504.30 m. jo7c@jjjihhhhfffrfbf @ɛ$BZ^= 5?I w;ɚiIS=IF.ii[i')o7c@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032493J= J=<J=0J9J=L*;J=:J=ـ3J9J=<J=<J=;J=;*F}?2Fy:FBF^0JF U8$?IUQgzKBoIKKKKRK ?JK>GyJGBO>)Y Y u Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 505.5 m (Round-trip 674.1 ms) speed -0.3 m/s  ,DAT read: user:1899>  BDAT read: Tx time:21:35:47.7788  $Ping request sent. yFHp:?` ڿǑ?`\=?a?ɨFU@FC;DyrBv#IMb@Mb@Mb@ )Y ףp= ?I +~jtyQ?9ļA )v@I@y=@IyIxV4٢T .=9 ;Q >! %G٣%CGy%p2< %> UNusing accuracyPremultiplier from configI]49M?]4YM( iMeB]?]:]+7] @MnDM;M3;MI4mB m@EB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 505.500000 m, deltaT: 4.288641 s, deltaX: 1.200012 m, approachRate: 0.279812 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 503.30 m.Bj :Jj : ProNav: ac range: 503.299988 m, nav range: 389.518463 m, bearing: 280.171970 deg, approach rate: -0.060409 m/s, LOS rate: 0.086502 deg/s, cmd heading: 203.414822 deg, new cmd heading: 203.539496 deg. 2jvm;%HeadingCmd: 3.552434 target range: 503.299988 and range: 505.50 m. j%[c@j!j!j!i!hIhIhQhUBfQfYfYrf]@bf]@6?ɛ'BB=  /?I  N;ɚ i I 4=I.iX[iλ)[c@)E)E)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:35:47.7780 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBFJF 9I9G G ?G 7?Gy B O >+kPw,AA6XU@Y6d@6~:96?H>y6H3?@' ,ڿ A? ԏYc? ?ɨ6XU@6lˆ;6ACy>BB#IIJxIJT4٢Rm; V|=9V)Q V ?XX ZG٣XyZ; ^ ? bNusing accuracyPremultiplier from config`f49b8?f4Yb ibeBdf7f @bnDb:b:bRO4l n@lZjFNOT Ignoring new targets: 503.30 m.Bj :Jj :%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498251- ProNav: ac range: 503.299988 m, nav range: 389.498596 m, bearing: 280.200100 deg, approach rate: -0.063839 m/s, LOS rate: 0.090394 deg/s, cmd heading: 203.539501 deg, new cmd heading: 203.623893 deg. 2j5%x;5HeadingCmd: 3.553907 target range: 503.299988 and range: 505.50 m. j=8sc@j9j9j9i9hAhAhAhAfIfIfIrfIbfM@?ɛ(BDx= @/?I 3;ɚiI=I-|.i-B*[i-sǻ)-8sc@)Q*F?2F:FBF`0JFG++GBOC>He >Ia Iem#IIe߄BIa&Ia.Ia6Ie<:Ie= FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749292J] JY JY JY J] );JY JY JY J] 7<J] 7<JY JY M 7$?IQ JVw,3[AzK2K29K0K2K2BK8:K8yzB~"IMb@Mb@Mb@ )YCl?EԸS㥛yd?ƽ/ݼ3A @)@I`@y@ImI3A4٢} 9=9Q > G٣y > Nusing accuracyPremultiplier from config49+?4Yy ieB?:7 @!nD-;; W4B @EZjimFNOT Ignoring new targets: 503.30 m.Bju:Jju: ProNav: ac range: 503.299988 m, nav range: 389.473633 m, bearing: 280.239877 deg, approach rate: -0.055418 m/s, LOS rate: 0.088311 deg/s, cmd heading: 203.623894 deg, new cmd heading: 203.743235 deg. 2jmr;HeadingCmd: 3.555990 target range: 503.299988 and range: 505.50 m. jXc@jjjihhhhBfffrfbf ?ɛ+Bm8K= im+?Ii uSk;ɚqiqIuK=I}].i}6Zi}I)}Xc@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011049*F2F!:F!BF%j0JF!GE /mGM rAGI G B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257302\w,uAJg=V@YJ[d@J;9J >yJH`".?. zڿY ?@p[??ɨJg=V@Jމ;JCCyruBr"II~`I~(*4٢  X=9 ^;Q  > G٣y`< > %Nusing accuracyPremultiplier from config!-49%S?-4Y%# i%eB)-k7- @%0nD%P:%:%]49 =@9ZjiuFNOT Ignoring new targets: 503.30 m.Bjus:Jjus: ProNav: ac range: 503.299988 m, nav range: 389.451202 m, bearing: 280.273905 deg, approach rate: -0.060350 m/s, LOS rate: 0.091558 deg/s, cmd heading: 203.743232 deg, new cmd heading: 203.845320 deg. 2jW{;HeadingCmd: 3.557772 target range: 503.299988 and range: 505.50 m. jc@jjjihhhhfffrfbf@>=? 6$?IɛM.BMtS= qu#?Iq u};ɚqiqIu=I},m.i}ĵZi}ŷ)c@)EV>E>*Fa2Fa:FaBFe0JFaGuqA GunAUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509225G->uG B O= >cw,PAH >I III&I.I1D6I<:IZ FFaV@YFdd@F+~;9F>yFH`Qhh nG٣nCGyn/; r> vNusing accuracyPremultiplier from configtz49v?z4Yv ivpeBxzF7z @v@nDv:v :vd4B @EZjFNOT Ignoring new targets: 503.30 m.Bj:Jj: ProNav: ac range: 503.299988 m, nav range: 389.427368 m, bearing: 280.309482 deg, approach rate: -0.057983 m/s, LOS rate: 0.086556 deg/s, cmd heading: 203.845316 deg, new cmd heading: 203.952052 deg. 2jm;HeadingCmd: 3.559635 target range: 503.299988 and range: 505.50 m. jc@jjjihhhhfff rf bf o?ɛ]0BediN= ae!?Ia eXJ;ɚaiaIm =ImN.immZiu)uc@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763414*FE?2FQ:FQBF]_5JFY 4$?IzKm$JK]9KKK #'&(,,+-/.,*'&%$" "!  G3`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=2.013371iw,&5Ay=\B="IMb@Mb@Mb@ )Yjt?MbV-y ?A @)@II@y@IIW4٢ ӽ 7=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)549-@?=4Y-T i-]eB=!?=:=3= @-RnD- ;-j;-al4A M9@MEZjiuFNOT Ignoring new targets: 503.30 m.Bju:Jj}: ProNav: ac range: 503.299988 m, nav range: 389.384155 m, bearing: 280.350366 deg, approach rate: -0.100570 m/s, LOS rate: 0.095160 deg/s, cmd heading: 203.952058 deg, new cmd heading: 204.074723 deg. 2j;HeadingCmd: 3.561776 target range: 503.299988 and range: 505.50 m. j#c@jjjihhhhqBfffrfbfW@ɛ3B>= ?I >;ɚiIm=I+.il1Zi7Vܻ)#c@)*F?2F:FBF05JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265587J%J!J!J!J%d&;J!J!J!a-@a-@a-@a-@ IGM.G ?G$?G B O >pw,A2V@Y2Od@2.[V<92]>y2H@ ?@Fڿ r?3ˊ ?@?ɨ2V@2p;2CCy:LB>"IIFIFt4٢N> Re=9Rx|TT VG٣TyVd< Z> ^Nusing accuracyPremultiplier from configXb49Zjw?b4YZN iZLeB`f<3f @Z`nDZe;Z;Zr4h j9@hzB*** querying acoustic contact ***jxjxZj|FNOT Ignoring new targets: 503.30 m.Bj :Jj :Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517455- ProNav: ac range: 503.299988 m, nav range: 389.348358 m, bearing: 280.382990 deg, approach rate: -0.100237 m/s, LOS rate: 0.091362 deg/s, cmd heading: 204.074728 deg, new cmd heading: 204.172611 deg. 2j-z;HeadingCmd: 3.563484 target range: 503.299988 and range: 505.50 m. j d@jjjihhhhfff rf bf /l@ɛ6B := 隽' ?I ;ɚiI*=I.iYi) d@)E*F?2F:FBFQ0JF"G=G=H%>I! I%T#II%ʄBI%8 =&I!.I!6I%ʰ<:I%n FBIŗCJIŗCRIZI9 =bI9 =jIB5GUWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770649G B O 3$?I vw,TAzK^MK^h9K\K^K^yn@Bn"IMb@Mb@Mb@ )Y}?5^I?Zd;Oy&1yM"?j`A @)@I@y=@II4٢c 8=9Q > G٣CGy > Nusing accuracyPremultiplier from config %49 {a?-4Y @ i :eB-"?5:5/5 @ rnD ; u; jz4MB M@MEZj-FNOT Ignoring new targets: 503.30 m.Bj5 :Jj5 :E ProNav: ac range: 503.299988 m, nav range: 389.285431 m, bearing: 280.423637 deg, approach rate: -0.137383 m/s, LOS rate: 0.088755 deg/s, cmd heading: 204.172605 deg, new cmd heading: 204.294565 deg. 2jEs;]HeadingCmd: 3.565613 target range: 503.299988 and range: 505.50 m. j]3d@jYjYjaiahahahahmJBfffrfbf@ɛ9Bٳ+= ]?I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022510 ļ<ɚ9i9I=O~ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273273J9 J= @AJE JE GJA JA JE +;JE K:JA JA S }w,A^ W@Y^/e@^z<9^ >y^H@@? 0L09ۿ ? /??ɨ^ W@^;^DCyv/Bv"II~I~y4٢ '  Y=9@ G٣y8< %> -Nusing accuracyPremultiplier from config!-49% O?54Y% i%*eB15.5 @%nD%;%A;%4E~B E@EE 2$?IZjFNOT Ignoring new targets: 503.30 m.Bj:Jj:  ProNav: ac range: 503.299988 m, nav range: 389.231873 m, bearing: 280.457691 deg, approach rate: -0.142161 m/s, LOS rate: 0.090402 deg/s, cmd heading: 204.294564 deg, new cmd heading: 204.396740 deg. 2j +x;5HeadingCmd: 3.567396 target range: 503.299988 and range: 505.50 m. j=8Pd@j9j9j9i9h9h9hAhAfAfAfIrfIbfU @ɛ;B0= ]>I d<ɚiIV=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:21:35:50.8580 ETRx dataTimestamp_ set to:1736372152.092704Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526411H% >I% C I% (#II% BI% 7 =&I! .I! 6I% <:I% F/w,˝A6.W@Y6Le@6У<96Y>y6Hs?@6Sۿ ܯ \? y@?`?ɨ6.W@6;6BCy>BB"IIFIF4٢N+ RQ=9R;Q V>TX ZG٣XyZH; Z> bNusing accuracyPremultiplier from config`f49b;?f4Yb[! ibeBdf.j @bnDb:bG:b͇4l n@lZjFNOT Ignoring new targets: 503.30 m.Bj :Jj : ProNav: ac range: 503.299988 m, nav range: 389.175690 m, bearing: 280.493233 deg, approach rate: -0.148923 m/s, LOS rate: 0.094224 deg/s, cmd heading: 204.396744 deg, new cmd heading: 204.503386 deg. 2jT;%HeadingCmd: 3.569257 target range: 503.299988 and range: 505.50 m. j%nd@j!j)j)i)h1h1h1h1fffrfbf8@ɛ>B]6$= 5`>I1 = <ɚ9i9I=bE Will construct direction to contact in vehicle frame from tetrahedron phase data.U DAT read: Range 10 to 50 : 506.2 m (Round-trip 675.0 ms) speed 0.0 m/s ] ,DAT read: user:1900> ] BDAT read: Tx time:21:35:51.9788 u $Ping request sent.u W@YbM]e@b:<9b>ybH 9?Daۿ? h? r?ɨb>W@bg;bACy=B=p"IEMb@Mb@Mb@AAA A)AYE?/$?~jtyEf&?E G٣CGy; > Nusing accuracyPremultiplier from config49\%?4Y% ieB&?:a* @nD$;;4 @E addTargetRange:: Added new target pos. range: 506.200012 m, deltaT: 4.033805 s, deltaX: 0.700012 m, approachRate: 0.173536 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 503.30 m.BjV:JjV: ProNav: ac range: 503.299988 m, nav range: 389.087494 m, bearing: 280.535842 deg, approach rate: -0.189371 m/s, LOS rate: 0.091509 deg/s, cmd heading: 204.503391 deg, new cmd heading: 204.631245 deg. 2j4{; HeadingCmd: 3.571489 target range: 503.299988 and range: 506.20 m. j Gd@j jjihhhhBfffrf%@3@bf%?ɛu@Bu= qu>Iy }<ɚyiyI}w,/QDA2=W@Y2#\e@2<92j>y2H<?`$`ۿ`?Y|I9 =<ɚ9iAIEcI I"IIyBI6 =&I.I6I<:I FGOPGG?GWill 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.BO> I F5w,;^AB&W@YBDe@BRҽ<9B±>yBH5?8pKۿ`=&? @I?/?ɨB&W@B;BECy\\zKJQJK 9KKK]Mb@Mb@Mb@YYY Y)YY] rh?)\(? G٣yZ > Nusing accuracyPremultiplier from config49?4Y+ idB+?:m' @nDQ;;y4}B %@EZjQ]FNOT Ignoring new targets: 503.30 m.Bj]:Jje: ProNav: ac range: 503.299988 m, nav range: 388.925934 m, bearing: 280.607453 deg, approach rate: -0.217452 m/s, LOS rate: 0.090346 deg/s, cmd heading: 204.726164 deg, new cmd heading: 204.846136 deg. 2jx;HeadingCmd: 3.575239 target range: 503.299988 and range: 506.20 m. jd@jjjihhhhBff5Gf9M|uArfAbfe@h?q Y|uAyA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003070ɛEBB= >I #<ɚiIdag`w,xA =0$?I9yUBU<"IIeIed4٢D <9Q > G٣CGy > Nusing accuracyPremultiplier from config49?4Y1/ idB @nD%;;4|B d@EZjFNOT Ignoring new targets: 503.30 m.Bj:Jj: ProNav: ac range: 503.299988 m, nav range: 388.834381 m, bearing: 280.645571 deg, approach rate: -0.233011 m/s, LOS rate: 0.097038 deg/s, cmd heading: 204.846130 deg, new cmd heading: 204.960512 deg. 2j1;%HeadingCmd: 3.577236 target range: 503.299988 and range: 506.20 m. j%nd@j!j!j!i!h!h!h1h1f1f1f1rf9bf=?ɛeGBem= im >Ii mv<ɚiiqIu(Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.506936H I  I "II PBI &I .I 6I ְ<:I z FDw,Ay~B~6"III:4٢U- UP=9YQ ]>YY eG٣aya e> mNusing accuracyPremultiplier from configiu49m]?}4Ym2 imdByy} @mnDm,;m;m{4 @EZjFNOT Ignoring new targets: 503.30 m.Bj:Jj: ProNav: ac range: 503.299988 m, nav range: 388.746643 m, bearing: 280.682192 deg, approach rate: -0.222627 m/s, LOS rate: 0.092941 deg/s, cmd heading: 204.960508 deg, new cmd heading: 205.070393 deg. 2j#;HeadingCmd: 3.579154 target range: 503.299988 and range: 506.20 m. je@jjjihhhhfffrfbf`4?ɛIB%ƶ< !%s>I! %A"<ɚ!i)I-JK>GGGpAGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022866mw,/AZV@YZ'd@Z<9Zz >yZHRd? ڿ@ ?>a??ɨZV@Ztˎ;ZBCyfӃBf%"IUMb@Mb@Mb@QQQ Q)QYUʡE?{Gz?QyU-2?Uף=UuUA U@)U@IU@QyU=@ImIm4٢l G=9> G٣y > Nusing accuracyPremultiplier from config49?4Y6 idBc3?:% @nD;f;4 @EZjFNOT Ignoring new targets: 503.30 m.Bj:Jj: ProNav: ac range: 503.299988 m, nav range: 388.644775 m, bearing: 280.721766 deg, approach rate: -0.237207 m/s, LOS rate: 0.092176 deg/s, cmd heading: 205.070392 deg, new cmd heading: 205.189146 deg. 2j };HeadingCmd: 3.581226 target range: 503.299988 and range: 506.20 m. j2e@jjjihhhh݂Bfffrfbfwr@ɛKBLz< G=>I &<ɚ i I Uw,cA6V@Y6d@6<96 >y6H R?5 ڿl6ּ?ž?2?ɨ6V@6;4yR΃BR"ITVAIZIZ44٢bwʼ bW=9f];Q f>dh jG٣jCGyn r> vNusing accuracyPremultiplier from configpz49r?z4YrJ: irdBxz%z @r oDr:r&:rL4 @%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 503.30 m.Bj5|:Jj5|:=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.526876 ProNav: ac range: 503.299988 m, nav range: 388.550537 m, bearing: 280.758538 deg, approach rate: -0.261502 m/s, LOS rate: 0.102064 deg/s, cmd heading: 205.189142 deg, new cmd heading: 205.299485 deg. 2j;HeadingCmd: 3.583152 target range: 503.299988 and range: 506.20 m. j]Re@jjjihh h h f f frfbf5@ɛmMBm< im1>Ii mJ)<ɚqiqI Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779120J;ـ3K;3 K3K3K3"K3J J /J J J ;J ڈ:J J J wy^H@  G٣y4 > Nusing accuracyPremultiplier from config49?4Y> idB5?:$M @oD<<4U{B U@]EZjFNOT Ignoring new targets: 503.30 m.Bj&:Jj&: ProNav: ac range: 503.299988 m, nav range: 388.437378 m, bearing: 280.800643 deg, approach rate: -0.250339 m/s, LOS rate: 0.093175 deg/s, cmd heading: 205.299490 deg, new cmd heading: 205.425842 deg. 2j;HeadingCmd: 3.585357 target range: 503.299988 and range: 506.20 m. jve@jjjihhh h Bf f frfbf`@ɛOB6 < U>I I-<ɚiI G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283258橽w,@OA:שV@Y:id@:m=9:.{>y:H`] ,T?!ڿ@}? ?7?ɨ:שV@:s;8yF҃BF#"IIRIR4٢Z; Z\=9Zk;Q Z>\\ ^G٣\yb2; b> fNusing accuracyPremultiplier from configdj49f?j4Yf\B ifdBhj$n @f0oDf: r-$?IpfߴI +0<ɚiIe;Ia  Ie y"IIe BIa &Ia .Ia 6Ie <:Ie e FBI%˘CJI%˘CRI!ZI%6 =bI%6 =jI%˞5Gm ͿGIBYOu>w,DAJWill construct direction to contact in vehicle frame from tetrahedron phase data.NBDAT read: Rx Time:21:35:55.0581 NTRx dataTimestamp_ set to:1736372156.388732Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.787876JVJTJV0JTJV$ ;JTJVـ3JTJV;v<JVy~HY?`ڿ ??`?ɨ~V@~p;~@Cy5ۃB5."IIIQ4٢ = "=9$;Q > G٣CGy: > Nusing accuracyPremultiplier from config49Yn?4YwG idB$ @GoD;;74  @žEZjFNOT Ignoring new targets: 503.30 m.Bje:Jje: ProNav: ac range: 503.299988 m, nav range: 388.206818 m, bearing: 280.886243 deg, approach rate: -0.249468 m/s, LOS rate: 0.092679 deg/s, cmd heading: 205.534462 deg, new cmd heading: 205.682722 deg. 2jk~;=HeadingCmd: 3.589841 target range: 503.299988 and range: 506.20 m. j=e@j9j9j9iAhAhAhAhAfIfIfIrfIbf}@zKBoIK 9KKKɛSB[< M>I Ϣ5<ɚiIψ 5BDAT read: Tx time:21:35:56.1788 5$Ping request sent.5yvH=Py?cз ۿ`Q?hN?W?ɨvV@v;vBCyރB2"IeMb@Mb@Mb@aaa a)aYeGz?{Gz?~jth?ye0?eף=eD;eA e@)e@Ie@aye@I}I}ƕ4٢)< =9o9;Q > G٣y; > Nusing accuracyPremultiplier from config49qP?4Y2M idB1?:% @boD;;4 @ addTargetRange:: Added new target pos. range: 506.299988 m, deltaT: 4.298234 s, deltaX: 0.099976 m, approachRate: 0.023260 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 503.30 m.Bj:Jj : ProNav: ac range: 503.299988 m, nav range: 388.060364 m, bearing: 280.943761 deg, approach rate: -0.265934 m/s, LOS rate: 0.104481 deg/s, cmd heading: 205.682718 deg, new cmd heading: 205.855335 deg. 2jh;HeadingCmd: 3.592853 target range: 503.299988 and range: 506.30 m. j%Oe@j!j!j!i!h!h)h)h-Bf)f1f1rf5̤@bf5p?ɛeUBe< im>Ii mN9<ɚiiiImI!  I% s"II% BI% 5 =&I! .I! 6I% <:I% i FG TżGBWill construct direction to contact in vehicle frame from tetrahedron phase data.JJ-JJJ;Jч:JJJ/r<J/r<J;J;O>F#w,fYA6FV@Y6e@6=96po>y6H?ۿ Or?:Z??ɨ6FV@6g;6AC V*$?IXyB H"IIwIR4٢mЫ= mA=9}ͺQ > G٣CGy ?; > Nusing accuracyPremultiplier from config49;?4YNQ idB% @uoD:\:-4yB @ɾEB*** querying acoustic contact ***jjZj1=FNOT Ignoring new targets: 503.30 m.Bj=b:Jj=b:M ProNav: ac range: 503.299988 m, nav range: 387.955475 m, bearing: 280.984910 deg, approach rate: -0.208736 m/s, LOS rate: 0.081912 deg/s, cmd heading: 205.855331 deg, new cmd heading: 205.978812 deg. 2j`;HeadingCmd: 3.595008 target range: 503.299988 and range: 506.30 m. jf@jjjihhhhfffrfbf$?zKm$JK+9KKKɛ5WB5< 9=>I9 ={ ?<ɚ9i9I=!E*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 GrAG vżGy B O >ww,^JtA2W@Y2'"e@23=92 >y2H `ԣ?@)ۿ?`}E#?@~?ɨ2W@29;2BCy>B>T"I Mb@Mb@Mb@    ) Y ʡE?:v?yy }G٣yy ; > Nusing accuracyPremultiplier from config49P&?4YT idB"0?:O( @oDL?;@;Z4xB @̾EZjFNOT Ignoring new targets: 503.30 m.Bj;Jj; ProNav: ac range: 503.299988 m, nav range: 387.866699 m, bearing: 281.024524 deg, approach rate: -0.264113 m/s, LOS rate: 0.117880 deg/s, cmd heading: 205.978807 deg, new cmd heading: 206.097675 deg. 2j̡;HeadingCmd: 3.597083 target range: 503.299988 and range: 506.30 m. j6f@jjjihhhh(Bf f f rf bfٯ?ɛ=XB=V= 9=̡>I9 E9TB<ɚAiAIE= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252754)Yw,1 A6V@Y6Ke@6"=96W>y6H`?Mۿ?M`? (?ɨ6V@6%ȍ;6CCyb Bbj"IIjIjd4٢v3= vS=9v=tQ v>xx zG٣xy~C ~> Nusing accuracyPremultiplier from config 49? 4Y]X idB c( @oD:7:4 @!ZjAMFNOT Ignoring new targets: 503.30 m.BjMb:JjMb:e ProNav: ac range: 503.299988 m, nav range: 387.783844 m, bearing: 281.061732 deg, approach rate: -0.215451 m/s, LOS rate: 0.096774 deg/s, cmd heading: 206.097680 deg, new cmd heading: 206.209328 deg. 2jeԄ;mHeadingCmd: 3.599032 target range: 503.299988 and range: 506.30 m. jmVf@jijijiiqhqhqhqhyfyfyfrfbfu?HI I"IIBI4 =&I.I6I<:IP Fɛ YB 9\= X>I %F<ɚ!i!I%F) = ېC G5 vAzKE BHKE h9KA KE KE    Y HY vAy RBw,AFaW@YFe@F=9F˜>yFH !?@Ƿ r'ۿ)? P ??ɨFaW@Fn_;DyVBZ~"IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761327Mb@Mb@Mb@ )Y rh?{Gzt?~jtx?y,?ף;;A ;@)n@Iyf@II4٢.= 2=9);Q > G٣CGy; > Nusing accuracyPremultiplier from config49@?4Y[ idB,?:, @oDa;;4wB @ϾEZjFNOT Ignoring new targets: 503.30 m.Bj:Jj: ProNav: ac range: 503.299988 m, nav range: 387.706879 m, bearing: 281.106072 deg, approach rate: -0.167436 m/s, LOS rate: 0.096480 deg/s, cmd heading: 206.209326 deg, new cmd heading: 206.342372 deg. 2jm;-HeadingCmd: 3.601354 target range: 503.299988 and range: 506.30 m. j-|f@j1j1j1i1h1h9h9h=iBf9fAfArfAbfM@f?ɛ[B-u= 15>I1 =L<ɚ9iIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012649 ) I) G GG B O >kw,A6X"W@Y6@e@6Wi=96}>y6H`?`X3@Dۿ/?@Kq'BB"I DFa=IJIJ4٢R~= Vq=9Vb;Q V?XX ZG٣XyZ; Z? bNusing accuracyPremultiplier from config`f49b?f4Ybz^ ibdBdf{,f @boDb:b:b4l n@nҾEZjyFNOT Ignoring new targets: 503.30 m.Bj:Jj: ProNav: ac range: 503.299988 m, nav range: 387.649689 m, bearing: 281.138824 deg, approach rate: -0.160729 m/s, LOS rate: 0.092061 deg/s, cmd heading: 206.342378 deg, new cmd heading: 206.440649 deg. 2j|;HeadingCmd: 3.603069 target range: 503.299988 and range: 506.30 m. jf@jjjihhhhfffrfbf @ɛ\B6,= 隍(>I :Q<ɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517844 % '$?I) w,AJJ-JJJ;Jч:JJJ/r<J/r<J;J;r GW@Yree@ry=9r>yrH@?@%`eۿI?O??ɨr GW@r;py6B"II-I-4٢U2= U?=9] ;Q ]>Ya eG٣ay}; > Nusing accuracyPremultiplier from config49?4Ya idBV, @oD&::4 @ZjFNOT Ignoring new targets: 503.30 m.Bj:Jj: ProNav: ac range: 503.299988 m, nav range: 387.576447 m, bearing: 281.180521 deg, approach rate: -0.175722 m/s, LOS rate: 0.100059 deg/s, cmd heading: 206.440651 deg, new cmd heading: 206.565766 deg. 2jV;HeadingCmd: 3.605253 target range: 503.299988 and range: 506.30 m. jvf@j1j1j9i9hahihyhyfffrfbf`T@ɛe^BeK&= ae>Ia mW<ɚiiiIm:Ww,pwA6NW@Y6߬e@69=96Ɇ>y6H >&?@ۿA? 壿@U=?&?ɨ6NW@6x(;6DCyB9BB"I Mb@Mb@Mb@    ) Y uV? ףp= MbP?y r(? Q8 : A h@) @I I@ y @I%I%4٢5%q< 5M=956:Q 5>99 =G٣9yE4< E> MNusing accuracyPremultiplier from configIU49Ms?U4YMVd iM{dB(?:0 @MoDMI W\<ɚiIe Will construct direction to contact in vehicle frame from tetrahedron phase data.a ia m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276847[w,\WA2uW@Y2e@23=92?>y2H`<h@?@@긿 ۿ `̼?@yz_?ۤ?ɨ2uW@2RՌ;2BCyBABB"IDFAIJIJ:4٢j[#= jQ=9je9Q j>ll nG٣rCGyr < r> vNusing accuracyPremultiplier from configtz49vB?z4Yvf He>IeC Ie"IIe[BIe4 =&Ia.Ie2D6Ie<:Ie\ FivodB0 @voDvIa eb<ɚaiaIex %$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:35:59.2600 TRx dataTimestamp_ set to:1736372160.428651checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529743zK BoHK 9K K K RK ?JK ?7 w,5)AJX@YJy4f@Jm =9J>yJH`?ܿ@?d `,f??ɨJX@JҌ;HyZNBZ"IWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781562=Mb@Mb@Mb@999 9)9Y=x&1?MbX9{Gzty=!?=ʡ=ף=EA =$@)9I=`@9y=@I]I] 4٢mj= m3=9u9Q u>qy }G٣yy}&0< }> Nusing accuracyPremultiplier from config49-?4Y_i i\dB"?:3 @pD;F;Q4 v@ZjFNOT Ignoring new targets: 503.30 m.BjR:JjR: ProNav: ac range: 503.299988 m, nav range: 387.441895 m, bearing: 281.298162 deg, approach rate: -0.090027 m/s, LOS rate: 0.097184 deg/s, cmd heading: 206.791340 deg, new cmd heading: 206.918734 deg. 2jd;HeadingCmd: 3.611413 target range: 503.299988 and range: 506.30 m. je!g@jjjihhhhBfffrfbf @ɛ cB=4= >I i<ɚiIQ IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035227JJ+J1JJ;JȆ:J3Ja @a @a% @a% @w,HCA2[X@Y2zf@2_!=92\>y2H& ?@\@A^ܿu@? s8`Kw?@أ?ɨ2[X@28;2ACy<<IFIF)4٢b: bj=9b|:Q b>dd fG٣dyjG< j> nNusing accuracyPremultiplier from configlr49n?r4YnOk inMdBpvz3v @npDne:n :no!4zuB zh@z۾EZj!%FNOT Ignoring new targets: 503.30 m.Bj-:Jj-:= ProNav: ac range: 503.299988 m, nav range: 387.410950 m, bearing: 281.330691 deg, approach rate: -0.089273 m/s, LOS rate: 0.093850 deg/s, cmd heading: 206.918737 deg, new cmd heading: 207.016331 deg. 2j=р;EHeadingCmd: 3.613117 target range: 503.299988 and range: 506.30 m. jEM=g@jAjAjIiIhIhIhQhQfQfQfYrfYbf]V@ɛ dB-M= 15W>I1 5m<ɚ1i1I5 Ee>*F?2F:FBFo0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 21:35:59.2600 LVL= 19056, 27057, 25426, 30451, AGC= 66, IDX= 446, 0.08,-0.952,-1.661,-3.138,-2.021, PHS= 1.157, 0.407,-1.120, RAW= 48.9, -4.5, CAL= 51.8, -8.9, ROT= 98.2, 8.9 uYgot valid direction response: 21:35:59.2600 LVL= 19056, 27057, 25426, 30451, AGC= 66, IDX= 446, 0.08,-0.952,-1.661,-3.138,-2.021, PHS= 1.157, 0.407,-1.120, RAW= 48.9, -4.5, CAL= 51.8, -8.9, ROT= 98.2, 8.9 PDAT read: Bearing 98.2, 8.9 (Local) ~Local bearing/azimuth received: Bearing 98.2, 8.9 (Local) DAT read: Range 10 to 50 : 507.7 m (Round-trip 677.0 ms) speed -0.4 m/s ,DAT read: user:1902> BDAT read: Tx time:21:36:00.3789 $Ping request sent.%)\%|Z?%|٠ %qg?)%I%a?i%>!!%?l0%ﳿ)%I%8=i%jM?%F!!M:publishing transmit ping timeMFpublishing direction and range info!9%D=?OY?J`n?y!!!! !)!I!i!!!!! !)!I!i!!!%?l0%ﳿ)!I!i!!!!HQIQ IU"IIUyBIQ&IQ.IQ6IU<:IUh FBIJIǙCRIZI4 =bI4 =jIB5G-nGBO > $$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,6\ABgX@YBf@B =9Bث>yBH@?ngܿ_E? !? ?ɨBgX@B[܋;@yfOBf"I n=n=prBAIvIv4٢~ۛ; ~G=9TQ >   G٣ CGy x<  > Nusing accuracyPremultiplier from config49m?%4Ym iv@]D=?OY?J`n?Jk]jM?Rk]F*]-V@ǩgri2&y@]ȄZ0?fK7⿖W\?"k]g*k]Bk]>f!?k]X 2k]ECk]>f!?k] m k]>Ck]Ck]z@ addTargetRange:: Added new target pos. range: 507.700012 m, deltaT: 4.290035 s, deltaX: 1.400024 m, approachRate: 0.326343 m/s, rangeRepo size: 4  Added new target pos. range: 507.700012 m, bearing: 286.516609 deg, lat: 36.901856 deg, lon: -122.118911 deg, deltaT: 21.196228 s, deltaX: 4.400024 m, approachRate: 0.207585 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 507.70 m.BjJj ProNav: ac range: 507.700012 m, nav range: 370.163635 m, bearing: 283.756106 deg, approach rate: 0.000000 m/s, LOS rate: 0.093850 deg/s, cmd heading: 207.016326 deg, new cmd heading: 207.133149 deg. 2jHeadingCmd: 3.615155 target range: 507.700012 and range: 507.70 m. j^g@jjjihhhhfffrf@3@bf-w?ɛufBu3= q}#>Iy }r;u<ɚyiyI}'w,vA6X@Y6Fg@6*=96!#>y6H`{Y?dTܿ T? 8?A?ɨ6X@6|Ջ;4y>LB>"I=Mb@Mb@Mb@999 9)9Y=Mb?X9vMby= ?===\A =Q@)=AI=v@9y=@IUIU4٢e eD=9mQ m>ii uG٣qyu{< u> Nusing accuracyPremultiplier from configy49}_X?4Y}o i}$dBm#?:6 @}0pD}U;};}/4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 507.70 m.Bj:Jj: ProNav: ac range: 507.700012 m, nav range: 370.151398 m, bearing: 283.797182 deg, approach rate: -0.029651 m/s, LOS rate: 0.099528 deg/s, cmd heading: 207.133150 deg, new cmd heading: 207.256381 deg. 2j;HeadingCmd: 3.617306 target range: 507.700012 and range: 507.70 m. jg@jjjihhhhуBfffrfbf@?ɛ-hB-I= )-> =#$?I9J}J}/JyJyJ}D#;J}ڈ:JyJyWill 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) !z<ɚ iI̮E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985840;#w,̙A:*Y@Y:VIg@:=9:+>y:H=zЃ?0ݿH?0??ɨ:*Y@:J;:BCybBBb"IIjpIjF4٢rN rS=9r :Q r>tt vG٣tyzt< z>H->I) I- #II-BI)&I).I)6I-~<:I-? F Nusing accuracyPremultiplier from config|49~D?4Y~rq i~dB6 @~@pD~"<~<<~64sB @EZjFNOT Ignoring new targets: 507.70 m.Bj:Jj: ProNav: ac range: 507.700012 m, nav range: 370.139496 m, bearing: 283.835175 deg, approach rate: -0.029282 m/s, LOS rate: 0.093478 deg/s, cmd heading: 207.256380 deg, new cmd heading: 207.370364 deg. 2jN;HeadingCmd: 3.619296 target range: 507.700012 and range: 507.70 m. jg@jjjihhhhf f f rf bf F?ɛEjBEN7= AE>IA MN<ɚIiIIMR{zK] BoJKY KY K] K] )*w,ࠪAJLmY@YJ݋g@JQ=9J"J>yJH`Vk?!JSݿ8@d?@ U??ɨJLmY@J;JACyV5BV"I\^AvWill construct direction to contact in vehicle frame from tetrahedron phase data.zchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.489979EMb@Mb@Mb@AAA A)AYECl?QS㥛yE;?EE/ݼEA E~@)EMAIAAyE@I]I]r4٢- k -6=95oQ 5>19 =G٣=CGy}< }> Nusing accuracyPremultiplier from config49?-?4Ys icBP"?:M6 @SpD;{;>4 @EZj FNOT Ignoring new targets: 507.70 m.BjC:JjC:M ProNav: ac range: 507.700012 m, nav range: 370.124725 m, bearing: 283.879789 deg, approach rate: -0.033179 m/s, LOS rate: 0.100219 deg/s, cmd heading: 207.370363 deg, new cmd heading: 207.504209 deg. 2jM;UHeadingCmd: 3.621632 target range: 507.700012 and range: 507.70 m. jUg@jQjQjQiyhyhyhyhɃBfffrfbf?ɛ=lBE~)= AEj>IA E܂<ɚAiIIMSu1w,QABY@YBbg@BV=9B(>yBH@V?`ᇹݿ` &w?} Q??ɨBY@B;@yJ'BJ"IIVIV4٢^ ^g=9`;Q >   G٣ y n<  > Nusing accuracyPremultiplier from config%49E?%4Y_u icB!-5- @apD,;-;D41 5@1ZjY]FNOT Ignoring new targets: 507.70 m.Bje:Jje:} ProNav: ac range: 507.700012 m, nav range: 370.112274 m, bearing: 283.914285 deg, approach rate: -0.035905 m/s, LOS rate: 0.099480 deg/s, cmd heading: 207.504207 deg, new cmd heading: 207.607700 deg. 2j};HeadingCmd: 3.623438 target range: 507.700012 and range: 507.70 m. jhg@jjjihhhhfffrfbf@?ɛnBO4= >I M˄<ɚiIf2I) I-#II-BI-2 =&I).I)6I-|<:I)GEňGBO=>  $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245952>27w,.A^Z@Y^5h@^~3=9^>y^H {CO?`ҹvݿ`?`'壿:J?௥?ɨ^Z@^O;^BCy~B~u"II I ̍4٢ D=9%:Q %>!) -G٣)y-J< -> =Nusing accuracyPremultiplier from config1=495?E4Y5ew i5cBAE5E @5qpD5 ;5. ;5K4UrB U@]EZjFNOT Ignoring new targets: 507.70 m.BjY:JjY: ProNav: ac range: 507.700012 m, nav range: 370.096832 m, bearing: 283.954057 deg, approach rate: -0.037736 m/s, LOS rate: 0.097197 deg/s, cmd heading: 207.607698 deg, new cmd heading: 207.727019 deg. 2ji;HeadingCmd: 3.625520 target range: 507.700012 and range: 507.70 m. jh@jjjihhhhfffrfbfJ@ɛpBb= 隍V>I  <ɚiIX7< ]YYayeBIu/*i}K@_i}T5)h@)EEzKN KK+9KKK*F%?2F!:F!BF)JF)G5rA G5qAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497978Ge :_G9 BY O >[=w,}Ay~B~`"I-Monly read 3 of 4 data items for beam range. Device response is::RA, 0.00, 85.28, 72.03, 80.45  M@U U@U U@U  U@U IeIet4٢ܢ D=9Q > ITg G٣CGy > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49?4Yy icB+:: @pD;>R4 @!MB*** querying acoustic contact ***jIjIuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749931JJ,JJJt;JL:JJZjFNOT Ignoring new targets: 507.70 m.Bj:Jj:- ProNav: ac range: 507.700012 m, nav range: 370.080841 m, bearing: 283.995589 deg, approach rate: -0.035124 m/s, LOS rate: 0.091227 deg/s, cmd heading: 207.727021 deg, new cmd heading: 207.851621 deg. 2j-nz;5HeadingCmd: 3.627695 target range: 507.700012 and range: 507.70 m. j=(,h@j9j9j9iAhAhAhAhAfIfIfrfbf@A@ɛsB= Ð>I  !<ɚiIDQvCDw,A:MZ@Y:h@:"=9:>y:H!?@F@e޿@~Rr?@`[M?B?ɨ:MZ@:Z;:DCyFBFJ"IIRIR4٢Z ZY=9^g;Q ^>Hf>Id If"IIfoBId&Id.Id6Ifl<:If5 Fpp rG٣pyr< v> zbBottom track data is 0.8 s old, using for 20.0 s. zNusing accuracyPremultiplier from configt~49v?4Yvi{ ivcB :[:5 @vpDvA;vHM?vHV4 @EZj9EFNOT Ignoring new targets: 507.70 m.BjE:JjE:U ProNav: ac range: 507.700012 m, nav range: 370.065033 m, bearing: 284.031869 deg, approach rate: -0.046001 m/s, LOS rate: 0.105578 deg/s, cmd heading: 207.851618 deg, new cmd heading: 207.960463 deg. 2jU;eHeadingCmd: 3.629595 target range: 507.700012 and range: 507.70 m. jeHKh@jajajaiahahihihififqfqrfqbfu $ @ɛuB?e= 隭nz>I s<ɚiIgDnJw,+AzK.BoHK.]9K,K.K.:fZ@Y:h@:#=9:>y:H`?Lx޿@%p? ZrA]??ɨ:fZ@:l;:BCyBۃBF/"IrWill construct direction to contact in vehicle frame from tetrahedron phase data.rBDAT read: Rx Time:21:36:03.4616 vTRx dataTimestamp_ set to:1736372164.712704vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.507002             Mb@Mb@Mb@ )Y}?5^I?QˡEyM"?u' A @)zAI@yp@IEIE4٢ ,=99Q > G٣yP; > Nusing accuracyPremultiplier from config%49?%4Y~ i^cB-T:-]#?-:-.- @pDO;c;^45qB =Y@=EZjYeFNOT Ignoring new targets: 507.70 m.Bje:Jje:u ProNav: ac range: 507.700012 m, nav range: 370.014862 m, bearing: 284.077374 deg, approach rate: -0.105904 m/s, LOS rate: 0.096066 deg/s, cmd heading: 207.960464 deg, new cmd heading: 208.096995 deg. 2j}ۃ;}HeadingCmd: 3.631978 target range: 507.700012 and range: 507.70 m. j}Srh@jjjihhhhBfffrfbf @ɛxB44< `G>I Mr<ɚIiIIME>*F2F :F BF n0JF }$?IyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758684G% AG BA Om >nUQw,EAfG&[@YfDi@f\?"=9f(>yfH`:?s@,޿>?F`SL?^?ɨfG&[@fT;dyB"IIIK4٢%9 %k=9-{Q -?)1 5G٣5CGy5N< 5? ENusing accuracyPremultiplier from config9M49=&?M4Y= i=CcBIMC.M @=pD=:=:=d4Y ]\@aZjFNOT Ignoring new targets: 507.70 m.Bj:Jj: ProNav: ac range: 507.700012 m, nav range: 369.976990 m, bearing: 284.111005 deg, approach rate: -0.110286 m/s, LOS rate: 0.097947 deg/s, cmd heading: 208.096999 deg, new cmd heading: 208.197904 deg. 2jp;HeadingCmd: 3.633739 target range: 507.700012 and range: 507.70 m. j.h@jjjihhhhfffrfbf!@ɛzB@< >I <ɚiI. BDAT read: Tx time:21:36:04.5789 $Ping request sent.IC I"IIFBI1 =&I.I6IV<:I& FGM>uG) B1 OU > i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:36:04.5781 J J 8J J J ;J :J J J l G٣y > Nusing accuracyPremultiplier from config49֡?4Yƒ i$cB @pD ::k4pB o@E- addTargetRange:: Added new target pos. range: 508.899994 m, deltaT: 4.032766 s, deltaX: 1.199982 m, approachRate: 0.297558 m/s, rangeRepo size: 4 Zj)-FNOT Ignoring new targets: 507.70 m.Bje2:Jje2: ProNav: ac range: 507.700012 m, nav range: 369.931824 m, bearing: 284.151262 deg, approach rate: -0.106509 m/s, LOS rate: 0.094943 deg/s, cmd heading: 208.197908 deg, new cmd heading: 208.318692 deg. 2jQ;HeadingCmd: 3.635847 target range: 507.700012 and range: 508.90 m. jh@jjjihhhh!f)fIfQrf]`f@bfe˶?PExceeded connect timeout, disconnecting.ɛ}B=P< Ȳ=I &n<ɚiI]w,zA .$?I,yjBj!I]Mb@Mb@Mb@YYY Y)YY]Pn?Mb?Mby]$?]<]]A Y)]AI]@Yy](@Will construct direction to contact in vehicle frame from tetrahedron phase data.II{4٢ҽ ==9Q >AA EG٣IyI M> UNusing accuracyPremultiplier from configQ]49Uތ?]4YU iU cBeP$?:' @UpDU;UR;Us4 @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 507.70 m.Bj:Jj: ProNav: ac range: 507.700012 m, nav range: 369.853699 m, bearing: 284.194072 deg, approach rate: -0.173866 m/s, LOS rate: 0.095294 deg/s, cmd heading: 208.318693 deg, new cmd heading: 208.447152 deg. 2ĵ;HeadingCmd: 3.638089 target range: 507.700012 and range: 508.90 m. j]th@jYjajaiahahahihm;Bfififirfqbfu/?ɛBl¤< =I r<ɚiI] Will construct direction to contact in vehicle frame from tetrahedron phase data.] T****** received valid address query ******e R****** received valid ping request ******e Querying Benthos address 50 with one ping in standard two-way mode.H >I  I m"II BI &I .I 6I <:I X FBI˙CJIRIZI2 =bI2 =jIe5dw,.rA6%[@Y6i@6+=96>y6H u?@Ϲ )߿@)?Dd?ԩ?ɨ6%[@6;6ACyRyBR!I)T TIZIZ)4٢5N 5U=95^Q 5>AI UG٣UCGymo{< m> }Nusing accuracyPremultiplier from configq}49u~{?4Yu iubB?' @upDu;u ;u9z4 k@ZjFNOT Ignoring new targets: 507.70 m.Bj :Jj : ProNav: ac range: 507.700012 m, nav range: 369.787659 m, bearing: 284.229617 deg, approach rate: -0.181110 m/s, LOS rate: 0.097498 deg/s, cmd heading: 208.447156 deg, new cmd heading: 208.553810 deg. 2j҅;HeadingCmd: 3.639951 target range: 507.700012 and range: 508.90 m. jh@jjjihhhhfffrfbf ?ɛ-B-t< 15sI1 5<ɚ1i9I=zKU LKU 9KQ KU KU kw,4dAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507169RK ?JK?:[@Y:i@:/=9:>y:H`00?n6߿ `?`䢿?ͪ?ɨ:[@:!$;:@CyFrBF!IMb@Mb@Mb@ )YQ?:v?II UG٣Qye; e> uNusing accuracyPremultiplier from configiu49mCg?u4Ym imbB})?}:}3#} @mpDm;m;m݁4oB @EZj)-FNOT Ignoring new targets: 507.70 m.Bj5:Jj5:m ProNav: ac range: 507.700012 m, nav range: 369.690430 m, bearing: 284.271823 deg, approach rate: -0.214418 m/s, LOS rate: 0.093101 deg/s, cmd heading: 208.553816 deg, new cmd heading: 208.680467 deg. 2jm;}HeadingCmd: 3.642161 target range: 507.700012 and range: 508.90 m. j+i@jjjihhhhBfAfIfIrfQbfU@c?ɛBOx< 隥@I R<ɚiI?qw,N'A>s[@Y>i@>=9>|>y>H` ?@h-߿`)0`?lբ (??ɨ>s[@>̒;tt vG٣tyz z> UNusing accuracyPremultiplier from config|e49~V?e4Y~g i~bBae=#e @~qD~g<~;~4i u@uEZjFNOT Ignoring new targets: 507.70 m.Bj:Jj: ProNav: ac range: 507.700012 m, nav range: 369.611816 m, bearing: 284.306096 deg, approach rate: -0.224133 m/s, LOS rate: 0.097735 deg/s, cmd heading: 208.680461 deg, new cmd heading: 208.783301 deg. 2j&;HeadingCmd: 3.643956 target range: 507.700012 and range: 508.90 m. j6i@jjjihhhhfffrfbf ?ɛ B << I <ɚiIDI I("IIփBI0 =&I.I6If<:I5 FG߻GBO> 1 I1  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263066JE JE (JE 0JA JE t;JE 9:JE ـ3JA JE "n<JE #n<JE -;JE .;xw,Ab[@Yb6i@b=9b >ybH? 2߿@Y?ro?`?ɨb[@bM);bACynXBn!IIvIv.4٢  H=9 ;Q  >   G٣CGyr: > %Nusing accuracyPremultiplier from config%49C?-4Y_ ibB)-7#- @qD::645nB 5b@=EZjaeFNOT Ignoring new targets: 507.70 m.Bjmb:Jjmb: ProNav: ac range: 507.700012 m, nav range: 369.521301 m, bearing: 284.345609 deg, approach rate: -0.227641 m/s, LOS rate: 0.099397 deg/s, cmd heading: 208.783296 deg, new cmd heading: 208.901863 deg. 2jn;HeadingCmd: 3.646025 target range: 507.700012 and range: 508.90 m. j{Xi@jjjihhhhfffrfbf@|@ɛmBm2< 隝I JR<ɚiID=I;(iE]i6){Xi@))*F?2F:FBFJFzK=BoHK=9K9K=K=BKMpA:KMrAUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518122G ׹G B O >  $?I! F~w,aANȅ[@YNYi@NQ=9Nz >yNH` ?@*߿`@?裿 Ue?@?ɨNȅ[@N4;NCCyZOBZ!IEMb@Mb@Mb@AAA A)AYE/$?/$?yy }G٣yy > Nusing accuracyPremultiplier from config490?4Yɚ ibBb-?:z  @*qD;D;4 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771257ZjFNOT Ignoring new targets: 507.70 m.Bj:Jj: ProNav: ac range: 507.700012 m, nav range: 369.415558 m, bearing: 284.386256 deg, approach rate: -0.251990 m/s, LOS rate: 0.096892 deg/s, cmd heading: 208.901869 deg, new cmd heading: 209.023845 deg. 2j;HeadingCmd: 3.648154 target range: 507.700012 and range: 508.90 m. j\{i@jjjih h h)h-Bf1f1f1rf1bf=@ɛB< I }<ɚiI˲=IX(ih3]i#tA)\{i@)E-a>E)*F2F:FBFo0JFm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023186G jG B O >H >I  I !II BI &I .I 3D6I <:I ] F.w,A6|[@Y6>i@6x=96`M >y6Hഓ?ц "߿m ҄? `X? *?ɨ6|[@6_;6ACyNJBN{!IIVIVy4٢bdѼ bV=9f8Q f>dd jG٣hyj j> rNusing accuracyPremultiplier from configlr49n(?v4YnҞ inbBtv v @n;qDn:n:n14x ~B@~EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 507.70 m.Bj:Jj:  ProNav: ac range: 507.700012 m, nav range: 369.319031 m, bearing: 284.423505 deg, approach rate: -0.241175 m/s, LOS rate: 0.093093 deg/s, cmd heading: 209.023842 deg, new cmd heading: 209.135620 deg. 2j ;UHeadingCmd: 3.650105 target range: 507.700012 and range: 508.90 m. jUSi@jYjYjYiYhYhYhahafafafarfibfm @ $?IɛeBe< 隕\I /<ɚiI}=I a(i q3]i b) Si@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276652*F?2F:FBF0JFJJ%JJJ;J:JJJok<Jpk<J~;J~;)Ež= EC~G Y yBm_ @mBGm hAGa B O Ww,/AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527880:q[@Y:i@: =9: >y:H?ۜ ߿?/`_?Э?ɨ:q[@:;:BCyFPBF!I Jp=Ja=zKNBoIKN9KLKNKNMb@Mb@Mb@ )Y?+η?:v?y,?v=T< A @)zAI@yp@IIʴ4٢< 9=9$N:Q > G٣CGypɺ  > Nusing accuracyPremultiplier from config 49  ?4Y  i v.?: % @ NqD ; }; 4-mB -@5EZjFNOT Ignoring new targets: 507.70 m.Bj<:Jj<:- ProNav: ac range: 507.700012 m, nav range: 369.204712 m, bearing: 284.466822 deg, approach rate: -0.265530 m/s, LOS rate: 0.100644 deg/s, cmd heading: 209.135625 deg, new cmd heading: 209.265615 deg. 2j5$;5HeadingCmd: 3.652374 target range: 507.700012 and range: 508.90 m. j=i@j9jIjIiQhQhQhQh] BfYfYfYrfYbfe @ɛBh < 隭I 5<ɚiI^=I6_(iG]i넼)i@)*F?2F:FBF_5JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:36:07.6619 TRx dataTimestamp_ set to:1736372169.000713checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780258*J"Ja=G |`G B O >ABw,_yIA6p[@Y6,i@6ֶ =96 >y6H?Ĺ`E߿ ,9ڹ??L?ɨ6p[@6궍;6ACyFUBF!IIXIX٢b< b_=9bQ b>dd fG٣dyj j> nNusing accuracyPremultiplier from configlr49n?r4Yn~ inbBpv v @n^qDn:n:nN4x z@xZj!%FNOT Ignoring new targets: 507.70 m.Bj-:Jj-:= ProNav: ac range: 507.700012 m, nav range: 369.110565 m, bearing: 284.502575 deg, approach rate: -0.263119 m/s, LOS rate: 0.099947 deg/s, cmd heading: 209.265617 deg, new cmd heading: 209.372904 deg. 2j=/;EHeadingCmd: 3.654247 target range: 507.700012 and range: 508.90 m. jE-i@jAjAjIiIhIhIhQhQfQfQfYrfYbf] @ɛBX< 隍I H<ɚiI=I@(ic]io )-i@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032392*F?2F:F BF O0JF ZHiRHm?AH>I I!IIBI&I.I6Iq<:I? FGM $?IGA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:36:07.6619 LVL= 21328, 32081, 27698, 32755, AGC= 67, IDX= 433,-0.14, 3.057, 2.177, 0.700, 1.967, PHS= 1.178, 0.256,-1.270, RAW= 51.9, -1.6, CAL= 53.7, -4.7, ROT= 96.3, 4.7  Ygot valid direction response: 21:36:07.6619 LVL= 21328, 32081, 27698, 32755, AGC= 67, IDX= 433,-0.14, 3.057, 2.177, 0.700, 1.967, PHS= 1.178, 0.256,-1.270, RAW= 51.9, -1.6, CAL= 53.7, -4.7, ROT= 96.3, 4.7 % PDAT read: Bearing 96.2, 4.7 (Local) % ~Local bearing/azimuth received: Bearing 96.2, 4.7 (Local) = DAT read: Range 10 to 50 : 509.1 m (Round-trip 678.8 ms) speed 0.1 m/s E ,DAT read: user:1904> M BDAT read: Tx time:21:36:08.7790 U $Ping request sent.] \ 5g? o?) I "?i = gIX?a+pw_) 4'I yH0v?H/ ߿4 /6?`]1?@b?ɨb[@;騭BCy [B !IIEIE?4٢Mf< 4=99Q > G٣y > Nusing accuracyPremultiplier from config49n?4Y iIM U @rqDy< <y4}lB @Ek~ )?k'~ k k@`A:kCBkCZkK@"a'? @u@FYK]w@}?K ^?I.P]?Jks?Rk S*@.)]@gVLp;<]Iz@E£?DGP$W>?"k*kBkP:(*?kT;  2kCkX"?kE kCk|Ckr@=Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:21:36:08.7782 U addTargetRange:: Added new target pos. range: 509.100006 m, deltaT: 4.287069 s, deltaX: 0.200012 m, approachRate: 0.046655 m/s, rangeRepo size: 4  Added new target pos. range: 509.100006 m, bearing: 294.171762 deg, lat: 36.901882 deg, lon: -122.118317 deg, deltaT: 8.319835 s, deltaX: 1.399994 m, approachRate: 0.168272 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 509.10 m.zKK9KKKBjJj ProNav: ac range: 509.100006 m, nav range: 318.970673 m, bearing: 287.433207 deg, approach rate: 0.000000 m/s, LOS rate: 0.099947 deg/s, cmd heading: 209.372906 deg, new cmd heading: 209.538978 deg. 2jHeadingCmd: 3.657145 target range: 509.100006 and range: 509.10 m. jj@jjjih h h h fffrf@bf`?ɛeBeA#1< aeϽIa m_J<ɚiiiIm3h=Iu (i ]i)j@)*F 2F :F BF _5JF I G D&G B O >w, AWill construct direction to contact in vehicle frame from tetrahedron phase data.Rr[@YRui@R=9R7t>yRHN? )¹@߿@0J??`?ɨRr[@R(;RACyncBn!IJ J BAJJ JJJ;J:JJa@a@a@a@IMAmMb@Mb@Mb@iii i)iYmMbX?X9v?/$?ym*?m}=m G٣CGy& ; > Nusing accuracyPremultiplier from config49-?4Y ibB+?:" @qD0;.;k4 %@% EZjamFNOT Ignoring new targets: 509.10 m.BjuY ;JjuY ; ProNav: ac range: 509.100006 m, nav range: 318.883392 m, bearing: 287.485643 deg, approach rate: -0.233283 m/s, LOS rate: 0.140189 deg/s, cmd heading: 209.538975 deg, new cmd heading: 209.696325 deg. 2jk;HeadingCmd: 3.659891 target range: 509.100006 and range: 509.10 m. j;j@jjjihhhh0Bfffrfbfb?ɛ5B5C"< QUIQ ]ɇ<ɚYiYI]=Ie 'ie]ied)e;j@)i*F?2F:FBFU0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.H >I C I I I / =&I .I 6I i<:I ; FG- G B O5 >'w,љAyfmBj!IIvIvt4 $?IVg٢~^=  m=9 Q  ? G٣y ? %Nusing accuracyPremultiplier from config!-49%*?-4Y%d i%bB))- @%qD%e:%P:%f49 =@AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 509.10 m.Bj;Jj; ProNav: ac range: 509.100006 m, nav range: 318.817810 m, bearing: 287.525158 deg, approach rate: -0.188215 m/s, LOS rate: 0.113427 deg/s, cmd heading: 209.696329 deg, new cmd heading: 209.814897 deg. 2j; HeadingCmd: 3.661961 target range: 509.100006 and range: 509.10 m. j ]j@j j j i hhhQhYfYfafarfabfeI?UWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******UR****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.ɛuBu"6< quIq }R_<ɚyiyI} =I$'iC^i ü)]j@)EEnA*FA2FA:FABFM^0JFIG eG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246416zK BoHK K K K Sw,Ay~pB~!IMb@Mb@Mb@ )YL7A`?y&1?~jt?y+'?`<< A @)I@y@II1h4٢ w<  :=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-49%?-4Y%M i%bB-o'?5:5*&5 @%qD%;%S;% 4=kB =@= EZjaeFNOT Ignoring new targets: 509.10 m.Bjm;Jjm;} ProNav: ac range: 509.100006 m, nav range: 318.750122 m, bearing: 287.575117 deg, approach rate: -0.159529 m/s, LOS rate: 0.117771 deg/s, cmd heading: 209.814901 deg, new cmd heading: 209.964810 deg. 2j};HeadingCmd: 3.664577 target range: 509.100006 and range: 509.10 m. joj@jjjihhhhQBfffrfbfj8?ɛEBEvB< im$Ii m<ɚiiqIuDi=IuE'i}^i}Լ)}oj@)y $?I*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=1.497655J=J=(J9J9J=;J=9:J9J9G fG B O >9w,A:\@Y:bj@:0=9:>y:H`? i?2߿?͑?@C?ɨ:\@:;:CCyb{Bb!I j=j=hjAAInInƕ4٢vk= v_=9vQ z>xx zG٣zCGy~< ~> Nusing accuracyPremultiplier from config 49Z? 4Y ibB% @qD::t4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749513 @ZjAMFNOT Ignoring new targets: 509.10 m.BjMP:JjUP:e ProNav: ac range: 509.100006 m, nav range: 318.691498 m, bearing: 287.616952 deg, approach rate: -0.146566 m/s, LOS rate: 0.104611 deg/s, cmd heading: 209.964810 deg, new cmd heading: 210.090339 deg. 2je;mHeadingCmd: 3.666768 target range: 509.100006 and range: 509.10 m. jmTj@jijijiiihihihqhqfyfyfyrfybf}`?ɛBS< quxHIq }<ɚyiyI}=Ibs'iY^i\)Tj@)HI I!IIBI&I.I6IC<:I FBIÚCJIÚCRIZI0 =bI0 =jIG5*F%?2F!:F!BF%n0JF! IGM ϼu Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002755G! B1 OU >Vdw,dA6T4\@Y6Rj@6)"=96~>y6H@'?嶺`{߿`r}?C ? ?ɨ6T4\@6o;6ACyBBB!IIJIJ4٢Ms= UD=9eT;Q m> G٣ y5,; => Nusing accuracyPremultiplier from config49?4Yǿ ibB!-k%M @qD<<k4jB @EZjA]FNOT Ignoring new targets: 509.10 m.BjeM:JjeM:u ProNav: ac range: 509.100006 m, nav range: 318.618073 m, bearing: 287.668892 deg, approach rate: -0.156494 m/s, LOS rate: 0.110727 deg/s, cmd heading: 210.090335 deg, new cmd heading: 210.246190 deg. 2ju;}HeadingCmd: 3.669488 target range: 509.100006 and range: 509.10 m. j}j@jyjyjyiyhyhhhfffrfbf`@ɛBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256512Ԋx< IMII Mq<ɚIiIIM=IUF'iU$_iU)]j@)YzKK+9KKK  EN>E>*Fq2Fq:FyBF}`0JFy"G=G= $?I G mG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510092B O >w,AJ J"J J J J"~:J J ^b\@Y^+j@^y$=9^>y^H@M?Re߿Bp?@r+?_?ɨ^b\@^'v;\yjBj!IMb@Mb@Mb@ )YL7A`?V-y&1?y`e<A A 3@)3AI@ypAII@4٢< 9=9:Q > G٣y8; > Nusing accuracyPremultiplier from config49Up?4Y ibB_'?:* @qD;;s4`B @Zj FNOT Ignoring new targets: 509.10 m.Bj;Jj;- ProNav: ac range: 509.100006 m, nav range: 318.574432 m, bearing: 287.715520 deg, approach rate: -0.122662 m/s, LOS rate: 0.131078 deg/s, cmd heading: 210.246186 deg, new cmd heading: 210.386089 deg. 2j-;5HeadingCmd: 3.671930 target range: 509.100006 and range: 509.10 m. j5k@j9j9j9i9h9h9hAhEBfAfAfArfIbfM@ɛuBu4Ё< y}@Iy }f<ɚyiyI}zc=I'iO_iT)k@)*F%?2F):F)BF-_5JF)5Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.764115GH!>I I!IIBI&I.I6Ig<:I9 FG B O > I w,S ARϓ\@YR`j@RR'=9R>yRHGs?d ^ &}p?褿`]?T?ɨRϓ\@R;R@CybBb!IhjAInInh4٢v) v]=9v:Q v>xx zG٣zCGy~(< ]> eNusing accuracyPremultiplier from configam49e]?m4Ye iebBquo*u @eqDe:eq:e 4 @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 509.10 m.Bj5;Jj5; ProNav: ac range: 509.100006 m, nav range: 318.532410 m, bearing: 287.759807 deg, approach rate: -0.109663 m/s, LOS rate: 0.115586 deg/s, cmd heading: 210.386082 deg, new cmd heading: 210.518959 deg. 2j;HeadingCmd: 3.674249 target range: 509.100006 and range: 509.10 m. j&k@jjjihhhhfffrfbf=@ɛBe~< @?I S<ɚiIǴ=I%&i%}_i%Ā)-&k@))Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014293*F?2F:FBF4JFGGBO% > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265436zK LK h9K K K RK ?JK >w,+5A^\@Y^Sj@^(=9^h>y^HkW?}1$@n p?=X?e?ɨ^\@^T;^ACy~B|Mb@Mb@Mb@ )YRQ?Q뱿Mbp?y"?\;X A @)EAIA@y=AIIW4٢/: :=9<:Q >    G٣ yO< > Nusing accuracyPremultiplier from config49G?4Y ibB#?:6. @qD;;4 @E $?IZj%FNOT Ignoring new targets: 509.10 m.Bj5 ;Jj5 ;U ProNav: ac range: 509.100006 m, nav range: 318.501709 m, bearing: 287.810241 deg, approach rate: -0.068140 m/s, LOS rate: 0.111949 deg/s, cmd heading: 210.518957 deg, new cmd heading: 210.670273 deg. 2jU;eHeadingCmd: 3.676890 target range: 509.100006 and range: 509.10 m. je*Rk@jijijiiihqhqhhBfffrfbft @ɛB}< 隝cI 8<ɚiIb=IE&iE5_iE)E*Rk@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:36:11.8625 TRx dataTimestamp_ set to:1736372173.037886checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520116JJ"JJJJ:JJ*F?2F:FBFP5JFG 'G ?G ?G B O >w,3OAJ\@YJCk@J +=9J>yJH@{?Rӻt7\c/m?i``m?@p?ɨJ\@JȌ;JBCyTTI^I^]49f:Q f>hh jG٣hyn; n> rNusing accuracyPremultiplier from configpv49r6?v4Yrj irbBtv .z @r rDr:rC:r4| ||Zj)-FNOT Ignoring new targets: 509.10 m.Bj5;Jj5;=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.769585U ProNav: ac range: 509.100006 m, nav range: 318.476959 m, bearing: 287.850136 deg, approach rate: -0.072544 m/s, LOS rate: 0.116947 deg/s, cmd heading: 210.670273 deg, new cmd heading: 210.789969 deg. 2jU;]HeadingCmd: 3.678979 target range: 509.100006 and range: 509.10 m. j]dtk@jYjYjaiahahahahifififirfibfuES@ɛBw< 隥I "<ɚiIQb=IQ&i5_i5Q)5dtk@)9HI I"IIǃBI&I.I6IB<:I F*F?2F:FBF_0JF IGݗGqBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: 21:36:11.8625 LVL= 18368, 28241, 23026, 32643, AGC= 67, IDX= 441,-0.14,-2.535, 2.849, 1.388, 2.623, PHS= 1.213, 0.273,-1.238, RAW= 52.3, -2.3, CAL= 54.8, -5.9, ROT= 95.2, 5.9  Ygot valid direction response: 21:36:11.8625 LVL= 18368, 28241, 23026, 32643, AGC= 67, IDX= 441,-0.14,-2.535, 2.849, 1.388, 2.623, PHS= 1.213, 0.273,-1.238, RAW= 52.3, -2.3, CAL= 54.8, -5.9, ROT= 95.2, 5.9  PDAT read: Bearing 95.2, 5.9 (Local) G  ~Local bearing/azimuth received: Bearing 95.2, 5.9 (Local) FY y B DAT read: Range 10 to 50 : 509.4 m (Round-trip 679.3 ms) speed -0.4 m/s  ,DAT read: user:1905>  BDAT read: Tx time:21:36:12.9790  $Ping request sent.] vi?l$ Gt?)BҽIȭ?iB=cC@N?.ћԒ| ~)'I'=iX?5U :publishing transmit ping time  Fpublishing direction and range info9 녥Þ?!?с?z?y )Ii )IicC@N?.ћԒ| ~)Iinw,NiAK]@Y~jk@+=9V>yHy ?廿 }Y@LP:?ZvuV?`8?ɨK]@ٌ;?CyUBU!I =R=IIn4٢m <9r9Q > G٣CGy5$< => Nusing accuracyPremultiplier from configyMWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:21:36:12.9782 e49}?e4Y} i}bBim-m @}rD}<}<}4}_B }@}Ek-Lu(?k-P}ӊ k) k-bA:k-CBk-CZk-H@"-ԕ(.@ƜJ'eu@qpw@- 녥Þ?!?с?z?Jk-X?Rk-5U*-4mTpR]@[߫Yp@Qz@-xχx?jnOps?"k-̂*k-Bk-w(?k-I 2k-lCk)k-X k-ECk-Ck-@ addTargetRange:: Added new target pos. range: 509.399994 m, deltaT: 4.037632 s, deltaX: 0.299988 m, approachRate: 0.074298 m/s, rangeRepo size: 4  Added new target pos. range: 509.399994 m, bearing: 294.148911 deg, lat: 36.901882 deg, lon: -122.118206 deg, deltaT: 4.037632 s, deltaX: 0.299988 m, approachRate: 0.074298 m/s, posRepo size: 4 zKk3IKKKKZjFNOT Ignoring new targets: 509.40 m.BjJj ProNav: ac range: 509.399994 m, nav range: 309.038116 m, bearing: 288.470056 deg, approach rate: 0.000000 m/s, LOS rate: 0.116947 deg/s, cmd heading: 210.789965 deg, new cmd heading: 210.978300 deg. 2jHeadingCmd: 3.682266 target range: 509.399994 and range: 509.40 m. j?k@jjjihh h h f ffrf`f@bf@X?ɛBv<  I <ɚiI=I vu&i [_i ) ?k@)  $?I*F2F:FBF4JF Will construct direction to contact in vehicle frame from tetrahedron phase data.J J @AG D&G G sAG B J J J J J J J J O>>w,Aj=]@YjΡk@j+=9j(9>yjHk@B?7@6q`~B?`@u`R?[?ɨj=]@jo;jACy B !IMb@Mb@Mb@ )Y r?A`"~jty#?ٽDA `@)\AIX@y\AIqIJH4٢< :=9kQ > G٣yK< > Nusing accuracyPremultiplier from config49K ?4Yb imbB%?:0 @/rDQ;;4^B @EZj)5FNOT Ignoring new targets: 509.40 m.Bj5;Jj5;M ProNav: ac range: 509.399994 m, nav range: 309.023224 m, bearing: 288.518648 deg, approach rate: -0.041472 m/s, LOS rate: 0.135319 deg/s, cmd heading: 210.978301 deg, new cmd heading: 211.124081 deg. 2jM;UHeadingCmd: 3.684810 target range: 509.399994 and range: 509.40 m. jUk@jQjQjQiQhQhYhYheBfafafarfabfms?ɛB^q< 隕I ҅<ɚiI{,=IK&i`i)k@)*F=?2F9:F9BF=_0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.H)I) I-""II-уBI)&I).I)6I-Q<:I-) FG}'GQ BY O} >  I Wg6w,鸠A6[]@Y6k@6]F$=96H >y6H0a`L:?Y`= T?bB?`?ɨ6[]@68;4y>BB!IIJIJh4٢R` Va=9V֣Q V>XX ZG٣XyZ; ^> bNusing accuracyPremultiplier from config`f49b?f4Yb ibYbBhj0j @b>rDb\:b:b4%Will construct direction to contact in vehicle frame from tetrahedron phase data.y _@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 509.40 m.Bj-;Jj-;- ProNav: ac range: 509.399994 m, nav range: 309.009521 m, bearing: 288.562120 deg, approach rate: -0.035320 m/s, LOS rate: 0.112062 deg/s, cmd heading: 211.124084 deg, new cmd heading: 211.254507 deg. 2j-Й;5HeadingCmd: 3.687087 target range: 509.399994 and range: 509.40 m. j5;k@j1j1j1iQhYhYhYhYfafafarfabfe?ɛUBUY< Y]2IY ]<ɚYiYI]j=Iez&&ieB`ieu)e;k@)i*Fa2Fa:FaBFaJFiWill 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 zK BHK s9K K K O >aw,AV]@YVtk@VE#=9V >yVHlc94?溿)= ?p@?$?ɨV]@Vؐ;V@C b$?I`yfvBf!IlnAMb@Mb@Mb@ )YK7A?)\(~jty "?Gόļ )AIA@y3AIIq4٢J 8=9̹Q > G٣CGyz > Nusing accuracyPremultiplier from config49?4Yp i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.693263w,uA6]@Y6Tk@6g =96b >y6H NYC? 0?@ ?`Ҩ?ɨ6]@6l;6?Cy>hB>!IIJIJE4٢Re Ra=9RQ R>TT VG٣TyZ; Z> ^Nusing accuracyPremultiplier from config\b49^?b4Y^ i^$bB`f0f @^_rD^R;^;^4h jb@j"EjHpbHr4<HtIt Iv"IIṽBIt&It.It6Iv_<:Iv3 FZjimFNOT Ignoring new targets: 509.40 m.Bjut;Jjut; ProNav: ac range: 509.399994 m, nav range: 308.982361 m, bearing: 288.657685 deg, approach rate: -0.032955 m/s, LOS rate: 0.114053 deg/s, cmd heading: 211.412264 deg, new cmd heading: 211.541222 deg. 2j;HeadingCmd: 3.692091 target range: 509.399994 and range: 509.40 m. j7Kl@jjjihhhhfffrfbf@o?ɛ-B-fk< QUIQ UB<ɚQiYI]PQ=I]~%ieb`ieF)m7Kl@)i $?I*F2F:FBF0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945284JJJJJ;J|:JJJa Ja J;a J;aGM bםG! B1 O] > w,TAV^@YV!l@V@'=9V>yVH`J` X?ߺ`@" 9?椿? ?ɨV^@V;VDCy~QB!IIMIM4٢Խ <=9Lk;Q > G٣y9; > Nusing accuracyPremultiplier from config 4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.1974449P?4Y~ ibB0 @qrD?<<4 @Zj MFNOT Ignoring new targets: 509.40 m.BjU];Jj]]; ProNav: ac range: 509.399994 m, nav range: 308.966400 m, bearing: 288.710224 deg, approach rate: -0.034888 m/s, LOS rate: 0.114848 deg/s, cmd heading: 211.541218 deg, new cmd heading: 211.698842 deg. 2j;HeadingCmd: 3.694842 target range: 509.399994 and range: 509.40 m. jJxl@jjjihhhh f f f rf bf<@zKK+9KKKɛBr]; 'I )<ɚiI=Ik%i`i8)Jxl@)  $?I*F?2F:FBF0JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.449301J @AJ AAG= ՒG B! O= >w,!AbF^@Ybiel@b;,=9b>ybH8r?: D8?ÅO@??ɨbF^@b,;bBCy~MB~!I p=p=%Mb@Mb@Mb@!!! !)!Y%T㥛 ?{GzZd;Oy%!?%ף%j%A %v@)%AI%X@!y%AI]I]n4٢mÔ m>=9u9;Q u>qq uG٣}CGy} < }> Nusing accuracyPremultiplier from config=49;?e4Y iaBem"?e:eo-e @rD^<]<q&4m]B u @u%EZjFNOT Ignoring new targets: 509.40 m.BjB ;JjB ; ProNav: ac range: 509.399994 m, nav range: 308.937653 m, bearing: 288.761023 deg, approach rate: -0.067904 m/s, LOS rate: 0.120002 deg/s, cmd heading: 211.698845 deg, new cmd heading: 211.851256 deg. 2j;HeadingCmd: 3.697502 target range: 509.399994 and range: 509.40 m. jߣl@jjjihhh!h%Bf!f!f)rf)bf- @ɛBܕ; qu3Iq }<ɚyiyI}.f=I{%i`iᇼ)ߣl@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701536H >I I!IIBI&I.I6IF<:I FBIƛCJIƛCRIZI/ =bI/ =jIz4 I E 2g=*Fi 2Fq :Fq BFu _0JFq m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954153J%J%'J%1J!J%;J%:J%3J!J%j<J%j<J%H;J%H;GYG1BAOm ?# w,j*AV^@YVdl@V .=9V]>yVH`? q?ӥ@c? |?ɨV^@V;VACyv.BvY!II I h4٢\ %=94:Q %>!! %G٣!y- < -> 5Nusing accuracyPremultiplier from config1=495?=4Y5 i5aBAE,E @5rD5:5:5.4I M@M(EmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 509.40 m.Bjm ;Jjm ; ProNav: ac range: 509.399994 m, nav range: 308.903687 m, bearing: 288.817014 deg, approach rate: -0.072877 m/s, LOS rate: 0.120147 deg/s, cmd heading: 211.851253 deg, new cmd heading: 212.019247 deg. 2j;HeadingCmd: 3.700434 target range: 509.399994 and range: 509.40 m. jl@jjjihhhhfffrfbf@;n @ɛBK tI %<ɚiIU =IK%i`i=E)l@)EA=*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=3.209975zKBoHKs9KK KGm  $?IGA BY Ou >] Will construct direction to contact in vehicle frame from tetrahedron phase data.a ia m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.460034)w,EDA6/"_@Y6@m@6.=96y>y6H r?Xм{!`:?@NإZ?`Σ?ɨ6/"_@6;6@CyNBRA!IMb@Mb@Mb@ )Yp= ף?I +:vy%?94ԼA `@)rAIn@yQAIIb4٢϶ ?=98Q > G٣y.D< > Nusing accuracyPremultiplier from config49x?4Yt iaB%?:( @rD;;[64 +@Zj!%FNOT Ignoring new targets: 509.40 m.Bj-;Jj-;= ProNav: ac range: 509.399994 m, nav range: 308.855560 m, bearing: 288.867571 deg, approach rate: -0.112087 m/s, LOS rate: 0.117766 deg/s, cmd heading: 212.019249 deg, new cmd heading: 212.170942 deg. 2j=;EHeadingCmd: 3.703082 target range: 509.399994 and range: 509.40 m. jEJl@jAjAjAiIhIhIhhBfffrfbf @ɛ}B}LB y隅폾I c{<ɚiI =I l %i 4~`i h&) Jl@)*E="E=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:36:16.0641 TRx dataTimestamp_ set to:1736372177.323933checking for new query: numPingsReceived=0, elapsed TxPingTime=3.713708E5$=HIC I!IIBI0 =&I.I6IO<:I& F*F ?2F :F BF o0JF a Ia G KGBO>~w,ocA6c_@Y6gm@6e/=96>y6H?@=@}@/?@@i? 0?ɨ6c_@6Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.961375yF BF/!ILLIRIRפ4٢Z Z6=9^9Q ^>`` bG٣bCGyf< f> jNusing accuracyPremultiplier from confighn49jHc?n4Yj+ ijaBpr(r @jrDj:j:j9>4v\B v@v+EJK3 K.-KK"KJ=J=%J9J9J=;J=:J9J9J=p<J=p<J=~;J=~;ZjFNOT Ignoring new targets: 509.40 m.Bj;Jj; ProNav: ac range: 509.399994 m, nav range: 308.804230 m, bearing: 288.920530 deg, approach rate: -0.109187 m/s, LOS rate: 0.112668 deg/s, cmd heading: 212.170947 deg, new cmd heading: 212.329849 deg. 2j;HeadingCmd: 3.705855 target range: 509.399994 and range: 509.40 m. j,m@jjjihhh)h)f)f1f1rf1bf5Y@ɛB6 {I -mw<ɚ)i)I-p =I=$i=V`i=x)=,m@)AEqEq*E}"E}=Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: Range 10 to 50 : 510.7 m (Round-trip 681.0 ms) speed 0.0 m/s *F?2F:FBFJF,DAT read: user:1906> BDAT read: Tx time:21:36:17.1790 $Ping request sent. w,WAy5B5 !IMb@Mb@Mb@ )YS㥛?y&1/$y$?`e v@)AIMAyAII4٢ _  &=9 Q > G٣-Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:21:36:17.1782 yU U> uNusing accuracyPremultiplier from configi49m2L?4Ym im~aB$?:% @mrDmn;m;mF4 @.E addTargetRange:: Added new target pos. range: 510.700012 m, deltaT: 4.285629 s, deltaX: 1.300018 m, approachRate: 0.303344 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 509.40 m.Bj ;Jj ;JAAJ ProNav: ac range: 509.399994 m, nav range: 308.733398 m, bearing: 288.978795 deg, approach rate: -0.146615 m/s, LOS rate: 0.120633 deg/s, cmd heading: 212.329845 deg, new cmd heading: 212.504681 deg. 2j;HeadingCmd: 3.708906 target range: 509.399994 and range: 510.70 m. j^m@jjjihhhhmBfffrf@3@bf@?ɛ-B5c 15I1 ]w q<ɚYiYI]E =Ie$ieED`ieTH)e^m@)i*F2F:FBF{2JF Will construct direction to contact in vehicle frame from tetrahedron phase data.H >I  I !II \BI / =&I .I 6I d<:I 7 FG {#G B O >6&w,A: _@Y:m@:M'=9:<>y:H`s@?@ g,4? w`? -?ɨ: _@:;:?CyFقBF IININ@4٢V޽ Ve=9V Q Z>XX ZG٣\yb^< b> fNusing accuracyPremultiplier from configdj49f2<?j4Yf iflaBhjN%n @frDf :f.: % $?I!fM4A E/@E0EZjFNOT Ignoring new targets: 509.40 m.BjW:JjW: ProNav: ac range: 509.399994 m, nav range: 308.682983 m, bearing: 289.019278 deg, approach rate: -0.138979 m/s, LOS rate: 0.111618 deg/s, cmd heading: 212.504684 deg, new cmd heading: 212.626153 deg. 2j4;HeadingCmd: 3.711026 target range: 509.399994 and range: 510.70 m. jum@jjjihhhhfffrfbf ƭ?ɛB݌ 隽վI E]l<ɚiI] =IA$iZ `i%)um@)E5e>E5>*F?2F:FBFe3JF"G=G=UWill construct direction to contact in vehicle frame from tetrahedron phase data.)= ېC=~GUtAmAJJ7J0JJ;J:Jـ3JJ f<J f<J;J; YtAy3BG KG B O >e,w,KAVWill construct direction to contact in vehicle frame from tetrahedron phase data.`_@Ym@ =9. >yH@?@vJfb@v6?p? e?ɨ`_@|a;BCyςB I ==Mb@Mb@Mb@ )Yw/?X9v?~jtxy&?<ĻA `@)IAyAII4٢  +=9ojQ > G٣CGy >  Nusing accuracyPremultiplier from config 49 &?4Y  i _aB'?:$!% @ rD O; x; oU45[B 5@53EzKEBoIKE9KAKE KE+/,(%!]B*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 509.40 m.Bju';Jju'; ProNav: ac range: 509.399994 m, nav range: 308.593262 m, bearing: 289.074830 deg, approach rate: -0.192198 m/s, LOS rate: 0.119035 deg/s, cmd heading: 212.626152 deg, new cmd heading: 212.792855 deg. 2jb;HeadingCmd: 3.713936 target range: 509.399994 and range: 510.70 m. j m@jjjihhhhZBfffrfbf`?ɛBr I e<ɚiI` =  $?I XgIn$i`i`=) m@)*F?2F:FBFV0JFMWill 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.*J C="J %=G G B O >I3w,XA6_@Y68m@6G=96>y6H`Y?/g?碿`?`:?ɨ6_@6I;6ACyF‚BF IIRIRv}4٢Vj Zw=9Z[Q Z?\\ ^G٣\ybM9 b? fNusing accuracyPremultiplier from configdj49f&?j4Yf ifVaBhj"!j @frDf:f:f/[4p r@tZjFNOT Ignoring new targets: 509.40 m.Bj*;Jj*;- ProNav: ac range: 509.399994 m, nav range: 308.531738 m, bearing: 289.113013 deg, approach rate: -0.188960 m/s, LOS rate: 0.117298 deg/s, cmd heading: 212.792850 deg, new cmd heading: 212.907422 deg. 2j-;5HeadingCmd: 3.715935 target range: 509.399994 and range: 510.70 m. j5m@j1j1j1i1h9h9h9h9fAfAfArfAbfM`?ɛuBub quIq }=`<ɚyiyIT\ =IM$i`iCU)m@)*F5?2F1:F1BF5_0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490928G-K7jHbH<HI I`!II4BI&I.I6Ie<:I8 FG!B9Om5> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746461u9w,AFD_@YFm@FH=9FNJ>yFH ? @e @d?f\@f??ɨFD_@F;Dy~B~ III4٢5. 5B=9]%Q ]>aa eG٣aym$ m> Nusing accuracyPremultiplier from config49?4Y0 iKaB&! @sDR;j;b4 !@6EZj)UFNOT Ignoring new targets: 509.40 m.BjU;Jj]; ProNav: ac range: 509.399994 m, nav range: 308.451355 m, bearing: 289.163130 deg, approach rate: -0.182330 m/s, LOS rate: 0.113708 deg/s, cmd heading: 212.907419 deg, new cmd heading: 213.057810 deg. 2j;HeadingCmd: 3.718560 target range: 509.399994 and range: 510.70 m. jm@jjjihhhhfffrfbf?ɛB0 隽_I RY<ɚiIh2=I"$i`i{)m@)E*F2F:FBFJFG GWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003381 $?I zK .LK K K K   G f AG ?G ?G B O% >[@w,AyvBv IMb@Mb@Mb@ )YuV?V-?Mb?yr(?m=<A @)IdAyAII4٢ @=9Q > G٣CGy > Nusing accuracyPremultiplier from config49?4Y iHaB)? :   @#sDL;;i4 ^@=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.250352ZjIMFNOT Ignoring new targets: 509.40 m.BjU;JjU;e ProNav: ac range: 509.399994 m, nav range: 308.363525 m, bearing: 289.211436 deg, approach rate: -0.215635 m/s, LOS rate: 0.118632 deg/s, cmd heading: 213.057806 deg, new cmd heading: 213.202764 deg. 2jeԢ;mHeadingCmd: 3.721090 target range: 509.399994 and range: 510.70 m. jmX&n@jijijiiihqhqhyh}TBfyfyfyrfbfE9@JuJu"Ju1JqJu;Ju:Ju3Jqa}@a}@a@a@ɛB䬺 J=I ['S<ɚiI=I]#i -`i 5i) X&n@))*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502550G ̂H >I  I .!II BI 1 =&I .I 2D6I <:I R FG! B) Oe >Fw,lA6<_@Y6n@6RH =96>y6H` 2?㛺@{? 3H?? @I@ɨ6<_@6;6>Cy^B^ IIfIfV4٢n] n\=9nQ r>pp rG٣pyvC < v> ~Nusing accuracyPremultiplier from configx~49z[?4Yz izFaB @z3sDz:z:zxp4  @9EZj9EFNOT Ignoring new targets: 509.40 m.BjE ;JjM ;] ProNav: ac range: 509.399994 m, nav range: 308.284546 m, bearing: 289.254557 deg, approach rate: -0.212985 m/s, LOS rate: 0.116313 deg/s, cmd heading: 213.202770 deg, new cmd heading: 213.332165 deg. 2j];eHeadingCmd: 3.723349 target range: 509.399994 and range: 510.70 m. jeXKn@jajajaiahahihihifqfqfqrfqbf}@O1@ɛ=BE}z AEIA E.L<ɚIiII =I^#i(B`i)XKn@)*F2F:FBF0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754573G% 5G B O% >Lw,G5AVWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018864=`@Y=a=n@==9=߻>y=H`E?g:@6? N?C?ɨ=`@=m;=?CyuBu IMb@Mb@Mb@ )Yv/?Dl?Q?yx)?O=u< @) AIAyAI-I-4٢=; =)=9E+Q E>II MG٣IyMW; U> ]Nusing accuracyPremultiplier from configQ]49UQ?e4 m$?IiYU iUGaBun*?u:uu @UGsDU|;Uz;Ux4}ZB }@Sw,wOAy~B~ II I .4٢xI u=9%Q %?!) -G٣-CGy- -? 5Nusing accuracyPremultiplier from config1E495˾?E4Y5 i5HaBAIM @5UsD5.;5d.;5~4Q U@QZjFNOT Ignoring new targets: 509.40 m.BjE;JjE; ProNav: ac range: 509.399994 m, nav range: 308.101593 m, bearing: 289.349591 deg, approach rate: -0.215406 m/s, LOS rate: 0.112143 deg/s, cmd heading: 213.500867 deg, new cmd heading: 213.617357 deg. 2j;HeadingCmd: 3.728326 target range: 509.399994 and range: 510.70 m. jn@jjjih!h!h!h!f)f)f)rf)bf-@ @ɛ]B]( Y]IY e?<ɚaiaIe$=ImЂ#iu@`iu7 )un@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510198HIII IM!IIMBIM0 =&II.II6IMj<:IM; FBIĚCJIĚCRIZI0 =bI0 =jI\4 m$?IiE*F5?2F1:F1BF50JF1] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:21:36:20.2647 m TRx dataTimestamp_ set to:1736372181.608570m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762996GU 'G1 BI Oe >JZw,9+kA^h`@Y^3n@^T<9^n>y^HѨ@e? [r|y?؞ B??ɨ^h`@^V;;\yzBz II-I-4٢=:< U8=9epQ e>ii mG٣iym%< m> }Nusing accuracyPremultiplier from configq49u\?4Yu iuJaB7 @uisDu;u;u4 @@EZj)-FNOT Ignoring new targets: 509.40 m.Bj5;Jj5;e ProNav: ac range: 509.399994 m, nav range: 308.000305 m, bearing: 289.401689 deg, approach rate: -0.227456 m/s, LOS rate: 0.117032 deg/s, cmd heading: 213.617363 deg, new cmd heading: 213.773707 deg. 2jm;HeadingCmd: 3.731055 target range: 509.399994 and range: 510.70 m. jn@jjjihhhhfffrfbf{@ɛ굼 隥I L7<ɚiI=IV#i`i)n@)EBJ=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017516*FM?2FQ:FQBF]P5JFY qIyzK5 RIK5 9K1 K5 K5 G ݗGa B O >&aw,|ӄAF`@YFRn@Fͷ<9F7>yFHt?  q?`d??ɨF`@Fǒ;DyNBN I%Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:36:20.2647 LVL= 17616, 26209, 23026, 32755, AGC= 67, IDX= 448, 0.21,-0.965,-2.108, 2.937,-2.239, PHS= 1.361, 0.178,-1.111, RAW= 58.6, -4.0, CAL= 63.6, -8.9, ROT= 86.4, 8.9 Ygot valid direction response: 21:36:20.2647 LVL= 17616, 26209, 23026, 32755, AGC= 67, IDX= 448, 0.21,-0.965,-2.108, 2.937,-2.239, PHS= 1.361, 0.178,-1.111, RAW= 58.6, -4.0, CAL= 63.6, -8.9, ROT= 86.4, 8.9 PDAT read: Bearing 86.4, 8.9 (Local) ~Local bearing/azimuth received: Bearing 86.4, 8.9 (Local) DAT read: Range 10 to 50 : 511.2 m (Round-trip 681.6 ms) speed 0.2 m/s ,DAT read: user:1907> BDAT read: Tx time:21:36:21.3790 -only read 0 of 1 data item for altitude. Device response is::BD, , +720.42, -6.98, 8.38, 0.00 $Ping request sent.%?5%?%5 %q?)%I%?i%>!!%Aӊ?ԓO%td )%5I%y=i%Kz?%/o!!:publishing transmit ping timeFpublishing direction and range info٢= 6=9Q > G٣y<; >!9%?DŽ ?X?2`??y!!!! !)!I!i!!!!! !)!I!i!!!%Aӊ?ԓO%td )!I!i!!!!  bBottom track data is 0.5 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config49ɗ?4Y iMaB+:: @|sD#=>4! %/@!k%y!?k%ہ k! k%^0A:k%CBk%CZk%5@"% 9@b0>r@uUQy@%?DŽ ?X?2`??Jk%Kz?Rk%/o*%r~Y@wk=irX|@%9?Yۿ ?"k%]*k%Bk%~("?k% 2k%Dk%~("?k%T;  k%Ck%jCk%@U addTargetRange:: Added new target pos. range: 511.200012 m, deltaT: 4.285159 s, deltaX: 0.500000 m, approachRate: 0.116682 m/s, rangeRepo size: 4  Added new target pos. range: 511.200012 m, bearing: 294.677457 deg, lat: 36.901877 deg, lon: -122.117884 deg, deltaT: 8.570788 s, deltaX: 1.800018 m, approachRate: 0.210018 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 511.20 m.BjJj ProNav: ac range: 511.200012 m, nav range: 280.830750 m, bearing: 291.291420 deg, approach rate: 0.000000 m/s, LOS rate: 0.117032 deg/s, cmd heading: 213.773706 deg, new cmd heading: 213.950567 deg. 2j HeadingCmd: 3.734142 target range: 511.200012 and range: 511.20 m. j .n@j j j i hhhhfff9rf=@3@bfE .r?ɛB 隕>I .<ɚiI:=I##ir`i;).n@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:36:21.3782 H5 >I1  I5 !II5 BI1 &I1 .I1 6I5 <:I5 V FE E > $?I Yg*F ?2F :F BF ~0JF G%%uWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO%?iw,AN`@YN\n@Ny<9No>yNH щ?@X }X R? :??ɨN`@NMڑ;NACybBb IllIrIrd4٢r; =9Q > G٣CGy< > bBottom track data is 1.0 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config-49?54Y iQaB5 :15Q:55 @sD;|?4EYB E@ECEZjFNOT Ignoring new targets: 511.20 m.BjR$;JjR$; ProNav: ac range: 511.200012 m, nav range: 280.720062 m, bearing: 291.359622 deg, approach rate: -0.233063 m/s, LOS rate: 0.143662 deg/s, cmd heading: 213.950567 deg, new cmd heading: 214.155251 deg. 2j0;HeadingCmd: 3.737714 target range: 511.200012 and range: 511.20 m. j6o@jjjihhhhfff!rf!bf-@?ɛuBu᷼ quIq }\V'<ɚyiyI}|=I"i`i)6o@)*Fu?2Fq:FyBF}T5JFy%Will construct direction to contact in vehicle frame from tetrahedron phase data. I G D&G B O >zK m$JK 9K K K RK ?JK ?pw,sAb_`@Ybo@b<9b]>ybH2`Ȧ? [OX?`#[?Ӭ?ɨb_`@bE;b@CyzBz I } } }}     Mb@Mb@Mb@ )Y/$?Ya eG٣aymr; m>}Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from config49)n?4Y" iVaBT:(?: @sD;];c4 K@FEMB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 511.20 m.Bje;Jje;JJJJJ;JJJ  ProNav: ac range: 511.200012 m, nav range: 280.645691 m, bearing: 291.414429 deg, approach rate: -0.174986 m/s, LOS rate: 0.128989 deg/s, cmd heading: 214.155254 deg, new cmd heading: 214.319720 deg. 2j  ;HeadingCmd: 3.740585 target range: 511.200012 and range: 511.20 m. jeo@jjjihhhhBf!f!f!rfAbfM z?ɛż 隝I  <ɚiI%=I"iu aiOe)eo@)*Fe?2Fa:FaBFe05JFa- Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******- R****** received valid ping request ******- Querying Benthos address 50 with one ping in standard two-way mode.Hu >Iq  Iq Iq Iu 1 =&Iq .Iq 6Iu g<:Iu 7 FG G B O >Xvw,aA &$?I$y~B~ II I 4٢E== E\=9MQ M>IQ UG٣QyU U> eNusing accuracyPremultiplier from configam49e^?m4Ye& ie[aBiim @esDe~:ei:e4y }@yZjFNOT Ignoring new targets: 511.20 m.Bj;Jj; ProNav: ac range: 511.200012 m, nav range: 280.582153 m, bearing: 291.461426 deg, approach rate: -0.182796 m/s, LOS rate: 0.135240 deg/s, cmd heading: 214.319725 deg, new cmd heading: 214.460748 deg. 2j;HeadingCmd: 3.743046 target range: 511.200012 and range: 511.20 m. jo@jjjihhhhfffrfbfF?ɛ  I vI <ɚiI=I"i%3ai%1)%o@))E*FM?2FI:FIBFM^0JFI"GU=GU=~~G|uAA EYM|uAyMeBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480750GmՒGI BY Ou >|w,=CAvWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735339jDa@Yj0co@jl<9juw>yjH@m`h?` 5k? ^@?@?ɨjDa@j<;hyuBu I p=p= 1I1UMb@Mb@Mb@QQQ Q)QYUw/?Mbp?/$?yU&?U;U G٣CGy%< > Nusing accuracyPremultiplier from config49iH?4YR+ i`aB'?:" @sD*;X);4XB {@IEZjFNOT Ignoring new targets: 511.20 m.BjS;JjS; ProNav: ac range: 511.200012 m, nav range: 280.512604 m, bearing: 291.523414 deg, approach rate: -0.145461 m/s, LOS rate: 0.129678 deg/s, cmd heading: 214.460741 deg, new cmd heading: 214.646749 deg. 2j;HeadingCmd: 3.746293 target range: 511.200012 and range: 511.20 m. jBo@jjji h h hhBfffrfbf@?ɛMBMr IMIQ UvE<ɚQiQIUF=I]r\"i]bai]•)]Bo@zKBoHK+9KKKBK:KpA)*Fy2Fy:FyBF}Z0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984567J J @AG Gy B O >؃w,A6xa@Y6Jo@6c<96>y6H )_?Q@%?_@? ?ɨ6xa@6;6?CyBB@IJIJ4٢R& R=9VQ V?TT ZG٣XyZ'< Z? bNusing accuracyPremultiplier from config\b49^_:?f4Y^Y. i^daBdfo"f @^sD^i:^:^}4h n~@lZj FNOT Ignoring new targets: 511.20 m.Bj \;Jj \; ProNav: ac range: 511.200012 m, nav range: 280.466949 m, bearing: 291.563679 deg, approach rate: -0.147042 m/s, LOS rate: 0.129706 deg/s, cmd heading: 214.646754 deg, new cmd heading: 214.767569 deg. 2j%;%HeadingCmd: 3.748401 target range: 511.200012 and range: 511.20 m. j%o@j)j)j)i)h)h)h1h1f1f9f9rf9bf=@p@ɛ9 :I b<ɚiIһ=I9"i}aiP)o@)!*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237316H>I I!IIBI&I.I6I<:Ik F %$?I%ZgG`6GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488523;w,)AJDJF%JF1JDJDJF:JF3JDJDaNJDaNJF~;aRJF~;aR%Za@Y%o@%9<9%+>y%H@S`?ᶿ 0@?`0 F ?࠭?ɨ%Za@%3ۏ;%ACyޅʂBލ III4٢/= ;=9彻Q > G٣yk; > Nusing accuracyPremultiplier from config49&?4Y2 ikaBE" @sDF;F; 4 @MEZj  FNOT Ignoring new targets: 511.20 m.Bj|;Jj|;% ProNav: ac range: 511.200012 m, nav range: 280.402191 m, bearing: 291.620391 deg, approach rate: -0.148201 m/s, LOS rate: 0.129815 deg/s, cmd heading: 214.767567 deg, new cmd heading: 214.937740 deg. 2j%.;-HeadingCmd: 3.751371 target range: 511.200012 and range: 511.20 m. j-wp@j)j)j)i1h9h9h9h9fAfAfArfAbfE@ɛ/[ I $d<ɚiI9=I > "i *ai-u)-wp@)1E=rAE9*F2F:FBFo0JFGqA GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740504 - $?I) G5 5G B O- >zK% BHK% 9K! K% K% Uw,yCAyłB I%A!Mb@Mb@Mb@ )Y?~jt G٣CG]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.994159y > Nusing accuracyPremultiplier from config49|?4Y6 ijaB&?:$ @sDL;#;4 *@%B*** querying acoustic contact ***j)j)ZjQ]FNOT Ignoring new targets: 511.20 m.Bj];Jj]; ProNav: ac range: 511.200012 m, nav range: 280.349182 m, bearing: 291.677250 deg, approach rate: -0.118760 m/s, LOS rate: 0.127410 deg/s, cmd heading: 214.937734 deg, new cmd heading: 215.108343 deg. 2j;HeadingCmd: 3.754349 target range: 511.200012 and range: 511.20 m. j@Gp@jjjihhhhŃBfffrfbf>@ɛiuh¼ quIq un<ɚyiyI}=I}u!iOair_)@Gp@)*FE?2FA:FABFAJFA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246081ZH! RH% AAH- >I)  I- .!II- BI) &I) .I) 6I- 4<:I-  FG BG B O >  I! w,]A2b@Y2 p@2;92c~>y2H8"?쵿QW?`6v  ?S?ɨ2b@2t;0yFǂBF IININ̍4٢V?< V^=9ZQ Z>X\ ^G٣\y^y< ^> fNusing accuracyPremultiplier from config`f49b?j4Yb9 i`hjv$j @btDb:b:b4l r@rPEZjFNOT Ignoring new targets: 511.20 m.Bj;Jj;- ProNav: ac range: 511.200012 m, nav range: 280.306305 m, bearing: 291.722056 deg, approach rate: -0.128874 m/s, LOS rate: 0.134691 deg/s, cmd heading: 215.108338 deg, new cmd heading: 215.242776 deg. 2j-߸;5HeadingCmd: 3.756695 target range: 511.200012 and range: 511.20 m. j5mp@j1j1j1i1h1h9h9h9fAfAfArfAbfMk* @ɛqud y}Iy V$;ɚiI=I !i Aai ) mp@)*F?2F:FBFP5JFG~FMWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:21:36:24.4646 ]TRx dataTimestamp_ set to:1736372185.641046echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.498266GiByOEQ>JJ)J0JJ;J:Jـ3JJok<Jpk<J;J;/>w,vwAB:b@YBzYp@ByBHS(@ $?I G٣y/; > Nusing accuracyPremultiplier from config49!?4Y-> ilaB<$ @tD\:~:4WB 6@SEZjY]FNOT Ignoring new targets: 511.20 m.Bje;Jje; ProNav: ac range: 511.200012 m, nav range: 280.247101 m, bearing: 291.783113 deg, approach rate: -0.124244 m/s, LOS rate: 0.128160 deg/s, cmd heading: 215.242770 deg, new cmd heading: 215.425980 deg. 2j;HeadingCmd: 3.759893 target range: 511.200012 and range: 511.20 m. jp@jjjihhhhfffrfbf @ɛ )-I) -T;ɚ)i1I5w=I5}!i=bbi=4΍)=p@)9EMV>EM>zK%k3IK%9K!K%K%*F2F:FBFW5JF"GG=uWill construct direction to contact in vehicle frame from tetrahedron phase data.yi}A DAT read: 21:36:24.4646 LVL= 17888, 26705, 23410, 32755, AGC= 69, IDX= 446,-0.12,-2.505, 2.537, 1.449, 2.520, PHS= 1.347, 0.065,-1.074, RAW= 62.0, -3.3, CAL= 67.2, -8.0, ROT= 82.8, 8.0  Ygot valid direction response: 21:36:24.4646 LVL= 17888, 26705, 23410, 32755, AGC= 69, IDX= 446,-0.12,-2.505, 2.537, 1.449, 2.520, PHS= 1.347, 0.065,-1.074, RAW= 62.0, -3.3, CAL= 67.2, -8.0, ROT= 82.8, 8.0  PDAT read: Bearing 82.8, 8.0 (Local)  ~Local bearing/azimuth received: Bearing 82.8, 8.0 (Local) = DAT read: Range 10 to 50 : 511.0 m (Round-trip 681.4 ms) speed 0.0 m/s G kG B O > ,DAT read: user:1908>  BDAT read: Tx time:21:36:25.5791  $Ping request sent. ځځۅ)FDf? ;?0)ۅIۅi=iۅ]?ۅ~ہہm :publishing transmit ping time u Fpublishing direction and range info؁9؅tiӠO?B-(y?~?y؁؁؁؁ ف)فIفiففففف ځ)ځIځiځځځۅ)FDf? ;?0)ہIہiہہہہ-%w,bA6=sb@Y6Αp@6Ų96r>y6HV? Ѵ݅!\?Xv???ɨ6=sb@6_;6CCyN˂BR I%Mb@Mb@Mb@!!! !)!Y%Pn?)\({Gzt?y%$?%Ga%ף;%A %X@)!I%A!y% AI]I]44٢m= mF=9ջQ > G٣CGy> < > 5Nusing accuracyPremultiplier from config549?=4YA ikaB=$?=:= '= @,tD-i;`J;$4A M@Ik>$?kA,) kWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:36:25.5783 HI I;!IIBI2 =&I.I6I <:I FBIqJIqRIqZIu1 =bIu1 =jIu%4 k}\A:kCBkCZkew@"yA,@*qD qq@Vbz@tiӠO?B-(y?~?Jk]?Rk~*opg\@+|@6Ru?攱׿s?"kh8*k uw,QܫAJJ J J JT;J:J J Jh<Jh<J;J;Fb@YFp@F},9FN>yFHQ@o?`Y`H?e? $? A?ɨFb@Fݏ;F?CyNBN IIZxIZT4٢bҐ bd=9bQ f?d) -G٣)y5"< 5> =Nusing accuracyPremultiplier from config9E49=e?E4Y=D i9AM&M @=:tD=;=;=I4y }@}VEZjFNOT Ignoring new targets: 511.00 m.Bj ;Jj ; ProNav: ac range: 511.000000 m, nav range: 281.185730 m, bearing: 293.876873 deg, approach rate: -0.079752 m/s, LOS rate: 0.136422 deg/s, cmd heading: 215.590987 deg, new cmd heading: 215.728332 deg. 2j?;HeadingCmd: 3.765170 target range: 511.000000 and range: 511.00 m. jp@j)j)j)i)h)h)h1h1f1f1f1rf9bf=?ɛ| 隭,I a;ɚiI[.=I+'!i`Jbi2)p@)a*F?2F:FBFZ0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. iIiGG B O >zKm Km +9Ki Km Km gUw,A2xb@Y2p@2ֻ92/M>y2H `v?Q`B ^?@z??k?ɨ2xb@2:;2>Cy:B> I5Mb@Mb@Mb@111 1)1Y5x&1? G٣y; > Nusing accuracyPremultiplier from config49˵?4Y4H igaB"?:^( @KtD3;2;4 @Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 511.00 m.Bj;Jj;- ProNav: ac range: 511.000000 m, nav range: 281.160797 m, bearing: 293.930969 deg, approach rate: -0.060411 m/s, LOS rate: 0.131085 deg/s, cmd heading: 215.728328 deg, new cmd heading: 215.890632 deg. 2j-;5HeadingCmd: 3.768002 target range: 511.000000 and range: 511.00 m. j5&q@j9j9j9i9h9h9hAhẼBfAfAfIrfIbfMv@?ɛB 隕I ;ɚiI{=I icbi)&q@)E*Fi2Fq:FqBFu_0JFyGrA GqAGmjHq bHu <H} >Iy  I} A!II} BIy &Iy .Iy 6I} <:I} F Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O > e $?Ia (w,A6b@Y6vp@696l >y6H@}?@ eN?@Ԃ?@/? x?ɨ6b@6gJ;4y@@IJuIJaO49RzQ V>XX ZG٣ZCGy^g ^> bNusing accuracyPremultiplier from config`f49bg?f4Yb>K ibdaBdjr(j @bZtDby;b;b!4nVB n@nYE~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 511.00 m.Bj ;Jj;% ProNav: ac range: 511.000000 m, nav range: 281.139191 m, bearing: 293.978946 deg, approach rate: -0.058261 m/s, LOS rate: 0.129376 deg/s, cmd heading: 215.890627 deg, new cmd heading: 216.034568 deg. 2j%;-HeadingCmd: 3.770514 target range: 511.000000 and range: 511.00 m. j-Pq@j1j1j1i1h9h9h9h9fAfAfArfAbfE@4?ɛqu qu Iy }';ɚyiyI}=I ibic)Pq@)*Fu?2Fy:FyBF}j0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.J=J=(J9J9J=;J=9:J9J9J=j<J=j<J=-;J=.;Gm͍GABQOu>שw,OA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.679777Nb@YNp@NK_R9N >yNH@Y`?ܱ¨`f`v?K?Z??ɨNb@Nٕ;NACyvBv II5I54٢m$ m< $?I9!! %G٣!y-.; -> =Nusing accuracyPremultiplier from config1=495܍?E4Y51O i5aaBAE\(E @5ntD5:5:54UWB Uz@U\EZjyFNOT Ignoring new targets: 511.00 m.BjF;JjF; ProNav: ac range: 511.000000 m, nav range: 281.111053 m, bearing: 294.041189 deg, approach rate: -0.058199 m/s, LOS rate: 0.128759 deg/s, cmd heading: 216.034567 deg, new cmd heading: 216.221316 deg. 2j;HeadingCmd: 3.773774 target range: 511.000000 and range: 511.00 m. jq@jjjihhhhfffrfbf@n?ɛBp! GI ;ɚiIh=I2 igbip籼)q@)zKaKe9KaKeKe*F?2F:FBF`0JFBKpA:KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.931790G |G B O >ґw,*A2c@Y2!q@2rg92T>y2H@ʞ? o᱿`׾???/?ɨ2c@2̕;2?Cy>B> I5Mb@Mb@Mb@111 1)1Y5x&1?MbX9I +y15ʡ5945A 1)5AI5A1y5 AIMIM4٢]/ ]K=9eIhQ e>ai mG٣iym#< m? }Nusing accuracyPremultiplier from configq49u}?4YuR iu\aB"?:( @u|tDu ;u;u4 @]EZjFNOT Ignoring new targets: 511.00 m.Bj;Jj; ProNav: ac range: 511.000000 m, nav range: 281.092316 m, bearing: 294.085946 deg, approach rate: -0.054086 m/s, LOS rate: 0.129196 deg/s, cmd heading: 216.221318 deg, new cmd heading: 216.355596 deg. 2jU;HeadingCmd: 3.776118 target range: 511.000000 and range: 511.00 m. jq@jjjihhhhBfffrfbf@!@ɛ%B%P4 !%I) -;ɚ)i)I-<=I5s i5ci5Ƨ)5q@)9H>I III&I.I6I<:IuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.184918*F?2F:FBF1JF"G=G= 5$?I5[gGVGqAGpAGBO>)ž= C G vA Y vAy B% Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.436737w,,-ANUc@YNsq@N9N>yNHB?'汿`Չd?Cs?@? ?ɨNUc@Nbʕ;LyVBV IIbIbt4٢j\ jT=9rQ v>x| ~G٣~CGy S<  > %Nusing accuracyPremultiplier from config-499k?54Y8U iXaB1h( @tD<<~4 \@`EZj)UFNOT Ignoring new targets: 511.00 m.BjU ;JjU ;m ProNav: ac range: 511.000000 m, nav range: 281.070007 m, bearing: 294.136698 deg, approach rate: -0.053253 m/s, LOS rate: 0.121164 deg/s, cmd heading: 216.355599 deg, new cmd heading: 216.507869 deg. 2jmN;HeadingCmd: 3.778775 target range: 511.000000 and range: 511.00 m. jtq@jjjihhhhfffrfbf<'@ɛy 隕)I R;ɚiIz=I@H i?ciᵖ)tq@)*Fy2Fy:FyBF}2JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.688327 1I1G o>GY Bi O >zK BHK 9K K K Cw,tGA2c@Y21q@2?92>y2Ho ?@±@ sϿ?@???ɨ2c@2;2=Cy>B> IMb@Mb@Mb@ )Y%C?lMbyZ$?A n@)rAI Ay AII4٢5 5C=9=Q E>II UG٣Qy]&< e> }Nusing accuracyPremultiplier from configqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.94160049uW?4YuX iuUaB s%? : '  @utDuCw,Q`A6c@Y6` r@696><>y6H@(?엱_`X?gP? ?`%?ɨ6c@6Ԕ;6@CynBn IIvIv4٢PZ N=9Q  >    G٣ yV< > %Nusing accuracyPremultiplier from config!-49%*E?-4Y% \ i%RaB)-:'- @%tD%:%:% 4=VB =k@=dEUB*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 511.00 m.Bjmb;Jjmb;} ProNav: ac range: 511.000000 m, nav range: 281.015869 m, bearing: 294.242595 deg, approach rate: -0.072265 m/s, LOS rate: 0.138472 deg/s, cmd heading: 216.671741 deg, new cmd heading: 216.825594 deg. 2j;HeadingCmd: 3.784321 target range: 511.000000 and range: 511.00 m. jO2r@jjjihhhhfffrfbf@X @ɛ* II =Y;ɚiI=Ifi4mcih|)O2r@)*Fi2Fq:FqBFu_0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.444708GUՒG] ?G] ?G1BAO]>1w,zA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Rx Time:21:36:28.6658 &TRx dataTimestamp_ set to:1736372189.924736*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.696998RDd@YRcr@Rҵ9R>yRH%B%?`h@>?ǹ???ɨRDd@R&;R?Cy^B^ IIfIf4٢r rM=9r0Q r>tt vG٣vCGyz+V< > -Nusing accuracyPremultiplier from configE49<2?M4Y_ iQaBQ]&e @tD2 < <4 @ $?IZjaeFNOT Ignoring new targets: 511.00 m.Bj;Jj; ProNav: ac range: 511.000000 m, nav range: 280.987152 m, bearing: 294.295480 deg, approach rate: -0.061222 m/s, LOS rate: 0.112757 deg/s, cmd heading: 216.825598 deg, new cmd heading: 216.984270 deg. 2jĚ;HeadingCmd: 3.787090 target range: 511.000000 and range: 511.00 m. j_r@jjjihhhhfffrfbf J)@ɛUBU ]u&=]IY ]42;ɚYiYI]j*=IikciZ)_r@)zKk3IKKKK*F2F:FBFX0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.948556J1 J1 J J $J J J ;J ':J J G% k}G B) Oe >ow,|AEd@YEr@Eļ9ES6>yEHdv/D?갿@]' $?@? :??ɨEd@EI(;E>CyލBޕ IEMb@Mb@Mb@AAA A)AYES㥛?Dl{GzyE$?EOE#A A)AIE AAyE AII<4HI I!IIBI&I.I6I<:I F٢ .=9k{Q > G٣y < > Nusing accuracyPremultiplier from config49?4Yc iOaB%?:& @tD;#;4  .@ gEZj15FNOT Ignoring new targets: 511.00 m.Bj=.;Jj=.;MWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:36:28.6658 LVL= 17744, 26609, 19538, 30291, AGC= 66, IDX= 458,-0.18,-1.827,-3.005, 2.056,-3.109, PHS= 1.370, 0.151,-1.121, RAW= 59.3, -3.7, CAL= 64.2, -8.5, ROT= 85.8, 8.5 Ygot valid direction response: 21:36:28.6658 LVL= 17744, 26609, 19538, 30291, AGC= 66, IDX= 458,-0.18,-1.827,-3.005, 2.056,-3.109, PHS= 1.370, 0.151,-1.121, RAW= 59.3, -3.7, CAL= 64.2, -8.5, ROT= 85.8, 8.5 PDAT read: Bearing 85.8, 8.5 (Local) ~Local bearing/azimuth received: Bearing 85.8, 8.5 (Local) DAT read: Range 10 to 50 : 511.9 m (Round-trip 682.6 ms) speed -0.4 m/s ,DAT read: user:1909> BDAT read: Tx time:21:36:29.7806 $Ping request sent.%M|M;z?M A Ml?)MIM֭?iM>IIM K??뿒o w,NAVcd@YVs@V׼9VA>yVH[h?@ dO?t?v??ɨVcd@V;V@CyrtBru IIzIzƕ4٢- -j=9-ܻQ 5>11 5G٣1y]t< ]> eNusing accuracyPremultiplier from configam49e0 ?m4Yef ieNaBqu%u @etDe:e;e4 @jEkڜ+?kT k kZfA:kCBk+CZky@"o2I5@G+qr@tCy@%^M]? K `?&ǐ?Jkп?Rkr*løG a@6zP[ ha|@۫x ?NƐ!ؿknQb?"kA*kUCkt׳+?k7C 2kDkw(?k kDk|Ck=@ addTargetRange:: Added new target pos. range: 511.899994 m, deltaT: 4.281852 s, deltaX: 0.899994 m, approachRate: 0.210188 m/s, rangeRepo size: 4  Added new target pos. range: 511.899994 m, bearing: 305.235411 deg, lat: 36.902057 deg, lon: -122.117437 deg, deltaT: 4.281852 s, deltaX: 0.899994 m, approachRate: 0.210188 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 511.90 m.BjJj ProNav: ac range: 511.899994 m, nav range: 252.929840 m, bearing: 300.042152 deg, approach rate: 0.000000 m/s, LOS rate: 0.152809 deg/s, cmd heading: 217.166930 deg, new cmd heading: 217.336420 deg. 2jHeadingCmd: 3.793236 target range: 511.899994 and range: 511.90 m. jar@jjjih hhhfffrfbf@f?ɛI= 隥X%I 8:ɚiIm=IU[iHcil+)ar@)E *F2F:FBF_0JFeWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IG UG B O >zK5 BoHK1 K1 K5 K5 w,$(A2e@Y2{5s@2H92u9>y2H@EL|?[@3 ?9?e5?@Q?ɨ2e@2D6;2>Cy:jB:h I5Mb@Mb@Mb@111 1)1Y5(\?I +~jtxy5'?5945Ļ1 5X@)5\AI5A1y5 AIM@AIMIM:4٢]~N eG=9eQ e>ii mG٣mCGym; u> }Nusing accuracyPremultiplier from configq49u?4Yuj iuPaB(?:# @utDu;u;u '4 @Will construct direction to contact in vehicle frame from tetrahedron phase data.Zj FNOT Ignoring new targets: 511.90 m.Bj ,;Jj ,;% ProNav: ac range: 511.899994 m, nav range: 252.911560 m, bearing: 300.102402 deg, approach rate: -0.045797 m/s, LOS rate: 0.150957 deg/s, cmd heading: 217.336414 deg, new cmd heading: 217.517178 deg. 2j%3;-HeadingCmd: 3.796391 target range: 511.899994 and range: 511.90 m. j-r@j)j)j)i1hhhhtBfffrfbfa?*J"JJJJJJt;J :JJɛy}T: 隅*I g:ɚiI7=I'i*0ci2)r@)E-\J=jHbH<H>IC I !IIBI3 =&I.I6Iu<:I= FBIyJIyRIyZI}2 =bI}2 =jI}4u Will construct direction to contact in vehicle frame from tetrahedron phase data.*F ?2F :F BF JF I G {#GBO->Ŏw,AZe@YZ%s@Z=\ 9Z;>yZH?E@y ??A?`b?ɨZe@Z;ZBCyjiBng IIIF4٢%Q '=9-.?Q ->11 =G٣9y=4< => UNusing accuracyPremultiplier from configI]49M?]4YMo iMVaBami"m @MuDMd;M-e;M/4}UB }@}mEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 511.90 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: 511.899994 m, nav range: 252.886383 m, bearing: 300.175557 deg, approach rate: -0.051221 m/s, LOS rate: 0.148844 deg/s, cmd heading: 217.517182 deg, new cmd heading: 217.736666 deg. 2jL;HeadingCmd: 3.800222 target range: 511.899994 and range: 511.90 m. j6s@jjjihhhhfffrfbf`m?ɛy}* y隅 +I x:ɚiIT=Iibi)6s@)EX%=*FM?2FI:FIBFIJFI Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493401G -, $?I G B1 O} >w,\AyMaBU^ IMb@Mb@Mb@ )Yv/?y&1yx)?`e A +@)AI AyG AIsIK4٢ 9=9Q >! %G٣!y% -> 5Nusing accuracyPremultiplier from config1=495?=4Y5Nt i5_aB=)?=:EE @5uD5&;5f;5Z74I M3@MqEzK BIK 9K K K &v*&&9MRQLGFF=8114772/0( uibn^J>5/-Zj)5FNOT Ignoring new targets: 511.90 m.BjE\$;Jjm\$; ProNav: ac range: 511.899994 m, nav range: 252.851288 m, bearing: 300.241055 deg, approach rate: -0.076985 m/s, LOS rate: 0.143696 deg/s, cmd heading: 217.736664 deg, new cmd heading: 217.933183 deg. 2j<;HeadingCmd: 3.803652 target range: 511.899994 and range: 511.90 m. jos@jjjihhhhqBfffrfbf@?ɛ)-CC; )5.I1 50[Mɚ1i1I5[=I]i]bi])eos@)aEiEi*Ei"EiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745615JJ1J1JJ;J:J3JE E pA*F ?2F :F BF JF H >I  I II ݂BI 4 =&I .I 1D6I 7<:I  Fm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997513 I \gG ҸG ?G >GBO>w,y!ARY1f@YROt@Ryi9R>yRH 8? `? ??`|?@y?ɨRY1f@R*Z;R?Cy^]B^Y IIfIf:4٢n n6=9r ںQ r>pt vG٣vCGyvy< v> ~Nusing accuracyPremultiplier from config|49~?4Y~y i~iaB &  @~+uD~:~:~-?4 s@ZjAMFNOT Ignoring new targets: 511.90 m.BjU63;JjU63;e ProNav: ac range: 511.899994 m, nav range: 252.813904 m, bearing: 300.307679 deg, approach rate: -0.087903 m/s, LOS rate: 0.156681 deg/s, cmd heading: 217.933182 deg, new cmd heading: 218.133084 deg. 2je;mHeadingCmd: 3.807141 target range: 511.899994 and range: 511.90 m. jm1s@jijijiiqhqhqhqhyfyfyfyrfybf S)@ɛ^F 隵0I rɚiIrL=IwiabiÆ)1s@)*Fm?2Fi:FiBFm0JFiGMGB!=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.249487OU2>'w,_;ARWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.502258y~\B~X II I 4٢%3 -F=9-Q ->)1 5G٣1y5 => ENusing accuracyPremultiplier from config9M49=?M4Y=o} i=raBIIM @==uD=G:=:=aF4]TB ]|@]tE $?IZj%FNOT Ignoring new targets: 511.90 m.Bj-";Jj-";= ProNav: ac range: 511.899994 m, nav range: 252.779816 m, bearing: 300.369001 deg, approach rate: -0.079194 m/s, LOS rate: 0.142483 deg/s, cmd heading: 218.133088 deg, new cmd heading: 218.317077 deg. 2j=;EHeadingCmd: 3.810352 target range: 511.899994 and range: 511.90 m. jEs@jAjAjIiIhIhIhIhqfyffrfbfڶ@ɛB8 隭0I $ɚiIu=IBi&bimP )s@)*F2F:FBFo0JFzKCOKh9KKK)#&.8@FGB<3,# RK- ?JK-?]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756941G ZG G rAG B O >w,=DUAJ%f@YJt@JU9J`>yJH@<?殿`L* |?`? ?Ʃ?ɨJ%f@JV;J>CyRZBVT I5Mb@Mb@Mb@111 1)1Y5Q?Q?~jth?y5(?5u<5D;5A 1)5\AI5 A1y5 AIMIMh4٢]:J ]F=9e0fQ e>ai mG٣iym< m> }Nusing accuracyPremultiplier from configq49u?4Yu iu~aB)?: @uNuDu88;u6;uM4 @ZjFNOT Ignoring new targets: 511.90 m.Bj0;Jj0; ProNav: ac range: 511.899994 m, nav range: 252.732925 m, bearing: 300.429611 deg, approach rate: -0.119460 m/s, LOS rate: 0.154443 deg/s, cmd heading: 218.317079 deg, new cmd heading: 218.498944 deg. 2j;HeadingCmd: 3.813526 target range: 511.899994 and range: 511.90 m. jt@jjjihhhhsBfffrfbf@b@ɛZHRHAAHI I II΂BI&I.I6I<:I Fx[ 2I TɚiIa=Ii_ai)t@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006387 I*F?2F:FBF_5JF~GG  hY! y- 7BG B O% >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2574869w,YoAJ"J"*J"0J J"t;J"C:J"ـ3J J""ny~H +?ܮ`:@o`p?Т? j??ɨ~f@~ʌ;~?Cy]aBe] IIIE4٢L= D=9:Q > G٣CGy.; > Nusing accuracyPremultiplier from config49]?4Yʆ iaB @`uD;;T4  2@ wE%B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 511.90 m.Bj=z(;JjEz(;M ProNav: ac range: 511.899994 m, nav range: 252.684799 m, bearing: 300.491281 deg, approach rate: -0.114923 m/s, LOS rate: 0.147293 deg/s, cmd heading: 218.498940 deg, new cmd heading: 218.683985 deg. 2jM,;]HeadingCmd: 3.816756 target range: 511.899994 and range: 511.90 m. j]Et@jYjYjYiahahahihifqfqfqrfqbf} @ɛB #L 隥^.I ɚiI=IiDai+Ȼ)Et@)*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=3.509539 }$?IyGuVGQ By O > "w,AyrbBr^ IzK~nMK~9K|K~K~BK qA:K rAWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:21:36:32.8683 %TRx dataTimestamp_ set to:1736372194.208628-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762555JQJUAAMb@Mb@Mb@ )Yq= ףp?/$?~jt?y+?,=D< A A@)I AyII.4٢ Ġ; +=9Q > G٣y > -Nusing accuracyPremultiplier from config!-49%r?54Y%| i%aB5+?5:5j5 @%tuD%;%;%5]49 E@AZjFNOT Ignoring new targets: 511.90 m.Bj%;Jj%; ProNav: ac range: 511.899994 m, nav range: 252.617783 m, bearing: 300.562010 deg, approach rate: -0.137173 m/s, LOS rate: 0.144809 deg/s, cmd heading: 218.683983 deg, new cmd heading: 218.896225 deg. 2j ; HeadingCmd: 3.820460 target range: 511.899994 and range: 511.90 m. jjt@jjjihhhh{Bff!f9rfAbfY!@ɛ8 h-I S%EɚiI&=IKijwai)jt@)*F?2F:FBFO5JFH>I I IIɂBI&I.I6I-<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.013470 i Iq G ̻G B O= >(w,&äAF g@YFL*u@Fի9F5>yFH@7`UG?!@?U-Z ,?`S4?` ?Ѫ?ɨF g@F;FBCyNcBR` IIZIZn4٢b1; fy=9f3Q f?hh jG٣hyjZU< n? rNusing accuracyPremultiplier from configlv49n e?v4Ynl inaBtv$z @nuDn;n;nb4~SB ~@~{EZj!FNOT Ignoring new targets: 511.90 m.Bj1;Jj1; ProNav: ac range: 511.899994 m, nav range: 252.570953 m, bearing: 300.610682 deg, approach rate: -0.148875 m/s, LOS rate: 0.154762 deg/s, cmd heading: 218.896225 deg, new cmd heading: 219.042268 deg. 2jl;HeadingCmd: 3.823009 target range: 511.899994 and range: 511.90 m. j-t@jjjihhhhfffrfbf @ɛUBUe 隍,I [}aɚiI9*=Isi]Lai]/)]-t@)a=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:36:32.8683 LVL= 14976, 23217, 18658, 30387, AGC= 71, IDX= 437,-0.30,-1.324,-2.575, 2.462,-2.679, PHS= 1.443, 0.151,-1.145, RAW= 59.9, -4.1, CAL= 65.3, -9.0, ROT= 84.7, 9.0 Ygot valid direction response: 21:36:32.8683 LVL= 14976, 23217, 18658, 30387, AGC= 71, IDX= 437,-0.30,-1.324,-2.575, 2.462,-2.679, PHS= 1.443, 0.151,-1.145, RAW= 59.9, -4.1, CAL= 65.3, -9.0, ROT= 84.7, 9.0 PDAT read: Bearing 84.7, 9.0 (Local) ~Local bearing/azimuth received: Bearing 84.7, 9.0 (Local) DAT read: Range 10 to 50 : 512.6 m (Round-trip 683.5 ms) speed 0.0 m/s ,DAT read: user:1910> BDAT read: Tx time:21:36:33.9791 *F?2F:FBF[0JF$Ping request sent.99= Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:36:33.9783 (.w,&qA I :9g@Y:MXu@:9: >y:HtY?LNf L@в?`jw???ɨ:9g@:st;:>CyFhBFf III̍4٢}'< }A=90Q > G٣CGy; > Nusing accuracyPremultiplier from config49S?4Y tIiaB@uD&;n;Zj4 @kz/-?kGPrJ k kA:k&DBkCZka@"xpC7@s Tr@"}5w,oA>e,g@Y>Ju@>9>=y>HuZ\?fa _@u|? ?@V??ɨ>e,g@>DW;>ACyJuBJu I%Mb@Mb@Mb@!!! !)!Y%sh|??S㥫?{Gz?y%)?%/]=%ף<%nA %`@)%AI% A!y% AI=I=1h4٢MKx= MM=9M$Q M>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configYjHibHm<HqIq Iu IIu΂BIq&Iq.Iq6Iu%<:Iu F49]qC?4Y]e i]aB*?:@]uD];];]Uq4 @~EZjIMFNOT Ignoring new targets: 512.60 m.BjML;JjUL; ProNav: ac range: 512.599976 m, nav range: 230.530838 m, bearing: 304.028913 deg, approach rate: -0.127066 m/s, LOS rate: 0.178853 deg/s, cmd heading: 219.266039 deg, new cmd heading: 219.460948 deg. 2j};HeadingCmd: 3.830316 target range: 512.599976 and range: 512.60 m. j#u@jjjihhhhBWill construct direction to contact in vehicle frame from tetrahedron phase data.fffrfbfY? $?I ]gɛIMN!T QU"IQ U ɚQiQIUuq=I}i`aiDK)#u@)*FU?2FQ:FQBFU_0JFQGu ZU Will construct direction to contact in vehicle frame from tetrahedron phase data.GY Ba O} >J J )J 1J J <;J :J 3J J |o<J |o<J ;J ;);w,p'A28g@Y2KWu@2 !92=y2Hu`?⨿7f`Z@諾? ?[? =?ɨ28g@2;2>CyByBBz IIHIH٢R < RW=9VPBQ V>TT ZG٣XyZ; Z> Nusing accuracyPremultiplier from config493?4Y* iaB%%@uD ; ;-x4) -@)MB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 512.60 m.Bj]D;JjeD;u ProNav: ac range: 512.599976 m, nav range: 230.485672 m, bearing: 304.092628 deg, approach rate: -0.121849 m/s, LOS rate: 0.171925 deg/s, cmd heading: 219.460945 deg, new cmd heading: 219.652127 deg. 2j};HeadingCmd: 3.833653 target range: 512.599976 and range: 512.60 m. jZu@jjjihhhhfffrfbf?ɛBJT  I & ɚiIQ=I%i aiqi)Zu@)*FM?2FQ:FQBFU0JFQG-hAGBO )>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. $?IBw,q A6g@Y6;u@6$96%Y>y6H`B@U?b5[``W?~??7?ɨ6g@6S;4zKBjIKB]9K@KBKByJBJ I N=N=Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484085mMb@Mb@Mb@iii i)iYmK7A`?kt? G٣CGy݁ > Nusing accuracyPremultiplier from config49A"?4Y? ibBl+?:@uD-;;4 @EZjFNOT Ignoring new targets: 512.60 m.Bj;;Jj;; ProNav: ac range: 512.599976 m, nav range: 230.442001 m, bearing: 304.162077 deg, approach rate: -0.103210 m/s, LOS rate: 0.164165 deg/s, cmd heading: 219.652122 deg, new cmd heading: 219.860508 deg. 2jT; HeadingCmd: 3.837290 target range: 512.599976 and range: 512.60 m. j (u@j j j i hhhhBfffrf!bf%r?ɛMBMZ@ IM IQ ޳ɚiI"=Ii3ai)(u@)*F2F:FBF0JFH}>Iy I} II}ӂBIy&Iy.Iy6I}Z<:I}) FBI=ǙCJI=ǙCRI9ZI=4 =bI=4 =jI=ǖr4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736595 IGKG ?G >G B O- >Iw,;%A2 g@Y2p+u@20!92M>y2H`h@M?ʪQU cb@b?$???ɨ2 g@2%-;2?CyJBJ IIRIRt4٢^(< ^Y=9b:Q b>`` fG٣dyf& f> jNusing accuracyPremultiplier from confighr49j?r4Yjè ijbBprv@juDj*;jS*;j)4x z@xZj%FNOT Ignoring new targets: 512.60 m.Bj%;;Jj-;;e ProNav: ac range: 512.599976 m, nav range: 230.403702 m, bearing: 304.223938 deg, approach rate: -0.101267 m/s, LOS rate: 0.163592 deg/s, cmd heading: 219.860511 deg, new cmd heading: 220.046123 deg. 2je;}HeadingCmd: 3.840529 target range: 512.599976 and range: 512.60 m. j} $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2423391Ow,?AyB II-I-4٢EU< EB=9EQ E>II MG٣IyU U> eNusing accuracyPremultiplier from configYe49]^?e4Y]ѭ i])bBiim@]uD]":]C:]4uRB }@}EZjFNOT Ignoring new targets: 512.60 m.Bj&;;Jj&;; ProNav: ac range: 512.599976 m, nav range: 230.361176 m, bearing: 304.293126 deg, approach rate: -0.100549 m/s, LOS rate: 0.163618 deg/s, cmd heading: 220.046128 deg, new cmd heading: 220.253728 deg. 2j;HeadingCmd: 3.844153 target range: 512.599976 and range: 512.60 m. jv@jjjihhhhfffrfbf@ɛBРE >I 3ӻɚ i1I5=Imi}ai}l̼)v@)*F2F:FBFQ5JFzKK 9KKKUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495907G G B O >pVw,YA:f@Y:|t@:9: >y:H8?9 .D Ij`??p??ɨ:f@:8;8yFBF IJAHH>I I!IIBI&I.I6I<:I F=Mb@Mb@Mb@999 9)9Y=K7A`?/$?I +?y9=,==9<=jA =A@)=EAI= A9y=AIUIU{4٢]k= eH=9e);Q e>ii mG٣uCGyuVۻ u> }Nusing accuracyPremultiplier from configy49}o?4Y} i}?bBp+?:-m-@}uD};<} <}41 5Y@5E u$?IqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748042ZjFNOT Ignoring new targets: 512.60 m.BjC/;JjC/;% ProNav: ac range: 512.599976 m, nav range: 230.321655 m, bearing: 304.360362 deg, approach rate: -0.090049 m/s, LOS rate: 0.153228 deg/s, cmd heading: 220.253725 deg, new cmd heading: 220.455468 deg. 2j%Q;-HeadingCmd: 3.847674 target range: 512.599976 and range: 512.60 m. j-I@v@j)j)j1i1h1h1h1h=Bf9f9f9rfabfezc@ɛBo. < I 6ɚiI=IEmiEbbiE)EI@v@)I*Fq2Fq:FqBFu05JFq] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000050Gu ƼGq B  nManaging dock network, ignoring radio surface power offO5 >6\w,z9sAJJ$J J J;J':J J Jok<Jpk<J;J;BC g@YB+u@B9BҸ >yBH`^I?U@f[W????ɨBC g@BP;@yjBn IIvIv҅4٢9$ Q=9 :Q >!! %G٣!y-; -> 5Nusing accuracyPremultiplier from config1=495Y?=4Y5Y i5TbBAE@E@5 vD5:5:5}4I Ms@MEmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 512.60 m.BjKL;JjKL; ProNav: ac range: 512.599976 m, nav range: 230.283600 m, bearing: 304.424401 deg, approach rate: -0.106122 m/s, LOS rate: 0.178609 deg/s, cmd heading: 220.455461 deg, new cmd heading: 220.647609 deg. 2j';HeadingCmd: 3.851027 target range: 512.599976 and range: 512.60 m. j;wv@jjjihhhhfffrfbf@$ @ɛBJ  I ɚiIU=IzibiO);wv@)*Fi2Fi:FiBFm_0JFi"GqGu=G]+GB)OE0> IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252065Wcw,A:N*g@Y:Hu@:9:p>y:H@z@(S?@;aP'?;?6?`%?ɨ:N*g@:Ѕ;8y^Bb IzKBoHKh9KKKBK!:K%qA=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:21:36:37.0668 ETRx dataTimestamp_ set to:1736372198.244691Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.505091}Mb@Mb@Mb@yyy y)yY}K7?I +?{Gz?y})?}9<}ף G٣y;; > Nusing accuracyPremultiplier from config49?4Y. iibB)?:@vD;;֢4QB @EZjFNOT Ignoring new targets: 512.60 m.Bj91;Jj91;% ProNav: ac range: 512.599976 m, nav range: 230.250748 m, bearing: 304.493164 deg, approach rate: -0.074014 m/s, LOS rate: 0.154941 deg/s, cmd heading: 220.647608 deg, new cmd heading: 220.853926 deg. 2j%;UHeadingCmd: 3.854628 target range: 512.599976 and range: 512.60 m. jU:v@jQjQjQiQhYhYhYh]Bfafafarfbf`O @ɛBP) I ɚiIS'=I{mi%H}ci-)-:v@))*F2F:FBF^0JFH=>I9 I=!II=BI9&I9.I96I==<:I= F }$?I}^gWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755948G vG ?G >G B O >)% = % ېCGiw,A&~~G4D jYYhyjByޕBޝ I ==IIF4٢9i= F=9Q > G٣CGy > Nusing accuracyPremultiplier from config49W?4Y i}bB@0vDu;)f;4) 5@1ZjFNOT Ignoring new targets: 512.60 m.Bj<;Jj<; ProNav: ac range: 512.599976 m, nav range: 230.218735 m, bearing: 304.560912 deg, approach rate: -0.078037 m/s, LOS rate: 0.165170 deg/s, cmd heading: 220.853921 deg, new cmd heading: 221.057192 deg. 2j;HeadingCmd: 3.858176 target range: 512.599976 and range: 512.60 m. jZv@jjjihhh!h!f!f)f)rf)bf5 +@UWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:36:37.0668 LVL= 22240, 30017, 24018, 32755, AGC= 68, IDX= 436, 0.34, 0.829,-0.319,-1.550,-0.410, PHS= 1.327, 0.138,-1.142, RAW= 58.8, -3.1, CAL= 63.1, -7.5, ROT= 86.9, 7.5 Ygot valid direction response: 21:36:37.0668 LVL= 22240, 30017, 24018, 32755, AGC= 68, IDX= 436, 0.34, 0.829,-0.319,-1.550,-0.410, PHS= 1.327, 0.138,-1.142, RAW= 58.8, -3.1, CAL= 63.1, -7.5, ROT= 86.9, 7.5 PDAT read: Bearing 86.9, 7.5 (Local) U~Local bearing/azimuth received: Bearing 86.9, 7.5 (Local) DAT read: Range 10 to 50 : 512.6 m (Round-trip 683.5 ms) speed 0.0 m/s ,DAT read: user:1911> BDAT read: Tx time:21:36:38.1807 $Ping request sent.]-]G\?]k] ]}?)] I]"?i] >YY]!m?7j-dc;L)]ÈI]}Z=i]?]pYY:publishing transmit ping timeiC)Zv@)؉5Fpublishing direction and range infoY9]Sӻ?V?R?yYYYY Y)YIYiYYYYY Y)YIYiYYY]!m?7j-dc;L)YIYiYYYY*F?2F:FBF_0JF a Ia G r Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:36:38.1799 G B O >Ubpw,oAyMBM IIeIer4٢k< H=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y ibB@AvD ;;C4 @Ek%/l0?k% - k! k%2A:k!Bk%CZk%w@"%͞|.@rJ:~r@1Yy@%Sӻ?V?R?Jk%?Rk%p*%J1hc@+g,fw?|@%ab?d$׿ܟ P7?"k%_9*k%ACk%k&.0?k%N2 2k%VDk%t׳+?k%N2 k!k%hCk%X@ addTargetRange:: Added new target pos. range: 512.599976 m, deltaT: 4.037143 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 512.599976 m, bearing: 309.947406 deg, lat: 36.902144 deg, lon: -122.117100 deg, deltaT: 4.037143 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 512.60 m.BjJj ProNav: ac range: 512.599976 m, nav range: 232.606644 m, bearing: 307.162885 deg, approach rate: 0.000000 m/s, LOS rate: 0.165170 deg/s, cmd heading: 221.057187 deg, new cmd heading: 221.289777 deg. 2jHeadingCmd: 3.862235 target range: 512.599976 and range: 512.60 m. j.w@jjjihh h h f ffrf1bf=P?ɛB# 隍qI  ɚiIA=Iieip).w@)Will construct direction to contact in vehicle frame from tetrahedron phase data.zK BHK ػ9K K K RK?JK?*F2F:FBFJFJmJm,Jm0JiJm<;JmL:Jmـ3Jiau@au@au@au@G # G B O vw,*TAH >I C I 4!II BI 5 =&I.I6I a<:I * F -$?I)y5ǂB5 IWill construct direction to contact in vehicle frame from tetrahedron phase data. Mb@Mb@Mb@    ) Y uV?y&1|~jt?y r(? `廹 D<  A@) EAI  A y AImaIm+4٢}z= }7=9yQ > G٣y > Nusing accuracyPremultiplier from config49 ?4Yw ibB|(?:@TvD ;l;4 @ZjYeFNOT Ignoring new targets: 512.60 m.BjeV;JjeV;} ProNav: ac range: 512.599976 m, nav range: 232.598343 m, bearing: 307.234274 deg, approach rate: -0.021811 m/s, LOS rate: 0.187583 deg/s, cmd heading: 221.289783 deg, new cmd heading: 221.503955 deg. 2j}<HeadingCmd: 3.865973 target range: 512.599976 and range: 512.60 m. jlw@jjjihhhhƒBfffrfbf>?ɛBsU,  I  h]ɚ i I-aO=I5i=ei= ))Elw@)A*F2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.Ց iՕ AG- G5 rAG1 G B1 OM > |w,4A>g@Y>~v@> 9>C >y>H%b4?@x" f? ?v?@?ɨ>g@>~;>Ƀw,qA.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470480:h@Y::1v@:$9:+>y:H BY ?nq@??.?O?ɨ:h@:+;8yN˂BN IzKzRIKz9KxKz KzBK:KrAMb@Mb@Mb@JJJCKK(3 KK(.KCKC"KCJJ-JJJ;Jч:JJ )Y~jt?V-{Gzt?y$?ף;A +@)\AI AyG AIhIV84٢%T< %5=9- Q ->99 EG٣ECGyEVl; E> UNusing accuracyPremultiplier from configIU49Mv?U4YM iMbB]$?]:]]@MuvDM;MU;M4a eU@mEZjFNOT Ignoring new targets: 512.60 m.Bj-4;Jj-4;E ProNav: ac range: 512.599976 m, nav range: 232.586945 m, bearing: 307.361655 deg, approach rate: -0.005115 m/s, LOS rate: 0.158145 deg/s, cmd heading: 221.670975 deg, new cmd heading: 221.886101 deg. 2jE;mHeadingCmd: 3.872643 target range: 512.599976 and range: 512.60 m. jmbw@jijijiiqhqhqhqh}ۃBfyfyfyrfybf`?ɛB TI ɚiIV=ITFi0gi{)bw@))*F?2F:FBF`5JFH->I) I-M!II-%BI-6 =&I).I)6I-<:I- F 9I9 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722448G &G% ?G% ,?G B O >w,,)AVIh@YVhv@V{#9V>>yVH XGf? z|a?Ko?0??ɨVIh@V+;V>CyfςBj IIvIv4٢< ^=99Q > G٣y%< %> -Nusing accuracyPremultiplier from config)549-Ng?54Y- i-bB9==@-vD- ;-;-M4EPB E@EEZjFNOT Ignoring new targets: 512.60 m.Bj74;Jj74; ProNav: ac range: 512.599976 m, nav range: 232.584549 m, bearing: 307.419707 deg, approach rate: -0.006502 m/s, LOS rate: 0.157556 deg/s, cmd heading: 221.886099 deg, new cmd heading: 222.060257 deg. 2jB;HeadingCmd: 3.875683 target range: 512.599976 and range: 512.60 m. j/ x@jjjihhhhfffrfbfb?ɛB.  ݾI  t#ɚ i I ^=Iigi )/ x@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975874*F?2F:FBFX0JFGGYBiO9> - $?I)  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226474ؐw,CA6h@Y6Cv@6Va96>y6H@" a?RV`?@???ɨ6h@6 ;6?CyRтBR I V=Va=IZIZb4٢r< rM=9v&;Q v>tt zG٣xyz< z> Nusing accuracyPremultiplier from config|49~dV? 4Y~ i~bB  4 @~vD~&:~:~A4 @ZjimFNOT Ignoring new targets: 512.60 m.BjuU4;JjuU4; ProNav: ac range: 512.599976 m, nav range: 232.580444 m, bearing: 307.482767 deg, approach rate: -0.010262 m/s, LOS rate: 0.157659 deg/s, cmd heading: 222.060255 deg, new cmd heading: 222.249438 deg. 2jf;HeadingCmd: 3.878984 target range: 512.599976 and range: 512.60 m. jHAx@jjjihhhhfffrfbf@ɛ!)% ۾I n)ɚiIc=I ni Whi :) HAx@) *FE?2FA:FABFEU0JFI}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478664zKBoHK 9KK!K *J"J%=JJ+JJJt;JȆ:JJGM jG B O- >H% >I!  I% f!II% 9BI! &I! .I! 6I% -<:I%  FBI˘CJI˘CRIZI5 =bI5 =jIڈ52w,]A PIP~ܪi@Y~mw@~[9~>y~H`:?iS o? ̵?`+?@?ɨ~ܪi@~ ;~ G٣CGyt= > -Nusing accuracyPremultiplier from config!-49%@EEZjq}FNOT Ignoring new targets: 512.60 m.Bj}6;Jj6; ProNav: ac range: 512.599976 m, nav range: 232.579742 m, bearing: 307.553502 deg, approach rate: -0.001585 m/s, LOS rate: 0.159751 deg/s, cmd heading: 222.249438 deg, new cmd heading: 222.461642 deg. 2jE;HeadingCmd: 3.882688 target range: 512.599976 and range: 512.60 m. j}x@jjjihhhhBfffrfbf Mj@ɛB' ϾI .t/ɚiIRa=Ii|hiꐲ)}x@)*F?2F:FBF^0JFGvm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982786G B O >,w,lBwAy|~ III4٢%: %\=9-Q ->)1 5G٣1y5 5> ENusing accuracyPremultiplier from config9E49=Y3?M4Y=k i=bBIIM@=vD=;=;=4Q UA@YuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 512.60 m.Bj .;Jj .; ProNav: ac range: 512.599976 m, nav range: 232.579422 m, bearing: 307.612165 deg, approach rate: -0.000834 m/s, LOS rate: 0.152600 deg/s, cmd heading: 222.461638 deg, new cmd heading: 222.637628 deg. 2jt;HeadingCmd: 3.885760 target range: 512.599976 and range: 512.60 m. jIx@jjjihhhhfffrfbf @ɛ! ϾI 4ɚiId=IloiiiԼ)Ix@) $?I*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234671Gea.ʼG!B1OMR>w,A&Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=3.488848zK=KK=9K9K="K=uj@Yux@u#9u>yuHƀ ?ȑ] j?^֣?@O??ɨuj@u"Q;u=CyޝׂBޝ IAJJ0JJJ ;J_:JJMb@Mb@Mb@ )Y}?5^I?i|?5{GztyM"?qףA @)EAI AyAII4٢ 2=9Q > G٣y= > Nusing accuracyPremultiplier from config49?4Y ibB#?:*@vD;S;4! -@5EZjquFNOT Ignoring new targets: 512.60 m.Bj}v6;Jj}v6; ProNav: ac range: 512.599976 m, nav range: 232.580139 m, bearing: 307.684124 deg, approach rate: 0.001590 m/s, LOS rate: 0.159519 deg/s, cmd heading: 222.637625 deg, new cmd heading: 222.853498 deg. 2j;-HeadingCmd: 3.889527 target range: 512.599976 and range: 512.60 m. j-x@j1j1j1i1h1h1h9h=҃Bf9f9fArfAbfE@ @ɛB< ӾI :ɚiIc=I1iii]z)x@)H>I Is!IICBI7 =&I.I0D6I4<:I F $?I*F92F9:F9BFAJFAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:36:41.2685 TRx dataTimestamp_ set to:1736372202.529379 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740276G= (GE ?GE >G B) OM >OAw,XAF k@YF&?y@F,9F>yFHVU?޳ x?@M?E?`?ɨF k@F+;F?CyRւBR II^I^F4٢f* fq=9jѤQ j?ll nG٣nCGynm< r? vNusing accuracyPremultiplier from configpv49r?z4Yr irbBxz~@rvDrB.;rd.;rs4 @Zj)-FNOT Ignoring new targets: 512.60 m.Bj58;Jj8; ProNav: ac range: 512.599976 m, nav range: 232.579224 m, bearing: 307.737236 deg, approach rate: -0.002773 m/s, LOS rate: 0.160874 deg/s, cmd heading: 222.853500 deg, new cmd heading: 223.012838 deg. 2j;HeadingCmd: 3.892308 target range: 512.599976 and range: 512.60 m. jy@jjjihhhhfffrfbf l@ɛY]3 Y]-վIY eRs?ɚaiaIep=Im"imKiim@)y@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.990808*F2F:FBF0JFG}ՒG9BAOmW> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: 21:36:41.2685 LVL= 18128, 29361, 27362, 32755, AGC= 70, IDX= 437,-0.23, 2.986, 2.012, 0.693, 1.842, PHS= 1.232, 0.217,-1.152, RAW= 55.1, -2.9, CAL= 58.5, -6.9, ROT= 91.5, 6.9 = Ygot valid direction response: 21:36:41.2685 LVL= 18128, 29361, 27362, 32755, AGC= 70, IDX= 437,-0.23, 2.986, 2.012, 0.693, 1.842, PHS= 1.232, 0.217,-1.152, RAW= 55.1, -2.9, CAL= 58.5, -6.9, ROT= 91.5, 6.9 E PDAT read: Bearing 91.5, 6.9 (Local) E ~Local bearing/azimuth received: Bearing 91.5, 6.9 (Local) U DAT read: Range 10 to 50 : 512.7 m (Round-trip 683.6 ms) speed -0.2 m/s U ,DAT read: user:1912> ] BDAT read: Tx time:21:36:42.3791 ] $Ping request sent.]  t m0v? 4QO  ?) ϢI i?i Ϣ=   Ux+?bn1櫆lk驿) I bO=i ? `   :publishing transmit ping timeY  Fpublishing direction and range info 9 ]ɡ?=Mc?CGpq?y     ) I i      ) I i    Ux+?bn1櫆lk驿) I i    w,#AVk@YVy@V_9V[>yVH`2?IQw??@x?`?ɨVk@V;V=Cyb΂Bf II~I~<4٢    H=9Q >99 =G٣9yE v< E> Nusing accuracyPremultiplier from configI49M?4YM iMbBE@MvDMl*kM3CkM08?kM\Զ 2kMCkMBƒ-?kIkIkMkCkMym@ addTargetRange:: Added new target pos. range: 512.700012 m, deltaT: 4.282008 s, deltaX: 0.100037 m, approachRate: 0.023362 m/s, rangeRepo size: 4  Added new target pos. range: 512.700012 m, bearing: 313.346308 deg, lat: 36.902187 deg, lon: -122.117100 deg, deltaT: 4.282008 s, deltaX: 0.100037 m, approachRate: 0.023362 m/s, posRepo size: 4 Zj9EFNOT Ignoring new targets: 512.70 m.BjEJjAU ProNav: ac range: 512.700012 m, nav range: 235.568375 m, bearing: 308.730473 deg, approach rate: 0.000000 m/s, LOS rate: 0.160874 deg/s, cmd heading: 223.012834 deg, new cmd heading: 223.264207 deg. 2jQ}HeadingCmd: 3.896696 target range: 512.700012 and range: 512.70 m. j}vcy@jyjjihhhhfffrf@bf :v?ɛAEkm IMܾII MBFɚIiIIMm=I]?i]hi]~I  I y!II HBI 8 =&I .I 6I J<:I  F I `gGE}Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO5>w,bAy5)k@Y5y@5tA5"958>y5H ?` @E@Պ?B?@z?? Y5tAyBɨ5)k@5";5?Cy%ւB% I -=-=Mb@Mb@Mb@ )Y"~j?Dl:vyS#?OT A @)AI AyAIUI4٢5(< 5=95tQ =>99 =G٣=CGyE< E> }Nusing accuracyPremultiplier from configI}49M?4YM iMbBP$?:@MwDMX;M;M4 @EZjFNOT Ignoring new targets: 512.70 m.Bj-gS;Jj-gS;= ProNav: ac range: 512.700012 m, nav range: 235.574631 m, bearing: 308.823506 deg, approach rate: 0.012429 m/s, LOS rate: 0.184825 deg/s, cmd heading: 223.264213 deg, new cmd heading: 223.543303 deg. 2j=;EHeadingCmd: 3.901567 target range: 512.700012 and range: 512.70 m. jEEy@jAjAjAiAhhhhփBfffrfbf ?ɛ5c jԾI %Mɚ i I k=Iplihi8)Ey@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFn0JFJ%J%/J!J!J%;J%ڈ:J!J!J%/r<&w,~A6Xk@Y6z@6o'96>y6H @`?<, Z%$]?`w?;~?`"?ɨ6Xk@6Ō;6>Cy>ȂBB IIjZIj4٢r r=9vȇQ v?tx zG٣xyz9; ~? Nusing accuracyPremultiplier from config|49~8? 4Y~X i~bB   @~ wD~,;~y-;~4 q@EB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 512.70 m.Bj]:;Jj]:;m ProNav: ac range: 512.700012 m, nav range: 235.577957 m, bearing: 308.872541 deg, approach rate: 0.011032 m/s, LOS rate: 0.162620 deg/s, cmd heading: 223.543308 deg, new cmd heading: 223.690410 deg. 2jm5;uHeadingCmd: 3.904134 target range: 512.700012 and range: 512.70 m. juVy@jqjqjqiqhyhyhyhyfffrfbf *?ɛBJ 隽I QɚiI=I_BWill 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_hi+J)Vy@)*F?2F:FBF@5JFG GnAGI6GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՁ  checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260300zKU KU 9KQ KU $KU Cg Z >WuS=- w,8NA2yl@Y2 &z@2"+92ϛ>y2H`- ??#?/@w?b?L?`?ɨ2yl@2(;2=Cy~˂B~ IMb@Mb@Mb@ )YS㥛?p= ףMby$&? @)EAI AyzAIYI4٢1k< <=9Q > G٣y; > Nusing accuracyPremultiplier from config49w? 4Y ibB &? : . @wD;I;04H >IC Is!IICBI&I.I6I<:IA Fy }7@}EZjFNOT Ignoring new targets: 512.70 m.Bj51;Jj51; $?I5 ProNav: ac range: 512.700012 m, nav range: 235.580521 m, bearing: 308.941582 deg, approach rate: 0.005752 m/s, LOS rate: 0.154926 deg/s, cmd heading: 223.690417 deg, new cmd heading: 223.897536 deg. 2j5;=HeadingCmd: 3.907749 target range: 512.700012 and range: 512.70 m. j=z@j9j9j9iAhAhAhAhMBfIfIfirfqbfu?ɛB9) z߾I jXɚiI8~=I$iѻhiC`)z@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513489*F]?2FY:FYBFe_5JFaG KGY B O >3w,*3A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764068FCl@YFCbz@Fԝ)9F>yFHY0?ℲE`?`-2?? =?ɨFCl@F;F>CyRȂBR IZAZAI^I^W4٢f f^=9f:Q f>hh jG٣hyn#< n> rNusing accuracyPremultiplier from configpv49r?v4Yr irbBtzz@r.wDr :rP:r4 h@Zj)-FNOT Ignoring new targets: 512.70 m.Bj5k;;Jj5k;;E ProNav: ac range: 512.700012 m, nav range: 235.582077 m, bearing: 308.999915 deg, approach rate: 0.004372 m/s, LOS rate: 0.163853 deg/s, cmd heading: 223.897535 deg, new cmd heading: 224.072533 deg. 2jE;MHeadingCmd: 3.910804 target range: 512.700012 and range: 512.70 m. jMJz@jIjIjIiQhQhQJaJe4JaJaJaJer:JaJaJaJaJe;Je;hQhyfffrfbf?ɛjyA uIq uiO]ɚyiyI}=Ii2hiT)Jz@)*FI2FI:FIBFMU0JFI IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016277Gm:_Gi Bq O >w,3MAl@Yz@R$9>yH@ eF?&1]} ??@? ?ɨl@|;騉yޭÂBޭ I=Mb@Mb@Mb@999 9)9Y=!rh?I +~jty=l'?=94=D=A =@)=3AI99y=AI]I]]4٢m} m2=9u8;Q u>qq }G٣}CGy}Y < }> Nusing accuracyPremultiplier from config49z?4Y ibB'?:@BwD;);4NB @EZjFNOT Ignoring new targets: 512.70 m.Bj6;Jj6;MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.268143 ProNav: ac range: 512.700012 m, nav range: 235.573196 m, bearing: 309.072977 deg, approach rate: -0.019415 m/s, LOS rate: 0.159737 deg/s, cmd heading: 224.072538 deg, new cmd heading: 224.291732 deg. 2j@;HeadingCmd: 3.914629 target range: 512.700012 and range: 512.70 m. jIz@jjjihhhhBfffrfbfU@ɛf/  I zdɚiI=IEliEhiES)MIz@)IEQ*JmR="JizK"OKKK%K*F2F:FBF_0JF"G=G=ZH RH @AH >I Im!II>BI9 =&I.I6IC<:I F $?IG UG B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521884O >Dw,fA>l@Y>Dz@>r"9>>y>HNe?E㲿{b?`PR? ?v?ɨ>l@>Y;>?CyFłBF IIRIR:4٢VK< Vl=9Z:Q Z?\\ bG٣`yb}u< f? jNusing accuracyPremultiplier from configdj49f?n4Yf ifbBln<n@fPwDf;fF;f#4t v@tZjFNOT Ignoring new targets: 512.70 m.Bj%(6;Jj%(6;E ProNav: ac range: 512.700012 m, nav range: 235.565567 m, bearing: 309.128261 deg, approach rate: -0.021977 m/s, LOS rate: 0.159254 deg/s, cmd heading: 224.291733 deg, new cmd heading: 224.457588 deg. 2jE;MHeadingCmd: 3.917524 target range: 512.700012 and range: 512.70 m. jUz@jQjQjQiQhYhYhahafififirfqbfu@@ɛ~H I }SiɚyiyI}=IfiPhi60)z@)*FM?2FQ:FQBFQJFQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.772116J}J},J}1JyJ}<;J}L:J}3JyJ}{o<J}|o<J};J};GlVGGG B O > I ,w,,Ay%B% II5I5Ho4٢E~& EA=9MQ M>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe49]l?e4Y] i]bBiim@]bwD]~:]:]+4q u@uEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 512.70 m.Bj5;Jj5;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031585 ProNav: ac range: 512.700012 m, nav range: 235.556564 m, bearing: 309.195545 deg, approach rate: -0.021266 m/s, LOS rate: 0.158945 deg/s, cmd heading: 224.457583 deg, new cmd heading: 224.659442 deg. 2j*;HeadingCmd: 3.921047 target range: 512.700012 and range: 512.70 m. joz@jjjihhhhfffrfbf ϕ@ɛQ]: Y]yIY ]-pɚaiaIe=IeF-imhim@j)moz@)q*F?2F:FBF `0JF G- ?43 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284531G! B1 OU >J J @AzK BoHK ]9K K &K Y`w,Ay  HI If!II9BI&I.I6I!<:I FBIuCJIuCRIqZIu8 =bIu8 =jIu75 -$?I)mMb@Mb@Mb@iii i)iYmZd;O? G٣CGy > Nusing accuracyPremultiplier from config49q?4Y8 icB*?:@uwD@;;24 "@EZjFNOT Ignoring new targets: 512.70 m.Bjv9;Jjv9;  ProNav: ac range: 512.700012 m, nav range: 235.535355 m, bearing: 309.268132 deg, approach rate: -0.047374 m/s, LOS rate: 0.162144 deg/s, cmd heading: 224.659443 deg, new cmd heading: 224.877223 deg. 2j ;}HeadingCmd: 3.924848 target range: 512.700012 and range: 512.70 m. j}0{@jyjyjihhhhBfffrfbf @ɛ5B=]= 9=pI9 =~vɚ9i9IE=IEiMަhiMy{)M0{@)IEyE}rAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537882*F?2F:FBFJFG- JiG B O] >,w,rA6Will construct direction to contact in vehicle frame from tetrahedron phase data.6BDAT read: Rx Time:21:36:45.4779 :TRx dataTimestamp_ set to:1736372206.833409:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.789889JEJE/JE0JAJE;JEڈ:JEـ3JAJEs<JEs<JEr;JEs;yUBU IImIm4٢}p _=9Q > G٣y > Nusing accuracyPremultiplier from config49b?4Y icB@wD"::Q94 @EZjFNOT Ignoring new targets: 512.70 m.Bj);Jj); ProNav: ac range: 512.700012 m, nav range: 235.518326 m, bearing: 309.327419 deg, approach rate: -0.042678 m/s, LOS rate: 0.148598 deg/s, cmd heading: 224.877217 deg, new cmd heading: 225.055090 deg. 2j;HeadingCmd: 3.927952 target range: 512.700012 and range: 512.70 m. jc{@jjj!i!h!h!h!h)f)fIfIrfQbfU*@ɛJ 隥I |ɚiIx=I$ijhi蜢)c{@) 5$?I5ag*F?2F:FBF0JFG}GhG ?G ?GQBaO{>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.040086mw,^Am@Y%{@9>yH }j#?tj@]@k? ң?Zk?`?ɨm@;騝>CyB IAMb@Mb@Mb@ )Y/$?Q?Mbpy,?u<A @)3AI AyAII{4٢>< 6=9;Q > G٣y = > Nusing accuracyPremultiplier from config49P?4Ym icB,?:@wD3;;*A4  @ Zj15FNOT Ignoring new targets: 512.70 m.Bj=G;Jj=G;U ProNav: ac range: 512.700012 m, nav range: 235.479248 m, bearing: 309.400189 deg, approach rate: -0.093728 m/s, LOS rate: 0.174568 deg/s, cmd heading: 225.055088 deg, new cmd heading: 225.273433 deg. 2jU;]HeadingCmd: 3.931763 target range: 512.700012 and range: 512.70 m. j]{@jYjYjYiYhYhamWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:36:45.4779 LVL= 18720, 24001, 27122, 32755, AGC= 75, IDX= 132, 0.48, 2.373, 1.810, 0.498, 1.362, PHS= 1.099, 0.495,-0.867, RAW= 47.5, -8.4, CAL= 52.6, -14.6, ROT= 97.4, 14.6 Ygot valid direction response: 21:36:45.4779 LVL= 18720, 24001, 27122, 32755, AGC= 75, IDX= 132, 0.48, 2.373, 1.810, 0.498, 1.362, PHS= 1.099, 0.495,-0.867, RAW= 47.5, -8.4, CAL= 52.6, -14.6, ROT= 97.4, 14.6 PDAT read: Bearing 97.4, 14.6 (Local) ~Local bearing/azimuth received: Bearing 97.4, 14.6 (Local) DAT read: Range 10 to 50 : 520.8 m (Round-trip 694.5 ms) speed -0.1 m/s ,DAT read: user:1913> BDAT read: Tx time:21:36:46.5792 $Ping request sent.m]mg;T?mQ  mk?)mwIm?imw>iim+X?Oz3 ¿)mIm>imS?m@ii:publishing transmit ping timeFpublishing direction and range infoi9m*@b?Io?9Sb?yiiii i)iIiiiiiii i)iIiiiiim+X?Oz3 ¿fffrf`fF@bfʨ?ɛQ)iIiiiiiizKa3JK 9KK'KU7=  I  ɚiI5O=I=}i=hi=#)={@)AHI IZ!II/BI8 =&I.I6IH<:I F*F?2F:FBF0JF I! Will construct direction to contact in vehicle frame from tetrahedron phase data.% JDAT read: TxSync time:21:36:46.5785 G 5Gq By O >w,/Arm@Yr|@r9rm>yrH^` ?8 _@aq?أ?y??ɨrm@r*;r?Cy-BU IImpImF4٢< \=9a Q > G٣CGy; > Nusing accuracyPremultiplier from config49B?4YV$ icB@wD:z:G4 MB @ Ek]C#7?k]:ae kY k]A:k]3DBk]JDZk]@"]_YS@1WQ@IAw@(==I NCi hi :O) g{@)*F?2F:FBFN5JF"G=Gp=5Will construct direction to contact in vehicle frame from tetrahedron phase data.G"PGiByO~> $?I "w,{A2m@Y2 |@2{$92>y2HPZ`?Gȳ`+?C?Z?@?ɨ2m@2;2=CyRÂBR IIZIZm4٢˷< U=9vQ >    G٣ yq: > =Nusing accuracyPremultiplier from configE493?M4Y/) i$cBIMM@wD4;4;YN4y }@yWill construct direction to contact in vehicle frame from tetrahedron phase data.B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 520.80 m.Bj0;Jj0;  ProNav: ac range: 520.799988 m, nav range: 244.892288 m, bearing: 310.710066 deg, approach rate: -0.072653 m/s, LOS rate: 0.154457 deg/s, cmd heading: 225.477645 deg, new cmd heading: 225.653207 deg. 2j ; HeadingCmd: 3.938391 target range: 520.799988 and range: 520.80 m. j|@jjjihhhhfffrfbf@?ɛIM F 隍I ɚiIY=Iihi4o)|@)*F ?2F:FBF4JFG- G-"G5G5M 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.J) J- -J- 1J) J) J- ч:J- 3J) a5 @a5 @a5 @a5 @G B O >w,`AzKK9KK(KH% >I! I%T!II%*BI%9 =&I!.I!6I%|<:I%6 Fy=B= I Ea=Ea= aIa Mb@Mb@Mb@    ) Y ?L7A`?Mbp?y ,? += ; A @) I vA y  AI%kI%=4٢= E8=9MQ M>YY ]G٣Yy] e> mNusing accuracyPremultiplier from configam49e"? 4Ye/ ie4cB-?:@ewDe] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499496) w,a6A>Yn@Y>x|@>d(9>N`>y>H@3?=]:??ow?J?ɨ>Yn@>_Ҋ;II MG٣MCGyU< U> ]Nusing accuracyPremultiplier from configYe49]?e4Y]4 i]BcBamm@]wD];]G;]\4q u1@uEZjFNOT Ignoring new targets: 520.80 m.Bj=;Jj=; ProNav: ac range: 520.799988 m, nav range: 244.817642 m, bearing: 310.838129 deg, approach rate: -0.098731 m/s, LOS rate: 0.165740 deg/s, cmd heading: 225.863018 deg, new cmd heading: 226.037455 deg. 2j};HeadingCmd: 3.945098 target range: 520.799988 and range: 520.80 m. j|||@jjjihhhhfffrfbf v-?ɛ B D=K  NݾI  ɚiIK=I9ihid)|||@)!*F?2F:FBF_0JF ]$?IaGBO&>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751044w,U0PAn@Y|@a#9>yH!'?j@2P?`(o? H?`f?ɨn@4;騅>CyςB I}Mb@Mb@Mb@yyy y)yY} rh?A`"?~jt?y},?}Y=}D<}XA }@)}AI}AyyyIIm4٢ < 6=92;Q > G٣y; > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.00283549}?4Y>: iWcB-?:@wD<<~d4 @EJJ/J0JJ $;Jڈ:Jـ3JZj)-FNOT Ignoring new targets: 520.80 m.Bj5}$;Jj5}$;e ProNav: ac range: 520.799988 m, nav range: 244.766953 m, bearing: 310.907994 deg, approach rate: -0.104317 m/s, LOS rate: 0.143808 deg/s, cmd heading: 226.037461 deg, new cmd heading: 226.247097 deg. 2jec;mHeadingCmd: 3.948757 target range: 520.799988 and range: 520.80 m. jmn|@jqjqjqiqhqhqhyh}Bfffrfbf@ɛBmP4 ׾I %ℐɚ!i!I%u=I-Fgi-hi-/t)-n|@)1zK5k3IK5+9K1K5)K5*F2F:FBFJFGG?HI III&I.I6Iq<:I. F YI]bgGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254877w,riA Zin@YZ|@Zz1 9Z]>yZH\` ?գ$@4?? F? ?ɨZin@Z皉;Xy~ւB~ IAI I 4٢= h=9%;Q %>!! -G٣)y-9 < -> =Nusing accuracyPremultiplier from config1=495?E4Y5? i5hcBAEsM@5wD5C;594;5j4Q Un@YZjyFNOT Ignoring new targets: 520.80 m.BjF;JjF; ProNav: ac range: 520.799988 m, nav range: 244.726685 m, bearing: 310.962873 deg, approach rate: -0.127521 m/s, LOS rate: 0.173821 deg/s, cmd heading: 226.247093 deg, new cmd heading: 226.411758 deg. 2j;HeadingCmd: 3.951631 target range: 520.799988 and range: 520.80 m. j|@jjjihhhhfffrfbf@ɛN ϾI ሒɚiI=I18ihis)|@)*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506945GaGBO> E $?II ! w,̓A6Kn@Y6}@696r>y6HY)?`,2@*@?ݣ?:?B?ɨ6Kn@6:2;6=CyBBB IIJIJ4٢V= VR=9ZBH:Q Z>X\ ^G٣^CGy^; b> fNusing accuracyPremultiplier from config`f49b?j4YbvD ibzcBhjLj@bxDb:b :bwq4rLB r@rEZj  FNOT Ignoring new targets: 520.80 m.Bj2;Jj2;% ProNav: ac range: 520.799988 m, nav range: 244.681824 m, bearing: 311.023525 deg, approach rate: -0.115407 m/s, LOS rate: 0.156059 deg/s, cmd heading: 226.411755 deg, new cmd heading: 226.593744 deg. 2j%4;5HeadingCmd: 3.954807 target range: 520.799988 and range: 520.80 m. j5}@j1j1j1i1h1h9h9h9fAfAfArfAbfMV@ɛuBu7 quWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763017Iq ɚiI`=I%&i%Whi%~)%}@)!E9E9*F?2F:FBF_5JFGsGBO>U Will construct direction to contact in vehicle frame from tetrahedron phase data.Q iQ ] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016054J J %J J J ,';J :J J 'w,AzK.BHK.s9K,K.*K.>n@Y>?}@>9>3>y>H`?}˳<9`[?ᆪ?@=?`A?ɨ>n@>,<;>>CyJBJ !IHb >I` Ibf!IIb9BIb: =&I`.I`6Ibp<:Ib- F pIpEMb@Mb@Mb@AAA A)AYE rh?y&1? rh?yEC+?E`e=EC=9m:Q m> G٣ym7; > Nusing accuracyPremultiplier from config 49 ? 4YJ icB5+?5:==@"xD<@<U Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:21:36:49.6678 ] TRx dataTimestamp_ set to:1736372210.868579e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519964H-w,9A>o@Y>C2}@>9>$>y>H)??곿Bf?@??@?4?ɨ>o@>ӈ;>dd fG٣dyn; n> Nusing accuracyPremultiplier from config49?4YO icB@2xDT;v;4 @EZj  FNOT Ignoring new targets: 520.80 m.Bj-;Jj-;% ProNav: ac range: 520.799988 m, nav range: 244.586426 m, bearing: 311.149294 deg, approach rate: -0.115367 m/s, LOS rate: 0.151826 deg/s, cmd heading: 226.799724 deg, new cmd heading: 226.971113 deg. 2j%d;-HeadingCmd: 3.961393 target range: 520.799988 and range: 520.80 m. j-w}@j)j)j)i)h)h1h1h1f1f9f9rf9bfE@ @ɛmBmÛ7 quiii<)w}@) $?Icg*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770934GS.G B O >M$4w,9_Au+o@YuJ}@uB9uv>yuH`%l1?j೿`K`*?ǣ? k;?K?ɨu+o@ua;u=CyޝBޥ+!I%Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:36:49.6678 LVL= 18272, 26609, 20850, 27747, AGC= 71, IDX= 317, 0.36, 2.007, 1.270,-0.117, 1.061, PHS= 1.034, 0.256,-1.182, RAW= 50.2, -1.1, CAL= 51.5, -4.0, ROT= 98.5, 4.0 Ygot valid direction response: 21:36:49.6678 LVL= 18272, 26609, 20850, 27747, AGC= 71, IDX= 317, 0.36, 2.007, 1.270,-0.117, 1.061, PHS= 1.034, 0.256,-1.182, RAW= 50.2, -1.1, CAL= 51.5, -4.0, ROT= 98.5, 4.0 PDAT read: Bearing 98.5, 4.0 (Local) ~Local bearing/azimuth received: Bearing 98.5, 4.0 (Local) DAT read: Range 10 to 50 : 513.3 m (Round-trip 684.4 ms) speed 0.0 m/s ,DAT read: user:1914> *J"JJK3 K.-KK"KJJ.JJJ ;JV:JJ BDAT read: Tx time:21:36:50.7808 $Ping request sent.%K%K`?%nF %f?)%5I% ?i%5=!!% \V#?;lђ?V)%֛I%X G٣CGy1; > Nusing accuracyPremultiplier from config 49? 4YV icB &? : @HxD=w=4 >@¿Ek% F?k%LZ k! k%A:k%SDBk%CZk% @"%vM>y@yjv@شSv@%"?ӣ4\?}Ss?Jk%?Rk%fL*%jK kl@^gi}O0] y@%k`VߠX?\jlؿ2U?"k%H*k%XcCk%ߏF?k%|{6 2k%Ck%08?k%\Զ k%Ck%Ck%^@ addTargetRange:: Added new target pos. range: 513.299988 m, deltaT: 4.037767 s, deltaX: -7.500000 m, approachRate: -1.857462 m/s, rangeRepo size: 4 $?IzKBoHK9KK+KjHbHHI I!IIMBI9 =&I.I6IW<:I FBIJIRIZI9 =bI9 =jI$5= Added new target pos. range: 513.299988 m, bearing: 318.652094 deg, lat: 36.902479 deg, lon: -122.117175 deg, deltaT: 4.037767 s, deltaX: -7.500000 m, approachRate: -1.857462 m/s, posRepo size: 4 ZjAEFNOT Ignoring new targets: 513.30 m.BjEJjI} ProNav: ac range: 513.299988 m, nav range: 261.844940 m, bearing: 314.548843 deg, approach rate: 0.000000 m/s, LOS rate: 0.151826 deg/s, cmd heading: 226.971107 deg, new cmd heading: 227.222591 deg. 2jyHeadingCmd: 3.965782 target range: 513.299988 and range: 513.30 m. ja}@jjjihhhhƃBfffrf`f @bf 5?ɛ=B= AEIA EKɚAiAIE=ImSPiueiiu)}a}@)EE>*F 2F :F BF 0JF G  G "G G  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:36:50.7800 G BO5>;w,;AZVo@YZVu}@Zte9Z >yZHc ??V Y`D`? kˣ?[A??ɨZVo@Z;Z>CyfBf@!IIIW4٢MM= MZ=9UBQ U>QQ UG٣Yy]; ]> Nusing accuracyPremultiplier from config49U?4Y[ icB@XxD;s;Ǐ4 %@ſEZj)-FNOT Ignoring new targets: 513.30 m.Bj5`1;Jj5`1;E ProNav: ac range: 513.299988 m, nav range: 261.822693 m, bearing: 314.603269 deg, approach rate: -0.063382 m/s, LOS rate: 0.155073 deg/s, cmd heading: 227.222594 deg, new cmd heading: 227.385888 deg. 2j;HeadingCmd: 3.968632 target range: 513.299988 and range: 513.30 m. j}@jjjihhhhfffrfbf?ɛ  #  I  ɚiIi=I!iiid4)}@)!UWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF1JFGBO?> I Will construct direction to contact in vehicle frame from tetrahedron phase data.Bw, A2m}o@Y2}@2U#92j>y2HK?@H`fnc? a?E?`à?ɨ2m}o@2qm;2=CyRBRC!ITTIZgIZ64٢bM< bR=9fLBQ j>hh jG٣lyn; r> vNusing accuracyPremultiplier from configpz49rߞ?z4Yr` ircBxzkz@rhxDr:r7:rq4 @Zj)-FNOT Ignoring new targets: 513.30 m.Bj-B';Jj5B';E ProNav: ac range: 513.299988 m, nav range: 261.800323 m, bearing: 314.657236 deg, approach rate: -0.060608 m/s, LOS rate: 0.146230 deg/s, cmd heading: 227.385890 deg, new cmd heading: 227.547802 deg. 2jE;MHeadingCmd: 3.971458 target range: 513.299988 and range: 513.30 m. jM`,~@jIjQjQiQhQhYhYhYfafafarfabfe??ɛBک I 򰟼ɚiIN=I%Ui%Yii%#E)%`,~@)!*F?2F:FBF_0JFGaBqO9>]Will construct direction to contact in vehicle frame from tetrahedron phase data.JJ I H I  I !II gBI &I .I 6I <:I P FzKe BHKe 9Ka Ke ,Ke Hw,$A>o@Y>}@>8&9>^e>y>H`a?@, {Z Q?Ť?+x?t?ɨ>o@>; G٣CGy9 < > Nusing accuracyPremultiplier from config49G? 4Y#f icB5u#?5:55@zxD< <4A E@MȿEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 513.30 m.Bj-[;Jj5[;u ProNav: ac range: 513.299988 m, nav range: 261.781647 m, bearing: 314.718242 deg, approach rate: -0.040241 m/s, LOS rate: 0.131454 deg/s, cmd heading: 227.547807 deg, new cmd heading: 227.730839 deg. 2jun;}HeadingCmd: 3.974653 target range: 513.299988 and range: 513.30 m. j}`~@jyjyjyiyhyhhhBfffrfbf)?ɛ$ mI ɚiIn=I i #ji  ) `~@)*F?2F:FBFY0JFGiByO~>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 Querying Benthos address 50 with one ping in standard two-way mode.J- J) J) J) J- \;J) J) J) J- tA 6$?I4>%p@Y>~@>'9>f>y>H ͙@z?`%B`F1?? L??ɨ>%p@>a;>xx zG٣xy~:< ~> Nusing accuracyPremultiplier from config 49? 4Yj idB @xD2;2;4! %@!ZjIMFNOT Ignoring new targets: 513.30 m.BjU*;JjU*;e ProNav: ac range: 513.299988 m, nav range: 261.764984 m, bearing: 314.770022 deg, approach rate: -0.047859 m/s, LOS rate: 0.148734 deg/s, cmd heading: 227.730842 deg, new cmd heading: 227.886190 deg. 2je&;mHeadingCmd: 3.977364 target range: 513.299988 and range: 513.30 m. jm#~@jijijqiqhqhqhqhyfyffrfbfy?ɛB 隽bI ɚiI =Ii1jiZ)#~@)*Fq2Fq:FqBFui0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732357GGqBO> Uw,DXAWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=1.984453:hFp@Y:d~@:!9:2>y:H-`?`a$*@ҿ?@9?#?@ݦ?ɨ:hFp@:;8yF>BFm!I N=N=-Mb@Mb@Mb@))) )))Y-+?y&1|:v?y-?-`廹-T<-+A -@)-3AI-`A)y-AIzI=X4٢N= ;=9RP;Q > G٣y%< %> -Nusing accuracyPremultiplier from config)549-Dr?U4Y-"p i-!dBU?U:]]@-xD-9;-;-V4a e@eɿEZjFNOT Ignoring new targets: 513.30 m.BjN;JjN; ProNav: ac range: 513.299988 m, nav range: 261.754730 m, bearing: 314.830229 deg, approach rate: -0.022826 m/s, LOS rate: 0.134031 deg/s, cmd heading: 227.886188 deg, new cmd heading: 228.066817 deg. 2j;HeadingCmd: 3.980517 target range: 513.299988 and range: 513.30 m. j~@jj jihhhhBfffrf!bf%@ U$?IUdgZHRHAAHI I!IIBI: =&I.I6I<:Ie FzK BoIK  9K K -K ɛqu quDIy }b;ɚyiyI}t=I^i`ji )~@)*F92FA:FABFE`0JFIu~GvAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236137 yYvAyHBG o>GY Bi O >& \w,xrA68up@Y6ʓ~@696X>y6Hn/?`Eo??0O?z?ɨ68up@6S;6>Cy>8BBf!IIJIJ 4٢R# Ra=9R:Q R>TT VG٣VCGyZy< Z> ^Nusing accuracyPremultiplier from config\b49^qe?f4Y^st i^/dBdjsj@^xD^\G;^6H;^4l n2@n̿EZj FNOT Ignoring new targets: 513.30 m.Bj ;Jj; ProNav: ac range: 513.299988 m, nav range: 261.745941 m, bearing: 314.879131 deg, approach rate: -0.024995 m/s, LOS rate: 0.139074 deg/s, cmd heading: 228.066819 deg, new cmd heading: 228.213530 deg. 2j%;%HeadingCmd: 3.983078 target range: 513.299988 and range: 513.30 m. j%~@j)j)j)i)h)h1h1h1f1f9f9rf9bf=W@ɛim quOIq u?ɚqiqIu=I}4i}R{ji}L/)~@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489579*F?2F:FBF1JFJJ0J1JJ ;J_:J3JJw<Jw<JX;JX; 1I9GݗGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740123bw,GA6}p@Y6~@6 96>y6HZ"?@-0@Т?`?@B? ?ɨ6}p@6V ;6=Cy>EBBv!IIJIJ4٢Nl~= RK=9R(:Q R>TT VG٣TyZ1 < Z> bNusing accuracyPremultiplier from config`f49bW?f4YbRy ib=dBdf;j@bxDb:b:b4Y ]e@YZjFNOT Ignoring new targets: 513.30 m.Bj-;Jj-; ProNav: ac range: 513.299988 m, nav range: 261.735474 m, bearing: 314.934150 deg, approach rate: -0.024812 m/s, LOS rate: 0.130421 deg/s, cmd heading: 228.213532 deg, new cmd heading: 228.378593 deg. 2j;HeadingCmd: 3.985958 target range: 513.299988 and range: 513.30 m. j@jjjihhhhfffrfbf@ɛ" F5I ]xɚ i I =I iaji;;)@)*F?2F:FBFP5JFGrA GrA=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.992217GQ ) I) G1 B9 O] >H >I  I !II BI ; =&I .I 6I <:I F FzK K 9K K .K iw,AVBp@YV~@V9V>yVH`J?`Yl`|?@? 0?˦?ɨVBp@VL;V9CyvMBv!IxzAuMb@Mb@Mb@qqq q)qYuZd;O?Qyuj?uuuA u@)uAIuAqyqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245018IIt4٢ = 7=9Q > G٣y C;  > Nusing accuracyPremultiplier from config%49F?-4Yt~ iFdB-?-:-E5@xDxP;j;y4EKB E@EϿE5B*** querying acoustic contact ***j1j1ZjI}FNOT Ignoring new targets: 513.30 m.BjC;JjC; ProNav: ac range: 513.299988 m, nav range: 261.733063 m, bearing: 314.993994 deg, approach rate: -0.005257 m/s, LOS rate: 0.130495 deg/s, cmd heading: 228.378590 deg, new cmd heading: 228.558124 deg. 2j; HeadingCmd: 3.989092 target range: 513.299988 and range: 513.30 m. jHM@jjjihhhhBfff!rfIbfM @ɛD 隝%I çɚiItd=ImijiN)HM@)*F}?2Fy:FyBF}_5JFM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496192J! J% /J% 0J! J! J% ڈ:J% ـ3J! J! J! J% r;J% s;G G B O >  $?I! V@ow,A2q@Y28@2*92>y2HC;U?@`@ ?1x?`H? ?ɨ2q@2S;2tt vG٣vCGyz; z> Nusing accuracyPremultiplier from config 499? 4Y iMdB   @xD:X:4 @ZjFNOT Ignoring new targets: 513.30 m.Bjn;Jjn; ProNav: ac range: 513.299988 m, nav range: 261.730713 m, bearing: 315.043331 deg, approach rate: -0.006639 m/s, LOS rate: 0.139385 deg/s, cmd heading: 228.558128 deg, new cmd heading: 228.706142 deg. 2jQ;HeadingCmd: 3.991675 target range: 513.299988 and range: 513.30 m. j w@j j j i h h hhfffrfbf`) @ɛ1=j7 9=>$I9 =ɚ9i9IET=IEiMjiM)Mw@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:36:53.8690 TRx dataTimestamp_ set to:1736372215.153518checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750407*F?2F:FBFP0JFG ͛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=4.0023988vw,A61>q@Y6\@6F96$>y6H>$?`7@@H?s?@.? ?ɨ61>q@6X;6=Cy>IB>z!IMb@Mb@Mb@ )Y-?X9v~jtxy5?Ļ&A @)3AIAyfAII҅4٢FǼ <=98Q > G٣y < > Nusing accuracyPremultiplier from config49)?4YŇ iSdBj?:@xD"&;$;4 &@ҿEZj  FNOT Ignoring new targets: 513.30 m.Bj ;Jj ;% ProNav: ac range: 513.299988 m, nav range: 261.727081 m, bearing: 315.102074 deg, approach rate: -0.008693 m/s, LOS rate: 0.140608 deg/s, cmd heading: 228.706139 deg, new cmd heading: 228.882369 deg. 2j%;-HeadingCmd: 3.994751 target range: 513.299988 and range: 513.30 m. j-@j) $?Ij1jihhhhBfffrfbf@jHbH<HI I!IIBI: =&I.I6I<:I; Fɛaeτ 隕b/I ZשɚiIA=Iui l kiӓ)@)!zKBHKKK/K*Fe?2Fa:FaBFeQ0JFi"Ga=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:36:53.8690 LVL= 20848, 31729, 27714, 32755, AGC= 68, IDX= 441, 0.08,-1.214,-1.971, 3.006,-2.130, PHS= 1.004, 0.206,-1.150, RAW= 51.5, -0.6, CAL= 52.7, -3.3, ROT= 97.3, 3.3 Ygot valid direction response: 21:36:53.8690 LVL= 20848, 31729, 27714, 32755, AGC= 68, IDX= 441, 0.08,-1.214,-1.971, 3.006,-2.130, PHS= 1.004, 0.206,-1.150, RAW= 51.5, -0.6, CAL= 52.7, -3.3, ROT= 97.3, 3.3 5PDAT read: Bearing 97.3, 3.3 (Local) =~Local bearing/azimuth received: Bearing 97.3, 3.3 (Local) DAT read: Range 10 to 50 : 513.0 m (Round-trip 684.0 ms) speed 0.1 m/s ,DAT read: user:1915> BDAT read: Tx time:21:36:54.9792 $Ping request sent.ٝ33ٝf?ٝ+ ڝCwk?)ڝkIڝ^?iڝk=ڙڙ۝=r?!4_v&)۝n I۝/B8c|w,MAjq@Yj@ 9>yH?`.s $:?`@?F>?@?ɨjq@׉;>Cy5BB=s!I Ea=Ea=IMIM%x4٢L I=9x}:Q > G٣y7; > Nusing accuracyPremultiplier from config49?4Y iYdB@xD;;4  @QkF?ke) k kqA:k@DBkCZk%@"dJ-e?UYu@ dM_w@nJX+?r?@@S?Jk?RkQ*SSl@6)ʉ~fJN [>z@}?V!ֿ'M|1?"k#6*kgCkrZG?kJ 2kCk}Mp=8?kkCkCk@ addTargetRange:: Added new target pos. range: 513.000000 m, deltaT: 4.282772 s, deltaX: -0.299988 m, approachRate: -0.070045 m/s, rangeRepo size: 4 Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:36:54.9785  Added new target pos. range: 513.000000 m, bearing: 321.821161 deg, lat: 36.902480 deg, lon: -122.117175 deg, deltaT: 4.282772 s, deltaX: -0.299988 m, approachRate: -0.070045 m/s, posRepo size: 4 Zj%FNOT Ignoring new targets: 513.00 m.BjMJjI] ProNav: ac range: 513.000000 m, nav range: 261.829254 m, bearing: 315.180639 deg, approach rate: 0.000000 m/s, LOS rate: 0.140608 deg/s, cmd heading: 228.882371 deg, new cmd heading: 229.064396 deg. 2jYeHeadingCmd: 3.997928 target range: 513.000000 and range: 513.00 m. je @jajajaJJ4J1JJ2;Jr:J3JJ<J<J;J;iahhhhfffrf@bf@i6?ɛAeї ae;Ia mu,ɚiiiIm0=IuAiu0kiu^ŗ)u @)y I*F?2F:FBF_0JFG G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O >Iw, A2Eq@Y2֫@2EC 92v>y2HM|? * j@??Z??ɨ2Eq@2;2=CyB;BBi!IIJfIJ44٢R) R^=9VVQ V>TT ZG٣ZCGyZ'; Z> bNusing accuracyPremultiplier from config\b49^ ?f4Y^ڐ i^^dBdff@^ yD^X:^X:^4h n@n׿EZjFNOT Ignoring new targets: 513.00 m.Bj $;Jj $; ProNav: ac range: 513.000000 m, nav range: 261.825623 m, bearing: 315.229907 deg, approach rate: -0.010607 m/s, LOS rate: 0.143902 deg/s, cmd heading: 229.064396 deg, new cmd heading: 229.212201 deg. 2j%;%HeadingCmd: 4.000507 target range: 513.000000 and range: 513.00 m. j%(@j)j)j)i)h)h)h1h1f1f1frfbf@%?ɛ B    LI  U@ɚiI=)=I=ei=pOki=|)=(@)AEI*F?2F:FBFe0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.GS. IegG B HE >IE C IE "IIE BIE ; =&IA .IA 6IE <:IE | FBIJIRIZI: =bI: =jI5Ou >zK BoIK K K 0K 0w,$'AJq@YJ8@J͟!9JY >yJH ?@ZI"`x? 2? (? ?ɨJq@JǶ;Hy\^j!ImWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YV-?:vI +y?Լ94=A @)AI\AyAI5tI5M4٢E: E2=9Mj=Q M>II MG٣IyU$; U> ]Nusing accuracyPremultiplier from configYe49]?e4Y]C i]bdBm?m:mm@]yD]@;]j;] 4q u@qB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 513.00 m.Bj@;Jj@; ProNav: ac range: 513.000000 m, nav range: 261.818359 m, bearing: 315.291615 deg, approach rate: -0.015666 m/s, LOS rate: 0.133107 deg/s, cmd heading: 229.212187 deg, new cmd heading: 229.397318 deg. 2j;HeadingCmd: 4.003738 target range: 513.000000 and range: 513.00 m. j@jjjihhhh߃Bfffrfbf`?ɛ% @LI ­ɚiI=Ivi&ki[)@)!*F?2F:FBFa0JFG GnA 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 B J J 8J 0J J $;J :J ـ3J J |<J |<J ;J ;O% > m $?Ii #\w,sAA @Bmq@YB@BV#9B: >yBHE@ ?γ`p"G?}i???ɨBmq@B`;@yJ3BN`!IPRAIVFIV%3٢^1 bi=9f웺Q f>dd fG٣hyjK 9 j> rNusing accuracyPremultiplier from configlr49n?v4Yni infdBtvv@n)yDn:n:n54x ~|@|Zj%FNOT Ignoring new targets: 513.00 m.Bj%q;Jj-q;5 ProNav: ac range: 513.000000 m, nav range: 261.812958 m, bearing: 315.338918 deg, approach rate: -0.015518 m/s, LOS rate: 0.135900 deg/s, cmd heading: 229.397313 deg, new cmd heading: 229.539224 deg. 2j=;EHeadingCmd: 4.006215 target range: 513.000000 and range: 513.00 m. jM2@jIjIjIiIhIhIhQhQfQfYfYrfYbf]?ɛB[ 隍\I nɚiI=Iiki\)2@)*F?2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483258G5qߢG BO5>M Will construct direction to contact in vehicle frame from tetrahedron phase data.kw,j[A"checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746383Rҽq@YRd@R 9Rp>yRH@ e ?QX'` ??ػ?`?ɨRҽq@Rp;R;CyZ-BZX!IMb@Mb@Mb@ )Y~jt?:vMby$?TSA @)IAyAII<4٢ 8=9 :Q > G٣CGy ; > Nusing accuracyPremultiplier from config I49?4Y iidB%$?%:%R%@;yDÖ;5;41 5@5ڿEZjY]FNOT Ignoring new targets: 513.00 m.Bje;Jje;u ProNav: ac range: 513.000000 m, nav range: 261.799377 m, bearing: 315.401109 deg, approach rate: -0.030506 m/s, LOS rate: 0.139710 deg/s, cmd heading: 229.539217 deg, new cmd heading: 229.725797 deg. 2juÿ;}HeadingCmd: 4.009471 target range: 513.000000 and range: 513.00 m. j}M@jyjyjyihhhhփBfffrfbf@3?ZHRHHI I!IIBI&I.I6I<:I Fɛim} imjIi u ɚqiqIux=I}i}li}fļ)}M@)yzKBIKh9KK1K*F92F9:F9BF=I5JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989233GE 6G! B9 Om >w,9uA2q@Y2@2i92BB>y2HN?`>۴O6tھ??`?ڨ?ɨ2q@2k;2?Cy>%B>O!IIFIF4٢f% j_=9j:Q j>ll nG٣lyr; r> vNusing accuracyPremultiplier from configtz49v?z4Yv ivldBxz$z@vJyDv;v ;vY4  V@ Zj1=FNOT Ignoring new targets: 513.00 m.Bj=m!;Jj=m!;M ProNav: ac range: 513.000000 m, nav range: 261.787659 m, bearing: 315.452715 deg, approach rate: -0.032047 m/s, LOS rate: 0.141131 deg/s, cmd heading: 229.725790 deg, new cmd heading: 229.880616 deg. 2jM;UHeadingCmd: 4.012174 target range: 513.000000 and range: 513.00 m. j]c@jYjYjYiYhYhYhahafafafirfibfm@@ɛBN$ 隥&{I &ɚiIf =IAXiTli2¼)c@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239863*Fm?2Fi:FqBFuP0JFq"G}=Gy $?I GGGiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491068sw,sA6!r@Y6 @6`96 >y6H q+?s" HZ{@Q?2???ɨ6!r@6J;6=CyB$BBM!I F=Fp=IJIJv}4٢R RM=9V9Q V>TT ZG٣XyZ< Z> bNusing accuracyPremultiplier from config\b49^?b4Y^ i^odBdff@^ZyD^:^":^N4jJB jg@nݿEZj FNOT Ignoring new targets: 513.00 m.Bj  ;Jj  ; ProNav: ac range: 513.000000 m, nav range: 261.774353 m, bearing: 315.508678 deg, approach rate: -0.033462 m/s, LOS rate: 0.140746 deg/s, cmd heading: 229.880617 deg, new cmd heading: 230.048514 deg. 2j%/;%HeadingCmd: 4.015104 target range: 513.000000 and range: 513.00 m. j%{@j)j)j)i)h)h)h1h1f1f1f1rf9bf=@ɛB K xI ɚiIb =I>(i%Xli%)%{@)!*F2F:FBF\0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746274JJJJ5J1JJ,';J:J3Ja@a@a@a@Gļ I GHI I!IIBI&I.I6Ix<:I/ FBO>zK} BHK} 9Ky K} 2K} ) G! 9 w,5A &Y(y*A%fZr@Y%|<@%9%>y%Hm G٣CGy; > Nusing accuracyPremultiplier from config49ڴ?4Yٯ iudB%?:{@nyD;<;4 J@mB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 513.00 m.Bj;Jj; ProNav: ac range: 513.000000 m, nav range: 261.751801 m, bearing: 315.575607 deg, approach rate: -0.046203 m/s, LOS rate: 0.137129 deg/s, cmd heading: 230.048503 deg, new cmd heading: 230.249308 deg. 2j8;HeadingCmd: 4.018609 target range: 513.000000 and range: 513.00 m. jq@jjjihhhhBfff)rf)bf5@ɛ" I ɚiI=Ii,mi)q@)*Fy2Fy:FyBF}Y0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247074G n $?I GY Bi O >Vw,qA>r@Y>H^@>!`9>{>y>H$Q?@2op`!K]?j?`'r@>6;% Will construct direction to contact in vehicle frame from tetrahedron phase data.) i- AE checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755106J׶w,pAJ: J:@J:0J8J:);J::J:ـ3J8=r@Y=q@=9=Q>y=H`>\? `|@o:%?k|?8v?@X?ɨ=r@=0I;9yMBM;!I yI}fg=Mb@Mb@Mb@999 9)9Y=m?Q?~jtxy=.?=<=Ļ=A 9)=AI99jHU<bHUp<H]>IY I]!II]BIY&IY.IY6IY:IYy9IuIur4٢3 0=9Q > G٣yl; > Nusing accuracyPremultiplier from config49?4Y idB.?:^@yD@;;4 L@ZjFNOT Ignoring new targets: 513.00 m.Bj);Jj);  ProNav: ac range: 513.000000 m, nav range: 261.696960 m, bearing: 315.692399 deg, approach rate: -0.081774 m/s, LOS rate: 0.148189 deg/s, cmd heading: 230.392827 deg, new cmd heading: 230.599716 deg. 2j f;HeadingCmd: 4.024724 target range: 513.000000 and range: 513.00 m. jʀ@jjjihhhhf!f!f!rf)bf- i)@ɛY]T' Y]IY e ɚaiaIeP0=Ii݆miMо)ʀ@)zK!K%+9K!K%3K%*FA2FA:FABFAJFAuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.003993G% VG B O > w,k~A6r@Y6$@6P96>y6Hy o?@;B@l#+???ʣ?ɨ6r@6;4yBBB:!IIJIJv}4٢V Vo=9ZjQ Z?XX ZG٣Xy^,< b? fNusing accuracyPremultiplier from configdj49f֌?j4Yfʿ ifdBhn#n@fyDfC:f ;f4p vW@vEZjFNOT Ignoring new targets: 513.00 m.BjI);JjI);- ProNav: ac range: 513.000000 m, nav range: 261.668427 m, bearing: 315.743022 deg, approach rate: -0.083413 m/s, LOS rate: 0.148001 deg/s, cmd heading: 230.599727 deg, new cmd heading: 230.751611 deg. 2j-$;5HeadingCmd: 4.027375 target range: 513.000000 and range: 513.00 m. j5B@j1j1j1i1h9h9h9h9fAfAfArfAbfM`@ɛB5 I TɚiIA=I0_iImi ) B@) Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 21:36:58.0675 LVL= 25584, 32753, 25842, 32755, AGC= 67, IDX= 441,-0.30,-1.395,-2.064, 3.052,-2.124, PHS= 0.816, 0.107,-1.111, RAW= 51.3, 2.3, CAL= 51.0, 1.2, ROT= 99.0, -1.2 =Ygot valid direction response: 21:36:58.0675 LVL= 25584, 32753, 25842, 32755, AGC= 67, IDX= 441,-0.30,-1.395,-2.064, 3.052,-2.124, PHS= 0.816, 0.107,-1.111, RAW= 51.3, 2.3, CAL= 51.0, 1.2, ROT= 99.0, -1.2 EPDAT read: Bearing 99.0, -1.2 (Local) M~Local bearing/azimuth received: Bearing 99.0, -1.2 (Local) *F?2F:FBF0JF5DAT read: Range 10 to 50 : 513.0 m (Round-trip 684.0 ms) speed -0.1 m/s =,DAT read: user:1916> =BDAT read: Tx time:21:36:59.1793 E$Ping request sent.E Will construct direction to contact in vehicle frame from tetrahedron phase data.w,)ZA6,s@Y6@6hL96:J>y6H 4hc}?`X Q?D?Ŕ? ?ɨ6,s@6(;6;CyRBR>!IIZIZ_v4٢rx< vF=9vȺQ v>xx zG٣zCGyz0; ~> Nusing accuracyPremultiplier from config 49~? 4Y idB @yDX::#4 $@k  N?k y k  k wA:k Bk Zk @" .T;}=v@iMM-w@ +MG /7 ?F33"?Jk '?Rk N* GEo@xfc},z@ ͨU?a?]ӿ>+?"k 6*k Ck *N?k 㣾 2k 7Ck ߏF?k k 7Ck 2Ck [@} addTargetRange:: Added new target pos. range: 513.000000 m, deltaT: 4.288232 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 513.000000 m, bearing: 328.722957 deg, lat: 36.902872 deg, lon: -122.117175 deg, deltaT: 4.288232 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 513.00 m.BjJj ProNav: ac range: 513.000000 m, nav range: 294.394012 m, bearing: 321.717730 deg, approach rate: 0.000000 m/s, LOS rate: 0.148001 deg/s, cmd heading: 230.751603 deg, new cmd heading: 230.936335 deg. 2jHeadingCmd: 4.030600 target range: 513.000000 and range: 513.00 m. j@jjjihhhhfffrfbf ?ɛ%1, 2I ɚiIL=I]*inih)@) *FI2FI:FQBFU1JFY"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.JJ>JJJ%;J:JJ YIYGEHI I!IIBI&I.I/D6I<:IJ FGi By O >zK BoHK ػ9K K 4K #w,*AJYs@YJ2@J'9J>yJH rV?#ȫ Z?? ? ?ɨJYs@J;J=CyRBV=!I%Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y9v?X9v?Mbp?y4?<;A v@)AIAyQAIIr4٢ ,  7=9Q > G٣y; > %Nusing accuracyPremultiplier from config!-49%n?-4Y%O i%dB5+5?5:5 5@%yD%;%;%+49 =(@=EZjaeFNOT Ignoring new targets: 513.00 m.Bju>;Jju>; ProNav: ac range: 513.000000 m, nav range: 294.387482 m, bearing: 321.778999 deg, approach rate: -0.014839 m/s, LOS rate: 0.139220 deg/s, cmd heading: 230.936346 deg, new cmd heading: 231.120155 deg. 2j;HeadingCmd: 4.033808 target range: 513.000000 and range: 513.00 m. j@jjjihhhhBfffrfbf?ɛd+ I ɚiIJP=IiVni)@)*F-?2F):F1BF5Q5JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.GE ź % $?I! G) B9 OU >w,QDA62ws@Y6ʀ@6z+96J>y6H`J?7?Wb??ڠ?ɨ62ws@6);4yR(BRR!IIZdIZ?14٢b= bb=9foQ f>dd fG٣hyj; j> nNusing accuracyPremultiplier from configlr49na?v4Yn indBtz z@nyDn+;;n<;;n14|  @EB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 513.00 m.Bj5;Jj5; ProNav: ac range: 513.000000 m, nav range: 294.381958 m, bearing: 321.828700 deg, approach rate: -0.015218 m/s, LOS rate: 0.136931 deg/s, cmd heading: 231.120160 deg, new cmd heading: 231.269267 deg. 2j;HeadingCmd: 4.036410 target range: 513.000000 and range: 513.00 m. jF*@jjjihhhhfffrfbf ?ɛBV& j|I ,ɚiIL=I)i5ni5xCļ)5F*@)95Will 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.*F?2F:FBF4JFGEGq By O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.4698788w,J^AJJJJJJHJH `I`JJl-;JJٖ:JHJH=;s@Y=f@=*19=ZW>y=H6ǧ? AT?@2?%???ɨ=;s@= ;=;Cyu+B}V!IZH RH HI I!IIBI< =&I.I6I<:IA FBICJICRIZI; =bI; =jI5Mb@Mb@Mb@ )YCl?Q?I +?y/?\=94< I@)AIEAyAIQI4٢<< ,=9ZQ > G٣CGy; > ENusing accuracyPremultiplier from configE49KQ?M4Y idBU0?U:U@ U@yD<;k8;-:4a e@aZjFNOT Ignoring new targets: 513.00 m.Bj;Jj; ProNav: ac range: 513.000000 m, nav range: 294.372375 m, bearing: 321.892204 deg, approach rate: -0.019656 m/s, LOS rate: 0.130269 deg/s, cmd heading: 231.269276 deg, new cmd heading: 231.459794 deg. 2jβ;HeadingCmd: 4.039735 target range: 513.000000 and range: 513.00 m. jE@jjjihhhhBfffrf!bf%`?ɛvI! vI z¼ɚiI===Iioiļ)E@)zKBoIKh9KK5K*F?2F:FBF5JFG GqA-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718016G nG B O >w[w,FxABs@YB @BM.9Ba3>yBH@?}?@wN@@+?@֥?ذ?ৠ?ɨBs@B9;B>CyR=BRl!IXZAIbIb_v4٢f= ju=9j;Q j?hl nG٣lyn!`< r? vNusing accuracyPremultiplier from configpz49rE?z4Yry irdBxz z@ryDr :r:r@4 @EZj!-FNOT Ignoring new targets: 513.00 m.Bj5;;Jj5;;E ProNav: ac range: 513.000000 m, nav range: 294.364807 m, bearing: 321.936770 deg, approach rate: -0.023641 m/s, LOS rate: 0.139210 deg/s, cmd heading: 231.459784 deg, new cmd heading: 231.593483 deg. 2jM;MHeadingCmd: 4.042069 target range: 513.000000 and range: 513.00 m. jMX@jQjQjQiQhQhQhYhYfYfafarfabfe`ɜ?ɛ1& 隕RSI [}üɚiI7=Isni0oi܁)X@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971073*F?2F:FBF_0JF $?IggG5ΓüGBOE>E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221934Cw,*A6Ry6H m`$?}9?}?`3??ɨ6Rhh jG٣hyj+< n> rNusing accuracyPremultiplier from configpv49r28?v4Yr` irdBtv z@r zDrG:r:r G4| ~[@|Zj)-FNOT Ignoring new targets: 513.00 m.Bj5W;Jj5W;E ProNav: ac range: 513.000000 m, nav range: 294.354736 m, bearing: 321.990617 deg, approach rate: -0.024908 m/s, LOS rate: 0.133186 deg/s, cmd heading: 231.593492 deg, new cmd heading: 231.755039 deg. 2jE϶;MHeadingCmd: 4.044888 target range: 513.000000 and range: 513.00 m. jMo@jIjIjIiIhQhQhQhQfffrfbf`1@ɛEBE IMPDII MJļɚIiIIU!&=I@@iloi )o@)*Fm?2Fi:FiBFiJFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478963JAJEAA IH>I I!IIBI= =&I.I6I<:I9 FGG B O >zK5 k3IK5 s9K1 K5 6K5 BKA :KA mw,˽AyrMBr!IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726081}Mb@Mb@Mb@yyy y)yY}S?Zd;O? rh?y}/?}j<}C G٣CGy > Nusing accuracyPremultiplier from config49)?4Y ieBA/?:  @zD{;ׄ;N4 @EZjFNOT Ignoring new targets: 513.00 m.Bj;Jj;% ProNav: ac range: 513.000000 m, nav range: 294.349670 m, bearing: 322.048849 deg, approach rate: -0.011022 m/s, LOS rate: 0.126693 deg/s, cmd heading: 231.755039 deg, new cmd heading: 231.929737 deg. 2j%;UHeadingCmd: 4.047937 target range: 513.000000 and range: 513.00 m. jU@jQjQjQiQhYhYhYh]Bfafafarfabfe@ɛyw 3I ="ƼɚiI=I Mi oiτü)@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978008JK3 K.KK"KJU JU :JQ JQ JU ';JU :JQ JQ JU ݁Uw,A:t@Y:r@:,9:ܪ>y:H6? ?p@F?`>? z?ਢ?ɨ:t@:̍;:=Cy^bBb!IIjvIj&Q4٢r = v[=9v۸Q v>xx zG٣xyz< ~> ]Nusing accuracyPremultiplier from configQe49U?e4YU9 iUeBaeS e@U/zDUA;U/;UkU4q uy@qB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 513.00 m.Bj ;Jj ; ProNav: ac range: 513.000000 m, nav range: 294.343231 m, bearing: 322.099883 deg, approach rate: -0.017724 m/s, LOS rate: 0.140477 deg/s, cmd heading: 231.929728 deg, new cmd heading: 232.082835 deg. 2j;HeadingCmd: 4.050610 target range: 513.000000 and range: 513.00 m. j@jjjihhhhfffrfbf @ɛB I Ƽɚ i I =IiboiMP)@)*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230270GnGABQOm5> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:37:02.2674  TRx dataTimestamp_ set to:1736372223.476856 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489279`w,A I *JF4="JDjHbH<HI I!IIBI< =&I.I6I<:IA F u@Y@>,9>yHˬ`?rt`f3 U??dd??ɨ u@刍; G٣y < > Nusing accuracyPremultiplier from config49 ?4Y i1eB*?:7 @DzDJ;H;]4 5I@]~GqE Yy8BZjAMFNOT Ignoring new targets: 513.00 m.BjM ;JjU ; ProNav: ac range: 513.000000 m, nav range: 294.335114 m, bearing: 322.162506 deg, approach rate: -0.015641 m/s, LOS rate: 0.120666 deg/s, cmd heading: 232.082834 deg, new cmd heading: 232.270706 deg. 2j;HeadingCmd: 4.053889 target range: 513.000000 and range: 513.00 m. ju@jjjihhhhуBfffrfbfy @zKBHKh9KK7KRK?JK?ɛim quŽIq ǼɚiI=I ˬWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.734957ie piem)eu@)iE*F! 2F) :F) BF- _0JF) GU ΓüGIBqO>w Will construct direction to contact in vehicle frame from tetrahedron phase data.*DAT read: 21:37:02.2674 LVL= 17984, 31137, 27730, 32755, AGC= 71, IDX= 423, 0.40,-0.731,-1.237,-2.546,-1.413, PHS= 0.770, 0.223,-1.135, RAW= 46.2, 1.7, CAL= 45.6, 0.6, ROT= 104.4, -0.6 .Ygot valid direction response: 21:37:02.2674 LVL= 17984, 31137, 27730, 32755, AGC= 71, IDX= 423, 0.40,-0.731,-1.237,-2.546,-1.413, PHS= 0.770, 0.223,-1.135, RAW= 46.2, 1.7, CAL= 45.6, 0.6, ROT= 104.4, -0.6 6PDAT read: Bearing 104.4, -0.6 (Local) >~Local bearing/azimuth received: Bearing 104.4, -0.6 (Local) JDAT read: Range 10 to 50 : 512.9 m (Round-trip 683.9 ms) speed 0.1 m/s N,DAT read: user:1917> RBDAT read: Tx time:21:37:03.3809 R$Ping request sent.RGplN?< %K?)+yH`z%;?*:Z }$!˾?`?O?d?ɨu@ ;?Cy-B-!IIMyIMxV4٢G= '=9I6Q > G٣CGy< > Nusing accuracyPremultiplier from config49?4Y iJeB!% %@YzD":e:f4I M@Qkfy4=V?k8 k  kɐA:k9DBkCZkG@"c10%lyw@ȩFu@p{J?E=?Jk?Rk9*q@z4eKlx@GtH?xտw4%a?"k?/*kCkV?k 2kACkrZG?kJ kCkaCk,U@% addTargetRange:: Added new target pos. range: 512.900024 m, deltaT: 4.032773 s, deltaX: -0.099976 m, approachRate: -0.024791 m/s, rangeRepo size: 4 U Added new target pos. range: 512.900024 m, bearing: 328.163648 deg, lat: 36.902893 deg, lon: -122.117148 deg, deltaT: 4.032773 s, deltaX: -0.099976 m, approachRate: -0.024791 m/s, posRepo size: 4 ZjY]FNOT Ignoring new targets: 512.90 m.Bj]Jja ProNav: ac range: 512.900024 m, nav range: 294.761749 m, bearing: 322.884462 deg, approach rate: 0.000000 m/s, LOS rate: 0.120666 deg/s, cmd heading: 232.270719 deg, new cmd heading: 232.445336 deg. 2jHeadingCmd: 4.056936 target range: 512.900024 and range: 512.90 m. jlҁ@jjAjAiAhAhAhIhIfQfQfQrfU@3@bfU`.?ɛL tI [ȼɚiI =I zilpi1c)lҁ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:37:03.3801 *F2F:FBFJFG vG BO>ѯw, AUWill construct direction to contact in vehicle frame from tetrahedron phase data.=Eu@Y=@=m.9=@>y=H`elF?&`dھ?̥?S? ?ɨ=Eu@=H{;=;C I JiJm@AyB!IHI I"IIǃBI= =&I.I6I<:I| F=Mb@Mb@Mb@999 9)9Y=y&1?~jth rh?y=`%?=D=C<=A =@)=AI99y=(AIUgIU64٢mGs= m(=9LyQ > G٣yƑ; > Nusing accuracyPremultiplier from config49q?4Y i`eBo%?:@mzD;$;n4 @EZj)5FNOT Ignoring new targets: 512.90 m.Bj5;Jj5;E ProNav: ac range: 512.900024 m, nav range: 294.766113 m, bearing: 322.944826 deg, approach rate: 0.009453 m/s, LOS rate: 0.130753 deg/s, cmd heading: 232.445326 deg, new cmd heading: 232.626415 deg. 2jEx;mHeadingCmd: 4.060097 target range: 512.900024 and range: 512.90 m. jmP@jqjqjqiqhqhqhyh}Bfyfyfrfbf ?ɛB 9I ϭȼɚiIxT=IGi) pi'{)%P@))*F2F:FBF`0JFzKK9KK8KBK%rA:K!Will construct direction to contact in vehicle frame from tetrahedron phase data.G _G B O >7 w,ip7AZ@u@YZh@Z619Z=I>yZH]fT?``o@D a?6? ?K?ɨZ@u@ZĴ;XyfBf!IIn~InT_4٢vw= z=9z*Q ~?|| G٣CGy;  ? Nusing accuracyPremultiplier from config 49 ?4Y  i neB@ yzD : : [t4 @ZjFNOT Ignoring new targets: 512.90 m.Bj;Jj;  ProNav: ac range: 512.900024 m, nav range: 294.768616 m, bearing: 322.983749 deg, approach rate: 0.007697 m/s, LOS rate: 0.119720 deg/s, cmd heading: 232.626408 deg, new cmd heading: 232.743175 deg. 2j S;HeadingCmd: 4.062135 target range: 512.900024 and range: 512.90 m. j@jjjihhhhf!f!f!rf!bf-߮?ɛQUf&׼ QUIQ ]ȼɚYiYI]W'=Ie%ieqpie)Du)e@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFS5JF M$?IIJ J=JJJ);J:JJJ7<J7<J;J;G=nG B! OM >M Will construct direction to contact in vehicle frame from tetrahedron phase data.w,TQANTu@YNr@N89N:>yNHgX X?@ذ 'sX`zɾ??r?ަ?ɨNTu@N$;N=CyZBZ!IIbTIb4٢jn= jN=9je{Q j>ll nG٣pyr: r> zNusing accuracyPremultiplier from configt~49v?~4Yv iveB@vzDv7;v";vI{4  ~@ -B*** querying acoustic contact ***j)j)Zj1=FNOT Ignoring new targets: 512.90 m.BjE';JjE';U ProNav: ac range: 512.900024 m, nav range: 294.771851 m, bearing: 323.033429 deg, approach rate: 0.008548 m/s, LOS rate: 0.131276 deg/s, cmd heading: 232.743177 deg, new cmd heading: 232.892215 deg. 2jU/;UHeadingCmd: 4.064736 target range: 512.900024 and range: 512.90 m. j]Q@jYjYjYiYhahahahafafifirfibfm`?ɛ佼 隥ЕI IG"IIBI&I.I6I<:Ix FG B1 Ou >1Aw,kAF*v@YF$@FŐ29F>yFH; *m?,@W@?`IP?`'??ɨF*v@F;F;CyNBN!I5Mb@Mb@Mb@111 1)1Y5V-?Mb`?y&1|?y5|?5;5`;5A 5~@)5hAI5A1y5QAIM?IMT3٢eP& eA=9e(N;Q e>ii mG٣iyu%0<zKuBoHKu]9KqKu9Ku u> Nusing accuracyPremultiplier from config49?4Y ieB?: @zDy;;4 @EZjFNOT Ignoring new targets: 512.90 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744680Bju ;Jju ; ProNav: ac range: 512.900024 m, nav range: 294.771606 m, bearing: 323.084840 deg, approach rate: -0.000576 m/s, LOS rate: 0.121311 deg/s, cmd heading: 232.892211 deg, new cmd heading: 233.046442 deg. 2j;HeadingCmd: 4.067428 target range: 512.900024 and range: 512.90 m. j^(@jjjihhhh Bfffrfbf@?ɛB-e )-`OJ J 9J 0J J $;J :J ـ3J J T~<J U~<J g;J h;&!w,[ӄA6v@Y6S@6P-96Z>y6H!ʇ?}`"?߶?F? $?ɨ6v@6_;6=CyRBR"II^yI^xV4٢f&z= fU=9fH;Q f>hh jG٣hyjq< n> rNusing accuracyPremultiplier from configpv49r?v4Yr ireBtv_ z@rzDr:r:rb4| ~@|ZjFNOT Ignoring new targets: 512.90 m.BjS;JjS; ProNav: ac range: 512.900024 m, nav range: 294.770233 m, bearing: 323.130991 deg, approach rate: -0.003416 m/s, LOS rate: 0.114814 deg/s, cmd heading: 233.046437 deg, new cmd heading: 233.184892 deg. 2j;HeadingCmd: 4.069844 target range: 512.900024 and range: 512.90 m. j*<@jjjihhhhfffrfbfS@ɛeBe ae=Ia m?^ȼɚiiiImRU=Iua ipiwD)*<@)*FM?2FI:FIBFU^0JFQ-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249137GuZsGI BY Ou >mQ'w,AFWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.504131 IHyIy I}m"II}BIy&Iy.Iy6I}Ű<:I}c FBI9JI9RI9ZI== =bI== =jI=24Tv@Yrq@k*9=>yH@w?ܶhࡪ@?A?`%?ྦ?ɨTv@t;騥 G٣CGy; >  Nusing accuracyPremultiplier from config 49 ]?4Y = i eB?:l @ zD ; I; A4) -@-EZjFNOT Ignoring new targets: 512.90 m.Bj ;Jj ; ProNav: ac range: 512.900024 m, nav range: 294.764160 m, bearing: 323.191309 deg, approach rate: -0.012124 m/s, LOS rate: 0.120424 deg/s, cmd heading: 233.184899 deg, new cmd heading: 233.365854 deg. 2jJ;HeadingCmd: 4.073002 target range: 512.900024 and range: 512.90 m. j V@jjjih)h)h)h- Bf1f1f9rf9bf=`Db@ɛB J  =I BȼɚiI=Is i\oiWB) V@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753691*F]?2FY:FaBFew1JFizKK 9KK:K G KGi By O >".w,GA^w@Y^@^}'9^5>y^H`?h҉W?`#?@#?@?ɨ^w@^U;^;CyjÃBj"IIrIra4٢zV.= zj=9~:Q ~?|| ~G٣ydr< ? Nusing accuracyPremultiplier from config 49 ?4Y " i eB @ zD : : Y4! -j@)ZjQ]FNOT Ignoring new targets: 512.90 m.Bj] ;Jj] ;m ProNav: ac range: 512.900024 m, nav range: 294.759064 m, bearing: 323.232757 deg, approach rate: -0.015162 m/s, LOS rate: 0.123311 deg/s, cmd heading: 233.365844 deg, new cmd heading: 233.490191 deg. 2juA;uHeadingCmd: 4.075172 target range: 512.900024 and range: 512.90 m. jug@jyjyjyiyhyhyhhfffrfbf@ɛ"EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.004879 MX<=II MǼɚIiQIU=IUP i]oi]s)]g@)y $?I*F?2F:FBF_0JFGhAGB O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2568684w,VA6Zw@Y6@6g#&96>y6Hp?,&@o`t?¤? ?̧?ɨ6Zw@6;6=CyRăBR"IIZuIZaO4٢f9; fO=9fkZ:Q f>hh jG٣hyn&< n> rNusing accuracyPremultiplier from configpv49r3?v4Yr( ireBtz z@rzDr:r:rC4| ~T@|B*** querying acoustic contact ***jjZj15FNOT Ignoring new targets: 512.90 m.Bj=;Jj=;M ProNav: ac range: 512.900024 m, nav range: 294.752472 m, bearing: 323.279761 deg, approach rate: -0.016623 m/s, LOS rate: 0.118533 deg/s, cmd heading: 233.490181 deg, new cmd heading: 233.631195 deg. 2jM;UHeadingCmd: 4.077633 target range: 512.900024 and range: 512.90 m. jU{@jQjQjQiQhhhhfffrfbfJ @ɛ B 5?=I1 =Ǽɚ9i9I==IE' iEoiE)E{@)IE*F ?2F :F BF d0JF eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.508905 IJJ6J1JJ$ ;J{:J3Ja@a@a@a@jHM<bHM4=He>Ia Ie"IIe(BIe< =&Ia.Ia6Ie<:Ie< FGU"GU?GU>G B O= >X*;w,A6w@Y6!ނ@6|#96>y6H ?`ITf?1n?&??ɨ6w@6\;6qq uG٣uCGy}< }> Nusing accuracyPremultiplier from config49?4Y- ieB?:O @zDU;;4IB b@EZjFNOT Ignoring new targets: 512.90 m.Bj;Jj; ProNav: ac range: 512.900024 m, nav range: 294.743500 m, bearing: 323.330351 deg, approach rate: -0.021220 m/s, LOS rate: 0.119653 deg/s, cmd heading: 233.631183 deg, new cmd heading: 233.782958 deg. 2j;;HeadingCmd: 4.080282 target range: 512.900024 and range: 512.90 m. j@jjjihhhhBfffrfbf@ɛeBmJ im-=Ii u;ǼɚqiqIuE=I}] i}[Voi}q)}@)*F%?2F!:F!BF%o0JF!mPExceeded connect timeout, disconnecting.mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.012778 IGM ׹G! B1 OM >Bw,Aw@Y@#9>yH`?oV@[^? }}?(??ɨw@;;CymǃBm"III1h4٢< E=9tQ > G٣y; > Nusing accuracyPremultiplier from config49|?4Y03 ieB @zDI;J;4JB 6@EZj)5FNOT Ignoring new targets: 512.90 m.Bj5";Jj5";E ProNav: ac range: 512.900024 m, nav range: 294.734161 m, bearing: 323.379808 deg, approach rate: -0.022307 m/s, LOS rate: 0.118143 deg/s, cmd heading: 233.782950 deg, new cmd heading: 233.931325 deg. 2jE);MHeadingCmd: 4.082872 target range: 512.900024 and range: 512.90 m. jU㦂@jQjQjQiQhQhQhYhYfYfYfarfibfmb@ɛBh 隵?=I ƼɚiI=I ioi~޻)㦂@)Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:37:06.4684 LVL= 24816, 32753, 30226, 32755, AGC= 64, IDX= 434,-0.32, 2.836, 2.242, 0.920, 2.094, PHS= 0.830, 0.195,-1.177, RAW= 48.0, 1.7, CAL= 47.5, 0.5, ROT= 102.5, -0.5 MYgot valid direction response: 21:37:06.4684 LVL= 24816, 32753, 30226, 32755, AGC= 64, IDX= 434,-0.32, 2.836, 2.242, 0.920, 2.094, PHS= 0.830, 0.195,-1.177, RAW= 48.0, 1.7, CAL= 47.5, 0.5, ROT= 102.5, -0.5 UPDAT read: Bearing 102.5, -0.5 (Local) ]~Local bearing/azimuth received: Bearing 102.5, -0.5 (Local) *F?2F:FBFj1JFDAT read: Range 10 to 50 : 512.4 m (Round-trip 683.3 ms) speed 0.0 m/s ,DAT read: user:1918> BDAT read: Tx time:21:37:07.5793 $Ping request sent.𧖿PwV? g;T?)5} Will construct direction to contact in vehicle frame from tetrahedron phase data.} JDAT read: TxSync time:21:37:07.5786 $?I jgAHw,"AJ6J65J60J4J6D#;J6:J6ـ3J4HtIt Iv"IIv2BIt&It.It6Iv<:IvR F=x@Y=@=!9=1>y=H@| ?`t*;?=?2?P?ɨ=x@=+;= G٣CGy; > Nusing accuracyPremultiplier from config49m?4Y@: ieB3!?:* @{D);;˶4  z@ EkC@T?kY<* k kʩA:kDBkhCZkB͸@"42*1Q[Gw@t1u@;OpТcMB?TfN?Jk?RkrA*!ـq@V~cyzӿYC?"k*kCkzU?kG 2kCk*N?k kkCk5@m addTargetRange:: Added new target pos. range: 512.400024 m, deltaT: 4.282776 s, deltaX: -0.500000 m, approachRate: -0.116747 m/s, rangeRepo size: 4  Added new target pos. range: 512.400024 m, bearing: 330.886324 deg, lat: 36.903091 deg, lon: -122.117119 deg, deltaT: 4.282776 s, deltaX: -0.500000 m, approachRate: -0.116747 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 512.40 m.BjJj5 ProNav: ac range: 512.400024 m, nav range: 311.207764 m, bearing: 326.245125 deg, approach rate: 0.000000 m/s, LOS rate: 0.118143 deg/s, cmd heading: 233.931329 deg, new cmd heading: 234.111973 deg. 2j1=HeadingCmd: 4.086025 target range: 512.400024 and range: 512.40 m. j=@j9jAjAiAhAhAhIhMBfififqrfu@3@bfu` z?ɛB  =I YƼɚiI=Will construct direction to contact in vehicle frame from tetrahedron phase data.IG i6niػ)@)EEzKmKmh9KiKm<Km*F?2F:FBFo0JF U nManaging dock network, ignoring radio surface power offG UG B O >mOw,C?A @6x@Y6@6'96>y6H>t@o? q9!Ng? ޤ?@8&?Z?ɨ6x@61;6:CyBBB "IDDIJRIJW4٢RJ R=9VQ V?TT VG٣TyZ; b?nWill construct direction to contact in vehicle frame from tetrahedron phase data. nNusing accuracyPremultiplier from confighr49je?r4Yj> ijeBtv v@j{DjY;j:j@4 Iq u@qZjFNOT Ignoring new targets: 512.40 m.Bj:Jj: ProNav: ac range: 512.400024 m, nav range: 311.204315 m, bearing: 326.281295 deg, approach rate: -0.010451 m/s, LOS rate: 0.109614 deg/s, cmd heading: 234.111974 deg, new cmd heading: 234.220484 deg. 2jt;-HeadingCmd: 4.087919 target range: 512.400024 and range: 512.40 m. j-;Ђ@j1j1j1i1h1h1h9h9f9f9fArfAbfE`?ɛB Uw, YA6.5x@Y6)@6GG'96>y6HhD?`>`$:?l?u??ɨ6.5x@6A;68Cy<@IJ^IJ&49R'Q R>TT VG٣TyV; Z> fNusing accuracyPremultiplier from configdj49fY?j4Yf9D ifeBlnn@f-{Df;fI;fG4t ttB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 512.40 m.Bj ;Jj ;- ProNav: ac range: 512.400024 m, nav range: 311.199615 m, bearing: 326.327917 deg, approach rate: -0.012402 m/s, LOS rate: 0.123029 deg/s, cmd heading: 234.220492 deg, new cmd heading: 234.360359 deg. 2j-ި;5HeadingCmd: 4.090360 target range: 512.400024 and range: 512.40 m. j5:@j1j9j9iAhAhAhAhAfIfIfIrfIbfU?ɛEBE$ AE Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478421#\w,%rA>Px@zKNyJKN9KLKN=KNY>7@>+9>H!>y>H!] ?⶿,  @> ?y???ɨ>Px@>N;>;Cy-B5"IMb@Mb@Mb@ )YL7A`?L7A`?{Gzy+'?+=#X A 3@)MAIAyfAIFI%3٢- -<9=Q E>II UG٣Yyep; m> }Nusing accuracyPremultiplier from configy49}L?4Y}J i}eBf'?:Y@}@{D};};}L4IB @EZjFNOT Ignoring new targets: 512.40 m.Bj;Jj; ProNav: ac range: 512.400024 m, nav range: 311.191345 m, bearing: 326.383113 deg, approach rate: -0.017881 m/s, LOS rate: 0.119343 deg/s, cmd heading: 234.360347 deg, new cmd heading: 234.525940 deg. 2jΣ;HeadingCmd: 4.093250 target range: 512.400024 and range: 512.40 m. j@jjjihhhh Bf f f rfbf )?ɛ=B=Q 9=,E]>*F2F:F BF \0JF  I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.732093G>uG ?G(?G B O > cw,:ʌA2|x@Y2M@2e&92 >y2HsK`<?ܶ8`?`+ˤ?5??ɨ2|x@2 S;2BB"I)D DIJrIJJ4٢b6!< fe=9fYs;Q f>hh jG٣jCGyj; n> rNusing accuracyPremultiplier from configpv49rA?v4YrP ireBtv.v@rO{Dr:r:rs4JB @ EZj)-FNOT Ignoring new targets: 512.40 m.Bj5 ;Jj5 ;E ProNav: ac range: 512.400024 m, nav range: 311.184601 m, bearing: 326.425462 deg, approach rate: -0.019328 m/s, LOS rate: 0.121363 deg/s, cmd heading: 234.525938 deg, new cmd heading: 234.652987 deg. 2jE;MHeadingCmd: 4.095467 target range: 512.400024 and range: 512.40 m. jM@jIjIjIiIhQhQhQhQfYfYfYrfYbfe฾?ɛB4 隕;ƼɚiI>=I imi )@)!]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983056*F?2F:FBF^0JFG(GBO > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236419JU JU ,JQ JQ JU ;JU L:JQ H I  I "II 2BI ; =&I .I 6I <:I V FJQ JU wyH5'?@i`qH`F?1u??z?ɨmx@7;y%B%"IMb@Mb@Mb@ )YˡE?Mb?y&1|y'?=` A @)X@IAyAI-uI-aO4٢E E3=9M:Q M>QQ ]G٣Yy]k; e> mNusing accuracyPremultiplier from configau49e4?u4YeV ieeBu%(?}:}}@eb{De#;e;ee4 @ZjAmFNOT Ignoring new targets: 512.40 m.Bjm;Jjm;} ProNav: ac range: 512.400024 m, nav range: 311.175842 m, bearing: 326.480378 deg, approach rate: -0.018503 m/s, LOS rate: 0.116021 deg/s, cmd heading: 234.652979 deg, new cmd heading: 234.817733 deg. 2j}?;HeadingCmd: 4.098342 target range: 512.400024 and range: 512.40 m. j%@jjjihhhhكBfffrfbf@޹@ɛEBMx@ü IM;II M2ƼɚQiQIU=IUx i]2mi]')]%@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.487964*F12F1:F9BF=_0JF9zKBoIKh9KK>KBKpA:KqAG} GQ BY O} >pw,wA6*x@Y6^r@6u"96>y6H`{-@6,?@h(N_?B???ɨ6*x@6;69C F$?IFkgyFBJ"IIPIP٢Vň Zi=9Z:Q Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.739218lp rG٣pyr^; r> zNusing accuracyPremultiplier from configtz49v>*?~4Yv[ ivfB|~ ~@vq{Dv ;v ;v4 &@  EZj)5FNOT Ignoring new targets: 512.40 m.Bj5b;Jj5b;M ProNav: ac range: 512.400024 m, nav range: 311.168915 m, bearing: 326.523217 deg, approach rate: -0.020695 m/s, LOS rate: 0.127978 deg/s, cmd heading: 234.817724 deg, new cmd heading: 234.946242 deg. 2jM;UHeadingCmd: 4.100585 target range: 512.400024 and range: 512.40 m. jU7@jQjQjQiQhYhhhff!f!rf!bf%@ɛmBmȼ quKI +7ƼɚiIi=I iօmi|)7@)*Fm?2Fi:FiBFmo0JFiuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991272GJG B O >Fvw,RA: x@Y:O@:!9:?]>y:H5?@XX@\?=?q??ɨ: x@:,<;8yFBJ "IIVIVv}4٢f/= fI=9j8Q j>hh jG٣nCGyn?; n> vNusing accuracyPremultiplier from configpv49r?v4Yra irfBxzz@r{DrL:r7:r4 @%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 512.40 m.Bj5 ;Jj5 ;E ProNav: ac range: 512.400024 m, nav range: 311.160675 m, bearing: 326.571881 deg, approach rate: -0.020399 m/s, LOS rate: 0.120480 deg/s, cmd heading: 234.946240 deg, new cmd heading: 235.092236 deg. 2jM^;MHeadingCmd: 4.103134 target range: 512.400024 and range: 512.40 m. jUL@jQjQjQiQhQhQhYhYfafafarfabfe+ @ɛB4M¼ 隕;I ,ƼɚiI8=I i\mi)L@)*FU?2FQ:FQBFU 2JFQ IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243411jH1bH1HQIQ IU"IIU-BIU< =&IQ.IQ6IU<:IU9 FBI JI RI ZI < =bI < =jI 4GsGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494485q|w,1AJ* y@YJ^@JZ"9JC>zKNKNػ9KLKN?KNyJH`{>?ૠ fa/\?`I? ߾?d?ɨJ* y@J;J=Cy=B= "IMb@Mb@Mb@ )YZd;O?Zd;O?Mb`y~*?j<A A @)A@IAyAI{IZ4٢<  7=9fQ %>11 5G٣1y= ; => ENusing accuracyPremultiplier from configAM49E ?M4YEh iEfBM*?M:UU@E{DEc;E;Ey4Y ]@YZjFNOT Ignoring new targets: 512.40 m.Bjt ;Jjt ; ProNav: ac range: 512.400024 m, nav range: 311.155579 m, bearing: 326.626896 deg, approach rate: -0.011375 m/s, LOS rate: 0.122794 deg/s, cmd heading: 235.092243 deg, new cmd heading: 235.257289 deg. 2j;HeadingCmd: 4.106014 target range: 512.400024 and range: 512.40 m. jxd@jjjihhhhʃBfffrfbfu7 @ɛEBE¼ AE;IA MƼɚIiII=IV i-mi!)xd@)*F?2F:FBFm1JF e$?IaWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:37:10.6767 TRx dataTimestamp_ set to:1736372232.040743checking for new query: numPingsReceived=0, elapsed TxPingTime=3.747619JJ-J0JJ$ ;Jч:Jـ3JJ;v<JYw, A6N.y@Y6p@6-!96=>y6HwH?Ʒ`k D MO? 2?-? ?ɨ6N.y@6׊;6;Cy>ăB>"IIJ|IJ[4٢ZS< Zb=9^,:Q ^>!! %G٣!y%; -> 5Nusing accuracyPremultiplier from config)549-?=4Y-m i-'fBAEE@-{D--;-t.;-4MIB M^@MEZj  FNOT Ignoring new targets: 512.40 m.Bj4;Jj4;=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.998688M ProNav: ac range: 512.400024 m, nav range: 311.151062 m, bearing: 326.672099 deg, approach rate: -0.011636 m/s, LOS rate: 0.116456 deg/s, cmd heading: 235.257287 deg, new cmd heading: 235.392897 deg. 2jU؟;}HeadingCmd: 4.108381 target range: 512.400024 and range: 512.40 m. j}w@jyjyjyiyhyhhhfffrfbf1+@ɛEBMܿ q}. m BDAT read: Tx time:21:37:11.7794 O} > w,Z*A$Ping request sent.h-M;~? j ?)t;I?it;>p1? ~G!뿕ѽͿ)kI!j>iU?d :publishing transmit ping time Fpublishing direction and range info93u ?N/P?-?y )Ii )Iip1? ~G!뿕ѽͿ)Ii`iy@YÃ@!9̦>yH.X?Է2|`6?:??M?ɨ`iy@T;yyޱWill construct direction to contact in vehicle frame from tetrahedron phase data.MMb@Mb@Mb@III I)IYMDl? G٣CGyi; > Nusing accuracyPremultiplier from config 49M?4Ycv i:fBU-?: @{D;B;4%JB %i@%Ekh)?kcı k ke"A:kDBk DZk@" Sy\@k=s@)j^Qy@3u ?N/P?-?JkU?Rkd*XKb@;1kxwA{@Lp?xuyڿ(ū?"kY*kCk7A*?k;m 2kdDkkk7CkCk|@ addTargetRange:: Added new target pos. range: 519.799988 m, deltaT: 4.286353 s, deltaX: 7.399963 m, approachRate: 1.726401 m/s, rangeRepo size: 4  Added new target pos. range: 519.799988 m, bearing: 304.545134 deg, lat: 36.903091 deg, lon: -122.117119 deg, deltaT: 4.286353 s, deltaX: 7.399963 m, approachRate: 1.726401 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 519.80 m.zK FKK ]9K K @K Bj-Jj)= ProNav: ac range: 519.799988 m, nav range: 311.151642 m, bearing: 326.742352 deg, approach rate: 0.000000 m/s, LOS rate: 0.116456 deg/s, cmd heading: 235.392907 deg, new cmd heading: 235.591775 deg. 2j9EHeadingCmd: 4.111852 target range: 519.799988 and range: 519.80 m. jEK@jAjAjiiihihihqhu΃Bfqfqfqrf}`f>@bf}c?ɛ B #5ü  ;I iƼɚiIz=I ili )K@)!*F?2F:FBF0JF ! I!  Will construct direction to contact in vehicle frame from tetrahedron phase data. i G 9"J J 4J J J ;J r:J J a @a @a @a @G B O>בw,GAy5˃B5"IIE`IE(*4٢m< m<9uQ u?qy }G٣yy} }? Nusing accuracyPremultiplier from config49b?4Y{ iEfB@{D ;* ;4 @EZjFNOT Ignoring new targets: 519.80 m.Bja;Jja; ProNav: ac range: 519.799988 m, nav range: 311.152222 m, bearing: 326.785704 deg, approach rate: 0.001794 m/s, LOS rate: 0.134095 deg/s, cmd heading: 235.591775 deg, new cmd heading: 235.721832 deg. 2j;HeadingCmd: 4.114122 target range: 519.799988 and range: 519.80 m. j㦃@jjjihhhhfffrfbfyv?ɛ-ƒB- 15Cw,saA $?IlgBc>y@YBz@BJ+9BL >yBH`bR?{T`oXy?g??`?ɨBc>y@Bj8;B8CyNփBN("IIVJIV)4٢b _= bW=9bŻQ f>dd fG٣dyj j>rWill construct direction to contact in vehicle frame from tetrahedron phase data. vNusing accuracyPremultiplier from configlv49nf?z4Yn9 inSfBxz z@n{Dn:nq:n 4 >@%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 519.80 m.Bj5{ ;Jj5{ ;M ProNav: ac range: 519.799988 m, nav range: 311.153717 m, bearing: 326.833128 deg, approach rate: 0.003900 m/s, LOS rate: 0.123692 deg/s, cmd heading: 235.721822 deg, new cmd heading: 235.864093 deg. 2jMǩ;UHeadingCmd: 4.116605 target range: 519.799988 and range: 519.80 m. jU:@jQjQjYiYhYhYhahafafafarfibfm ]?ɛÃB(_  =隝=I #żɚiIU=IA ili):@)Ep>E>ZHRHHI I"II-BI&I.I6I<:IA FG-A m Yiyu(A*F5?2F:FBF^0JFG GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GKG B O >zK BIK 9K K AK &w, [{Ab3Oy@Ybⶃ@bY+9br >ybH U?@5tŧ@=B?`o?`;R?e?ɨb3Oy@b,P;b>Cyn߃Bn3"I]Mb@Mb@Mb@YYY Y)YY]/$?{Gzt{Gzt?y]1(?]ףY]+ A ]@)]A@I]zAYy]zAIu/Iu3٢G = >=93Q > G٣CGy; > Nusing accuracyPremultiplier from config49?4YR iafB3(?:> @{D;3;4 @EZjFNOT Ignoring new targets: 519.80 m.Bj ;Jj ; ProNav: ac range: 519.799988 m, nav range: 311.161163 m, bearing: 326.884911 deg, approach rate: 0.017295 m/s, LOS rate: 0.120271 deg/s, cmd heading: 235.864081 deg, new cmd heading: 236.019425 deg. 2j;HeadingCmd: 4.119316 target range: 519.799988 and range: 519.80 m. j%pу@j!j!j!i!h!h!h)h-ԃBf)f)f1rfbf ?ɛŃB͋ J=I PżɚiI ̾= II-| i5Nli5+)5pу@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.390039*F!2F!:F!BF%]0JF)J3K3 K/.KK"KJJ,JJJ;JL:JJGEňGB!OEs> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.640860Vw,:=AJd~y@YJ{΃@J!%9Jzk >yJH V`?8L`܁@@f ?6?@{? ?ɨJd~y@Jj;Jhh nG٣lyny; n> vNusing accuracyPremultiplier from configpv49r?z4Yr irmfBxz z@r{DrQ;rQ;r4 @Zj)5FNOT Ignoring new targets: 519.80 m.Bj=M ;Jj=M ;M ProNav: ac range: 519.799988 m, nav range: 311.167297 m, bearing: 326.930959 deg, approach rate: 0.016223 m/s, LOS rate: 0.121787 deg/s, cmd heading: 236.019427 deg, new cmd heading: 236.157570 deg. 2jM);UHeadingCmd: 4.121727 target range: 519.799988 and range: 519.80 m. jU0@jQjQjQiYhYhYhYhYfafafarfabfmJ?ɛ5ǃB5 9==I9 =tļɚ9i9I= |=IEUU iEliE')M0@)I*F 2F :F BF _0JF  $?ImgWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.894323H >I  I "II L8w,IAyBF"IMb@Mb@Mb@ )Y#~j?I +Mbp?y%?94; A )IAyBAIIHo4٢)< 9=9Q > G٣y   > Nusing accuracyPremultiplier from config49%?4Y izfB%%?%:% %@|D ;p;b!4) -@-E]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.145113ZjQeFNOT Ignoring new targets: 519.80 m.Bju;Jju; ProNav: ac range: 519.799988 m, nav range: 311.177124 m, bearing: 326.983610 deg, approach rate: 0.022301 m/s, LOS rate: 0.119483 deg/s, cmd heading: 236.157561 deg, new cmd heading: 236.315508 deg. 2j;HeadingCmd: 4.124484 target range: 519.799988 and range: 519.80 m. j@jjjihhhhBfffrfbf b1@ɛȃBnN =I `ļɚiI/=I*( i!miu)@)zK>`JK]9KKBKBKqA:KEK'=*F2F:FBFJF I Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.398906J J +J 1J J $ ;J Ȇ:J 3J G ňG G >G B O >ֲw,A6'y@Y6]@6 96%>y6H/z?@= iWϻ? ~? ?t?ɨ6'y@6i;6;Cy>BBT"IIJqIJJH4٢RHd= RI=9R;Q V>TT VG٣ZCGyZ< Z> ^Nusing accuracyPremultiplier from config\b49^?b4Y^ i^fBdf< f@^"|D^K ;^ ;^(4h j@jEZjFNOT Ignoring new targets: 519.80 m.Bj ;Jj ; ProNav: ac range: 519.799988 m, nav range: 311.184753 m, bearing: 327.032103 deg, approach rate: 0.018708 m/s, LOS rate: 0.118908 deg/s, cmd heading: 236.315502 deg, new cmd heading: 236.460977 deg. 2j5;%HeadingCmd: 4.127023 target range: 519.799988 and range: 519.80 m. j@jjjihhhhfffrfbfY@ɛ%ʃB%" )-l=I) -/üɚ)i)I-=I5 i5'mi5{)=@)9E=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.649994*F?2F:FBFi0JFGmݗGABQOmW> u $?Iq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.901036w,AjH bH"<H$I$ I&"II&PBI$&I$.I$6I&<:I&L FJgz@YJ@Jl9JN>yJH@^? WǦ?k,???ɨJgz@J;J7Cy}B}X"II I kf4٢[< 0=9:Q > G٣y; > =Nusing accuracyPremultiplier from config1}495?4Y5l i5fB @56|D5x<5u<504 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 519.80 m.Bj-;Jj-;= ProNav: ac range: 519.799988 m, nav range: 311.193237 m, bearing: 327.089631 deg, approach rate: 0.016978 m/s, LOS rate: 0.115119 deg/s, cmd heading: 236.460985 deg, new cmd heading: 236.633563 deg. 2j=;EHeadingCmd: 4.130035 target range: 519.799988 and range: 519.80 m. jE?)@jijijiiihihqhqhqfqfyfyrfybf}` @ɛ̓B   =I  ¼ɚ i I=I6 i"8mik)?)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.153183Em >=zK "oNK 9K K CK   {K- RK ?JK ?*F ?2F :F BF _0JF y Iy Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:37:14.8759 TRx dataTimestamp_ set to:1736372236.074330checking for new query: numPingsReceived=0, elapsed TxPingTime=3.408513G `6G)BAO ?X)w, AN7z@YND+@NU9N>yNH?@ G೎? ??ߩ?ɨN7z@N];N G٣CGy; > Nusing accuracyPremultiplier from config49?4Y ifB&?:% @K|D;o;94 @EZjFNOT Ignoring new targets: 519.80 m.Bj;Jj; ProNav: ac range: 519.799988 m, nav range: 311.202850 m, bearing: 327.149621 deg, approach rate: 0.019906 m/s, LOS rate: 0.124220 deg/s, cmd heading: 236.633570 deg, new cmd heading: 236.813536 deg. 2j;HeadingCmd: 4.133176 target range: 519.799988 and range: 519.80 m. jB@jjjihhhhBfffrfbfw @ɛ%σB% )-H=I) -@¼ɚ)i)I-==I5 i5Pmi=9p)=B@)AEIEI*EI"EIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.656950*F2F:FBF\0JF I G U Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:37:14.8759 LVL= 18336, 24433, 22050, 26947, AGC= 71, IDX= 430,-0.08,-2.821, 2.879, 1.422, 2.598, PHS= 0.952, 0.328,-1.179, RAW= 46.5, -1.1, CAL= 47.3, -3.7, ROT= 102.7, 3.7  Ygot valid direction response: 21:37:14.8759 LVL= 18336, 24433, 22050, 26947, AGC= 71, IDX= 430,-0.08,-2.821, 2.879, 1.422, 2.598, PHS= 0.952, 0.328,-1.179, RAW= 46.5, -1.1, CAL= 47.3, -3.7, ROT= 102.7, 3.7  PDAT read: Bearing 102.7, 3.7 (Local)  ~Local bearing/azimuth received: Bearing 102.7, 3.7 (Local) HI I"II`BI&I.I6I<:I\ FBIJIRIZIbIjI$P4EDAT read: Range 10 to 50 : 519.2 m (Round-trip 692.3 ms) speed 0.0 m/s E,DAT read: user:1920> MBDAT read: Tx time:21:37:15.9794 M$Ping request sent.UU y閿U O?U nF U VS?)U AIU o?iU A=Q Q O>Zw,/(A9?Vrd8Z72D)I# G٣y > Nusing accuracyPremultiplier from config49w?4Yv ifB%?: @e|D;f;D4Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:37:15.9787 2@Ik T?k^a k k&$A:kDBkDZk{@"lL5#@=\> x@_1u@Ӎm?iT4?lw{}?Jk?Rk<* Sq@;qEfxx@zE?[`տ$ Y?"k+2*kCkY7T?kF> 2kCkY7T?kkCk|Ck@ addTargetRange:: Added new target pos. range: 519.200012 m, deltaT: 4.031235 s, deltaX: -0.599976 m, approachRate: -0.148832 m/s, rangeRepo size: 4  Added new target pos. range: 519.200012 m, bearing: 327.551687 deg, lat: 36.903258 deg, lon: -122.117119 deg, deltaT: 4.031235 s, deltaX: -0.599976 m, approachRate: -0.148832 m/s, posRepo size: 4 Zj%FNOT Ignoring new targets: 519.20 m.BjJj ProNav: ac range: 519.200012 m, nav range: 326.972839 m, bearing: 328.986339 deg, approach rate: 0.000000 m/s, LOS rate: 0.124220 deg/s, cmd heading: 236.813532 deg, new cmd heading: 237.058049 deg. 2jHeadingCmd: 4.137444 target range: 519.200012 and range: 519.20 m. je@jjjihhhhBfffrf9@bf ,?ɛ=ӃB=: Ye^>Ia e(ɚaiaIe5=ImS immimb)me@)qzK OK+9KKDKBK:KrA*F ?2F :F BF !4JF 5 $?I5 ng Will construct direction to contact in vehicle frame from tetrahedron phase data.G=ňGB!OE>w,nHA6z@Y6n@6q 96 >y6H`\1? @ݺ?\m? ?D?ɨ6z@60;6;CyBBB"IIJ1IJ3٢R= Rr=9RIA M ߿ɚIiIIMܑ=IU2 iUSmiU}k)U^v@)Y*F}?2Fy:FBF_0JFGU5Will construct direction to contact in vehicle frame from tetrahedron phase data.G1BAOeU> 1 I1 +w,=EbA6Mz@Y6p}@69 96>y6H@tPt?Pg`@UA?]F?Z??ɨ6Mz@6;6TT VG٣VCGyZL; Z> ^Nusing accuracyPremultiplier from config\b49^b?b4Y^ i^fBdfu f@^|D^ ;^ :^Q4h hhZj FNOT Ignoring new targets: 519.20 m.Bj ;Jj ;} ProNav: ac range: 519.200012 m, nav range: 326.990570 m, bearing: 329.069741 deg, approach rate: 0.024217 m/s, LOS rate: 0.115433 deg/s, cmd heading: 237.172964 deg, new cmd heading: 237.308248 deg. 2j}p;HeadingCmd: 4.141810 target range: 519.200012 and range: 519.20 m. j@jjjihhhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.ՙiՙfrfbf`8?ɛփBKa  >I  ɚ i I N=ZHRHH!I! I%"II%tBI%; =&I!.I!6I%Ӱ<:I%n FIJ iUzKU BoIKU 9KQ KU EKU ^[w,7|ARK?JK?:z@Y:@:m9:w>y:H@M@m? K `H??`??ɨ:z@:v;:;CyB$BB"IMMb@Mb@Mb@III I)IYM'1Z?~jth?yM"?MD;MM+ A M@)M+@IMAIyM\@Ie5Ie3٢u< u<9}1;Q }>yy G٣y: > Nusing accuracyPremultiplier from config49U?4Y ifB"?:@|D3;<;Y4 g@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 519.20 m.Bj:Jj:- ProNav: ac range: 519.200012 m, nav range: 326.998108 m, bearing: 329.117894 deg, approach rate: 0.017214 m/s, LOS rate: 0.109964 deg/s, cmd heading: 237.308256 deg, new cmd heading: 237.452709 deg. 2j5;5HeadingCmd: 4.144331 target range: 519.200012 and range: 519.20 m. j5]@j1j9j9i9h9h9hAhMBfIfQfQrfYbf] ? $?Iɛ-كB-sl\ 15>I1 5^꽼ɚ1i1I5=I=i=Lmi=z)e]@)iEWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*Fy2Fy:FBFo0JFG GnAG Gq B O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734101Cw,Ajz@Yj@j+9j >yjH@D`A?W۸ 6?)?`B?`E?ɨjz@jI;hyr+Br"II}I]4٢= = EN=9M;Q U>aa mG٣iym\; u> Nusing accuracyPremultiplier from config49J?4Y ifB@|Dy;;$`4 @%EZjFNOT Ignoring new targets: 519.20 m.Bj[:Jj[: ProNav: ac range: 519.200012 m, nav range: 327.005005 m, bearing: 329.162747 deg, approach rate: 0.016358 m/s, LOS rate: 0.106379 deg/s, cmd heading: 237.452701 deg, new cmd heading: 237.587258 deg. 2j;HeadingCmd: 4.146680 target range: 519.200012 and range: 519.20 m. j@jjjihhhhfffrfbf ?ɛUۃBUXI QU>IQ U^༼ɚYiYI]w=Ii%mij)@)*F?2F:FBF0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988460H I  I "II BI &I .I 0D6I ˰<:I h F) CJ] J] 7J] 0JY J] ;J] :J] ـ3JY J] s<J] s<J] ;J] ;G ( AG vA M YU vAyU ;BGI B O% >jw,&AR{@YR0@RA69R >yRH9 ??? ? O?ɨR{@R;R:Cy^.B^"I--only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 86.98, 73.39, 80.53  -@5 5@5 5@5  5@5 I=zI==X4٢M]< MJ=9U ;Q U>QY ]G٣]CGy]|x; ]> mbBottom track data is 0.4 s old, using for 20.0 s. mNusing accuracyPremultiplier from configau49e>?u4Yen iefBu+:y}:}}@e|De8;e>ee4 @ZjFNOT Ignoring new targets: 519.20 m.BjZ;JjZ; ProNav: ac range: 519.200012 m, nav range: 327.011658 m, bearing: 329.207187 deg, approach rate: 0.017715 m/s, LOS rate: 0.118334 deg/s, cmd heading: 237.587256 deg, new cmd heading: 237.720573 deg. 2jl;5HeadingCmd: 4.149007 target range: 519.200012 and range: 519.20 m. j5Ą@j1j1j1i1h9h9h9h9fAfAfArfAbfEJ@ɛރB!A 隽>I F廼ɚiI=IaiQ niM)Ą@)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240285*F?2F:FBFX5JFzKUk3IKQKQKUFKUSWBKa:KeqAGmD& IGA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490518Qw,VAy~4B~"II I _v4٢!< M=9%Q %>!! %G٣!y- -> =bBottom track data is 0.8 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E49513?E4Y5 i5fBE :AE[:IM@5|D5A;5L?5Yj4UKB Uv@U&EZjFNOT Ignoring new targets: 519.20 m.Bj:Jj: ProNav: ac range: 519.200012 m, nav range: 327.018463 m, bearing: 329.251450 deg, approach rate: 0.017119 m/s, LOS rate: 0.111339 deg/s, cmd heading: 237.720581 deg, new cmd heading: 237.853367 deg. 2jҘ;HeadingCmd: 4.151324 target range: 519.200012 and range: 519.20 m. jׄ@jjjihhhhfffrfbfg @ɛBT-5 &>I B亼ɚiI}Y=Ijpi9niu)ׄ@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742300G_GiByO> $?I og%yw, A:vy{@Y:̄@:ͼ9:tV>y:H`Tk?Ѻ p?켙?e?O?ɨ:vy{@:@ɓ;:;CyF=BF"IINuINaO4٢VE= VR=9VXX ZG٣Xy^< ^> fbBottom track data is 1.2 s old, using for 20.0 s. jNusing accuracyPremultiplier from config`n49b)(?r4Yb ibfBr9pr1:r;r@b|Dbٓ;bX?bm4t z@z)EZjFNOT Ignoring new targets: 519.20 m.Bj%K:Jj%K:5 ProNav: ac range: 519.200012 m, nav range: 327.023804 m, bearing: 329.294776 deg, approach rate: 0.013702 m/s, LOS rate: 0.111160 deg/s, cmd heading: 237.853360 deg, new cmd heading: 237.983335 deg. 2j5;=HeadingCmd: 4.153593 target range: 519.200012 and range: 519.20 m. j=;@j9j9j9iAhAhAhAhAfIfIfQrfYbfe,@jH<bH<HI I#IIBI&I.I6Ḭ<:Ii FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007727ɛBZ. 隅 5>I 򩹼ɚiI%=I?KiSni);@)J%J%-J!J!J%$ ;J%ч:J!J!J%;v<J% Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258235w,EhA6B{@Y6j@696H>y6H a?`M@"ձ N?? r?@ͬ?ɨ6B{@678;6 iIi G٣CGy< > Nusing accuracyPremultiplier from config49?4Y ifBT:'?:@|D7<4<4v41 =@9B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 519.20 m.Bj:Jj: ProNav: ac range: 519.200012 m, nav range: 327.025330 m, bearing: 329.348978 deg, approach rate: 0.003133 m/s, LOS rate: 0.111282 deg/s, cmd heading: 237.983325 deg, new cmd heading: 238.145929 deg. 2j;HeadingCmd: 4.156431 target range: 519.200012 and range: 519.20 m. j{@jjjihh!h!h%BfIfIfIrfIbfM- @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510417ɛB8 2>I Nɚi!I%=I-i-fni- *)-{@)1*F2F:FBFV0JFG 5G qAG G B O >nw,AA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&BDAT read: Rx Time:21:37:19.0653 &TRx dataTimestamp_ set to:1736372240.372691*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763299>9{@Y> @>9>>y>H@y?أ2V? ? ??ɨ>9{@>ؐ;>;CyNCBN"IIboIbD4٢j< j`=9j[;Q n>ll nG٣pyr[+< r? vNusing accuracyPremultiplier from configtz49v?z4Yv ivfBx~~@v|DvrI VɚiI=Iikni[u)R@)*FM?2FI:FQBFU_0JFQ M$?IIH>I I#IIBI&I.I6IҰ<:Im FWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015970GJ J *J J J ;J C:J J J s<J s<J ;J ;G B O >H w,1AF 0|@YFO'@F9F5>yFHI`? T@ o?A?&? ?ɨF 0|@Fdԏ;F=CyRGBR"I5Mb@Mb@Mb@111 1)1Y5L7A`?Q?Mbp?y5+'?5<5;5 A 5@)5A@I5MA1y5 @IMnIMB4٢]'< ]B=9ec;Q e>aa eG٣aym< m> Nusing accuracyPremultiplier from configy49}?4Y} i}fBX'?:@} }D};};}4JB 8@,EZjFNOT Ignoring new targets: 519.20 m.Bj:;Jj:; ProNav: ac range: 519.200012 m, nav range: 327.018341 m, bearing: 329.436645 deg, approach rate: -0.018393 m/s, LOS rate: 0.119099 deg/s, cmd heading: 238.263718 deg, new cmd heading: 238.408956 deg. 2jy;HeadingCmd: 4.161021 target range: 519.200012 and range: 519.20 m. j'@jjjihhhhBfqfyfyrfybf}K@ɛBY 隭j9>I ɚiIݩ=Iijnil)'@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:37:19.0653 LVL= 22512, 29681, 22066, 29747, AGC= 70, IDX= 441, 0.29, 2.018, 1.119, 0.105, 0.668, PHS= 1.438, 0.499,-0.566, RAW= 57.9, -15.6, CAL= 69.3, -23.9, ROT= 80.7, 23.9 Ygot valid direction response: 21:37:19.0653 LVL= 22512, 29681, 22066, 29747, AGC= 70, IDX= 441, 0.29, 2.018, 1.119, 0.105, 0.668, PHS= 1.438, 0.499,-0.566, RAW= 57.9, -15.6, CAL= 69.3, -23.9, ROT= 80.7, 23.9 PDAT read: Bearing 80.7, 23.9 (Local) ~Local bearing/azimuth received: Bearing 80.7, 23.9 (Local) DAT read: Range 10 to 50 : 511.2 m (Round-trip 681.7 ms) speed 0.0 m/s ,DAT read: user:1921> BDAT read: Tx time:21:37:20.1794 $Ping request sent.U`UY?U'g UTњ?)UվIUI?iU>QQUur?o;뿬 4ѿ)UIU[>iU?UO4fQQ-:publishing transmit ping time-Fpublishing direction and range infoQ9ULkս?\?P ?yQQQQ Q)QIQiQQQQQ Q)QIQiQQQUur?o;뿬 4ѿ)QIQiQQQQ*F?2F:FBF`0JFzKZOKŷ9KKHK YIYGsG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:37:20.1787 w,[ KA Fn|@YFF@F89F}>yFH`?._ 8Q j%?`?/??ɨFn|@FQ;F:CyjKBj"IppIvsIvK4٢~< ~P=9~H;Q ~> G٣CGyX <  > Nusing accuracyPremultiplier from config 49 k?4Y  i fB@ }D  ; : d4) -@)k}S"?k}  ky k}8A:k}CBk}CZk}@"}XAT#`@式 r@ֈy@}Lkս?\?P ?Jk}?Rk}O4f*}&}[]L`@ۣeBlqx{@}Pk 6S?BMܿhm?"k}b*k}eCk}"?k}˴2 2k}Ckyk}F> kyk}Ck}S6@ addTargetRange:: Added new target pos. range: 511.200012 m, deltaT: 4.298138 s, deltaX: -8.000000 m, approachRate: -1.861271 m/s, rangeRepo size: 4  Added new target pos. range: 511.200012 m, bearing: 299.975639 deg, lat: 36.903258 deg, lon: -122.117228 deg, deltaT: 4.298138 s, deltaX: -8.000000 m, approachRate: -1.861271 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 511.20 m.BjJj ProNav: ac range: 511.200012 m, nav range: 332.038605 m, bearing: 328.040185 deg, approach rate: 0.000000 m/s, LOS rate: 0.119099 deg/s, cmd heading: 238.408955 deg, new cmd heading: 238.550626 deg. 2jHeadingCmd: 4.163494 target range: 511.200012 and range: 511.20 m. jW;@jjjihhhhfffrf@3@bf?ɛB-  |;>I ɚiI=Iiani!5Y)W;@)*FE?2FA:FABFE0JFAUWill construct direction to contact in vehicle frame from tetrahedron phase data.GeiGA BI Oe > 9 I9 xw,dA61w|@Y6J@6}961>y6H@?;⻿ FSVg ?Z???ɨ61w|@6 x;69Cy>RBB"IIJLIJ4٢R= VP=9VֺQ V>XX ZG٣Xy^<: ^> bNusing accuracyPremultiplier from config`f49b?f4Yb ibfBdjj@b*}Dbq ;b ;bH4nKB n@n-EZj FNOT Ignoring new targets: 511.20 m.Bj ;Jj ; ProNav: ac range: 511.200012 m, nav range: 332.024445 m, bearing: 328.084573 deg, approach rate: -0.036459 m/s, LOS rate: 0.114291 deg/s, cmd heading: 238.550613 deg, new cmd heading: 238.683781 deg. 2jߜ;-HeadingCmd: 4.165818 target range: 511.200012 and range: 511.20 m. j-aN@j)j)j1i1h1h1h9h9f9f9fArfAbfE?ZHYRH]AAHaIa Ie"#IIeBIe: =&Ia.Ia6Ie<:Ie3 FBIJIRIZI; =bI; =jI(4Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛuBuR y}E>Iy }?ɚyiI_=Iidniw)aN@)*F}?2F:FBF1JF"G=G=G We Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >w,Ů~AzKrjIKr=9KpKrIKr2w?% yzXB~"I}Mb@Mb@Mb@yyy y)yY}!rh?S㥛?y}l'?}/<}} A }@)}X@I}n@yy}@I9I3٢< ;=9Q > G٣y > Nusing accuracyPremultiplier from config49V?4Yj igB'?:@<}D;';4 $?Ipg +@0EZj  FNOT Ignoring new targets: 511.20 m.Bj;Jj;% ProNav: ac range: 511.200012 m, nav range: 332.010071 m, bearing: 328.133628 deg, approach rate: -0.032938 m/s, LOS rate: 0.112417 deg/s, cmd heading: 238.683775 deg, new cmd heading: 238.830946 deg. 2j%M;-HeadingCmd: 4.168386 target range: 511.200012 and range: 511.20 m. j-lc@j)j)j)i1h1h1h9h=*Bf9f9f9rfAbfE?ɛmBm imK>Iq KWɚiI36=IXiynig^)lc@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.i*F?2F:FBFP5JFJJ-J1JJ<;Jч:J3Ja5@a5@a5@a5@G_G B O >%w,ۊAWill construct direction to contact in vehicle frame from tetrahedron phase data.6.|@Y6`j@696>y6H,?@1`cL(ʶ?S? S??ɨ6.|@6;6;CyB_BB"I J=J=IN8IN3٢V= V\=9Vkv:Q Z>XX ZG٣ZCGy^a)< ^> bNusing accuracyPremultiplier from config`f49bw?f4Yb ib gBdjj@bL}Db:bP:ba4x ~@|B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 511.20 m.Bj-;Jj-;= ProNav: ac range: 511.200012 m, nav range: 331.997040 m, bearing: 328.175562 deg, approach rate: -0.034807 m/s, LOS rate: 0.112014 deg/s, cmd heading: 238.830952 deg, new cmd heading: 238.956758 deg. 2j=;EHeadingCmd: 4.170582 target range: 511.200012 and range: 511.20 m. jEiu@jAjAjAiIhIhIhIhIfQfQfQrfQbfH4?ɛBк 隥S>I eɚiI =I4inimO|)miu@)q I*F 2F :F BF  5JF HaIa Ie.#IIeBIe; =&Ia.Ia6Iez<:Ie- 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.J J @AGM 'G! B) OM >^ ,w,1|AJm|@YJ@J@9J,>yJHm:? _|ytg3fH? '? ? ׭?ɨJm|@J;HyV]BV"IuMb@Mb@Mb@qqq q)qYuK7A?I +?Mb`yu "?u9 G٣yM< > Nusing accuracyPremultiplier from config496?4Yh igB%"?:@^}D;;4 @ZjFNOT Ignoring new targets: 511.20 m.Bj:Jj: ProNav: ac range: 511.200012 m, nav range: 331.983063 m, bearing: 328.223188 deg, approach rate: -0.032280 m/s, LOS rate: 0.109997 deg/s, cmd heading: 238.956764 deg, new cmd heading: 239.099648 deg. 2j;HeadingCmd: 4.173076 target range: 511.200012 and range: 511.20 m. j׉@j!j!j!i!h!h!h)h-Bf)f1f1rf1bf5 ?ɛB I>I yɚiI=I inik)׉@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.001384*F?2F:FBFZ0JFzKMTLKMs9KIKMJKMBK]pA:KY $?IG ZsG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251051J5 J5 ,J1 J1 J5 \;J5 L:J1 J1 2w,NArd<}@Yr{@r9r*>yrHO!K?`ռ4 ͵?1c???ɨrd<}@r>;r!! -G٣)y-4< -> ENusing accuracyPremultiplier from config9E49=H?E4Y= i=gBIMM@=m}D=.:=:=ɭ4q @3EZjFNOT Ignoring new targets: 511.20 m.Bj:Jj: ProNav: ac range: 511.200012 m, nav range: 331.969757 m, bearing: 328.265541 deg, approach rate: -0.033642 m/s, LOS rate: 0.107089 deg/s, cmd heading: 239.099651 deg, new cmd heading: 239.226714 deg. 2j;HeadingCmd: 4.175294 target range: 511.200012 and range: 511.20 m. j@jjjihhh h f)f)f1rf9bf=:@ɛBV 隅I  _ɚiI!=IisniN)@)*F2F:FBF^0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503162GJiG B O > I 9w,Aytv"IxzAjHbHH I  I ;#II BI &I .I 6I :I I-lI-m?4٢=<; EI=9UQ e>Will construct direction to contact in vehicle frame from tetrahedron phase data.թiթchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.757063~G G٣CG!y= M> ]YYyeB Nusing accuracyPremultiplier from config49n?4Y igB!!%@}D5;b6;4ULB U@U5EZjFNOT Ignoring new targets: 511.20 m.Bj=:Jj=: ProNav: ac range: 511.200012 m, nav range: 331.954132 m, bearing: 328.316082 deg, approach rate: -0.033681 m/s, LOS rate: 0.108951 deg/s, cmd heading: 239.226720 deg, new cmd heading: 239.378351 deg. 2j;HeadingCmd: 4.177940 target range: 511.200012 and range: 511.20 m. j@jjjih)h)h1h1f1f1f9rf9bf=@ɛB B>I ⬼ɚiI=IUiwniy) @)*Fm?2Fq:FqBFuZ0JFqM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007169Gu KGQ Bi zK K 9K K KK RK ? I JK ?O>@w,}A2}@Y2@2g8\922>y2HHg?S`߿a ?ֆ??`-?ɨ2}@2;2;Cy:aB>"I~Mb@Mb@Mb@||| |)|Y~ˡE? rh?~jthy~'?~C<~D~ A |)~X@I~X@|y~@IeI34٢%L; %3=9-&;Q ->)) 5G٣1y5< 5> =Nusing accuracyPremultiplier from config9E49=ӯ?M4Y= i= gBM'?M:MM@=}D=;=;=ڼ4]KB @8EZj9]FNOT Ignoring new targets: 511.20 m.Bjed:Jjed:u ProNav: ac range: 511.200012 m, nav range: 331.940735 m, bearing: 328.361222 deg, approach rate: -0.032355 m/s, LOS rate: 0.109018 deg/s, cmd heading: 239.378350 deg, new cmd heading: 239.513774 deg. 2ju;uHeadingCmd: 4.180304 target range: 511.200012 and range: 511.20 m. j Ņ@jjjihhhh(Bfffrfbf& @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260756ɛ=BEyf AE?>IA E樫ɚAiIIM!=IMiUYniU+)U Ņ@)q*J9"J=a=JEJE5JE0JAJE;JE:JEـ3JA*F-?2F):F)BF-_0JF)G=uGBOg> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511030pFw,'A6s}@Y6@6SN96=6>y6H@ _n?@4 ߿$?Gʉ??@ ?ɨ6s}@6;4yNmBR"IIV]IV$4٢^w= bS=9b>;Q b>dh jG٣hyj; j> rNusing accuracyPremultiplier from configpv49r?v4Yr ir#gBtv|z@r}Drn:r:r4| ~@|B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 511.20 m.BjT;JjT; ProNav: ac range: 511.200012 m, nav range: 331.927338 m, bearing: 328.405266 deg, approach rate: -0.035455 m/s, LOS rate: 0.116566 deg/s, cmd heading: 239.513779 deg, new cmd heading: 239.645916 deg. 2j;HeadingCmd: 4.182611 target range: 511.200012 and range: 511.20 m. jׅ@jjjihhhh f f f rf bf>, @ɛBPʻ 隥R>I YɚiI.=Io $?Iqgiv?niJ8)ׅ@)*Fm?2Fi:FiBFmn0JFiHiIi ImA#IImBIm: =&Ii.Ii6Imɰ<:Img F%Will construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:21:37:23.2753 5TRx dataTimestamp_ set to:1736372244.657893=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765751GUrG) BQ O >Mw,C6A6~@Y6@6?96>y6Hk߿@}?@Խ`~|߿c?? ??ɨ6~@65(;6:CyBiBB"I F=DMb@Mb@Mb@ )Yw/??MbPy&?< )A@IA@y@I5eI534٢E EB=9E;Q M>II MG٣MCGyUu< U> eNusing accuracyPremultiplier from configYe49]ɚ?m4Y]6& i]'gBm'?m:m{m@]}D];];]4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019276 %'@)ZjIuFNOT Ignoring new targets: 511.20 m.Bj:Jj: ProNav: ac range: 511.200012 m, nav range: 331.908905 m, bearing: 328.452410 deg, approach rate: -0.039933 m/s, LOS rate: 0.102141 deg/s, cmd heading: 239.645930 deg, new cmd heading: 239.787370 deg. 2j2;HeadingCmd: 4.185079 target range: 511.200012 and range: 511.20 m. j+@jjji h)h)h1h5+Bf1f1f1rf9bf= C|@ɛBa* JE>I ਼ɚiIW{=I^Gini")+@) IzK:IK9KKLKBKqA:K*Fy2F:FBF_0JF5 Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:37:23.2753 LVL= 14128, 27281, 17842, 21235, AGC= 71, IDX= 39,-0.23, 1.289, 0.506,-0.788, 0.394, PHS= 0.983, 0.158,-1.186, RAW= 52.1, 0.5, CAL= 52.8, -1.7, ROT= 97.2, 1.7  Ygot valid direction response: 21:37:23.2753 LVL= 14128, 27281, 17842, 21235, AGC= 71, IDX= 39,-0.23, 1.289, 0.506,-0.788, 0.394, PHS= 0.983, 0.158,-1.186, RAW= 52.1, 0.5, CAL= 52.8, -1.7, ROT= 97.2, 1.7  PDAT read: Bearing 97.2, 1.7 (Local)  ~Local bearing/azimuth received: Bearing 97.2, 1.7 (Local)  DAT read: Range 10 to 50 : 518.7 m (Round-trip 691.6 ms) speed 0.0 m/s  ,DAT read: user:1922>  BDAT read: Tx time:21:37:24.3795  $Ping request sent. 5 Η5 h?5 5< 5 k?)5 I5 %?i5 <1 1 5 p?\\_l.?)5 I5 5v i5 7?5 DS1 1  :publishing transmit ping time  Fpublishing direction and range info1 95 Nt<8?, ?y1 1 1 1 1 )1 I1 i1 1 1 1 1 1 )1 GE I6I1 i1 1 1 5 p?\\_l.?)1 I1 i1 1 1 1 G B) OE >Sw,JPAB%I~@YB3@B;29B>yBH߿q?콿`Q߿]C?@ ^??@?ɨB%I~@B?`;B  G٣ y ; > Nusing accuracyPremultiplier from config49?%4Y, i,gBIMFM@}D;;l4Q U@];Eku=M?kuQ: kq kuDJA:kuDBkuDZku6@"u> &Ru@w@uNt<8?, ?Jku7?RkuDS*u@\җ|p@Uv~`؃Ħz@u_:F?PB>I CɚiIn=I]#iomic),@)*Fq2Fq:FqBFu0JFq IrgGU !G B! O= >ZHq RHu @AHy Iy  I} H#II} BIy &Iy .Iy 6I} <:I} V FU Will construct direction to contact in vehicle frame from tetrahedron phase data.(Zw,jAy-cB-"II=<I=3٢U@ UQ=9]Q ]>YY ]G٣aye e> mNusing accuracyPremultiplier from configiu49m??u4Ym2 im/gByy@m}Dm3;mr;m4LB @I) -ɚ)i)I-Id=I5i5mi5<)5@)9*F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G GBO> $?I aw,NA:z~@Y:L@:_;9: >y:H߿N?`༿`+߿@ô? *|?5k???ɨ:z~@:Q;zKBBoHK@K@KBMKB>OE) ::CyNsBN"IEMb@Mb@Mb@AAA A)AYEE?y&1|?y&1|yE&?E`;E`A E@)AIE+@AyE@I]6I]m3٢mB= mJ=9mQ m>qq uG٣qy}; }> Nusing accuracyPremultiplier from config49{?4Y8 i0gB&?:@}D;<;.4 @ZjquFNOT Ignoring new targets: 518.70 m.Bjj;Jjj; ProNav: ac range: 518.700012 m, nav range: 315.637756 m, bearing: 326.772378 deg, approach rate: -0.048045 m/s, LOS rate: 0.113144 deg/s, cmd heading: 240.048692 deg, new cmd heading: 240.191638 deg. 2jL;HeadingCmd: 4.192135 target range: 518.700012 and range: 518.70 m. j%@jjjihhhhfffrfbf1?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛE BEF AE$K>IA MIɚIiIIMS=Iuiuϭmiu_,.)u%@)yEEqA*F-?2F):F)BF-94JF)GM hAG! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data.1gw,+A6t~@Y6I@60966>y6H %߿`5?y@\@|/߿`mݳ? w??`?ɨ6t~@6;6;CyjnBj"IIr$Ir<3٢z&ż zR=9~:Q ~> G٣CGy ^  > Nusing accuracyPremultiplier from config49:q?4Yu> i%%@}D` ; ;4) -@)MB*** querying acoustic contact ***jIjIZjYeFNOT Ignoring new targets: 518.70 m.Bje ;Jjm ;u ProNav: ac range: 518.700012 m, nav range: 315.618561 m, bearing: 326.818275 deg, approach rate: -0.051477 m/s, LOS rate: 0.123089 deg/s, cmd heading: 240.191634 deg, new cmd heading: 240.329332 deg. 2j};HeadingCmd: 4.194538 target range: 518.700012 and range: 518.70 m. j9@jjjihhhhfffrfbf?ɛBͻ =>I  6ɚiIF=IfiamiZ)9@) aIa*FQ2FQ:FQBFU^0JFQH)I) I-N#II-ńBI-; =&I).I)6I-ư<:I-d FBIJIRIZIbIjIļ4%Will construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.GU.-JJ1JJJt;J:JJJ"n]mw,, AJ~@YJ}@J59J5>yJH8߿d?T޿`w???ય?ɨJ~@J;HyVqBV"I=Mb@Mb@Mb@999 9)9Y=y&1?~jt?~jthy=`%?=<=D=A =@)=X@I99y=z@IUjIU;4٢eU7< eC=9mrl;Q m>ii uG٣q}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739160yFv< > Nusing accuracyPremultiplier from config549f?=4YD i3gB=s%?=:===@~D^<8<S4A M@M?EZjFNOT Ignoring new targets: 518.70 m.Bj(:Jj(: ProNav: ac range: 518.700012 m, nav range: 315.591766 m, bearing: 326.867316 deg, approach rate: -0.060458 m/s, LOS rate: 0.110664 deg/s, cmd heading: 240.329331 deg, new cmd heading: 240.476468 deg. 2j;HeadingCmd: 4.197106 target range: 518.700012 and range: 518.70 m. jN@jjjihhhhBf f f)rf1bf5?ɛMBM IM=>IQ U:ɚQiQIUsA=I]Qi]tmi]A)]N@)a M$?II*F2F:FBF_0JFzKuNKu+9KqKuNKu- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990937G} :_GY Ba O} >Htw,A:@Y:E@:-9:{>y:H ߿ |?I` |޿a?@Z_?`S?s?ɨ:@:=;:=CyFpBHIReIR34٢Z ZV=9ZM^;Q Z>\\ ^G٣\ybm< b> fNusing accuracyPremultiplier from configdj49f,]?j4YfJ if5gBlnn@f~DfJ;f;f4p r@pZjFNOT Ignoring new targets: 518.70 m.Bjc;Jjc;- ProNav: ac range: 518.700012 m, nav range: 315.566925 m, bearing: 326.911674 deg, approach rate: -0.069710 m/s, LOS rate: 0.124487 deg/s, cmd heading: 240.476481 deg, new cmd heading: 240.609564 deg. 2j-ު;5HeadingCmd: 4.199429 target range: 518.700012 and range: 518.70 m. j5a@j1j1j1i1h9h9h9h9fAfAfArfAbfM YK@ɛuButβ qu8>Iq }]СɚyiyI}:=IB\iAQmi)a@)*F%?2F):F)BF-n0JF)G.-Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244890GBO%,> 1I1jH bH <5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495649HI II  II II IM : =&II .II 6IM <:IM ; Fxzw,)A2:@Y2@2 92>y2H޿#? @ ޿@1? |? ??ɨ2:@2D;2;CyVxBV"II^^I^&4JJ$JJJ;J':JJJok<Jok<J;J;٢N= 9=9U;Q > G٣CGyZ; > Nusing accuracyPremultiplier from config497R?4Y:Q i7gB@)~D/];G:4MB R@@EZj)-FNOT Ignoring new targets: 518.70 m.Bj5j;Jj5j;E ProNav: ac range: 518.700012 m, nav range: 315.537628 m, bearing: 326.963119 deg, approach rate: -0.066419 m/s, LOS rate: 0.116642 deg/s, cmd heading: 240.609560 deg, new cmd heading: 240.763910 deg. 2jE;MHeadingCmd: 4.202123 target range: 518.700012 and range: 518.70 m. jMw@jIjIjIiIhQhQhQhQfYffrfbf`@ɛB<@ "C>I =eɚ9i9I= ;=IE0iE8miE)Ew@)I*F5?2F9:F9BFAJFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747200Gu jGu ?Gu ?GI BY O >  I sgUw,cA64s@Y6Ȇ@6Eʻ96>y6H`޿@?7 Z޿?Hy??g?ɨ64s@6*\;68CzKNBHKLKLKNOKNyV|BZ"I=Mb@Mb@Mb@999 9)9Y=Mb?~jt?y&1|y=#?9=`9 =h@)9I=@9y=@IUwIUR4٢֦< K=9;Q > G٣yq < > Nusing accuracyPremultiplier from config49mH?4YDW i'#?:@9~D ;;4  @ CEZj)5FNOT Ignoring new targets: 518.70 m.Bj5;Jj=;E ProNav: ac range: 518.700012 m, nav range: 315.510223 m, bearing: 327.009498 deg, approach rate: -0.068225 m/s, LOS rate: 0.115470 deg/s, cmd heading: 240.763922 deg, new cmd heading: 240.903070 deg. 2jE};MHeadingCmd: 4.204552 target range: 518.700012 and range: 518.70 m. jM@jIjQjQiQhQhQhYh] Bfafifqrfqbf}2@ɛB G>I  ɚiI9=ITili )@Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000692)i*F?2F :F BF 0JF G) G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251122w,PsA:ʛ@Y:.݆@:9:p>y:Ho޿`?@cо`T9޿D? u? ?@f?ɨ:ʛ@:;:;CyB{BF"IINnINB4٢bC f]=9f ;Q f>hh jG٣hyj; j> rNusing accuracyPremultiplier from configpv49r}??v4Yr\ ir6gBtvhv@rI~Dr*:rL:r, 4x ~@|B*** querying acoustic contact ***jjZj1MFNOT Ignoring new targets: 518.70 m.BjU;JjU;u ProNav: ac range: 518.700012 m, nav range: 315.484680 m, bearing: 327.052044 deg, approach rate: -0.068677 m/s, LOS rate: 0.114403 deg/s, cmd heading: 240.903067 deg, new cmd heading: 241.030717 deg. 2ju;HeadingCmd: 4.206779 target range: 518.700012 and range: 518.70 m. j@jjjihhhhfffrfbf& @ $?IɛB:|ƻ TB>I ޝɚiI?<=Ii%li%=y)%@)!E1) *F?2F:F=~~GiBF_5JF"G=G=H I  I Z#II τBI &I .I 6I /<:I  F%Will construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Rx Time:21:37:27.4641 -TRx dataTimestamp_ set to:1736372248.692812-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508270 mYqyuBJ=J=J9J9J=t;J= :J9J9J="n<J="n<J=8;J=8;G ׹G B) O >w,]k9AyB"IuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.759209Mb@Mb@Mb@ )YMbX9?{Gz?y!?ף< A @)@I@y@I-I-b4٢=@< =4=9=Q =>AA MG٣MCGyM M> ]Nusing accuracyPremultiplier from configQ]49U4?]4YUc iU9gBe!?e:ede@U[~DU;US;U4i u@qZjFNOT Ignoring new targets: 518.70 m.Bj;Jj; ProNav: ac range: 518.700012 m, nav range: 315.453766 m, bearing: 327.103823 deg, approach rate: -0.068368 m/s, LOS rate: 0.114521 deg/s, cmd heading: 241.030710 deg, new cmd heading: 241.186060 deg. 2j0;HeadingCmd: 4.209491 target range: 518.700012 and range: 518.70 m. j&@jjjihhhh:BfffrfbfR@ɛB v  VL>I  dɚ iI<=Ijilij0)&@) I*FU?2FQ:FYBF]P5JFYzKk3IKh9KKPKBKrA:KrA% Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: 21:37:27.4641 LVL= 18016, 30193, 23026, 32755, AGC= 70, IDX= 435, 0.13,-2.493, 2.645, 1.789, 2.323, PHS= 1.555, 0.370,-0.537, RAW= 64.4, -15.1, CAL= 76.6, -23.5, ROT= 73.4, 23.5 G} R } Ygot valid direction response: 21:37:27.4641 LVL= 18016, 30193, 23026, 32755, AGC= 70, IDX= 435, 0.13,-2.493, 2.645, 1.789, 2.323, PHS= 1.555, 0.370,-0.537, RAW= 64.4, -15.1, CAL= 76.6, -23.5, ROT= 73.4, 23.5  PDAT read: Bearing 73.4, 23.5 (Local)  ~Local bearing/azimuth received: Bearing 73.4, 23.5 (Local)  DAT read: Range 10 to 50 : 510.3 m (Round-trip 680.4 ms) speed 0.1 m/s  ,DAT read: user:1923>  BDAT read: Tx time:21:37:28.5795  $Ping request sent. % x % ޏ?% V % D ?)% ~ѾI% (?i% ~>! ! % r?ru~R|Y5˯п)% zxI% >i% ?% 6! ! 5 :publishing transmit ping timeء = Fpublishing direction and range info! 9% _G0?St?e?y! ! ! ! ! )! I! i! ! ! ! ! G B O- > ! )! I! i! ! ! % r?ru~R|Y5˯п)! I! i! ! ! ! Yw,`9SA%@Y%@%pt9%_>y%H XP޿/?Z.ݿB?@n??Ư?ɨ%@%ω;%8CyuB}"IImI3A4٢@'< V=9;Q > G٣y>< > 5Nusing accuracyPremultiplier from config1E495'+?E4Y5i i5;gBiuu@5k~D5 <5 <54}LB @FEk](?k]H%u: kY k]LA:k]&CBk]]CZk]*@"]r^@@Mn@+rz@]_G0?St?e?Jk]?Rk]6*]GRBY@|vo=h&2=Լ|@]#-n?5WRؿuQ!vG?"k]A*k]Bk]\ f?k]X0^ 2k]Dk]7A*?k]X0^ k]Ck]axCk]9e@= addTargetRange:: Added new target pos. range: 510.299988 m, deltaT: 4.035922 s, deltaX: -8.400024 m, approachRate: -2.081315 m/s, rangeRepo size: 4 m Added new target pos. range: 510.299988 m, bearing: 298.202187 deg, lat: 36.902098 deg, lon: -122.117484 deg, deltaT: 4.035922 s, deltaX: -8.400024 m, approachRate: -2.081315 m/s, posRepo size: 4 ZjimFNOT Ignoring new targets: 510.30 m.BjuJjq ProNav: ac range: 510.299988 m, nav range: 248.378967 m, bearing: 308.672775 deg, approach rate: 0.000000 m/s, LOS rate: 0.114521 deg/s, cmd heading: 241.186055 deg, new cmd heading: 241.331075 deg. 2jHeadingCmd: 4.212022 target range: 510.299988 and range: 510.30 m. jȆ@jjjihhhhff!fArfE@bfE*?ɛmBm quK>Iq uLɚqiqIuMD=Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:37:28.5788 Iibli )Ȇ@)*F5?2F1:F9BF= 5JF9 IG] D5ZH RH AAG BA O} >H I  I a#II ԄBI 9 =&I .I 6I Z<:I  F5 Will construct direction to contact in vehicle frame from tetrahedron phase data.㻚w,ymAJJ)J1JJ;J:J3JJok<Jok<J;J;yB"II&I3٢ K=9Q > G٣y > Nusing accuracyPremultiplier from config49!?4YCo i=gB@{~D';;4 @ZjFNOT Ignoring new targets: 510.30 m.Bj:!;Jj:!; ProNav: ac range: 510.299988 m, nav range: 248.276321 m, bearing: 308.723974 deg, approach rate: -0.282482 m/s, LOS rate: 0.140958 deg/s, cmd heading: 241.331074 deg, new cmd heading: 241.484734 deg. 2jy;HeadingCmd: 4.214704 target range: 510.299988 and range: 510.30 m. jކ@jjj!i!h!h!h)h)f)f)f)rf1bf5`т?ɛ] B] ae@>Ia mɚiiiIm7F=IubiuJli}V*;)}ކ@)yEEsA*F)2F):F)BF-^0JF)G1 G5rAWill construct direction to contact in vehicle frame from tetrahedron phase data.GMG) B1 OU > I w,߆A6@Y69@696j>y6H4m޿?@@&!%޿$?Pt?` B??ɨ6@6zŌ;6:CyBBB#IzKnBHKn9KlKnQKn%Mb@Mb@Mb@!!! !)!Y%jt?:v?Mb`?y% ?%T<%;%rA %@)%A@I%@!y%@IqIJH4٢Ů= I=9FQ > G٣CGy9 > Nusing accuracyPremultiplier from config49?4YAu i@gB ?:@~D;F;&4MB @HEZj  FNOT Ignoring new targets: 510.30 m.Bj;Jj;% ProNav: ac range: 510.299988 m, nav range: 248.172195 m, bearing: 308.777915 deg, approach rate: -0.256406 m/s, LOS rate: 0.132885 deg/s, cmd heading: 241.484726 deg, new cmd heading: 241.646618 deg. 2j%e;-HeadingCmd: 4.217529 target range: 510.299988 and range: 510.30 m. j-@j)j)j)i1h1h1h9h=6Bf9f9f9rfAbfE ށ?ɛm"Bm_ im*`>Iq uɚqiqIu@=I}3i}Nli}})@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*J C="J R=*F2F:FBF_0JFGK7GBOF> Will construct direction to contact in vehicle frame from tetrahedron phase data.Χw,A6D@Y6@6ڮ96:>y6Ht޿`Q?l`$)޿ ?`Nu?`?R?ɨ6D@6;4yRBV#II^3I^ʴ3٢~|< V=9MQ >    G٣ y  > -$?I5tg Nusing accuracyPremultiplier from config49?4Yz iCgB@~D<<-4 @KEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 510.30 m.BjI;JjI; ProNav: ac range: 510.299988 m, nav range: 248.075089 m, bearing: 308.828436 deg, approach rate: -0.244050 m/s, LOS rate: 0.127019 deg/s, cmd heading: 241.646629 deg, new cmd heading: 241.798250 deg. 2jW;HeadingCmd: 4.220176 target range: 510.299988 and range: 510.30 m. j @jjjihhhhf f f rf bf x?ɛE$BMB IMNb>II MɚIiQIU9=I]Zi]!hli])] @)Y*F?2F:FBF`0JFHe>IeC Iem#IIe߄BIa&Ia.Ia6Ie<:Ie 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.GGBO>w,*A y B  #IUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747804Mb@Mb@Mb@ )Yx&1?Mb?~jtx?yA ?<; A @)n@I+@y@I]I$4٢e ==9Q > G٣y > Nusing accuracyPremultiplier from config49@?4Y* iGgBF ?:@~D`J;H;$54 @ Zj15FNOT Ignoring new targets: 510.30 m.Bj=;Jj=;M ProNav: ac range: 510.299988 m, nav range: 247.967804 m, bearing: 308.885760 deg, approach rate: -0.257639 m/s, LOS rate: 0.137720 deg/s, cmd heading: 241.798259 deg, new cmd heading: 241.970303 deg. 2jM;UHeadingCmd: 4.223178 target range: 510.299988 and range: 510.30 m. jUG$@jQjQjQiQhYhYhYh]XBfafafarfabfm@?ɛu&Bu q}S>Iy }ɚyiI5=I'iliU)G$@)Ee>E I*F]?2FY:FYBF]i0JFY"Ge=Gep=zKBoIK+9KKRK ~K Gl(AjJ5$  Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001000G= S.J- J- 'J- 0J) J- t;J- :J- ـ3J) aE @aE @aE @aE @GQ Ba O} >ߴw,TrA2@Y2@2T92 >y2HIJ޿@ ?` e0f޿`o?@)_?/?̵?ɨ2@272;29CyRBR#IIjpIjF4٢~SU= Z=9  G٣CGy; %> -Nusing accuracyPremultiplier from config!-49%?54Y% i%JgB15[5@%~D%:%`+;%;4A E0@AZjquFNOT Ignoring new targets: 510.30 m.Bj};Jj}; ProNav: ac range: 510.299988 m, nav range: 247.873398 m, bearing: 308.935949 deg, approach rate: -0.249635 m/s, LOS rate: 0.132766 deg/s, cmd heading: 241.970298 deg, new cmd heading: 242.120924 deg. 2j;;HeadingCmd: 4.225807 target range: 510.299988 and range: 510.30 m. j9@jjjihhhhfffrfbfj@ɛ(BP* &d>I 1WɚiI4=Ii0liyy)9@)*F]?2Fa:FaBFe 4JFamWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252609 $?IG|GiByO>jHe <bHe <H >I  I z#II BI &I .I 6I }<:I 1 FBIJIRIZI9 =bI: =jI45 Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503695! w,MAZ@YZc!@Z!9Z]M >yZHl޿?ഢ=*ݿ`U?57? [?P?ɨZ@Zɑ;Z;Cy~B~#II [I K!4٢%; %H=9%r;Q %>)) -G٣)y-O < 5> =Nusing accuracyPremultiplier from config1E495&?M4Y5 i5MgBIM"M@5~D5/;5/;5B4Q ]@YZjFNOT Ignoring new targets: 510.30 m.Bjj;Jjj; ProNav: ac range: 510.299988 m, nav range: 247.771469 m, bearing: 308.989789 deg, approach rate: -0.243895 m/s, LOS rate: 0.128880 deg/s, cmd heading: 242.120917 deg, new cmd heading: 242.282501 deg. 2j;HeadingCmd: 4.228627 target range: 510.299988 and range: 510.30 m. j%P@j!j!j!i!h!h!h)h)f)f)f1rf1bfu@L@ɛ*BdRP b>I JɚiI6@=I }i ,liM؜)MP@)Q*F2F:FBF_5JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755807G 圼 I G B O >w,'AyB#IMb@Mb@Mb@ )YX9v?~jth~jth?y?DD; @)I@y@zK%OKs9KKSKY(IvI&Q4٢1< ==9Q >    G٣ y > Nusing accuracyPremultiplier from config%49t?%4YԒ iOgB%?%:-6-@~D;;iJ45NB 5@5OEZjY]FNOT Ignoring new targets: 510.30 m.Bjev;Jjev;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007865 ProNav: ac range: 510.299988 m, nav range: 247.668747 m, bearing: 309.046819 deg, approach rate: -0.244712 m/s, LOS rate: 0.135917 deg/s, cmd heading: 242.282492 deg, new cmd heading: 242.453652 deg. 2j;HeadingCmd: 4.231615 target range: 510.299988 and range: 510.30 m. jci@jjjihhhhVBff f rf bf-=G@ɛu-B}+ y}b>Iy }7ɚyiIFI=ILi)mi)ci@)JJ#J1JJJ:J3JEi*F-?2F):F)BF-Q5JF)G5qA G1 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259771G 5Gy B O >2w,"A2@@Y2KO@2|;92>y2H`Aݿg ?@п5S@_ݿ?@a?@%?ɨ2@@2u;0 @I@y^B^"#IIf~IfT_4٢n< n_=9n};Q r>pp rG٣rCGyvz< v> zNusing accuracyPremultiplier from configx49z|?4Yz ix @z~DzA;z3A;zP4 @-B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 510.30 m.BjE;JjE;U ProNav: ac range: 510.299988 m, nav range: 247.580704 m, bearing: 309.095073 deg, approach rate: -0.239043 m/s, LOS rate: 0.131059 deg/s, cmd heading: 242.453657 deg, new cmd heading: 242.598470 deg. 2jU;]HeadingCmd: 4.234142 target range: 510.299988 and range: 510.30 m. j]~@jYjajaiahahahihifififirf bf9 @ɛ]/B]PZ ae8d>Ia eޏɚaiaIeT=I#ioLmi)~@)HI I#IIBI8 =&I.I6I2<:I F*F?2F:FBFW0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511781GG B O >dLw,;ANY@YN"i@N$z:;9N,>yNHuݿ@? /_@OTݿm?BOgT??ɨNY@N ;N9CyZBZ#I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:21:37:31.6630 =TRx dataTimestamp_ set to:1736372252.976733Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.764931eMb@Mb@Mb@aaa a)aYeZd;?~jth~jthye?aeDe A e@)aIe+@aye@I5mI53A4٢E  e5=9m6:Q m>iq uG٣qyu; u> Nusing accuracyPremultiplier from configy49}?4Y}y i}MgB?:@}~D};} ;}X4 L@Zj!-FNOT Ignoring new targets: 510.30 m.Bj=;Jj=; u$?I}ug ProNav: ac range: 510.299988 m, nav range: 247.473389 m, bearing: 309.153355 deg, approach rate: -0.229564 m/s, LOS rate: 0.124729 deg/s, cmd heading: 242.598457 deg, new cmd heading: 242.773378 deg. 2j3;HeadingCmd: 4.237195 target range: 510.299988 and range: 510.30 m. j@jjjihh!h)h-[Bf1f1f1rf1bf]M@ɛ2BL9 JN>I EɚiI$r=Ii zmilA)@)*F)2F):F)BF-0JF)zKeNKeh9KaKeTKe Y/t2l;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015749J J !J 0J J ;J :J ـ3J G S.G B O >w,\WAfr@Yf́@fOd;9f>yfH mݿb?ij'ݿ? flA@?@??ɨfr@f͌;dyrBr#IIz`Iz(*4٢)  S=9 ^:Q  > G٣y< > %Nusing accuracyPremultiplier from config!-49%?-4Y%ڣ i%JgB)5a5@% D%;%;%{_49 =Z@=REZjaeFNOT Ignoring new targets: 510.30 m.Bjm;Jjm;} ProNav: ac range: 510.299988 m, nav range: 247.382584 m, bearing: 309.202399 deg, approach rate: -0.245444 m/s, LOS rate: 0.132614 deg/s, cmd heading: 242.773391 deg, new cmd heading: 242.920578 deg. 2j};HeadingCmd: 4.239764 target range: 510.299988 and range: 510.30 m. j%@jjjihhhhfffrfbf@ɛ4B$5 &H>I 7ɚiI=Ikimi3)%@)*FM?2FI:FIBFM_0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:37:31.6630 LVL= 17696, 24753, 22258, 26659, AGC= 68, IDX= 425, 0.26, 0.175,-0.612,-1.677,-0.543, PHS= 0.806,-0.022,-1.137, RAW= 55.1, 4.2, CAL= 54.7, 4.6, ROT= 95.3, -4.6 Ygot valid direction response: 21:37:31.6630 LVL= 17696, 24753, 22258, 26659, AGC= 68, IDX= 425, 0.26, 0.175,-0.612,-1.677,-0.543, PHS= 0.806,-0.022,-1.137, RAW= 55.1, 4.2, CAL= 54.7, 4.6, ROT= 95.3, -4.6 PDAT read: Bearing 95.3, -4.6 (Local) ~Local bearing/azimuth received: Bearing 95.3, -4.6 (Local) DAT read: Range 10 to 50 : 509.4 m (Round-trip 679.3 ms) speed 0.0 m/s ,DAT read: user:1924> BDAT read: Tx time:21:37:32.7795  $Ping request sent. ZHA RHE @AQ q H I  I I I 9 =&I .I 6I T<:I  F 6Y y }B= Will construct direction to contact in vehicle frame from tetrahedron phase data.E JDAT read: TxSync time:21:37:32.7788 w,qA2@Y2@2a;92>y2H9ݿ+?@wܿ '?pG??ɨ2@2,;28CyB#IIYI4٢=  =H=9E":Q E>AA MG٣MCGyM< M> UNusing accuracyPremultiplier from configQ]49U1?e4YU iUHgBae&e@UDU" ;Ue ;Uf4q u@qkSRL?k!* k kc^A:kCBkCZk1@"3Hy/bvt@&T 1x@oVBa?lqEP?Jk\?Rk\*u[Pp@mTRdz@'re?$!;ĿtnW?"k*kCkL?kk 2k+CkL?kF> k+CkcCk0@ addTargetRange:: Added new target pos. range: 509.399994 m, deltaT: 4.283738 s, deltaX: -0.899994 m, approachRate: -0.210095 m/s, rangeRepo size: 4  Added new target pos. range: 509.399994 m, bearing: 342.950699 deg, lat: 36.903039 deg, lon: -122.117228 deg, deltaT: 4.283738 s, deltaX: -0.899994 m, approachRate: -0.210095 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 509.40 m.BjJj ProNav: ac range: 509.399994 m, nav range: 310.778320 m, bearing: 327.130004 deg, approach rate: 0.000000 m/s, LOS rate: 0.132614 deg/s, cmd heading: 242.920568 deg, new cmd heading: 243.085538 deg. 2jHeadingCmd: 4.242643 target range: 509.399994 and range: 509.40 m. jÇ@jj j i h h hhfffrf`f@bf?ɛE7BE, IM5>II MɚIiIIM=IU@i]mi]t)]Ç@)Y*F 2F :F BF JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G5S.G9G9 IvgG B! Om >w, AzKU!NKU 9KQKUUKUWill construct direction to contact in vehicle frame from tetrahedron phase data.iAe@Ye땇@e';9e >yeH@Iݿ,?`6@s/ݿ 89?d ?b?ɨe@eL;e;Cy B #IMb@Mb@Mb@ )YQ?~jth?19 =G٣9y=h > Nusing accuracyPremultiplier from config493?4Y iCgB-?:@/D;;o4 @SEZj!%FNOT Ignoring new targets: 509.40 m.Bj-:;Jj-:;= ProNav: ac range: 509.399994 m, nav range: 310.745361 m, bearing: 327.187797 deg, approach rate: -0.063927 m/s, LOS rate: 0.112106 deg/s, cmd heading: 243.085531 deg, new cmd heading: 243.258926 deg. 2j=ߙ;EHeadingCmd: 4.245669 target range: 509.399994 and range: 509.40 m. jE܇@jAjAjAiAhIhIhIhMZBfQfQfQrfQbf] ¿?ɛ:B 隅%>I KɚiI=IfimiѲ)܇@)*FM?2FQ:FQBFU^0JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I G D&GI BY Ou >Aw,-AF@YF@F^$;9F>yFHK6ݿ@x.?;xܿt?܋d 4?٭?ɨF@F-;F:CyRBR"I V=Va=IZ>IZ3٢b>] b=9fcIQ ]]ɚYiYI]=IeKi|-ni汼)@)HE >IA IEm#IIE߄BIE8 =&IA.IA6IE|<:IE2 F*FA2FA: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.GGB)OEQ>]w,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495472ym}Bu"I IMb@Mb@Mb@ )Yx&1?Mb~jtyA ?D+ A )@I@yI-5I-3٢=h =5=9=Q E>AA EG٣ECGyM M> UNusing accuracyPremultiplier from configQ]49U?]4YU iU9gBeL ?e:ee@ULDUr;U;Uq|4i m@iZjFNOT Ignoring new targets: 509.40 m.Bj;Jj;5 ProNav: ac range: 509.399994 m, nav range: 310.702606 m, bearing: 327.271046 deg, approach rate: -0.054840 m/s, LOS rate: 0.114971 deg/s, cmd heading: 243.353411 deg, new cmd heading: 243.508688 deg. 2j5Ν;=HeadingCmd: 4.250028 target range: 509.399994 and range: 509.40 m. j=;@j9jAjAiAhAhAhIhMJBfIfifqrfqbfu?ɛ>B`e =I V ɚiI=I?iniż);@)*F?2F:FBF?1JFzKBoIKh9KKVKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748950G VJ J J J J ;J :J J G B O% >dw,A2"̀@Y2k܇@2Kx;92U>y2HCܿzG?x “Lܿ ?$o3??ɨ2"̀@2;29Cy>oB>"IIFwIFR4٢v☽ vb=9zqi;Q z> G٣y <  > Nusing accuracyPremultiplier from config%49י?%4Y i3gB!% %@ZD;-;˂4) 5@1ZjFNOT Ignoring new targets: 509.40 m.Bj;Jj; ProNav: ac range: 509.399994 m, nav range: 310.681213 m, bearing: 327.312824 deg, approach rate: -0.057683 m/s, LOS rate: 0.112656 deg/s, cmd heading: 243.508675 deg, new cmd heading: 243.634017 deg. 2j;HeadingCmd: 4.252216 target range: 509.399994 and range: 509.40 m. j'@jjjihhhhfffrfbf?ɛe@Be; aeD=Ia mɚiiiIm0=Ihi ni8)'@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999661*F?2F:FBF 5JF IGUͿjHbH<HI II  IM Z#IIM τBII &II .II 6IM `<:IM  FGi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252312w,HA6f@Y6@67F;96'>y6Hܿ S?G@UܿRe?HuT?r?ɨ6f@6ҍ;65CyNiBR"IIZnIZB4٢f fL=9je;Q j>hl nG٣lyr< r> vNusing accuracyPremultiplier from configtz49vD?z4Yv iv-gBxz~@vjDv ;vh;v4 U@Zj)-FNOT Ignoring new targets: 509.40 m.Bj5[;Jj5[; ProNav: ac range: 509.399994 m, nav range: 310.657013 m, bearing: 327.358604 deg, approach rate: -0.062088 m/s, LOS rate: 0.117463 deg/s, cmd heading: 243.634022 deg, new cmd heading: 243.771375 deg. 2j:;HeadingCmd: 4.254613 target range: 509.399994 and range: 509.40 m. j%@jjjihhhhfffrf!bf%` @ɛmCBm; i隕=I ɚiIj=I!i7ni})%@)*F2F:FBFP0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507684 $?IG o>G B O >w, Ay~YB~"IMb@Mb@Mb@ )Y{Gz?Mb`~jty#? A @)QAI3@yIId4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755554٢o ;=9Q >zKRIK 9KKWK G٣CGy > Nusing accuracyPremultiplier from config49?4Yf i&gB#?:1@|D;f;h4  Y@ YEZjFNOT Ignoring new targets: 509.40 m.BjD;JjD; ProNav: ac range: 509.399994 m, nav range: 310.627411 m, bearing: 327.409993 deg, approach rate: -0.067612 m/s, LOS rate: 0.117384 deg/s, cmd heading: 243.771364 deg, new cmd heading: 243.925544 deg. 2j;-HeadingCmd: 4.257304 target range: 509.399994 and range: 509.40 m. j-;@j1j1j1i1h1h1h9h=%Bf9f9fArfAbfE@ɛEBae qY'=隽=I*J"J4= ɚiI$=I i oi0);@)*F=?2F9:F9BFAJFAm Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007436G Y I wgGY Ba O >N& w,W`&A2"@Y22@2;92>y2H 2ܿj?,`ι@[ۿ?Wy`??ɨ2"@2*;29Cy>OB>"IIF]IF$4٢RQ R_=9R!>;Q V>TT VG٣TyZ< Z> bNusing accuracyPremultiplier from config\b49^}?f4Y^ i^ gBdff@^D^:^:^ė4jOB j@n[EzB*** querying acoustic contact ***jxjxZj  FNOT Ignoring new targets: 509.40 m.Bjz;Jjz; ProNav: ac range: 509.399994 m, nav range: 310.601440 m, bearing: 327.452696 deg, approach rate: -0.070964 m/s, LOS rate: 0.116695 deg/s, cmd heading: 243.925535 deg, new cmd heading: 244.053655 deg. 2j,;HeadingCmd: 4.259540 target range: 509.399994 and range: 509.40 m. j&N@jjjihhh h f f f1rf1bf= @HI I;#IIBI&I.I6I<:IR FBI—CJI—CRIZI8 =bI8 =jI,4ɛGBM| Ђ(w,'L@AWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:37:35.8628 TRx dataTimestamp_ set to:1736372257.008737checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512645J77@YJF@J; YIY9J>yJH@ܿr?``-ۿ@[?sz r?@P?ɨJ77@J7j;HyuJBu"I }a=y5Mb@Mb@Mb@111 1)1Y5?Mb`?Qy5,?5;5u5 A 1)1I11y5@IEqIEJH4٢]T ]1=9e(:Q e>aa uG٣qyu; u> }Nusing accuracyPremultiplier from configy49}q?4Y}S i}gB,?:.@}D}(;};}ڟ4 W@ZjFNOT Ignoring new targets: 509.40 m.Bj ;Jj ; ProNav: ac range: 509.399994 m, nav range: 310.564087 m, bearing: 327.509895 deg, approach rate: -0.081031 m/s, LOS rate: 0.124097 deg/s, cmd heading: 244.053642 deg, new cmd heading: 244.225258 deg. 2jU;HeadingCmd: 4.262535 target range: 509.399994 and range: 509.40 m. jf@jjjihhhhBfffrfbf`~ @ɛ%IB-ż )-:I) --ɚ)i1I5`F=I5VRi==oi=/)=f@)9*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763451zKEBoIKE9KAKEXKEG% fJ J AAG B OU >8w,vZABP@YBG`@B;9BX>yBHۿ ~?` ãۿr?oz`Z? +?ɨBP@Bg;B7CyJ>BJ"IIRmIR3A4٢ZQ Zj=9^뙹Q ^>`` bG٣bCGyb < f? jNusing accuracyPremultiplier from configdj49f%i?n4Yf ifgBlnn@fDf ;f\ ;f4t v@v^EZj9EFNOT Ignoring new targets: 509.40 m.BjU ;Jj] ; ProNav: ac range: 509.399994 m, nav range: 310.535431 m, bearing: 327.552929 deg, approach rate: -0.080946 m/s, LOS rate: 0.121572 deg/s, cmd heading: 244.225271 deg, new cmd heading: 244.354386 deg. 2jަ;HeadingCmd: 4.264789 target range: 509.399994 and range: 509.40 m. j&y@jjjihhhh f f f rf bf5 h@ɛ}KB~ 隅¼I H‡ɚiI=EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.019343Iei-iQoiE)&y@ m$?Iq)ZHqRHuAAHqIq Iu#IIuBIq&Iq.Iq6Iu<:Iu= FEU y= Will construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: 21:37:35.8628 LVL= 18400, 21457, 19618, 23699, AGC= 69, IDX= 437, 0.35, 1.425, 0.574,-0.724, 0.520, PHS= 0.993, 0.101,-1.247, RAW= 53.3, 1.6, CAL= 53.5, -0.2, ROT= 96.5, 0.2 *FE ?2FA :FA BFE \0JFA e Ygot valid direction response: 21:37:35.8628 LVL= 18400, 21457, 19618, 23699, AGC= 69, IDX= 437, 0.35, 1.425, 0.574,-0.724, 0.520, PHS= 0.993, 0.101,-1.247, RAW= 53.3, 1.6, CAL= 53.5, -0.2, ROT= 96.5, 0.2 u PDAT read: Bearing 96.5, 0.2 (Local) u ~Local bearing/azimuth received: Bearing 96.5, 0.2 (Local)  DAT read: Range 10 to 50 : 509.3 m (Round-trip 679.1 ms) speed 0.1 m/s  ,DAT read: user:1925>  BDAT read: Tx time:21:37:36.9796  $Ping request sent. yMH(ۿ`A?`5Mۿ ?:y2H?٫?ɨM@M8;Will construct direction to contact in vehicle frame from tetrahedron phase data.Iyޅ3Bލ"IMb@Mb@Mb@ )Ykt?1 5G٣1y5\< => ENusing accuracyPremultiplier from config9E49=Y?M4Y= i=gBM50?M:M`u@=D=A;=;=u4y }@ykܼ L?k8d k k`pA:kCBkCZku"@" -6>(u@VAw@)rЦ9D?ҥ~y?Jk?RkzW*Zncp@ 1YU^Oz@q*Py?FDFɿ,h?"k *kCk9L?kw 2kBCk9L?k` kk0Ckغ@% addTargetRange:: Added new target pos. range: 509.299988 m, deltaT: 4.283996 s, deltaX: -0.100006 m, approachRate: -0.023344 m/s, rangeRepo size: 4 = Added new target pos. range: 509.299988 m, bearing: 338.644207 deg, lat: 36.903038 deg, lon: -122.116762 deg, deltaT: 4.283996 s, deltaX: -0.100006 m, approachRate: -0.023344 m/s, posRepo size: 4 Zj9EFNOT Ignoring new targets: 509.30 m.BjEJjA} ProNav: ac range: 509.299988 m, nav range: 290.376740 m, bearing: 334.547354 deg, approach rate: 0.000000 m/s, LOS rate: 0.121572 deg/s, cmd heading: 244.354389 deg, new cmd heading: 244.600085 deg. 2jyHeadingCmd: 4.269077 target range: 509.299988 and range: 509.30 m. jG@jjjihhhh Bfffrf@bf?ɛ-MB- )-VI) -Sɚ1i1I5$=I5&i=`oi=B)=G@)9 Will construct direction to contact in vehicle frame from tetrahedron phase data.zK- BHK- 9K) K- YK-  8d+E #'=*J 4="J a=*FE ?2FI :FI BFM O5JFQ Gk}EWill construct direction to contact in vehicle frame from tetrahedron phase data.GaBiO?@(w,I֡A6t@Y6@6;96 >y6H8ۿڗ?r `Whۿ얫?@s`D??ɨ6t@6;69CyB#BB"IINdIN?14٢R V/=9VAQ V>X \I\` bG٣`yb] b> jNusing accuracyPremultiplier from configd549fN?54Yf} ifgB9==@fDfhI I"IIBI&I.I6I_<:I FuWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF05JFJ J J J J 5;J :J J J Vc<J Vc<J ;J ;G G B O >;.w,qXAEu@YE=@EW;9E7 >yEH@5ۿ?`>@-f`ۿ`E?jl?@?ɨEu@Em;E;Cyޕ"BޑI;I&3 Will construct direction to contact in vehicle frame from tetrahedron phase data.PExceeded connect timeout, disconnecting. Ixg٢N "=9$KQ > G٣CGyt9 > Nusing accuracyPremultiplier from config 49B? 4Y ifB  @D;@;J4 %@!EB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 509.30 m.Bj];Jj];m ProNav: ac range: 509.299988 m, nav range: 290.360168 m, bearing: 334.678133 deg, approach rate: -0.017329 m/s, LOS rate: 0.139681 deg/s, cmd heading: 244.788024 deg, new cmd heading: 244.992443 deg. 2jm;uHeadingCmd: 4.275925 target range: 509.299988 and range: 509.30 m. j}`Ԉ@jyjyjyiyhyhhhfffrfbf ?ɛQB޹ I AɚiI=I%vi%Joi%(')%`Ԉ@))E9*F2F:FBFW0JFGo>GYBiO|> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.zK ѦLK ]9K K ZK J J BA{5w,Afx@YfI@fR;9fe>yfH`ۿ۔?V` ~Xۿ@ ~?\jq?`?ɨfx@f";f:CyvBv"IuMb@Mb@Mb@qqq q)qYu@5^I ?S㥛? G٣yJ: > Nusing accuracyPremultiplier from config49:?4Y ifB0?:@Dl;t;49 =@9ZjFNOT Ignoring new targets: 509.30 m.Bj8;Jj8; ProNav: ac range: 509.299988 m, nav range: 290.351196 m, bearing: 334.726763 deg, approach rate: -0.023908 m/s, LOS rate: 0.129585 deg/s, cmd heading: 244.992438 deg, new cmd heading: 245.138330 deg. 2jݱ;HeadingCmd: 4.278471 target range: 509.299988 and range: 509.30 m. j<@jjjihhhhBff f rf bf-@4?ɛURB]"ļ Y]$ͽIY ]RɚYiaIeL=Ie=Mim)pimOǼ)m<@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743186*FM?2FI:FIBFM_0JFI $?IG ~FjH) bH- <H1 I1  I5 "II5 tBI5 7 =&I1 .I1 6I5 \<:I5  FG B O >;w,A6;@Y6@6Ή;968>y6H@w]ۿ`? O ۿ`?6py??ɨ6;@6,;68CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.993918yJBJw"II%wI%R4٢U  U?=9];Q ]>ii mG٣qyu< u> Nusing accuracyPremultiplier from configy49}1?4Y} i}fBj@} D}:}:}4 @ZjFNOT Ignoring new targets: 509.30 m.BjEJ";JjEJ";U ProNav: ac range: 509.299988 m, nav range: 290.339508 m, bearing: 334.785298 deg, approach rate: -0.028330 m/s, LOS rate: 0.141885 deg/s, cmd heading: 245.138331 deg, new cmd heading: 245.313943 deg. 2j];]HeadingCmd: 4.281536 target range: 509.299988 and range: 509.30 m. j]X@jajajaiahahahihifififqrfqbfu@ɛTBμ 隥,I !ɚiIF=IiHupi_)X@)*F-?2F):F)BF)JF)UWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251695 nManaging dock network, ignoring radio surface power off IG S&żG B O >Bw, A:L@Y:@:A^;9:>y:H5ۿȨ?`@ڿྗ?-kP?@?ɨ:L@:o;8yFBF"IMb@Mb@Mb@ )Y"~? rh?{Gzty3?C =ף A @)QAI@yI5{I5Z4٢E$= E]=9EQ M>II MG٣MCGyU; U> ]Nusing accuracyPremultiplier from configYe49](?e4Y]E i]fBm.4?m:mm@]D];]6-;]z4}OB }@eEZjFNOT Ignoring new targets: 509.30 m.Bj;Jj; ProNav: ac range: 509.299988 m, nav range: 290.326752 m, bearing: 334.836217 deg, approach rate: -0.034803 m/s, LOS rate: 0.138927 deg/s, cmd heading: 245.313948 deg, new cmd heading: 245.466712 deg. 2j;HeadingCmd: 4.284202 target range: 509.299988 and range: 509.30 m. j/@jjjihhhhBfffrfbf*@ɛUBع˼ 隵۽I +ȋɚiI =Iipi)/@)EErAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499004*Fi2Fi:FiBFm0JFi"Gu=Gu=zKk3IKs9KK[KGnGa Bq O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750022 I (Hw,X$ A6Á@Y6҈@6K;96B>y6Hۿ@0?` ڿ`oϭ?iw?@?ɨ6Á@6;6;Cy>B>|"IXZAI^I^b4٢f  fR=9j;Q n>ll nG٣pyr; r> vNusing accuracyPremultiplier from configtz49v ?z4Yv ivfB|~~@vDvm ;v;vH4PB f@fEZj)-FNOT Ignoring new targets: 509.30 m.Bj5$;Jj5$;E ProNav: ac range: 509.299988 m, nav range: 290.312805 m, bearing: 334.890248 deg, approach rate: -0.035912 m/s, LOS rate: 0.139133 deg/s, cmd heading: 245.466699 deg, new cmd heading: 245.628798 deg. 2jM;MHeadingCmd: 4.287031 target range: 509.299988 and range: 509.30 m. jU\/@jQjQjQiYhYhYhahafafafarfibfm @ɛVBLaҼ 隥I ɚiIc=IibpiU¼)\/@)*FU?2FQ:FQBFUP5JFQHI I"IIoBI&I.I6I<:I? FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002019GGB!OE>Nw,Lp> AyE!BE"IIIm4٢T= ;=%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261297 $?Iyg9Q > G٣y > Nusing accuracyPremultiplier from config49~?4Y ifB@(D-;x;{4! %@!]B*** querying acoustic contact ***jajaZjFNOT Ignoring new targets: 509.30 m.Bj;Jj; ProNav: ac range: 509.299988 m, nav range: 290.296326 m, bearing: 334.955345 deg, approach rate: -0.034076 m/s, LOS rate: 0.134617 deg/s, cmd heading: 245.628793 deg, new cmd heading: 245.824095 deg. 2jŸ;HeadingCmd: 4.290440 target range: 509.299988 and range: 509.30 m. jHK@jjjihhhhfffrfIbfM@+ @ɛXB@ļ 隕lڽI <`ɚiI=IMizqi4ۼ)HK@)*F]?2Fa:FaBFeo2JFa Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:37:40.0617  TRx dataTimestamp_ set to:1736372261.296622 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511830G TżzK :IK h9K K \K BK qA:K qAGa Bi O >J J J 1J J ;J ~:J 3J a @a @a @a @Uw,oHX A2I@Y2@2G:92)>y2H`ڿ?@w}ڿ? hVNb??ɨ2I@2Р;0yR#BR"IMb@Mb@Mb@ )Y|?5^?L7A`?MbP?y2?+=:/ A @)I`@y\@IsIK4٢L < H=9ߘQ > G٣CGy9i< > Nusing accuracyPremultiplier from config 495 ? 4Yg# ifB $3? : R @0D;j;4 @iEZjamFNOT Ignoring new targets: 509.30 m.Bjm!;Jjm!; ProNav: ac range: 509.299988 m, nav range: 290.282776 m, bearing: 335.006947 deg, approach rate: -0.037174 m/s, LOS rate: 0.141576 deg/s, cmd heading: 245.824082 deg, new cmd heading: 245.978894 deg. 2jS;UHeadingCmd: 4.293141 target range: 509.299988 and range: 509.30 m. jUja@jYjYjaiahahahhBfffrfbf  @ɛYB=˼ $׽I ɚiIv)=I%Ĺim:qim+ļ)mja@)i5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763301 I*F?2F:F!BF%@5JF!Gc׼GBO>ZH RH @AH I  I I I 8 =&I .I 6I <:I = FBIJIRIZIbI7 =jIɭg4[w,&r A2 @Y2D@2992u>y2Hڿ?@QKڿpZ?C?cj?Ū?ɨ2 @2C;28CBWill construct direction to contact in vehicle frame from tetrahedron phase data.ZDAT read: 21:37:40.0617 LVL= 15408, 27057, 17330, 22867, AGC= 71, IDX= 426, 0.23,-0.794,-1.710,-2.738,-1.625, PHS= 0.919,-0.037,-1.115, RAW= 58.0, 2.7, CAL= 58.5, 1.4, ROT= 91.5, -1.4 bYgot valid direction response: 21:37:40.0617 LVL= 15408, 27057, 17330, 22867, AGC= 71, IDX= 426, 0.23,-0.794,-1.710,-2.738,-1.625, PHS= 0.919,-0.037,-1.115, RAW= 58.0, 2.7, CAL= 58.5, 1.4, ROT= 91.5, -1.4 fPDAT read: Bearing 91.5, -1.4 (Local) f~Local bearing/azimuth received: Bearing 91.5, -1.4 (Local) jDAT read: Range 10 to 50 : 508.4 m (Round-trip 677.9 ms) speed 0.2 m/s n,DAT read: user:1926> rBDAT read: Tx time:21:37:41.1796 r$Ping request sent.rAY?)BxIBL?iB?BOBj@@:publishing transmit ping timepFpublishing direction and range info@9B$'c-)]?l=1 ]?y@@@@ @)@I@i@@@@@ @)@I@i@@@Bˢ? (8,E>AY?)@I@i@@@@yޝ&Bޝ"II\I#4٢a< @=9IQ > G٣y:; > Nusing accuracyPremultiplier from config 49?-4Y* ifB155@:D ^<"^<49 =@AkBiNrD?kB  k@ kB5s A:kB3CBkBlCZkB->@"Bn> C+9:s@';c/y@B$'c-)]?l=1 ]?JkB?RkBOBj*BSB5Gm@_ϵP%ǰ{@B4?į vJ%GR?"kB*kBoCkB։D?kB}Z& 2kBCk@kBw k@kB̌CkBo@ addTargetRange:: Added new target pos. range: 508.399994 m, deltaT: 4.036091 s, deltaX: -0.899994 m, approachRate: -0.222987 m/s, rangeRepo size: 4 M Added new target pos. range: 508.399994 m, bearing: 344.209529 deg, lat: 36.903038 deg, lon: -122.116511 deg, deltaT: 4.036091 s, deltaX: -0.899994 m, approachRate: -0.222987 m/s, posRepo size: 4 ZjIUFNOT Ignoring new targets: 508.40 m.BjUJjY ProNav: ac range: 508.399994 m, nav range: 281.599945 m, bearing: 339.180141 deg, approach rate: 0.000000 m/s, LOS rate: 0.141576 deg/s, cmd heading: 245.978881 deg, new cmd heading: 246.173846 deg. 2jHeadingCmd: 4.296544 target range: 508.399994 and range: 508.40 m. jJ}@jjjihhhhfffrf`f@bf@?ɛZBż AEPϽIA EĎɚIiIIM]=IMCJiU$riUF!ɼ)UJ}@)Q*F?2F:FBF4JF!MWill construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:21:37:41.1789 IG= ޼G B O- >bw, Aj@Yj2&@j;*9j->yjH~yڿ?5`;"A1ڿ׮?@'_E?2u?`?ɨj@jn;hyv2Bv"I}Mb@Mb@Mb@yyy y)yY}Q?Mb?~jt?y}\/?}@=}D<}+ A }@)}AI}A@yyyImI3A4٢f= MD=9U0Q U>QY ]G٣Yyet; e> uNusing accuracyPremultiplier from configq}49u?}4Yu1 iugB}/?}:K@uCDu ;u#;u4Will construct direction to contact in vehicle frame from tetrahedron phase data.QB @kEZjFNOT Ignoring new targets: 508.40 m.Bj);Jj);- ProNav: ac range: 508.399994 m, nav range: 281.599457 m, bearing: 339.239544 deg, approach rate: -0.001220 m/s, LOS rate: 0.148470 deg/s, cmd heading: 246.173842 deg, new cmd heading: 246.352051 deg. 2j5;5HeadingCmd: 4.299654 target range: 508.399994 and range: 508.40 m. j5Ŗ@j9jIjIiIhIhIhQhUBfQfQfQrfYbf]?ɛ I EɚiI=IVi}riռ)Ŗ@)zKBoHK9KK]K\B 7, D dZ_#p\NA8/' RK?JK%?JJJJJ;Jy:JJ*F?2F:FBFZ0JF"G=G=G S&żE Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I G B O >Ziw,Qڥ A6$@Y64@6&96t>y6H$`ڿ`? 8'ڿ?d?}? ?ɨ6$@6&;69Cy>?B>"IIFRIFW4٢R = Ry=9RûQ V ?TT VG٣VCGyZ; Z ? bNusing accuracyPremultiplier from config`f49b?f4YbM7 ibgBdfj@bJDb:b:b|4l n(@pZj FNOT Ignoring new targets: 508.40 m.Bj #;Jj#;% ProNav: ac range: 508.399994 m, nav range: 281.598938 m, bearing: 339.283657 deg, approach rate: -0.001685 m/s, LOS rate: 0.143262 deg/s, cmd heading: 246.352055 deg, new cmd heading: 246.484395 deg. 2j%;-HeadingCmd: 4.301964 target range: 508.399994 and range: 508.40 m. j-@j)j)j)i)h)h1h1h9fffrfbf`\*?ɛM[BM0 QU dIy #ɚiI]=Iiri"ؼ)@)HI I"II~BI7 =&I.I6I<:IA F*Fm?2Fi:FiBFm`0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.GӼG B O >X0ow,崿 AyeEBe"I AIMzg]Will construct direction to contact in vehicle frame from tetrahedron phase data.IFI%3٢5< 5'=9=Q =>99 EG٣AyE E> UNusing accuracyPremultiplier from configI]49M?]4YM? iMgBYY]@MUDM;M;M 4a m@mnEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 508.40 m.Bj;Jj;5 ProNav: ac range: 508.399994 m, nav range: 281.598450 m, bearing: 339.351698 deg, approach rate: -0.000977 m/s, LOS rate: 0.136125 deg/s, cmd heading: 246.484397 deg, new cmd heading: 246.688518 deg. 2j5׺;=HeadingCmd: 4.305527 target range: 508.399994 and range: 508.40 m. j=Ɖ@j9jAjAiAhAhAhihififqfqrfqbfus?ɛ\BD !%7I) -d폼ɚ1i1I5$L=I=#i=q`si=)=Ɖ@)9*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 ****** Querying Benthos address 50 with one ping in standard two-way mode.G ټzKm &OKm h9Ki Km ^Km  BKq :Ku rAJ J @AJ J J 0J J 5;J |:J ـ3J G9 BA Oe >vw,X AyzQB~"IMb@Mb@Mb@ )YˡE?Zd;O?{Gz?y'?j<=#<A A @)@IX@yAI-GI-3٢=II MG٣IyI U> ]Nusing accuracyPremultiplier from configQ]49Uy?e4YUE iUgBe^(?e:em@U\DUb;U;U4q u@qZjFNOT Ignoring new targets: 508.40 m.Bj;Jj; ProNav: ac range: 508.399994 m, nav range: 281.597870 m, bearing: 339.401740 deg, approach rate: -0.001588 m/s, LOS rate: 0.137023 deg/s, cmd heading: 246.688510 deg, new cmd heading: 246.838635 deg. 2j;HeadingCmd: 4.308147 target range: 508.399994 and range: 508.40 m. jW܉@jjjihhhh7Bfffrfbf`;&?ɛ I WɚiI=Ii+si)W܉@) )I)5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759981*F?2F:FBF~0JF=~G]vAy YvAyBjHa bHe <Hi Ii  Im #IIm BIm 8 =&Ii .Ii 6Im D<:Im FG fG B O >sB|w,k A6R@Y6a@696'>y6H i ڿ@m?}`:ٿ?.|?L?`?ɨ6R@6;67CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.011536yVdBV"II^aI^+4٢f= ff=9jPQ j>ll rG٣rCGyr< r> vNusing accuracyPremultiplier from configtz49v?z4YviK ivgB|~"~@vdDv;v] ;v4  @ Zj)5FNOT Ignoring new targets: 508.40 m.Bj5;Jj=;M ProNav: ac range: 508.399994 m, nav range: 281.596252 m, bearing: 339.449387 deg, approach rate: -0.004592 m/s, LOS rate: 0.135262 deg/s, cmd heading: 246.838638 deg, new cmd heading: 246.981579 deg. 2jM;UHeadingCmd: 4.310642 target range: 508.399994 and range: 508.40 m. jU@jQjQjQiQhQhahahafafifirfibfme@ɛ]]B]t ae f*w,oI A:r@Y:L@:I9:u>y:Hٿ? FG|ٿ?+|?4??ɨ:r@:;:8CybkBb"I fp=duMb@Mb@Mb@qqq q)qYujt?A`"?Mb?yu ?uY=u=9I'9Q > G٣y,< > Nusing accuracyPremultiplier from config49(?4Y#R i,gBd!?: @mDF;E;C4RB g@oEZjy}FNOT Ignoring new targets: 508.40 m.Bj ;Jj ; ProNav: ac range: 508.399994 m, nav range: 281.590179 m, bearing: 339.504393 deg, approach rate: -0.013600 m/s, LOS rate: 0.123186 deg/s, cmd heading: 246.981580 deg, new cmd heading: 247.146601 deg. 2j;HeadingCmd: 4.313522 target range: 508.399994 and range: 508.40 m. j_@jjjihhhh\BfffrfbfS @ɛAm im0 ! I! ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767576eTw,!' A6@Y6ߛ@6\96I>y6H Vٿ'?^QKٿʰ??з??ɨ6@6;69CyRBR"IIZqIZJH4٢bQ= bY=9fQ f>dd jG٣hyj- < j> rNusing accuracyPremultiplier from configlr49n?v4Yn X in7gBtvv@ntDna;nX ;n#4 @rEZjFNOT Ignoring new targets: 508.40 m.Bjd;Jjd;- ProNav: ac range: 508.399994 m, nav range: 281.584290 m, bearing: 339.552650 deg, approach rate: -0.015301 m/s, LOS rate: 0.125364 deg/s, cmd heading: 247.146598 deg, new cmd heading: 247.291372 deg. 2j-;UHeadingCmd: 4.316049 target range: 508.399994 and range: 508.40 m. j]@jYjYjYiYhYhYhahafafafirfibfm`@ɛ^BXL L=I 'VɚiI=I$H >I IA#IIBI7 =&I.I6IX<:I FiM!$uiM^)U@)Q*F?2F:FBFl3JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020008GG B O >7Aw,A A2~@Y2ȯ@292>y2H@}ٿ ?Y$ٿ ?u?6?`?ɨ2~@2;2;Cy>BB #IIFfIF44٢RW= VL=9b5Q f>ll nG٣nCGyn; n> vNusing accuracyPremultiplier from configpv49r?z4Yrl^ irCgB|~P~@r|Dr:K;rK;r*4 K@ Zj15FNOT Ignoring new targets: 508.40 m.BjM;JjU; IWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274106u ProNav: ac range: 508.399994 m, nav range: 281.577576 m, bearing: 339.604698 deg, approach rate: -0.017576 m/s, LOS rate: 0.136256 deg/s, cmd heading: 247.291370 deg, new cmd heading: 247.447517 deg. 2ju;HeadingCmd: 4.318774 target range: 508.399994 and range: 508.40 m. je3@jjjihhh)h1f9fafarfibfmi @ɛI8 @=I ɚiI=Iqiui%D.)%e3@)!*F?2F:FBF[0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524399G p6ϼG B O >zK BoHK K K `K ~ X}qU% [fw,Z AJIׂ@YJ@J!Q9J>yJH`ٿ~#?`eo`8ؿ?ʃ? ?`̧?ɨJIׂ@J;J8CyVBV#IXX Mb@Mb@Mb@    ) Y On?{Gz?{Gz?y ? #= ף< A A @) I MA y AI-NI-@ 4٢=h= =3=9=DQ =>AA EG٣AyMs< M> Nusing accuracyPremultiplier from configQ49U?4YUe iUQgB?:@UDU;Ul;U24 /@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 508.40 m.Bj;Jj;- ProNav: ac range: 508.399994 m, nav range: 281.573822 m, bearing: 339.659237 deg, approach rate: -0.008174 m/s, LOS rate: 0.118761 deg/s, cmd heading: 247.447508 deg, new cmd heading: 247.611128 deg. 2j-;5HeadingCmd: 4.321630 target range: 508.399994 and range: 508.40 m. j5J@j1j1j1i1h9h9h9h=BfAfAfArfAbfMX @ɛqu2t y}>Iy }ɚyiyI}=IBiFuia ȼ)J@) I*F?2F:FBF_0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:21:37:44.2603 5TRx dataTimestamp_ set to:1736372265.589155=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777227ZH RH AAH I  I m#II ߄BI &I .I 1D6I R<:I  FG rGa Bi O >zw,t ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.027673N@YND@N~%9N>yNHؿ@/?@X{ ؿް?x? ? ?ɨN@NǑ;N7CyZBZ1#IIffIf44٢n= nd=9rꧺQ r>pt vG٣tyv*< v> zNusing accuracyPremultiplier from configx49z?4Yzhj iz]gBL@zDz|Ii uɚqiqIu=I}]i} -vi})}]@)*F?2F:FBFJFGrA G $?IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Gp6ϼ DAT read: 21:37:44.2603 LVL= 18224, 28305, 20594, 25875, AGC= 64, IDX= 427,-0.07,-2.240, 3.077, 2.327,-2.942, PHS= 0.790,-0.217,-1.017, RAW= 63.8, 5.7, CAL= 64.4, 6.9, ROT= 85.6, -6.9  Ygot valid direction response: 21:37:44.2603 LVL= 18224, 28305, 20594, 25875, AGC= 64, IDX= 427,-0.07,-2.240, 3.077, 2.327,-2.942, PHS= 0.790,-0.217,-1.017, RAW= 63.8, 5.7, CAL= 64.4, 6.9, ROT= 85.6, -6.9 G B1 OU >U PDAT read: Bearing 85.6, -6.9 (Local) U ~Local bearing/azimuth received: Bearing 85.6, -6.9 (Local) e DAT read: Range 10 to 50 : 507.3 m (Round-trip 676.4 ms) speed 0.2 m/s m ,DAT read: user:1927>  BDAT read: Tx time:21:37:45.3797  $Ping request sent. ?yECAE0GEn ErP)EeIE@iEq=J?E?5^E-EӇ?E%= Eޏ?)EϢ=IEt;?iEϢAAE(c?\ v"o ?)E-{IEO̽iE?EI~AA :publishing transmit ping timeء  Fpublishing direction and range infoA9E"UL¿3J?>?yAAAA A)AIAiAAAAA A)AIAiAAAE(c?\ v"o ?)AIAiAAAAxw, A6@Y6 @6+.96;>y6Hؿ9?"Wؿ$?`Ņ?@?@?ɨ6@6";6:Cy^B^A#I @ @ @  @ IhIV84٢g= 9=9Q >    G٣ CGy Z; > bBottom track data is 0.4 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-49ɲ?-4Yp ikgB5+:1]:]]@D<[>T?4eSB e@esEkuHqu?Jku?RkuI~*uS78k@P|@u& fO?Bz5q?"ku *kuyXCkuI ɡɚiI7=I%poi%}vi%)%s@)I*F2F:FBF`0JFzKNK+9KKaKG I |gG B M Will construct direction to contact in vehicle frame from tetrahedron phase data.O >&w,*p AB@YB &@B8D9B>yBH`ؿ9J?`|Cއ@>TؿD֯??N?@?ɨB@B0;B8CyRBP Z=Z=Ib^Ib&4٢n ; n_=9roQ r>tt zG٣xy~+; ~>  bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 49 ?%4Y uv i wgB% :!-i:--@ D ; P? C4=RB =~@EvEZjFNOT Ignoring new targets: 507.30 m.Bj";Jj"; ProNav: ac range: 507.299988 m, nav range: 251.583298 m, bearing: 343.305961 deg, approach rate: 0.025932 m/s, LOS rate: 0.142352 deg/s, cmd heading: 247.899339 deg, new cmd heading: 248.049859 deg. 2jc;HeadingCmd: 4.329287 target range: 507.299988 and range: 507.30 m. j@jjjihhhh1f1f1f9rf9bf=`R?ɛ{H >I I#IIBI&I.I6Ig<:I$ FBIyJIyRIyZI}7 =bIyjI}+4 4>I ˜ɚiIʙ=I[iYvid̼)@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.J]J]JYJYJ]m;J]y:JYJYJ]a<J]a<J];J];GEGa Bq O >w,FE A6%@Y65@6K96i >y6HؿNN?5ؿ'?~? PD?@{?ɨ6%@6\;4yRBRJ#IIZ=IZ=3٢b= bL=9bQ f>dd fG٣dyj!; j> rbBottom track data is 1.2 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv49n4?z4Yn]| ingBz9xz<:z}z@nDnG_;n)?nAG4  @ZjIUFNOT Ignoring new targets: 507.30 m.BjUy; aIa Will construct direction to contact in vehicle frame from tetrahedron phase data.JjUy; ProNav: ac range: 507.299988 m, nav range: 251.592911 m, bearing: 343.359926 deg, approach rate: 0.024214 m/s, LOS rate: 0.135927 deg/s, cmd heading: 248.049849 deg, new cmd heading: 248.211736 deg. 2j;HeadingCmd: 4.332112 target range: 507.299988 and range: 507.30 m. j@jjjihhhQhYfaffrfbf9?ɛaB @>I 0ɚi!I%z=IEƼiM)wiMZҼ)M@)I*F2F:FBF N1JF "G=G= Will construct direction to contact in vehicle frame from tetrahedron phase data.G% cʼG B O >w, AzK"BHK"9K K"bK"y=ȄB=Q#I        Mb@Mb@Mb@ )Y rh?y&1?~jt?y ?`e<D< A @)I@yAIu(Iu̍3٢< 1=9Q > G٣CGy > Nusing accuracyPremultiplier from config49a?4Y igBT: ?:@D;;hO4 @=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 507.30 m.Bju ;Jj} ; ProNav: ac range: 507.299988 m, nav range: 251.613678 m, bearing: 343.418051 deg, approach rate: 0.044315 m/s, LOS rate: 0.124022 deg/s, cmd heading: 248.211725 deg, new cmd heading: 248.386085 deg. 2j:;-HeadingCmd: 4.335155 target range: 507.299988 and range: 507.30 m. j-@j1j1j1i1h9h9 QIQhḧ́Bfffrfbf@?ɛbBK L>I ɇɚiITY=IYi[wi9)@)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=?2F9:F9BF=&2JF9HI I#IIBI&I.I6Ir<:I- FG% ϼG B O% >w, A.Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.684438F}F@YFU@F-Q9F>yFHKؿ`OT?$` ׿:?%?|?`:?ɨF}F@FbX;F:CyVфBV]#IXXI^hI^V84٢f*S= fk=9jnQ j?ll nG٣lyn=< r? vNusing accuracyPremultiplier from configpv49r?z4YrK irgBxzz@rDr* ;r ;rjU4 @Zj)5FNOT Ignoring new targets: 507.30 m.Bj=;Jj=;M ProNav: ac range: 507.299988 m, nav range: 251.628433 m, bearing: 343.460910 deg, approach rate: 0.043888 m/s, LOS rate: 0.127474 deg/s, cmd heading: 248.386086 deg, new cmd heading: 248.514657 deg. 2jM;UHeadingCmd: 4.337399 target range: 507.299988 and range: 507.30 m. jUˊ@jQjQjQiYhYhYhYhYfafafarfabfm`R?JJJ1JJ;J :J3JJd<Jd<JS;JS;ɛqu@9 qu ]>Iq }䦆ɚyiyI}5=Iiwiؼ)ˊ@)*Fe?2Fa:FaBFeU0JFaG=+GB!O]U> 1I9 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.936455Lw,U Ay~ɄB~S#IMb@Mb@Mb@ )YZd;O?~jtx?~jtx?y~ ?;; A )IyGAIcIy/4٢,  <=9Q > G٣y > Nusing accuracyPremultiplier from config49V?4Y igB ?:@D;;\4 @ZjFNOT Ignoring new targets: 507.30 m.Bj;Jj; ProNav: ac range: 507.299988 m, nav range: 251.649933 m, bearing: 343.514082 deg, approach rate: 0.047760 m/s, LOS rate: 0.118107 deg/s, cmd heading: 248.514657 deg, new cmd heading: 248.674158 deg. 2j;HeadingCmd: 4.340183 target range: 507.299988 and range: 507.30 m. j@jjjihhhhلBff)f)rf1bf5 @mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.188440ɛcBpF 隵K>I V4ɚiI=IOiNmxir)@)*F?2F:FBFX0JFG GzK=BoIK=h9K9K=cK= - $?I) G- 8G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.440485O- >w,) A) CZGht YyBHYIY I]#II]+BI]6 =&IY.IY6I]<:I]Z FyqqIjI;4٢"l ==9Q > G٣CGy > Nusing accuracyPremultiplier from config49?4Y igB@D::d4SB @{EZjFNOT Ignoring new targets: 507.30 m.Bj4;Jj4;  ProNav: ac range: 507.299988 m, nav range: 251.671570 m, bearing: 343.567046 deg, approach rate: 0.052223 m/s, LOS rate: 0.127823 deg/s, cmd heading: 248.674156 deg, new cmd heading: 248.833034 deg. 2jr;HeadingCmd: 4.342956 target range: 507.299988 and range: 507.30 m. j~@jjjihhhhfffrfbf`hj@ɛdB' JI>I ߃ɚiI%=IrYiHxi) ~@) *F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.694171JK K(.KK"KJ=J=J9J9J=5;J={:J9J9J=Vc<J=Vc<J=;J=;G GG B O >w,&C A6v@Y6Ȋ@62-B968\>y6Hnv׿@y?@@ ׿%o?E?C?`q?ɨ6v@6؝;69CyBBBI#I F=F=IJeIJ34٢V J Vp=9V20;Q V?XX ZG٣XyZ(= ^? `If}g jNusing accuracyPremultiplier from confighn49jo?r4YjP ijgBprr@jƀDj;jS;jj4t v)@xZjFNOT Ignoring new targets: 507.30 m.Bj%A ;Jj%A ;5 ProNav: ac range: 507.299988 m, nav range: 251.686325 m, bearing: 343.609172 deg, approach rate: 0.042953 m/s, LOS rate: 0.122622 deg/s, cmd heading: 248.833026 deg, new cmd heading: 248.959394 deg. 2j5O;HeadingCmd: 4.345161 target range: 507.299988 and range: 507.30 m. j @jjjihhhhfffrfbf`*@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.945986ɛMfBu P y}5>I łɚiI=I-i-yii) @)!*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.199129GE ~G1 JI JM AABQ O >Pw,j] AzK.k3IK.9K,K.dK.BK4:K4FO@YF@F<9F>yFHv׿`?* ֿ@@1??֧??ɨFO@F>&;F8CyRBRC#I-Mb@Mb@Mb@))) )))Y-HzG?~jtxy-= ?-Ļ-) ))-dAI-MA)y-AIAIA٢U5 U@=9]O:Q ]>YY eG٣aye7e< e> mNusing accuracyPremultiplier from configiu49mG}?}4Ym imgB}? ?}:@m̀Dm5;mJ4;mq4 o@ZjFNOT Ignoring new targets: 507.30 m.Bj ;Jj ; ProNav: ac range: 507.299988 m, nav range: 251.707977 m, bearing: 343.661006 deg, approach rate: 0.051071 m/s, LOS rate: 0.122250 deg/s, cmd heading: 248.959384 deg, new cmd heading: 249.114873 deg. 2j̧;HeadingCmd: 4.347875 target range: 507.299988 and range: 507.30 m. j!@jjQjYiYhYhahihքBfffrfbf @ɛgB8n *>I WɚiI=I%Di%Lyi%)%!@)) I*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:37:48.4702  TRx dataTimestamp_ set to:1736372269.623847 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.452691GϼGBOg>ZHQRHQH] >IY I]#II]&BI]7 =&IY.IY6I]<:I]H F-w,Ew A:Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.706838Vx@YV'@V =9V>yVH Hֿ?@`mֿ?@o? ?ߧ?ɨVx@V ;Ty-B-8#II=\I=#4٢M6 MK=9UQ U>QY ]G٣]CGy]d< ]> mNusing accuracyPremultiplier from configam49ev?u4Ye? iegBquu@eԀDe ;e ;ex4y @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 507.30 m.Bj ;Jj ; ProNav: ac range: 507.299988 m, nav range: 251.727554 m, bearing: 343.710373 deg, approach rate: 0.048439 m/s, LOS rate: 0.122139 deg/s, cmd heading: 249.114867 deg, new cmd heading: 249.262957 deg. 2j;HeadingCmd: 4.350459 target range: 507.299988 and range: 507.30 m. j6@jjjihhhhfffrfbfx@ɛhB( 隥>I ɚiI=IciXyi@Ӆ)6@)*FM?2FI:FIBFMR1JFI IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.964033GuG B O >w,}! AyvBv##I|~AMb@Mb@Mb@ )Y(\? G٣y > Nusing accuracyPremultiplier from config49o?4Yާ igB-?:e@܀D;;A4 @~EZj  FNOT Ignoring new targets: 507.30 m.Bj;Jj;% ProNav: ac range: 507.299988 m, nav range: 251.752762 m, bearing: 343.762622 deg, approach rate: 0.060681 m/s, LOS rate: 0.125764 deg/s, cmd heading: 249.262945 deg, new cmd heading: 249.419675 deg. 2j%;-HeadingCmd: 4.353195 target range: 507.299988 and range: 507.30 m. j-_M@j)j)j)i1h1h1h9h=Bf9f9fArfAbfE@ɛiBj 0=I ɚi I;=I% i-xyi-d)-_M@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:37:48.4702 LVL= 12608, 25553, 18642, 23187, AGC= 71, IDX= 32, 0.17, 1.261, 0.046,-0.585, 0.409, PHS= 0.941,-0.316,-0.997, RAW= 69.7, 4.4, CAL= 72.1, 3.7, ROT= 77.9, -3.7 Ygot valid direction response: 21:37:48.4702 LVL= 12608, 25553, 18642, 23187, AGC= 71, IDX= 32, 0.17, 1.261, 0.046,-0.585, 0.409, PHS= 0.941,-0.316,-0.997, RAW= 69.7, 4.4, CAL= 72.1, 3.7, ROT= 77.9, -3.7 PDAT read: Bearing 77.9, -3.7 (Local) ~Local bearing/azimuth received: Bearing 77.9, -3.7 (Local) DAT read: Range 10 to 50 : 514.7 m (Round-trip 686.3 ms) speed 0.2 m/s ,DAT read: user:1928> BDAT read: Tx time:21:37:49.5797 $Ping request sent.m&?)ەޓ`Iەܝiە?*F?2F:FBF2JFە4ۑۑM:publishing transmit ping timeMFpublishing direction and range infoؑ9ؕMc_,?!_l?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑەRKe?k׈>&?)ۑIۑiۑۑۑۑzKjIKh9KKeK $?I G G B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.?w, A>r@Y>@>@9>>y>HPֿ@&?տf?K?੫?@ϧ?ɨ>r@>;>9Cy^B^ #IIjPIj 4٢   U=9 " Q  > G٣y=< => ENusing accuracyPremultiplier from configAM49EUh?U4YE" iEgBYee@EDE;E;E4y }8@ykB4-?kW.9 k k A:kDBkCZkS="rz8P1Rl@RW|@Mc_,?!_l?HIC I#II BI6 =&I.I6Ið<:Ii FJk?Rk4*_Z~te@ao,@øH~@/ti?(hI?ĺ?"k|cA*k-CkK[.?kT6 2k Dkk}Z& kkyCk@m addTargetRange:: Added new target pos. range: 514.700012 m, deltaT: 4.290185 s, deltaX: 7.400024 m, approachRate: 1.724873 m/s, rangeRepo size: 4  Added new target pos. range: 514.700012 m, bearing: 4.697894 deg, lat: 36.902829 deg, lon: -122.116149 deg, deltaT: 4.290185 s, deltaX: 7.400024 m, approachRate: 1.724873 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 514.70 m.BjJj ProNav: ac range: 514.700012 m, nav range: 249.839615 m, bearing: 345.417198 deg, approach rate: 0.000000 m/s, LOS rate: 0.125764 deg/s, cmd heading: 249.419684 deg, new cmd heading: 249.575077 deg. 2jHeadingCmd: 4.355907 target range: 514.700012 and range: 514.70 m. jc@jj j i h)h)h1h1f1f1f9rf=@bf=@|'?ɛkB0 隭p=I ~ɚiI=Ii^yi6)c@)*Fe?2Fi:FiBFmC5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.G o>Gy B O >k'w, A Iy%B-"IIMAIMk3٢r B=9Q > G٣y > Nusing accuracyPremultiplier from config49`?4Y߲ igB@D::k4TB @EWill construct direction to contact in vehicle frame from tetrahedron phase data.Zj!%FNOT Ignoring new targets: 514.70 m.Bj-;Jj5; ProNav: ac range: 514.700012 m, nav range: 249.869629 m, bearing: 345.470616 deg, approach rate: 0.075197 m/s, LOS rate: 0.133817 deg/s, cmd heading: 249.575085 deg, new cmd heading: 249.735319 deg. 2j;HeadingCmd: 4.358704 target range: 514.700012 and range: 514.70 m. jz@jjjihhhhfffrfbf?ɛmBN 隍81=I `~ɚiI=IlUiWyiįr)z@)*F]?2FY:FYBF]4JFaG5o/DGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.J% J% J% 1J! J% m;J% z:J% 3J! Pw,` A6ń@Y6IՋ@6|i96>y6H |տ?`,#`%$տ?X/?c?q?ɨ6ń@6Nԗ;6:CyngBn"I v=va=zK~BoIK~9K|K~fK~!S^= %Mb@Mb@Mb@!!! !)!Y%7A`? rhQq uG٣uCGyu< }> Nusing accuracyPremultiplier from config49dY?4Y igB?: I~gM@Dn<O<ڕ4Q ]@YZjFNOT Ignoring new targets: 514.70 m.Bj;Jj; ProNav: ac range: 514.700012 m, nav range: 249.898010 m, bearing: 345.527631 deg, approach rate: 0.062162 m/s, LOS rate: 0.124863 deg/s, cmd heading: 249.735321 deg, new cmd heading: 249.906348 deg. 2jb;HeadingCmd: 4.361689 target range: 514.700012 and range: 514.70 m. j@jj!j!i!h!h!hihaBfffrfbf ?ɛnBט 隽qI ˓~ɚiI= Will construct direction to contact in vehicle frame from tetrahedron phase data.IiyiR7)@)*F?2F:FBF4JFjHbH4=HI Is#IIBI&I.I6Ig<:I& FBIJIRIZI6 =bI6 =jI׵4G5 f A Will construct direction to contact in vehicle frame from tetrahedron phase data.G1 B9 Ou > w,- A6@Y6 @6n96>y6Hտ?4!Կђ?@э?_?`?ɨ6@6;68CyBOBB"IINkIN=4٢R VS=9VQQ V>TX ZG٣\y^< b> fNusing accuracyPremultiplier from config`f49bR?j4Yb ibgBln.n@bDbwT;bT;b4t vQ@tB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 514.70 m.Bj};Jj}; ProNav: ac range: 514.700012 m, nav range: 249.922440 m, bearing: 345.579219 deg, approach rate: 0.066036 m/s, LOS rate: 0.139437 deg/s, cmd heading: 249.906349 deg, new cmd heading: 250.061098 deg. 2jc;HeadingCmd: 4.364389 target range: 514.700012 and range: 514.70 m. j@jjjihhhhfff rf bf?ɛ}oB}ȥ y}xIy 1XɚiI'=Iixi)@)*Fe?2Fa:FaBFe_0JFa IG]G1BAO]T>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.1w,5 A68@Y6*H@6lZ96Kf>y6HԿ?@ IQԿ @?@hM?{?g?ɨ68@6̕;4yB=BB"I=Mb@Mb@Mb@999 9)9Y=T㥛 ?Mbp~jty=!?==ļ= A 9)9I=A9y=AI]I]q4٢m m?=9mh<;Q m>qq uG٣qy}đ< }> Nusing accuracyPremultiplier from config49XK?4YN igB$!?:8@D;;4 g@EZjFNOT Ignoring new targets: 514.70 m.BjC+;JjC+; ProNav: ac range: 514.700012 m, nav range: 249.943436 m, bearing: 345.640621 deg, approach rate: 0.051204 m/s, LOS rate: 0.149731 deg/s, cmd heading: 250.061094 deg, new cmd heading: 250.245282 deg. 2j;HeadingCmd: 4.367604 target range: 514.700012 and range: 514.70 m. jjË@jjjihhhhBBfffrfbf" @ɛ-qB-*B 15$ͽI1 5@Qɚ9i9I=+=I=1iElxiEV)EjË@)I]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001471JJJJJ;J~:JJ*F ?2F :F BF`0JFzK=LK=9K9K=gK=   $?IG-GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254476 w,;. A:Ed@Y:s@:UW9:Т>y:HoTԿ ?V@Կ?~?@c? N?ɨ:Ed@HF>ID IF;#IIFBID&ID.ID6IFİ<:IFk F:Z;:9Cyb#Bb"IdfAIjlIjm?4٢r[  vS=9v[9Q v>tx zG٣zCGyz`< z> Nusing accuracyPremultiplier from config| 49~D? 4Y~d i~gB   @~ D~:~7:~̪4 @ZjAMFNOT Ignoring new targets: 514.70 m.BjM$;JjM$;e ProNav: ac range: 514.700012 m, nav range: 249.961426 m, bearing: 345.696312 deg, approach rate: 0.046470 m/s, LOS rate: 0.143844 deg/s, cmd heading: 250.245290 deg, new cmd heading: 250.412351 deg. 2jep;eHeadingCmd: 4.370520 target range: 514.700012 and range: 514.70 m. jmMۋ@jijijiiihihihqhqfqfyfyrfybf} ^"@ɛrBXۼ 隵 I KɚiIf=I8i'wi28)Mۋ@)*FQ2FQ:FQBFU0JFQG-V'SGBO-->eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.505399 I w,\tH A6@Y6혌@6>V96g>y6H Կ?b`ӿ1'?NJ?@AI }G٣yy #< > Nusing accuracyPremultiplier from config49=?4Y 5tIigB9=E@D<Y<ݲ4 @EZjFNOT Ignoring new targets: 514.70 m.Bj;Jj;% ProNav: ac range: 514.700012 m, nav range: 249.981903 m, bearing: 345.762732 deg, approach rate: 0.041669 m/s, LOS rate: 0.135148 deg/s, cmd heading: 250.412357 deg, new cmd heading: 250.611601 deg. 2j%;-HeadingCmd: 4.373998 target range: 514.700012 and range: 514.70 m. j-@j)j1j1i1h1h1h9h9f9f9f9rfbf*@ɛsB* ,@I ߂ɚiI;=IC`iEwiU:)@)E*FU?2FQ:FQBFU_0JFYmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.009426J J J J J 0J J J {:J ـ3J Gu pGQ BY Ou >?w,b AzKNsLKLKLKNhKNBKP:KRqAyBV"I 9I9Mb@Mb@Mb@ )Y?I +?y,?9<̼ A @)@IMAy(AIaI+4٢ K=9Q > G٣y > Nusing accuracyPremultiplier from config497?4Y2 igB-?:@Df;;4  @ Zj15FNOT Ignoring new targets: 514.70 m.Bj=W@;Jj=W@;e ProNav: ac range: 514.700012 m, nav range: 249.990494 m, bearing: 345.821929 deg, approach rate: 0.024404 m/s, LOS rate: 0.168157 deg/s, cmd heading: 250.611607 deg, new cmd heading: 250.789192 deg. 2ju;HeadingCmd: 4.377097 target range: 514.700012 and range: 514.70 m. j%.@j)j)j)i)h)h1h1h=Bf9f9farfabfm.% @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262128E~GYq Yy)BɛtBH  =qI9 =rɚ9i9IEB~=IEiEoviM)M.@)IZH]?ARH]?AHiIi Im"IIm~BIi&Ii.Ii6Im<:ImO F*FM?2FI:FQBFUw0JFQ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:21:37:52.6691 m TRx dataTimestamp_ set to:1736372273.913673u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516086Gu 9GQ BY O} >|w,D| AR@YR@R}B^9RhU>yRH`ӿ&?]T ^l@҄ӿx?ȋ??>?ɨR@RC9;R:CyvBzB"IIIkf4٢ᬽ U=9Q >!! %G٣%CGy%k!< -> 5Nusing accuracyPremultiplier from config1=4951?=4Y5 i5{gB9=쿑=@5$D5*:5:5C4I M@ImB*** querying acoustic contact ***jijiZjq}FNOT Ignoring new targets: 514.70 m.Bj0;Jj0; ProNav: ac range: 514.700012 m, nav range: 249.998444 m, bearing: 345.881392 deg, approach rate: 0.020671 m/s, LOS rate: 0.154612 deg/s, cmd heading: 250.789192 deg, new cmd heading: 250.967575 deg. 2j7;HeadingCmd: 4.380210 target range: 514.700012 and range: 514.70 m. j*@jjjihhhhfffrfbf` @ɛuBH ߉I ΅ɚiI=Iivic)*@)*F2F:FBF5JF I gG}'HG} ?G}>G9BIOe4>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765811_%w,슖 A~@Y~g@~j9~G >y~H`ӿ(?`@nl`كӿ?[? Ճ? ?ɨ~@~!8;~8Cy݃B0"IMb@Mb@Mb@ )YX9v?l?Qy=?=u A )n@IX@y@Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 21:37:52.6691 LVL= 21488, 28833, 18194, 23795, AGC= 67, IDX= 437,-0.21,-1.523,-2.893, 2.530, 2.901, PHS= 1.947, 0.536,-0.374, RAW= 67.1, -20.2, CAL= 80.7, -28.2, ROT= 69.3, 28.2 5Ygot valid direction response: 21:37:52.6691 LVL= 21488, 28833, 18194, 23795, AGC= 67, IDX= 437,-0.21,-1.523,-2.893, 2.530, 2.901, PHS= 1.947, 0.536,-0.374, RAW= 67.1, -20.2, CAL= 80.7, -28.2, ROT= 69.3, 28.2 =PDAT read: Bearing 69.3, 28.2 (Local) =~Local bearing/azimuth received: Bearing 69.3, 28.2 (Local) EDAT read: Range 10 to 50 : 513.9 m (Round-trip 685.2 ms) speed 0.1 m/s U,DAT read: user:1929> UBDAT read: Tx time:21:37:53.7797 ]$Ping request sent.]ND??B?ֿ)WlIi>ij?֏:publishing transmit ping timeYFpublishing direction and range info9C%S?Sk3?+P?y )Ii )IiND??B?ֿ)IiIIq4٢> 3=9ݺQ > G٣y9 > Nusing accuracyPremultiplier from config49)?4Yb i:>?:꿑@.D;;84 @EkJ&?k k kM A:kyDBk(CZka@") e@BMk@tX{@C%S?Sk3?+P?Jkj?Rk֏*x;mX@MM9@MiX)|@?UWN5ٿf?"kjJ*khBkSq?kf[ټ 2kDk,w,hy AF@YF8@Fm9Ff3 >yFH(ӿ*? ٿ@lHӿx??@@X?@?ɨF@FR;F7Cy~ɃB"IIQIQ٢eSŽ eP=9eQ m>ii G٣y): > Nusing accuracyPremultiplier from config495#?4Y i|gB꿑@8DP:;*4 @Zj!%FNOT Ignoring new targets: 513.90 m.BjMJ~;JjMJ~;e ProNav: ac range: 513.900024 m, nav range: 226.377853 m, bearing: 344.533243 deg, approach rate: -0.007034 m/s, LOS rate: 0.222318 deg/s, cmd heading: 251.211025 deg, new cmd heading: 251.435290 deg. 2je<HeadingCmd: 4.388374 target range: 513.900024 and range: 513.90 m. jm@jjjihhhhfffrfbfM?ɛEwBE/ IMII MYɚIiIIMhi=I]/i]ui]?)]m@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F92F9:F9BF=V0JF9JJJJJ;Jv:JJJd Ig Will construct direction to contact in vehicle frame from tetrahedron phase data.3w, A@YX@|9] >yHӿY)?`Ȑj Ӑӿ ۬??`=?@]?ɨ@9;y]B]"IAIuIaO4٢u  u8=9}kQ }>yy G٣CGy! > Nusing accuracyPremultiplier from config49?4YT i꿑@CD:":4UB =@EZjQUFNOT Ignoring new targets: 513.90 m.Bj]V;Jj]V; ProNav: ac range: 513.900024 m, nav range: 226.376007 m, bearing: 344.617132 deg, approach rate: -0.004131 m/s, LOS rate: 0.187689 deg/s, cmd heading: 251.435301 deg, new cmd heading: 251.686968 deg. 2j<HeadingCmd: 4.392766 target range: 513.900024 and range: 513.90 m. j@jjjihhhhfffrfbf ?ɛxB]' ae?Ia e錼ɚaiaIe=Im>imuiuL)u@)q*FQ2FQ:FQBFUY0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.G XG G qAG B I O >zK BoHK 9K K jK 9w,\ AJ䗅@YJ.@J9Jk>yJH`4ӿ@a*?xf ӿ@1Ǭ?鿐?w?`o?ɨJ䗅@JX;J9CybÃBb"IMMb@Mb@Mb@III I)IYMQ?l?{GzyMH?M=M#M A M@)MA@IMn@IyM\@Will construct direction to contact in vehicle frame from tetrahedron phase data.IDI3٢; G=9Q > G٣yE > Nusing accuracyPremultiplier from config49?4Y igBI?:~忑@MD;K;4  *@Zjq}FNOT Ignoring new targets: 513.90 m.Bj}d;Jj}d; ProNav: ac range: 513.900024 m, nav range: 226.361481 m, bearing: 344.697595 deg, approach rate: -0.036001 m/s, LOS rate: 0.199425 deg/s, cmd heading: 251.686979 deg, new cmd heading: 251.928382 deg. 2j<HeadingCmd: 4.396980 target range: 513.900024 and range: 513.90 m. j@jjjihhhhBfffrfbf@?ɛj. I 7.ɚiI=I1oiui=)@)jHbHH>I I"II-BI&I.I6I<:IJ F*F=?2FA:FABFE^0JFAGI GMnAGI6GBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J 5;J z:J J J Vc<J Vc<J ;J ;@?w, A2s@Y2ނ@2%E92b>y2H@6Կ`p?1[ӿ~*?a?7? ?ɨ2s@2;28CynBn"IIv;Iv&3٢! m=9=Q  ?    G٣ yR ? Nusing accuracyPremultiplier from config%49?%4Y} igB)-濑-@UDC:: 41 5C@YuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 513.90 m.Bjd;Jjd; ProNav: ac range: 513.900024 m, nav range: 226.350632 m, bearing: 344.766388 deg, approach rate: -0.031524 m/s, LOS rate: 0.199902 deg/s, cmd heading: 251.928386 deg, new cmd heading: 252.134773 deg. 2j0 <HeadingCmd: 4.400582 target range: 513.900024 and range: 513.90 m. jь@jjjihhhhfffrfbf`Sn? yIyɛyBʫ4 隽I tPɚiIUl=I(i5ui*ü)ь@)*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\LG B O- >R)Fw, Ay~ǃB~"I)  = =Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011751Mb@Mb@Mb@ )YB`"?{Gz?I +?yN?ף=94<A @)I@y@IIq4٢-< -9=9-Q ->11 =G٣=CGy= => ENusing accuracyPremultiplier from configAM49E ?M4YE iEgB]O?]:]忑]@EaDE0p;Ego;E4mVB m@mEZjFNOT Ignoring new targets: 513.90 m.Bjk;Jjk; ProNav: ac range: 513.900024 m, nav range: 226.336365 m, bearing: 344.857094 deg, approach rate: -0.032401 m/s, LOS rate: 0.206010 deg/s, cmd heading: 252.134767 deg, new cmd heading: 252.406899 deg. 2ja <HeadingCmd: 4.405332 target range: 513.900024 and range: 513.90 m. jz@jjjihhhhBfffrfbfO@ɛ!%* )-αI *ɚiI=I]iVcviݼ)z@)*FA2FA:FABFEo0JFA yI}gzKK+9KKkK     GGBOj>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263469H I  I "II (BI 5 =&I .I 6I ^<:I " FBIʘCJIʘCRIZIbIjI 4QLw,3 A6Z@Y6`i@6╼964 >y6HQgԿ?@S Կ쪮?@? $?δ?ɨ6Z@6p;66CyR݃BR1"IIZIZ_v4٢f= fd=9jZQ j>hh jG٣hyrG r> vNusing accuracyPremultiplier from configtz49v?z4Yv, ivgBxzN濑~@vjDvz:v:v 4 @ZjFNOT Ignoring new targets: 513.90 m.BjQb;JjQb; ProNav: ac range: 513.900024 m, nav range: 226.326126 m, bearing: 344.930801 deg, approach rate: -0.027484 m/s, LOS rate: 0.197863 deg/s, cmd heading: 252.406909 deg, new cmd heading: 252.628038 deg. 2j<HeadingCmd: 4.409191 target range: 513.900024 and range: 513.90 m. j@jjjihhhhfffrfbf@ɛ)-J% 9=IA MpɚQiYI]=Ie ie7vie)e@)a*F 2F :F BF 2JF "G=G=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516868JmJmJiJiJm;Jm|:JiJiJm`<Jm`<Jm;Jm;GE }$?IyGB O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767535HSw,M AyB="II-pI-F4٢e-= m2=9}Q }> G٣y > Nusing accuracyPremultiplier from config49K?4Y! igB@vD5;;>4 @ZjyFNOT Ignoring new targets: 513.90 m.Bjm;Jjm; ProNav: ac range: 513.900024 m, nav range: 226.313293 m, bearing: 345.027138 deg, approach rate: -0.027667 m/s, LOS rate: 0.207713 deg/s, cmd heading: 252.628043 deg, new cmd heading: 252.917070 deg. 2j<HeadingCmd: 4.414236 target range: 513.900024 and range: 513.90 m. jkA@jjjihhhhfffrfbfG^@ɛzB4 ߒI M×ɚiIN=I9iwij)kA@)*Fi2Fi:FiBFm3JFiGEGB %Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020255O=r> A IA ReYw,hg AzK.xLK.9K,K.lK.y%B%]"I11Mb@Mb@Mb@ )Y rh?~jt?I +?yCK?=9< @)n@IX@yf@IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273039Id4٢= F=9Q > G٣CGy > Nusing accuracyPremultiplier from config49 ?4Y&* igBEL?:濑@D;U;D4 M@ZjFNOT Ignoring new targets: 513.90 m.Bjho;Jjho;5 ProNav: ac range: 513.900024 m, nav range: 226.304626 m, bearing: 345.108169 deg, approach rate: -0.022386 m/s, LOS rate: 0.209306 deg/s, cmd heading: 252.917069 deg, new cmd heading: 253.160170 deg. 2j5<5HeadingCmd: 4.418478 target range: 513.900024 and range: 513.90 m. j=-d@j9j9j9i9h9h9hAhE΃BfAfAfIrfIbfMu @ɛqu y}rIy }BɚyiyI=Iiuxi"$)-d@)HI I"IIE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523605J J J 1J J J :J 3J J J J S;J S;K`w,> A>G@Y>eV@>9>>y>H (ԿE?EL`"-ԿrA??z?`ܬ?ɨ>G@>c;>7Cy^B^v"IIjsIjK4٢v= vn=9vhQ v?xx zG٣xyzܻ ~? Nusing accuracyPremultiplier from config 49? 4Y)1 igB  I翑@DC::F4 @E=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 513.90 m.Bje;Jje; ProNav: ac range: 513.900024 m, nav range: 226.298279 m, bearing: 345.177478 deg, approach rate: -0.018399 m/s, LOS rate: 0.200900 deg/s, cmd heading: 253.160169 deg, new cmd heading: 253.368100 deg. Ig2j <HeadingCmd: 4.422108 target range: 513.900024 and range: 513.90 m. j聍@jjji!h!h!h!h!f)f)f)rf)bf5e @ɛ 隥II yɚiI=I7i\yi9)聍@)*Fm?2Fi:FiBFmZ0JFiGy G}rAGEw!Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:37:56.8672 TRx dataTimestamp_ set to:1736372278.204852checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776796GB O%M>ufw," A:O@Y:^@:6B9:>y:H,{Կ ?ॅO |Կv?G?H?`_?ɨ:O@:R;:;CyR2BR"IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027716mMb@Mb@Mb@iii i)iYm+?v/?L7A`?ym??mxi=m+=m A m@)mX@Imn@iym@IbI-4٢i> @=92Q > G٣y&; > Nusing accuracyPremultiplier from config49?4YL9 igB{@?:鿑@D ;;4 M@EZjFNOT Ignoring new targets: 513.90 m.Bj:Y;Jj:Y;5 ProNav: ac range: 513.900024 m, nav range: 226.297913 m, bearing: 345.258303 deg, approach rate: -0.000860 m/s, LOS rate: 0.189916 deg/s, cmd heading: 253.368108 deg, new cmd heading: 253.610582 deg. 2j5V^lw, AV [@YVVj@V9VI>yVHBeԿu ? S ԿȰ?`r ??`?ɨV [@V%;TyKB%"I 5=5a=I=I=d4٢M> MO=9M+ Q M>QQ UG٣UCGy]qi; ]> eNusing accuracyPremultiplier from configam49e?m4Ye@ ie hBqu鿑u@eDez:eC:e4 @ZjFNOT Ignoring new targets: 513.90 m.BjT;JjT;% ProNav: ac range: 513.900024 m, nav range: 226.297577 m, bearing: 345.333260 deg, approach rate: -0.000834 m/s, LOS rate: 0.186143 deg/s, cmd heading: 253.610579 deg, new cmd heading: 253.835451 deg. 2j%;5HeadingCmd: 4.430264 target range: 513.900024 and range: 513.90 m. j5č@j1jQjQiQhQhYhYhYfYfafarfabfeD@ɛռ I ɚiIE=I,i{iK)č@)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:FBF_0JFGl8JJJ/JJJ|:J(N3JJJJ;J;GBOf> $?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 elapseڈsw,9 A2r@Y2,@25ū92D>y2H8Կ@?@]Z3ӿ??x??R?ɨ2r@2;28CyVdBV"IIrmIr3A4٢zP> zP=9z_Q z>|| G٣y;  > ENusing accuracyPremultiplier from config}49J?4Y`H i hBj鿑@D<c<4  @Zj9EFNOT Ignoring new targets: 513.90 m.BjE?;JjE?;u ProNav: ac range: 513.900024 m, nav range: 226.296814 m, bearing: 345.408037 deg, approach rate: -0.001704 m/s, LOS rate: 0.167000 deg/s, cmd heading: 253.835456 deg, new cmd heading: 254.059788 deg. 2j}8;}HeadingCmd: 4.434180 target range: 513.900024 and range: 513.90 m. j}@jjjihhhhfffrfbf@ɛxO ,I %dɚ)i)I-=I58i5|i5UM)5@)1*F92F9:F9BF9JF9Will 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 {TBGI GM rA I G9 BA Oe >yyw,? AzK>k3IK>59K<K>nK>@Y@9q>yH@ӿ;?~@mSӿ#@?ɯ? KL?S?ɨ@9;7Cy%}B-"IMb@Mb@Mb@ )YGz? G٣yA< > Nusing accuracyPremultiplier from config 49? 4YO i8hB1?:뿑@D;S;$4 %@!ZjAMFNOT Ignoring new targets: 513.90 m.BjMHi;JjMHi;}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 ProNav: ac range: 513.900024 m, nav range: 226.301498 m, bearing: 345.483932 deg, approach rate: 0.012589 m/s, LOS rate: 0.203950 deg/s, cmd heading: 254.059787 deg, new cmd heading: 254.287464 deg. 2j- <5HeadingCmd: 4.438153 target range: 513.900024 and range: 513.90 m. j5Z@j1j9j9i9h9h9hAhEYBfAfAfArfIbfMN@ɛ0 隝@;I ZɚiI2=I*i}i?)Z@)H9I9 I=5#II=BI9&I9.I96I=<:I=T F*Fe?2Fa:FaBFeo0JFaG=IGB O%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 elapsew,A6x@Y6@6n鸼96h>y6Haӿ,?}ҿ =? ?@hx??ɨ6x@6ܐ;69CyZBZ#I``IfQIf4٢~w&> ~Z=9@Q >  G٣ CGy Ƅ<  > Nusing accuracyPremultiplier from config49?%4YV iMhB!%꿑%@D::*4 QI]gWB @EB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 513.90 m.BjY<;JjY<;% ProNav: ac range: 513.900024 m, nav range: 226.304306 m, bearing: 345.549380 deg, approach rate: 0.007064 m/s, LOS rate: 0.164668 deg/s, cmd heading: 254.287451 deg, new cmd heading: 254.483793 deg. 2j%;-HeadingCmd: 4.441580 target range: 513.900024 and range: 513.90 m. j-m!@j)j)j)i1h1h1h1h1f9f9f9rfAbfM@ɛyBsg 隵=I ɚiI=IMiU~iU87)Um!@)Y*F?2F:FBF?1JF}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 PIG B O% >&Ćw,(aA6@Y6'@6,j96>y6Huҿ :?`U vҿ(?L? /?@՜?ɨ6@6I;67CyRBR>#IrWill 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 elapseMb@Mb@Mb@ )YZd;?MbP:v?y?<\ A @)AIQAyAI`I(*4٢= :=9K۹Q >!! %G٣!y%(r< ->*J5C="J5=JK3 KS}.KK"KJ9J=J=0J9J9J=w:J=ـ3J9aU@aU@aU@au@ Nusing accuracyPremultiplier from config49?4Ye] i_hB?:@D/;;P24 @EZjFNOT Ignoring new targets: 513.90 m.Bj3;Jj%3;U ProNav: ac range: 513.900024 m, nav range: 226.320007 m, bearing: 345.618186 deg, approach rate: 0.035912 m/s, LOS rate: 0.157360 deg/s, cmd heading: 254.483805 deg, new cmd heading: 254.690207 deg. 2jU;]HeadingCmd: 4.445183 target range: 513.900024 and range: 513.90 m. j]>@jYjYjYiYhYhahaheBfafifirfbf '@ɛZ0  =I  ɚiI_=ICi iOF.)>@) QIQ*F2F:FBF_5JFzKKs9KKoKRK?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 elapseG} %:H1 I1  I5 #II5 BI1 &I1 .I1 6I5 y<:I5 5 FGQ Bq O >w,Z6A>SY@Y>h@>𾹼9>>y>HҿJ?8¿@ҿ ?[7?h?L?ɨ>SY@>;>6CyJτBJ[#IIRgIR64٢Z> Zc=9^um9Q ^>\\ bG٣`yb< b> jNusing accuracyPremultiplier from configdj49fO?n4Yfc ifmhBln￑n@fȁDf:f:f84p ry@tZjFNOT Ignoring new targets: 513.90 m.Bj=;Jj=;5 ProNav: ac range: 513.900024 m, nav range: 226.331390 m, bearing: 345.674674 deg, approach rate: 0.033468 m/s, LOS rate: 0.166076 deg/s, cmd heading: 254.690214 deg, new cmd heading: 254.859668 deg. 2j5;=HeadingCmd: 4.448140 target range: 513.900024 and range: 513.90 m. j=*W@j9j9j9iAhAhAhAhAfIfIfIrfQbfU@ɛy- 隅r,>I &ɚ i I c=Ii/i)*W@)*F2F:FBFP0JFWill 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 IIIGP<3GBO> 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 elapseؓw,PAZB@YZ@Z?9ZH">yZHҿ`'X?@x¿6`ѿ ?p?` 2? 8?ɨZB@Z;Z7CyBv#I a=%=IMOIM 4٢ֻ= -=9jQ > G٣CGyMl< U> Nusing accuracyPremultiplier from config49ս?4Yj ihB@ҁD:":6A4 @Zj FNOT Ignoring new targets: 513.90 m.Bj0;Jj0;M ProNav: ac range: 513.900024 m, nav range: 226.345215 m, bearing: 345.751912 deg, approach rate: 0.027645 m/s, LOS rate: 0.154443 deg/s, cmd heading: 254.859657 deg, new cmd heading: 255.091356 deg. 2jM;UHeadingCmd: 4.452184 target range: 513.900024 and range: 513.90 m. jUKx@jQjQjYiYhYhYhYhafafifirfibfm'@ɛ!%dǴ !%X>I! -k]ɚ)i)I-=I5?^i5i5V)5Kx@)1*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 ******%received new query, but waiting for acoustic response period to elapseJIJIJUJUJU1JQJU;JU :JU3JQ E $?II GE G B! OM > w,+jANֆ@YN@N9NN$>yNHsѿ`5h?`¿Jѿ`6??@q?@?ɨNֆ@N<;N5CybBb#IzKBIK+9KKpKBK :K ]Mb@Mb@Mb@YYY Y)YY](\?~jtI +?y]?]ļ]9<]E A ]@)]@I]hAYy]AIu[IuK!4٢j= X=9)m:Q >  G٣ y K<  > Nusing accuracyPremultiplier from config49p?4Yo ihB%S?%:%%@؁D;p;|G4) -@1]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 elapseZjamFNOT Ignoring new targets: 513.90 m.Bjm #;Jjm #; ProNav: ac range: 513.900024 m, nav range: 226.360916 m, bearing: 345.802188 deg, approach rate: 0.044521 m/s, LOS rate: 0.142550 deg/s, cmd heading: 255.091364 deg, new cmd heading: 255.242182 deg. 2j;HeadingCmd: 4.454816 target range: 513.900024 and range: 513.90 m. jۍ@jjjihhhhBfffrfbfP@ɛ`o: o>I ɚiI=Ii׀iH)ۍ@)HI I#II0BI6 =&I.I6Id<:I$ FBIJIRIZI5 =bI5 =jIÀ4*F-?2F1:F1BF5[0JF1GM  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) B1 OM >w,̓A2x@Y2(@2ꞷ92K?%>y2H ѿ x?ÿj#пm?@_? ??ɨ2x@2(;28CyNBR#IIXIX pIp٢ =  ]=9 9Q  > G٣y2< 5> ENusing accuracyPremultiplier from config9E49=?M4Y=t i=hBIMM@=߁D=:=:=N4Q ]@]EuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 513.90 m.Bj!;Jj!; ProNav: ac range: 513.900024 m, nav range: 226.375732 m, bearing: 345.854503 deg, approach rate: 0.039895 m/s, LOS rate: 0.140858 deg/s, cmd heading: 255.242175 deg, new cmd heading: 255.399110 deg. 2jV;HeadingCmd: 4.457555 target range: 513.900024 and range: 513.90 m. jK@jjjihhhhfffrfbfo@ɛ8n ; = >I ?ɚiIӉ=IAi=iݼ)K@)*Fu?2Fq:FqBFu`0JFyGMwG!B1OM1>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 elapseIw,A2Z@Y2 j@2b/920^%>y2Hп*?'ÿ@&#пj?@s??n?ɨ2Z@2;27CyV BV#IXZAnWill 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 elapseMMb@Mb@Mb@III I)IYMjt?/$~jth?yM?MMD;MA M@)MMAIMdAIyMAIeiIe:4٢u< uD=9}v::Q }>yy }G٣CGy]< > Nusing accuracyPremultiplier from config49?4Yz ihB?:￑@DE;7;=U4XB @EZjFNOT Ignoring new targets: 513.90 m.Bj;Jj; ProNav: ac range: 513.900024 m, nav range: 226.387741 m, bearing: 345.907154 deg, approach rate: 0.028913 m/s, LOS rate: 0.126760 deg/s, cmd heading: 255.399105 deg, new cmd heading: 255.557050 deg. 2j;HeadingCmd: 4.460312 target range: 513.900024 and range: 513.90 m. jຎ@jjjihhhh &Bf f J]J]JYJYJ]5;J] :JYJYf rfbf`8F @ɛМ: >I N2ɚ!i!I%B4=IMSim*im)uຎ@)qE]>E> Ig*F!2F!:F)BF)JF)zKk3IKKKqK 8[)KfWill 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 H I  I $II ^BI 5 =&I .I 6I q<:I . FGi Bq O >@w,SAyUBU#IIeVIen4٢}= }I=9Q > G٣y > Nusing accuracyPremultiplier from config49w?4YT ihB@D ;` ;s\4 <@ZjFNOT Ignoring new targets: 513.90 m.Bj};Jj};- ProNav: ac range: 513.900024 m, nav range: 226.399902 m, bearing: 345.959620 deg, approach rate: 0.029485 m/s, LOS rate: 0.127195 deg/s, cmd heading: 255.557047 deg, new cmd heading: 255.714434 deg. 2j-;5HeadingCmd: 4.463059 target range: 513.900024 and range: 513.90 m. j5aю@j1j9j9i9h9h9hAhAfAfAfArfIbfM@ !@ɛzB(l; 隅>I FɚiI4=IiSiFּ)aю@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F%?2F!:F!BF%0JF!G ҼGBOH> I Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse$w,|aA:χ@Y:(ߎ@:9:u%>y:Hj^Ͽ`I?SÿD@ο?Gו?d?@6?ɨ:χ@:]];8yNBR#IIV_IVb(4٢bm< bX=9b#;Q b>dd fG٣dyn= r> vNusing accuracyPremultiplier from configtz49v?z4Yv ivhBxz'~@vDv .I9 E:ɚAiAIEF=IiViw,BAH!I! I%)$II%wBI!&I!.I!6I%<:I%C FmL @Ym@m 9m#>ymH`sο?Y,ÿ@`Ϳ?@R?pa??ɨmL @m;m5CyޭBޭ#I ==}Mb@Mb@Mb@yyy y)yY}+?~jthy}v>}̼}D}nA y)yIyyyyI\I#4٢J =9q:Q > G٣CGy.]< > Nusing accuracyPremultiplier from config49j?4Y ihB>: @DL ;e;l4  @ZjFNOT Ignoring new targets: 513.90 m.Bj;Jj;5 ProNav: ac range: 513.900024 m, nav range: 226.420700 m, bearing: 346.075853 deg, approach rate: 0.023767 m/s, LOS rate: 0.132655 deg/s, cmd heading: 255.857438 deg, new cmd heading: 256.063112 deg. 2j5;UHeadingCmd: 4.469144 target range: 513.900024 and range: 513.90 m. jU;@jQjQjQiYhYhYhYhe0Bfafifqrfqbfu`"@ɛE{BM{: 隍>I \ɚiI!=I2iIi;V);@)Ee2g=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F2F:FBFJFG ~G B O > Q IU g^w,R A>>@Y>M@>9>GD">y>H@nͿ? ÿ`̿2Ь?_? 1??ɨ>>@>Yd;>6CyJBJ#IIRfIR44٢Z Zt=9Z:Q ^?\\ bG٣`ybI< b? nNusing accuracyPremultiplier from confighv49j{?v4Yj+ ijhBtzBz@jDj%g;j%g;jer4| ~%@|B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 513.90 m.Bj-;Jj-;E ProNav: ac range: 513.900024 m, nav range: 226.427414 m, bearing: 346.118146 deg, approach rate: 0.019834 m/s, LOS rate: 0.124939 deg/s, cmd heading: 256.063109 deg, new cmd heading: 256.189983 deg. 2jE};MHeadingCmd: 4.471359 target range: 513.900024 and range: 513.90 m. jM_@jIjIjQiQhYhYhYhafafafarfabfm#@ɛ|< 隕>I ɚiI=Ii(:iM)_@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F!2F!:F)BF-0JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data. _w,*;$A j$?Ihy B #IMb@Mb@Mb@ )Y)\(?~jtxMbyG?ĻA @)IAyIqIJH4٢ 7=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y ihBN?:6近@D<r<.z4 g@EZjYeFNOT Ignoring new targets: 513.90 m.Bjm;Jjm; ProNav: ac range: 513.900024 m, nav range: 226.427765 m, bearing: 346.175093 deg, approach rate: 0.000727 m/s, LOS rate: 0.117897 deg/s, cmd heading: 256.189987 deg, new cmd heading: 256.360826 deg. 2jҡ;HeadingCmd: 4.474340 target range: 513.900024 and range: 513.90 m. j-@jjjihhhh+Bfffrfbfp$@ɛ%|B5b: 1=>I9 =՜ɚ9i9I=w=IE;iE)iErS)E-@)IEyEyzK5rOK5]9K1K5sK5tjffdfa\XTRQPOKIED?=<97536423310+%Will construct direction to contact in vehicle frame from tetrahedron phase data.I III6 =&I.I6Iw<:I1 FG-,GBO>w,y=AyB#I  AIaI+4٢%J %W=9)Q ->)) -G٣5CGy1 5> =Nusing accuracyPremultiplier from config9E49=?E4Y=ԙ i=hBIIM@=D=:=:=Ѐ4Q U@Q]Will construct direction to contact in vehicle frame from tetrahedron phase data.eI ɚiI";=I4i%i#v)B@)JJ&JJJJ0:JJJaJaJc;aJc;a I*Fm?2Fi:FiBFmU0JFiGm{# Will construct direction to contact in vehicle frame from tetrahedron phase data. Qw,WAyUBU#IMb@Mb@Mb@ )YL7A`? G٣y > -Nusing accuracyPremultiplier from config!549%?54Y%/ i%hB5:?5:5a俑5@%D%;%; ;%4A E;@EEZjq}FNOT Ignoring new targets: 513.90 m.Bj};Jj}; ProNav: ac range: 513.900024 m, nav range: 226.421707 m, bearing: 346.286073 deg, approach rate: -0.014065 m/s, LOS rate: 0.134202 deg/s, cmd heading: 256.506388 deg, new cmd heading: 256.693758 deg. 2j3;HeadingCmd: 4.480151 target range: 513.900024 and range: 513.90 m. jf]@jjjihhhhBfffrfbf'&@ɛo mWill construct direction to contact in vehicle frame from tetrahedron phase data.}:DAT read: ResponseNo eeived Xunknown deviceResponse_: ResponseNo eeived ,DAT read: user:1931> BDAT read: Tx time:21:38:04.7299 $Ping request sent.I }[ɚiI=Ii5-iJj)f]@)*F2F:FBFW0JF IG G B O >zK x,NK +9K K tK     Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247185w,[qAZHN@ARHN@AHR >IRC IR$IIRcBIP&IP.IP6IRӰ<:IRs F^2@Y^|@^e9^#>y^H`7˿? .¿C@,ʿN?/?`t?l?ɨ^2@^܃;\yjBjs#II;I&3٢` e=9) G٣yp_= >  Nusing accuracyPremultiplier from config49}?4Y' ihBῑ@D;:W4! %N@!ZjFNOT Ignoring new targets: 513.90 m.Bj;Jj; ProNav: ac range: 513.900024 m, nav range: 226.413040 m, bearing: 346.334659 deg, approach rate: -0.023013 m/s, LOS rate: 0.129011 deg/s, cmd heading: 256.693754 deg, new cmd heading: 256.839518 deg. 2j;HeadingCmd: 4.482695 target range: 513.900024 and range: 513.90 m. j%=r@j!j!j!i!hAhIhIhIfIfQfQrfQbfUA&@ɛ~B! |I>I  ɚiI=Ixvi i ) =r@)EEY>EA*F?2F:FBF_0JF"G=G=G͛uWill construct direction to contact in vehicle frame from tetrahedron phase data.uAiquchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.497918GyBO>JJ!JJJ5;J:JJJVc<JVc<J;J; I ռw,{A> @Y>j@>|J9>(>y>H ʿ`? ZGIcʿ@?)? ~4??ɨ> @>4;tt vG٣zCGyzֵ; z> Nusing accuracyPremultiplier from config 49S? 4Y@ ihB  ῑ@"DR2;;;ܕ4! %@!EB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 513.90 m.BjUL;JjUL;m ProNav: ac range: 513.900024 m, nav range: 226.403931 m, bearing: 346.384475 deg, approach rate: -0.025306 m/s, LOS rate: 0.138395 deg/s, cmd heading: 256.839510 deg, new cmd heading: 256.988964 deg. 2jm;uHeadingCmd: 4.485303 target range: 513.900024 and range: 513.90 m. ju@jqjqjqiqhyhyhyhyfffrfbf Q'@ɛB 隽L4>I ɚiI'=I iҀic)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750731*FU?2FQ:FQBF]p0JFYGBGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001638*J R="J a=Qw,%XA $I$:@Y:@:9:j>y:H`ʿ? W@HHʿ]?DÐ?C-? ߫?ɨ:@:0;:8CyFĄBFM#I]Mb@Mb@Mb@YYY Y)YY]@5^I ?L7A`?Mby]b?]+=]]A A ]@)YI]AYy]QAI}FI}%3٢.ɽ @=9Zo:Q > G٣y ; > Nusing accuracyPremultiplier from config49E?4Y ihB?:rܿ@*D"; ;I4 H@EZj  FNOT Ignoring new targets: 513.90 m.Bj!;Jj!;= ProNav: ac range: 513.900024 m, nav range: 226.383377 m, bearing: 346.445041 deg, approach rate: -0.048028 m/s, LOS rate: 0.141540 deg/s, cmd heading: 256.988955 deg, new cmd heading: 257.170668 deg. 2j=F;EHeadingCmd: 4.488475 target range: 513.900024 and range: 513.90 m. jE@jAjIjIiIhIhQhhBfffrfbf(@ɛ=B=@[ 9=>IA EiɚAiAIEHv=IMim⢀im)m@)q*F)2F):F)BF-~0JF)zK9MKKKuK  RK?JK>G!e%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263306H >I I#II?BI&I.I6I԰<:IBIaJIaRIaZIe6 =bIe6 =jIeA'5GBOi>w,1A2x @Y2@2=92 >y2H ʿ?EILʿ<)? g?P??ɨ2x @2+;26CyBBB1#IIJ3IJʴ3٢fe fX=9f r:Q f>hl nG٣lyr*; r> vNusing accuracyPremultiplier from configtz49v?z4Yv ivhBxz.ܿz@v1DvH:v:v4 @Zj)-FNOT Ignoring new targets: 513.90 m.Bj5$;Jj5$;}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513735 ProNav: ac range: 513.900024 m, nav range: 226.364792 m, bearing: 346.499153 deg, approach rate: -0.049512 m/s, LOS rate: 0.144168 deg/s, cmd heading: 257.170665 deg, new cmd heading: 257.333013 deg. 2j;HeadingCmd: 4.491308 target range: 513.900024 and range: 513.90 m. j̸@jj1j1i1h9h9h9h9fAfAfArfAbfEJ)@ɛBJJJJJ;Jw:JJJd<Jd<J;J;  9I=g 9=H=I9 =ɚAiAIEa=IE=\iMziM;λ)M̸@)q*F?2F:F BF ?1JF GPG?G&?= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767457G B O >\w,'0A HJ@u93@YuB@ud9u>yuHjɿ?vT@+sɿ??B?m?ɨu93@uq`;qy B #IMb@Mb@Mb@ )YV-?? G٣CGyM-< > Nusing accuracyPremultiplier from config49}?4Y ihBw?:ؿ@:D; ;&4 @ZjFNOT Ignoring new targets: 513.90 m.Bj+;Jj+; ProNav: ac range: 513.900024 m, nav range: 226.332031 m, bearing: 346.571970 deg, approach rate: -0.067277 m/s, LOS rate: 0.149559 deg/s, cmd heading: 257.333005 deg, new cmd heading: 257.551486 deg. 2jH;HeadingCmd: 4.495121 target range: 513.900024 and range: 513.90 m. j ؏@jjjihhhhwBfffrfbf`e7*@ɛMBMO IMXE=II U5ɚQiQIU\=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019300IHiIi) ؏@) I*F2F:FBF1JFG ޻G B O >zK KK 9K K vK BK pA:K - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269791b#w,OAjH"<bH"<H& >I$ I&#II&BI&8 =&I$.I&0D6I&<:I&= FnNL@Yn[@nkO9n0>ynHDɿ ?7Znɿ`դ?@?5??ɨnNL@n;lyUBU"IImyImxV4٢} }c=9Uq;Q > G٣y < > Nusing accuracyPremultiplier from config49k{?4Yq ihB=ؿ@AD';?;l4 R@ZjFNOT Ignoring new targets: 513.90 m.Bj-;Jj-; ProNav: ac range: 513.900024 m, nav range: 226.306625 m, bearing: 346.627504 deg, approach rate: -0.069579 m/s, LOS rate: 0.152108 deg/s, cmd heading: 257.551489 deg, new cmd heading: 257.718110 deg. 2j;HeadingCmd: 4.498030 target range: 513.900024 and range: 513.90 m. j@jjjihhhhfffrfbf*@ɛ}B{ 隅I 5ɚiIf=IiQ io)@)*Fe?2Fa:FaBFe5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522490JJJ0JJ;J~:Jـ3JJ f<J f<Jn;Jn;  I GM GA BQ Om > w,_ A2`@Y2p@2Z:92>y2H@HDɿ?)@E^QȿZ?@ Q?G*??ɨ2`@2)w;27CyntBn"IIvxIvT4٢~ ~R=9S;Q >  G٣ y a;  > Nusing accuracyPremultiplier from config49y?%4Y ihB!%׿%@ID::74) -H@1MB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 513.90 m.BjeY;;JjeY;;u ProNav: ac range: 513.900024 m, nav range: 226.278778 m, bearing: 346.687614 deg, approach rate: -0.075872 m/s, LOS rate: 0.163794 deg/s, cmd heading: 257.718118 deg, new cmd heading: 257.898470 deg. 2j};HeadingCmd: 4.501177 target range: 513.900024 and range: 513.90 m. j @jjjihhhhfffrfbf+@ɛ HI udɚiIz=Iii) @)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774891*Fm?2Fi:FiBFm_0JFq"G}=G}=GGqAGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026505 $?I 4 w,&A6r@Y6@6D*96O>y6H@ȿ?`*Aa ȿ?`yH??`w?ɨ6r@65;65CyB^BB"IMMb@Mb@Mb@III I)IYMMbX?S㥫?~jtxyM*?M/]=MĻM+ A M@)IIMn@IyIIuwIuR4٢ҽ B=9-;Q > G٣CGyƩ; > Nusing accuracyPremultiplier from config49Uv?4Y ihBQ+?:׿@RDP;d;4YB @E)-ž= ) G UYQy]A @BZjFNOT Ignoring new targets: 513.90 m.BjJ);JjJ); ProNav: ac range: 513.900024 m, nav range: 226.245789 m, bearing: 346.759008 deg, approach rate: -0.068380 m/s, LOS rate: 0.148005 deg/s, cmd heading: 257.898463 deg, new cmd heading: 258.112675 deg. 2j&;-HeadingCmd: 4.504916 target range: 513.900024 and range: 513.90 m. j-F(@j)j)j)i)h1h1h1h5:Bf9f9f9rf9bfE@,@ɛB[ީ 隕XI ɚiI=IQii)F(@)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278453zK=K=9K9K=wK=He >Ia Iem#IIe߄BIa&Ia.Ia6Ie<:IeV F*F2F:FBF^0JFG ̻Gy B O > w,y@Ay~UB~"II I q4٢D, %R=9%Q %>)) -G٣)y- 5> =Nusing accuracyPremultiplier from config1E495s?M4Y5 i5hBIIM@5ZD5>;5n?;5e4Q U8@]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:21:38:07.8246 mTRx dataTimestamp_ set to:1736372289.052773mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.530924iZj1uFNOT Ignoring new targets: 513.90 m.Bj}S;Jj}S; ProNav: ac range: 513.900024 m, nav range: 226.215988 m, bearing: 346.824208 deg, approach rate: -0.084625 m/s, LOS rate: 0.185173 deg/s, cmd heading: 258.112685 deg, new cmd heading: 258.308309 deg. 2j*; IgHeadingCmd: 4.508330 target range: 513.900024 and range: 513.90 m. j>D@jjjihhhhfffrfbf`]-@ɛ5B5LT 9=x½I9 =ɚ9i9IE =Iut.iupiu'f$)u>D@)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=3.782335G Gq B O >Gw,6XZAUg@YU@U) 9UO >yUH@`ȿ?yg ;-ȿI?:??o?ɨUg@U8;U6Cy޵?B޽"IMb@Mb@Mb@ )YZd;?S㥫?y9? A @)IX@y@IoID4٢  #=9;Q > G٣ya; >mWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:38:07.8246 LVL= 10960, 19521, 13858, 17059, AGC= 70, IDX= 26, 0.34, 2.284, 0.917, 0.349, 0.686, PHS= 1.686, 0.278,-0.339, RAW= 72.7, -17.7, CAL= 85.6, -26.0, ROT= 64.4, 26.0 Ygot valid direction response: 21:38:07.8246 LVL= 10960, 19521, 13858, 17059, AGC= 70, IDX= 26, 0.34, 2.284, 0.917, 0.349, 0.686, PHS= 1.686, 0.278,-0.339, RAW= 72.7, -17.7, CAL= 85.6, -26.0, ROT= 64.4, 26.0 PDAT read: Bearing 64.4, 26.0 (Local) ~Local bearing/azimuth received: Bearing 64.4, 26.0 (Local) DAT read: Range 10 to 50 : 517.8 m (Round-trip 690.5 ms) speed 0.1 m/s ,DAT read: user:1932> BDAT read: Tx time:21:38:08.9299 $Ping request sent.mhmi?m2+ mt;?)mVImޏ?imV>iimIP?e濾Q{ӿ)muLSIm~_>imei?mzii:publishing transmit ping timeFpublishing direction and range infoi9m]X? ?Udk?yiiii i)iIiiiiiii i)iIiiiiimIP?e濾Q{ӿ)iIiiiiii %Nusing accuracyPremultiplier from config!-49%o?-4Y% i%hB5^:?5:5Zؿ5@%fD%E9;%7;%4a e@eE IJJJJJ;J:JJa@a@a@a@kmh?kme6 ki kmucA:kmsDBkmDZkmN@"m̡a@Mh;f@X|@m]X? ?Udk?Jkmei?Rkmz*m8pwV@JwcZ2;K~@m}O m7?r#Sӿӏ]?"kmp*kmBkmQ?km!:0 2km DkmK[.?kikmDkm@7Ckm)@ addTargetRange:: Added new target pos. range: 517.799988 m, deltaT: 15.139841 s, deltaX: 3.899963 m, approachRate: 0.257596 m/s, rangeRepo size: 4  Added new target pos. range: 517.799988 m, bearing: 299.563235 deg, lat: 36.902210 deg, lon: -122.116149 deg, deltaT: 15.139841 s, deltaX: 3.899963 m, approachRate: 0.257596 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 517.80 m.BjJj} ProNav: ac range: 517.799988 m, nav range: 183.253876 m, bearing: 343.782793 deg, approach rate: 0.000000 m/s, LOS rate: 0.185173 deg/s, cmd heading: 258.308301 deg, new cmd heading: 258.605484 deg. 2jHeadingCmd: 4.513517 target range: 517.799988 and range: 517.80 m. jn@jjjihhhhBfffrf `f.@bf d?ɛB@Ƽ *=隥`I ꃼɚiI=I{i 7i3)n@)*F 2F :F BF V0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.% JDAT read: TxSync time:21:38:08.9291 H= >I9  I= ;#II= BI9 &I9 .I9 6I= <:I= = FzKu VBJKu 9Kq Ku xKu G-,GBO? :w,ګ{Af@YfS@f(t9f3 >yfHWȿ ?Dj@ ǿ?@t}??&?ɨf@f;f5Cy /B"IIE{IEZ4٢U  U==9]5;Q ]>YY ]G٣]CGye|; e> mNusing accuracyPremultiplier from configi49m m?4Ym imhB$ؿ@mpDm- Will construct direction to contact in vehicle frame from tetrahedron phase data.%w,xA6K@Y6@6k96.>y6HRȿ@,+?j@ȿl?:|?@s:??ɨ6K@6QҒ;66CyB BB"IIJRIJW4٢Rs RW=9R_:Q V>TT VG٣TyZ59 Z> ^Nusing accuracyPremultiplier from config\b49^Pj?b4Y^ i^hBdfؿf@^yD^{;^&:^R4h j@jE~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 517.80 m.Bj;Jj;% ProNav: ac range: 517.799988 m, nav range: 183.161316 m, bearing: 343.957898 deg, approach rate: -0.127481 m/s, LOS rate: 0.242215 deg/s, cmd heading: 258.874442 deg, new cmd heading: 259.130930 deg. 2j%:&<-HeadingCmd: 4.522688 target range: 517.799988 and range: 517.80 m. j-ܹ@j)j)j)i)h1h1h1h1fffrfbf?ɛ BNM 5OI1 UlɚQiYI]ˢ=I]Wie0ie1)eܹ@)a*F92F9:FABFEo0JFAGU:_G9BAOeU>Will 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. IJ=J9J9J9J=;J9J9J9jH+w,RA2y@Y2à@2λ92>y2HXȿ$?8 ht5ȿWܟ?`y?q?@?ɨ2y@2`֕;0yRBR"I-Mb@Mb@Mb@))) )))Y-RQ?I +?Mbpy-B?-94=--A )))I))y-@ICI3٢ ;=9~:Q > G٣yj > Nusing accuracyPremultiplier from config49f?4Y ihBB?:Oڿ@D^R; Q;4 @Zj  FNOT Ignoring new targets: 517.80 m.Bj ;Jj ;% ProNav: ac range: 517.799988 m, nav range: 183.113419 m, bearing: 344.060992 deg, approach rate: -0.109675 m/s, LOS rate: 0.236124 deg/s, cmd heading: 259.130929 deg, new cmd heading: 259.440287 deg. 2j% "<-HeadingCmd: 4.528087 target range: 517.799988 and range: 517.80 m. j-@j)j)j)i)h1h1h9h=߃Bf9f9f9rfAbfE@?]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247749Hm>ImC Im #IImBIm9 =&Ii.Ii6Im<:Im? Fɛ 隥WI XɚiI=Iiki)@)zK5BoIK59K1K5yK5RKE>JKE>EWg<E*FU?2FY:FYBF]_0JFa Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499574 I gG |`Gq B O >2w,A6@Y6;@6lԻ96>y6HYȿ!?g@7ȿDS?@z?@ ? ?ɨ6@6dz;68CyNBNn"IIZVIZn4٢^ bD=9bYعQ b>`d fG٣fCG jnManaging dock network, ignoring radio surface power offyn+ n> vNusing accuracyPremultiplier from configtz49vb?z4Yv ivhB|~Uڿ~@vDv;v;vF4 @Zj)-FNOT Ignoring new targets: 517.80 m.Bj50;Jj50;E ProNav: ac range: 517.799988 m, nav range: 183.068222 m, bearing: 344.159624 deg, approach rate: -0.108291 m/s, LOS rate: 0.236382 deg/s, cmd heading: 259.440282 deg, new cmd heading: 259.736251 deg. 2jE:" Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.0035378w,lA IJ`J`J3K3 K.KK"KJfJf#Jf1JdJf;Jf:Jf3Jdyޝ Bޝj"IMb@Mb@Mb@ )Yx&?I +?~jtxy7I?9<Ļ A )MAIA@y@IIq4٢U *=9Q >!! %G٣!y% -> 5Nusing accuracyPremultiplier from config1=495]?=4Y5 i5hB=LI?=:=޿E@5D5;5;54I M@IZjy}FNOT Ignoring new targets: 517.80 m.Bj;Jj; ProNav: ac range: 517.799988 m, nav range: 183.026581 m, bearing: 344.276315 deg, approach rate: -0.087129 m/s, LOS rate: 0.244216 deg/s, cmd heading: 259.736248 deg, new cmd heading: 260.086394 deg. 2j'<HeadingCmd: 4.539364 target range: 517.799988 and range: 517.80 m. jxB@jjjihh!h!h%ރBfIfIfIrfIbfM `@ɛBӿ 隽yI ,ɚiI=I 5߿i k;i j) xB@)jH<bH<H%>I! I%"II%tBI%: =&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=2.255632BIƗCJIƗCRIZI8 =bI9 =jIX5zKMKM9KIKMzKMBK]qA:KYE- %)=*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=2.507490G?; qIqGBO?Aw,#0AB@YBL@B»9Bہ>yBHoȿ?I/iȿ@y?gXx? r?ৰ?ɨB@Bt;B7CyNBNr"IIVIV_v4٢^< ^7=9b:Q b>`` fG٣dyf: f> nNusing accuracyPremultiplier from configlr49nX?r4Yn inhBprݿr@nDn:nX:nm4zZB zv@zEZjY]FNOT Ignoring new targets: 517.80 m.Bjew;Jjew;u ProNav: ac range: 517.799988 m, nav range: 182.987915 m, bearing: 344.385780 deg, approach rate: -0.084884 m/s, LOS rate: 0.240363 deg/s, cmd heading: 260.086391 deg, new cmd heading: 260.414853 deg. 2ju$<}HeadingCmd: 4.545096 target range: 517.799988 and range: 517.80 m. j}nq@jyjyjihhhhfffrfbf@ɛ mI ҌɚiI>$=I y޿i i-)-nq@)1E9E9*E9"E9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760570*Fm?2Fi:FqBFuk0JFqGUrGA BI Om >-Gw, !A]m@Y]@]؛һ9]>y]H hȿ`?uh@ mǿ@0? oSz?@? ?ɨ]m@]LB;YymBut"IA%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017738EMb@Mb@Mb@AAA A)A QIQYEoʡ?Zd;O?MbPyEM?Ej G٣CGyϰ; > Nusing accuracyPremultiplier from config49S?4Yk ihB$M?:ݿ@D;;4 ]@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 517.80 m.BjS;JjS; ProNav: ac range: 517.799988 m, nav range: 182.947067 m, bearing: 344.501009 deg, approach rate: -0.090059 m/s, LOS rate: 0.254108 deg/s, cmd heading: 260.414841 deg, new cmd heading: 260.760600 deg. 2jd.< HeadingCmd: 4.551131 target range: 517.799988 and range: 517.80 m. j ޢ@j j j i h hhhۃBfffrfbf@N@J5J5)J1J1J5T;J5:J1J1ɛae amiIi m%ɚiiiIm=Iuݿiu+iu)uޢ@)y*F?2F:FBF82JFHm >Ii  Im "IIm jBIm ; =&Ii .Im /D6Im ݰ<:Im u FG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275519G B O >zK XKK 9K K {K RK ?JK >lNw,:A24ĉ@Y2Ӑ@2o:92>y2Hǿ $?yYqbǿ ?@<~??@?ɨ24ĉ@2D;0yrBr}"IIId4٢%)= %c=9-$Q ->)) -G٣)y5Q < 5> =Nusing accuracyPremultiplier from config9E49=#P?E4Y=% i=hBIMHݿM@=D=:=:= 4Q U@QZjyFNOT Ignoring new targets: 517.80 m.Bj;Jj; ProNav: ac range: 517.799988 m, nav range: 182.915039 m, bearing: 344.590410 deg, approach rate: -0.089527 m/s, LOS rate: 0.249945 deg/s, cmd heading: 260.760613 deg, new cmd heading: 261.028863 deg. 2j+<HeadingCmd: 4.555813 target range: 517.799988 and range: 517.80 m. j9ɑ@jjjihhhhfffrfbfPY @ɛ ZI 住ɚiI=IݿiWiw#)9ɑ@)*F?2F:FBFF3JFG  M$?IUg]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.526777GBOE>Tw,-TA2݉@Y2@2e92V>y2HaZǿ@(? mAvƿ? ?@s? 8?ɨ2݉@2;29CyR$BV"IbWill construct direction to contact in vehicle frame from tetrahedron phase data.fBDAT read: Rx Time:21:38:12.0228 fTRx dataTimestamp_ set to:1736372293.349259jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781240I^I^a4٢r%= vN=9vuQ v>xx zG٣xyz; ~> Nusing accuracyPremultiplier from config 49L? 4Y). ihB  ܿ @ĂD::4 b@EZjIMFNOT Ignoring new targets: 517.80 m.BjU';JjU';e ProNav: ac range: 517.799988 m, nav range: 182.879166 m, bearing: 344.689265 deg, approach rate: -0.090183 m/s, LOS rate: 0.248561 deg/s, cmd heading: 261.028875 deg, new cmd heading: 261.325493 deg. 2je*m ~G E YI yM B|[w,nAy50B5"IMb@Mb@Mb@ )Ysh|?? G٣CGy > -Nusing accuracyPremultiplier from config!549%F?54Y%67 i%hB5J?5:5B߿=@%ςD%;%;%k4A E@EEZjimFNOT Ignoring new targets: 517.80 m.Bju;Jju; ProNav: ac range: 517.799988 m, nav range: 182.846817 m, bearing: 344.798083 deg, approach rate: -0.073338 m/s, LOS rate: 0.246748 deg/s, cmd heading: 261.325497 deg, new cmd heading: 261.652007 deg. 2jW)<HeadingCmd: 4.566689 target range: 517.799988 and range: 517.80 m. jQ"@jjjihhhhBfffrfbf6@ɛD /I EɚiIts=I%ۿiDOi?)Q"@)ZHRHH->I) I-"II-tBI)&I).I)6I-<:I-? FWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 21:38:12.0228 LVL= 15104, 31953, 19954, 29635, AGC= 69, IDX= 425, 0.02,-2.046, 2.773, 2.384, 2.729, PHS= 1.597, 0.092,-0.348, RAW= 77.6, -15.0, CAL= 89.6, -23.8, ROT= 60.4, 23.8 EYgot valid direction response: 21:38:12.0228 LVL= 15104, 31953, 19954, 29635, AGC= 69, IDX= 425, 0.02,-2.046, 2.773, 2.384, 2.729, PHS= 1.597, 0.092,-0.348, RAW= 77.6, -15.0, CAL= 89.6, -23.8, ROT= 60.4, 23.8 MPDAT read: Bearing 60.4, 23.8 (Local) U~Local bearing/azimuth received: Bearing 60.4, 23.8 (Local) eDAT read: Range 10 to 50 : 516.5 m (Round-trip 688.7 ms) speed 0.2 m/s m,DAT read: user:1933> uBDAT read: Tx time:21:38:13.1299 u$Ping request sent.u&@f?!0ypזп)=I+?>ivl?*F?2F:FBF_0JFzKk3IK9KK|Kχ5:publishing transmit ping timeq5Fpublishing direction and range info9$h ?cъ?9?y )Ii )Ii&@f?!0ypזп)IiG)G B O > ! I! } Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:38:13.1291 *bw,lAJ2J2'J0J0J2;J2:J0J0J2.rF@YF\&@F"9FG>yFHwƿ`,? I$¿@fE ƿ ?B?}?`+?ɨF@F];F6Cy~AB~"III٢E = EX=9MsQ M>II UG٣QyU< U> Nusing accuracyPremultiplier from config49B?4Y ? ihB^޿@قD;;!4 @k$?kO k kvA:k DBk8DZkB)@"ρ5\@U⺉b@Sl~@$h ?cъ?9?Jkvl?Rkχ*|tdL@UV]1{0@0iA?VyͿmT?"k*k gBkF?k# 2kK DkSq?k# k DkcCkX@} addTargetRange:: Added new target pos. range: 516.500000 m, deltaT: 4.299416 s, deltaX: -1.299988 m, approachRate: -0.302364 m/s, rangeRepo size: 4  Added new target pos. range: 516.500000 m, bearing: 295.719923 deg, lat: 36.901540 deg, lon: -122.116962 deg, deltaT: 4.299416 s, deltaX: -1.299988 m, approachRate: -0.302364 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 516.50 m.BjJj ProNav: ac range: 516.500000 m, nav range: 157.389450 m, bearing: 310.370790 deg, approach rate: 0.000000 m/s, LOS rate: 0.246748 deg/s, cmd heading: 261.652007 deg, new cmd heading: 261.948451 deg. 2jHeadingCmd: 4.571863 target range: 516.500000 and range: 516.50 m. jL@jjjihhhhfffrf$@bf `?ɛ I ?:ɚiIk=I ۿiV҂i<5)L@)*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G %:G ?G >G B O- >`Hhw,A--@Y-<@-zA9-9>y-H`ƿ V/?J¿$@ ſt?/?G?D?ɨ--@-vȐ;)yENBE"I IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y?QQ UG٣Qy]; e> mNusing accuracyPremultiplier from configau49e=?u4YeG iehBu@?u:}ῑ}@eDe;e;e(4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 516.50 m.Bj~;Jj~; ProNav: ac range: 516.500000 m, nav range: 157.182205 m, bearing: 310.464597 deg, approach rate: -0.490088 m/s, LOS rate: 0.222123 deg/s, cmd heading: 261.948437 deg, new cmd heading: 262.230225 deg. 2jp<HeadingCmd: 4.576781 target range: 516.500000 and range: 516.50 m. jt@jjjihhhh/Bfffrfbf ?ɛB Ѽ 5I1 5ɚ1i1I5=IEwkڿiEZiEɩ?)Et@)I*F%?2F!:F!BF%_0JF!H>I I#IIBI< =&I.I6I<:Iv F 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.' TFailed to parse incomplete device message.G} f:GQ Ba O >ow,]4A2Q@Y2``@25_92>y2H ſ3?uy¿ſ@? h?`( ?`"?ɨ2Q@2;29Cy>aB>"IIF7IF3٢N= NR=9R~Q R>PP RG٣VCGyV6< V> ZNusing accuracyPremultiplier from configX49Z 9?4YZ(O iZhB%࿑%@ZDZg 1I=g)~@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241069JJ JJJt;J:JJJ"n<J"n<J;J;*F!2F):F)BF)JF)Ge lL=G! B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494987uw, Abw@Yb@b̰9b5>ybH:Ŀ .8?¿6qĿ|? ?NG??ɨbw@b;b5CyjvBj"IIvIv3٢~= ~D=9@Q >  G٣ y  :<  > Nusing accuracyPremultiplier from config49_4?4Y?W iiB!%߿%@D ; ;641 EE@MEZjy}FNOT Ignoring new targets: 516.50 m.Bj8;Jj8; ProNav: ac range: 516.500000 m, nav range: 156.801682 m, bearing: 310.635607 deg, approach rate: -0.499541 m/s, LOS rate: 0.224195 deg/s, cmd heading: 262.478542 deg, new cmd heading: 262.743873 deg. 2j<HeadingCmd: 4.585746 target range: 516.500000 and range: 516.50 m. jn@jjjihhhhfffrfbfu?ɛeBe#. aeIa mɚiiiIm=IuEٿiuUiy)}n@)y*F5?2F1:F1BF=0JF9 !I!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747475GG!G%qAGBO >#|w,Ay~B #IjH=<bH=<HE>IA IEA#IIEBIA&IA.IA6IE<:IEN FMb@Mb@Mb@ )Yn?:vMb?y6?T< @)Iv@y(AI\I#4٢= <=9Q > G٣y > Nusing accuracyPremultiplier from config 49/? 4YA_ iiB6?:࿑@D;;y>4! %@-EZjIUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998987eFNOT Ignoring new targets: 516.50 m.Bjej;Jjej; ProNav: ac range: 516.500000 m, nav range: 156.608444 m, bearing: 310.723931 deg, approach rate: -0.448155 m/s, LOS rate: 0.205092 deg/s, cmd heading: 262.743881 deg, new cmd heading: 263.009176 deg. 2j <HeadingCmd: 4.590376 target range: 516.500000 and range: 516.50 m. j\@jjjihhhhzBf f f rfbfS@ɛeBe劼 aeАJ% J% #J% 0J! J% ;J% :J% ـ3J! J% ok<J% ok<J% ;J% ;C w,v A2@Y2@2Kp92>y2H@tÿF? Fÿs¿ |??`?7?ɨ2@2;27CyfBf#I ja=jR=IrzIr=X4٢z˜= z\=9z1Q >    G٣ CGy v+=  > Nusing accuracyPremultiplier from config%49+?%4Y%f iiB!%޿%@ D;;D41 5@1ZjQ]FNOT Ignoring new targets: 516.50 m.Bjef;Jjef;m ProNav: ac range: 516.500000 m, nav range: 156.439774 m, bearing: 310.798921 deg, approach rate: -0.453206 m/s, LOS rate: 0.201711 deg/s, cmd heading: 263.009165 deg, new cmd heading: 263.234377 deg. 2jun <}HeadingCmd: 4.594306 target range: 516.500000 and range: 516.50 m. j}@jjjihhhhfffrfbf`)@ɛeo @?=I SɚiI=I/-ؿiMi!)@)*F2F:FBF4JFGmPIG!B1OM1>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.503074 9 I9 8w,K&AVm@YV^|@^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.754973Vo9V#>yVH/ @Q? -ÿ@a-@G?` ?nf?@ڕ?ɨVm@Vƍ;V6CynBn=#I*JC="J%=UMb@Mb@Mb@QQQ Q)QYU#~j?~jt/$?yU%?UDU G٣y= > Nusing accuracyPremultiplier from config49'?4Ym i'iB&?:Nݿ@D";!;L4 .@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 516.50 m.Bj6O;Jj6O; ProNav: ac range: 516.500000 m, nav range: 156.250244 m, bearing: 310.881411 deg, approach rate: -0.415724 m/s, LOS rate: 0.181157 deg/s, cmd heading: 263.234370 deg, new cmd heading: 263.482139 deg. 2j;EHeadingCmd: 4.598631 target range: 516.500000 and range: 516.50 m. jE'@jAjIjIiIhIhIhQhUBfQfQfQrfYbf]A@ɛB< =I ~ɚiI=Iz׿iiF)'@)*F2F:FBF 5JFH9I=C I=z#II=BI9&I9.I96I=G<:I= FBIƖCJIƖCRIZI< =bI; =jI45mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.006927G _NzK] K] +9KY K] K] RKu ?JKu ?G B O >K!w,@A 8:@V@YV’@VKŸ9V{ %>yVH`X?#ĿLO?`?Y?L?ɨV@V4;Ty^ȄBbR#IIfjIf;4٢n= ri=9r&Q r>tt vG٣ty <  > -Nusing accuracyPremultiplier from config!=49%$?=4Y%s i%2iB9=9ܿ=@%D%i;%q;%(S4Y ]$@eEZjFNOT Ignoring new targets: 516.50 m.BjoI;JjoI;] ProNav: ac range: 516.500000 m, nav range: 156.100372 m, bearing: 310.945763 deg, approach rate: -0.409744 m/s, LOS rate: 0.176106 deg/s, cmd heading: 263.482142 deg, new cmd heading: 263.675384 deg. 2j];eHeadingCmd: 4.602004 target range: 516.500000 and range: 516.50 m. jeC@jajajaiahahhhfffrfbf @ IgɛЯ %@ >I! mɚiiqIu%=I}0׿i}ԅi}1)}C@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261436JJ!J1JJ;J:J3JJl<Jl<J;J;*F2F:FBFV0JFGy7+GBOa> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:38:16.2215  TRx dataTimestamp_ set to:1736372297.388814 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516130IHw,YZA6P@Y6@6y6HoF !]? dĿ@@[:?$(??`?ɨ6P@6;63CynՄBna#IIvMIv{4٢-bt= -F=9-^8Q ->11 5G٣5CGyUv< U> ]Nusing accuracyPremultiplier from configYe49]!?e4Y]z i]@iBimAۿm@]"D]:]C:]VZ4q }Z@yZjFNOT Ignoring new targets: 516.50 m.Bj S;Jj S; ProNav: ac range: 516.500000 m, nav range: 155.926285 m, bearing: 311.019636 deg, approach rate: -0.434343 m/s, LOS rate: 0.184517 deg/s, cmd heading: 263.675382 deg, new cmd heading: 263.897248 deg. 2jC;HeadingCmd: 4.605876 target range: 516.500000 and range: 516.50 m. jVc@jjjihhhhfffrfbfl @ɛ B ̻  d#>I NɚiIۥ=Iֿi%i%Ѽ)%Vc@))*F?2F:FBF_0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766915JJBAGUG) B1 OU >qw,1tA21@Y2@@2ۯ92}(>y2HFc?Ŀ@@@ ? ? 7?}?ɨ21@2 ?;26CyRBRz#IHpIrC Ir#IIrBIp&Ip.Ip6Ira<:Ir FMb@Mb@Mb@ )Y7A`? rh?y?C<A )AIMAyGAI-XI-4eWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021526٢= 5=9wQ >QY ]G٣aym*< u> Nusing accuracyPremultiplier from config49?4Y iNiB?:׿@+Df;;b4 @ZjFNOT Ignoring new targets: 516.50 m.Bj%3;Jj%3;U ProNav: ac range: 516.500000 m, nav range: 155.738129 m, bearing: 311.095586 deg, approach rate: -0.388621 m/s, LOS rate: 0.157057 deg/s, cmd heading: 263.897254 deg, new cmd heading: 264.125377 deg. 2jU;]HeadingCmd: 4.609858 target range: 516.500000 and range: 516.50 m. j]@jYjYjYiYhahazKek3IKaKaKeKeBKq:KqhhBfffrfbf@ p@ɛ< K>I ' ɚiIa=I /ֿi  i $) @)*F2F:FBF`0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.m DAT read: 21:38:16.2215 LVL= 15520, 32753, 20882, 32755, AGC= 68, IDX= 427,-0.06, 0.742,-0.452,-0.903,-0.467, PHS= 1.297, 0.062,-0.439, RAW= 73.7, -11.9, CAL= 85.3, -21.1, ROT= 64.7, 21.1 u Ygot valid direction response: 21:38:16.2215 LVL= 15520, 32753, 20882, 32755, AGC= 68, IDX= 427,-0.06, 0.742,-0.452,-0.903,-0.467, PHS= 1.297, 0.062,-0.439, RAW= 73.7, -11.9, CAL= 85.3, -21.1, ROT= 64.7, 21.1  PDAT read: Bearing 64.7, 21.1 (Local)  ~Local bearing/azimuth received: Bearing 64.7, 21.1 (Local)  DAT read: Range 10 to 50 : 515.5 m (Round-trip 687.4 ms) speed 0.0 m/s  ,DAT read: user:1934>  BDAT read: Tx time:21:38:17.3300  $Ping request sent.    O?fb&'$\3Sʿ) NI 9#T>i -? N  % :publishing transmit ping timeؙ - Fpublishing direction and range info 9 MP0K?K?h*xsk?y     ) I i      ) I i    O?fb&'$\3Sʿ) I i   J J &J 0J J J 0:J ـ3J J J J c;J c;G ϼ G B O >aw,AbJh@Ybw@bݵ9br'>ybHj? oĿOSϣ? @?2??ɨbJh@b"ˍ;b8CyB%#II5FI5%3٢Eb= ES=9EQ E>II MG٣IyUX< U> ]Nusing accuracyPremultiplier from configYe49]"?e4Y] i]YiBamֿ@]2D];]_;]h4 '@k}Yrq?k}ǒ9 ky k}KA:k}DBk}CZk}ӱ@"}qspU@kÙf@}@}MP0K?K?h*xsk?Jk}-?Rk}N*}CW@+FUv4@}08?\!ſ[޷?"k}6*k}Bk}?k}I 2k}r Dk}?kykyk}^Ck}@ addTargetRange:: Added new target pos. range: 515.500000 m, deltaT: 4.290004 s, deltaX: -1.000000 m, approachRate: -0.233100 m/s, rangeRepo size: 4  Added new target pos. range: 515.500000 m, bearing: 318.397276 deg, lat: 36.901481 deg, lon: -122.116962 deg, deltaT: 4.290004 s, deltaX: -1.000000 m, approachRate: -0.233100 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 515.50 m.BjJj ProNav: ac range: 515.500000 m, nav range: 151.369995 m, bearing: 309.287181 deg, approach rate: 0.000000 m/s, LOS rate: 0.157057 deg/s, cmd heading: 264.125382 deg, new cmd heading: 264.303249 deg. 2j-HeadingCmd: 4.612962 target range: 515.500000 and range: 515.50 m. j-b@j)j)j)i)h)h1h1h1f1f9f9rf=@bf] G?ɛBI  =隍hk>I ]ɚiI=Iտi)i/))b@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFG nG I B1 O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.]w,ݚA)%= Ce~~GtAAyB YtAydB#IMb@Mb@Mb@ )YFx?Q?Q?y ?u<u<A )MAIAyAICI3٢' 2=9Q > G٣CGy >  Nusing accuracyPremultiplier from config 49k? 4Y% igiB ?:zӿ@:D;Y;p4! %1@!=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 515.50 m.BjUj/;JjUj/;e ProNav: ac range: 515.500000 m, nav range: 151.189636 m, bearing: 309.353108 deg, approach rate: -0.419053 m/s, LOS rate: 0.153361 deg/s, cmd heading: 264.303240 deg, new cmd heading: 264.501258 deg. 2je;mHeadingCmd: 4.616418 target range: 515.500000 and range: 515.50 m. jm@jijijqiqhqhqhyh}Bfyffrfbf?ɛPD j>I c ɚiI\=IXտiEi,)@)*Fi2Fi:FqBFuo0JFqHI I#IIDBI&I.I6I<:I9 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 o>Gi zKu Ku h9Kq Ku Ku .Iu{wpkbT@RK ?JK ?B O >˰w,VARë@YR@RNʼ9R0!>yRH-{x?`ÿ@3k?5I?(?@?ɨRë@RӍ;R7Cy^B^#IIf'If@3٢nm= rt=9rQ r?tt vG٣tyv< v? ~Nusing accuracyPremultiplier from configx49zL?4Yz izqiBfҿ@z@Dzv:z:zv4 [B ,@E IZjFNOT Ignoring new targets: 515.50 m.BjE;JjE; ProNav: ac range: 515.500000 m, nav range: 151.057266 m, bearing: 309.400823 deg, approach rate: -0.376269 m/s, LOS rate: 0.135750 deg/s, cmd heading: 264.501261 deg, new cmd heading: 264.644530 deg. 2jS;HeadingCmd: 4.618918 target range: 515.500000 and range: 515.50 m. j.Γ@jjjihh h h f1f1f9rf9bf= Z?ɛ; >I gɚiI= Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989502IտiMiD).Γ@)*F2F:FBF/1JFGe fG9 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241269yw,+A:d܌@Y:@:%̼9:>y:H~? gÿeവ 8?V? ?ݙ?ɨ:d܌@:;::CyB BF#IIJ!IJi3٢VN< VN=9VT3Q V>XX ZG٣Xy^#u< ^> bNusing accuracyPremultiplier from config`j49b?j4Yb ib~iBlnѿn@bGDb a;ba;b}4p r@tZjFNOT Ignoring new targets: 515.50 m.Bj);Jj);- ProNav: ac range: 515.500000 m, nav range: 150.899643 m, bearing: 309.457126 deg, approach rate: -0.413470 m/s, LOS rate: 0.147847 deg/s, cmd heading: 264.644531 deg, new cmd heading: 264.813618 deg. 2j-;5HeadingCmd: 4.621870 target range: 515.500000 and range: 515.50 m. j5[@j1j1j1i9h9h9h9hAfAfAfArfAbfM@\?ɛy}]@; y隅>I ɚiI-=IԿi$KiԜ~)[@) IgE)=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.499084J%J%'J!J!J%t;J%:J!J!aE@aE@aE@aE@*F?2F:FBF0JFG BjH% <bH% 4<H) I- C I- $II- ^BI) &I) .I) 6I- <:I- P FG B O >_w,zA: @Y:X-@:D 9:>y:H촿p?>Qÿ_Ƴl?? ??ɨ: @:VG;:6CyBBF#IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749281Mb@Mb@Mb@ )Y(\?+?:v?y?=T<A @)IdAyIvI&Q4٢잼 0=9z;Q > G٣CGy< > Nusing accuracyPremultiplier from config 49 ?4Y  i iB?:ʿ@ OD  ;  ; ͅ4) -6@1ZjY]FNOT Ignoring new targets: 515.50 m.Bje^;Jje^; ProNav: ac range: 515.500000 m, nav range: 150.711945 m, bearing: 309.517447 deg, approach rate: -0.405841 m/s, LOS rate: 0.130588 deg/s, cmd heading: 264.813619 deg, new cmd heading: 264.994807 deg. 2j>;HeadingCmd: 4.625032 target range: 515.500000 and range: 515.50 m. jC@jjjihhhh!BfffrfbfIi u䇼ɚqiqIu=I}^>Կi}4i}#v;)}C@)yzKfNKػ9KKK0# tfZTMGEC>;8330.*)&%#  E;=*F?2F:FBFR5JF 1I1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001251G G B O >nCw,A6O@Y6^@6962>y6H\a?`.ÿ Nll nG٣lyr< r> vNusing accuracyPremultiplier from configtz49v?z4Yv8 iviB|~ɿ~@vUDv;v>;v04 @ Zj15FNOT Ignoring new targets: 515.50 m.Bj=m;Jj=m;M ProNav: ac range: 515.500000 m, nav range: 150.563187 m, bearing: 309.564811 deg, approach rate: -0.407152 m/s, LOS rate: 0.129764 deg/s, cmd heading: 264.994811 deg, new cmd heading: 265.137043 deg. 2jM;UHeadingCmd: 4.627514 target range: 515.500000 and range: 515.50 m. jU@jQjQjQiQhYhYhahafafafarfibfmp@ɛy; 隝>I ]ɚiI=I ӿii )@)EE*E"E-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253415*F?2F:FBF35JF A IA G hA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506315G B O >˱w,#,AJJ"JJJ;J:JJ^C@Y^@^M9^>y^Hݱ?I¿@H᰿J?g?(??ɨ^C@^ݍ;^6CyfBf#I]Mb@Mb@Mb@YYY Y)YY]/$?J +?y]1?]H=]Y Y)]AI]AYy]AI}cI}y/4٢ 8=9J;Q > G٣ypZ< > Nusing accuracyPremultiplier from config49?4Yz iiB?:_ƿ@\Dv";'!;4 ,@B*** querying acoustic contact ***jjZjmFNOT Ignoring new targets: 515.50 m.Bjm;Jjm; ProNav: ac range: 515.500000 m, nav range: 150.377045 m, bearing: 309.620965 deg, approach rate: -0.418803 m/s, LOS rate: 0.126497 deg/s, cmd heading: 265.137043 deg, new cmd heading: 265.305712 deg. 2j;HeadingCmd: 4.630458 target range: 515.500000 and range: 515.50 m. j,@jjjihhhh&Bfffrfbf'"@ɛjI: >I ^ɚiIZ1=I ӿi l논i ϻ) ,@) HI I$IImBI&I.I6I<:I1 F*F?2F:FBF]0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757290G9"G B O >zK ~NK +9K K K w,FA 0I2g:젍@Y:7@:9:b5>y:H@uٰԖ?Ӡ¿xݯ?`?`.?J?ɨ:젍@:{ ;:5CyBBB#I J=J=INrINJ4٢VLļ VZ=9ZC-;Q Z>XX ^G٣\y^).< ^> bNusing accuracyPremultiplier from config`f49b?f4Yb ibiBhjſj@bcDb:b/;b4l nv@pZjFNOT Ignoring new targets: 515.50 m.Bj ;Jj ; ProNav: ac range: 515.500000 m, nav range: 150.219696 m, bearing: 309.668189 deg, approach rate: -0.401471 m/s, LOS rate: 0.120617 deg/s, cmd heading: 265.305721 deg, new cmd heading: 265.447541 deg. 2j;HeadingCmd: 4.632934 target range: 515.500000 and range: 515.50 m. j@@jjjih h h Will construct direction to contact in vehicle frame from tetrahedron phase data.Aichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.009714h)f1f1f1rf1bf=@?@ɛ`: 隅Ԁ>I ĂɚiI2=I-s;ӿi5񼅼i5)5@@)1*F2F:FBF_0JFG;3Ga Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261384w,|`AB@YBҔ@B;Д9B>yBH@g`?`¿` @ꭿE?`ę??(?ɨB@BY;B6CyNBN#IIV`IV(*4٢b bI=9fg;Q f>dh jG٣jCGyjM&< j> rNusing accuracyPremultiplier from configlr49n?v4Ynx iniBtvTſv@njDn:n2:n4x ~@~EZj!%FNOT Ignoring new targets: 515.50 m.Bj-!;Jj-!;E ProNav: ac range: 515.500000 m, nav range: 150.048538 m, bearing: 309.719260 deg, approach rate: -0.439379 m/s, LOS rate: 0.131255 deg/s, cmd heading: 265.447543 deg, new cmd heading: 265.600931 deg. 2jE(;MHeadingCmd: 4.635611 target range: 515.500000 and range: 515.50 m. jMV@jIjIjIiIhIhQhQhQfififqrfbfr @ɛ B5I: 9=\u>IA yI &ɚiIҩ=Iҿii?)V@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:21:38:20.4091 =TRx dataTimestamp_ set to:1736372301.677989Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515956JmJiJiJiJmt;JiJiJi*Fa2Fa:FiBFiJFiZH RH AAH >I  I $II hBI &I .I 6I <:I / FBIʕCJIʕCRIZIbI< =jIh4G TG ?G ?G B O >w,v5{AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765418rHۍ@Yr@rA19r+>yrHP?2¿@ř?@e?C?@?ɨrHۍ@r8;py~B~#IMb@Mb@Mb@ )YQ?Zd;?Mbp?y\?y=; A )n@IAyAIpIF4٢n 6=9t+;Q > G٣y=; => UNusing accuracyPremultiplier from configIU49M?]4YMZ iMiB]6?]:]¿]@MrDM;MM;M4i mV@iZjFNOT Ignoring new targets: 515.50 m.Bj7;Jj7; ProNav: ac range: 515.500000 m, nav range: 149.839783 m, bearing: 309.779403 deg, approach rate: -0.449155 m/s, LOS rate: 0.129582 deg/s, cmd heading: 265.600922 deg, new cmd heading: 265.781600 deg. 2jܱ;HeadingCmd: 4.638764 target range: 515.500000 and range: 515.50 m. jp@jjjihhhhBfffrfbf@ɛ`3  d>I 3ɚiIn=I e|ҿi Vi { )p@)zKKKh9KKK*F?2F:FBFo0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:38:20.4091 LVL= 13488, 28593, 17426, 29859, AGC= 67, IDX= 316, 0.12, 2.060, 0.271, 0.314, 0.885, PHS= 1.263,-0.567,-0.574, RAW= 89.8, -1.4, CAL= 97.6, -6.6, ROT= 52.4, 6.6 =Ygot valid direction response: 21:38:20.4091 LVL= 13488, 28593, 17426, 29859, AGC= 67, IDX= 316, 0.12, 2.060, 0.271, 0.314, 0.885, PHS= 1.263,-0.567,-0.574, RAW= 89.8, -1.4, CAL= 97.6, -6.6, ROT= 52.4, 6.6 MPDAT read: Bearing 52.4, 6.6 (Local) M~Local bearing/azimuth received: Bearing 52.4, 6.6 (Local) UDAT read: Range 10 to 50 : 506.2 m (Round-trip 675.0 ms) speed 0.4 m/s ],DAT read: user:1935> eBDAT read: Tx time:21:38:21.5300 e$Ping request sent.ma Fpublishing direction and range info97\Dr8" ?f-3I?y )Ii )Ii?旀yK&PB)Iiw,A6p@Y6@6=96um>y6Hҭ ?"E`??@??ɨ6p@6X;67Cy>BB#IFAFAIJIJa4٢Z> Z]=9Zm;Q ^>ll nG٣lyr; r> vNusing accuracyPremultiplier from configtz49v?z4Yv iviB|¿@vyDv;v;v4) -z@)k 8?k ^ k  k 솋A:k CBk SCZk B?" mԃ=#0ιK@L85d@ 7\Dr8" ?f-3I?Jk 3@Rk \* DF+iRC@@ |Ha:n>? N#?"k B*k Xk ß6?k 2k Dk Q?k k K Dk Ck 3@ addTargetRange:: Added new target pos. range: 506.200012 m, deltaT: 4.034876 s, deltaX: -9.299988 m, approachRate: -2.304900 m/s, rangeRepo size: 4 5 Added new target pos. range: 506.200012 m, bearing: 109.335688 deg, lat: 36.901436 deg, lon: -122.116962 deg, deltaT: 4.034876 s, deltaX: -9.299988 m, approachRate: -2.304900 m/s, posRepo size: 4 Zj1=FNOT Ignoring new targets: 506.20 m.Bj=JjAM ProNav: ac range: 506.200012 m, nav range: 146.531738 m, bearing: 308.326137 deg, approach rate: 0.000000 m/s, LOS rate: 0.129582 deg/s, cmd heading: 265.781594 deg, new cmd heading: 265.930568 deg. 2jQuHeadingCmd: 4.641364 target range: 506.200012 and range: 506.20 m. j}@jyjyjyiyhyhyhhfffrf@3@bf?ɛB ^>I ^|ɚiI;=I4'ҿi$isA) @5Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:21:38:21.5292 ) *F?2F:FBF0JFG7  I G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.*J 4="J p=J3K3 K/.KK"KJ! J% )J% 1J! J! J% :J% 3J! Q*w,ԮA:@Y:Y@:Uw9:>y:H ?`=@K`8E?m?3? ?ɨ:@:;:5CyjBjv#IeMb@Mb@Mb@aaa a)aYe ףp= ?Dl?yeQ?eO=ea e@)aIeMAayeQAI4IV3٢>p :=9s:Q > G٣CGyk9 > Nusing accuracyPremultiplier from config549F?54Y iiB5W?=:==@D;;4A EM@AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 506.20 m.Bj#;Jj#; ProNav: ac range: 506.200012 m, nav range: 146.316132 m, bearing: 308.385217 deg, approach rate: -0.503806 m/s, LOS rate: 0.138254 deg/s, cmd heading: 265.930574 deg, new cmd heading: 266.108074 deg. 2jĽ;HeadingCmd: 4.644462 target range: 506.200012 and range: 506.20 m. jo@jjjihh!h!h%քBf!f)f)rfqbfu ??ɛx 隥B>HI I#IISBI= =&I.I6I<:I4 FIa e4yɚiiiIm= =Iuѿiuoiuc)uo@)q=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******EQuerying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF0JFzK BoHK 9K K K %/]RK ?JK ? I G XG B O >rw,VEAB@YB @BR~9BG >yBHu?_ 3`Ҧ??5?`?ɨB@Bl<;B7CyNׄBNe#IIVcIVy/4٢^$ ^O=9^Q ^>`` bG٣`yf f>nWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.988313 rNusing accuracyPremultiplier from confighr49jc?v4Yj ijiBtvz@jDjn;j;jy4  3@ Zj9EFNOT Ignoring new targets: 506.20 m.Bjm;Jjm;} ProNav: ac range: 506.200012 m, nav range: 146.125366 m, bearing: 308.437871 deg, approach rate: -0.462230 m/s, LOS rate: 0.127750 deg/s, cmd heading: 266.108077 deg, new cmd heading: 266.266246 deg. 2j}X;HeadingCmd: 4.647223 target range: 506.200012 and range: 506.20 m. j @jjjihhhhfffrfbf?ɛmBm) im$>Ii u*wɚqiqIu=I}:gѿi}݄i}1)} @)y*F!2F):F)BF-P5JF)G6GBOi>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240230w,^A:ڍ@Y:@:G9:i >y:Hi?`"`?(?@1H??ɨ:ڍ@:i;:8CyFƄBFO#IIRVIRn4٢Z' ZK=9Z3Q Z>\\ ^G٣`ybF3 b> fNusing accuracyPremultiplier from configdj49f?j4Yf ifiBlnn@fDf ;f` ;f4p rM@rEZjFNOT Ignoring new targets: 506.20 m.Bj+;Jj%+;- ProNav: ac range: 506.200012 m, nav range: 145.928711 m, bearing: 308.492455 deg, approach rate: -0.539464 m/s, LOS rate: 0.149935 deg/s, cmd heading: 266.266237 deg, new cmd heading: 266.430208 deg. 2j-;5HeadingCmd: 4.650084 target range: 506.200012 and range: 506.20 m. j5~͔@j1j9j9i9h9h9hAhAfAfAfIrfIbfM?ɛBn 隭.>I vɚiI=Iu ѿiӄie)~͔@) Ig*Fq2Fy:FyBF}[0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496892m G i YyVBGGBO>jHM <bHI HU >IQ  IU #IIU :BIU < =&IQ .IQ 6IU y<:IU ' F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744216=w,FAV-@YVx@V]g9VHE >yVH`A ?@[*?l?:??ɨV-@V;V7CybBbB#IUMb@Mb@Mb@QQQ Q)QYUK7A?S㥫?MbPyU "?U/]=UU+ A U@)UA@IQQyU\@ImsImK4٢= >=98;Q > G٣CGyy; > Nusing accuracyPremultiplier from config49& ?4Y@ iiB"?:ſ@D;; 4 @ZjFNOT Ignoring new targets: 506.20 m.Bj+;Jj+;] ProNav: ac range: 506.200012 m, nav range: 145.709854 m, bearing: 308.557153 deg, approach rate: -0.507572 m/s, LOS rate: 0.150274 deg/s, cmd heading: 266.430216 deg, new cmd heading: 266.624603 deg. 2j]C;eHeadingCmd: 4.653477 target range: 506.200012 and range: 506.20 m. jeI@jajajaiahihihihmBfqfqfyrfybf `?ɛB% =I tɚiI=IHпḯiu)I@)!zKMRNKMs9KIKMKM, BK]pA:K]oA I*F 2F :F BF Y0JF G:_GBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996209O%n>J5J5!J50J1J5;J5:J5ـ3J1J5fy2Hԫ?#KX@?1? I??౴?ɨ2 @2;0yNBR5#IIZIZr4٢bg bW=9b;Q f>dd jG٣hynn; n> 5Nusing accuracyPremultiplier from config)549- ?=4Y- i-iB9=3ſ=@-D-;-!;-4I M@IZjq}FNOT Ignoring new targets: 506.20 m.Bj}Z+;JjZ+; ProNav: ac range: 506.200012 m, nav range: 145.511963 m, bearing: 308.615525 deg, approach rate: -0.507190 m/s, LOS rate: 0.149809 deg/s, cmd heading: 266.624603 deg, new cmd heading: 266.799956 deg. 2j;HeadingCmd: 4.656538 target range: 506.200012 and range: 506.20 m. j[@jjjihhhhfffrfbf@ɛ \=I ΔsɚiI=I5пiȄi};w)[@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.248789*F2F:FBF_0JF IGJiGBO- > Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503404 w,1A>} @Y>@>M+9>^? >y>H@?A C$`D?O|?Y??ɨ>} @>?;>5CyFBF(#I%Mb@Mb@Mb@!!! !)!Y%K7?Zd;O?Mbp?y%I,?%j<=%;% A %@)%@I%n@!y%@I=I=t4٢MUE MB=9Um;Q U>QY ]G٣Yy]_Y; e> mNusing accuracyPremultiplier from configau49e!?u4Ye ieiBu,?u:uJǿu@eDe!;e;e4 G@B*** querying acoustic contact ***jjZjUFNOT Ignoring new targets: 506.20 m.Bj]:;Jj]:;m ProNav: ac range: 506.200012 m, nav range: 145.292969 m, bearing: 308.682598 deg, approach rate: -0.531868 m/s, LOS rate: 0.163145 deg/s, cmd heading: 266.799948 deg, new cmd heading: 267.001469 deg. 2jm;HeadingCmd: 4.660055 target range: 506.200012 and range: 506.20 m. j+@jjjihhhhBfffrfbf@t@HIC I#II!BI&I.I6Ii<:I FɛBD(3 (n=I  I Լw,|{KA2m@Y2'@292t >y2H@??S \[@??` i? ?ɨ2m@2,;27Cy:B:"#IIFIFa4٢Jɼ NW=9N;I;Q N>TT VG٣ZCGfWill construct direction to contact in vehicle frame from tetrahedron phase data.jchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.006009y^; => eNusing accuracyPremultiplier from configYu49]u!?u4Y]7 i]iBǿ@]D];];]4 @EJJJ1JJ5;J~:J3JJUc<JVc<Jn;Jn;Zj!%FNOT Ignoring new targets: 506.20 m.Bj-3;Jj-3;] ProNav: ac range: 506.200012 m, nav range: 145.078598 m, bearing: 308.748278 deg, approach rate: -0.512404 m/s, LOS rate: 0.157223 deg/s, cmd heading: 267.001466 deg, new cmd heading: 267.198794 deg. 2j];mHeadingCmd: 4.663499 target range: 506.200012 and range: 506.20 m. jmb;@jqjyjihhhhfffrfbf@@ɛUB]= Y]A=IY ]rɚYiaIe=IeQϿimFӄimV()mb;@) *F?2F:FBFJFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256409G% 'G B O >5w,WeA>"@Y>1@> 9> >y>Hg?~qNȨn;?Y?/?&?ɨ>"@>;>5CyJBJ#IIRvIR&Q4٢Z ZH=9Z;Q ^>\\ bG٣`ybF; b> fNusing accuracyPremultiplier from configdj49f!?j4Yf ifiBlnƿn@fDf ;f ;f4p r@tZjFNOT Ignoring new targets: 506.20 m.Bj-\C;Jj-\C;= ProNav: ac range: 506.200012 m, nav range: 144.873108 m, bearing: 308.811315 deg, approach rate: -0.555981 m/s, LOS rate: 0.170798 deg/s, cmd heading: 267.198804 deg, new cmd heading: 267.388183 deg. 2jEo;EHeadingCmd: 4.666804 target range: 506.200012 and range: 506.20 m. jEvV@jIjIjIiIhIhIhQhQfQfQ aIegfarfibfm @ɛBF 隥p=I qɚiI»=I]οi]Uie0٤)evV@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511693*Fi2Fi:FiBFm0JFiGYZHRH?AHI I#IIBI; =&I.I6I<:IP FG B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data.Յ AiՅ A BDAT read: Rx Time:21:38:24.5958  TRx dataTimestamp_ set to:1736372305.960905 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761568w,81AyEBE#IMb@Mb@Mb@ )Yn?~jt?yV.?< @)X@IX@y@IIq4٢ 堽  7=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!-49%o!?-4Y% i%iB-q.?5:5˿5@%ŃD%S;%;%49 =@9ZjFNOT Ignoring new targets: 506.20 m.Bj4D;Jj4D; ProNav: ac range: 506.200012 m, nav range: 144.638428 m, bearing: 308.888481 deg, approach rate: -0.520830 m/s, LOS rate: 0.171534 deg/s, cmd heading: 267.388191 deg, new cmd heading: 267.620063 deg. 2jq;HeadingCmd: 4.670851 target range: 506.200012 and range: 506.20 m. jw@jjjQiQhYhYhahe[BfizKmBoHKm9KiKmKmffrfbfk@ɛs I ݺqɚiId=I `οi hi 1U) w@) QIQ*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012356J-J-!J)J)J-;J-:J)J)J-ok<J-ok<J-;J-;G% |G B O= >%w, A:^D@Y:S@:)9:[>y:H`h̨?`ެ!]@;?@r~?? ?ɨ:^D@:،;:9CyDF#IINeIN34٢V$V; Vc=9Z^0;Q Z>\\ bG٣bCGyb;< b> fNusing accuracyPremultiplier from configdj49f4!?j4Yf ifjBlnyʿn@f̃Dfe ;f ;f4p r@tZj FNOT Ignoring new targets: 506.20 m.Bj!G;Jj!G;% ProNav: ac range: 506.200012 m, nav range: 144.449188 m, bearing: 308.950431 deg, approach rate: -0.531109 m/s, LOS rate: 0.174093 deg/s, cmd heading: 267.620062 deg, new cmd heading: 267.806155 deg. 2j-;-HeadingCmd: 4.674099 target range: 506.200012 and range: 506.20 m. j-8@j)j1j1i1h1h1hAhAfAfAfArfIbfM.@ɛuB}s y}Iy qɚiI=IͿiMi$)8@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:38:24.5958 LVL= 13696, 32753, 20194, 31907, AGC= 69, IDX= 308,-0.26, 3.079, 1.319, 1.427, 2.015, PHS= 1.152,-0.649,-0.591, RAW= 91.6, 1.0, CAL= 99.5, -2.5, ROT= 50.5, 2.5 Ygot valid direction response: 21:38:24.5958 LVL= 13696, 32753, 20194, 31907, AGC= 69, IDX= 308,-0.26, 3.079, 1.319, 1.427, 2.015, PHS= 1.152,-0.649,-0.591, RAW= 91.6, 1.0, CAL= 99.5, -2.5, ROT= 50.5, 2.5 PDAT read: Bearing 50.5, 2.5 (Local) ~Local bearing/azimuth received: Bearing 50.5, 2.5 (Local) *F5?2F1:F1BF5d4JF9eDAT read: Range 10 to 50 : 496.2 m (Round-trip 661.7 ms) speed 0.4 m/s m,DAT read: user:1936> BDAT read: Tx time:21:38:25.6800 $Ping request sent.IAiAAAAA A)AIAiAAAE8ǔ&?U2[xi޿AJ(?)AIAiAAAA AIA Will construct direction to contact in vehicle frame from tetrahedron phase data.#,w,A6[@Y6j@696o>y6H >?`s3W`O?=|?;?=?ɨ6[@6OB;68CyNBR"IMb@Mb@Mb@ )Y9v?:v?y4?T< A @)n@In@yIMI{4٢z0 8=9ҳ:Q > G٣y; > Nusing accuracyPremultiplier from config49 ? 4Y ijB 5? : ?̿ @փD{;;49 =@9H>IC Iz#IIBI< =&I.I6I<:I3 FBIYJIYRIYZIYbIYjI]85kuC_?ku+ kq kuA:kuCBku\CZku~a@"us J53C@`(ֻ~@u:s!Z'6<?V]?Jku;@Rku㷿*u A:B& L@;X~@u܃E&ṽ?6Q?"kuxfB*kuGkub(qO?ku 2ku DkuF?kuI kqkuBkuh@E addTargetRange:: Added new target pos. range: 496.200012 m, deltaT: 4.284842 s, deltaX: -10.000000 m, approachRate: -2.333808 m/s, rangeRepo size: 4 u Added new target pos. range: 496.200012 m, bearing: 114.932491 deg, lat: 36.901143 deg, lon: -122.116601 deg, deltaT: 4.284842 s, deltaX: -10.000000 m, approachRate: -2.333808 m/s, posRepo size: 4 Zjy}FNOT Ignoring new targets: 496.20 m.BjJj ProNav: ac range: 496.200012 m, nav range: 98.887421 m, bearing: 306.030284 deg, approach rate: 0.000000 m/s, LOS rate: 0.174093 deg/s, cmd heading: 267.806144 deg, new cmd heading: 268.054768 deg. 2jHeadingCmd: 4.678438 target range: 496.200012 and range: 496.20 m. jĵ@jjjihhhhRBfffrf@3@bfak?ɛ9=! AE0IA erɚaiaIm=Im]hͿim=iu¼)uĵ@)qMWill construct direction to contact in vehicle frame from tetrahedron phase data.*F92F9:F9BF=45JF9 1 I1 zKE KKE 9KA KE KE Ge 8G9 BA Oe >'3w,ARWill construct direction to contact in vehicle frame from tetrahedron phase data.2W@Y}f@9>yHpTu?8?¿1G?? O?@}?ɨ2W@Ù;5Cy=uB="IIM_IMb(4٢}h }Q=9QQ > G٣y > Nusing accuracyPremultiplier from config49?4Y$ ijBQ̿@߃D ;K ;4ZB X@EJJ,JJJ<;JL:JJJ{o<J|o<J;J;-B*** querying acoustic contact ***jYjYZjaFNOT Ignoring new targets: 496.20 m.Bj ;Jj ; ProNav: ac range: 496.200012 m, nav range: 98.667213 m, bearing: 306.128425 deg, approach rate: -0.583449 m/s, LOS rate: 0.260610 deg/s, cmd heading: 268.054763 deg, new cmd heading: 268.349841 deg. 2j2<HeadingCmd: 4.683589 target range: 496.200012 and range: 496.20 m. jߕ@jjji h hhhf!f!fArfIbfM?ɛBX 隕5I rɚiIw/=I̿ili)ߕ@)*Fy2Fy:FBFX0JFMWill 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.G G B O >"59w,A6l@Y6;|@6x96>y6H ?9¿ ,@!?T?G?`«?ɨ6l@6;4yBoBB"IIJ.IJ3٢V VY=9VI9Q Z>XX ZG٣ZDGy^h; ^> `Ifg jNusing accuracyPremultiplier from configdj49fq?n4Yf& if jBpr˿r@fDf,;fh-;f 4t v@tZj)-FNOT Ignoring new targets: 496.20 m.Bj];Jj];m ProNav: ac range: 496.200012 m, nav range: 98.456047 m, bearing: 306.222549 deg, approach rate: -0.534947 m/s, LOS rate: 0.238956 deg/s, cmd heading: 268.349854 deg, new cmd heading: 268.632830 deg. 2jm#<HeadingCmd: 4.688528 target range: 496.200012 and range: 496.20 m. jk@jjjihhh!h)fqfyfrfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214762bf@?ɛae aepfIi m|sɚiiiIuW=I}̿i}(i}N)}k@)*FQ2FQ:FYBFYJFY"Ge=Ge=jH<bH<HI Ig#IIڄBI= =&I.I6I<:Iv Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.464382G} 8G G GQ Ba O >3@w,AyhB"IMb@Mb@Mb@ )Y^I +?~jtxMbPyX9?Ļ A @)I@y\@IqIJH4٢| 5=9Q > G٣y > Nusing accuracyPremultiplier from config 49? 4Y% i jB Y9? :TϿ@D3;B;4! %%@!ZjIMFNOT Ignoring new targets: 496.20 m.BjU7;JjU7;e ProNav: ac range: 496.200012 m, nav range: 98.203781 m, bearing: 306.341956 deg, approach rate: -0.608753 m/s, LOS rate: 0.288886 deg/s, cmd heading: 268.632843 deg, new cmd heading: 268.991979 deg. 2jeBFVFw, A2]@Y2@2b92aq>y2H碠Y? 4¿{6@xk?`C,|?>?-?ɨ2]@2I;24Cy>cBR"I V=V=IZtIZM4٢bҼ b`=9fD;Q f>dd jG٣hyjY< j> rNusing accuracyPremultiplier from configlr49n3?v4Yn, in jBtv?οv@nDna:n@:nT4x zr@|Zj!-FNOT Ignoring new targets: 496.20 m.Bj-;Jj-;e ProNav: ac range: 496.200012 m, nav range: 97.997589 m, bearing: 306.438472 deg, approach rate: -0.565675 m/s, LOS rate: 0.265343 deg/s, cmd heading: 268.991974 deg, new cmd heading: 269.282129 deg. 2jm6 I)Y Y~GvA A 5 Y5 vAy5 A Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222377*J C="J %=J- J- )J- 0J) J- t;J- :J- ـ3J) a] @a] @a] @a] @Lw,u4A2׎@Y2%@2 92}>y2HӖ?D¿@%@s>?av?EK?ǫ?ɨ2׎@2d;27Cy<@5Mb@Mb@Mb@111 1)1Y5x?~jtx~jthy5K7?15D1 5@)1I5A@1y5f@IM_IMb(49 T;Q > G٣DGyh+< > Nusing accuracyPremultiplier from config49B?4Y4 iM7?:Ϳ@D*C;L?;!4 p@ EHI IN#IIńBI&I.I6Ih<:I FZjIUFNOT Ignoring new targets: 496.20 m.Bj]/;Jj]/;m ProNav: ac range: 496.200012 m, nav range: 97.752487 m, bearing: 306.552749 deg, approach rate: -0.554345 m/s, LOS rate: 0.259106 deg/s, cmd heading: 269.282120 deg, new cmd heading: 269.625805 deg. 2ju1<}HeadingCmd: 4.705858 target range: 496.200012 and range: 496.20 m. j}d@jyjyjyiyhyhhh0Bfffrfbf࿀@ɛT 隽dI YvɚiI=Iɿi7i] )d@)*Fm?2Fi:FiBFm0JFi Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472434G i Ii Gq By O >zKE k3IKE 9KA KE KE RKM >JKM ?jSw,TNA 6Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724621N@YN$@Nҡ9N؂>yNH =?Z¿Q@Xc?P:t?@_? ?ɨN@Ns;N4Cye^Bm"IIoID4٢] <9:Q > G٣y; > Nusing accuracyPremultiplier from config49x?4Yn< iBͿ@D*: :(4 @B*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 496.20 m.Bj q;Jjq;= ProNav: ac range: 496.200012 m, nav range: 97.528831 m, bearing: 306.657084 deg, approach rate: -0.566337 m/s, LOS rate: 0.264801 deg/s, cmd heading: 269.625816 deg, new cmd heading: 269.939535 deg. 2j=5 Y I] gYw,+nhAb-@YbY<@bk9b>ybH@~?o¿@|? tr?`? ?ɨb-@bl.;b6Cyv[Bv"II wI R4٢%t %P=9-:Q ->11 =G٣9yEɝ< E> eNusing accuracyPremultiplier from configQm49U?u4YUC iU jBqI̿@UDUğ`w,`A>Q@Y>`@>E9>0y>y>HB@?-¿`8[nz? hr? q?t?ɨ>Q@>D;>5CyjZBn"IuMb@Mb@Mb@qqq q)qYuCl?{Gzt?{Gztyud;?uף;uףu+ A u@)u@Iu@qyuAIpIF4٢t B=98Q > G٣DGy.< > Nusing accuracyPremultiplier from config49?4YK if;?:ɿ@!Db;4;'74  @ZjFNOT Ignoring new targets: 496.20 m.Bj ;Jj ; ProNav: ac range: 496.200012 m, nav range: 97.062485 m, bearing: 306.868667 deg, approach rate: -0.616683 m/s, LOS rate: 0.275824 deg/s, cmd heading: 270.247937 deg, new cmd heading: 270.575800 deg. 2jK=<HeadingCmd: 4.722439 target range: 496.200012 and range: 496.20 m. j%8@j!j!j!i!h!h)h1h5@Bf1f1f9rf9bf=@t( @ Igɛ & ǽI l+zɚiI=IǿiE$iEm.)E8@)IzKRIK9KKKBKqA:KpA*F2F:FBF3JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.731819G G B! O= >Sfw,^+Ayޕ[Bޕ"II~IT_4Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:38:28.7541 LVL= 9712, 16497, 11058, 13107, AGC= 68, IDX= 9, 0.03, 2.571, 0.845, 0.975, 1.489, PHS= 1.169,-0.598,-0.518, RAW= 92.3, -0.6, CAL= 100.4, -5.4, ROT= 49.6, 5.4 Ygot valid direction response: 21:38:28.7541 LVL= 9712, 16497, 11058, 13107, AGC= 68, IDX= 9, 0.03, 2.571, 0.845, 0.975, 1.489, PHS= 1.169,-0.598,-0.518, RAW= 92.3, -0.6, CAL= 100.4, -5.4, ROT= 49.6, 5.4 PDAT read: Bearing 49.6, 5.4 (Local) ~Local bearing/azimuth received: Bearing 49.6, 5.4 (Local) 5DAT read: Range 10 to 50 : 502.5 m (Round-trip 670.0 ms) speed 0.0 m/s =,DAT read: user:1937> EBDAT read: Tx time:21:38:29.8800 E$Ping request sent.Ei۱۱۱۱ G٣y > Nusing accuracyPremultiplier from config=49?E4YU i jBAAE@-D7C<?<@4I U@UE Ik?kA k kA:k@CBk|CZka|@"nLRCζS@@lK=@Ej?@{3?Ut-?Jk@Rk*I4ICYCOD@37b3@H(?J?Ysc?"k%B*kkY?k 2kX Dkß6?k kX DkC.Bkӆ? addTargetRange:: Added new target pos. range: 502.500000 m, deltaT: 4.030997 s, deltaX: 6.299988 m, approachRate: 1.562886 m/s, rangeRepo size: 4 % Added new target pos. range: 502.500000 m, bearing: 133.826698 deg, lat: 36.900497 deg, lon: -122.115266 deg, deltaT: 4.030997 s, deltaX: 6.299988 m, approachRate: 1.562886 m/s, posRepo size: 4 Zj)mFNOT Ignoring new targets: 502.50 m.BjuJjq ProNav: ac range: 502.500000 m, nav range: 43.565926 m, bearing: 108.112952 deg, approach rate: 0.000000 m/s, LOS rate: 0.275824 deg/s, cmd heading: 270.575813 deg, new cmd heading: 271.040750 deg. 2jHeadingCmd: 4.730554 target range: 502.500000 and range: 502.50 m. j`@jjjihhhhfffrfh@bfK?ɛ-B-~] )5I1 5{ɚ1i1I5=I=ƿi=`i=-)=`@)Au Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:38:29.8792 J J J J J ;J :J J E5 =*F ?2F :F BF k0JF H >I  I 5#II BI < =&I .I 6I ް<:I r FWill construct direction to contact in vehicle frame from tetrahedron phase data.G+,GBO?mpw,AF@YF䡖@F9F>yFH tܤ?Zÿ@Zq1y?/v?E?Τ?ɨF@Fˋ;F2CyNZBN"I]Mb@Mb@Mb@YYY Y)YY]Q?~jt?y]( G٣y}< > Nusing accuracyPremultiplier from config496?4Y_ ijB9E'=*Fm?2Fq:FqBFu2JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.G-w!GB O5p>ww,#gA:٥@Y:$@:79:>y:H`fТ??ÿ@@>ZA?&?@?@?ɨ:٥@:ԋ;:4CyFeBF"IININv}4٢ZCb= ZZ=9^ZQ ^>\` bG٣bDGybj; b> jNusing accuracyPremultiplier from configdj49f?n4Yff ifjBln%ƿn@fADf;f,;f{O4t vX@tB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 502.50 m.BjJj- ProNav: ac range: 502.500000 m, nav range: 44.188736 m, bearing: 107.867979 deg, approach rate: 0.705540 m/s, LOS rate: -0.272153 deg/s, cmd heading: 270.616794 deg, new cmd heading: 270.311188 deg. 2j5:=HeadingCmd: 4.717820 target range: 502.500000 and range: 502.50 m. j=b@j9j9jAiAhAhAhAhIfIfIfIrfIbfU?]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.ɛB:Q 隥ؕI p)~ɚiI#>=I]ȿii()b@)EE*E"E III*F?2F:FBFU5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245824J J $J J J 5;J ':J J G 3,)G B O >q-}w,=EA6U@Y6̖@6DE96>y6H`|?T?@Mÿ4W?́?@?L??ɨ6U@6)5;4yBhBB"IjHbHp<H%>I%C I%;#II%BI%; =&I!.I!6I%<:I%Y FBIJIRIZI= =bIjI.E5uMb@Mb@Mb@qqq q)qYubX9?L7A`?I +?yuE6?u+=u94 G٣y6; > Nusing accuracyPremultiplier from config49?4Yo ijB}6?:|ÿ@KD3;;W4 !@ZjFNOT Ignoring new targets: 502.50 m.BjVJj V ProNav: ac range: 502.500000 m, nav range: 44.487617 m, bearing: 107.762177 deg, approach rate: 0.687940 m/s, LOS rate: -0.241890 deg/s, cmd heading: 270.311184 deg, new cmd heading: 269.995914 deg. 2j&%HeadingCmd: 4.712317 target range: 502.500000 and range: 502.50 m. j%N˖@j!j!j)i)h)h)h)h5DBf1f1f9rf9bf=r ?ɛBȢ pI xɚ i I g=I5ɿi iӒ~)N˖@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499854*F?2F:FBF_0JFGGyBO`> 9I=gzKy K} h9Ky K} K} = Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751149w,.Ay xB"I%A%AI-I-a4٢=t= =Q=9=Q =>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]49U?]4YUYv iU$jBYae@UTDU:U:U]4i m"@mEZjFNOT Ignoring new targets: 502.50 m.BjJj ProNav: ac range: 502.500000 m, nav range: 44.756527 m, bearing: 107.668239 deg, approach rate: 0.679693 m/s, LOS rate: -0.236011 deg/s, cmd heading: 269.995903 deg, new cmd heading: 269.715782 deg. 2j!HeadingCmd: 4.707428 target range: 502.500000 and range: 502.50 m. jA@jjjihhhhfffrfbf[?ɛAV HI <ɚiI„=I%hɿi%i%uC)-A@))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006860GE^G B O5 > ! I! ?w,*Ay~{B~"IIcIy/4٢=s~< =K=9AQ E>AI MG٣MDGyI M> ]Nusing accuracyPremultiplier from configYe49]?e4Y]} i]-jBiim@]]D].:]:]d4q u@yZjFNOT Ignoring new targets: 502.50 m.Bj\Jj\ ProNav: ac range: 502.500000 m, nav range: 45.034599 m, bearing: 107.572321 deg, approach rate: 0.695537 m/s, LOS rate: -0.238435 deg/s, cmd heading: 269.715783 deg, new cmd heading: 269.429810 deg. 2j#HeadingCmd: 4.702437 target range: 502.500000 and range: 502.50 m. j^z@jjjihhhhfffrfbf$@ɛBjc  μI  *ɚ i I =IUʿi[܇i)^z@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255213*F?2F:FBFJF*J5R="J5a=Gk}GB)OEQ>H%>I! I%H#II%BI!&I!.I!6I%<:I%s F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506627'w,DAyrBv#IuMb@Mb@Mb@qqq q)qYu(\?l?y&1?yuz4?u=u`e G٣ Iy > Nusing accuracyPremultiplier from config49- ?4Y i8jB4?:¿@gD ;;Kl4 @Zj FNOT Ignoring new targets: 502.50 m.Bj)Jj)- ProNav: ac range: 502.500000 m, nav range: 45.320236 m, bearing: 107.477148 deg, approach rate: 0.682115 m/s, LOS rate: -0.225846 deg/s, cmd heading: 269.429816 deg, new cmd heading: 269.146098 deg. 2j-5HeadingCmd: 4.697485 target range: 502.500000 and range: 502.50 m. j5Q@j1j9j9i9h9h9hAhEmBfAfAfIrfIbfM@<@ɛB?Du Pw,^A6H^@Y6m@6ڤJ96!>y6HA5? ?`1Gÿ U?@8?pT?@??3?ɨ6H^@6;4y>B>#I Fa=Fp=IJ}IJ]4٢RU= V\=9VQ V>XX ZG٣XyZrX= ^> bNusing accuracyPremultiplier from config`f49b!?f4Yb ibCjBdfGj@boDb:b:br4l n@]Will construct direction to contact in vehicle frame from tetrahedron phase data.aiaechecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010905yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 502.50 m.BjZJjZ- ProNav: ac range: 502.500000 m, nav range: 45.573715 m, bearing: 107.400383 deg, approach rate: 0.634982 m/s, LOS rate: -0.191231 deg/s, cmd heading: 269.146090 deg, new cmd heading: 268.917078 deg. 2j-=5HeadingCmd: 4.693489 target range: 502.500000 and range: 502.50 m. jU1@jQjQjQiQhYhYhYhYfafafarfabfmz~@ɛBֶT =I 7ɚiIk=I1{˿i#iΏ<)1@)*F?2F:FBF0JF IG̻GYBaO`> G MjYIyM}B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263557JU @AJU @A}w,xA2Ow@Y2@2S920'>y2HU?E?I¿ 0` ?`AC?`x???ɨ2Ow@2(!;0yNBN.#IH`IbC Ibg#IIbڄBIb< =&I`.I`6Ib<:Ib- FMMb@Mb@Mb@III I)IYMCl?Zd;O?Zd;O?yM/?Mj<=Mj=9}xQ }>y G٣DGyH; > Nusing accuracyPremultiplier from config549#?54YT iTjB=]0?=:=N=@yD<õ<Gz4A E@EEZjMFNOT Ignoring new targets: 502.50 m.Bj]UPJj]UP ProNav: ac range: 502.500000 m, nav range: 45.862907 m, bearing: 107.319727 deg, approach rate: 0.657204 m/s, LOS rate: -0.182140 deg/s, cmd heading: 268.917088 deg, new cmd heading: 268.676646 deg. 2jHeadingCmd: 4.689292 target range: 502.500000 and range: 502.50 m. j@jjjihhhhBfffrfbf ] @ɛBw. %=I! EG%~ɚAiAIE=IM̿iMviU^<)U@)QmWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.514706*F2F:FBF0JF IgG= PG zK BoIK 9K K K BK) :K- rAB9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:38:32.9528 % TRx dataTimestamp_ set to:1736372314.280649% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767663bw,geA>f@Y>@> c9>>y>H? ? &¿?a?`}?.?@?ɨ>f@>,; G٣yW; > Nusing accuracyPremultiplier from config49%?4YÛ idjB  @D < <x49 =2@9ZjFNOT Ignoring new targets: 502.50 m.Bj^Jj^ ProNav: ac range: 502.500000 m, nav range: 46.139454 m, bearing: 107.244107 deg, approach rate: 0.714393 m/s, LOS rate: -0.194175 deg/s, cmd heading: 268.676638 deg, new cmd heading: 268.451140 deg. 2jBHeadingCmd: 4.685356 target range: 502.500000 and range: 502.50 m. jp@j jjihhhhfffrf!bf%5&@ɛMBm iu =Iq u|ɚqiqIu]=I}̿i}Յi}3<)}p@)*Fa2Fa:FaBFe_5JFaG=;GB!OMt>}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.019030 I w,WAA6@Y6@6!g96}U>y6H@?o?v%¿c`?@???Ӭ?ɨ6@6[;65CyRÄBRK#ITVAI^qI^JH4٢rzl= rI=9vQ v>tt zG٣xyz ; z> Nusing accuracyPremultiplier from config 49'? 4Y isjB  ؽ @D:G:4 r@ZjAMFNOT Ignoring new targets: 502.50 m.BjMTJjMTe ProNav: ac range: 502.500000 m, nav range: 46.393463 m, bearing: 107.176160 deg, approach rate: 0.698728 m/s, LOS rate: -0.185884 deg/s, cmd heading: 268.451132 deg, new cmd heading: 268.248409 deg. 2je$mHeadingCmd: 4.681818 target range: 502.500000 and range: 502.50 m. jmtѕ@jijijiiihihqhqhqfffrfbf`} @ɛIMP]һ IU=IQ  BDAT read: Tx time:21:38:34.0301 -$Ping request sent.-IC I#IIBI; =&I.I6I<:I; FG% %< Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >xw,,Afj@Yf@fwk9f# >yfH`؛?? ߺ`?s?`,q?c??ɨfj@f;f7CyӄB_#I 9I9mMb@Mb@Mb@iii i)iYm/$??/$?ym1(?mL=m G٣DGyY; > Nusing accuracyPremultiplier from config49<*?4Y ijB(?:@D;; 4 k@k< ?k*= k k,A:kCBkCZk @")hMz}LǑ8@yū?@϶Q'iz7??Jk.@Rk5**4jDG9+bpO@T~@eN~j? mUJs?"k{B*k 8k?k2 2kg Dkb(qO?k kkOZBk@- addTargetRange:: Added new target pos. range: 501.299988 m, deltaT: 4.288023 s, deltaX: -1.200012 m, approachRate: -0.279852 m/s, rangeRepo size: 4 = Added new target pos. range: 501.299988 m, bearing: 126.194168 deg, lat: 36.900379 deg, lon: -122.115234 deg, deltaT: 4.288023 s, deltaX: -1.200012 m, approachRate: -0.279852 m/s, posRepo size: 4 Zj9EFNOT Ignoring new targets: 501.30 m.BjMJjIU ProNav: ac range: 501.299988 m, nav range: 54.577263 m, bearing: 119.529673 deg, approach rate: 0.000000 m/s, LOS rate: -0.185884 deg/s, cmd heading: 268.248412 deg, new cmd heading: 267.988636 deg. 2jY]HeadingCmd: 4.677284 target range: 501.299988 and range: 501.30 m. jeP@jajajaiahahihihm΄BfifqfqrfuT@bfu@q9?ɛB̟ 隭 >I \$yɚiIc=I-Ϳiyw,A2`@Y2@2c92+f >y2H?s?i׈?@=?7?w^? 9?ɨ2`@2y;25CyRBRw#IIZ1IZ3٢r= vk=9vVfQ v?xx zG٣xy ?  Nusing accuracyPremultiplier from config 49 ,?4Y  i jB漿@ D ); }; 74! %;@%E=Will construct direction to contact in vehicle frame from tetrahedron phase data.MB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 501.30 m.BjeJjeu ProNav: ac range: 501.299988 m, nav range: 54.786777 m, bearing: 119.431762 deg, approach rate: 0.607139 m/s, LOS rate: -0.282646 deg/s, cmd heading: 267.988647 deg, new cmd heading: 267.696039 deg. 2juAHeadingCmd: 4.672177 target range: 501.299988 and range: 501.30 m. jz@jjjihhhhfffrfbfh?ɛ@qι F>I :vɚiI8=I5οi_i=)z@)*F2F:FBF_0JF 9I9G<Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G B) OE >ʽw,MAjH0bH2<H4I4 I6#II6&BI4&I4.I46I6]<:I6 FBp@YB@BI89B>yBHゖ?:?03o?@zY?٦?@$?}?ɨBp@Bd;B4Cy^Bb#IMb@Mb@Mb@ )YʡE?&1?:v?y?P=< @)MAI@yAII3٢R8= <=9ȺQ > G٣y > Nusing accuracyPremultiplier from config49K.?4Y ijB`?:m@D;M;̝4  @ ZjFNOT Ignoring new targets: 501.30 m.BjJj ProNav: ac range: 501.299988 m, nav range: 55.032040 m, bearing: 119.319317 deg, approach rate: 0.552020 m/s, LOS rate: -0.251956 deg/s, cmd heading: 267.696041 deg, new cmd heading: 267.360214 deg. 2j,HeadingCmd: 4.666316 target range: 501.299988 and range: 501.30 m. jvR@jjjihhhhBfff rfbfV?ɛ}B}]h y}[>Iy sɚiI=Iοis}im=)vR@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.184688*F?2F:FBFJF IgG OK=G ?G ?G B O >zK K 9K K K BK- pA:K- pA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.436539w,AZP@JzJz%Jz1JxJzT;Jz:Jz3JxJzh<Jzh<Jz};Jz~;YZI`@Z3ϊ9ZN=yZH ??(z@}??Y??5?ɨZP@ZRʐ;Z6CyB#IIMI{4٢c= H=9ۺQ > G٣DGy >  Nusing accuracyPremultiplier from config 49 M0?4Y ' i jB㼿@ D ` ;  ; 4%YB %@%EZjIMFNOT Ignoring new targets: 501.30 m.BjUJjU ProNav: ac range: 501.299988 m, nav range: 55.261520 m, bearing: 119.214066 deg, approach rate: 0.582271 m/s, LOS rate: -0.265947 deg/s, cmd heading: 267.360215 deg, new cmd heading: 267.045778 deg. 2j6HeadingCmd: 4.660828 target range: 501.299988 and range: 501.30 m. j%@jjjihhhhfffrfbf޿?ɛ; =|s>I 9pɚiI=IfϿili$=)%@)E*F?2F:FBFl0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.689282Gs=G B O > I w,-A6A@Y6OP@6$S}96 v=y6H@?@?`,`sL? 싋??? (?ɨ6A@6l;4y>B>#IIF]IF$4٢R\= Rb=9R;Q V>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b49^ 2?b4Y^ i^jBdff@^D^\:^.:^64h j#@hZj|FNOT Ignoring new targets: 501.30 m.Bj-ђJj-ђ ProNav: ac range: 501.299988 m, nav range: 55.465466 m, bearing: 119.120888 deg, approach rate: 0.563969 m/s, LOS rate: -0.256719 deg/s, cmd heading: 267.045780 deg, new cmd heading: 266.767274 deg. 2j/0HeadingCmd: 4.655967 target range: 501.299988 and range: 501.30 m. j@jjjihhhhfffrfbf`?ɛ ; 隅>I >cmɚiI~=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.940912IHпiBi.=)@)*F?2F:FBF0JFHe>IeC Ie#IIeIBIa&Ia.Ia6Ieְ<:Iek FBI-ƖCJI-ƖCRI)ZI-; =bI-; =jI-4GC`#=G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.192553 w,(dGA21@Y2@@2\y]92S=y2HB?@? ڼ@j?46?@?μ?@9?ɨ21@2ː;25C R$?IPyVBV#IMb@Mb@Mb@ )Yi|?5?~jt?/$?y?=< A 3@)IAyAIgI64٢t= 9=9;Q > G٣y} > Nusing accuracyPremultiplier from config493?4Y ijB?:F@Df;;4 @Zj!%FNOT Ignoring new targets: 501.30 m.Bj-Jj-= ProNav: ac range: 501.299988 m, nav range: 55.693710 m, bearing: 119.012734 deg, approach rate: 0.517195 m/s, LOS rate: -0.244068 deg/s, cmd heading: 266.767272 deg, new cmd heading: 266.444144 deg. 2j='EHeadingCmd: 4.650328 target range: 501.299988 and range: 501.30 m. jE|ϔ@jAjAjIiIhIhIhIhUBfQfQfYrfYbf] D@ɛB; 隕<>I iɚiI1@=I|ѿiPTiS<=)|ϔ@)*F5?2F1:F1BF5_5JF1zKEk3IKE]9KAKEKERKM?JKM>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.444658Gu-=GI BQ Ou >w,!>aA2 @Y20@2 >92=y2H" ? ?4 n??`0?y+?`-?ɨ2 @2l@;0yRBR#IIZwIZR4٢bq< b\=9f);Q f>dd fG٣fDGyjN j>Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.696513 Nusing accuracyPremultiplier from configl49n5?4Yn' injB@n„Dn};n;ng4 X@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 501.30 m.BjJj ProNav: ac range: 501.299988 m, nav range: 55.885838 m, bearing: 118.922025 deg, approach rate: 0.488997 m/s, LOS rate: -0.230077 deg/s, cmd heading: 266.444150 deg, new cmd heading: 266.172959 deg. 2jHeadingCmd: 4.645595 target range: 501.299988 and range: 501.30 m. j@jjjihhhhfffrf bf i@ɛ15dx; 1=]>I9 =\ fɚ9i9I==IEѿiEL}iE@D=)E@)I IE]4/=*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.948893J% J% J! J! J% ;J% |:J! J! aM @aM @aM @aU @G <=ZHY RH] AAHi Ii  Im $IIm hBIm < =&Ii .Ii 6Im <:Im P FG B O >Yw,1|Ay5B5#IMb@Mb@Mb@ )Y rh? G٣y > Nusing accuracyPremultiplier from config 49 6?4Y  i jB ?:T@ ʄD ; ; r4! %@)ZjQ]FNOT Ignoring new targets: 501.30 m.Bj]4Jj]4 ProNav: ac range: 501.299988 m, nav range: 56.114056 m, bearing: 118.815548 deg, approach rate: 0.520069 m/s, LOS rate: -0.241654 deg/s, cmd heading: 266.172964 deg, new cmd heading: 265.854837 deg. 2j%HeadingCmd: 4.640042 target range: 501.299988 and range: 501.30 m. j:{@jjjihhhh"Bff!fIrfIbfU  @ɛy}; y隅̖>I ~aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.200508ɚiI=IRҿizi=X=):{@)E}y= I*F2F:FBF_5JFG @=zK5 BoHK1 K1 K5 K5 U Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:21:38:37.1000 e TRx dataTimestamp_ set to:1736372318.312640e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.453576G B O >t=w,vAj͏@YjDݖ@jOMɻ9j\=yjH _a? B?۶@Xe? UIx?)y?@ڶ?!?ɨj͏@j;j4Cy=BE#I }=}a=IkI=4٢5< Q=9d G٣yӼ > Nusing accuracyPremultiplier from config497?4YW ijB@фD;;F4 @Zj)5FNOT Ignoring new targets: 501.30 m.BjUZJj]Z ProNav: ac range: 501.299988 m, nav range: 56.307106 m, bearing: 118.723912 deg, approach rate: 0.485520 m/s, LOS rate: -0.229673 deg/s, cmd heading: 265.854841 deg, new cmd heading: 265.580877 deg. 2jHeadingCmd: 4.635261 target range: 501.299988 and range: 501.30 m. jT@jjjihhhhfffrfbf10 @ɛAEh< AE%>IA M{]ɚIiIIMo=Iu5ҿiuIxiuB=)uT@)yEE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.705267*FY2FY:FYBF]T5JFY Ig) ž= 5 ~GI jY G U=y sBG B!OE>]w,ݳAWill construct direction to contact in vehicle frame from tetrahedron phase data.2DAT read: 21:38:37.1000 LVL= 16144, 32753, 29826, 32755, AGC= 68, IDX= 413, 0.14,-0.162,-1.424,-1.546,-0.980, PHS= 0.906,-0.397,-0.569, RAW= 83.9, 0.9, CAL= 90.1, -3.1, ROT= 59.9, 3.1 6Ygot valid direction response: 21:38:37.1000 LVL= 16144, 32753, 29826, 32755, AGC= 68, IDX= 413, 0.14,-0.162,-1.424,-1.546,-0.980, PHS= 0.906,-0.397,-0.569, RAW= 83.9, 0.9, CAL= 90.1, -3.1, ROT= 59.9, 3.1 :PDAT read: Bearing 59.9, 3.1 (Local) :~Local bearing/azimuth received: Bearing 59.9, 3.1 (Local) >DAT read: Range 10 to 50 : 499.2 m (Round-trip 665.7 ms) speed 0.4 m/s B,DAT read: user:1939> FBDAT read: Tx time:21:38:38.1801 F$Ping request sent.FI I"$IIrBI&I.I6I<:I- F 2@Y ~@ 9 ;L=y H f`?%⵿[q?cp???ɨ 2@ -; 5CymBm#IMb@Mb@Mb@ )YK7??~jth?y ?<D;\A @)MAIyQAIYI4٢ =2  <9VY;Q > G٣ DGy(ѻ ]> eNusing accuracyPremultiplier from configam49e9?m4Ye iejBu ?u:utÿu@e܄DeD;e;e4 @Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:38:38.1793 kIaA ?kS0 k k?8A:kCBkCZkg"?"cFBEbZ@ׇ/^Z~@-G~_mYH8?!?Jk?Rk+*I  pWɚ! i! I% u=I- $ӿi- XtiM `4U=)U R@)Q *F ?2F :F BF 0JF G  G Will construct direction to contact in vehicle frame from tetrahedron phase data.zKBHK9KKK G @A=GBO?w,IhAJx@YJĔ@J9J8=yJH{`?-@Vz d?`?`.??ɨJx@JJˎ;J3CybBb#IIr9Ir3٢z፽ zf=9z;Q z>|| ~G٣|yY  > -Nusing accuracyPremultiplier from config!549%9?54Y% i%jB15Ŀ5@%D%H<;%$;%4A E|@AZjimFNOT Ignoring new targets: 499.20 m.Bju6Jju6 ProNav: ac range: 499.200012 m, nav range: 56.792397 m, bearing: 118.482094 deg, approach rate: 0.545455 m/s, LOS rate: -0.271391 deg/s, cmd heading: 265.107126 deg, new cmd heading: 264.854906 deg. 2j@:HeadingCmd: 4.622590 target range: 499.200012 and range: 499.20 m. jB@jjjihhhhfffrfbf F?ɛ; F>I w!UɚiI^=IcԿiYsiS=)B@)*F%?2F!:F)BF-5JF)G0P=GBOC>MWill construct direction to contact in vehicle frame from tetrahedron phase data.IiI AIEgGw,~A:jC@Y:R@:Һ9:6=y:H:K?= 卿؊g?QZ?`f ? ?ɨ:jC@:C;:4CyFBJ#ILNAIRgIR64٢Z_ ZP=9Zf:Q ^>\\ bG٣`yb b> fNusing accuracyPremultiplier from configdj49fC:?j4Yf ifjBlnſn@fDf1;fB2;f4t v'@vE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 499.20 m.Bj%Jj%5 ProNav: ac range: 499.200012 m, nav range: 56.980526 m, bearing: 118.386964 deg, approach rate: 0.480892 m/s, LOS rate: -0.242365 deg/s, cmd heading: 264.854901 deg, new cmd heading: 264.570457 deg. 2j5U&=HeadingCmd: 4.617626 target range: 499.200012 and range: 499.20 m. j=Ó@j9j9j9iAhAhAhAhIfIfIfIrfIbfUL?ɛjT; 隅h>I I7RɚiIN=I1տi|KqikH=)Ó@)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.JJ"J0JJ;J:Jـ3J*FA2FA:FIBFM\0JFIH)I) I-$II-hBI)&I).I)6I-<:I-U FGuR`U=G1BAO]>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248096 A IA w,s AyBz#IMb@Mb@Mb@ )Y rh?Mb?Mby ?<EA @)AIn@y(AI;I&3٢Rx 8=9Q > G٣ DGy > Nusing accuracyPremultiplier from config49:?4Y ijB  ? : ǿ @D;%;k4 @Zj9EFNOT Ignoring new targets: 499.20 m.BjM'JjM'] ProNav: ac range: 499.200012 m, nav range: 57.197208 m, bearing: 118.274029 deg, approach rate: 0.488813 m/s, LOS rate: -0.253805 deg/s, cmd heading: 264.570465 deg, new cmd heading: 264.232947 deg. 2je/.mHeadingCmd: 4.611735 target range: 499.200012 and range: 499.20 m. jmU@jijijiiihihqhqhuԄBfqfyfyrfybf}g?ɛB0: 隭L>I VPOɚiIF=Iտihni@_`=)U@)*Fa2Fa:FaBFe_0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500846zK]KK]9KYK]K]BKa:KeqAGeaG=GA Ba O >w,$AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752226:@Y: @:|@;9:=y:H`? BQ@-h? ?ɨ:@:Wߊ;:6CyFՄBFb#IINtINM4٢Vս Za=9^lL\\ bG٣`ybż b> fNusing accuracyPremultiplier from configdj49f:?j4Yf ifjBln6ȿn@fDf* ;f ;f4p r;@tZj FNOT Ignoring new targets: 499.20 m.BjgJjg% ProNav: ac range: 499.200012 m, nav range: 57.373814 m, bearing: 118.180715 deg, approach rate: 0.485990 m/s, LOS rate: -0.255995 deg/s, cmd heading: 264.232944 deg, new cmd heading: 263.953866 deg. 2j-/-HeadingCmd: 4.606864 target range: 499.200012 and range: 499.20 m. j-nk@j)j1j1i9h9h9hAhAfAfAfArfIbfM@? Iɛae0j amN$>Ii mdEMɚiiqIS=IֿiliHO=)nk@)*F2F:FBFJFG<]=GyBO^>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004552J J J J J 5;J J J H! I!  I% #II% NBI! &I! .I! 6I% <:I! ;w,`>A6@Y6)@6a;96as=y6Hqy? s `c@1r uz i?>?ɨ6@6d;65CyBÄBBK#I F=F>MMb@Mb@Mb@III I)IYMx?Mb?y&1yMK?IM`eM3A I)M@IM@IyM\@IeyIexV4٢ua u>=9uyy }G٣yyջ > Nusing accuracyPremultiplier from config49:?4Y{ ijBd?:ȿ@D3;1;A4 d@ZjFNOT Ignoring new targets: 499.20 m.Bj.Jj. ProNav: ac range: 499.200012 m, nav range: 57.597427 m, bearing: 118.062304 deg, approach rate: 0.521040 m/s, LOS rate: -0.274837 deg/s, cmd heading: 263.953863 deg, new cmd heading: 263.600013 deg. 2j<HeadingCmd: 4.600688 target range: 499.200012 and range: 499.20 m. j8@jjjihhhhBfffrfbf @S@ɛ=B=} AE=IA E"KɚAiAIEw=IM\׿iMsjiU^=)U8@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256457*F2F:FBFJF IG_=G B O > PExceeded connect timeout, disconnecting. Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508271zK] BHK] 59KY K] K] RKm ?JKm ?w,PXA:1@Y:}Е@:I<9:=y:H@Dk?@.` }*I`N??ɨ:1@:];8y^B^+#IIjIji4٢r rT=9rf;Q r>tt vG٣v DGyz49 z>  Nusing accuracyPremultiplier from config49:?%4Y ijB)-Nɿ-@DD;];4I M @QZjyFNOT Ignoring new targets: 499.20 m.Bj4Jj4 ProNav: ac range: 499.200012 m, nav range: 57.798820 m, bearing: 117.955432 deg, approach rate: 0.513186 m/s, LOS rate: -0.271379 deg/s, cmd heading: 263.600004 deg, new cmd heading: 263.280510 deg. 2j>:HeadingCmd: 4.595112 target range: 499.200012 and range: 499.20 m. j( @jjjihhhhfffrfbf@ɛqu },=}=Iy }JɚyiyIȮ=IؿiYhi*b=)( @)*Fm?2Fi:FiBFu0JFq=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.760079 IG.H_=Gi Bq O >w,#erA6F@Y6@6>I<96=y6H#`o?V=M' H=92;Q >    G٣ y > > Nusing accuracyPremultiplier from config%49:?%4Y ijB!%ɿ%@D2 ; ;41 5A@1MB*** querying acoustic contact ***jIjIZjaeFNOT Ignoring new targets: 499.20 m.Bjm(Jjm(} ProNav: ac range: 499.200012 m, nav range: 58.010593 m, bearing: 117.842691 deg, approach rate: 0.527965 m/s, LOS rate: -0.280044 deg/s, cmd heading: 263.280515 deg, new cmd heading: 262.943532 deg. 2j}1@HeadingCmd: 4.589231 target range: 499.200012 and range: 499.20 m. jڒ@jjjihhhhfffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012214bf/@ɛB&  M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264151 I gC"w,>>Ay~B"I  AMb@Mb@Mb@ )YRQ?{Gz?Zd;Oy"?#<jA @)AIA@yAIwIR4٢ ==9Q > G٣y > Nusing accuracyPremultiplier from config49.:?4Y  ijB"?:=˿@D;; 4  s@ EZj15FNOT Ignoring new targets: 499.20 m.Bj=ͫJj=ͫM ProNav: ac range: 499.200012 m, nav range: 58.250717 m, bearing: 117.712835 deg, approach rate: 0.557793 m/s, LOS rate: -0.300404 deg/s, cmd heading: 262.943541 deg, new cmd heading: 262.555585 deg. 2jU*N]HeadingCmd: 4.582459 target range: 499.200012 and range: 499.20 m. j]@jYjYjYiYhYhahahehBfifyfrfbf v @ɛBS ` I tJɚiIU=Idٿi8ci=)@) unManaging 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=3.517407*F!2F!:F!BF- 5JF)zKeBoHKe9KaKeKeGM 6a=G! B1 OM >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Rx Time:21:38:41.2488 e TRx dataTimestamp_ set to:1736372322.596579m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769122$)w,WA65@Y6E@6Lj<96=y6Hji`?`f`$0`β?`?ɨ65@6i;64CyBiBF"IIN~ !I)INT_4٢E MR=9MQQ UG٣U DGy] e> uNusing accuracyPremultiplier from configi49m9?4Ym imjB̿@mDmK;m;m}4 @ZjiFNOT Ignoring new targets: 499.20 m.BjJj ProNav: ac range: 499.200012 m, nav range: 58.467117 m, bearing: 117.593443 deg, approach rate: 0.520561 m/s, LOS rate: -0.286139 deg/s, cmd heading: 262.555586 deg, new cmd heading: 262.198741 deg. 2j_DHeadingCmd: 4.576231 target range: 499.200012 and range: 499.20 m. j}p@jjjihhhhfffrfbf@ɛt jI AKɚiI=Iw}ڿi`i"f=)}p@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023315E5@o=*F 2F :F BF o0JF H I  I s#II BI &I .I 6I <:I H FG}z=MWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:38:41.2489 LVL= 17696, 32753, 22114, 32755, AGC= 66, IDX= 433,-0.28, 0.011,-1.954,-1.777,-1.254, PHS= 1.353,-0.653,-0.526, RAW= 93.2, -1.8, CAL= 101.4, -7.5, ROT= 48.6, 7.5 Ygot valid direction response: 21:38:41.2489 LVL= 17696, 32753, 22114, 32755, AGC= 66, IDX= 433,-0.28, 0.011,-1.954,-1.777,-1.254, PHS= 1.353,-0.653,-0.526, RAW= 93.2, -1.8, CAL= 101.4, -7.5, ROT= 48.6, 7.5 PDAT read: Bearing 48.6, 7.5 (Local) ~Local bearing/azimuth received: Bearing 48.6, 7.5 (Local) DAT read: Range 10 to 50 : 498.3 m (Round-trip 664.5 ms) speed 0.3 m/s GBO ?1w,A ,I0z,DAT read: user:1940> ~BDAT read: Tx time:21:38:42.3302 ~$Ping request sent.k4?;eܿdTK.)Iw=iz@E:publishing transmit ping time|EFpublishing direction and range infoyuQBu"I9_r HnY?9XH?y )Ii )Iik4?;eܿdTK.)IiMb@Mb@Mb@ )Y/$?y&1?/$y&1?`e<IA @)hAII@yIpIF4٢%ƙ %=9%Q ->)) -G٣)y5 5> }Nusing accuracyPremultiplier from config949=8?4Y=' i=jBE1?:L̿@=,D=2,<= ;=G4 v@kaХ?k/& k kdA:k&CBkgCZk@"7\;e~ 8@`@_r HnY?9XH?Jkz@Rk*Б%LK\4@ K6@2a~E2?-?"kA*k&/k8Y.?k*c 2k DkkLY kk3cBk+S@m addTargetRange:: Added new target pos. range: 498.299988 m, deltaT: 4.283971 s, deltaX: -0.900024 m, approachRate: -0.210091 m/s, rangeRepo size: 4  Added new target pos. range: 498.299988 m, bearing: 118.262335 deg, lat: 36.900379 deg, lon: -122.115260 deg, deltaT: 4.283971 s, deltaX: -0.900024 m, approachRate: -0.210091 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 498.30 m.BjJj ProNav: ac range: 498.299988 m, nav range: 56.800323 m, bearing: 118.463384 deg, approach rate: 0.000000 m/s, LOS rate: -0.286139 deg/s, cmd heading: 262.198750 deg, new cmd heading: 261.664795 deg. 2jHeadingCmd: 4.566912 target range: 498.299988 and range: 498.30 m. j%$@jjjihhhh8Bfffrf$@bf`?ɛeBe떼 aet׽Ia miMɚiiiIm|=I֮ۿi0\i{)=)%$@)Will construct direction to contact in vehicle frame from tetrahedron phase data.zK!K!K!K%K%J9J=J9J9J9J= :J9J9J=bg;25Cy:6B>"IIJzIJ=X4٢RP޽ R&=9R5;Q R>TT VG٣V DGyZ= Z> bNusing accuracyPremultiplier from config\b49^F7?f4Y^0 i^jBdf:Ͽf@^7D^:^:^%45XB 5(@=EZjyFNOT Ignoring new targets: 498.30 m.BjiһJjiһ ProNav: ac range: 498.299988 m, nav range: 57.092560 m, bearing: 118.285767 deg, approach rate: 0.608447 m/s, LOS rate: -0.367911 deg/s, cmd heading: 261.664793 deg, new cmd heading: 261.134686 deg. 2j~|HeadingCmd: 4.557660 target range: 498.299988 and range: 498.30 m. jZؑ@jjjihhh)h)f1f1f1rf1bf5?ɛj \#I OɚiI$=Iܿii=V=)Zؑ@)E E *E "E Will construct direction to contact in vehicle frame from tetrahedron phase data.jH<bHH!I! I%.#II%BI!&I!.I!6I%<:I%= F*FI2FI:FIBFM]0JFIG% f=G B O- >u Will construct direction to contact in vehicle frame from tetrahedron phase data. a Ia Bw,pA^~7@Y^F@^P͗<9^wV=y^H "?dY6hb?s?ɨ^~7@^_Q;^3Cyj#Bj"ImMb@Mb@Mb@iii i)iYm?:v?Zd;Oym@?m G٣yF > Nusing accuracyPremultiplier from config496?4Y9 ijB4@?:sο@BDN;BM;-4 [@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 498.30 m.BjEԻJjEԻ ProNav: ac range: 498.299988 m, nav range: 57.376717 m, bearing: 118.117442 deg, approach rate: 0.629692 m/s, LOS rate: -0.371162 deg/s, cmd heading: 261.134688 deg, new cmd heading: 260.632226 deg. 2j=~uHeadingCmd: 4.548891 target range: 498.299988 and range: 498.30 m. ju@jqjqjqiyhyhyhyh}Bfffrfbf`4y?ɛBcҼ 隝VJI RɚiI=I`ݿii>^=)@)*F?2F:FBF_0JFG GWill 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.JJJJJ;JJJJj<Jj<JJzKUKKU59KQKUKU '{~jG ٘=G B O >:Hw,D"AB@YB9@Bd<9B0=yBH;?& \`[iͰ??ɨB@B͋;B5CyNBNp"IPPIVXIV4٢^Ž b[=9bgQ b>`d fG٣dyfK߼ f> nNusing accuracyPremultiplier from confighn49j4?r4Yj@ ijjBprϿr@jKDj ;jT ;j44t z@xZjFNOT Ignoring new targets: 498.30 m.Bj%ݻJj%ݻ  ProNav: ac range: 498.299988 m, nav range: 57.614281 m, bearing: 117.974979 deg, approach rate: 0.647478 m/s, LOS rate: -0.386679 deg/s, cmd heading: 260.632232 deg, new cmd heading: 260.206615 deg. 2j 5HeadingCmd: 4.541462 target range: 498.299988 and range: 498.30 m. j5S@j1j1j9i9h9h9h9hAfAfAfArfAbfM8?]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.459602ɛb poI 'UɚiI\= IgI޿iiT=)S@)I*F2F:FBF1JFGK=GBOb> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711356*J% 4="J% a=hNw,n<AHXIX IZ"IIZ~BIX&IX.IX6IZ<:IZ FyIMIMt4٢0\: 0=9Q > G٣DGy > Nusing accuracyPremultiplier from config49Z3?4YI irjB@VD; <a <)<4 ~@ZjFNOT Ignoring new targets: 498.30 m.BjJj%ờ= ProNav: ac range: 498.299988 m, nav range: 57.912842 m, bearing: 117.797894 deg, approach rate: 0.668979 m/s, LOS rate: -0.394744 deg/s, cmd heading: 260.206602 deg, new cmd heading: 259.678101 deg. 2j=tEHeadingCmd: 4.532238 target range: 498.299988 and range: 498.30 m. jE@jAjAjAiAhIhIhIhIfQfQfQrfQbfUv@?ɛ :oI AXɚi I  =I  iiMx=)@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.965567*F2F:FBF_5JF IG% np_=G B O >KMUw, G٣JKm3 KL.KK"KJJ+JJJ<;JȆ:JJJ{o<J|o<J;J;y-4 > Nusing accuracyPremultiplier from config 49B2?4YQ igjB`I?:ο%@_Dm;l;B4) -@-EZjQ]FNOT Ignoring new targets: 498.30 m.Bj]ZJj]Zờm ProNav: ac range: 498.299988 m, nav range: 58.173019 m, bearing: 117.648430 deg, approach rate: 0.688995 m/s, LOS rate: -0.394037 deg/s, cmd heading: 259.678110 deg, new cmd heading: 259.231731 deg. 2jm6zKuMKu9KqKuKuWE9/(   HeadingCmd: 4.524447 target range: 498.299988 and range: 498.30 m. jFȐ@jIjIjIiQhQhQhQh]BfYfYfYrfYbfe`@ɛr TS=~I 4\ɚiI=IUiiP"R=)FȐ@)EE*F2F:FBF5JF"G=G=G]$q=GB!OMt>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467613 I@y[w,pA2@Y2%@2ʙ<92΀=y2HX?@!]d Ҕ@1??ɨ2@2;26Cy>B>c"IIF~IFT_4٢no nZ=9r:Q r>tt zG٣xyz z> Nusing accuracyPremultiplier from config|49~0? 4Y~Y i~\jB  Ͽ @~iD~:~:~UI4 #@Zj9EFNOT Ignoring new targets: 498.30 m.BjE~JjE~ໝU ProNav: ac range: 498.299988 m, nav range: 58.424179 m, bearing: 117.502789 deg, approach rate: 0.679859 m/s, LOS rate: -0.392536 deg/s, cmd heading: 259.231743 deg, new cmd heading: 258.796709 deg. 2j]]HeadingCmd: 4.516855 target range: 498.299988 and range: 498.30 m. j]@jajajaiahahihqhqfqfyfyrfybf}V@ɛ!%d3 )U(IQ ]&)_ɚYiYI]MQ=Ie iaiewS=)e@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720943*FE?2FA:FIBFM]0JFIH>I I"IIeBI= =&I.I6I<:ID FGvpx=G B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971383 $?I g_bw,AFAɋ@YFؒ@FP<9F|=yFH ?`N ȿP e?@?ɨFAɋ@F`;F4CyNBRq"I5Mb@Mb@Mb@111 1)1Y5 rh?J +?Mbpy5CK?5H=55A 5@)5AI11y5(AIMIMHo4٢Z= ==9NQ > G٣DGyh > Nusing accuracyPremultiplier from config494/?4Yb iTjBK? : п @tD6;u;P4 l@E5B*** querying acoustic contact ***j9j9ZjAEFNOT Ignoring new targets: 498.30 m.BjMJjMໝe ProNav: ac range: 498.299988 m, nav range: 58.718548 m, bearing: 117.330130 deg, approach rate: 0.673505 m/s, LOS rate: -0.393058 deg/s, cmd heading: 258.796715 deg, new cmd heading: 258.281347 deg. 2jemHeadingCmd: 4.507860 target range: 498.299988 and range: 498.30 m. jmc@@jijijiiihihqhqhuBfyfyfyrfybf@ @ɛ; 隭`lI WbɚiI' =I=iimR=)c@@)*Fi2Fi:FiBFiJFiGE'\=GB O-N>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224500JJJ1JJT;J:J3JJh<Jh<J;J;zKWLKKKKBKqA:KΉhw,ϣA2@Y2 @23Υ<92Ny=y2H`ߧ? ;"@ Ji+?@ ?ɨ2@2g;22CyF BFk"IIVvIV&Q4٢za zX=9~Q ~>|| G٣y¼ >  Nusing accuracyPremultiplier from config 49 k-?4Y yj i NjBҿ@ }D  ;  ; {W4! %@)ZjIUFNOT Ignoring new targets: 498.30 m.BjUuJjUu軝e ProNav: ac range: 498.299988 m, nav range: 58.975395 m, bearing: 117.178089 deg, approach rate: 0.689651 m/s, LOS rate: -0.406460 deg/s, cmd heading: 258.281336 deg, new cmd heading: 257.827211 deg. 2jmymHeadingCmd: 4.499934 target range: 498.299988 and range: 498.30 m. jmu@jqjqjqiqhqhyhhfffrfbf @ɛB  vI  _^eɚ i I =IAiiwoN=)u@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:21:38:45.3851 MTRx dataTimestamp_ set to:1736372326.634510 YIYchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.486534E31=EE*F2F:FBF\0JFG G Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.727478G T=Gq H I  I "II [BI < =&I .I 6I °<:I ] FBIqJIqRIqZIqbIqjIu\4B O >nw,Ay% B%"IMb@Mb@Mb@ )Yx&?J +?Mbp?y7I?; @)zAIyInIB4٢F= =9Q > G٣y% %> -Nusing accuracyPremultiplier from config)u49-*?u4Y-Vu i-IjBuI?}:y}@-D-X*<-)<-`4 @E IWill construct direction to contact in vehicle frame from tetrahedron phase data.չiչDAT read: 21:38:45.3851 LVL= 14304, 25969, 19570, 27219, AGC= 65, IDX= 308,-0.39,-0.878,-2.556,-2.626,-1.932, PHS= 1.142,-0.577,-0.697, RAW= 86.7, 1.5, CAL= 93.2, -1.9, ROT= 56.8, 1.9 Ygot valid direction response: 21:38:45.3851 LVL= 14304, 25969, 19570, 27219, AGC= 65, IDX= 308,-0.39,-0.878,-2.556,-2.626,-1.932, PHS= 1.142,-0.577,-0.697, RAW= 86.7, 1.5, CAL= 93.2, -1.9, ROT= 56.8, 1.9 PDAT read: Bearing 56.8, 1.9 (Local) ~Local bearing/azimuth received: Bearing 56.8, 1.9 (Local) DAT read: Range 10 to 50 : 488.0 m (Round-trip 650.7 ms) speed 0.2 m/s ,DAT read: user:1941> %BDAT read: Tx time:21:38:46.4802 ZjImFNOT Ignoring new targets: 498.30 m.BjmIԻJjmIԻ} ProNav: ac range: 498.299988 m, nav range: 59.329330 m, bearing: 116.971125 deg, approach rate: 0.638598 m/s, LOS rate: -0.371192 deg/s, cmd heading: 257.827210 deg, new cmd heading: 257.210048 deg. 2j}~HeadingCmd: 4.489162 target range: 498.299988 and range: 498.30 m.$Ping request sent.lp rG٣rDGyri r> zNusing accuracyPremultiplier from configt49v'? 4Yv ivEjBտ@vDvj;vb;vh4! %w@!k ;?kH k k5A:kCBkICZkka ?"lEKV[Jq+JT@i}@rn`,'OsyI?MtM]?Jke @RkA*`)rL@)%A@(~5~@Hm_>??zޕ;?"k. B*kfBk"?kZ 2k] Dk8Y.?k kkWBk? addTargetRange:: Added new target pos. range: 488.000000 m, deltaT: 4.037865 s, deltaX: -10.299988 m, approachRate: -2.550850 m/s, rangeRepo size: 4  Added new target pos. range: 488.000000 m, bearing: 30.747365 deg, lat: 36.900524 deg, lon: -122.115266 deg, deltaT: 4.037865 s, deltaX: -10.299988 m, approachRate: -2.550850 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 488.00 m.BjJj ProNav: ac range: 488.000000 m, nav range: 53.779346 m, bearing: 101.528471 deg, approach rate: 0.000000 m/s, LOS rate: -0.371192 deg/s, cmd heading: 257.210034 deg, new cmd heading: 256.704403 deg. 2jHeadingCmd: 4.480337 target range: 488.000000 and range: 488.00 m. j^@jjjihhhhfffrfbf ? aIegmWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛBtμ  +I ڥkɚiI2"=I%i!iM/=)M^@)QEYEY*E"E*F?2F:FBF5JFG ghs=% Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >J9 J= "J= 0J9 J9 J= :J= ـ3J9 aE @aE @aM @aM @o~w,AjH0bH2<H6>I4 I6"II6jBI6= =&I4.I46I6v<:I6$ FVxS@YVb@V<9Vpl=yVH3ſ@<|?ܺ`Ή`Sſ`DA@??ɨVxS@V;V3CyMEBM"IIU~IUT_4٢#= .=9fQ > G٣y > %Nusing accuracyPremultiplier from config%49$?-4Yވ iAjB)-ֿM@D;0;1q4Y ]7@YZjFNOT Ignoring new targets: 488.00 m.BjLJjL ProNav: ac range: 488.000000 m, nav range: 54.135414 m, bearing: 101.408445 deg, approach rate: 0.753460 m/s, LOS rate: -0.252312 deg/s, cmd heading: 256.704409 deg, new cmd heading: 256.346703 deg. 2j(-HeadingCmd: 4.474094 target range: 488.000000 and range: 488.00 m. j+@j)j)j)i)h1h1h1h1f9f9f9rf9bf=?ɛ. I mɚiI9"=IOiYZi*=)+@ III)EYWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:F!BF%_0JF!"G5=G5=G= v=GE ?GE ?G! B1 OU >w,MAF@YF'@F*<9Fr=yFH +ƿ@k?WVz@ ǿp vT??ɨF@Fif;F4CyZVB^"InWill construct direction to contact in vehicle frame from tetrahedron phase data.UMb@Mb@Mb@QQQ Q)QYUʡE?:v?    G٣ y  > Nusing accuracyPremultiplier from config%49!?%4Y iDjB%7>?%:%b׿-@Dj;;w41 5@5EMB*** querying acoustic contact ***jIjIZjYeFNOT Ignoring new targets: 488.00 m.BjeJje} ProNav: ac range: 488.000000 m, nav range: 54.397816 m, bearing: 101.319622 deg, approach rate: 0.724494 m/s, LOS rate: -0.244059 deg/s, cmd heading: 256.346698 deg, new cmd heading: 256.081516 deg. 2j~'HeadingCmd: 4.469466 target range: 488.000000 and range: 488.00 m. j@jjjihhhh[Bfffrfbf ?ɛBT ؼI >nɚiI1?#=I'i HYi'=)@)zK BoHK s9K K K *FM?2FI:FIBFU`0JFQGf=GBOj> 9I=gWill construct direction to contact in vehicle frame from tetrahedron phase data.iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.)Q U C ~G vA A  Y vAy NBŋw,$`1A6C@Y6@6v<964y=y6H ȿ]?3 `l@#ȿPpb0 ? ?ɨ6C@6;65CyBqBB"IIJ}IJ]4٢f4> f`=9fmQ j>ll nG٣nDGyrļ r> vNusing accuracyPremultiplier from configtz49v2?z4Yv- ivHjBxzؿz@vDv:vI I#IIBI&I.I6IE<:I FGU-=G1 Bi O > ! I)  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001314w,;KAJ|@YJ@JBW<9Jx=yJH1ȿS?@7cȿVp  ??ɨJ|@JR;J3CyVBV"IEMb@Mb@Mb@AAA A)AYE@5^I ?Mb?I +?yEb0?E=E9ii uG٣qyu'o u> Nusing accuracyPremultiplier from config%49R?%4Y# iNjB-0?-:-aܿ-@D;;˅4Q U<@YZjFNOT Ignoring new targets: 488.00 m.Bj去Jj去 ProNav: ac range: 488.000000 m, nav range: 54.943119 m, bearing: 101.122234 deg, approach rate: 0.666381 m/s, LOS rate: -0.249860 deg/s, cmd heading: 255.815911 deg, new cmd heading: 255.492323 deg. 2jz+HeadingCmd: 4.459182 target range: 488.000000 and range: 488.00 m. j@jjjihhhhBf ffrfbfa@ɛeBe'Do aeIa e`oɚiiiImu$=I-xi5 Vi5Q=)5@)1*F2F:FBF0JFGqA GpAG=GGpAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253479GqBO~>zK K 9K K K \טw,8eAy~B~#II tI M4٢V= %O=9%Q %>)) -G٣)y- -> =Nusing accuracyPremultiplier from config1E495 ?E4Y5ߥ i5SjBIIM@5ƅD56-;5-;5W4Q U@Q IZjFNOT Ignoring new targets: 488.00 m.Bj2Jj2]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.506543 ProNav: ac range: 488.000000 m, nav range: 55.186424 m, bearing: 101.031466 deg, approach rate: 0.641186 m/s, LOS rate: -0.238148 deg/s, cmd heading: 255.492324 deg, new cmd heading: 255.221222 deg. 2jp#HeadingCmd: 4.454451 target range: 488.000000 and range: 488.00 m. j܊@jjjihhhhfffrfbf  'S@ɛB*E 隕0=I GnɚiI|$=IirTi=)܊@)*FE?2FA:FABFM_5JFIGm : = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757626GA BQ Om >J AAJ AAJ- J- J) J) J- ;J- v:J) J) H] >I] C I] H#II] BI] : =&IY .IY 6I] U<:I]  Fw,3AV@YVI+@V|<9V=yVH6Qʿ :??@Ocʿ`2??ɨV@Vc:;TyrBr.#II=I=a4٢m= uC=9%vٺQ ->QY eG٣eDGyZ׼ > Nusing accuracyPremultiplier from config 49?4Y iYjBݿ@ЅD<w<a4 %@!ZjFNOT Ignoring new targets: 488.00 m.BjzJjz ProNav: ac range: 488.000000 m, nav range: 55.484169 m, bearing: 100.917401 deg, approach rate: 0.649222 m/s, LOS rate: -0.247380 deg/s, cmd heading: 255.221220 deg, new cmd heading: 254.880864 deg. 2j)HeadingCmd: 4.448510 target range: 488.000000 and range: 488.00 m. j2Z@jjjihhhhfffrfbft@ɛQUq Y]=IY ]kmɚYiYI]$= IIigRi%=)2Z@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.009433*Fy2Fy:FyBF}P5JFyG =Gy B O >w,~ɘA6@Y6"@6"*o<96=y6H@˿`3?pFr˿䍿`2?`?ɨ6@6?;60CyBBB?#IbWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.261390Mb@Mb@Mb@ )YRQ? rh?S㥛?y"?C =/<A )In@y=AI5aI5+4٢E= EO=9MQ M>II UG٣QyUBx U> mNusing accuracyPremultiplier from configiu49m?u4Ym im`jBu"?u:uݿu@mׅDm!O=mO=m4WB @E=B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 488.00 m.BjmfJjuf} ProNav: ac range: 488.000000 m, nav range: 55.695663 m, bearing: 100.837342 deg, approach rate: 0.535315 m/s, LOS rate: -0.201867 deg/s, cmd heading: 254.880858 deg, new cmd heading: 254.641597 deg. 2j HeadingCmd: 4.444335 target range: 488.000000 and range: 488.00 m. j7@jjjihhhhBfffrfbf @zKm$JKKKK   ɛ)-v= 15=I1 5i&lɚ1i1I5x%=I=u_i=ShQi=N^=)E7@)A*F?2F:FBFP0JF"G=G=Gz =G ?G? IgGBO>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514058rw,vA6͈@Y6<ݏ@6Ub<96V=y6H˿*?]`?˿[?@OZ?`?ɨ6͈@60;62CyN΄BRZ#IIZ{IZZ4٢b= fS=9f`Q f>hh jG٣hyj) j> rNusing accuracyPremultiplier from configpv49r7 ?v4Yr_ irhjBtvX޿v@r߅Dr:r7:rS4zXB ~@~EZjFNOT Ignoring new targets: 488.00 m.Bj_Jj_ ProNav: ac range: 488.000000 m, nav range: 55.926338 m, bearing: 100.749642 deg, approach rate: 0.643645 m/s, LOS rate: -0.243698 deg/s, cmd heading: 254.641610 deg, new cmd heading: 254.379597 deg. 2j?'%HeadingCmd: 4.439762 target range: 488.000000 and range: 488.00 m. j%@j!j!j!i!h!h)h)h)f)f1f1rfQbf] @ɛB5Ŀ_ 15>I1 =bjɚ9i9IE R%=ImPWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:38:49.5445 TRx dataTimestamp_ set to:1736372330.918598checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768433i 3Pi=)@)JJJ1JJ;J~:J3J*F2F:FBF]0JFH>I I#IIBI9 =&I.I0D6I\<:I FG l= $?I G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021334w,A%¯@Y%@%R<9%=y%H~˿"?S9`̿l?A+?e?ɨ%¯@%݌;!y=фB=]#IMb@Mb@Mb@ )YtV?I +?I +?y?9<9<rA )EAIMAy AIrIJ4٢.< +=9 Q > G٣DGy >  > Nusing accuracyPremultiplier from config49?%4Yt ipjB%?%:-࿑-@DtM;5L;41 5n@1ZjYeFNOT Ignoring new targets: 488.00 m.Bje~Jje~u ProNav: ac range: 488.000000 m, nav range: 56.181118 m, bearing: 100.648153 deg, approach rate: 0.562087 m/s, LOS rate: -0.222886 deg/s, cmd heading: 254.379604 deg, new cmd heading: 254.076520 deg. 2ju}HeadingCmd: 4.434472 target range: 488.000000 and range: 488.00 m. j}1@jyjyjihhhh Bf f f rfbf`@ɛY] 隅l>I hɚiI%=IiZNi: =)1@)*FY2FY:FYBF]_0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.EDAT read: 21:38:49.5445 LVL= 8240, 12529, 8802, 12019, AGC= 69, IDX= 20, 0.29,-1.377,-2.794,-3.042,-2.237, PHS= 0.948,-0.510,-0.808, RAW= 80.9, 4.6, CAL= 85.8, 3.4, ROT= 64.2, -3.4 MYgot valid direction response: 21:38:49.5445 LVL= 8240, 12529, 8802, 12019, AGC= 69, IDX= 20, 0.29,-1.377,-2.794,-3.042,-2.237, PHS= 0.948,-0.510,-0.808, RAW= 80.9, 4.6, CAL= 85.8, 3.4, ROT= 64.2, -3.4 UPDAT read: Bearing 64.2, -3.4 (Local) U~Local bearing/azimuth received: Bearing 64.2, -3.4 (Local) eDAT read: Range 10 to 50 : 495.0 m (Round-trip 660.1 ms) speed 0.3 m/s m,DAT read: user:1942> BDAT read: Tx time:21:38:50.6302 $Ping request sent.G} =G9 BI O] >)w,mA:v@Y:£@:n@<9:F=y:Hc̿@? 米@l3 k̿@lv?`I@??ɨ:v@:*;:3CyRքBRc#IIZlIZm?4٢r%< rs=9rOQ v?tt vG٣t )I)yu}" u? Nusing accuracyPremultiplier from config49?4Y ivjB*ῑ@DmF<%L<ӯ4 @UWill construct direction to contact in vehicle frame from tetrahedron phase data.k-TLr?k-V] k) k-_'A:k-CBk-CZk->"-0FS5oe`@|Dp}@-hlÿx[&?6pjTs?Jk-S@Rk-*-oeP[@#vQH@:ʌ~@-z.]?[ C'?4G?"k-BB*k-Bk-})?k-f 2k-Dk-"?k-f k- Dk-yBk-2? addTargetRange:: Added new target pos. range: 495.000000 m, deltaT: 4.286509 s, deltaX: 7.000000 m, approachRate: 1.633031 m/s, rangeRepo size: 4  Added new target pos. range: 495.000000 m, bearing: 24.168564 deg, lat: 36.901139 deg, lon: -122.115343 deg, deltaT: 4.286509 s, deltaX: 7.000000 m, approachRate: 1.633031 m/s, posRepo size: 4 Zj-FNOT Ignoring new targets: 495.00 m.Bj5Jj1E ProNav: ac range: 495.000000 m, nav range: 75.736969 m, bearing: 39.953896 deg, approach rate: 0.000000 m/s, LOS rate: -0.222886 deg/s, cmd heading: 254.076507 deg, new cmd heading: 253.822920 deg. 2jAmHeadingCmd: 4.430046 target range: 495.000000 and range: 495.00 m. jm@jijijiiihqhqhqhqfqfyfyrf~@bf ?ɛD '>I eɚiI-%=I3i%Li%Mn =)%@)!*F?2F:FBFJFG sc=G rAG rA Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >H I  I #II BI &I .I 6I <:I FBI˖CJI˖CRIZI: =bI; =jIS6s w,i8AN5d@YNs@NWE<9N͞=yNH dͿ`?|г`(ͿԂ?@ȁZԳ??ɨN5d@ND;N4Cyj܄Bjk#IISI4٢-< -F=9-Q ->QY eG٣ay}T > Nusing accuracyPremultiplier from config 49?E4YB ijBIuῑu@D:<<4 @ZjFNOT Ignoring new targets: 495.00 m.Bj;Jj; IM ProNav: ac range: 495.000000 m, nav range: 75.934769 m, bearing: 40.074286 deg, approach rate: 0.445657 m/s, LOS rate: 0.270541 deg/s, cmd heading: 253.822916 deg, new cmd heading: 254.183140 deg. 2jU9I ucɚiI%=IeiύKiɿ<)p@) eWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFo0JFG B =G B O >z7w,#A6>@Y6CN@6l;96I=y6HͿ@?2'k Ϳ@V?`¿yN??ɨ6>@6;62CbWill construct direction to contact in vehicle frame from tetrahedron phase data.y~B~s#IMb@Mb@Mb@ )Y?~jtx?{Gz?yf?;#<A A@)AIAy\AI3Iʴ3JJ J0JJ;J:Jـ3JJI_ G٣DGy6@ > Nusing accuracyPremultiplier from config 49? 4Yd ijB n? :忑@D;;64 F@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 495.00 m.Bj;Jj; ProNav: ac range: 495.000000 m, nav range: 76.094261 m, bearing: 40.165006 deg, approach rate: 0.427954 m/s, LOS rate: 0.242910 deg/s, cmd heading: 254.183140 deg, new cmd heading: 254.454726 deg. 2j&<%HeadingCmd: 4.441073 target range: 495.000000 and range: 495.00 m. j%E@j!j!j!i!h)h)hQhU5BfQfQfYrfYbf]Z{?ɛ48 A>I 5aɚiIP%=zK MK 9K K K BK:KsAIMXiMJiM<)ME@)Q*F2F:FBF0JF IgGe~<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.GBO>aw,3AyrބBrm#IIzLIz4٢-E -W=95Q 5>19 =G٣9yE E> MNusing accuracyPremultiplier from configAM49E,?U4YE iEjBQQU@EDEn:E'I _ɚiI&=I/iiIirU<)C@)EEqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489294*F-?2F1:F1BF55JF1HI I#II0BI&I.I6I<:IH FGu<G?G ?Gq B  I Oe >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739686Iw,MAV@YVB)@V+x;9VH=yVH@ο?`g`0ο? ^o/ô?@?ɨV@VɎ;V4Cyb̄BbV#IUMb@Mb@Mb@QQQ Q)QYUMb?~jtyU?UDUU A UX@)UAIUdAQyUQAImImHo4٢}寽 }E=9ŻQ > G٣y2 > Nusing accuracyPremultiplier from config49?4Y ijB5?5:5꿑=@ D<ە<#4A E@AZjimFNOT Ignoring new targets: 495.00 m.Bjv;Jjv; ProNav: ac range: 495.000000 m, nav range: 76.425903 m, bearing: 40.344582 deg, approach rate: 0.415537 m/s, LOS rate: 0.215176 deg/s, cmd heading: 254.724938 deg, new cmd heading: 254.992285 deg. 2j<HeadingCmd: 4.450455 target range: 495.000000 and range: 495.00 m. j j@jjjihhhhI A]ɚiI+&=Ii75IiTޭ;) j@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991738JJ#JJJ5;J:JJJUc<JVc<J;J;EE`T=*F ?2F :F BF 0JF zK RIK 9K K K RK ?JK ? I G Qd<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248585G1Bi~~G Y y t BO?Tw,IoAn@Yn %@nLP;9ni߫=ynHPο c?{ @!>ο>+?fjqu? ?ɨn@n;n5Cyv„BzJ#III%x4٢ =9٘Q > G٣DGy%u %> 5Nusing accuracyPremultiplier from config)=49-?=4Y-^ i-jBAE꿑E@-D-lK;--/;-4I Mc@MEZjquFNOT Ignoring new targets: 495.00 m.Bj}z;Jj}z; ProNav: ac range: 495.000000 m, nav range: 76.637245 m, bearing: 40.453468 deg, approach rate: 0.426584 m/s, LOS rate: 0.219174 deg/s, cmd heading: 254.992272 deg, new cmd heading: 255.318025 deg. 2jj<HeadingCmd: 4.456140 target range: 495.000000 and range: 495.00 m. j@jjjihhhhf!f!f!rf!bf-@ɛ>P =I  [ɚiIQ&=I i Hin0_:)@)1EoE-=*F2F:FBFU5JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496505G^n;GyBZHRHAAHI I#II+BI&I.I6I<:IV FO=>3w,\=A I y=B=3#IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747808=Mb@Mb@Mb@999 9)9Y=S㥛?Mb`?~jty=?=;=D=+ A =+@)=AI=zA9y9IUIU<4٢e㪽 e8=9eQ e>qq uG٣qy} }> Nusing accuracyPremultiplier from config49z?4YJ i|jB?:濑@D; ;4 @ZjFNOT Ignoring new targets: 495.00 m.Bjt;Jjt; ProNav: ac range: 495.000000 m, nav range: 76.823906 m, bearing: 40.555207 deg, approach rate: 0.419526 m/s, LOS rate: 0.228105 deg/s, cmd heading: 255.318017 deg, new cmd heading: 255.622489 deg. 2j<HeadingCmd: 4.461454 target range: 495.000000 and range: 495.00 m. j;Ď@jjjihhhhBfffrfbf@@ɛ15Ư 15X=I1 =;Yɚ9i9I=v&=IE.iEQHiEEI`)E;Ď@)IEQEQ*EQ"EQ*F2F:FBF2JFG GrAM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000372JE JE JA JA JE ;JE z:JA JA JE `<JE `<JE ;JE ;GU @;G] qAG] qAzK K 9K K K G) B1 OM >w,$AV@YV/@V]:9Vd=yVH@)ο?kG` οt?>\ ? ?ɨV@V;V3CyrBr#IIzIz1h4٢ Q=9 >uQ  >   G٣yM; > %Nusing accuracyPremultiplier from config%49?-4Y} iwjB)-濑-@ Da::49 =-@9}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 495.00 m.Bj;Jj; E$?IA ProNav: ac range: 495.000000 m, nav range: 76.987717 m, bearing: 40.644236 deg, approach rate: 0.414703 m/s, LOS rate: 0.224907 deg/s, cmd heading: 255.622480 deg, new cmd heading: 255.888998 deg. 2jZ<HeadingCmd: 4.466105 target range: 495.000000 and range: 495.00 m. jV@jjjihhhhfffrfbf  @ɛBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251830 5 P =I ldYɚiI&=IiHi¿)V@)*F2F:FBF0JFGu :G1B9Omx>] Will construct direction to contact in vehicle frame from tetrahedron phase data.] BDAT read: Rx Time:21:38:53.6931 e TRx dataTimestamp_ set to:1736372334.952728e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504862{w,VA*J"J4=HV>IT IV#IIVBIT&IT.IT6IV<:IV9 Fr$@Yr4@r}:9r1=yrH^ο?@vwCͿ@?{O`??ɨr$@rF;py%B%"II5|I5[4٢]X ]E=9eQ e>aa eG٣eDGym+: m> }Nusing accuracyPremultiplier from configq49ug?4Yu iuqjB濑@u'Du*;u*;u4 _@EZjFNOT Ignoring new targets: 495.00 m.Bj;Jj; ProNav: ac range: 495.000000 m, nav range: 77.161339 m, bearing: 40.738230 deg, approach rate: 0.424049 m/s, LOS rate: 0.229051 deg/s, cmd heading: 255.888994 deg, new cmd heading: 256.170339 deg. 2j2<HeadingCmd: 4.471016 target range: 495.000000 and range: 495.00 m. j@jjjihhhhfffrfbf @ɛ!%,_ !-@I) -tYɚ)i)I-&=I5*i5Gi=)=@)9*F?2F:FBF_0JF IIIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.755682Gs7]GBO >w,Ay=pB="IMb@Mb@Mb@ )YB`"? rhy?C A )IyI nI B4Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: Range 10 to 50 : 493.9 m (Round-trip 658.6 ms) speed 0.0 m/s -,DAT read: user:1943> 5BDAT read: Tx time:21:38:54.7803 5$Ping request sent.5QQ ]G٣Yye e> mNusing accuracyPremultiplier from configiu49m?u4Ym< imjjB}?}:} 翑}@m/Dm ;mN;m4 @ addTargetRange:: Added new target pos. range: 493.899994 m, deltaT: 4.031687 s, deltaX: -1.100006 m, approachRate: -0.272840 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 495.00 m.Bj+;Jj+; ProNav: ac range: 495.000000 m, nav range: 77.358772 m, bearing: 40.843768 deg, approach rate: 0.453109 m/s, LOS rate: 0.241591 deg/s, cmd heading: 256.170343 deg, new cmd heading: 256.486146 deg. 2j%<HeadingCmd: 4.476528 target range: 495.000000 and range: 493.90 m. j?@jjjihhhhBfffrf`f~@bf3?ɛ%B%|G !%-I! -ZJJJ1JJ5;J|:J3JJUc<JVc<J;J;ɚ)iAIM'=IM@iUHiU!d)U?@)Q*F?2F:FBFJF"G =G =zKjIK]9KKK AIEg Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:38:54.7795 G% ZG- ?G- ?G B O >w,A24@Y2'D@292dY=y2HͿ?擺9=Ϳ`,?@cB?]??ɨ24@2؍;24CyNNBN"I V=V=IZIZ<4٢f= fg=9fQ f>hh jG٣hyn; n> rNusing accuracyPremultiplier from configpv49r?v4YrJ irdjBtv濑z@r5Dr:r:r4y }@yZjFNOT Ignoring new targets: 495.00 m.Bj;Jj; ProNav: ac range: 495.000000 m, nav range: 77.518715 m, bearing: 40.929168 deg, approach rate: 0.429751 m/s, LOS rate: 0.228988 deg/s, cmd heading: 256.486144 deg, new cmd heading: 256.741813 deg. 2j'<HeadingCmd: 4.480990 target range: 495.000000 and range: 493.90 m. jEd@jjjihhhhfffrfbf?ɛ%B%TȮ !-߽I) -jd[ɚ)i)I-FR'=I5Xi5Hi5)=Ed@)A*F2F:FBFo0JFGK%Will construct direction to contact in vehicle frame from tetrahedron phase data.GBOG>H>I Is#IIBI; =&I.I/D6Iư<:Ia F Y IY }w,M A6=@Y6-@6=T960 =y6H /ο@?\Ϳ?$j?T?%?ɨ6=@6);63CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yF6BF"IMb@Mb@Mb@ )YA`"?~jt?y?D<̼X A @)AIy(AI5`I5(*4٢E EC=9MAлQ M>II MG٣UDGyU׻ U> Nusing accuracyPremultiplier from config49?4Y iZjB@?: i俑 @>D;;c4 =@9ZjFNOT Ignoring new targets: 495.00 m.Bj0;Jj0; ProNav: ac range: 495.000000 m, nav range: 77.729439 m, bearing: 41.045401 deg, approach rate: 0.490103 m/s, LOS rate: 0.269602 deg/s, cmd heading: 256.741811 deg, new cmd heading: 257.089560 deg. 2j9<HeadingCmd: 4.487059 target range: 495.000000 and range: 493.90 m. j@jjjihhhhBf ffrfbf?ɛeBeTļ im !I ]ɚiI'=Iwi@{Hi)@)*F!2F!:F!BF%p0JF)5Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm :_G rAG pAGI BY O >& w,a&AzK.BoIK.9K,K.K.BK@:KBpAF@YF,@F59F{=yFH2ο?dDͿ@?s?`4?@?ɨF@F%;DyVBVy"II^_I^b(4٢f fR=9fQ f>hh jG٣hynp n> rNusing accuracyPremultiplier from configpv49r.?v4Yr irRjBtzc俑z@rEDrn:r:r4| ~@|B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 495.00 m.Bj-;Jj-;= ProNav: ac range: 495.000000 m, nav range: 77.906258 m, bearing: 41.142348 deg, approach rate: 0.491331 m/s, LOS rate: 0.268778 deg/s, cmd heading: 257.089550 deg, new cmd heading: 257.379728 deg. 2jEu8] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512826 w,?:@AH$I&C I&(#II&BI&< =&I$.I$6I&}<:I&+ FBI JI RI ZI 9 =bI : =jI m5J#K+3 K+.K#K#"K#J:J:J:0J8J:;J::J:ـ3J8J:bg<J:cg<J:;J:;b@(@Yb7@byӻ9b =ybHο?Q]Ϳ@_?Cxz?;?M?ɨb@(@bZN;`y~Bc"IIGI3٢m m@=9uQ u>q G٣yPH; > Nusing accuracyPremultiplier from config49?4YY iIjB/俑@MD;;Q4 %@EZj!%FNOT Ignoring new targets: 495.00 m.Bj- ;Jj- ;e ProNav: ac range: 495.000000 m, nav range: 78.112061 m, bearing: 41.254848 deg, approach rate: 0.471586 m/s, LOS rate: 0.257108 deg/s, cmd heading: 257.379724 deg, new cmd heading: 257.716330 deg. 2jms0I ucɚiIE(=I i5Ii5*)5@)1*F?2F:FBFJF !I!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765141G- EG B O- >7w,wZA:?@Y:N@::f9:>y:H Ϳ1?㾿 VͿ`hM? |??߾?ɨ:?@:;:4CyFBFE"IMb@Mb@Mb@ )YZd;O?{Gz?y~*?ף< A @)IAyAI5I54٢E MM=9MH}Q M>QQ UG٣UDGyU{; ]> eNusing accuracyPremultiplier from configam49ezKK9KKKRK?JK> I! Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268803aw,sA2qZ@Y2i@2L92>y2HEͿ?@P&̿? v~???ɨ2qZ@2:;22CyBBB8"IIJIJ4٢zn[ ~P=9~ĺQ ~> G٣y A<  > Nusing accuracyPremultiplier from config49?4Y i;jB!%)⿑%@^D>;+?;4) 5R@1ZjQ]FNOT Ignoring new targets: 495.00 m.Bj]+;Jje+;m ProNav: ac range: 495.000000 m, nav range: 78.530365 m, bearing: 41.487919 deg, approach rate: 0.529091 m/s, LOS rate: 0.294047 deg/s, cmd heading: 258.065966 deg, new cmd heading: 258.413672 deg. 2juIIA IE"IIEjBIA&IA.IA6IE<:IEP FJJJJJ5;J :JJJUc<JVc<JS;JS;Gh GiByO> % $?I) fM#w,ٍA2|o@Y2~@292$ >y2Hr̿]? @a+ ̿`Z?E#?V?,?ɨ2|o@2-;25CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.773605yFՃBF'"I%Mb@Mb@Mb@!!! !)!Y%A`"?Mb?{Gzy%9?%<%ף%A %@)!I%A!y%zAI=I=F4٢M҄ ME=9M_Q U>QQ ]G٣Yy]; ]> eNusing accuracyPremultiplier from configam49eտ?m4Ye' ie7jB 49?:⿑@egDeҶ-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025022u)w,A:@Y:@:n*9:;>y:H ̿?`08/-̿`u6?@?@?o?ɨ:@:!;:3CyFBF"IzKNBHKNh9KLKNKN dr^I<2*BKP:KRqAIZIZd4٢fн jS=9jQ n>pp rG٣rDGyv; v> ~Nusing accuracyPremultiplier from config| 49~? 4Y~. i~3jB ⿑@~pD~K;~D;~-*4! %r@)]B*** querying acoustic contact ***jajaZjq}FNOT Ignoring new targets: 495.00 m.Bj;Jj; ProNav: ac range: 495.000000 m, nav range: 78.996635 m, bearing: 41.742159 deg, approach rate: 0.605146 m/s, LOS rate: 0.328652 deg/s, cmd heading: 258.806441 deg, new cmd heading: 259.174117 deg. 2ja<HeadingCmd: 4.523442 target range: 495.000000 and range: 493.90 m. j @jj IgjihhhQhQfQfQfYrfYbf] @)= CU GiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276967 .YyMBɛB , L˾I BvɚiIb)=II?i'Liy-)  @)*F2F:FBFJFG G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:21:38:57.8417 E TRx dataTimestamp_ set to:1736372338.988624M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529919H9 I9  I= "II= y HQ̿`?1`_4˿Z G٣y%; %> -Nusing accuracyPremultiplier from config)549-ӵ?54Y-=7 i-/jB9=O⿑=@-{D-#;-w;-14I M@MEZjq}FNOT Ignoring new targets: 495.00 m.Bj};Jj}; ProNav: ac range: 495.000000 m, nav range: 79.252647 m, bearing: 41.881278 deg, approach rate: 0.586409 m/s, LOS rate: 0.317628 deg/s, cmd heading: 259.174124 deg, new cmd heading: 259.590122 deg. 2jY<HeadingCmd: 4.530702 target range: 495.000000 and range: 493.90 m. j@jjjihhhhfffrfbf@Z< @ɛB7  оI V{ɚiIyJ*=I`Qii=)@)E I*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781052G)GBO>.6w,>]A2<@Y2@27k92>y2H̿?17`˿s?$b???ɨ2<@2x;26CyfBf"IhjA]Mb@Mb@Mb@YYY Y)YY]Mb? rh?Mby]C?]C =]]A ]@)]AIYYy]QAIuIud4٢W T=9Q > G٣yO; > Nusing accuracyPremultiplier from config49~?4Y> i2jBFC?:߿@D8;=7;84 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035844ZjFNOT Ignoring new targets: 495.00 m.Bj;Jj; ProNav: ac range: 495.000000 m, nav range: 79.484619 m, bearing: 42.012107 deg, approach rate: 0.513338 m/s, LOS rate: 0.288671 deg/s, cmd heading: 259.590109 deg, new cmd heading: 259.981445 deg. 2jF<-HeadingCmd: 4.537532 target range: 495.000000 and range: 493.90 m. j-w3@j)j)j)i1h1h1h9h=+Bf9f9fArfAbfE@q@ɛZ* BӾI 3ɚiI߼*=Iq߿ikNiL)w3@)zKMK]9KKK*Fq2Fy:FyBF}_0JFy I Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:38:57.8417 LVL= 13680, 27633, 18114, 26723, AGC= 66, IDX= 423,-0.29,-1.760,-2.923, 2.991,-2.516, PHS= 0.844,-0.360,-0.779, RAW= 75.6, 4.1, CAL= 79.3, 2.5, ROT= 70.7, -2.5  Ygot valid direction response: 21:38:57.8417 LVL= 13680, 27633, 18114, 26723, AGC= 66, IDX= 423,-0.29,-1.760,-2.923, 2.991,-2.516, PHS= 0.844,-0.360,-0.779, RAW= 75.6, 4.1, CAL= 79.3, 2.5, ROT= 70.7, -2.5  8DAT read: $Error in header  *Received a bad headerE X#Rx 1: Read direction message, but no range.M ^direction in FSK: [-0.136366,0.349705,0.926882]ة 9ح Ist~/a?i?ة ح p5ح k ٭ F)٭ chI٭ Bi٭ bX?٭ Q٭ lG٭ [?٭ C= ڭ m(?)ڭ ¸2=Iڭ ?iڭ ¸2ک ۭ 4dL?T?T5q??)ۭ ^FIۭ (iۭ T?ۭ ~ϗu T****** received valid address query ******} R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapseG {+Gy B O ><w,AF\ň@YFԏ@F!g9F>yFH`£˿O?K= ˿@x? ??@?ɨF\ň@F{Џ;F3CyNBN "IIZ~IZT_4٢bڣ< bQ=9fQ f>dh jG٣hyj< j> rNusing accuracyPremultiplier from configl49n2? 4YnF in6jB  ߿ @nDn;n;n{?4 @EZjFNOT Ignoring new targets: 495.00 m.Bjp;Jjp; ProNav: ac range: 495.000000 m, nav range: 79.719269 m, bearing: 42.144373 deg, approach rate: 0.707599 m/s, LOS rate: 0.397681 deg/s, cmd heading: 259.981452 deg, new cmd heading: 260.377076 deg. 2jv<HeadingCmd: 4.544437 target range: 495.000000 and range: 493.90 m. jl@jjjihhhhfffrfbf@@ɛB#D ϾI IɚiI+=I%J޿i!i%[#Y)%l@))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*F2F:FBF1JFHI I"IIBI&I.I6IP<:I FGlL=J J J 1J J J |:J 3J J J J ;J ;GBOa> I 2Cw,AWill 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:1و@Y:}@:Ğ9: >y:HU˿?@oAŮʿ??ؓ??`?ɨ:1و@:B;:4Cy^ƒB^"I Mb@Mb@Mb@    ) Y (\?V-?y G? <  A h@) I  y AI%I%̍4٢=< =6=9=uǻQ E>AA EG٣EDGyM; M> ]Nusing accuracyPremultiplier from configQ]49U?]4YUO iU?jBeG?e:e߿e@UDU;U#;USG4i mb@qZjFNOT Ignoring new targets: 495.00 m.Bj;Jj; ProNav: ac range: 495.000000 m, nav range: 79.996986 m, bearing: 42.297548 deg, approach rate: 0.629226 m/s, LOS rate: 0.345844 deg/s, cmd heading: 260.377084 deg, new cmd heading: 260.835003 deg. 2jYm<%HeadingCmd: 4.552430 target range: 495.000000 and range: 493.90 m. j%@j!j!j!i!h!h)h)hM(BfQfQfQrfQbfU`@ɛ]1 隥˾I ɚiIe+=Ieݿii6k)@)*FM?2FI:FIBFM^5JFI"GQGU=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 PIG B O >Iw,)AJN@YJ @Jzp9J>yJH3ʿ`?"¿H`"ʿ?-?B?K?ɨJN@JV;HzKZk3IKZ9KXKZKZ|2pgD/ yfуBj""IIvIvr4٢L= `=9̻Q >    G٣ y5< 9I=g > Nusing accuracyPremultiplier from config49?4Y\W iGjBd߿@DP ; ;M4 s@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 495.00 m.Bjt;Jjt; ProNav: ac range: 495.000000 m, nav range: 80.230927 m, bearing: 42.426589 deg, approach rate: 0.618209 m/s, LOS rate: 0.340010 deg/s, cmd heading: 260.835007 deg, new cmd heading: 261.220996 deg. 2jXi<HeadingCmd: 4.559166 target range: 495.000000 and range: 493.90 m. j@jjjihhhhfffrfbf@ɛ)-6^4 )5`I1 5Bɚ1i1I5ͨ+=I=ܿi9i=Gs)=@)A=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9ET****** received valid address query ******ER****** received valid ping request ******Mreceived new query, but waiting for acoustic response period to elapse*F?2F:FBFY0JFG]GABaO9> 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 elapseH >I C I I I ; =&I .I 6I <:I F*J1 "J5 a=^Pw,_]CAJNJN&JN0JLJN;JN0:JNـ3JLJNd<JNd<JNc;JNc; @Y 8.@ mGǼ9 >y HDʿ?¿+O`Aɿī?L?@r"??ɨ @  A; 2CyEۃBE/"II}zI}=X4٢QI= B=9[ϻQ > G٣y ,< > Nusing accuracyPremultiplier from config49?4Y_ iQjB޿@D;';!U4 @ZjAEFNOT Ignoring new targets: 495.00 m.Bjm{;Jjm{;} ProNav: ac range: 495.000000 m, nav range: 80.484657 m, bearing: 42.566737 deg, approach rate: 0.604907 m/s, LOS rate: 0.333066 deg/s, cmd heading: 261.220995 deg, new cmd heading: 261.640105 deg. 2jd<HeadingCmd: 4.566481 target range: 495.000000 and range: 493.90 m. j @jjjihhhhfffrfbf@@ɛ)5ܫ% 15I1 5ɚ1i9I=b+=I=ۿiE[*PiE$|)E @)i 5$?I1*F2F:FBFJFEWill 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 elapseGe ljGe ?Ge ?G9 BA Oe >Vw,%]AyfBf>"I]Mb@Mb@Mb@YYY Y)YY]y&1? G٣DGy >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 Nusing accuracyPremultiplier from config49=?4Yg i_jBwE?:࿑@DD"; ;\4 @ZjFNOT Ignoring new targets: 495.00 m.Bj#;Jj#;  ProNav: ac range: 495.000000 m, nav range: 80.731903 m, bearing: 42.697627 deg, approach rate: 0.629940 m/s, LOS rate: 0.332463 deg/s, cmd heading: 261.640095 deg, new cmd heading: 262.031555 deg. 2j *d<HeadingCmd: 4.573313 target range: 495.000000 and range: 493.90 m. jX@jjjihhh!h%YBf!f!f!rf)bf-`G@ɛ9=)" AErIA E댼ɚAiAIE),=IuڿiuQiu؊)uX@)y*F2F:FBF_0JFG G I!zK=MK=ػ9K9K=K= 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 elapseG] |G! B1 OM >8]w, wAJ~@YJ]@J9J >yJHȿ?@¿+a@ ǿ@i߭???Η?ɨJ~@Ju;HyVBVP"II^I^{4٢f= fV=9jEQ j>ll nG٣lynj< r> vNusing accuracyPremultiplier from configpz49r?z4YrBo irojBxzy߿~@rDr* ;r ;rb4 @Zj1FNOT Ignoring new targets: 495.00 m.Bj;Jj; ProNav: ac range: 495.000000 m, nav range: 80.964729 m, bearing: 42.822900 deg, approach rate: 0.612680 m/s, LOS rate: 0.328707 deg/s, cmd heading: 262.031547 deg, new cmd heading: 262.406280 deg. 2ja<HeadingCmd: 4.579854 target range: 495.000000 and range: 493.90 m. j)@jjjihhhhfffrfbf@ɛQU QUBIQ ]ɚYiYI]7,=Ieڿiaiej~)e)@)i*F?2F :F BF JF 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 elapseGHM>II IM"IIM2BII&II.II6IM<:IMH FBI ŕCJI ŕCRI ZI < =bI ; =jI Ŷ5GBOA>  I e 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 elapsedw,+A2<@Y2@2B92$>y2H ȿ` ?,fÿiǿ?@??*?ɨ2<@2;24Cy^ B^g"IMb@Mb@Mb@ )Y-?~jtx?Zd;O?y5>?;j<A )IAyAIxIT4٢@= 5=9oQ >!! %G٣!y%fZ< -> UNusing accuracyPremultiplier from configQ]49U?]4YUw iUjB]N>?]:]࿑e@UʆDU;UD;Uj4m\B -@EZjFNOT Ignoring new targets: 495.00 m.Bj;Jj;  ProNav: ac range: 495.000000 m, nav range: 81.236000 m, bearing: 42.964412 deg, approach rate: 0.587428 m/s, LOS rate: 0.305416 deg/s, cmd heading: 262.406278 deg, new cmd heading: 262.829388 deg. 2j Q<HeadingCmd: 4.587238 target range: 495.000000 and range: 493.90 m. jʒ@jjjihhh!h%Bf!f!f9rf9bf=૫@ɛ e EÄIA EqɚAiAIMC,=IMٿiUSiUc)Uʒ@)Q*Fu?2Fy:FyBFyJFyWill 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 elapseJJJJJ;J{:JJa@a@a@a@G} 3\G rAG GQ Ba O >@jw,"A @IBgV@YV@V! 9V.(>yVHJǿ?ÿ@uƿ?`m#? ?:?ɨV@VV;V5Cy^(Bb"IInwInR4٢v&> v`=9vһQ v>xx zG٣zDGzK~vKK~h9K|K~K~y θ<  > Nusing accuracyPremultiplier from config49?4Y~ ijB!%߿%@ӆD* ;~ ;q4-]B -O@-EMB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 495.00 m.Bj];Jj];m ProNav: ac range: 495.000000 m, nav range: 81.451508 m, bearing: 43.077887 deg, approach rate: 0.607918 m/s, LOS rate: 0.319252 deg/s, cmd heading: 262.829395 deg, new cmd heading: 263.168916 deg. 2jm[Ge҆GaBqO9> 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 elapseH! I!  I% "II% `BI! &I! .I! 6I% <:I% F%'qw,A2B/@Y2>@292t->y2H)ƿ`?@lĿ?ſg?z? ??ɨ2B/@2;22Cy>>BB"IIJlIJm?4٢b_= fM=9fֻQ f>hh jG٣hyj̗< j> Nusing accuracyPremultiplier from config=49b?E4Y ijBAE޿E@݆D;;x4I M@QZjFNOT Ignoring new targets: 495.00 m.Bj;Jj; ProNav: ac range: 495.000000 m, nav range: 81.690582 m, bearing: 43.204774 deg, approach rate: 0.580394 m/s, LOS rate: 0.307137 deg/s, cmd heading: 263.168910 deg, new cmd heading: 263.548451 deg. 2jR<HeadingCmd: 4.599788 target range: 495.000000 and range: 493.90 m. jw1@jjjihhhhf f f rf bf @ɛ 隥I [ⒼɚiI&,=Iy׿iUiP|)w1@) I*F2F:FBFV5JF 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 >`Rww,A6t{@Y6@6 -961>y6H`ĿP!?ſ`Kÿ´?k?@?,?ɨ6t{@6;4yNTBN"I-Mb@Mb@Mb@))) )))Y-I +?Mb?I +?y-94?-<-9<) )))I-3A)y-AIEIEb4٢Uu= UB=]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 elapse9eǜQ e>ii mG٣iyu< u> }Nusing accuracyPremultiplier from configy49}}?4Y}_ i}jBR4?:Vݿ@}D};}<;}b4Q U@QZjFNOT Ignoring new targets: 495.00 m.Bj=;Jj=;JJ JJJ;J:JJ ProNav: ac range: 495.000000 m, nav range: 81.922714 m, bearing: 43.330237 deg, approach rate: 0.529603 m/s, LOS rate: 0.285428 deg/s, cmd heading: 263.548450 deg, new cmd heading: 263.923765 deg. 2jC<HeadingCmd: 4.606339 target range: 495.000000 and range: 493.90 m. j g@jjjihhh h τBfffrfbf@ @ɛ^rѼ 隥hI SɚiI+=Iֿi_YWir) g@)*F?2F:FBFS5JF I~GzKBoIKػ9KKK yYyWA% 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 >z}w,߉AN˾@YNΑ@N(%9N@4>yNHYÿ'? pſ̭¿? ? |?`y?ɨN˾@N1;N3Cy^oB^"IIfkIf=4٢n > nS=9r깻Q r>pp rG٣vDGyv6< v> ~Nusing accuracyPremultiplier from configx49z?4Yzp izjB  Lܿ @zDz5;z;z#4 @EZjFNOT Ignoring new targets: 495.00 m.Bj;Jj; ProNav: ac range: 495.000000 m, nav range: 82.136566 m, bearing: 43.446940 deg, approach rate: 0.568546 m/s, LOS rate: 0.309460 deg/s, cmd heading: 263.923755 deg, new cmd heading: 264.272949 deg. 2jaT<HeadingCmd: 4.612433 target range: 495.000000 and range: 493.90 m. j @jjjihhhhfffrfbf@ @ɛ)-y 15uI1 5$ ɚ9i9I=o+=I=8տiE:XiEl)E @)AEQEUrA*F2F:FBFX0JFG GuWill 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 elapsejHbH<HI I#IIBI&I.I6I~<:I- FG!rGBO> q Iq - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 T****** received valid address query ******= R****** received valid ping request ******= received new query, but waiting for acoustic response period to elapse lw,"AJ` @YJ@J,9Jv07>yJH[¿/? cſw*?@??v?ɨJ` @J~;J4CyRBR#IMb@Mb@Mb@ )Y(\??~jt?y'?<<jA )AIAyAII٢6= 9=9ڈQ > G٣yΪ< > Nusing accuracyPremultiplier from config 49 @~?4Y  i jB'?:׿@ D {; ; ލ4) -O@)ZjQ]FNOT Ignoring new targets: 495.00 m.Bj]|;Jje|;u ProNav: ac range: 495.000000 m, nav range: 82.358566 m, bearing: 43.576076 deg, approach rate: 0.522904 m/s, LOS rate: 0.303348 deg/s, cmd heading: 264.272942 deg, new cmd heading: 264.659297 deg. 2ju/P<}HeadingCmd: 4.619176 target range: 495.000000 and range: 493.90 m. j}JГ@jyjyjyiyhhhh!Bfffrfbf`0!@ɛHd 隍>I  ɚiINk+=ICԿi8Zid)JГ@)*Fu?2Fq:FqBFqJFqmWill 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 elapseJJJJJm;JJJG] lG1 B9 O] > M $?IM gw,}Z,A6T@Y6Hd@6A4968>y6H ۋ@7?jſਪnG`E?@`??s?ɨ6T@6Î;61CyJBJ#IIVTIV4٢^= ^a=9bQ b>`d fG٣dyfa< j> nNusing accuracyPremultiplier from confighn49j|?r4Yj; ijkBprֿr@jDjL:jL:j84x z5@xB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 495.00 m.Bj%;Jj%;= ProNav: ac range: 495.000000 m, nav range: 82.539818 m, bearing: 43.682754 deg, approach rate: 0.499342 m/s, LOS rate: 0.293249 deg/s, cmd heading: 264.659285 deg, new cmd heading: 264.978612 deg. 2j=AI} 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 elapseH >I  I a#II ԄBI &I .I 6I a<:I  Ftw,FA2Ԟ@Y2!@2q:92fz9>y2Hg @?@!ƿ`@8@G?-L?? q?ɨ2Ԟ@2a;22CyNBR(#IIZZIZ4٢zYv= zH=9zqQ ~>|| G٣DGyX< >  Nusing accuracyPremultiplier from config 49 y?4Y = i kBտ%@ D .; >/; _4) -l@)ZjQUFNOT Ignoring new targets: 495.00 m.Bjmg;Jjug; ProNav: ac range: 495.000000 m, nav range: 82.742630 m, bearing: 43.803546 deg, approach rate: 0.495624 m/s, LOS rate: 0.294463 deg/s, cmd heading: 264.978610 deg, new cmd heading: 265.340092 deg. 2jJ<HeadingCmd: 4.631058 target range: 495.000000 and range: 493.90 m. j1@jjjihhhhfffrfbfb#@ɛ{0r w =0@=I /ɚiI*=Ixӿi\iP)1@)ER>E> Ig*Fu?2Fq:FqBFu`0JFq"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|[GBO>w,{_A6y@Y6@6A96 8>y6H@H?` ƿ~Y?$9?j? r?ɨ6y@6Ύ;63CyFBF@#IMb@Mb@Mb@ )Y~jt?Q? rh?y?\=C<A )AIAy=AI5\I5#4=Will construct direction to contact in vehicle frame from tetrahedron phase data.Eii mG٣iyup< u> Nusing accuracyPremultiplier from configy49}tx?4Y} i}2kB?:ѿ@}D}Q;}÷;}4 )@EJJ"J1JJ;J:J3JZjFNOT Ignoring new targets: 495.00 m.Bj;Jj; ProNav: ac range: 495.000000 m, nav range: 82.930870 m, bearing: 43.921587 deg, approach rate: 0.415094 m/s, LOS rate: 0.259706 deg/s, cmd heading: 265.340090 deg, new cmd heading: 265.693406 deg. 2j;2<HeadingCmd: 4.637225 target range: 495.000000 and range: 493.90 m. j%d@jjjihhhhhBf!f!f!rf!bf- K$@ɛJ 隝=I ( ɚiI,*=IخҿiN]iYJ)%d@)*F2F:FBF_0JF IzKLK+9KKKRK ?JK>Will construct direction to contact in vehicle frame from tetrahedron phase data.>ɝw,yA2'@Y27@2M:G928>y2H`{Q? ƿ빿KH? ?? kr?ɨ2'@24;0yɄBS#II%FI%%3٢-= 5N=95XQ 5>99 =G٣9yE< E> MNusing accuracyPremultiplier from configIU49M;w?U4YMB iMHkBQ]п]@MDMO;MQ;M4i m<@iZjFNOT Ignoring new targets: 495.00 m.BjE;JjE; ProNav: ac range: 495.000000 m, nav range: 83.108421 m, bearing: 44.034168 deg, approach rate: 0.481597 m/s, LOS rate: 0.304715 deg/s, cmd heading: 265.693402 deg, new cmd heading: 266.030419 deg. 2jQ<HeadingCmd: 4.643107 target range: 495.000000 and range: 493.90 m. jU@jjjihhhhfffrfbfC%@ɛ%B% )-=I) -^ɚ)i)I-)=Iѿi^ihB)U@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.UIy I}#II} BI}: =&Iy.Iy6I}K<:I} F*F?2F:FBF0JFGI IG 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:1945> -= yH V-b?`ſ6쳵`??φ?Wu?ɨ@[َ;4CyMׄBMd#IMb@Mb@Mb@ )Y㥛 ? ףp= ?:v?y?Q8=T<jA 3@)zAIEAyAIJI)4٢o= /=9ӡQ > %G٣%DGy%|= %> 5Nusing accuracyPremultiplier from config)549-v?54Y-o i-`kB=?=:= ̿=@-!D-;-,;-ȱ4Q U\@QZjFNOT Ignoring new targets: 495.00 m.Bj;Jj; ProNav: ac range: 495.000000 m, nav range: 83.302567 m, bearing: 44.165835 deg, approach rate: 0.409930 m/s, LOS rate: 0.277361 deg/s, cmd heading: 266.030431 deg, new cmd heading: 266.424505 deg. 2jY><HeadingCmd: 4.649985 target range: 495.000000 and range: 493.90 m. j̔@jjjihAhAhIhMaBfQfQfQrfQbfU%@ɛI `>I Q>ɚiI)=I ѿiD `i)̔@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Tx time:21:39:05.7304 e$Ping request sent.eybH!j?ſ="??@.?x?ɨba@b:;`yn܄Brk#IQUAI]qI]JH4٢m< 2=9MoQ > G٣ywt< > Nusing accuracyPremultiplier from config49Sv?4Y ixkB%˿@)D:;4 @)MB*** querying acoustic contact ***jIjIZjq}FNOT Ignoring new targets: 495.00 m.Bj};Jj}; ProNav: ac range: 495.000000 m, nav range: 83.494957 m, bearing: 44.297255 deg, approach rate: 0.412164 m/s, LOS rate: 0.280896 deg/s, cmd heading: 266.424506 deg, new cmd heading: 266.817851 deg. 2j@<HeadingCmd: 4.656850 target range: 495.000000 and range: 493.90 m. j@jjjihhhhfffArfAbfM&@ɛB N>I @ɚi!I%)V(=I-+пi-7ai-I#)-@)1E =*Fu?2Fq:FyBF}o0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503545H1I1 I5#II55BI1&I1.I16I56<:I5 FBIƖCJIƖCRIZI; =bIjI4GU)GIBQOu>*JR="JJJJJJ;J :JJJ`v@Y>@>@_9>ǽ">y>H@ɵ[?Wÿ@ W5??:??ɨ>v@>1';\\ bG٣`yf< f> jNusing accuracyPremultiplier from confighr49jv?r4YjR ijkBprʿr@j0Dj;j;jn4t zS@xZjFNOT Ignoring new targets: 495.00 m.Bj8;Jj%8;- ProNav: ac range: 495.000000 m, nav range: 83.649185 m, bearing: 44.402706 deg, approach rate: 0.430984 m/s, LOS rate: 0.294137 deg/s, cmd heading: 266.817843 deg, new cmd heading: 267.133612 deg. 2j5I<5HeadingCmd: 4.662361 target range: 495.000000 and range: 493.90 m. j52@j9j9j9i9h9hAhAhAfIfQfQrfQbfU('@ɛ, 隵J.>I "ɚiIl'=I,wϿiaiY-)2@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757995EE*E"E*FU?2FQ:FQBFQJFQ- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006678G] w!G1 BA Om >0w,AJ3@YJC@Jc9Ja!>yJH@9 ?ÿı~1?s?@!?@?ɨJ3@Jr;J3CyVBV{#I `I` %@% %@% %@%  %@% I-7I-3٢=; =1=9=Q =>AA EG٣E DGyMbZ< M> ]bBottom track data is 0.5 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQ]49Uu?e4YUe iUkBe+:ae:eɿe@U9DU>;U*>U4\B 4@EZj!-FNOT Ignoring new targets: 495.00 m.Bj-+;Jj-+;] ProNav: ac range: 495.000000 m, nav range: 83.838585 m, bearing: 44.533014 deg, approach rate: 0.395250 m/s, LOS rate: 0.271319 deg/s, cmd heading: 267.133616 deg, new cmd heading: 267.523650 deg. 2j]4:I čɚiI.'=Iοi-bi.)i@)!zKVBJKs9KKK $'.2489;>ADGINPMK@.%$###! UWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.261725*F!2F!:F!BF%Q5JF!"G5=G5=G+GBOj>H I  I #II NBI ; =&I .I 6I <:I 5 F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510740w,"RAB`@YBNo@B#e9B`C#>yBHزq?žÿ`^0??-J?`r?ɨB`@B ';@yB#II%mI%3A4٢53< 5M=JK KKK"KJEJE/JE0JAJE<;JEڈ:JEـ3JAJE{o<JE|o<JEr;JEs;9eaQ e>ii mG٣iymZ< m> bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49u?4Y ikB :m:5ɿ@AD:;^?4 @ZjFNOT Ignoring new targets: 495.00 m.Bjm;Jjm; ProNav: ac range: 495.000000 m, nav range: 84.005081 m, bearing: 44.648061 deg, approach rate: 0.429589 m/s, LOS rate: 0.296251 deg/s, cmd heading: 267.523647 deg, new cmd heading: 267.868098 deg. 2jPK<HeadingCmd: 4.675180 target range: 495.000000 and range: 493.90 m. j@jjjihhh9h9f9f9f9rfAbfE@^)@ɛB@ 隽x5>I ɚiIX&=IͿiciT1)@) Ig*FI2FI:FIBFMx2JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.աiեAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.769931GB4.G B O >~1w,+AybBbz#I ] e ee ee  e e eMb@Mb@Mb@aaa a)aYeB`"?T㥛 ?~jthye?e=eDe=A a)eAIe\AayezAI}cI}y/4٢顼 E=9Q > G٣y > Nusing accuracyPremultiplier from config49v?4Y ikBT:?:(Ŀ@HD9;;4 A@ZjFNOT Ignoring new targets: 495.00 m.Bj;Jj;  ProNav: ac range: 495.000000 m, nav range: 84.159813 m, bearing: 44.763082 deg, approach rate: 0.378317 m/s, LOS rate: 0.280709 deg/s, cmd heading: 267.868107 deg, new cmd heading: 268.212533 deg. 2j @<HeadingCmd: 4.681192 target range: 495.000000 and range: 493.90 m. jS̕@jjjihhhh^Bf!f!f!rf!bf-+*@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014877ɛ%B% !%<+>I) -{ɚ)i)Im%=IuͿiueiu@G)uS̕@)y*F?2F :F BF Y0JF  I)   G)y YyBGH0= @= BG B O >zK% MK% h9K! K% K%       BK5 pA:K5 rA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266652_w,8ABh֍@YB@B^]9B#>yBH`R?dÿ3?ҹ? W??ɨBh֍@B"P;B4CyNBNv#IIVlIVm?4٢v,i vU=9vY;Q z>xx ~G٣~!DGy~= ~> Nusing accuracyPremultiplier from config 49w? 4YT ikBO¿@ODq ; ;t4 n@!=B*** querying acoustic contact ***j9j9ZjamFNOT Ignoring new targets: 495.00 m.Bju=;Jju=; ProNav: ac range: 495.000000 m, nav range: 84.303276 m, bearing: 44.872243 deg, approach rate: 0.371161 m/s, LOS rate: 0.281935 deg/s, cmd heading: 268.212540 deg, new cmd heading: 268.539462 deg. 2j}A<HeadingCmd: 4.686898 target range: 495.000000 and range: 493.90 m. j@jjjihhhhfffrfbf*@ɛB #>I ɚ iII%=I%(S̿i-ei-1#)-@)1*FE?2FI:FIBFM_0JFIGUqA GQG=HHI I$IIYBI: =&I.I6I<:ID FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519571GB!O=P>J]J]J]1JYJ];J] :J]3JYJ]ok<J]ok<J]8;J]8; I Cw,CQA2I@Y2'@2X92#>y2H8`??@VĿ i??@]? ?ɨ2I@2];22CyF߄BFn#IIb\Ib#4٢j jL=9j+M;Q j>ll rG٣pyr< r> vNusing accuracyPremultiplier from configtz49vx?z4Yv9 ivkB|~H~@vVDvK ;v ;vq4 @ MWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.774210ZjI}FNOT Ignoring new targets: 495.00 m.Bjo;Jjo;5 ProNav: ac range: 495.000000 m, nav range: 84.451675 m, bearing: 44.986350 deg, approach rate: 0.342691 m/s, LOS rate: 0.263039 deg/s, cmd heading: 268.539460 deg, new cmd heading: 268.881176 deg. 2j54I kɚiI^$=I˿ifi^ )+@))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022611G %HG B O >Anw,ۿkA 0I0FT@YF5d@FGV9FX$>yFH@9q?,%Ŀ衿?Ū?Lm?਋?ɨFT@F0,;F4CyRфBR]#I=Mb@Mb@Mb@999 9)9Y=d;O?T㥛 ?~jtxy=?9=Ļ9 9)=MAI=EA9y=(AIUkIU=4٢e eA=9e':Q e>ii mG٣iyu< u> Nusing accuracyPremultiplier from configy49}z?4Y} i}kB?:@}^D}w;};}4 @EZjYeFNOT Ignoring new targets: 495.00 m.Bje;Jje; ProNav: ac range: 495.000000 m, nav range: 84.614639 m, bearing: 45.111852 deg, approach rate: 0.400653 m/s, LOS rate: 0.307957 deg/s, cmd heading: 268.881188 deg, new cmd heading: 269.256964 deg. 2jYS<HeadingCmd: 4.699420 target range: 495.000000 and range: 493.90 m. ja@jjjihhhh=Bfffrfbfݣ,@ɛ]Be4o ae=Ia eɚaiiImL#=IθʿiЬgi')a@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275796zKe 4MKe9KaKeKe"Q {V:% RK}?JK}?*FA2FA:FABFE`0JFAG%)GBOn>ZH RH @AH I  I #II SBI &I .I 6I <:I ; F Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:39:08.7769  TRx dataTimestamp_ set to:1736372350.078547% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530499Xw,ץAJJ!J0JJ;J:Jـ3JJbg<Jcg<J;J;}@Y}[@}S9}&>y}HTQ`ґ?FjĿ̱w?T_?@R?։?ɨ}@}MZ;}2Cy޵΄B޵Y#II{IZ4٢l @=9 :Q  > QIUg G٣"DGy< > Nusing accuracyPremultiplier from config49{?4Y( tIilBĿ@gD<<R4 @ZjFNOT Ignoring new targets: 495.00 m.BjS;JjS; ProNav: ac range: 495.000000 m, nav range: 84.800720 m, bearing: 45.256517 deg, approach rate: 0.363642 m/s, LOS rate: 0.282085 deg/s, cmd heading: 269.256958 deg, new cmd heading: 269.689991 deg. 2jA<HeadingCmd: 4.706978 target range: 495.000000 and range: 493.90 m. j@jjjihhhhfffrfbf -@ɛB $ 隥,=I %ʇɚiI##=eWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782731I)ɿihiʁ)@)*F ?2F :F BF _0JF "G =G = Will construct direction to contact in vehicle frame from tetrahedron phase data.MDAT read: 21:39:08.7769 LVL= 12976, 30321, 18930, 32755, AGC= 66, IDX= 302,-0.11, 1.192,-0.562,-0.570,-0.022, PHS= 1.302,-0.493,-0.551, RAW= 88.4, -2.9, CAL= 96.5, -9.1, ROT= 53.5, 9.1 UYgot valid direction response: 21:39:08.7769 LVL= 12976, 30321, 18930, 32755, AGC= 66, IDX= 302,-0.11, 1.192,-0.562,-0.570,-0.022, PHS= 1.302,-0.493,-0.551, RAW= 88.4, -2.9, CAL= 96.5, -9.1, ROT= 53.5, 9.1 ]PDAT read: Bearing 53.5, 9.1 (Local) ]~Local bearing/azimuth received: Bearing 53.5, 9.1 (Local) G]w!DAT read: Range 10 to 50 : 481.7 m (Round-trip 642.3 ms) speed 0.3 m/s ,DAT read: user:1946> BDAT read: Tx time:21:39:09.8804 $Ping request sent.   vU:?rēadkH&)  I L=i ? R÷  :publishing transmit ping timeءFpublishing direction and range info 9 17WI"rY?L?GaBO ?w,Ay )Ii )IivU:?rēadkH&)Ii I @Y@җO9QD&>yH` ϓ?@Ŀ ꊿ Da?@"?c?މ?ɨ @З;5CyÄBK#IMMb@Mb@Mb@III I)IYMA`"?Mb?I +yM?M@=M94MA M@)Mn@IMAIyM3AItIM4٢%  %=9%:Q ->)) -G٣)yU< U> ]Nusing accuracyPremultiplier from configYe49]}?e4Y] i]lBm?m:mm@]rD]#;];]4 @kitM?k#  k kp&A:kCBk)CZkF'?"ʎ3*f|bFO@ }@17WI"rY?L?Jk?RkR÷*Tk!_+cKC@lĠ}@ {:w,'AWill construct direction to contact in vehicle frame from tetrahedron phase data.N'@YN7@N1V9N3>yNH@ؒ?@eSÿ`j z 3?BΪ?/l?@ƕ?ɨN'@Nh;N2CyZBZ1#IIbFIb%3٢]m ]f=9]vQ e>aa eG٣aym/< m> uNusing accuracyPremultiplier from configq}49u~?}4Yu~ iu!lB@uxDuL:u:u74*J"Jp= @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 481.70 m.Bj;Jj; ProNav: ac range: 481.700012 m, nav range: 77.301109 m, bearing: 39.483874 deg, approach rate: 0.371283 m/s, LOS rate: 0.380490 deg/s, cmd heading: 270.141331 deg, new cmd heading: 270.520300 deg. 2j<HeadingCmd: 4.721470 target range: 481.700012 and range: 481.70 m. jH@jjjihhhhfffrfbf ?ɛ%B--G\ )-h=I) 5↼ɚ1i1I5M"=I=Kǿi9i= )=H@)9 I*F2F:FBFo0JFGGBO@>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.cw,A2H@Y2QW@2+X92>y2H@"̞?9ÿ@cxΫ?@??g?ɨ2H@2;23CyZB^-#IuMb@Mb@Mb@qqq q)qYuE?I +?Qyu&?u94=uuq u@)qIu3AqyuAIuIaO4٢r F=9|Q > G٣#DGyL< > Nusing accuracyPremultiplier from config49?4Y i-lB'?:@D;;l4 &@ZjFNOT Ignoring new targets: 481.70 m.Bj[;Jj [; ProNav: ac range: 481.700012 m, nav range: 77.460526 m, bearing: 39.644247 deg, approach rate: 0.387279 m/s, LOS rate: 0.388801 deg/s, cmd heading: 270.520297 deg, new cmd heading: 271.000414 deg. 2jj<%HeadingCmd: 4.729849 target range: 481.700012 and range: 481.70 m. j%Z@j!j!j!i!h!h)h)h-Bf1f1f1rf1bf5:?ɛeBep?n ae Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240009zK k3IK 9K K K hw,)A2q@Y2@2X92>y2H໱?Nÿ+JU?? ??ɨ2q@2;21CyNBR##ITVAIZ.IZ3٢= =Q=9EQ E>AA EG٣IyMwU< M> UNusing accuracyPremultiplier from configQe49U.?e4YUB iU7lBim<u@UDU!;UI;U>4 @EZjFNOT Ignoring new targets: 481.70 m.Bjv;Jjv; ProNav: ac range: 481.700012 m, nav range: 77.610931 m, bearing: 39.796011 deg, approach rate: 0.382775 m/s, LOS rate: 0.385483 deg/s, cmd heading: 271.000405 deg, new cmd heading: 271.454806 deg. 2jF<HeadingCmd: 4.737780 target range: 481.700012 and range: 481.70 m. j囗@jjjihhhhfffrfbf?ɛ B 9? H>I I#II+BI&I.I6I<:I/ FBIJIRIZIbIjIb3EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.492047JJ@A I grw, A2G@Y2@2vT92 >y2H`Id`w?@:ÿ@px| G٣y ɉ< > ENusing accuracyPremultiplier from config1U495?U4Y5 i5BlBYeae@5D5;5;5:4q u@yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745708ZjFNOT Ignoring new targets: 481.70 m.Bj";Jj";e ProNav: ac range: 481.700012 m, nav range: 77.764091 m, bearing: 39.951550 deg, approach rate: 0.352171 m/s, LOS rate: 0.356934 deg/s, cmd heading: 271.454804 deg, new cmd heading: 271.920489 deg. 2jt<HeadingCmd: 4.745908 target range: 481.700012 and range: 481.70 m. jzޗ@jjjihhhhff f rf bf  *?ɛ]B]"p Y]Ia e鵆ɚaiaIK} =IĿiji0)zޗ@)-PExceeded connect timeout, disconnecting.*F2F!:F!BF%_5JF!M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995952G $G qAG pAJ J J J J ;J :J J Ga B O >~ w,ˁ, A Iy!%#IMb@Mb@Mb@ )Y rh?/$?Qy,?<A @)A@IAyAI`I(*4٢: ;=9Q > G٣$DGy > Nusing accuracyPremultiplier from configm49q?m4Y" iLlBu,?u:uĿu@D2<<4y @ZjFNOT Ignoring new targets: 481.70 m.Bj;Jj; ProNav: ac range: 481.700012 m, nav range: 77.942711 m, bearing: 40.118507 deg, approach rate: 0.440459 m/s, LOS rate: 0.410756 deg/s, cmd heading: 271.920486 deg, new cmd heading: 272.420195 deg. 2j<HeadingCmd: 4.754629 target range: 481.700012 and range: 481.70 m. j%@jjjihhhhBfffrfbf@ɛB, @9I  džɚiI =I%ÿi)i-4R)-%@))E=e>E=>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248913*F?2F:FBF-3JF"G=G=zKAKEs9KAKEKEG3GyBO^>H >I  I #II BI &I .I 6I <:I 3 F] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500094w,c{F A2@Y2$@2P92!>y2HG??,Ŀ??k??`ď?ɨ2@2;21CyJBJ#I Np=Np=IRqIRJH4٢nq n[=9n?*;Q r>pp rG٣pyv<= z> ~Nusing accuracyPremultiplier from config|49~f?4Y~Z) i~UlBLÿ@~D~3:~:~@#4 o@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 481.70 m.Bj;Jj; ProNav: ac range: 481.700012 m, nav range: 78.096649 m, bearing: 40.265239 deg, approach rate: 0.402046 m/s, LOS rate: 0.382472 deg/s, cmd heading: 272.420183 deg, new cmd heading: 272.859504 deg. 2j><HeadingCmd: 4.762297 target range: 481.700012 and range: 481.70 m. jd@jjjihh!h!hfffrfbf@ɛB+ PּI ɚi I I =Iz¿iii7)d@)*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751979G= 0G BI O >  nManaging dock network, ignoring radio surface power off}w, 8` ABH@YB6X@Bb~O9B!>yBH`B??`9ĿJ#x?8?`?u?Ϗ?ɨBH@B;@yJBJ #IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004154=Mb@Mb@Mb@999 9)9Y=X9v?Mbp{Gzy=3?==#= A =@)=@I=A9y=AIQIQ٢e m(=9M<:Q >  G٣ y N< > Nusing accuracyPremultiplier from config49τ?%4Y2 iblB%3?%:%Mǿ-@D;;,41 5@5EZjquFNOT Ignoring new targets: 481.70 m.Bj};Jj};JJJ1JJJJ3J ProNav: ac range: 481.700012 m, nav range: 78.322159 m, bearing: 40.465092 deg, approach rate: 0.466867 m/s, LOS rate: 0.412557 deg/s, cmd heading: 272.859500 deg, new cmd heading: 273.457309 deg. 2j<HeadingCmd: 4.772730 target range: 481.700012 and range: 481.70 m. j5@jjjihhhhBfffrfbf@@ɛB 隭,w,Ot{ A:}}@Y:ʌ@:N9:!>y:HM?`?NĿ@J?D?@ש?I#?`h?ɨ:}}@:"ۖ;:3CyZBZ#IIneIn34٢~K= ~l=9~a:Q ? G٣%DGy <  ? Nusing accuracyPremultiplier from config493?%4Y8 ijlB)5{ƿ5@D;C;14I Mb@IZjy}FNOT Ignoring new targets: 481.70 m.Bj}j;Jjj; ProNav: ac range: 481.700012 m, nav range: 78.467621 m, bearing: 40.594636 deg, approach rate: 0.443403 m/s, LOS rate: 0.394148 deg/s, cmd heading: 273.457306 deg, new cmd heading: 273.845210 deg. 2j@<HeadingCmd: 4.779500 target range: 481.700012 and range: 481.70 m. j@jjjihhhhfff)rf)bf- Z @ɛBew 隭`I v|ɚiI=IxiiԠI)@)EHI I#IIBI: =&I.I6I<:IN F*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:39:12.9246 TRx dataTimestamp_ set to:1736372354.109987checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510980GBDGqByO]> iImgN%w,JA A2-@Y2z@2CN92F#>y2Hg??ـĿr?d?ũ?#L?ԍ?ɨ2-@2g;24CyBBB#IDFAIJnIJB4٢bJ bN=9ft9Q f>hvWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763086h G٣y ~{<  > Nusing accuracyPremultiplier from config49Ӆ?4Y(@ itlB!%ſ%@DB;;84) -@)ZjQ]FNOT Ignoring new targets: 481.70 m.Bje;Jjm;e ProNav: ac range: 481.700012 m, nav range: 78.646141 m, bearing: 40.754486 deg, approach rate: 0.448234 m/s, LOS rate: 0.400445 deg/s, cmd heading: 273.845206 deg, new cmd heading: 274.323657 deg. 2jmi<HeadingCmd: 4.787851 target range: 481.700012 and range: 481.70 m. j6@jjjihhhh!fIfQfYrfabf@ɛBow +I ʇɚiI[=I-gi)i-  BDAT read: Tx time:21:39:14.0304  $Ping request sent. E ^direction in FSK: [-0.045260,0.119867,0.991758]E :publishing transmit ping time E Fpublishing direction and range infoؙ9؝ijRI,;n?p?z?y؝Cؙ؝pC؝1n ٝ\)ٝsaIٙiٝ$?ٝ~ ٝnٝSF?ٝ5 ڝi?)ڝ a I Iڝ\l?iڝ >ڙڙ۝Vpv?Lԧc࿁.~ )۝= I۝c=i۝;F?۝ӝۙۙ :publishing transmit ping time  Fpublishing direction and range infoؙ9؝ijRI,;n?p?z?yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝Vpv?Lԧc࿁.~ )ۙIۙiۙۙۙۙ.:+w,/ A6@Y6b@6M96=#>y6HТ?`?+Ŀ%@?lV?@U?nY?`^?ɨ6@6;63CyRBR#IMb@Mb@Mb@ )YzG? rh{Gzy 7?CX A @)@IzAy(AI%XI%4٢u-.= }2=9}9Q }> G٣y< > Nusing accuracyPremultiplier from config49B?4YH ilB7?:ǿ@ɇD;#;@4  @k?k^ k kpA A:kCBkQCZk@"5WךL@y0}@ijRI,;n?p?z?Jk;F?Rkӝ*ZBLԤ4A~F@&3?=N?"k4B*k&k夺?kIT 2kDk8Y.?kIT kDko7Bk? addTargetRange:: Added new target pos. range: 480.000000 m, deltaT: 4.032898 s, deltaX: -1.700012 m, approachRate: -0.421536 m/s, rangeRepo size: 4  Added new target pos. range: 480.000000 m, bearing: 114.643104 deg, lat: 36.900524 deg, lon: -122.115548 deg, deltaT: 4.032898 s, deltaX: -1.700012 m, approachRate: -0.421536 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 480.00 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:39:14.0296  ProNav: ac range: 480.000000 m, nav range: 45.858772 m, bearing: 101.101241 deg, approach rate: 0.000000 m/s, LOS rate: 0.400445 deg/s, cmd heading: 274.323647 deg, new cmd heading: 274.899070 deg. 2jHeadingCmd: 4.797894 target range: 480.000000 and range: 480.00 m. jY@jjji!h!h!hIhMBfIfIfIrfU~@bfU;?ɛB 隥@ϼI $ɚiI=Iiic[)Y@)zK%RIK%9K!K%K%*F]?2FY:FYBF]l0JFY"Ge=Ge=GE _NH >I  I #II BI ; =&I .I 6I [<:I  FG9 BA O] > Will construct direction to contact in vehicle frame from tetrahedron phase data. 2w, A6@Y69*@6O96ޑ%>y6Heܥ??mĿ`Ʃ?)??f?`Š?ɨ6@6R;65CyBBB"#IIJ7IJ3٢jF< jj=9j2ĺQ n>ll rG٣r&DGyrx< r> vNusing accuracyPremultiplier from configtz49v?z4YvEO ivlB|~Mƿ~@vчDv ;v~ ;vF4 @ %B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 480.00 m.Bj56Jj=6M ProNav: ac range: 480.000000 m, nav range: 46.099270 m, bearing: 101.049254 deg, approach rate: 0.742226 m/s, LOS rate: -0.159606 deg/s, cmd heading: 274.899077 deg, new cmd heading: 274.743929 deg. 2jUۻUHeadingCmd: 4.795186 target range: 480.000000 and range: 480.00 m. j]*r@jYjYjYiYhYhahahafafifirfibfm tP? 9I=gɛ5Bu quIy }ɚyiyI}=Iviki8)*r@)EErA*FM?2FI:FIBFMN5JFIG%T[GBOI>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.J8w, Ay~B~'#I = =Mb@Mb@Mb@ )Y +?~jt{Gzy6? A )@IAy\@I:I3٢< ;=9Q > G٣y > Nusing accuracyPremultiplier from config492?4Y}W ilB6?:ƿ@ۇDW; ;zN4  l@ EZj9=FNOT Ignoring new targets: 480.00 m.BjE -JjE -U ProNav: ac range: 480.000000 m, nav range: 46.406601 m, bearing: 100.982523 deg, approach rate: 0.701735 m/s, LOS rate: -0.151357 deg/s, cmd heading: 274.743922 deg, new cmd heading: 274.545058 deg. ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.9355582jeϻmHeadingCmd: 4.791715 target range: 480.000000 and range: 480.00 m. jmU@jijijiiihqhqhyh}Bfyfyfyrfbf@/?ɛB*: 隵NI (ɚiI4=I辿iXli51)U@)*F ?2F :FBFO5JF )I)Gm |[ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.187378GA BI Om >zK jIK +9K K K BK qA:K pA=>w,s A6@n@Y6}@6UY969)>y6H@ ?J?aſ.?CJ?y'???ɨ6@n@6ܜ;61Cy>B>2#IIJ;IJ&3٢N6= N^=9R}һQ R>TT VG٣TyV< Z> ^Nusing accuracyPremultiplier from configX^49Zև?b4YZe^ iZlB`bZſb@ZDZ ;Z` ;ZT4h j@hZj FNOT Ignoring new targets: 480.00 m.Bj% Jj- U ProNav: ac range: 480.000000 m, nav range: 46.665352 m, bearing: 100.930377 deg, approach rate: 0.702173 m/s, LOS rate: -0.140725 deg/s, cmd heading: 274.545054 deg, new cmd heading: 274.389484 deg. 2jU(]HeadingCmd: 4.789000 target range: 480.000000 and range: 480.00 m. j]}?@jYjYjYiYhahahahafififirfibfm#?ɛ=B="P 9E:IA E%ɚAiAIE=IMwAiM$miM)M}?@)Q*F12F1:F1BF5P0JF1G=rA G=sAjH]<bH]<Hm>ImC Im#IIm BIi&Ii.Ii6Im<:Im/ FG I4GMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.439163GBOF>JJJJJm;J~:JJJaAI MG٣M'DGyU U> ]Nusing accuracyPremultiplier from configYe49]?e4Y]Sf i]lBiim@]D]* ;]& ;]D\4 @ ZjAuFNOT Ignoring new targets: 480.00 m.Bj1Jj1 ProNav: ac range: 480.000000 m, nav range: 46.962700 m, bearing: 100.871172 deg, approach rate: 0.628331 m/s, LOS rate: -0.124315 deg/s, cmd heading: 274.389490 deg, new cmd heading: 274.212999 deg. 2jHeadingCmd: 4.785920 target range: 480.000000 and range: 480.00 m. jA&@jjj ihhhhfffrfbf%@?ɛBg =I }ևɚiI=IfiEmiEH)EA&@)IEUR>EU>*F2F:FBF4JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.943255G H0  I G B O >Kw,[0!AB^@YB@Bw{T9B,>yBH $?6r?@yſ[!??@b?@x?Ā?ɨB^@Bhя;B4Cy^΄B^Y#I]Mb@Mb@Mb@YYY Y)YY]zG?~jtMbPy] 7?]ļ]]A A ]@)]@I]AYy]AIubIu-4٢R= D=9:;Q > G٣yz3= > Nusing accuracyPremultiplier from config49?4Yn ilB$7?:.Ŀ@D;<;zc4 @ZjFNOT Ignoring new targets: 480.00 m.Bj_Jj_= ProNav: ac range: 480.000000 m, nav range: 47.254238 m, bearing: 100.817172 deg, approach rate: 0.752170 m/s, LOS rate: -0.138460 deg/s, cmd heading: 274.212998 deg, new cmd heading: 274.051999 deg. 2j= MHeadingCmd: 4.783110 target range: 480.000000 and range: 480.00 m. jM<@jijijiiqhqhqhqh}BfyfyfyrfybfO @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.195142ɛBI o=I OzɚiI=Iyi'mi?)<@) zKBHK 9KKKhw XpL, 0l*F?2F:FBF_0JFG}gGQBaO~>HM >II  IM #IIM &BIM < =&II .II 6IM m<:IM  FBIJIʕCRIZIbIjI@5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.448866nRw,v4J!A6A@Y6Q@6cQ967->y6H@?}l?ſ@`Q ??`\8?Y?`z?ɨ6A@6\;63CyBBBu#IIJc*JR%="JRR=JVJV#JTJTJV;JV:JTJTJVp<JVp<JV;JV;IJy/4٢j= jW=9j:Q j> G٣y%â< %> -Nusing accuracyPremultiplier from config)E49-?E4Y-hu i-lBAE0ÿE@-D-n;-Vo;-Fj4I Uv@UEB*** querying acoustic contact ***jj IgZjFNOT Ignoring new targets: 480.00 m.Bj0Jj0 ProNav: ac range: 480.000000 m, nav range: 47.529404 m, bearing: 100.769441 deg, approach rate: 0.741087 m/s, LOS rate: -0.127807 deg/s, cmd heading: 274.051997 deg, new cmd heading: 273.909633 deg. 2jlHeadingCmd: 4.780625 target range: 480.000000 and range: 480.00 m. j@jjjihh h h f ffrfbf`@ɛ$ 隅=I ކɚiI=ISi,miK)@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698966GdG B O] >XXw, d!A: @Y:X@:YN9:x->y:HY?e?@ƿ ,??֩?@a??ɨ: @:.;:2CyFBF}#I%Mb@Mb@Mb@!!! !)!Y%I +?~jtMbP?y%94?%D%:%A %Q@)%@I%dA!y%\@I5XI54٢E< MC=9M:Q M>QQ UG٣U(DGyUF< U> eNusing accuracyPremultiplier from configam49eH?m4Ye| ielBm@4?m:m-m@eDe;e0;esq4y }@yZjFNOT Ignoring new targets: 480.00 m.Bj=Jj==Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.951153 ProNav: ac range: 480.000000 m, nav range: 47.816216 m, bearing: 100.728510 deg, approach rate: 0.715654 m/s, LOS rate: -0.101519 deg/s, cmd heading: 273.909628 deg, new cmd heading: 273.787571 deg. 2jWHeadingCmd: 4.778494 target range: 480.000000 and range: 480.00 m. jm@jjjihhhhDŽBfffrfbf a@ɛBp, 隥`=I ɚiI3o=Iili#E;)m@)E I*Fe?2Fa:FiBFiJFiG=GE?GE>GBOMt> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203002zK MOK 9K K K L >*4J4tK1)(5C3k^w,}!AVu@YV@V;L9V=+>yVHƖ?d?`ſi?7?m? h[?ʂ?ɨVu@V1;TyfBf#IlnDAIrPIr 4٢z= zO=9z:Q z>|| ~G٣|yu< >  Nusing accuracyPremultiplier from config 49  ?4Y F i lBk@ D  ;  ; Ux4! %@!ZjFNOT Ignoring new targets: 480.00 m.Bj˺Jj˺ ProNav: ac range: 480.000000 m, nav range: 48.091507 m, bearing: 100.691648 deg, approach rate: 0.669237 m/s, LOS rate: -0.089098 deg/s, cmd heading: 273.787559 deg, new cmd heading: 273.677607 deg. 2j%t%HeadingCmd: 4.776576 target range: 480.000000 and range: 480.00 m. j%٘@j)j)j)i)hIhIhQhQfQfQfYrfYbf] ?t @ɛBX 隭p">I ɚiI=IiEDli<)٘@)H>I I#IIDBI= =&I.I6I<:I* F*F2F:FBF0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.455567JJAAJJJJJT;J :JJJh<Jh<JS;JS; qIqGG B O >ܪew,Xŗ!A6'@Y6t@6_H96(>y6H ?c?Åſ@ƺ?-X?p ?e? !?ɨ6'@6;4RWill construct direction to contact in vehicle frame from tetrahedron phase data.RBDAT read: Rx Time:21:39:17.0952 VTRx dataTimestamp_ set to:1736372358.392536Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.707981yZBZ#IIfKIf4٢r= rL=9rC,;Q r>tt vG٣tyzh< z> Nusing accuracyPremultiplier from config|-49~?-4Y~ i~lBaem@~D~D=~Vk=~W4 @!Zj1=FNOT Ignoring new targets: 480.00 m.Bj=Jj=M ProNav: ac range: 480.000000 m, nav range: 48.371914 m, bearing: 100.656450 deg, approach rate: 0.583933 m/s, LOS rate: -0.072873 deg/s, cmd heading: 273.677620 deg, new cmd heading: 273.572639 deg. 2jU HUHeadingCmd: 4.774743 target range: 480.000000 and range: 480.00 m. jUʘ@jQjYjYiYhYhYhahafffrfbfA@ɛB z?>I ᣃɚi!I%.=I-i-?$ki- x<)-ʘ@)1*F2F:FBF0JFG;UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.959812GiBO> i Ii ) ž= C G M YI >kw,˱!AymBa@Y @7E9٦#>yHH۹?`g?NĿ䁻??p?X?;?ɨa@~@;3CyB#IMb@Mb@Mb@ )Y/$?~jth?y&1?D;nA )@IyI[IK!4٢6= ;=92:Q > G٣)DGy; > Nusing accuracyPremultiplier from config49?4Y ilB'1?:/@$D ;?;4 @EZj15FNOT Ignoring new targets: 480.00 m.Bj=ʺJj=ʺM ProNav: ac range: 480.000000 m, nav range: 48.673260 m, bearing: 100.626085 deg, approach rate: 0.884106 m/s, LOS rate: -0.088535 deg/s, cmd heading: 273.572627 deg, new cmd heading: 273.482096 deg. 2jM sUHeadingCmd: 4.773163 target range: 480.000000 and range: 480.00 m. jU@jQjQjQiYhYhYhhBfffrfbf@ @ɛ]Be= ae$Q>Ia etɚaiaIm=ImlHium6jiu;I<)u@Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙi՝ADAT read: 21:39:17.0952 LVL= 11824, 16817, 13090, 12851, AGC= 67, IDX= 136,-0.02, 2.841, 1.641, 1.470, 1.653, PHS= 1.276, 0.035,-0.186, RAW= 81.9, -16.2, CAL= 93.7, -24.9, ROT= 56.3, 24.9 Ygot valid direction response: 21:39:17.0952 LVL= 11824, 16817, 13090, 12851, AGC= 67, IDX= 136,-0.02, 2.841, 1.641, 1.470, 1.653, PHS= 1.276, 0.035,-0.186, RAW= 81.9, -16.2, CAL= 93.7, -24.9, ROT= 56.3, 24.9 PDAT read: Bearing 56.3, 24.9 (Local) ~Local bearing/azimuth received: Bearing 56.3, 24.9 (Local) DAT read: Range 10 to 50 : 495.3 m (Round-trip 660.5 ms) speed 0.4 m/s ,DAT read: user:1948> BDAT read: Tx time:21:39:18.1805 $Ping request sent. ٥c?٥Ð ڥS?)ڥ/޾Iڥ{?iڥ/>ڡڡۥ50?1Y]Yѿ)ۥ*Iۥt,>iۥy??ۥ]ۡۡm:publishing transmit ping timemFpublishing direction and range infoء9إta*??[0Q?yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥ50?1Y]Yѿ)ۡIۡiۡۡۡۡ*F?2F:FBFY5JFzK mOK 9K K K  k  9@ tN1# H >I  I $II hBI > =&I .I 6I <:I 1 FG b<G B O5 >] Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:21:39:18.1797 rw,~!AJsK{3 K{.-KsKs"KsJBJB(J@J@JB;JB9:J@J@JBj<JBj<JB-;JB-;>@Y>@>U9?9>}>y>H ?p?ÿ M ???@2W?`?ɨ>@>Ō;>2Cyv2Bv#I IgI%aI%+4٢5= 5V=95r{;Q E>YY ]G٣Yyer; e> mNusing accuracyPremultiplier from configiu49mՔ?u4Ym immBqػ@m,Dm;m;m4 @kM5U?k k k]!A:kCBkCZk8@"ʃ ]@FZ@?a T}@ta*??[0Q?Jky??Rk]*\yF@dIx[VZ%Q~@̮T?HrǿzV?"k۲*k4Bkpqp?k 2k Dkpqp?kkkBkr1Q?} addTargetRange:: Added new target pos. range: 495.299988 m, deltaT: 4.282963 s, deltaX: 15.299988 m, approachRate: 3.572290 m/s, rangeRepo size: 4  Added new target pos. range: 495.299988 m, bearing: 296.782756 deg, lat: 36.901011 deg, lon: -122.115548 deg, deltaT: 4.282963 s, deltaX: 15.299988 m, approachRate: 3.572290 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 495.30 m.BjJj ProNav: ac range: 495.299988 m, nav range: 65.966209 m, bearing: 46.819862 deg, approach rate: 0.000000 m/s, LOS rate: -0.088535 deg/s, cmd heading: 273.482086 deg, new cmd heading: 273.373180 deg. 2jHeadingCmd: 4.771262 target range: 495.299988 and range: 495.30 m. j.@jjjihhhhfffrf~@bf`n?ɛmBu,: quNv>Iq u8݀ɚyiyI}J=I}i_iiT<).@)*F%?2F!:F)BF-c4JF)Gy<Will construct direction to contact in vehicle frame from tetrahedron phase data.GB!OEr>xw,6Y!A2@Y2@2?92>y2H TF?W?G¿5?)R?`x?? ٧?ɨ2@2_;0yR=BR#IEMb@Mb@Mb@AAA A)AYEq= ףp?V-?Mbp?yE+?EIU3٢G= A=9ʹQ > G٣y >  Nusing accuracyPremultiplier from config4Will construct direction to contact in vehicle frame from tetrahedron phase data.9I?%4Y imB-+?-:-5@6D;;;4A E@AuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 495.30 m.Bj<Jj< ProNav: ac range: 495.299988 m, nav range: 66.143227 m, bearing: 47.012145 deg, approach rate: 0.435007 m/s, LOS rate: 0.471258 deg/s, cmd heading: 273.373185 deg, new cmd heading: 273.948473 deg. 2j<HeadingCmd: 4.781303 target range: 495.299988 and range: 495.30 m. jo@jjjihhhhքBfffrfbf?ɛB; E<.>I (~ɚiI"S= II =i i r?<)o@)*F?2F:FBFS0JF 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 )ş<G ?G >G B O >-w,+2!AzK"łOK"+9K K"K" z: :@Y:"@:o:9:>y:H`A'?ˆ?ed@{?@?K?q??ɨ:@:ڍ;8y^EB^#IIf-If3٢n5== n\=9n4k;Q r>pp rG٣r*DGyv v> zNusing accuracyPremultiplier from configx~49zI?~4Yzi iz(mB@z=Dz" ;z ;z4  h@ Zj1=FNOT Ignoring new targets: 495.30 m.Bj=<JjEI 6{ɚiI=I ii ;)G@)Ea>E>*FU?2FQ:FQBFU_0JFQHIC IH$IIBI? =&I.I.D6Ir<:I FG-Ӕ<GB%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246786OM0> IFw,="ABWill construct direction to contact in vehicle frame from tetrahedron phase data.@iBAFchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498938F@YF@F^49F~>yFHȹ??S ?@{? ? |@? ?ɨF@Fܺ;F1CyRB#II-I-M3٢Em= ED=9EvV;Q M>II MG٣IyUbf U> ]Nusing accuracyPremultiplier from configYe49]?e4Y] i]8mBimm@]FD]*:]:]ܢ4q u@qZjFNOT Ignoring new targets: 495.30 m.Bj;Jj; ProNav: ac range: 495.299988 m, nav range: 66.474258 m, bearing: 47.366042 deg, approach rate: 0.421826 m/s, LOS rate: 0.447301 deg/s, cmd heading: 274.446782 deg, new cmd heading: 275.007485 deg. 2j}<HeadingCmd: 4.799786 target range: 495.299988 and range: 495.30 m. jٗ@jjjihhhhfffrfbf`.?ɛ-B-; )-\>I) 5$wɚ1iIx=Iཿii)ٗ@)!*F92F9:F9BF9JF9=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.752263Ge Y=<J J "J J J ;J :J J a @a @a @a @ I G B O >'#w,W2"A:`@Y:@:(9:Z=y:H?‘? J^eh4?ś??KϿ??ɨ:`@:;:0CyFaBF$IMb@Mb@Mb@ )Yw/?&1?Mb?y&?P=< A ~@)@IA@y@I5NI5@ 4٢EP= MJ=9M;Q M>QQ UG٣QyU=; ]> eNusing accuracyPremultiplier from configam49e?m4Ye ieImBmo'?m:m?u@eODe;eo;e4y }@}EZjFNOT Ignoring new targets: 495.30 m.Bj;Jj; ProNav: ac range: 495.299988 m, nav range: 66.634071 m, bearing: 47.546994 deg, approach rate: 0.394616 m/s, LOS rate: 0.445740 deg/s, cmd heading: 275.007486 deg, new cmd heading: 275.549021 deg. 2j<HeadingCmd: 4.809237 target range: 495.299988 and range: 495.30 m. jF@jjjihhhhBfffrfbfZ?ɛB 7;  |>I  UrɚQiQIUi=I]SiYi]ׁ3)]F@)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002968zKtBNKKKKRK>JK?E =E*F ?2F :F BF JF H >I  I t$II BI &I .I 6I 2<:I FG% ïG) B1 E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254778O] > w,L"A 4I6gV@YV=@VDp9VG|=yVH*?:? 9(:0??ˬ?!u?ѻ?ɨV@V{z;V2CybrBb#$IIjTIj4٢r= rQ=9vJ;Q v>tt vG٣z+DGyzQ: z> Nusing accuracyPremultiplier from config 49k? 4Y- iYmB  5 @WD::ư4 @ZjAEFNOT Ignoring new targets: 495.30 m.BjM;JjM;] ProNav: ac range: 495.299988 m, nav range: 66.789398 m, bearing: 47.721455 deg, approach rate: 0.397613 m/s, LOS rate: 0.445556 deg/s, cmd heading: 275.549010 deg, new cmd heading: 276.071162 deg. 2j]IA EUFnɚIiIIM=IUiQi}N;)}/@)yEc<*FM?2FQ:FQBFU0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506935G _vGi B O >5w,|f"A6,@Y6z@6U96u=y6H? ?@HO?j?h\?`YU? ?ɨ6,@6l;4y>tBB&$IEMb@Mb@Mb@AAA A)AYEv/?RQ?Mb?yEx)?E=E G٣y > Nusing accuracyPremultiplier from config49$?4Yw iomBA+?:?@`D;4T;<4 ~@Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7598265B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 495.30 m.Bj;Jj; ProNav: ac range: 495.299988 m, nav range: 66.948792 m, bearing: 47.923705 deg, approach rate: 0.352104 m/s, LOS rate: 0.445711 deg/s, cmd heading: 276.071165 deg, new cmd heading: 276.676446 deg. 2j<HeadingCmd: 4.828915 target range: 495.299988 and range: 495.30 m. jy@jjjihhhhЄBfffrfbfx@ U$?IYJ}J}/JyJyJ};J}ڈ:JyJyɛB]< 隽<>I +iɚiI$=I%ii>޼)y@))E=< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011664*F% ?2F! :F! BF- _0JF) G 'G B O >w,"A6@Y6@6Z96=y6H j? ?￿`?@:ɔ?`?|9?L?ɨ6@6;4zK>k3IK>h9K<K>K>BKD:KFtAy^B^6$IIfhIfV84٢n̉= rU=9rL;Q r>pt vG٣tyv9 v> ~Nusing accuracyPremultiplier from configx~49z=?4Yz izmB:@zhDzq ;z:z4 [B @EZj1FNOT Ignoring new targets: 495.30 m.Bjd<Jjd< ProNav: ac range: 495.299988 m, nav range: 67.091331 m, bearing: 48.102938 deg, approach rate: 0.402435 m/s, LOS rate: 0.504953 deg/s, cmd heading: 276.676456 deg, new cmd heading: 277.212994 deg. 2jE<HeadingCmd: 4.838279 target range: 495.299988 and range: 495.30 m. j/Ӛ@jjjihhhhfffrfbf@k @ɛ„B/W< >I юdɚiIs=Ii ZH1RH5AAH5>I1 I5$II5҅BI1&I5ID.I16I5<:I5? FBIÔCJIRIZI? =bI> =jIn5i dX )m/Ӛ@)iEqEq*Ey"EyWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262722 AIA*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:39:21.2206  TRx dataTimestamp_ set to:1736372362.424582 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515717G D&G B O>)w, "AyޭBޭE$IuMb@Mb@Mb@qqq q)qYuL7A`?&1?I +?yu+'?u=u94 G٣,DGy > Nusing accuracyPremultiplier from config49?4Y8 imB7)?:@tD!;;4\B @EZjyFNOT Ignoring new targets: 495.30 m.Bj2<Jj2< ProNav: ac range: 495.299988 m, nav range: 67.292870 m, bearing: 48.360888 deg, approach rate: 0.354061 m/s, LOS rate: 0.451807 deg/s, cmd heading: 277.212981 deg, new cmd heading: 277.984466 deg. 2j <HeadingCmd: 4.851744 target range: 495.299988 and range: 495.30 m. j}A@jjjihhhhBfffrfbf @ɛ-ńB-G%< )-">I) U]ɚYiqIu=I}w9ii—9)}A@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.767980*F)2F):F)BF-32JF) iIiJJ'JJJ!;J:JJGN޼GBO>fNw,xϷ"AyޝBޥQ$IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:39:21.2206 LVL= 12768, 30497, 15842, 23651, AGC= 70, IDX= 188, 0.07, 1.827, 0.110, 0.341, 0.866, PHS= 1.048,-0.709,-0.529, RAW= 95.4, 2.3, CAL= 104.4, -0.0, ROT= 45.6, 0.0  Ygot valid direction response: 21:39:21.2206 LVL= 12768, 30497, 15842, 23651, AGC= 70, IDX= 188, 0.07, 1.827, 0.110, 0.341, 0.866, PHS= 1.048,-0.709,-0.529, RAW= 95.4, 2.3, CAL= 104.4, -0.0, ROT= 45.6, 0.0 PDAT read: Bearing 45.6, 0.0 (Local) ~Local bearing/azimuth received: Bearing 45.6, 0.0 (Local) %DAT read: Range 10 to 50 : 476.9 m (Round-trip 635.9 ms) speed 0.4 m/s -,DAT read: user:1949> 5BDAT read: Tx time:21:39:22.3305 5$Ping request sent.5yy }G٣yyy > Nusing accuracyPremultiplier from config49?4Y imB@|Dq:P:4! %>@)k?km$ k k"A:ksCBkCZkA@" (ZPpެ ( @w,*}@so=`tX?+_?Jk2A@RkDP*_& [LnRR@֌{5}@ oRWy/B?tC[?"kB*krfkԾ?k 2kDk6 :?kkDkNRBk^?zK:IK9KKKRK ?JK ?% addTargetRange:: Added new target pos. range: 476.899994 m, deltaT: 4.034256 s, deltaX: -18.399994 m, approachRate: -4.560938 m/s, rangeRepo size: 4 5 Added new target pos. range: 476.899994 m, bearing: 127.354084 deg, lat: 36.900479 deg, lon: -122.115548 deg, deltaT: 4.034256 s, deltaX: -18.399994 m, approachRate: -4.560938 m/s, posRepo size: 4 Zj15FNOT Ignoring new targets: 476.90 m.Bj]JjYm ProNav: ac range: 476.899994 m, nav range: 52.577091 m, bearing: 105.961465 deg, approach rate: 0.000000 m/s, LOS rate: 0.451807 deg/s, cmd heading: 277.984465 deg, new cmd heading: 278.551290 deg. 2jiuHeadingCmd: 4.861637 target range: 476.899994 and range: 476.90 m. ju@jqjqjqiyhhhhfffrf`f}@bf4?ɛDŽBl< >I WɚiI$=I%Ji!i%Y)%@))H>I I$IIBI@ =&I.I6I<:I- F*F2F:FBFS5JFm Will construct direction to contact in vehicle frame from tetrahedron phase data.u JDAT read: TxSync time:21:39:22.3297 q I} gG ^L GQ Ba O} >Hw,"AZ@YZ$@Z9Oϼ9Z>yZH@? b?4`*?u?1?`%? b?ɨZ@ZɌ;Z1CybBbW$II~UI~4٢ 0< -x=9=>I  SɚiI =I%iEiiEL)E0@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF_0JFGRGBOa>M Will construct direction to contact in vehicle frame from tetrahedron phase data.rw,"A2@Y2=,@2692* >y2H$?? m N?@K8?@u?6?`i?ɨ2@2M};22Cy>BB_$I IJ}J})JyJyJ};J}:JyJy~GtA-A UYUtAyUfBMb@Mb@Mb@ )Y?㥛 ?Mb`?yf&?=;\A )@I@yQ@I=I=3٢< 1=9h;Q > G٣-DGyUi; > Nusing accuracyPremultiplier from config49?4Y4 imBr'?:i@Dh;f;F4 @ %B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 476.90 m.Bj=KJj=KM ProNav: ac range: 476.899994 m, nav range: 53.090282 m, bearing: 105.936201 deg, approach rate: 0.661078 m/s, LOS rate: -0.044389 deg/s, cmd heading: 278.534896 deg, new cmd heading: 278.475896 deg. 2jM󺝊UHeadingCmd: 4.860321 target range: 476.899994 and range: 476.90 m. jU@jQjQjQiQhYhYhYh]Bfafafarfibfm@Ȳ?ɛʄB< 隝>I bMɚiIf#=Il ikiUD)@)*F%?2F!:F!BF!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.GM XG B! OE >zKU BoHKU 9KQ KU KU rUw, #A2(*@Y2v9@2`92 >y2H@]?`{?`a¿!?@[y?+?J0??ɨ2(*@2;24Cy>B>l$IIFIF3٢NW= Nw=9Rx;Q R?PP VG٣Ty^; b? rNusing accuracyPremultiplier from configpz49r?HI I$IIBI&I.I6I<:I9 F4Yr irmB9@rDrI !RHWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245755ɚi!I%}=IM8iuL liuv<)u@)q $?IgJJ*F?2F:F BF `0JF GI4GGBOb> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496445w,s#Aj]v@Yj@jU9j>yjH@?5h?@ÿ`6`??$?H?^?O?ɨj]v@j;j2CyrBru$IIzIz2٢< D=9   G٣yJ< %> ENusing accuracyPremultiplier from config9U49=?e4Y= i=mBiuu@=D=<=<=l4[B o@EZjAEFNOT Ignoring new targets: 476.90 m.BjmGJjmG} ProNav: ac range: 476.899994 m, nav range: 53.581329 m, bearing: 105.906954 deg, approach rate: 0.601196 m/s, LOS rate: -0.032846 deg/s, cmd heading: 278.432962 deg, new cmd heading: 278.388543 deg. 2j}VHeadingCmd: 4.858797 target range: 476.899994 and range: 476.90 m. jC{@jjjihhhhfffrfbf?ɛτB\< 隕>I !AɚiI=I^Ri-mi-s)-C{@)1%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749589 I*F?2F:FBF_0JFJmJm*JiJiJm;JmC:JiJiG= ʄGG B! O= >Tw,9#AFg@YFÚ@FKQw9FY>yFH˨?[?Iÿ,߿?r`?^??ɨFg@F;F/CyRBR|$I V=V=uMb@Mb@Mb@qqq q)qYu r?333333?~jtx?yu#?u=u;uA u;@)u@Iu@qyqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000491IOI 4٢< B=9;Q > G٣.DGy< > Nusing accuracyPremultiplier from config49?4Y imB$?:@D;N;4  @Zj FNOT Ignoring new targets: 476.90 m.BjJj% ProNav: ac range: 476.899994 m, nav range: 53.850971 m, bearing: 105.895592 deg, approach rate: 0.745992 m/s, LOS rate: -0.031278 deg/s, cmd heading: 278.388538 deg, new cmd heading: 278.354622 deg. 2j-5HeadingCmd: 4.858205 target range: 476.899994 and range: 476.90 m. j5jv@j1j1j1i9h9h9hAhE&BfAfAfIrfIbfM@|K@ɛuфB}io< y}>Iy }"<ɚyiI!=Ieit|mi)jv@)*FA2FA:FABFM1JFIG4zKYK]h9KYK]K]GBOH>H>I I$II BIA =&I.I6Iװ<:Ia FE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252401  I *J C="J 4=lw,*S#A6m@Y6@6y6H`?`R?@<&Ŀ?T?.??ɨ6m@6e;60CyZBZ$IIbXIb4٢j < jY=9nw;Q n>ll rG٣pyr< r> zNusing accuracyPremultiplier from configtz49v ?z4Yv ivmB|~~@vDv ;vA;vT4 @Zj15FNOT Ignoring new targets: 476.90 m.Bj=ǹJj=ǹM ProNav: ac range: 476.899994 m, nav range: 54.092621 m, bearing: 105.887338 deg, approach rate: 0.641379 m/s, LOS rate: -0.021811 deg/s, cmd heading: 278.354633 deg, new cmd heading: 278.329981 deg. 2jMoUHeadingCmd: 4.857775 target range: 476.899994 and range: 476.90 m. jUr@jYjYjYiYhYhYhahafafafarfibfm@ɛӄB,< 5>I %ʗ6ɚ!i!I%{:=I-si-mi-˼)-r@)1*F?2F:FBFN5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505260G G B1 O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756349w,l#A LILy=ȅBE$IMb@Mb@Mb@ )Y r?J +?{Gz?yH=#<rA $@)@Iy@IKI4٢ = 8=9 Q  > G٣y > %Nusing accuracyPremultiplier from config%49?-4Y@ imB-$?-:-殿-@D_;;49 =6@9ZjaeFNOT Ignoring new targets: 476.90 m.Bjm`Jjm` ProNav: ac range: 476.899994 m, nav range: 54.375675 m, bearing: 105.865552 deg, approach rate: 0.639463 m/s, LOS rate: -0.048960 deg/s, cmd heading: 278.329990 deg, new cmd heading: 278.264975 deg. 2jf HeadingCmd: 4.856640 target range: 476.899994 and range: 476.90 m. j i@j j j i h hhh>Bfffrfbf@@ɛmքBm#< imW>Ii u/ɚqiqIu=I} i;ni)i@)*F]?2FY:FYBFe@5JFaG5GBOn>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008513zK K +9K K K      Hw,#A2V@Y2f@2&&92K!>y2H`nX?zE?`Ŀ6R?@Ą?L ?x?ɨ2V@2=;21CyBͅBB$IDFAH`I` Ib$IIbBI`&I`.I`6Ib<:Ib$ FIJRIJW4٢E< EX=9Mq;Q M>II UG٣U/DGyU= U> mNusing accuracyPremultiplier from configa}49eM?}4Ye| ienBI@eDe;e;e4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 476.90 m.Bj3Jj3 ProNav: ac range: 476.899994 m, nav range: 54.617638 m, bearing: 105.850328 deg, approach rate: 0.627262 m/s, LOS rate: -0.039293 deg/s, cmd heading: 278.264967 deg, new cmd heading: 278.219496 deg. 2j׺HeadingCmd: 4.855846 target range: 476.899994 and range: 476.90 m. jc@j!j!j!i!h!h!h)h)f)f)f1rf1bf55 @ɛ]؄B]< ae>Ia e9)ɚaiaIeQ=Im im`9nim@LWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262172)uc@)1 IgJJ)JJJ;J:JJJaJj Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512383.w,y#A6i@Y6@6y!96n>y6H ? @? ÿ?)@???ɨ6i@6w;4yR˅BR$IIZKIZ4٢fz fS=9fl/;Q f>hh jG٣hyne< n> eNusing accuracyPremultiplier from configYe49]?m4Y]  i]nBimm@]ƈD]:]i:] 4u\B } @}EZj-FNOT Ignoring new targets: 476.90 m.Bj=Y!JjEY! ProNav: ac range: 476.899994 m, nav range: 54.875698 m, bearing: 105.835718 deg, approach rate: 0.625842 m/s, LOS rate: -0.035265 deg/s, cmd heading: 278.219505 deg, new cmd heading: 278.175881 deg. 2j HeadingCmd: 4.855085 target range: 476.899994 and range: 476.90 m. j5\@j1j9j9i9hAhIhhfffrfbfܕ @ɛۄB;< M>II Uf"ɚQiQIU =I]˶ienie )e\@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:21:39:25.3679 =TRx dataTimestamp_ set to:1736372366.710282Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.768123*FI2FI:FQBFU[0JFQ IGolGBO>Mw,T#A6T@Y6ě@6967>y6H\?j;?ÿ @o?`@|? ?,?ɨ6T@6N;62CyRӅBR$I5Mb@Mb@Mb@111 1)1Y5jt?)\(?Mb?y5 ?5Ga=5<5A 5@)5@I5@1y1IE?IET3٢U#= UB=9]Z;Q ]>aa eG٣ayepl< 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=4.01643149m:?4Ym imnBe!?:_@mΈDmIy }ɚyiyI}Cn =Iܶi0miP)X@)zKWLKKKKH>I I$IIBI@ =&I.I6Iİ<:IT FBIJIƔCRIZI@ =bI@ =jI@4*Fq2Fy:FyBFyJFy- Will construct direction to contact in vehicle frame from tetrahedron phase data. } $?I  DAT read: 21:39:25.3679 LVL= 16304, 32753, 28530, 32755, AGC= 70, IDX= 417, 0.08,-2.105, 2.439, 2.755,-3.052, PHS= 1.035,-0.745,-0.479, RAW= 98.0, 2.3, CAL= 107.8, 0.1, ROT= 42.2, -0.1  Ygot valid direction response: 21:39:25.3679 LVL= 16304, 32753, 28530, 32755, AGC= 70, IDX= 417, 0.08,-2.105, 2.439, 2.755,-3.052, PHS= 1.035,-0.745,-0.479, RAW= 98.0, 2.3, CAL= 107.8, 0.1, ROT= 42.2, -0.1  PDAT read: Bearing 42.2, -0.1 (Local)  ~Local bearing/azimuth received: Bearing 42.2, -0.1 (Local)  DAT read: Range 10 to 50 : 474.9 m (Round-trip 633.3 ms) speed 0.4 m/s  ,DAT read: user:1950>  BDAT read: Tx time:21:39:26.4805  $Ping request sent. - }?- !?) - ?)- :I- )#w,?#ARؔ@YR9@Rڻ9RP>yRHZ?`9?`;:ÿ@??E@{?V?`ơ?ɨRؔ@R:;R0Cyn҅Bn$I v=vp=IEI3٢%  %C=9%";Q ->)) G٣y < > Nusing accuracyPremultiplier from config49?4Y# i#nBΩ@׈D;;45[B 5@5EkՅ՛?kq k k#A:ksCBkCZk'@"(&:P/+w_}@`O¿5Z ?Jk<Rk8*6}cWde"K@$,|@-ɿ,I ?部d!?"k^B*khktԛ?k Kg 2k:Dk夺?kkDkfBk? addTargetRange:: Added new target pos. range: 474.899994 m, deltaT: 4.281261 s, deltaX: -2.000000 m, approachRate: -0.467152 m/s, rangeRepo size: 4  Added new target pos. range: 474.899994 m, bearing: 149.518581 deg, lat: 36.900417 deg, lon: -122.115548 deg, deltaT: 4.281261 s, deltaX: -2.000000 m, approachRate: -0.467152 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 474.90 m.Bj%Jj)5 ProNav: ac range: 474.899994 m, nav range: 57.657104 m, bearing: 112.384374 deg, approach rate: 0.000000 m/s, LOS rate: -0.022445 deg/s, cmd heading: 278.146777 deg, new cmd heading: 278.118656 deg. 2j9=HeadingCmd: 4.854086 target range: 474.899994 and range: 474.90 m. j=T@jAjajaiahihihqhqfqfqfqrf}`f}@bf}`3?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:39:26.4797 ɛB< %>I! % ɚ!i!I% =I-춿i-K1mi-{9)-T@)1*F2F:FBF_0JFG>uGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. I uIw,CW#A6@Y6@6޻96?!>y6H@y?/0?L ĿP[?{?`v(??ɨ6@6(F;6/CyNЅBN$IeMb@Mb@Mb@aaa a)aYe$C?X9v?~jth?ye?e G٣0DGy; > Nusing accuracyPremultiplier from config49?4Y) i'nBQ?:@߈D;y;m#4 @ZjFNOT Ignoring new targets: 474.90 m.BjRJjR  ProNav: ac range: 474.899994 m, nav range: 57.889664 m, bearing: 112.342494 deg, approach rate: 0.617376 m/s, LOS rate: -0.110735 deg/s, cmd heading: 278.118664 deg, new cmd heading: 277.993526 deg. 2j HeadingCmd: 4.851902 target range: 474.899994 and range: 474.90 m. jB@jjjihhhh;Bf!f!f!rf!bf%["?ɛB< >I FɚiI\ =IF4i li w=;) B@)Y*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.Gg{G?G+?G B O >zK JQJK ]9K K K jH bH 4<H5 >I1  I5 $II5 $BI5 ? =&I1 .I1 6I5 <:I5 9 F1 w,73 $A>k@Y>@>?ǻ9>(!>y>H?@z.?@ÿ? x???ɨ>k@>R;>0Cy^DžBb$IIfIf(*3٢n+ rV=9r:Q r>tt vG٣tyv; z> ~Nusing accuracyPremultiplier from configx49z-?4Yz/ iz,nBЭ@zDz:z:z*4 :@=B*** querying acoustic contact ***j9j9ZjauFNOT Ignoring new targets: 474.90 m.Bj}Jj뺝 ProNav: ac range: 474.899994 m, nav range: 58.116081 m, bearing: 112.302546 deg, approach rate: 0.586425 m/s, LOS rate: -0.103061 deg/s, cmd heading: 277.993535 deg, new cmd heading: 277.874161 deg. 2juHeadingCmd: 4.849819 target range: 474.899994 and range: 474.90 m. j1@jjjihhhhfffrfbf@o? YIYeWill 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.ɛB< ]>I  ɚiI%CI =I%xi%li-;;)-1@)iJJ*J0JJ;JC:Jـ3JJnk<Jok<J;J;*F2F:FBF0JFG:GBOa> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239255] w,#$A2f@Y2@2b92?N>y2H@?W5?@¿3?[@Qlw?@e?`;?ɨ2f@27F;23CyNȅBN$IbA`Ij Ij2٢~; H=9+m:Q  >   G٣yǥ; > %Nusing accuracyPremultiplier from config!-49%?-4Y%.6 i%1nB9=E@%D%;%U;%B14Y e/@mEZj FNOT Ignoring new targets: 474.90 m.BjHJjHẝ] ProNav: ac range: 474.899994 m, nav range: 58.359348 m, bearing: 112.260512 deg, approach rate: 0.572307 m/s, LOS rate: -0.098478 deg/s, cmd heading: 277.874171 deg, new cmd heading: 277.748592 deg. 2j]+HeadingCmd: 4.847628 target range: 474.899994 and range: 474.90 m. j@jjjihhhhfffrfbfb`?ɛuBuu< qu>Iy }ɚyiyI}? =I\i2"ki\!<)@) AIEg]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.491328) M~~Gm|uAA Y|uAyB*F?2F:FBF0JFG .A;G rAG G B O ># w,<$A2,@Y2<@2s6925>y2H?7?C`z?mǕ`^f? &?-?ɨ2,@2:;20Cy>ąBB$IbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.743606Mb@Mb@Mb@ )YS?:v?Mbpy?<A Q@)@I@yI9I3٢2 ?=9k;Q > G٣1DGykA< > Nusing accuracyPremultiplier from config49<?4Y< i?:@DT`;_;84 |@Zj)-FNOT Ignoring new targets: 474.90 m.Bj5Jj=E ProNav: ac range: 474.899994 m, nav range: 58.614098 m, bearing: 112.216471 deg, approach rate: 0.624162 m/s, LOS rate: -0.107435 deg/s, cmd heading: 277.748604 deg, new cmd heading: 277.617057 deg. 2jEvMHeadingCmd: 4.845332 target range: 474.899994 and range: 474.90 m. jM @jIjQjQiQhQhQhYh]/BfYfYfarfabfe?ɛB< 隝>I zɚiI( =I iNjiQ<) @)*F?2F:FBF 5JF"G=G=Go;H>I III&I.I/D6I<:IR FzKBHKh9KKKGyBO]> 9I9uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.995295Je Je 1Ja Ja Je <;Je :Ja Ja Je {o<Je |o<Je =;Je =;l w,nV$A6Q@Y6`@6ڗ996zA >y6HX7? *8?`4 ? Q2*z?F?ɨ6Q@6s;62CyBBBz$IIJKIJ4٢~Ud X=9   G٣ y C<  > Nusing accuracyPremultiplier from config49f ?%4YB i!%)%@D ;* ;W?4) 5)@1ZjYeFNOT Ignoring new targets: 474.90 m.BjeJje⺝u ProNav: ac range: 474.899994 m, nav range: 58.839359 m, bearing: 112.178867 deg, approach rate: 0.596254 m/s, LOS rate: -0.099153 deg/s, cmd heading: 277.617055 deg, new cmd heading: 277.504676 deg. 2j}HeadingCmd: 4.843370 target range: 474.899994 and range: 474.90 m. j@jjjihhhhfffrfbf>@ɛBi< >I ɚiIV =IKi:ii@<)@)*F?2F:FBF]0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.247880Gs%<GB OM > ! I!  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.5000475 w,^p$Ay]B]r$I ea=ea=Mb@Mb@Mb@ )YCl?~jt?Mbyd?<3A ;@)I@y @I-OI- 4٢= =8=9EQ E>AA MG٣IyM M> ]Nusing accuracyPremultiplier from configQ]49U?e4YUI iU.nBe{?e:ee@UDU;U;UG4i u@qZjFNOT Ignoring new targets: 474.90 m.BjAJjA𺝊 ProNav: ac range: 474.899994 m, nav range: 59.105404 m, bearing: 112.131979 deg, approach rate: 0.598594 m/s, LOS rate: -0.105023 deg/s, cmd heading: 277.504685 deg, new cmd heading: 277.364653 deg. 2j'HeadingCmd: 4.840927 target range: 474.899994 and range: 474.90 m. j@jjjihhhh Bfffrfbf . @ɛB羐< >I   ɚ i I  =I훸igi-<)@)*F?2F:FBF[0JFGk<GBOb>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751390H >I  I $II BI > =&I .I .D6I ǰ<:I X FzK5 BoIK5 9K1 K5 K5 ~" w,\w$A2|@Y2'@2\u;92>y2HN?T8?`J`{?L@Nv2??ɨ2|@28;20CyBBBf$IIJFIJ%3٢fW fe=9f,mhh jG٣j2DGyj}r< n> rNusing accuracyPremultiplier from configpv49r?v4YrBO ir+nBtvݭz@r Dr:r:rWM4| ~&@~EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 474.90 m.Bj-2Jj-2 $?I ProNav: ac range: 474.899994 m, nav range: 59.318447 m, bearing: 112.095848 deg, approach rate: 0.598060 m/s, LOS rate: -0.101064 deg/s, cmd heading: 277.364666 deg, new cmd heading: 277.256661 deg. 2jHeadingCmd: 4.839042 target range: 474.899994 and range: 474.90 m. jnٚ@jjj!i!h!h)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.004416hQhQfYfYfYrfYbf];@ɛBE<  >I ɚ9iAIE =I]ٸi]lufi]|<)]nٚ@)aJJ*F?2F:FBF_0JFG Sݮ< Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255367G B O >ި( w,7R$A:@Y:풜@:X<9:e>y:H?@:?ܿz?@ƃ?^@ a?d?ɨ:@:p;:2Cy^BbV$IIjCIj3٢rā rI=9r;Q r>tt vG٣tyz; ~> %Nusing accuracyPremultiplier from config-49a?-4YU i'nB)-í-@D];G:T49 =@=EZjaeFNOT Ignoring new targets: 474.90 m.BjmxJjmx㺝 ProNav: ac range: 474.899994 m, nav range: 59.564003 m, bearing: 112.054725 deg, approach rate: 0.596205 m/s, LOS rate: -0.099434 deg/s, cmd heading: 277.256667 deg, new cmd heading: 277.133807 deg. 2j{HeadingCmd: 4.836897 target range: 474.899994 and range: 474.90 m. jǚ@jqjyjyihhhhfffrfbf- @ɛBbp< >I +׻ɚiIu =Ii|diò<)ǚ@) IgMWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:21:39:29.5379 ]TRx dataTimestamp_ set to:1736372370.741974echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.510597*Fu?2Fq:FqBFqJFqG=r<JKm3 KS}-KK"KJJ)JJJ;J:JJa@a@a@a@G BO5q>x. w,(+$A:}@Y:@:,<9:>y:H ?=? f`q{?۠2?`?ɨ:}@:Ӂ;:0CRWill construct direction to contact in vehicle frame from tetrahedron phase data.PiPVchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.759438yVBVE$I^A^AEMb@Mb@Mb@AAA A)AYE?{Gz?QyEf&?E#qy }G٣yy(ݺ > Nusing accuracyPremultiplier from config49?4Y\ inBv&?:@D;x;[4 @ZjFNOT Ignoring new targets: 474.90 m.Bj;Jj; ProNav: ac range: 474.899994 m, nav range: 59.831562 m, bearing: 112.006271 deg, approach rate: 0.641249 m/s, LOS rate: -0.115607 deg/s, cmd heading: 277.133805 deg, new cmd heading: 276.989096 deg. 2jHeadingCmd: 4.834372 target range: 474.899994 and range: 474.90 m. j,@jjjihhhhڄBfffrfbf@ɛB,ok< M>I xлɚiI =IriQ|ci=),@) *F?2F:FBF{0JFHu>Iq Iu$IIuBIu? =&Iq.Iq6Iu<:Iuk FzKBHKh9KKK IUWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:39:29.5380 LVL= 18416, 32753, 25842, 32755, AGC= 71, IDX= 142,-0.29,-2.210, 2.765, 2.991,-2.925, PHS= 0.803,-0.546,-0.370, RAW= 96.9, 1.8, CAL= 106.3, -0.9, ROT= 43.7, 0.9 Ygot valid direction response: 21:39:29.5380 LVL= 18416, 32753, 25842, 32755, AGC= 71, IDX= 142,-0.29,-2.210, 2.765, 2.991,-2.925, PHS= 0.803,-0.546,-0.370, RAW= 96.9, 1.8, CAL= 106.3, -0.9, ROT= 43.7, 0.9 PDAT read: Bearing 43.7, 0.9 (Local) ~Local bearing/azimuth received: Bearing 43.7, 0.9 (Local) DAT read: Range 10 to 50 : 489.9 m (Round-trip 653.3 ms) speed 0.6 m/s ,DAT read: user:1951> BDAT read: Tx time:21:39:30.6306 $Ping request sent.޻5 w, $AVmy@YV@VŐ[<9VI=yVHg?@A?@w { q?`q@ړ??ɨVmy@V;Tyf~Bf1$IIrTIr4٢v zR=9zE;Q z> G٣3DGy% %> -Nusing accuracyPremultiplier from config)]49- ?e4Y-Kc i-nBimʯm@-&D-<-a<-b4 @kۛ?k,X k kנ$A:kCBk:CZkc&@"+%OO(Q:][~@}3Х̟t|a?JkYCRkDO*D[|R#|\F@`"~@ejÿ#'^?|~?"k2B*kkۛ?k 2k: DkԾ?kkkBk@U addTargetRange:: Added new target pos. range: 489.899994 m, deltaT: 4.032343 s, deltaX: 15.000000 m, approachRate: 3.719922 m/s, rangeRepo size: 4 e Added new target pos. range: 489.899994 m, bearing: 148.958950 deg, lat: 36.900091 deg, lon: -122.115548 deg, deltaT: 4.032343 s, deltaX: 15.000000 m, approachRate: 3.719922 m/s, posRepo size: 4 ZjamFNOT Ignoring new targets: 489.90 m.BjmJji ProNav: ac range: 489.899994 m, nav range: 80.986382 m, bearing: 136.524240 deg, approach rate: 0.000000 m/s, LOS rate: -0.115607 deg/s, cmd heading: 276.989087 deg, new cmd heading: 276.844683 deg. 2jHeadingCmd: 4.831851 target range: 489.899994 and range: 489.90 m. j@jjjihhh)hIfIfIfQrfU`f~@bfU ?ɛ}B}-0< : =隅>I ɻɚiI =Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:39:30.6298 IUŹiai =)@) *F?2F:FBF0JFG =G B O > I e Will construct direction to contact in vehicle frame from tetrahedron phase data.l; w,;$A6^@Y6Um@6:q{<96=y6Hag?J?3Z0?`o\`m`??ɨ6^@6Z;6/CJRJR(JPJPJR;JR9:JPJPyZsB^$$IMb@Mb@Mb@ )Yoʡ?~jt?Mby-?D<3A )@IyIIT3٢yE >=9p;Q > G٣y > Nusing accuracyPremultiplier from config49$?4Yj i nB!-?:믿@/D] ;;j4 @Zj%FNOT Ignoring new targets: 489.90 m.Bj%xJj%x= ProNav: ac range: 489.899994 m, nav range: 81.221107 m, bearing: 136.407209 deg, approach rate: 0.585500 m/s, LOS rate: -0.291077 deg/s, cmd heading: 276.844670 deg, new cmd heading: 276.494598 deg. 2j=GEHeadingCmd: 4.825741 target range: 489.899994 and range: 489.90 m. jEyl@jAjAjAiAhAhAhIhMBfIfIfQrfQbfU?ɛ}Bo(< 隅e>I xĻɚiI =Ii O`i-=)5yl@)1*F2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G- H=G B O- >jHe <bHa Hi Ii  Im $IIm BIm @ =&Ii .Ii 6Im <:Im A FBI!JI!RI!ZI%? =bI%? =jI%F5B w,I %AzKk3IKͼ9KKK)bbZ)@YZ8@Z><9Z%=yZH@V?T? j 2?>`1??ɨZ)@Z;XyrpBr!$I z=z=I~jI~;4٢ ?k  V=9 "g;Q  > G٣y > %Nusing accuracyPremultiplier from config!-49%(?-4Y%dq i%nB)55@%7D%:%L:%p4=\B =@=E]B*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 489.90 m.BjmJjm Ig ProNav: ac range: 489.899994 m, nav range: 81.431229 m, bearing: 136.301733 deg, approach rate: 0.550222 m/s, LOS rate: -0.275488 deg/s, cmd heading: 276.494609 deg, new cmd heading: 276.178999 deg. 2j=HeadingCmd: 4.820233 target range: 489.899994 and range: 489.90 m. jY?@jjjihhhhfffrfbf`?ɛBI< Z>I ɚiI =IBi^i=)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.*F-?2F):F)BF-4JF1GmV=GI BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242962H w,J%%AB@YB@Bp<9B=yBHh?@a??_@؍'?`?ɨB@BR;B1CyJ\BJ$IIV0IV(3٢^lѽ ^P=9bh;Q >    G٣ 4DGyj# > Nusing accuracyPremultiplier from config-49+-?-4Ynx imB1=HE@@D;5;w4q u@qZjFNOT Ignoring new targets: 489.90 m.BjrJjrU ProNav: ac range: 489.899994 m, nav range: 81.652405 m, bearing: 136.190464 deg, approach rate: 0.531297 m/s, LOS rate: -0.266560 deg/s, cmd heading: 276.179000 deg, new cmd heading: 275.846101 deg. 2j6HeadingCmd: 4.814423 target range: 489.899994 and range: 489.90 m. j@jjji!h!hQhYhafffrfbf@Nf?ɛMBM{; IU+>IQ UӹɚQiQIU- =I]ji];\i] I=)]@)a qIq-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496249JJ!JJJ<;J:JJED%<EE*Fa 2Fa :Fa BFe 0JFa Gi  Gm nA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746917GH=GBO?]Q w,F%A6@Y6@6<96>=y6Hi?k?``??dnޕٺ?`?ɨ6@6;62Cy>SBB#IEMb@Mb@Mb@AAA A)AYE(\??MbyEz4?Eyy }G٣yyڻ >H>I I$IIBIA =&I.I6I<:IH F Nusing accuracyPremultiplier from config49o3?4Y imB4?:@LD;;4[B @EZjFNOT Ignoring new targets: 489.90 m.BjJj ProNav: ac range: 489.899994 m, nav range: 81.960838 m, bearing: 136.041005 deg, approach rate: 0.589049 m/s, LOS rate: -0.284363 deg/s, cmd heading: 275.846096 deg, new cmd heading: 275.399417 deg. 2j'CHeadingCmd: 4.806627 target range: 489.899994 and range: 489.90 m. jϙ@jjjih!h!h!h%Bf)f)f)rf)bf5 ?ɛe BeЀ; ae>Ia m6}ɚiiiImp =Iuiu̹Ziu`q)=)uϙ@)yzK%LK%9K!K%K%"K  !$# Ee = $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000167*F2F:FBF5JFG= =G B! O= >W w,`%AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251103y~QB~#II^I&4٢-» -P=9-Q ->11 5G٣1y= E> MNusing accuracyPremultiplier from configIU49M8?U4YMN iMmBYY]@MUDM;MS;M4a e@aZjFNOT Ignoring new targets: 489.90 m.BjJj% ProNav: ac range: 489.899994 m, nav range: 82.190117 m, bearing: 135.930806 deg, approach rate: 0.589317 m/s, LOS rate: -0.282457 deg/s, cmd heading: 275.399429 deg, new cmd heading: 275.069756 deg. 2j%A-HeadingCmd: 4.800873 target range: 489.899994 and range: 489.90 m. j-@j)j)j)i)h)hahhfffrfbf@ɛ BB;  >I ɚ i I  =IliXir==)@) IEe=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505238 G%vA*F?2F:FBF_5JF YvAyBJu Ju *Jq Jq Ju ;Ju C:Jq Jq Gu *=G} qAG} rAGI BY O} >b~^ w,y|%AyCB#IMb@Mb@Mb@ )Y? rh?y&1y@?C =`eA ~@)Iyp@I[IK!4٢{ 0=9Q > G٣5DGy > Nusing accuracyPremultiplier from config49*>?4YC  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755657imB;@?:N@`DG;;4! %@%EZjIMFNOT Ignoring new targets: 489.90 m.BjUJjUe ProNav: ac range: 489.899994 m, nav range: 82.478729 m, bearing: 135.795903 deg, approach rate: 0.618365 m/s, LOS rate: -0.288024 deg/s, cmd heading: 275.069750 deg, new cmd heading: 274.666464 deg. 2jeEmHeadingCmd: 4.793834 target range: 489.899994 and range: 489.90 m. jmg@jijijqiqhqhqhyh}Bfyfyfrfbf`N@ɛ Bā: 隽 =I ȆɚiI =Ii;Vi qU=)g@)EE*E"EZHiRHm@AHqIq Iua$IIuBIq&Iq.Iq6Iu<:Iui FzK}-HMK}9KyK}K} Ig*F5 ?2F9 :F9 BF9 JF9  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007910G} J`<=GQBaO}>mzf w,+%ABa@YBq@B<9B?=yBH ?}?2? >l៿೒??ɨBa@B։;B0CyNHBN#I R=Rp=IVqIVJH4٢b%< f:=9fhh jG٣hyn n> rNusing accuracyPremultiplier from configpv49ryC?v4Yr͚ irmBtv}v@rkDrz:r\ ;r̗4| ~7@|B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 489.90 m.Bj-%Jj-%E ProNav: ac range: 489.899994 m, nav range: 82.750023 m, bearing: 135.665468 deg, approach rate: 0.620816 m/s, LOS rate: -0.297503 deg/s, cmd heading: 274.666468 deg, new cmd heading: 274.276452 deg. 2jE,LMHeadingCmd: 4.787027 target range: 489.899994 and range: 489.90 m. jMT/@jIjIjQiQhQhQhYhYfYfYfarfabfe @ɛB; 隕X=I |ɚiI^ =IiN]Ti-=)T/@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260205*F 2F :F BF _0JFG@=GBO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:39:33.6749  TRx dataTimestamp_ set to:1736372374.775033 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514469l w,0%A6.@Y6P=@6=96mW=y6H ? ? /i@`M?=m `A??ɨ6.@6Չ;61CyBCBB#IEMb@Mb@Mb@AAA A)AYEjt?ˡE?y&1|yE@?E'=E`EdA E@)AIEI@AyE@I]TI]4٢m mA=9uM;Q u>qy }G٣yys > Nusing accuracyPremultiplier from config49H?4Y imBA?:?@uD;h;64 @Zj!-FNOT Ignoring new targets: 489.90 m.Bj=᣻Jj=᣻ ProNav: ac range: 489.899994 m, nav range: 83.013573 m, bearing: 135.540271 deg, approach rate: 0.605130 m/s, LOS rate: -0.286548 deg/s, cmd heading: 274.276464 deg, new cmd heading: 273.902072 deg. 2jDHeadingCmd: 4.780493 target range: 489.899994 and range: 489.90 m. j@jjjihhhh|Bfffrfbf`w @ɛ]B]: ae=Ia eɚaiaIe =I=Xi8Ri3=)@)*FE?2FA:FABFAJFAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763534G 8U=G ?G ?Ga Hu >Iq  Iu H$IIu BIq &Iq .Iq 6Iu <:Iu D FB O >Ջs w,%A I zK"BHK"9K K"K">C@Y> @>v =9>R=y>H W?@5?@_K?`5̦m`??ɨ>C@>҉;>0CyJLBJ#IIRcIRy/4٢Z8= ^V=9^;Q ^>`` bG٣b6DGybmz f> jNusing accuracyPremultiplier from configdn49f1M?n4Yf ifmBlnn@f~Df2 ;fe ;f4t v@tUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=4.014934ZjFNOT Ignoring new targets: 489.90 m.BjJj ProNav: ac range: 489.899994 m, nav range: 83.249771 m, bearing: 135.427504 deg, approach rate: 0.611582 m/s, LOS rate: -0.291155 deg/s, cmd heading: 273.902060 deg, new cmd heading: 273.564724 deg. 2jGHeadingCmd: 4.774605 target range: 489.899994 and range: 489.90 m. jɘ@jjjihhhhfffrfbf /@ɛBN3<; 隽=I 糧J J "J J J T;J :J J J h Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai AE DAT read: 21:39:33.6749 LVL= 24208, 32177, 24402, 32755, AGC= 63, IDX= 308, 0.17, 2.432, 1.102, 1.214, 1.554, PHS= 0.966,-0.405,-0.344, RAW= 92.3, -3.3, CAL= 100.5, -10.1, ROT= 49.5, 10.1 M Ygot valid direction response: 21:39:33.6749 LVL= 24208, 32177, 24402, 32755, AGC= 63, IDX= 308, 0.17, 2.432, 1.102, 1.214, 1.554, PHS= 0.966,-0.405,-0.344, RAW= 92.3, -3.3, CAL= 100.5, -10.1, ROT= 49.5, 10.1 U PDAT read: Bearing 49.5, 10.1 (Local) U ~Local bearing/azimuth received: Bearing 49.5, 10.1 (Local) e DAT read: Range 10 to 50 : 480.0 m (Round-trip 640.1 ms) speed 0.4 m/s e ,DAT read: user:1952> m BDAT read: Tx time:21:39:34.7806 m $Ping request sent.m XÒqF?wݿN1;) jI i=i ? f  :publishing transmit ping timei  Fpublishing direction and range info 9 1"e*? %'?y  ) I i ) I i XÒqF?wݿN1;) I i y w,%%ANǓ@YN֚@NE=9NM=yNH@?`˧? ep? '`??ɨNǓ@NFM;N1Cy=MB=#IQUAI]_I]b(4٢u ; u?=9}gY;Q }> G٣y > Nusing accuracyPremultiplier from config49R?4Yڲ imBٱ@D <* <X4 @ E QI]gkE=?kET? kA kE%A:kECBkEOCZkE6u@"EÎ(<@?@T$}@E1"e*? %'?JkE?RkEf*EК5Z>s$]znŕQ}@E ח%Ǔ醿1lJ?"kE׫*kEkEt`9?kE|mS@ 2kEDkAkE kEDkE\BkE@mWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:21:39:34.7798  addTargetRange:: Added new target pos. range: 480.000000 m, deltaT: 4.283915 s, deltaX: -9.899994 m, approachRate: -2.310969 m/s, rangeRepo size: 4  Added new target pos. range: 480.000000 m, bearing: 220.164947 deg, lat: 36.900091 deg, lon: -122.115672 deg, deltaT: 4.283915 s, deltaX: -9.899994 m, approachRate: -2.310969 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 480.00 m.BjJj ProNav: ac range: 480.000000 m, nav range: 76.180176 m, bearing: 141.190569 deg, approach rate: 0.000000 m/s, LOS rate: -0.291155 deg/s, cmd heading: 273.564731 deg, new cmd heading: 273.131972 deg. 2jHeadingCmd: 4.767052 target range: 480.000000 and range: 480.00 m. j@jjjihh h h f ffrf~@bf?ɛB3: 隅D=I lɚiIE =I¿iNi7=)@)*FQ2FY:FYBFYJFYG 4=G B % Will construct direction to contact in vehicle frame from tetrahedron phase data.O5 > w,M&A^@Y^⎚@^!=9^dt=y^H P??ZI U?~5`=C +??ɨ^@^\;^0CyjWBj$ImMb@Mb@Mb@iii i)iYmMbX9?V-?~jthymA?mm=mDmA m@)mA@Iiiymf@I?IT3٢6= J=9:Q > G٣y > Nusing accuracyPremultiplier from config49W?4Yʺ imB\B?:5@D;;k4 L@ZjFNOT Ignoring new targets: 480.00 m.Bj>Jj> ProNav: ac range: 480.000000 m, nav range: 76.415443 m, bearing: 141.042360 deg, approach rate: 0.688376 m/s, LOS rate: -0.432315 deg/s, cmd heading: 273.131970 deg, new cmd heading: 272.688719 deg. 2jXHeadingCmd: 4.759316 target range: 480.000000 and range: 480.00 m. jQL@jjjihhhhBfffrfbf`W?ɛ]B]; ae,=Ia e?ɚaiI=I&ÿii 4=)QL@)H->I) I-B$II-BI-? =&I-HD.I)6I-<:I-q F*F!2F!:F!BF%0JF! ]$?IazKBoHK+9KKK  sBK:KpAWill construct direction to contact in vehicle frame from tetrahedron phase data.J= J= %J9 J9 J= ;J= :J9 J9 J= d<J= d<J= };J= ~;Ge ‹9=GA BQ Ou >з w,k-&A6A@Y6P@6=96I_=y6HY?`*?L1R?:dw ??ɨ6A@6_;4yN]BR $IIZ0IZ(3٢b = fX=9fM:Q f>hh jG٣j7DGynΣ n> rNusing accuracyPremultiplier from configpv49r[?v4Yr7 irmBtz,z@rDra:rC ;r4| ~@|B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 480.00 m.Bj-ݻJj-ݻE ProNav: ac range: 480.000000 m, nav range: 76.634262 m, bearing: 140.903509 deg, approach rate: 0.612953 m/s, LOS rate: -0.387835 deg/s, cmd heading: 272.688718 deg, new cmd heading: 272.273365 deg. 2jEUHeadingCmd: 4.752067 target range: 480.000000 and range: 480.00 m. jU@jQjQjQiQhYhYhYhYfafafarfabfe?ɛB; 隝Z>I ɚiIw=Iÿii/3=)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F)2F):F)BF-L5JF)GU4=G1BiO> i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247423ތ w,5&A6o@Y6@6O=96N`=y6H~?`o?`b?o𨢿`}?I?ɨ6o@6I!;61CyRaBR$I Zp=XuMb@Mb@Mb@qqq q)qYuCl?A`"?Mb`?yu;??uY=u;uA u@)uX@Iu3@qyqI"Iq3٢< >=9rd:Q > G٣ym > Nusing accuracyPremultiplier from config49K`?4Y izmB??:@D;;4 @Zj FNOT Ignoring new targets: 480.00 m.Bj fлJj fл% ProNav: ac range: 480.000000 m, nav range: 76.878906 m, bearing: 140.745682 deg, approach rate: 0.566640 m/s, LOS rate: -0.364392 deg/s, cmd heading: 272.273361 deg, new cmd heading: 271.801398 deg. 2j%z-HeadingCmd: 4.743829 target range: 480.000000 and range: 480.00 m. j-s͗@j)j)j)i1h1h9h9h=Bf9fAfArfAbfEg:?ɛB\; !% >I! %Bɚ!i!I%+=IM ſiQiU!:=)Us͗@)Q*F?2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499231G 1=G B O >H) I)  I- H$II- BI- > =&I) .I) 6I- <:I- < FBIJIRIZIA =bI@ =jI+5 a Ia ϓ w,O&A2ݒ@Y2@2=92gh=y2H!? w? @g?@ vW??ɨ2ݒ@zKFMKF59KDKFKF  $Ay-~S,7w-l}P)  RKN?JKN?2ix;0yVpBV $II^lI^m?4٢f~= fW=9je;Q j>hh nG٣lynހ n> rNusing accuracyPremultiplier from configpv49rHd?v4Yr irqmBxzz@rDr ;rT ;r,4~\B ~@~EZj!-FNOT Ignoring new targets: 480.00 m.Bj-лJj-л= ProNav: ac range: 480.000000 m, nav range: 77.092140 m, bearing: 140.607583 deg, approach rate: 0.564979 m/s, LOS rate: -0.364893 deg/s, cmd heading: 271.801395 deg, new cmd heading: 271.388250 deg. 2j=lzEHeadingCmd: 4.736619 target range: 480.000000 and range: 480.00 m.MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751408 jEa@jQjQjQiQhYhYhYhYfafafarfibfm H?ɛBd; 隕:'>I ϔɚiINK=Iſiitf>=)a@)JJ'JJJ;J:JJJok<Jok<JH;JH;*F%?2F!:F!BF-Y0JF)G1 G5qAGe‹9=G9BIOe>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003228o w,!i&Af/@Yf}@fa =9f۟s=yfHw?`? 2x`0ٶ?@񻦿 gi?;?ɨf/@fp;f/Cyv{Bv.$IIXI4٢V= G=9`;Q > G٣%8DGy%k %> -Nusing accuracyPremultiplier from config)549-yh?54Y- i-gmB9=D=@-D-;-d;-Y4A E@IZjq}FNOT Ignoring new targets: 480.00 m.BjWлJjWл ProNav: ac range: 480.000000 m, nav range: 77.323425 m, bearing: 140.457199 deg, approach rate: 0.561944 m/s, LOS rate: -0.364289 deg/s, cmd heading: 271.388250 deg, new cmd heading: 270.938457 deg. 2jzHeadingCmd: 4.728768 target range: 480.000000 and range: 480.00 m. jR@jjjihhhhfffrfbfk@ɛBV< H:>I 돻ɚiI=I"ƿiiD=)R@) Ig*Fi2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259708GU>=GI BQ Ou >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508068٠ w,Ő&AV݂@YV+@VƤ&=9VM=yVH g&??+b`y=x? Ӥ@#??ɨV݂@Vl;V1CybBb:$Ihh]Mb@Mb@Mb@YYY Y)YY]= C=9i;Q > G٣y$J > Nusing accuracyPremultiplier from config49l?4Y i_mB4?:@‰D;;4 u@ZjFNOT Ignoring new targets: 480.00 m.BjJj} ProNav: ac range: 480.000000 m, nav range: 77.546371 m, bearing: 140.314760 deg, approach rate: 0.531598 m/s, LOS rate: -0.338657 deg/s, cmd heading: 270.938469 deg, new cmd heading: 270.512389 deg. 2j}jhHeadingCmd: 4.721332 target range: 480.000000 and range: 480.00 m. j'@jjjihhhhBfffrfbf@ɛB>4<  JK>I) -P'ɚ)i1I5+=I5ǿi=Ki=ٹL=)='@)9HI Ia$IIBI? =&I.I6I<:I? F*Fy2F:FBFJF I zK5kOK59K1K5K5/TuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759362J J J% J% J! J! J% ;J% :J! J! J% f<J% f<J% S;J% S;Gu 'HF=GA BQ Om >Q w,Ln&AvV@YvLf@vǸ,=9v$ى=yvHȴ?O??I ? Cu3?@/?ɨvV@v;v/CyBE$II\I#4٢%;= %P=9-x;Q ->9A EG٣AyE^ E> UNusing accuracyPremultiplier from configI]49M]p?]4YM iMWmBY][]@MˉDM);M;M4mZB m@mEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 480.00 m.Bj_»Jj_» ProNav: ac range: 480.000000 m, nav range: 77.755424 m, bearing: 140.180763 deg, approach rate: 0.531667 m/s, LOS rate: -0.339867 deg/s, cmd heading: 270.512401 deg, new cmd heading: 270.111497 deg. 2j?i=HeadingCmd: 4.714335 target range: 480.000000 and range: 480.00 m. jEۖ@jAjAjQiQhQhYhYhYfYfafarfabfe`@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011334ɛ BZ6< 8[>I ɚiI%=I%ȿi- IiMR=)Mۖ@)I*F2F:FBFJF  I )  CG5 0P= ~GQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266336 zY y BG B) OM >, w,cB&A6{5@Y6D@63=96=y6HB?!?`( N?`w@of?`?ɨ6{5@6ה;61CyRBRV$I %@% %@% %@%  %@% I-SI-4٢== =I=9=S;Q E>AA EG٣E9DGyM% M> UbBottom track data is 0.4 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQe49Ut?e4YU/ iUOmBe+:aet:e㴿m@UԉDUD;Ul>UE4u[B u@uEZjFNOT Ignoring new targets: 480.00 m.BjJj ProNav: ac range: 480.000000 m, nav range: 77.969559 m, bearing: 140.043394 deg, approach rate: 0.527440 m/s, LOS rate: -0.337427 deg/s, cmd heading: 270.111497 deg, new cmd heading: 269.700530 deg. 2jgHeadingCmd: 4.707162 target range: 480.000000 and range: 480.00 m. j@jjjihhhhfffrfbf@r2 @ɛ%"B-hmU< )-t>I) -2}ɚ)i1I5=I=ɿi9i=ٵ]=)=@)A*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:39:37.8222 TRx dataTimestamp_ set to:1736372379.056624checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516315GGBO>H I  I $II BI > =&I .I 6I ް<:I j F  I  w,&A2@Y2@2"8=92ZҔ=y2HP?P? s?EaL?` ?ɨ2@2ZA;0yVBVY$I Z=Z=I^FI^%3٢fE< fQ=9jy<;Q j>hh jG٣lynRj n> vbBottom track data is 0.8 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpzK~=\OK~9K|K~K~?xuhYj? HBg.  49rw? 4YrT irFmB :F:@r݉Dr;rL?r4 %@!=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.767333ZjQUFNOT Ignoring new targets: 480.00 m.Bj]jJj]jm ProNav: ac range: 480.000000 m, nav range: 78.175751 m, bearing: 139.910607 deg, approach rate: 0.523817 m/s, LOS rate: -0.336446 deg/s, cmd heading: 269.700538 deg, new cmd heading: 269.303235 deg. 2jmfuHeadingCmd: 4.700228 target range: 480.000000 and range: 480.00 m. juEh@jqjyjyiyhyhyhhfffrfbf`P@ɛ#BV[< 隵v>I pɚiI\=IVʿiia=)Eh@)*F]?2FY:FYBF]2JFYG}Y[=GIBYOu>Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: 21:39:37.8222 LVL= 13584, 32753, 19106, 32691, AGC= 68, IDX= 412,-0.28, 0.151,-1.907,-1.602,-1.110, PHS= 1.349,-0.750,-0.495, RAW= 96.4, -1.1, CAL= 105.0, -6.3, ROT= 45.0, 6.3 = Ygot valid direction response: 21:39:37.8222 LVL= 13584, 32753, 19106, 32691, AGC= 68, IDX= 412,-0.28, 0.151,-1.907,-1.602,-1.110, PHS= 1.349,-0.750,-0.495, RAW= 96.4, -1.1, CAL= 105.0, -6.3, ROT= 45.0, 6.3 E PDAT read: Bearing 45.0, 6.3 (Local) E ~Local bearing/azimuth received: Bearing 45.0, 6.3 (Local) U DAT read: Range 10 to 50 : 478.1 m (Round-trip 637.5 ms) speed 0.4 m/s ] ,DAT read: user:1953> ] BDAT read: Tx time:21:39:38.9306 e $Ping request sent.e  G٣y > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%49{?%4Yt iI ]ɚiI=I˿iJFix=)x@)*F?2F:FBFl0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G np_=G B O> w,L'A6ì@Y6@6|@=96H=y6H1?@=?i±,?/`L @? ?ɨ6ì@6%";62CyNBNh$I = = == ==  = = =Mb@Mb@Mb@999 9)9Y=ףp= ?qq uG٣u:DGyu ̼ }> Nusing accuracyPremultiplier from config49O~?4Y i5mBT:?: @D;;4 @jH<bHH>I I$II҅BI&I.I6I<:I; FZjamFNOT Ignoring new targets: 478.10 m.BjuBӻJjuBӻ ProNav: ac range: 478.100006 m, nav range: 78.611778 m, bearing: 139.623765 deg, approach rate: 0.544703 m/s, LOS rate: -0.369396 deg/s, cmd heading: 268.766086 deg, new cmd heading: 268.357201 deg. 2j}HeadingCmd: 4.683717 target range: 478.100006 and range: 478.10 m. j@jjjihhhhNBfffrfbf@_?ɛ-%B5:< 15>I1 51,Qɚ1i1I=3Q=Ied̿iaieq=)e@)i I*F?2F:FBF%3JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.zKPK9KKK]SirJ, : FNn=# = S&lXqG ghs=GBO l>+ w,B"'AbJj@Yby@b>=9bq=ybHЪ? ?`-Ӭ` &g?`$Aῧ? ?ɨbJj@bY;`ynBno$IprAIzNIz@ 4Will construct direction to contact in vehicle frame from tetrahedron phase data.٢ < Q=9aƺQ > UG٣QyU ]> eNusing accuracyPremultiplier from configam49e?u4Ye ie.mBq}}@eDeqa;ea;e4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 478.10 m.Bj¹Jj¹ ProNav: ac range: 478.100006 m, nav range: 78.791367 m, bearing: 139.500590 deg, approach rate: 0.474648 m/s, LOS rate: -0.324807 deg/s, cmd heading: 268.357204 deg, new cmd heading: 267.988526 deg. 2j^HeadingCmd: 4.677282 target range: 478.100006 and range: 478.10 m. jL@jjjihhhhfffrfbf?ɛ&BXJ< 隽>I CɚiI=I;ͿiDi!m=)L@)*F?2F:FBF5JF IgWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GŠ}=G rAG pAG B O >JM JM JM 0JI JM ;JM ~:JM ـ3JI U w,<'A6{(@Y67@6H@=96Sq=y6H?`? xH? L }??ɨ6{(@6;60CyRBRq$IuMb@Mb@Mb@qqq q)qYu5^I ?/$?y&1|?yu?u,=u`;uA u`@)uAIu@qyu@I*I3٢; A=9:Q > G٣y > Nusing accuracyPremultiplier from config49?4Y i&mBt?:q@D;;4 @EZjFNOT Ignoring new targets: 478.10 m.BjJj  ProNav: ac range: 478.100006 m, nav range: 78.972214 m, bearing: 139.378539 deg, approach rate: 0.436455 m/s, LOS rate: -0.293882 deg/s, cmd heading: 267.988537 deg, new cmd heading: 267.623228 deg. 2jI%HeadingCmd: 4.670907 target range: 478.100006 and range: 478.10 m. j%x@j!j!j!i!h)h)h)h-dBf1f1f1rf1bf=:?ɛm'Bm< im>Ii u5ɚqiqIu=I}&_οi}4Ai}^h=)}x@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498339E#=E]>EH>IC I$IIBI&I.I/D6Iʰ<:I] F*FU?2FQ:FQBFU_5JFQ"G]=G]= I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749958zKU (hQKU 9KQ KU KU aQ[B4(< 6sZ^4  FO G Y`n=G B O > w,;Y'AR@YR @R6F=9Reo=yRHJ ? ?vꬿ t?੿YĨj߭?@p?ɨR@Ro;PyjBjm$IIvQIv4٢~2] ~<=9~Z;Q ~> G٣ ;DGy E  > Nusing accuracyPremultiplier from config49R?4YU imB%%@D ;P ;` 4) -@)ZjQ]FNOT Ignoring new targets: 478.10 m.Bj]Jj]m ProNav: ac range: 478.100006 m, nav range: 79.161049 m, bearing: 139.250629 deg, approach rate: 0.436049 m/s, LOS rate: -0.294660 deg/s, cmd heading: 267.623231 deg, new cmd heading: 267.240422 deg. 2jm8JuHeadingCmd: 4.664225 target range: 478.100006 and range: 478.10 m. juUA@jqjyjyiyhyhyhhfffrf bf i?ɛU)BUo< QUl>IQ ]1&ɚYiYI]Ϙ=I:Ͽi\  I " w,.r'AWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257544JK KKK"KJJ(JJJm;J9:JJ*@Yx@Q W=91q=yH|??bP@ sz?@ު` ??ɨ*@N;騽/CyBe$I ==Mb@Mb@Mb@ )Ygfffff?V-?Mb`?y3?<;3A @)AIv@y@I?IT3٢ڼ $=9Z G٣yؗ > Nusing accuracyPremultiplier from config49@?4Y! imBc?:ξ@D2;1;4! %=@!ZjQUFNOT Ignoring new targets: 478.10 m.Bj]Jj]m ProNav: ac range: 478.100006 m, nav range: 79.364761 m, bearing: 139.105478 deg, approach rate: 0.408393 m/s, LOS rate: -0.290245 deg/s, cmd heading: 267.240413 deg, new cmd heading: 266.806086 deg. 2jm1GuHeadingCmd: 4.656645 target range: 478.100006 and range: 478.10 m. ju<@jqjqjqiqhyhyhyh}oBfffrfbf @ɛ*BY< 隽y>I ɚiI6=I|2пiǒIA  IE $IIE BIE = =&IA .IA 6IE <:IE o FBIJI̕CRIZI> =bI> =jIHX5 IGMڰn=G BO5>y w,Œ'AB@YB@B\=9BPn=yBH@?@K? , ?nA)@í?:?ɨB@BNŔ;@yZBZR$IIfPIf 4٢n疽 nN=9nKf;Q n>pp rG٣pyr'e v>5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758368 Nusing accuracyPremultiplier from config49ƈ?4Y6( imB@D;*;o4 -@ZjFNOT Ignoring new targets: 478.10 m.Bj榻Jj榻zKLPKh9KKKBKpA:K% ProNav: ac range: 478.100006 m, nav range: 79.536873 m, bearing: 138.982347 deg, approach rate: 0.408802 m/s, LOS rate: -0.291829 deg/s, cmd heading: 266.806095 deg, new cmd heading: 266.437508 deg. 2j%GH-HeadingCmd: 4.650212 target range: 478.100006 and range: 478.10 m. j-Δ@j)j)j1i1h1h1h1h9f9f9f9rf9bfEQt@ɛm,BmSI< imX>Iq uZ# ɚqiqIu=I}Gѿi},:i}{m=)}Δ@)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010702GKXi=G B O >a w,R'A @:W@Y:>g@:xa=9:;i=y:H@ic??@5.?`v+!?U?ɨ:W@:;:0CyFBF?$IINUIN4٢VG ZN=9Z=;Q Z>X\ ^G٣^ fNusing accuracyPremultiplier from configdj49f?j4Yf- iflBhj6j@f Dfa:f:f 4p r @p~B*** querying acoustic contact ***j|j|Zj  FNOT Ignoring new targets: 478.10 m.Bj?Jj?- ProNav: ac range: 478.100006 m, nav range: 79.688461 m, bearing: 138.873380 deg, approach rate: 0.407594 m/s, LOS rate: -0.292438 deg/s, cmd heading: 266.437511 deg, new cmd heading: 266.111233 deg. 2j-H5HeadingCmd: 4.644517 target range: 478.100006 and range: 478.10 m. j5㟔@j1j1j1i1h1h1h9h9fAfAfArfAbfEAj @ɛm-BuB4< quV7>Iq u tɚqiyI}R=I޿ѿio8i/n=)㟔@) Ig*F92F9:FABFAJFA]Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268768JJJJJ5;Jr:JJGRk=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:39:41.9697  TRx dataTimestamp_ set to:1736372383.088561 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515033 w,)^'A2 %@Y2X4@2c=925c=y2H`r??`[?ˬz zn?@?ɨ2 %@2e;21Cy>BB5$IDFAMb@Mb@Mb@ )YtV? rh? G٣yZf > Nusing accuracyPremultiplier from config49?4Y~4 ilB?:%@(D;;(4-\B -@-EZjFNOT Ignoring new targets: 478.10 m.BjJJjJ ProNav: ac range: 478.100006 m, nav range: 79.868568 m, bearing: 138.745680 deg, approach rate: 0.396192 m/s, LOS rate: -0.280274 deg/s, cmd heading: 266.111246 deg, new cmd heading: 265.729019 deg. 2jY@HeadingCmd: 4.637846 target range: 478.100006 and range: 478.10 m. j=i@jjjihhhhXBfffrfbf  @HI I$II݅BI&I.I6I<:Iq Fɛu/Bu < y}#>Iy }XtɚyiyI} =Iyҿi`5irp=)=i@) I*Fa2Fa:FaBFaJFa"GiGm=]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766159zKBHK9KKKG n=G B O >d w,7'ABj@YB@B}e=9B` b=yBH z??@i l?@T2? ?ɨBj@B;B0CyNoBN$IIVYIV4٢^IȽ v^=9z6:Q z>x| ~G٣|y~@ >  Nusing accuracyPremultiplier from config 49nj?4Y : ilB@.D::4/4! %@!ZjFNOT Ignoring new targets: 478.10 m.BjrJjr ProNav: ac range: 478.100006 m, nav range: 80.020500 m, bearing: 138.637295 deg, approach rate: 0.411207 m/s, LOS rate: -0.292789 deg/s, cmd heading: 265.729029 deg, new cmd heading: 265.404495 deg. 2jHHeadingCmd: 4.632182 target range: 478.100006 and range: 478.10 m. j:@jjjihhhhfffrfbf`@ɛ1B [; ,=I !ɚiI)=I Tӿi [3i Nfo=) :@)PExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018707*F2F:FBF0JF IGap=-~~GAQGB zYyBO>u Will construct direction to contact in vehicle frame from tetrahedron phase data.% DAT read: 21:39:41.9697 LVL= 18976, 30097, 19874, 29539, AGC= 64, IDX= 417,-0.14,-1.642,-3.097, 2.950,-2.709, PHS= 1.156,-0.340,-0.627, RAW= 81.4, -2.3, CAL= 88.9, -7.9, ROT= 61.1, 7.9  Ygot valid direction response: 21:39:41.9697 LVL= 18976, 30097, 19874, 29539, AGC= 64, IDX= 417,-0.14,-1.642,-3.097, 2.950,-2.709, PHS= 1.156,-0.340,-0.627, RAW= 81.4, -2.3, CAL= 88.9, -7.9, ROT= 61.1, 7.9  PDAT read: Bearing 61.1, 7.9 (Local)  ~Local bearing/azimuth received: Bearing 61.1, 7.9 (Local)  DAT read: Range 10 to 50 : 476.1 m (Round-trip 634.8 ms) speed 0.4 m/s % ,DAT read: user:1954> - BDAT read: Tx time:21:39:43.0823 - $Ping request sent.- ڡڡۥ3?'k=ց)ۥʎ,Iۥy$=iۥ?ۥacۡۡ5:publishing transmit ping timeQ]Fpublishing direction and range infoء9إgdqy?2]ߑ?yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥ3?'k=ց)ۡIۡiۡۡۡۡyޕ\Bޝ$IMb@Mb@Mb@ )Y9v?/$?:vy?<T3A )AI@yzAISI4٢ #=9Q > G٣=DGy > Nusing accuracyPremultiplier from config49ڍ?4YA ilB ?:pÿ@8D;;74  @ k;J?kϱ k k&'A:k CBkaCZk@"% "y)Y|{]@ܯ|@gdqy?2]ߑ?Jk?Rkac*<W@0lcPz) D(}@`G?m fSL4X[?"kK*kBkKЁ?k@M] 2kNDkA?kY kk"Bkg2@ addTargetRange:: Added new target pos. range: 476.100006 m, deltaT: 4.286276 s, deltaX: -2.000000 m, approachRate: -0.466606 m/s, rangeRepo size: 4 - Added new target pos. range: 476.100006 m, bearing: 352.284953 deg, lat: 36.900288 deg, lon: -122.116111 deg, deltaT: 4.286276 s, deltaX: -2.000000 m, approachRate: -0.466606 m/s, posRepo size: 4 Zj15FNOT Ignoring new targets: 476.10 m.Bj=Jj9m ProNav: ac range: 476.100006 m, nav range: 40.631504 m, bearing: 159.715968 deg, approach rate: 0.000000 m/s, LOS rate: -0.292789 deg/s, cmd heading: 265.404485 deg, new cmd heading: 264.950923 deg. 2jiuHeadingCmd: 4.624266 target range: 476.100006 and range: 476.10 m. ju@jqjqjqiqhyhyhhRBfffrf}@bf?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ 4B N;  \=I  eںɚiIV=IwWԿi0iʦ=)@)!*F2F:FBF`0JFjH bH p<H >I  I $II BI < =&I .I 6I ϰ<:I c F I G q=G ?G (?G B O > w,(A6n@Y6~@6f]=96R`=y6H@m`?SQ~"Z]Q??ɨ6n@6(;6/CyRCBR#I^Will construct direction to contact in vehicle frame from tetrahedron phase data.IbFIb%3٢z zz=9~oQ ~?|| G٣yiI ? 5Nusing accuracyPremultiplier from config 549 K?=4Y F i lBAEſE@ >D ; ,3; =4i m@iZjFNOT Ignoring new targets: 476.10 m.Bj]Jj]zKKKKK  ProNav: ac range: 476.100006 m, nav range: 40.701675 m, bearing: 159.471282 deg, approach rate: 0.222900 m/s, LOS rate: -0.775906 deg/s, cmd heading: 264.950934 deg, new cmd heading: 264.218182 deg. 2j HeadingCmd: 4.611477 target range: 476.100006 and range: 476.10 m. j9@jjjihhhh!f!f!JUJU$JQJQJU;JU':JQJQJU` %nManaging dock network, ignoring radio surface power offeWill construct direction to contact in vehicle frame from tetrahedron phase data.iiiv w,.(A:(@Y:7@:U=9:8Y=y:H z?`%@~+O2`պ@W?S?ɨ:(@:Ri;:1CyR4BR#II^<I^3٢f fN=9fwQ f>hh jG٣hyn߰ n> pIp zNusing accuracyPremultiplier from configtz49v?~4YvL ivlB|~ƿ~@vEDv ;v ;vD4  @ -B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 476.10 m.BjEaJjEaU ProNav: ac range: 476.100006 m, nav range: 40.787621 m, bearing: 159.168821 deg, approach rate: 0.224682 m/s, LOS rate: -0.789037 deg/s, cmd heading: 264.218191 deg, new cmd heading: 263.312801 deg. 2jU`]HeadingCmd: 4.595675 target range: 476.100006 and range: 476.10 m. j]@jYjYjYiahahahahafififirfibfu?ɛ7Bd 隝ĻI (SٺɚiI=IQؿii(ύ=)@)*F%?2F!:F)BF-M4JF1Will 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.GUb=GB!O=>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.202738" w,H(AF@YF:@F̼N=9F4`=yFH@K@g?ԩ@?F?ɨF@F};F2CyRBR#I=Mb@Mb@Mb@999 9)9Y=V-?Q?/$y=?=<=9 =@)=3AI99y=AIM.IM3٢]v޽ e?=9mKQ m>iq G٣>DGy > Nusing accuracyPremultiplier from config49I9 I=N$II=BI=; =&I9.I96I=̰<:I9ZjFNOT Ignoring new targets: 476.10 m.BjE^JjE^ ProNav: ac range: 476.100006 m, nav range: 40.890293 m, bearing: 158.820127 deg, approach rate: 0.229452 m/s, LOS rate: -0.777297 deg/s, cmd heading: 263.312808 deg, new cmd heading: 262.269475 deg. 2j\HeadingCmd: 4.577466 target range: 476.100006 and range: 476.10 m. jz@jjjihhhhBfffrfbf$?ɛu9Bul quhIy }-ɚyiyI}Z=IUڿ Igii# =)z@)E*F?2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.454732zKIKM+9KIKMKMJeJe!JaJaJe;Je:JaJaJeI_<JeI_<Je;Je;G =G qAG nAG B O >p+ w, Db(AJg@YJ˕@JO=9J#`=yJH?u̬ rg 6 ?3?ɨJg@J;HyR BR#IXZAI^yI^xV4٢f߰ fW=9fJ:Q f>hh jG٣hyn'x n> rNusing accuracyPremultiplier from configpv49r?v4YrY irylBtzƿz@rUDr;rQ;rR4| ~@|Zj!%FNOT Ignoring new targets: 476.10 m.Bj-gJj-g] ProNav: ac range: 476.100006 m, nav range: 40.976055 m, bearing: 158.529543 deg, approach rate: 0.239672 m/s, LOS rate: -0.810368 deg/s, cmd heading: 262.269483 deg, new cmd heading: 261.399626 deg. 2je uHeadingCmd: 4.562284 target range: 476.100006 and range: 476.10 m. ju;@jqjyjyihhhhfffrfbf`?ɛ;B  KW=I ɚiIBF=IFܿiiF=);@5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.706645)y*F ?2F:FBF^0JFGʖ=GBOA> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961889VV w,"|(A6@Y6c@6O=96W_=y6Hg?A@~@Ψ\奔 ?D?ɨ6@6;61CyNBN#IeMb@Mb@Mb@aaa a)aYey&1?L7A`? rhye`%?e+=eCa e@)aIaayeQAI}qI}JH4٢2 ?=9]Q > G٣y > Nusing accuracyPremultiplier from config49?4Ya idlB%?:<ǿ@^D;j;Z4 @ZjFNOT Ignoring new targets: 476.10 m.BjlJjl  ProNav: ac range: 476.100006 m, nav range: 41.081779 m, bearing: 158.172508 deg, approach rate: 0.245974 m/s, LOS rate: -0.828520 deg/s, cmd heading: 261.399618 deg, new cmd heading: 260.331401 deg. 2j &HeadingCmd: 4.543640 target range: 476.100006 and range: 476.10 m. je@jjjihhhhBf!f!f!rf!bf%`N@ɛ]IC I$IIcBI: =&I.I6I<:IN FG B O5 > I v=% w,(A:B@Y:Q@:M=9:o`=y:HΔ ??$@V򱩿?q?ɨ:B@:Q;8yFքBFc#IRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.462975INiIN:4٢^{  bX=9bQ b>dd fG٣f?DGyfr j> nNusing accuracyPremultiplier from confighr49j?r4Yjg ijRlBpr>ȿr@jfDj ;jC ;j`4v\B zZ@zEZjFNOT Ignoring new targets: 476.10 m.Bj%nJj%n= ProNav: ac range: 476.100006 m, nav range: 41.174488 m, bearing: 157.858387 deg, approach rate: 0.246205 m/s, LOS rate: -0.832326 deg/s, cmd heading: 260.331403 deg, new cmd heading: 259.391251 deg. 2j=EHeadingCmd: 4.527231 target range: 476.100006 and range: 476.10 m. jEߐ@jAjAjAiAhIhIhIhIfQfQfQrfQbfU`BS@ɛ>Bu 隅fOI ɚiI=Iii=)ߐ@)EqAEJMJMJIJIJMM;JMz:JIJIJM\<JM\<JM;JM;zKujIKu9KqKuKuBK:KrA*FQ2FQ:FQBFUo0JFQG]qA G]rAG5'=GBO-,>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714989g+ w,֯(A $I$:~@Y:@:H=9: 9[=y:H`du?B%@Y[?n?ɨ:~@:d;8yNфBR]#I)T TIZoIZD4٢%ּ %D=9-56Q ->)) 5G٣1y5 5> ENusing accuracyPremultiplier from config9E49=?M4Y=n i=>lBIMtɿM@=nD=:=n:=h4Q U@YuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 476.10 m.BjlJjl ProNav: ac range: 476.100006 m, nav range: 41.275990 m, bearing: 157.511665 deg, approach rate: 0.242967 m/s, LOS rate: -0.827912 deg/s, cmd heading: 259.391242 deg, new cmd heading: 258.353752 deg. 2j HeadingCmd: 4.509124 target range: 476.100006 and range: 476.10 m. jJ@jjjihhhhfffrfbf@@ɛ@Bꋼ ]I 'xɚiI=ItiiX#=)J@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970498E=4=*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=3.219563G =G B O >2 w,G(A2t@Y2í@2/C=92Q=y2H谿?篫 േBx0? ?ɨ2t@2;20Cy>B>E#I Mb@Mb@Mb@   H=>I9 I=#II=0BI=9 =&I9.I=0D6I=<:I=\ FBICJIRIZI; =bI; =jI5 ) Y Q? rh?{Gzy \/? C = ף A @) I @ y AInIB4٢h 1=9 0Q %>!! %G٣!y- -> =Nusing accuracyPremultiplier from config9E49=?E4Y=v i=&lBE/?M:MʿM@=xD=;=94;=p4]]B ]@]E qIugZjFNOT Ignoring new targets: 476.10 m.BjyJjy ProNav: ac range: 476.100006 m, nav range: 41.393299 m, bearing: 157.105735 deg, approach rate: 0.253169 m/s, LOS rate: -0.873557 deg/s, cmd heading: 258.353763 deg, new cmd heading: 257.139618 deg. 2jHeadingCmd: 4.487933 target range: 476.100006 and range: 476.10 m. j&@jjjihhhhBfffrfbf m @ɛ}AB}eʚ y}I "ɚiId=I%i)i-~X=)5&@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:39:46.1191 TRx dataTimestamp_ set to:1736372387.372791 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471988JJJ1JJ5;Ju:J3JJUc<JVc<JC;JC;zK BHK +9K K K EmhW=*F ?2F :F BF JF "G =G >G ea=G B O >8 w,(A6C@Y6R@6cw?=96C=y6H ?#@:O@짿 EW?`?ɨ6C@6"Q;4yBBB-#IIJ{IJZ4٢R Rf=9VXDQ V>TT ZG٣Z@DGyZ Z> bNusing accuracyPremultiplier from config`f49b?f4YbS} iblBhjk̿j@bDb:b :bJv4p v5@t]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.722657ZjFNOT Ignoring new targets: 476.10 m.BjcnJjcn ProNav: ac range: 476.100006 m, nav range: 41.482738 m, bearing: 156.792543 deg, approach rate: 0.238586 m/s, LOS rate: -0.833660 deg/s, cmd heading: 257.139629 deg, new cmd heading: 256.202165 deg. 2jHeadingCmd: 4.471571 target range: 476.100006 and range: 476.10 m. j@jjji!h!h!h)h)fQfQfYrfYbfe$}@ɛCB sļ 㘾I h1ɚiIa=I%i!i%3=)%@))E1E1*E1"E1 aIaEY>E*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data.U DAT read: 21:39:46.1191 LVL= 12752, 25249, 18882, 23459, AGC= 66, IDX= 427,-0.28,-0.363,-1.812,-2.339,-1.744, PHS= 1.469,-0.021,-0.598, RAW= 74.3, -9.2, CAL= 84.9, -18.0, ROT= 65.1, 18.0 ] Ygot valid direction response: 21:39:46.1191 LVL= 12752, 25249, 18882, 23459, AGC= 66, IDX= 427,-0.28,-0.363,-1.812,-2.339,-1.744, PHS= 1.469,-0.021,-0.598, RAW= 74.3, -9.2, CAL= 84.9, -18.0, ROT= 65.1, 18.0 u PDAT read: Bearing 65.1, 18.0 (Local) } ~Local bearing/azimuth received: Bearing 65.1, 18.0 (Local)  DAT read: Range 10 to 50 : 474.5 m (Round-trip 632.7 ms) speed 0.3 m/s  ,DAT read: user:1955>  BDAT read: Tx time:21:39:47.2323  $Ping request sent. s? )>YV`Ŀ) )LI "%>i Y? A  :publishing transmit ping time  Fpublishing direction and range info 9 3p ׼ʽ?귔H?-qx?y  ) I i ) I i s? )>YV`Ŀ) I i G m=G B O >@ w,b)AymBm%#IMb@Mb@Mb@ )Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:39:47.2315 YQ?A`"?Mby5?Y= +@)AI+@ypAI|I[4٢Ҹ =9Q > EG٣AyE E> UNusing accuracyPremultiplier from configIU49M?U4YMq iMkB]O6?]:]Eɿ]@MDMk;M_;M4 @kg"?k+p k kQ(A:k@CBkCZk0D@";4M#K@r"$d@hR{@3p ׼ʽ?귔H?-qx?JkY?RkA**ːOa@aU Y{@?YHSǿ?"k[*kB Ckf"?k\ 2kCkt`9?k|mS@ kk@k1@= addTargetRange:: Added new target pos. range: 474.500000 m, deltaT: 4.030074 s, deltaX: -1.600006 m, approachRate: -0.397017 m/s, rangeRepo size: 4 M Added new target pos. range: 474.500000 m, bearing: 328.137140 deg, lat: 36.900568 deg, lon: -122.116269 deg, deltaT: 4.030074 s, deltaX: -1.600006 m, approachRate: -0.397017 m/s, posRepo size: 4 ZjIUFNOT Ignoring new targets: 474.50 m.BjUJjQ ProNav: ac range: 474.500000 m, nav range: 7.582337 m, bearing: 159.143438 deg, approach rate: 0.000000 m/s, LOS rate: -0.833660 deg/s, cmd heading: 256.202172 deg, new cmd heading: 254.862804 deg. 2jHeadingCmd: 4.448195 target range: 474.500000 and range: 474.50 m. jW@jjjihhhhBfffrf}@bf d?ɛeEBe< ae֠Ia mGɚiiiH>I I#IIBI&I.I6I<:I FImQ =IiiwS>)W@) I*F)2F):F)BF-}0JF1G{=GBO >} Will construct direction to contact in vehicle frame from tetrahedron phase data.J J F w,H1)AJNJNJN0JLJN;JNw:JNـ3JLJN`<JN`<JN;JN;JJn@YJ}@J?1=9J=yJH_q?/ `ɺ`&@٢??ɨJJn@JSӋ;J1Cy^B^#IzKBoHKh9KKKIjiIj:4٢-޽ Up=9U$Q U?YY ]G٣YyeA e? mNusing accuracyPremultiplier from configa49eq?4YeӍ iekB̿@eDe;e ;e4 @ZjFNOT Ignoring new targets: 474.50 m.BjµJjµ% ProNav: ac range: 474.500000 m, nav range: 7.665712 m, bearing: 157.432656 deg, approach rate: 0.250582 m/s, LOS rate: -5.085019 deg/s, cmd heading: 254.862799 deg, new cmd heading: 249.800245 deg. 2j%ZMHeadingCmd: 4.359837 target range: 474.500000 and range: 474.50 m. jUȃ@jQjQjQiYhYhahhfffrfbf@>?ɛFB 鴾I |*XɚiI =Ii i 2+>) ȃ@)*F2F:FBFP5JFWill construct direction to contact in vehicle frame from tetrahedron phase data. I ) 5 GM tAi Y tAy KBG =Gq B O >L w,6)A2-@Y2|@2%=926`!@-Kw? "?ɨ2-@2Q^;2/Cy>B>#IIFIFa4٢RN RS=9RQ V>TT VG٣VADGyZ* ^> nNusing accuracyPremultiplier from confighr49jl?v4Yj ijkBtvοv@jDja;jN;jl4~^B ~O@~E5Will construct direction to contact in vehicle frame from tetrahedron phase data.=B*** querying acoustic contact ***j9j9ZjYmFNOT Ignoring new targets: 474.50 m.Bj}ͭJj}ͭ] ProNav: ac range: 474.500000 m, nav range: 7.763846 m, bearing: 155.533451 deg, approach rate: 0.254504 m/s, LOS rate: -4.862330 deg/s, cmd heading: 249.800235 deg, new cmd heading: 244.193631 deg. 2jePHeadingCmd: 4.261983 target range: 474.500000 and range: 474.50 m. j*b@jjjihh hhfAfIfQrfYbf} A?ɛGB2 I  kɚiIY!=Iii28>)*b@)EA*F2F:FBF5JFG>GBO>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 s#II BI 8 =&I .I 6I հ<:I o FS w,O)A $I$:C`@Y:o@:G=9:)w=ǣ?@U?ɨ:C`@:$;8yfBf"I]Mb@Mb@Mb@YYY Y)YY]bX9?{Gz?{Gzy]E6?]#=]#]A Y)YI]@Yy]AImPIm 4٢} >=9|Q > G٣y<" > Nusing accuracyPremultiplier from config49_?4Y ikB6?:Gӿ@D;+;4 @ZjFNOT Ignoring new targets: 474.50 m.BjJj ProNav: ac range: 474.500000 m, nav range: 7.872987 m, bearing: 153.443365 deg, approach rate: 0.259344 m/s, LOS rate: -4.896563 deg/s, cmd heading: 244.193634 deg, new cmd heading: 238.035492 deg. 2jR HeadingCmd: 4.154503 target range: 474.500000 and range: 474.50 m. j @j j j i hhhhBfffrfbf^Q?ɛHB [ žI ~ɚiI"=I%Ei!i% h>)-@))UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478452*F-?2F):F)BF-Y0JF)zKk3IK+9KKKGm >GA Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729502Y w,i)ARڊ@YR@Rz =9Rx҇qq }G٣yy}p& }> Nusing accuracyPremultiplier from config49?4Y ikB_տ@D ;6;4 @ZjFNOT Ignoring new targets: 474.50 m.BjJj ProNav: ac range: 474.500000 m, nav range: 7.980149 m, bearing: 151.526715 deg, approach rate: 0.267470 m/s, LOS rate: -4.718729 deg/s, cmd heading: 238.035480 deg, new cmd heading: 232.382221 deg. 2jfJHeadingCmd: 4.055835 target range: 474.500000 and range: 474.50 m. jfɁ@jjjihhhhfffrfbfy?ɛ5IB5B 15ȾI1 =J!ɚ9i9I=#=IEiAiE >)EfɁ@)I 1I=g*F?2F:FBF_0JFG>GBO@>UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.981378JJJJJ;Jx:JJa% @a% @a% @a- @` w,T)A:S@Y:b@:@=9: T ףp=?kt?Mbpy51?5 0=55A 5MA)1I5A@1y5AIMwIMR4٢e eK=9eQ e>ii mG٣mBDGyu' u> }Nusing accuracyPremultiplier from configy49}?4Y} i}kBC2?:ֿ@}D}Y;};}4 @ZjFNOT Ignoring new targets: 474.50 m.BjJj ProNav: ac range: 474.500000 m, nav range: 8.090531 m, bearing: 149.694908 deg, approach rate: 0.274670 m/s, LOS rate: -4.495242 deg/s, cmd heading: 232.382215 deg, new cmd heading: 226.978769 deg. 2j@HeadingCmd: 3.961527 target range: 474.500000 and range: 474.50 m. j}@jjjihhhqhuBfyfyfyrfybf}@ɛJB 隭̾IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234821 ɚiIUr$=IY ii)}@)*F?2F:FBF`0JFZHIRHIH]>I]C I]Z#II]τBIY&IY.IY6I]<:I]a FGCB> )I-gGYBqOh>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485464g w,Lk)A2‰@Y2Ґ@2n=92];y2H,ǿp?@ l`ǿx`}??ɨ2‰@2^;20Cy>wBB"IIFxIFT4٢f fT=9flQ j>hh jG٣hynW< n> rNusing accuracyPremultiplier from configpv49r?v4Yr irkBtz ٿz@rDrv:r:r4zKK]9KKK}_B }@}EZjFNOT Ignoring new targets: 474.50 m.Bj啽Jj啽 ProNav: ac range: 474.500000 m, nav range: 8.199494 m, bearing: 147.974336 deg, approach rate: 0.269197 m/s, LOS rate: -4.193621 deg/s, cmd heading: 226.978770 deg, new cmd heading: 221.899759 deg. 2j3HeadingCmd: 3.872881 target range: 474.500000 and range: 474.50 m. jJw@jjjihh h h f ff1rf1bf5`>@ɛ& 隥ӾI  ɚiI[%=IMiQiY)]Jw@)Y*F2F:FBFm0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738278Gb>G?G>GBOEs>  I ,m w,)B)A:D@Y:*@: =9:tt vG٣tyzM z> ~Nusing accuracyPremultiplier from config|49~G?4Y~? i~kB ۿ @~ʊD~X;~;~ǯ4-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992074Y ]L@Y}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 474.50 m.BjJj ProNav: ac range: 474.500000 m, nav range: 8.317183 m, bearing: 146.190188 deg, approach rate: 0.297094 m/s, LOS rate: -4.439441 deg/s, cmd heading: 221.899759 deg, new cmd heading: 216.638741 deg. 2jl>HeadingCmd: 3.781059 target range: 474.500000 and range: 474.50 m. jq@jyjyjihJJJJJM;J|:JJhh!h!f)fyfrfbf@ɛ KB7 )ѾI ɚiIT&=I%i!i!)Mq@)I*F2F:FBF~0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241547G d>G B O >HI II  IM N#IIM ńBIM 7 =&II .II 6IM 2<:IM F  I it w, )Ay xB "IMb@Mb@Mb@ )YM? G٣CDGy > Nusing accuracyPremultiplier from config49S|?4Y ikB2?:ܿ@ԊD; ;\4 i@Zj!-FNOT Ignoring new targets: 474.50 m.Bj-8Jj-8E ProNav: ac range: 474.500000 m, nav range: 8.449065 m, bearing: 144.328124 deg, approach rate: 0.310482 m/s, LOS rate: -4.314577 deg/s, cmd heading: 216.638738 deg, new cmd heading: 211.157490 deg. 2jE9MHeadingCmd: 3.685393 target range: 474.500000 and range: 474.50 m. jM|k@jIjIjIiQhQhYhih}Bfffrfbf@] @ɛLB6q 隵ӾI КɚiIQ7'=Iii)|k@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:21:39:50.2679 =TRx dataTimestamp_ set to:1736372391.405127=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494991*F-?2F):F)BF-e2JF1G ]l>GBOe>zK1K559K1K5K5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746019rAz w,)A^@Y^@^V=9^Ty^H7п ?@W?`!`-п@`?ɨ^@^{;\yj~Bj"IIrrIrJ4٢z< zX=9~ߎQ ~>| G٣y >  Nusing accuracyPremultiplier from config 49 w?4Y  i kBE㿑@ ݊D 2 ;  ; 4! %@)ZjFNOT Ignoring new targets: 474.50 m.BjJj ProNav: ac range: 474.500000 m, nav range: 8.559251 m, bearing: 142.717510 deg, approach rate: 0.286365 m/s, LOS rate: -4.131438 deg/s, cmd heading: 211.157484 deg, new cmd heading: 206.399441 deg. 2j51HeadingCmd: 3.602350 target range: 474.500000 and range: 474.50 m. jf@jjjihhhhfffrfbf 9@ɛy}~ y}ξI cɚiI (=I9 $?Iii)f@)*F?2F:FBF5JFG6>GqBO_>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.997424J J J J J J z:J J ( w,]*A2@Y2M@2=92y2H`$ѿܷ? ?`ѿ|Τ@}ӡ?ɨ2@2$V;20CyN{BN"I-Mb@Mb@Mb@))) )))Y-V-? rh?~jtxy--?-C =-Ļ-A -A))I))y-AIMoIMD4٢]( ]D=9e8SQ e>ai mG٣iym m> }Nusing accuracyPremultiplier from configq}49uMr?4Yu+ iuvkB-?:濑@uDu;u;u@4`B G@EZjFNOT Ignoring new targets: 474.50 m.BjْJjْ ProNav: ac range: 474.500000 m, nav range: 8.677908 m, bearing: 141.008463 deg, approach rate: 0.289232 m/s, LOS rate: -4.108307 deg/s, cmd heading: 206.399437 deg, new cmd heading: 201.356216 deg. 2j70 HeadingCmd: 3.514329 target range: 474.500000 and range: 474.50 m. j `@j j j i Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:39:50.2679 LVL= 13936, 26097, 19666, 27427, AGC= 66, IDX= 431, 0.05, 2.696, 0.945, 0.441, 1.448, PHS= 1.336,-0.456,-1.010, RAW= 76.9, 1.2, CAL= 81.9, -2.5, ROT= 68.1, 2.5 Ygot valid direction response: 21:39:50.2679 LVL= 13936, 26097, 19666, 27427, AGC= 66, IDX= 431, 0.05, 2.696, 0.945, 0.441, 1.448, PHS= 1.336,-0.456,-1.010, RAW= 76.9, 1.2, CAL= 81.9, -2.5, ROT= 68.1, 2.5 PDAT read: Bearing 68.1, 2.5 (Local) ~Local bearing/azimuth received: Bearing 68.1, 2.5 (Local) DAT read: Range 10 to 50 : 473.6 m (Round-trip 631.5 ms) speed 0.0 m/s ,DAT read: user:1956> BDAT read: Tx time:21:39:51.3807 $Ping request sent.˻ɚiI(=I%ii)`@)-Fpublishing direction and range infoؑ9ؕC3HD?f?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑە{n`?18Zl'x'?)ۑIۑiۑۑjH<bH<HI III&I.I6I<:IV FBIėCJIėCRIZI8 =bI8 =jIĔW5ۑۑ Ig*F?2F:FBF4JFG A>GA BI m Will construct direction to contact in vehicle frame from tetrahedron phase data.Ou >Q w,*A6@Y6<͌@6=963y6Hӿo?a?oӿR 9p?ɨ6@6;4yNzBN"IIV-IV3٢bA bU=9bαQ b>dd fG٣fDDGyj| j> nNusing accuracyPremultiplier from confighr49jl?r4Yj ijkkBpr꿑v@jDjy;j:j4x zl@zEkgB-?k϶ k k< *A:kCBk%CZk@"#_$IDVc@na{@C3HD?f?Jk?Rk]*e@Z" qIqG B O- >{ w,8*A2h@Y2Ë@2<92$Ry2Hտ?? v܁տqJp?ɨ2h@2;22Cy>B>#ITVAIZVIZn4٢ft= fJ=9fZjQ j>hh jG٣hynݣ n> rNusing accuracyPremultiplier from configpv49re?v4Yr ir_kBxzz@rDr:r;r4 @%Will construct direction to contact in vehicle frame from tetrahedron phase data.-B*** querying acoustic contact ***j)j)ZjQeFNOT Ignoring new targets: 473.60 m.Bju;Jj}; ProNav: ac range: 473.600006 m, nav range: 94.753059 m, bearing: 355.872954 deg, approach rate: 0.149238 m/s, LOS rate: 0.400250 deg/s, cmd heading: 196.582325 deg, new cmd heading: 197.068729 deg. 2jX<HeadingCmd: 3.439498 target range: 473.600006 and range: 473.60 m. j \@jjjihhhhfffrfbf/?J#K# K#K#K#"K#JJJJJ;Jx:JJɛ5NB5з 15ǾI1 =Qɚ9i9I=j*=IE0iAiA)E \@)i*F2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G- K>G- ?G- >H I  I T#II ʄBI &I .I 6I !<:I FG B O- > a Ia tc w,hR*A6ः@Y6/@60<96My6HZ׿?41?m~׿ ҧ@䞿?ɨ6ः@6;61CyNBR#I]Mb@Mb@Mb@YYY Y)YY]S㥛?Iu3٢3< ?=92Q > G٣yx > Nusing accuracyPremultiplier from config49]?4Y iVkB$?:@D;;4 @ZjFNOT Ignoring new targets: 473.60 m.Bj;Jj;  ProNav: ac range: 473.600006 m, nav range: 94.829094 m, bearing: 356.033139 deg, approach rate: 0.179375 m/s, LOS rate: 0.377592 deg/s, cmd heading: 197.068730 deg, new cmd heading: 197.548888 deg. 2j <HeadingCmd: 3.447879 target range: 473.600006 and range: 473.60 m. j \@jjjihhhhڄBfffrfbf'k?ɛZ  žI ɚiI+=Ij4ii) \@) 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248534*F?2F:FBF`0JFzKK9KKKGA>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500751 w,J@l*A@Yi@8q=9}|yH>ۿ?? 1ۿ:\ 9?ɨ@ي;/CyB #II-aI-+4٢5< =P=9EW;Q E>AA MG٣MEDGyMU! M> UNusing accuracyPremultiplier from configQ]49UXU?e4YU iULkBaee@UDU;U;Uf4i m @qZjFNOT Ignoring new targets: 473.60 m.BjW;JjW; ProNav: ac range: 473.600006 m, nav range: 94.914696 m, bearing: 356.177390 deg, approach rate: 0.217410 m/s, LOS rate: 0.366037 deg/s, cmd heading: 197.548892 deg, new cmd heading: 197.981248 deg. 2j5{<HeadingCmd: 3.455425 target range: 473.600006 and range: 473.60 m. j%]@jjjihhhhfff $?Irf~Gbf}?|uA Y|uAyBɛ15U 15I1 5"ɚ9i9I=k,=I=x7iAiI)M%]@)IE]rAE]qA*F?2F:FBFp0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.751613Gi Gi B O >;t w,?*AF?@YF@F=9FSyFH@%ܿ@y?ZA?iܿ`02}`?ɨF?@Fq;F1CyVBV#I Zp=Z=mMb@Mb@Mb@iii i)iYmQ?~jth?Mbpym(?mD;mmA mA)m\AImn@iymAI}lI}m?4٢< E=9 G٣y > Nusing accuracyPremultiplier from config49K?4Y iAkB*?:P@D$;#;4bB @EZjFNOT Ignoring new targets: 473.60 m.Bj;Jj; ProNav: ac range: 473.600006 m, nav range: 95.013268 m, bearing: 356.318112 deg, approach rate: 0.236758 m/s, LOS rate: 0.337646 deg/s, cmd heading: 197.981243 deg, new cmd heading: 198.402961 deg. 2jg<HeadingCmd: 3.462785 target range: 473.600006 and range: 473.60 m. j%E]@j!j!j)i)h)h)h)h5Bf1f1f9rf9bf=^@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003196ɛ 15gI1 5Uɚ1i1I5 W-=I=8iAiA)EE]@)AHI Ig#IIڄBI&I.I6I԰<:Iq F*F?2F:FBF0JF IgG <>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=2.255898A w,'*AJ0J0J6J6#J4J4J6;J6:J4J4J4a:J4a:J6;aBJ6;aBZZ@YZS@Z!=9ZQyZH ޿@?L޿夿[>H1?ɨZZ@Z; ;Z0CyUB]%#IImIm1h4٢}0= K=9 G٣yܡ > Nusing accuracyPremultiplier from config49A?4YL i6kBW@D7::4 @zKBHK9KKKBK:KqAZjFNOT Ignoring new targets: 473.60 m.Bj;Jj;  ProNav: ac range: 473.600006 m, nav range: 95.116318 m, bearing: 356.452130 deg, approach rate: 0.255760 m/s, LOS rate: 0.332259 deg/s, cmd heading: 198.402966 deg, new cmd heading: 198.804579 deg. 2jd<HeadingCmd: 3.469795 target range: 473.600006 and range: 473.60 m. j^@jjjihh!h!h!f!f)f)rf)bf-yH@ɛY]zg Y]Ia evɚaiaIeZ<.=Im 9iiii)m^@)q*F-?2F1:F1BF5O5JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507462 IGMF>G) B1 OM >*ɭ w,cҹ*A @6$U}@Y6ṅ@60=96bԻy6HAώ?Đ5`Cfz /?ɨ6$U}@6;6/Cy>BB#IIJtIJM4٢Rݼ RZ=9RTT VG٣VFDGyVw Z> ^Nusing accuracyPremultiplier from configXb49Z:8?b4YZ| iZ*kB`b[b@ZDZX ;Z ;Z:4h j7@hzB*** querying acoustic contact ***jxjxWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759485ZjyFNOT Ignoring new targets: 473.60 m.Bj;Jj; ProNav: ac range: 473.600006 m, nav range: 95.219147 m, bearing: 356.574693 deg, approach rate: 0.264285 m/s, LOS rate: 0.314664 deg/s, cmd heading: 198.804581 deg, new cmd heading: 199.171869 deg. 2jW<HeadingCmd: 3.476205 target range: 473.600006 and range: 473.60 m. j$z^@jjjihhhh!f!f!f!rf!bf-@ɛ N R}=I %LɚQiQI]mJ/=I^7ii)$z^@)EV>E>*F=?2F9:FABFEP5JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012640G H >I  I s#II BI &I .I 6I <:I F I G B O- > w, *A:1{@Y:I@:A=9:{%y:H`)@C?@pЗ@ .`-4d`?ɨ:1{@:2;:-CyFBF+#IMb@Mb@Mb@ )Yd;O?~jtMbp?y?D;A EA)AIMAyAI-vI-&Q4٢E#@= E@=9MIQ UG٣QyU۠ U> eNusing accuracyPremultiplier from configYe49],?m4Y] i] kBm?m:m! m@]'D];]U;]4y }@}EZjFNOT Ignoring new targets: 473.60 m.BjM;JjM;] ProNav: ac range: 473.600006 m, nav range: 95.343796 m, bearing: 356.702967 deg, approach rate: 0.305054 m/s, LOS rate: 0.313514 deg/s, cmd heading: 199.171868 deg, new cmd heading: 199.556180 deg. 2j])WGa B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:39:54.4043  TRx dataTimestamp_ set to:1736372395.693118 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516829ݺ w,*A #y@Y !@ T=9 N y H`Xhn?0d @Gya?ɨ #y@ ; .CyEBE0#I ]$?IYImlImm?4٢W< C=9g7 G٣y > Nusing accuracyPremultiplier from config49 ?4Y ikB/ @/D;;4 c@ZjFNOT Ignoring new targets: 473.60 m.Bj$;Jj$;- ProNav: ac range: 473.600006 m, nav range: 95.473488 m, bearing: 356.826326 deg, approach rate: 0.309517 m/s, LOS rate: 0.294002 deg/s, cmd heading: 199.556175 deg, new cmd heading: 199.925744 deg. 2j5I<5HeadingCmd: 3.489362 target range: 473.600006 and range: 473.60 m. j=Q_@j9j9j9i9h9h9hAhAfAfAfIrfIbfM @ɛqu' y}uIy }!ɚyiyI}^1=I3ii)Q_@)*F-?2F):F)BF-_0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767228GMA>G B O] >- w,l+AyrBrD#IuMb@Mb@Mb@qqq q)qYum?y&1Mb`?yu?u`弹u;uA u3A)u AIqqyuAIjI;4٢ = K=9Q > G٣GDGy > Nusing accuracyPremultiplier from config49\?4Y i kB?:@6D;B; 4 \@ZjFNOT Ignoring new targets: 473.60 m.Bj%D;Jj%D;5 ProNav: ac range: 473.600006 m, nav range: 95.599312 m, bearing: 356.937852 deg, approach rate: 0.310653 m/s, LOS rate: 0.274988 deg/s, cmd heading: 199.925743 deg, new cmd heading: 200.259876 deg. 2j5<<=HeadingCmd: 3.495194 target range: 473.600006 and range: 473.60 m. j=C_@j9j9j9iAhAhAhAhMGBfIfIuWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:39:54.4043 LVL= 13280, 20945, 19298, 24339, AGC= 67, IDX= 441,-0.32,-0.299,-0.918,-2.260,-1.212, PHS= 1.001, 0.341,-1.052, RAW= 48.4, -3.2, CAL= 50.5, -7.0, ROT= 99.5, 7.0 Ygot valid direction response: 21:39:54.4043 LVL= 13280, 20945, 19298, 24339, AGC= 67, IDX= 441,-0.32,-0.299,-0.918,-2.260,-1.212, PHS= 1.001, 0.341,-1.052, RAW= 48.4, -3.2, CAL= 50.5, -7.0, ROT= 99.5, 7.0 PDAT read: Bearing 99.5, 7.0 (Local) ~Local bearing/azimuth received: Bearing 99.5, 7.0 (Local) DAT read: Range 10 to 50 : 464.5 m (Round-trip 619.4 ms) speed 0.0 m/s ,DAT read: user:1957> BDAT read: Tx time:21:39:55.4808 $Ping request sent.u𧆿u@X?ud uܢa?)u5IuH?iu5=qqu>ex?,R %4߬)uIu g=iuP?uDqqM:publishing transmit ping timeUFpublishing direction and range infoq9uC?kS?)K;?yqqqq q)qIqiqqqqq q)qIqiqqqu>ex?,R %4߬)qIqiqqqqfrf}@bfǢ?ɛMB I iLɚi I s2=Iqn2ii)C_@)jH-<bH-<H1I1 I5#II5BI56 =&I1.I1 III6I5<:I1ElT=E*F% ?2F! :F! BF- 5JF) M Will construct direction to contact in vehicle frame from tetrahedron phase data.] JDAT read: TxSync time:21:39:55.4800 J J J J J ;J ~:J J J d<J d<J n;J n;G%K>zKBoHK@9KKKYEn\(H(M  4vWI]sqeYMD:20*# GB O%>X w,3'+AFt@YF/@F}=9F#fyFH`Q1?@$#,ᵯ`;l9?ɨFt@F0;F/CynÄBnK#ItvAAI~I~1h4٢< +=9@)9 EG٣AyUu U> uNusing accuracyPremultiplier from configa}49eu?}4Ye1 iejBI@e>De=O w,YLA+Ar@Yą@ =9IH:yHy`?Ew6७,S? ?ɨr@;騽0CyBI#IuMb@Mb@Mb@qqq q)qYux&?ktMb`?yu7 ?u 0qu3A uEA)u AIu@qyuAIlIm?4٢  2=9 G٣y > Nusing accuracyPremultiplier from config49/?4Y ijB ?:6@FDU;;[4 1@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 464.50 m.BjX;JjX; ProNav: ac range: 464.500000 m, nav range: 144.370499 m, bearing: 349.712371 deg, approach rate: 0.323869 m/s, LOS rate: 0.189392 deg/s, cmd heading: 200.684850 deg, new cmd heading: 200.922934 deg. 2j<HeadingCmd: 3.506767 target range: 464.500000 and range: 464.50 m. jn`@jjjihhhhjBfffrfbf;j?ɛMLBM) IMII UshɚQiQIUF5=I]1iYiY)]n`@)aEiEi*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. 1I=gHE >IA IE#IIEBIA&IA.IA6IE<:IE FBIJIRIZI7 =bI7 =jInj4E1E5nA*F ?2F :F BF P0JF "G >G =u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251574G GBO> w,`+AFp@YF?@F =9FR:yFHR7?@@ E@ڦ> L]?'?ɨFp@F);DyNBR@#IIV7IV3٢^F  bC=9bR?dd fG٣fHDGyfq j> nNusing accuracyPremultiplier from configlr49ny?r4Yn injBpr3r@nMDn:nn:n#4x ~@~EJeJeJaJaJeM;Je|:JaJaJe\<Je\<Je;Je;ZjFNOT Ignoring new targets: 464.50 m.Bj=;Jj=; ProNav: ac range: 464.500000 m, nav range: 144.502884 m, bearing: 349.784638 deg, approach rate: 0.304408 m/s, LOS rate: 0.166019 deg/s, cmd heading: 200.922937 deg, new cmd heading: 201.139538 deg. 2j;HeadingCmd: 3.510547 target range: 464.500000 and range: 464.50 m. jά`@jjjihhhhfff rf bf?ɛQ]@ Y]qIY ]Q[ ɚYiaIe}6=In2ii)ά`@)zK%PK!K!K%K%K aF1% *F%?2F!:F!BF%`0JF!uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.502200 IGEF>G! B) OU > w,y+A>"o@Y>>A}@>`=9>"f;y>H`J? ~:`l (@!p??ɨ>"o@>;>/CyFBFG#ILNAIRnIRB4٢Z< ZL=9Za\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj49f ?j4Yf ifjBhnn@fTDfn:f:f*4p vV@tZj FNOT Ignoring new targets: 464.50 m.BjH;JjH;- ProNav: ac range: 464.500000 m, nav range: 144.634216 m, bearing: 349.852001 deg, approach rate: 0.342103 m/s, LOS rate: 0.175311 deg/s, cmd heading: 201.139536 deg, new cmd heading: 201.341439 deg. 2j-;-HeadingCmd: 3.514071 target range: 464.500000 and range: 464.50 m. j5`@j1j1j1i1h1h1h9h9f9fAfArfAbfE ?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754809ɛȓ L=隥ٌI $ɚiI8=I+91ii)`@)*F?2F:FBFo0JFG <> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006732G B! O= > $?I ZH RH AAH I  I #II BI &I .I 6I 4<:I F w,į+Ay~B~?#IMb@Mb@Mb@ )Y"~j?T㥛 ~jth?yS?D;EA \A)X AIMAyAII{4٢K :=9Q > G٣y > Nusing accuracyPremultiplier from config49U?4Yt ijBQ?:@[DF;;b24eB @EZj!-FNOT Ignoring new targets: 464.50 m.Bj-b2;Jj-b2; ProNav: ac range: 464.500000 m, nav range: 144.780670 m, bearing: 349.920668 deg, approach rate: 0.332963 m/s, LOS rate: 0.155956 deg/s, cmd heading: 201.341437 deg, new cmd heading: 201.547228 deg. 2j;HeadingCmd: 3.517663 target range: 464.500000 and range: 464.50 m. jc!a@jjjihhh h{Bfffrfbf s@ɛae im#I (ɚiIҗ9=IR0ii)c!a@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259747*F2F:FBFJFG GpAzK NK K K K G% F>G) G- rAG B! OM > w,+A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510509BPk@YBOoy@BY=9BpMG G٣IDGyL"  > Nusing accuracyPremultiplier from config 49 (?4Y z# i jB @ bD  ; h; 84) -_@)ZjIUFNOT Ignoring new targets: 464.50 m.BjUo(; e$?IaJjUo(;) m~~GvA ProNav: ac range: 464.500000 m, nav range: 144.914597 m, bearing: 349.976152 deg, approach rate: 0.355772 m/s, LOS rate: 0.147256 deg/s, cmd heading: 201.547230 deg, new cmd heading: 201.713528 deg. ?YvAy%B2j;]HeadingCmd: 3.520565 target range: 464.500000 and range: 464.50 m. jePa@jajajiiqhyhyhyhyfffrfbf@] @ɛQU9 QUIQ ]W,ɚYiYI]i@;=Ie0iaia)Pa@)*F2F!:F!BF%0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762209J J J J J J q:J J a @a @a @a @G G B O= >7 w,)+AJXi@YJww@Jh<=9JCMb G٣y > Nusing accuracyPremultiplier from config49N?4Y& ijB?:"@iD<<F@49 =2@A}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 464.50 m.Bj;Jj; ProNav: ac range: 464.500000 m, nav range: 145.067474 m, bearing: 350.034674 deg, approach rate: 0.347029 m/s, LOS rate: 0.132705 deg/s, cmd heading: 201.713532 deg, new cmd heading: 201.888913 deg. 2j%;HeadingCmd: 3.523626 target range: 464.500000 and range: 464.50 m. ja@jjjihhhhoBfffrfbf@@mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.014381ɛ 隍I 'w0ɚiI/<=I0i'i.>)a@) iIiHI I#IIBI&I.I6I<:I FE(z=*Fa 2Fa :Fa BFm o0JFi  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266235G GaBqO> w,+A6eg@Y6du@6=96!^ll nG٣lyr܈ r> ~Nusing accuracyPremultiplier from configx49zġ?4Yz) izyjB$@zpDz;z8;zBH4) -@-EzKeMKaKaKeKeu"J%## bPp(v]I</*# RK ?JK?Zj15FNOT Ignoring new targets: 464.50 m.Bj];Jje; ProNav: ac range: 464.500000 m, nav range: 145.239334 m, bearing: 350.096358 deg, approach rate: 0.368068 m/s, LOS rate: 0.131950 deg/s, cmd heading: 201.888917 deg, new cmd heading: 202.073748 deg. 2j;HeadingCmd: 3.526852 target range: 464.500000 and range: 464.50 m. ja@jjjihhhhfffrfbf @ɛ15 1uIy 5ɚiIB>=Ig0iio>)a@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:21:39:58.5042 UTRx dataTimestamp_ set to:1736372399.731144echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.523088E= $?I*FM?2FI:FIBFM1JFIGu y>G} ?G} ?GA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770231 w,t+A @6\ne@Y6s@6l=96N58 G٣JDGy  > Nusing accuracyPremultiplier from config 49 ْ?%4Y , i ajB)5&E@ wD ; e; UO4Q U@QZjFNOT Ignoring new targets: 464.50 m.Bj ;Jj ;J9J=J=1J9J9J=t:J=3J9} ProNav: ac range: 464.500000 m, nav range: 145.395813 m, bearing: 350.148972 deg, approach rate: 0.395613 m/s, LOS rate: 0.132878 deg/s, cmd heading: 202.073742 deg, new cmd heading: 202.231416 deg. 2jb;HeadingCmd: 3.529604 target range: 464.500000 and range: 464.50 m. ja@jjjihhhhf1f9fArfAbfu@SD@ɛ J=隝žI ś;ɚiI@=I:0iinT>)a@)EqEq*Ey"Ey]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:39:58.5042 LVL= 16016, 28513, 20274, 25315, AGC= 69, IDX= 434,-0.32,-2.103,-2.774, 1.788,-3.121, PHS= 1.106, 0.394,-1.377, RAW= 46.2, -1.1, CAL= 46.9, -3.7, ROT= 103.1, 3.7 Ygot valid direction response: 21:39:58.5042 LVL= 16016, 28513, 20274, 25315, AGC= 69, IDX= 434,-0.32,-2.103,-2.774, 1.788,-3.121, PHS= 1.106, 0.394,-1.377, RAW= 46.2, -1.1, CAL= 46.9, -3.7, ROT= 103.1, 3.7 PDAT read: Bearing 103.1, 3.7 (Local) ~Local bearing/azimuth received: Bearing 103.1, 3.7 (Local) DAT read: Range 10 to 50 : 464.4 m (Round-trip 619.3 ms) speed -0.2 m/s ,DAT read: user:1958> BDAT read: Tx time:21:39:59.6308 $Ping request sent.eao e2O)ebIeEieh?e^>eAeplN?enF eQ?)e AIeS?ie A=aae/?a[ڦn)eIeנG B O >A w,S=,AyޅvBޅ"IEWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:21:39:59.6300 }Mb@Mb@Mb@yyy y)yY}v?L7A`尿{Gzy}>y}#} A }A)}=AI}@yy}AItIM4٢=\ E&=9EQ E>II MG٣IyM U> }Nusing accuracyPremultiplier from configy49}7?4Y}/ i}BjB+>:C'@}~D}v;}r;}X4fB @ Ek1-?kna^ k k?,A:k3CBkCZk)@"oS"@u@\A\s@\#r?jV? W?JkS?Rk:*ilCf@InurDos@IGo:?qtYT0am?"k*k2Ckk#.?k[= 2kCkb-?k\ kCkCBCkV@u addTargetRange:: Added new target pos. range: 464.399994 m, deltaT: 4.036785 s, deltaX: -0.100006 m, approachRate: -0.024774 m/s, rangeRepo size: 4  Added new target pos. range: 464.399994 m, bearing: 301.093920 deg, lat: 36.902191 deg, lon: -122.117280 deg, deltaT: 4.036785 s, deltaX: -0.100006 m, approachRate: -0.024774 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 464.40 m.BjJj ProNav: ac range: 464.399994 m, nav range: 194.264221 m, bearing: 335.427721 deg, approach rate: 0.000000 m/s, LOS rate: 0.132878 deg/s, cmd heading: 202.231410 deg, new cmd heading: 202.427979 deg. 2jHeadingCmd: 3.533035 target range: 464.399994 and range: 464.40 m. j>b@jjjihhhhvBfffrf`f}@bf  ?ɛMB! r־I AɚiIC=Iw0i: iPU>)>b@)zK.PKŷ9KKK*F2F:FBF@5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. I G .eq>G B O% > w,5,Aj6_@YjԸm@jx=9j$j;yjH@LU? wW@< 8 `m?@x?ɨj6_@ja;j0CyvXBv"II~dI~?14٢ %  d=9 G٣yˁ > %Nusing accuracyPremultiplier from config!-49% t?54Y%1 i%+jB15-5@%D% ;%;%:^4EgB E@E EZjiuFNOT Ignoring new targets: 464.40 m.Bju;Jju; ProNav: ac range: 464.399994 m, nav range: 194.376129 m, bearing: 335.466462 deg, approach rate: 0.331301 m/s, LOS rate: 0.114624 deg/s, cmd heading: 202.427983 deg, new cmd heading: 202.544137 deg. 2jT;HeadingCmd: 3.535062 target range: 464.399994 and range: 464.40 m. ju>b@jjjihhhhfffrfbf`<.?ɛiM I FɚiI$D=I@/iG i=)u>b@)*F2F:FBF_0JFG}b&m>Will construct direction to contact in vehicle frame from tetrahedron phase data.GQBaO8>J!J!J%0J!J!J!J%ـ3J! w,-O,A 6$?I4:Will construct direction to contact in vehicle frame from tetrahedron phase data.B']@YBk@B\}=9B;yBH =2}?Ygl˪O`ry?v?ɨB']@Bǃ;B.CyRCBR"IHpIp Ir.#IIrBIp&Ip.Ip6Ir"<:IpUMb@Mb@Mb@QQQ Q)QYU'1Z?S㥫/$yU?U/]UU A UrA)UAIQQyU AImlImm?4٢Ž ==9L;Q > G٣KDGy   > =Nusing accuracyPremultiplier from config=49>c?E4Y<4 ijBE?E:E*-E@D[;;e4UhB UI@uEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 464.40 m.Bj:Jj: ProNav: ac range: 464.399994 m, nav range: 194.518982 m, bearing: 335.515715 deg, approach rate: 0.320739 m/s, LOS rate: 0.110506 deg/s, cmd heading: 202.544137 deg, new cmd heading: 202.691790 deg. 2j;HeadingCmd: 3.537639 target range: 464.399994 and range: 464.40 m. jhb@jjjihh h h ]Bf1f1f9rf9bf=?ɛ4? 隍EI kNɚiI G=I/i+i¡=)hb@)*F?2F:FBFJF"G=G=GV>GqBO~>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,5{i,Ab|[@Ybi@bt=9bYL)) -G٣)y-6 ->zK5BoHK559K1K5K5 MNusing accuracyPremultiplier from configIU49MVT?U4YM=6 iMiBQ]/]@MDM%;M;Mhl4a e@aZjFNOT Ignoring new targets: 464.40 m.Bj^;Jj^; ProNav: ac range: 464.399994 m, nav range: 194.648529 m, bearing: 335.557652 deg, approach rate: 0.355024 m/s, LOS rate: 0.114850 deg/s, cmd heading: 202.691792 deg, new cmd heading: 202.817517 deg. 2j;HeadingCmd: 3.539834 target range: 464.399994 and range: 464.40 m. jb@jjjihhhhfffrfbfw?ɛNBb lI m.TɚiiqIu'I=Iu/i}G&i}=)}b@)yuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516274 $?IE=*Fm?2Fi:FiBFm]0JFi Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767026G] V>G1 JU JU JQ JQ JU ;JU r:JQ JQ Bi O >b! w,υ,AY@Y3h@"=9!! %G٣!y-6X -> 5Nusing accuracyPremultiplier from config1=495 @?=4Y5P9 i5iB=z ?E:E%,E@5D5;5#;5G B OM >' w,"q,A6$4X@Y6Rf@6P=96Į/i>xi^<)b@)EE*E"EzKjIK 9KKK*F ?2F :F BFJFGqA GGTK%> e$?IaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529105GB O5 >- w,{N,A6[V@Y6d@6=96:dd fG٣dyj j> nNusing accuracyPremultiplier from configlr49nD"?r4Yn]= inyiBtv/v@nDn;n:n4ziB z[@zEZjFNOT Ignoring new targets: 464.40 m.Bj;Jj; ProNav: ac range: 464.399994 m, nav range: 195.078125 m, bearing: 335.702201 deg, approach rate: 0.360585 m/s, LOS rate: 0.114169 deg/s, cmd heading: 203.114349 deg, new cmd heading: 203.250836 deg. 2j;HeadingCmd: 3.547396 target range: 464.399994 and range: 464.40 m. jc@jjjihhhhfffrfbf @ɛ15]} 15)6I1 =Jv:J3J A II  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031247H I  I "II i>Ґ́ɩ?Z?ɨbU@b`?;b.Cy ǃB "IMb@Mb@Mb@ )Y|?5^?Mb? rhy ?<C A A A)AIy3 AII4٢ ;=9Q > G٣yZa > =Nusing accuracyPremultiplier from config9E49=?E4Y=@ i=MiBE&?E:M-M@=D=H;=;=͉4q u@uEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 464.40 m.Bjp;Jjp; ProNav: ac range: 464.399994 m, nav range: 195.238052 m, bearing: 335.756962 deg, approach rate: 0.348654 m/s, LOS rate: 0.119286 deg/s, cmd heading: 203.250830 deg, new cmd heading: 203.414978 deg. 2j;-HeadingCmd: 3.550261 target range: 464.399994 and range: 464.40 m. j5z7c@j1j1j1i1h1h1h9h=Bf9f9fArfAbfEb @ɛ DI Y{ɚiIR=I<.iGiڱB)z7c@)*F?2F:FBFQ3JFG=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283061GqBO>*JR="J%=: w,,A6S@Y60a@6^=96$=y6HQw?L׿n"mŻ@}? ?ɨ6S@6~};6/CzKNKLKLKNKNRKV?JKV?yZBZ!III4٢  V=9aQ > G٣MDGy%` %> -Nusing accuracyPremultiplier from config)549-?54Y-FB i-*iB15M.5@-D-,;-h-;-@4A E}@IZjiuFNOT Ignoring new targets: 464.40 m.Bju< ;Jj}< ; ProNav: ac range: 464.399994 m, nav range: 195.372772 m, bearing: 335.801131 deg, approach rate: 0.374212 m/s, LOS rate: 0.122604 deg/s, cmd heading: 203.414973 deg, new cmd heading: 203.547388 deg. 2jH;HeadingCmd: 3.552572 target range: 464.399994 and range: 464.40 m. jW]c@jjjihhhhfffrfbf w1 @ɛPBD &OI $?I 6ɚiIZT=I].ii)W]c@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.e2DAT read: 21:40:02.6551 mPunknown deviceResponse_: 21:40:02.6551 }checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538570vAEIEMrA ] Y]vAy]XB*F?2F:FBF4JFG- = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788161G B) OE >A w, -AFR@YF%`@F=9FNU=yFH`Y?R`ֿ` ?Ȳ?`H?ɨFR@F9;F0CyB!III{4٢M 8=9Q > G٣y > Nusing accuracyPremultiplier from config49Z?4YD ihBc/@D ; ;P4jB M@EZj)5FNOT Ignoring new targets: 464.40 m.Bj5;Jj5;e ProNav: ac range: 464.399994 m, nav range: 195.544662 m, bearing: 335.855455 deg, approach rate: 0.372929 m/s, LOS rate: 0.117758 deg/s, cmd heading: 203.547383 deg, new cmd heading: 203.710213 deg. 2jm;}HeadingCmd: 3.555414 target range: 464.399994 and range: 464.40 m. j}c@jjjihhhhfffrfbf@ɛ   b]I ɚ!i!I%UW=I5Γ.i5 wi=<)=c@)A $?ImWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.040156jHbHH >I IZ"IIBI&I.I6I<:IEܪ=*F% ?2F) :F) BF- /1JF) G ^c=G ?G ?G B O >G w, -AFxQ@YF_@F =9F=yFH$?Z=տB R?iS?q?ɨFxQ@Fd;F/CyRzBR!IbWill construct direction to contact in vehicle frame from tetrahedron phase data.`ibADAT read: 21:40:02.6551 LVL= 18192, 18001, 17362, 22003, AGC= 67, IDX= 424,-0.05, 2.352, 2.983, 0.659, 1.952, PHS= 0.488, 1.078,-1.296, RAW= 16.2, -2.6, CAL= 15.9, -4.9, ROT= 134.1, 4.9 -Ygot valid direction response: 21:40:02.6551 LVL= 18192, 18001, 17362, 22003, AGC= 67, IDX= 424,-0.05, 2.352, 2.983, 0.659, 1.952, PHS= 0.488, 1.078,-1.296, RAW= 16.2, -2.6, CAL= 15.9, -4.9, ROT= 134.1, 4.9 5PDAT read: Bearing 134.1, 4.9 (Local) 5~Local bearing/azimuth received: Bearing 134.1, 4.9 (Local) DAT read: Range 10 to 50 : 465.1 m (Round-trip 620.2 ms) speed -0.4 m/s ,DAT read: user:1959> 5BDAT read: Tx time:21:40:03.7308 =$Ping request sent.=b?bT㥿bÐ>b9 bq>)b%Ib@ib%=``b-NοO] ￑_Φ)bIb!6=ib?bLq``%:publishing transmit ping time9%Fpublishing direction and range info`9bpʰu?0?QSZ?y```` `)`I`i````` `)`I`i```b-NοO] ￑_Φ)`I`i````Mb@Mb@Mb@ )YCl?y&1?L7A`堿y?`e=+ A ) AIAy AII<4٢ Ͻ =9"Q > G٣yR > Nusing accuracyPremultiplier from configE49?E4Y'H ihBE?E:E+M@ŋD<b<#4Q U@QkbZT?kbj$ k` kbS"-A:kbCBkbCZkb戝@"b7H@j|@6ڑ%[@bpʰu?0?QSZ?Jkb?RkbLq*bR QW@aF{W\_`@bĨ@?sA{:~n?"kb5*kbBkbg?kbK1% 2kbDCk`kb kbCkb{CkbL@ addTargetRange:: Added new target pos. range: 465.100006 m, deltaT: 4.303618 s, deltaX: 0.700012 m, approachRate: 0.162657 m/s, rangeRepo size: 4 zKRKK9KKK !  BKqA:KrAE Added new target pos. range: 465.100006 m, bearing: 282.064909 deg, lat: 36.902191 deg, lon: -122.119077 deg, deltaT: 4.303618 s, deltaX: 0.700012 m, approachRate: 0.162657 m/s, posRepo size: 4 ZjAMFNOT Ignoring new targets: 465.10 m.BjMJjI} ProNav: ac range: 465.100006 m, nav range: 298.965027 m, bearing: 306.706038 deg, approach rate: 0.000000 m/s, LOS rate: 0.117758 deg/s, cmd heading: 203.710214 deg, new cmd heading: 203.896354 deg. 2jyHeadingCmd: 3.558663 target range: 465.100006 and range: 465.10 m. j!c@jjjihhhhфB Ifffrf}@bf{?uWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛy}l4 隅jI ɚiIZ=I^.iiR|{)!c@)Eu =*F ?2F :F BF .5JF G ;G B O >,N w,t;-AFP@YFW^@F^=9FҨ=yFH ?$ 6տ+ʫ?@0#??ɨFP@F*`;DybhBb!IIzqIzJH4٢  =9@ʼQ ? G٣NDGy; ? Nusing accuracyPremultiplier from config 49 ?4Y I i hB,%@ ˋD A6; 6; -4i m&@uEZjFNOT Ignoring new targets: 465.10 m.Bj:Jj:  ProNav: ac range: 465.100006 m, nav range: 298.996704 m, bearing: 306.736379 deg, approach rate: 0.113247 m/s, LOS rate: 0.108459 deg/s, cmd heading: 203.896351 deg, new cmd heading: 203.987365 deg. 2j ޔ;HeadingCmd: 3.560251 target range: 465.100006 and range: 465.10 m. j(c@jjjihhhhAfAfAfArfIbfM?eWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ̽ 隕sI >ɚiIX\=ID.i&iʗ)(c@)EE*E"E*F 2F :F! BF% Y3JF! G- rA G) G vż ] $?Ie gG B H >I C I "II ƒBI 5 =&I .I 6I а<:I u F Will construct direction to contact in vehicle frame from tetrahedron phase data.O% >U w,BU-Ay-`B5!IMb@Mb@Mb@ )Y&1?ʡE?I +y?=9&A A)AIAyz AI%I%F4٢5 =B=9=Q =>AA EG٣AyE E> UNusing accuracyPremultiplier from configQ]49U/?]4YUL iUhBeV?e:e{*e@UҋDUj;U;Ub4q u@qB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 465.10 m.Bj:JjE:U ProNav: ac range: 465.100006 m, nav range: 299.034851 m, bearing: 306.780616 deg, approach rate: 0.095218 m/s, LOS rate: 0.110405 deg/s, cmd heading: 203.987370 deg, new cmd heading: 204.120064 deg. 2j];]HeadingCmd: 3.562567 target range: 465.100006 and range: 465.10 m. j]d@jYjajaiahahhhքBfffrfbf U?ɛOBܮ wI  vٛɚ i I^=I.iXi%)d@)!*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 ******Querying Benthos address 50 with one ping in standard two-way mode.*JmC="Jma=JuJqJu1JqJue ;JqJu3JqJuU<JuU<JqJqG ~G B O >8[ w,o-A2O@Y2-]@2=92<=y2H`hF?0x{*Կ@NX?1u?f?ɨ2O@2;20CzK>MK<K<K>K>yJPBJ!IIR\IR#4٢Z Zg=9^IQ ^>`` bG٣`yb8N f> jNusing accuracyPremultiplier from configdj49f?n4Yf)O ifhBln+n@f؋Df;fd;f4vkB v@v E IZjFNOT Ignoring new targets: 465.10 m.Bj(:Jj(: ProNav: ac range: 465.100006 m, nav range: 299.071350 m, bearing: 306.818460 deg, approach rate: 0.098734 m/s, LOS rate: 0.102358 deg/s, cmd heading: 204.120067 deg, new cmd heading: 204.233584 deg. 2j~;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.212395HeadingCmd: 3.564548 target range: 465.100006 and range: 465.10 m. j!d@jjjihhhhfffrfbf@?ɛqu y}{Iy }ɚyiyI}:`=I$-ii0 )!d@)*F?2F:FBFo0JFGmG1BAO]v> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465021\#b w,-Ar O@YrZ?]@r&=9rY=yrHt[?cӿd "?@ޡ ?7?ɨr O@r;py5GB5y!II}I}W4٢! <=9һQ > G٣ODGy` > -Nusing accuracyPremultiplier from config!M49%?4Y%R i%qhB ,@%D%<%$<%c4lB H@!EZj!-FNOT Ignoring new targets: 465.10 m.Bj5:Jj5:= ProNav: ac range: 465.100006 m, nav range: 299.119385 m, bearing: 306.866441 deg, approach rate: 0.105524 m/s, LOS rate: 0.105389 deg/s, cmd heading: 204.233584 deg, new cmd heading: 204.377503 deg. 2jE;UHeadingCmd: 3.567060 target range: 465.100006 and range: 465.10 m. jUJd@jQjQjQiYhYhYhYhYfafafarfbf ?ɛ ؁I  ɚiIb= $?II--i- i-Lǽ)-Jd@))ZHRHH >I I!IIBI4 =&I.I1D6I<:If FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717273*F?2F:FBF0JFGuڋGQBYO}z>ALh w,͢-A"Will construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968244yBBr!IMb@Mb@Mb@ )Yn?MbX?I +y?=94A A)AIAyQ AII 4٢kּ C=9Q >!! %G٣!y% ->JAJEJE0JAJAJEFi:JEـ3JAJAJAJE;JE; ]Nusing accuracyPremultiplier from configYe49]?e4Y]U i]_hBm*?m:m*m@]D];];]4q }@}$EZjFNOT Ignoring new targets: 465.10 m.Bje;Jje; ProNav: ac range: 465.100006 m, nav range: 299.158173 m, bearing: 306.912545 deg, approach rate: 0.100336 m/s, LOS rate: 0.119247 deg/s, cmd heading: 204.377497 deg, new cmd heading: 204.515791 deg. 2j;HeadingCmd: 3.569474 target range: 465.100006 and range: 465.10 m. jCrd@jjjihhhhBfffrfbf @ɛ NBý $I lɚiId=I%r-iiʽ)Crd@)*F2F:FBF`5JF $?IzK5K59K1K5K5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220330Gm ДGq Gu ?GA BI Ou >"wn w,-ABN@YBf]@B2=9B\=yBHmN?@@;ӿ[ ?Z3? v?ɨBN@B;B-Cy^?Bbo!IIjIj҅4٢r,R v`=9vboQ v>tx zG٣xyz: ~> Nusing accuracyPremultiplier from config| 49~t?4Y~W i~UhBO*@~D~D;~uE;~4! %@!ZjAMFNOT Ignoring new targets: 465.10 m.BjM;JjM;e ProNav: ac range: 465.100006 m, nav range: 299.193054 m, bearing: 306.952878 deg, approach rate: 0.096877 m/s, LOS rate: 0.112004 deg/s, cmd heading: 204.515794 deg, new cmd heading: 204.636778 deg. 2je;eHeadingCmd: 3.571586 target range: 465.100006 and range: 465.10 m. jmܔd@jijijiiihihihqhqfqfyfyrfybf}@ɛȽ 隵I |ɚiIf=Iي-iiyi_ս)ܔd@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.472687*Fm?2Fi:FiBFmS0JFiGEvGB O--> I H I  I !II {BI &I .I 6I ʰ<:I s FBImʘCJImʘCRIiZIm5 =bIm5 =jImʉ5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724342\u w,|-ABO@YB9]@Bc=9B=yBH@h~?@@(ӿ*E4?`1??ɨBO@BB;B1Cy  n!IMb@Mb@Mb@ )Yd;O?+η?~jth?y?v=D;jA \A)SAIAyp AIIy4٢B <=9cQ > G٣PDGy; > Nusing accuracyPremultiplier from config49ja?4YZ iShB?:*@DT;8S;n4 mB @'E-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 465.10 m.BjE4:JjE4:U ProNav: ac range: 465.100006 m, nav range: 299.237000 m, bearing: 307.000993 deg, approach rate: 0.101106 m/s, LOS rate: 0.110684 deg/s, cmd heading: 204.636784 deg, new cmd heading: 204.781109 deg. 2jU;]HeadingCmd: 3.574105 target range: 465.100006 and range: 465.10 m. j]!d@jYjajaiahahahihmӄBfififirfqbfu`)@ɛMB =隥I VμɚiIhh=Ia-iOiҽ)!d@)EE*F-?2F1:F1BF5Z0JF1G9 G9G ` ǽGBOE>eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.976590JJJJJ ;Jp:JJJ}T<J}T<J;J;/{ w,)Z-A 0I4:DO@Y:]@:<9:d>y:HvZ?@K :Կm`D?_z?@?ɨ:DO@:E;;8yVEBVv!IXZAI^I^_v4٢f\= j]=9n, Q n>pp rG٣pyr< v> zNusing accuracyPremultiplier from configtz49v Q?~4zK~k3IK~9K|K~K~Yvg] ivThB  r* @vDvG;vy;v4 w@ZjAEFNOT Ignoring new targets: 465.10 m.BjM:JjM:] ProNav: ac range: 465.100006 m, nav range: 299.273560 m, bearing: 307.042287 deg, approach rate: 0.098239 m/s, LOS rate: 0.110946 deg/s, cmd heading: 204.781106 deg, new cmd heading: 204.904973 deg. 2j]H;eHeadingCmd: 3.576267 target range: 465.100006 and range: 465.10 m. jed@jajajaiahihihihifqfqfqrfqbf}@! @ɛǽ 隥I P¼ɚiIi=I)>-ikiʽ)d@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228478)*Fu?2Fq:FqBF}_0JFyG@ƽGqByO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Rx Time:21:40:06.7812 } TRx dataTimestamp_ set to:1736372408.065378} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482173n w,3 .Ay}LBޅ~!III4٢<  8=9Q > G٣y > Nusing accuracyPremultiplier from config49lIQ IQIQIU3 =&IQ.IQ6IU<:IU_ FɛuLBu quIy }8ʼɚyiyI}@~k=I-iYWiћѽ).e@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.735990*F2F!:F!BF!JF!Ga G9 BI Oe >ʘ w,$.AWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 484.5 m (Round-trip 646.1 ms) speed -0.2 m/s ,DAT read: user:1960> "BDAT read: Tx time:21:40:07.8809 "$Ping request sent."ynHu1 4?ʑ@Y2տr ?[{??^?ɨn)P@n;n0CyXB!IMb@Mb@Mb@ )Y +?V-? G٣QDGy= > -Nusing accuracyPremultiplier from config)549-?(?54Y-c i-dhB=?=:=-=@-D-;-;-4A E]@m-E addTargetRange:: Added new target pos. range: 484.500000 m, deltaT: 4.031673 s, deltaX: 19.399994 m, approachRate: 4.811897 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 465.10 m.Bj%:Jj%:m ProNav: ac range: 465.100006 m, nav range: 299.376862 m, bearing: 307.143527 deg, approach rate: 0.125751 m/s, LOS rate: 0.108472 deg/s, cmd heading: 205.061048 deg, new cmd heading: 205.208649 deg. 2ju;}HeadingCmd: 3.581567 target range: 465.100006 and range: 484.50 m. j}c8e@jyjyjihhhhBfffrfH~@bf D? AII)m= mC  UYQy]BzKuBoIKu9KqKuKu ɛJBWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:40:07.8801 쬽@ B  = yI  5vHӼɚ1i1I5l=I=S,i=i=iz)=c8e@)AE :_=E {>E >*F-?2F):F)BF-X5JF)"G5>G5>Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՍAJ}J}JyJyJ}e ;J}*f:JyJya@a@a@a@GrWͽGBOu"?: w,L.AQ@Y}_@ 9:1>yH{Z?;_RֿqyI)??`??ɨQ@w;y-hB5!I ===p=Mb@Mb@Mb@ )YʡE?~jth?Zd;O?y-?D;j<A zA)InAyAH)I) I-!II-BI)&I).I)6I-<:I- FI]#I]%x3٢mH= u=9uH6Q u>y G٣y}< > Nusing accuracyPremultiplier from config49> ?4Yf Will construct direction to contact in vehicle frame from tetrahedron phase data.ihBK?:\2@Dx;;4oB l@0EZj)5FNOT Ignoring new targets: 465.10 m.Bj]:Jj]:m ProNav: ac range: 465.100006 m, nav range: 299.479614 m, bearing: 307.208425 deg, approach rate: 0.165856 m/s, LOS rate: 0.104717 deg/s, cmd heading: 205.208649 deg, new cmd heading: 205.403274 deg. 2jm;uHeadingCmd: 3.584963 target range: 465.100006 and range: 484.50 m. ju pe@jqjqjihhhh?Bfffrfbf"?ɛIBBk pI ۼɚi!I%m=I%,i-!i-#)- pe@))E=*F?2F:FBF@5JFG}2GY Ba O >u Will construct direction to contact in vehicle frame from tetrahedron phase data.4 w,f.A6b:R@Y6Y`@6@96[9>y6H`Pq?Mz`ֿ R`?@?`?Kq?ɨ6b:R@6%Ƒ;6.CyfBf!IIr\Ir#4٢z > z=9~"Q ~ ? G٣y<   ? Nusing accuracyPremultiplier from config 49 ?4*J!"J%p=Y h i hB!%1-@ !D =R; oR; I41 5@9mB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 465.10 m.Bj:Jj: ProNav: ac range: 465.100006 m, nav range: 299.530731 m, bearing: 307.241441 deg, approach rate: 0.162352 m/s, LOS rate: 0.104845 deg/s, cmd heading: 205.403268 deg, new cmd heading: 205.502300 deg. 2j;HeadingCmd: 3.586692 target range: 465.100006 and range: 484.50 m. j\e@jjjihhhhfqfqfqrfybf}`?ɛHB,Ƚ 3cI 3ɚ!i!I%YIn=I}Y,i}#i}׶)}\e@) $?IzK{]LK9KKK !!#!#&# #" !)Fg~}xuphfa^^YSQMJHGC@:430.,'#RK?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.E=*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=1.510518G᷽GBO?ס w,A.AJ^J^J\J\J^;J^Fi:J\J\5#R@Y5`@5>q95@>y5H`?:#J׿$ ?@7??Ka?ɨ5#R@5I;5/CyMBM!II}-I}3٢;< =9촼Q > G٣RDGy Ɋ< -> 5Nusing accuracyPremultiplier from config1=495G?=4Y5k i5hBAEU1E@5+D5:5\:54y e@3EZj FNOT Ignoring new targets: 465.10 m.Bjh:Jj]h: $?I= ProNav: ac range: 465.100006 m, nav range: 299.617828 m, bearing: 307.299433 deg, approach rate: 0.153939 m/s, LOS rate: 0.102467 deg/s, cmd heading: 205.502306 deg, new cmd heading: 205.676230 deg. 2jE;HeadingCmd: 3.589727 target range: 465.100006 and range: 484.50 m. je@jjjihhhhfffrfbf?ZHRHHI I "IIBI&I.I6Iʰ<:Is F}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761099ɛFBF_ U}=隍^I wɚiIn=Ia,i&iz)e@)E)E)*E1"E1E *F ?2F :F BF 0JF G #-Will construct direction to contact in vehicle frame from tetrahedron phase data.)i)=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014351GABQOm> w,+.AS@Y>a@9qD>yHoU?`׿,?t?`,Y?W?ɨS@;0Cy%B-!IMb@Mb@Mb@ )Y|?5^?S㥫:v?y ?/]<GA )X AI&AyAIUuIUaO4٢= =9Q > G٣y< > Nusing accuracyPremultiplier from config49?4Ym ihB?:(7@4Dn;;5 4pB @6EZjIMFNOT Ignoring new targets: 465.10 m.BjU:JjU: ProNav: ac range: 465.100006 m, nav range: 299.724182 m, bearing: 307.351605 deg, approach rate: 0.206480 m/s, LOS rate: 0.101254 deg/s, cmd heading: 205.676230 deg, new cmd heading: 205.832691 deg. 2j;HeadingCmd: 3.592458 target range: 465.100006 and range: 484.50 m. je@jjjihhhhBfffrfbf t@ }$?I}gɛEB OI ɚiIfn=I4,i(ih)e@) mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.265786zK}[NK}59KyK}K}  BK:KqA*F%?2F!:F!BF%P5JF!GM G! B1 OE >o w,.AF@T@YF_b@Fޜ9FVG>yFHqF?0u1ؿ ?얳?A?rM?ɨF@T@FZ;DybBb "IIzzIz=X4٢A> j=9 cļQ  ?    G٣ y5< 5> ENusing accuracyPremultiplier from config9E49=?M4Y=(o i=hBIMv6M@=:D=q:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516508=.<=K4 +@ZjY]FNOT Ignoring new targets: 465.10 m.Bjei:Jjei: ProNav: ac range: 465.100006 m, nav range: 299.792511 m, bearing: 307.386129 deg, approach rate: 0.183812 m/s, LOS rate: 0.092853 deg/s, cmd heading: 205.832696 deg, new cmd heading: 205.936245 deg. 2j~;HeadingCmd: 3.594265 target range: 465.100006 and range: 484.50 m. jrf@jjjihhh h f ffrfbf|@JJJJJ ;Jr:JJɛ%DB%Z )-CI1 5L,ɚ1i1I5_n=I=D,i8*i `)rf@)*F-?2F1:F1BF=4JF9 IGuL쇽HI IN"IIBI4 =&I.I6I<:I FGa Bi  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768892O > w,?.A2$U@Y20c@292`G>y2H`pCc?@%Qٿ@O?`ʵ?ެ? H?ɨ2$U@2,;22Cy>΃B>"IMb@Mb@Mb@ )Y|?5^?`"Q?y?u<"A A) AIAyzAI5kI5=4٢E= E8=9MQ M>QQ UG٣USDGyU< ]> eNusing accuracyPremultiplier from configYe49]?m4Y]p i]hB8?:S<@]CD]<]<]4qB 8@;EZjAmFNOT Ignoring new targets: 465.10 m.Bju:Jju:} ProNav: ac range: 465.100006 m, nav range: 299.905609 m, bearing: 307.430424 deg, approach rate: 0.260883 m/s, LOS rate: 0.102135 deg/s, cmd heading: 205.936241 deg, new cmd heading: 206.069075 deg. 2j0;HeadingCmd: 3.596584 target range: 465.100006 and range: 484.50 m. jn.f@jjjihhhhąBfffrfbfN@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020715ɛ%CB-{, )-:I) -ɚ)i1I5n=I5G+i=s+i=+?)]n.f@)aEiEi*F?2F:FBF%\0JF! $?I G] wG B! OE >s w,Z.A*Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272703zKVLKV9KTKVKVRK^ ?JK^>vU@Yv.c@vZ9vG>yvHY?nq?ٿod?·?9? #B?ɨvU@v;v.CyՃB'"IIudIu?14٢}= Y=9 Q > G٣yg< > Nusing accuracyPremultiplier from config49Q?4Yq iiB;@JD<<4 @UB*** querying acoustic contact ***jQjQZjFNOT Ignoring new targets: 465.10 m.Bj:Jj: ProNav: ac range: 465.100006 m, nav range: 300.001129 m, bearing: 307.468828 deg, approach rate: 0.229055 m/s, LOS rate: 0.092062 deg/s, cmd heading: 206.069075 deg, new cmd heading: 206.184249 deg. 2j|;HeadingCmd: 3.598594 target range: 465.100006 and range: 484.50 m. j]Of@jjjihh h h f ff9rf9bfE`g< @ɛBBx 隕6I hɚiIun=IX+i\,i )]Of@)Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:40:10.9093  TRx dataTimestamp_ set to:1736372412.096997checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526029J J J J J ;J Yk:J J EU D=*F 2F :F BF 05JF G D I G B)jHbH<HI I"II-BI&I.I6Iڰ<:I~ FBIJIRIZI3 =bI3 =jIN4O>_ w,/AbWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.777773y5܃B50"ImMb@Mb@Mb@iii i)iYmx&?ʡEÿMbym7 ?mmm#A mzA)iIm"AiymAI}iI}:4٢2< =9Q > G٣TDGy > Nusing accuracyPremultiplier from config49+|?4Yr i iB?:?@TD ;j;y(4rB ^@ >EZjQUFNOT Ignoring new targets: 465.10 m.Bj]:Jj]: ProNav: ac range: 465.100006 m, nav range: 300.153259 m, bearing: 307.521208 deg, approach rate: 0.298447 m/s, LOS rate: 0.102707 deg/s, cmd heading: 206.184246 deg, new cmd heading: 206.341307 deg. 2j;HeadingCmd: 3.601335 target range: 465.100006 and range: 484.50 m. jG|f@jjjihhhhBfffrfbf@O@ɛ-AB-Ӗ )-2I) 5ɚiIpen=Ium+i}.iN0)G|f@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:40:10.9093 LVL= 18416, 18017, 16818, 22515, AGC= 70, IDX= 197, 0.24,-2.852,-2.468, 1.589, 2.910, PHS= 0.609, 0.953,-1.324, RAW= 22.0, -2.3, CAL= 21.6, -4.6, ROT= 128.4, 4.6  Ygot valid direction response: 21:40:10.9093 LVL= 18416, 18017, 16818, 22515, AGC= 70, IDX= 197, 0.24,-2.852,-2.468, 1.589, 2.910, PHS= 0.609, 0.953,-1.324, RAW= 22.0, -2.3, CAL= 21.6, -4.6, ROT= 128.4, 4.6  PDAT read: Bearing 128.4, 4.6 (Local)  ~Local bearing/azimuth received: Bearing 128.4, 4.6 (Local) = DAT read: Range 10 to 50 : 468.2 m (Round-trip 624.3 ms) speed -0.4 m/s = ,DAT read: user:1961> E BDAT read: Tx time:21:40:12.0309 M $Ping request sent.M مl$ څ>)څlIڅl@iڅl=ځځۅ0I|.N&ӨeQA?)ۅۿIۅ"=iۅ?ۅoթہہu :publishing transmit ping timeI u Fpublishing direction and range info؁9؅3\_=?C'8H?.TW?y؁؁؁؁ ف)فIفiففففف ځ)ځIځiځځځۅ0I|.N&ӨeQA?)ہIہiہہہہEM |=*F ?2F :F BF Q5JF $?I Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:21:40:12.0301 G=;,BG=rAG9zK:IK9KKK GBO?| w,8/AbJW@Ybe@b9bӡ?>ybH "@Z?a“?`ۿr?d!??`"IIoID4٢7= "=9 *Q > %G٣!y%h= %> 5Nusing accuracyPremultiplier from config)549-d?=4Y-Ct i-iB9===@-]D-:-:-E14sB @AEkf$ &?k[Y k kK&/A:kCBkwCZk@"a#l@E@0{@Nc@3\_=?C'8H?.TW?Jk?Rkoթ*4".AOd@QX-whcm@=5?[~Xg#c?"kl*kz"Ck{&?kA 2kCkk[= kCkCkV@U addTargetRange:: Added new target pos. range: 468.200012 m, deltaT: 4.034768 s, deltaX: -16.299988 m, approachRate: -4.039882 m/s, rangeRepo size: 4  Added new target pos. range: 468.200012 m, bearing: 293.659109 deg, lat: 36.902191 deg, lon: -122.119693 deg, deltaT: 8.066441 s, deltaX: 3.100006 m, approachRate: 0.384309 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 468.20 m.Bj%Jj!5 ProNav: ac range: 468.200012 m, nav range: 345.287109 m, bearing: 302.022175 deg, approach rate: 0.000000 m/s, LOS rate: 0.102707 deg/s, cmd heading: 206.341313 deg, new cmd heading: 206.503733 deg. 2j1=HeadingCmd: 3.604170 target range: 468.200012 and range: 468.20 m. j}f@jyjyjyiyhhhhfffrf@3C}@bfJ?ɛ@B,_  ;=隥W,I ɚiI+m=It+i \.i䃼)f@)EE*E "E Will construct direction to contact in vehicle frame from tetrahedron phase data.E V>E >*Fm ?2Fq :Fy BF} 1JFy "G =G = - $?I1 HU >IQ  IU "IIU `BIU 3 =&IQ .IQ 6IU <:IU FeWill construct direction to contact in vehicle frame from tetrahedron phase data.GH0GqBO ? w,u[/A:eX@Y:9f@:O9:9o;>y:H`Zv4??)8ܿ^?Hʾ? +!?aa eG٣aymc< m> uNusing accuracyPremultiplier from configq}49u#I?}4Yuu iu iB?:>@ugDu, I  G5 |uAI } Y} |uAy} dB w,?u/AV" Y@YV(g@VC9V y*>yVH H ?yg?@LܿWb?`2?[?eI?ɨV" Y@nWill construct direction to contact in vehicle frame from tetrahedron phase data.V*–;V/Cy%B!I2zK KKKKK#'%! I?3٢U c=9Q > G٣UDGy'< > -Nusing accuracyPremultiplier from config!-49%8?4Y%v i%(iB>@%nD%q<%q<%A4 m@ZjFNOT Ignoring new targets: 468.20 m.Bj:Jj-: ProNav: ac range: 468.200012 m, nav range: 345.493988 m, bearing: 302.104844 deg, approach rate: 0.209475 m/s, LOS rate: 0.084818 deg/s, cmd heading: 206.657018 deg, new cmd heading: 206.751658 deg. 2jh;HeadingCmd: 3.608497 target range: 468.200012 and range: 468.20 m. jf@jjjihhhhfffArfAbfM`o?ɛ?BT螽  t)I  UIl ɚQiQIU l=I].+i]p.i]dܻ)ef@)aWill construct direction to contact in vehicle frame from tetrahedron phase data.*F- ?2F) :F) BF5 _5JF1 GM ' $?I GiBZHRHH5>I1 I5"II5~BI1&I1.I16I5<:I5 FO?P@ w,u/ANWill construct direction to contact in vehicle frame from tetrahedron phase data.rT^Y@Yr|g@rI 9r=H)>yrHl2 $?rY?`ݿ@Xp?T?+?@H?ɨrT^Y@r;r0CyB%<"IEMb@Mb@Mb@AAA A)AYEV-?ʡEÿMbyE ?EEEA EA)EEAIEAAyEAI]-I]3٢eu e=9m)Q m>qq uG٣qy} < }> Nusing accuracyPremultiplier from configy49}M?4Y}Sx i}1iB.?:&;@}xD}!;} ;}J4tB @GEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 468.20 m.Bji:Jji: ProNav: ac range: 468.200012 m, nav range: 345.595306 m, bearing: 302.151831 deg, approach rate: 0.204050 m/s, LOS rate: 0.094601 deg/s, cmd heading: 206.751657 deg, new cmd heading: 206.892575 deg. 2jف;HeadingCmd: 3.610957 target range: 468.200012 and range: 468.20 m. jg@jjjihhhhBfffrfbfo?ɛ15V 9={,I9 =R ɚ9i9I=_k=IE+iMI.iM趸)Mg@)Q*F?2F:FBF4JFG GqAGGBOa>MWill 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.JM JM JI JI JM T;JM q:JI JI JM h<JM h<JM ;JM ;= PExceeded connect timeout, disconnecting.g w,Vׯ/A6hY@Y6g@6 96G%>y6H@?em?bݿ,%?@O?a?AK?ɨ6hY@6;6/CyBBB:"IINfIN44٢  b=9%KQ %>!! %G٣!y-< -> 5Nusing accuracyPremultiplier from config1 E$?IAM495E?M4Y5y i58iBIM:M@5~D5s;5@t;5AQ4Y e@eJEZjFNOT Ignoring new targets: 468.20 m.Bj:Jj: ProNav: ac range: 468.200012 m, nav range: 345.664032 m, bearing: 302.184248 deg, approach rate: 0.190119 m/s, LOS rate: 0.089660 deg/s, cmd heading: 206.892577 deg, new cmd heading: 206.989810 deg. 2j!v;HeadingCmd: 3.612654 target range: 468.200012 and range: 468.20 m. j5g@jjjihhhhfffrfbf:@ɛ. )-I mɚiI^j=I*if.i=)5g@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240273zKLK9KKKBKA:KErAE*FU?2FY:FYBF]5JFYe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492857G} 6GY Ba O} >ud w,/AF /Z@YFMh@Fb 9FN >yFH P`?諧?׻ݿ@I@n?@N~?`?9P?ɨF /Z@Fř;DyRڃBR-"IIZnIZB4٢b$M bM=9foQ f>hl nG٣nVDGyn< n> vNusing accuracyPremultiplier from configpv49ro?z4Yrz ir@iBxze:z@rDrB;r;rB˩ 隍)2I iɚiI%j=I)*i-iWA ;)Tg@)E\J= %$?I!H] >IY I] #II]BI]4 =&IY.IY6I]ɰ<:I]o F*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745237G˴GiBqO}> w, /A:8Z@Y:շh@:u 9:>y:H `4?d?`޿?~??`?@K?U?ɨ:8Z@:;8yF̓BF"IMb@Mb@Mb@ )Y"~?!rhL7A`堿y?l罹+1A A)3AIOAy\AI=rI=J4٢E|{ MC=9M$dQ M>QQ UG٣Qy]}< ]> eNusing accuracyPremultiplier from configam49e?m4Ye| ieMiBm?m:m5u@eDe;e;e_4}uB }@}MEZjFNOT Ignoring new targets: 468.20 m.Bj:Jj:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996036E ProNav: ac range: 468.200012 m, nav range: 345.800110 m, bearing: 302.259778 deg, approach rate: 0.150123 m/s, LOS rate: 0.097287 deg/s, cmd heading: 207.097633 deg, new cmd heading: 207.216353 deg. 2jE;MHeadingCmd: 3.616608 target range: 468.200012 and range: 468.20 m. jMvg@jIjIjIiIhIhqhqhuBfyfyfyrfybf`^N@ɛ 5t୽ 158I1 =ɚ9i9I=Di=IM6*im!-iu7l;)uvg@)yJ3K;m3 K;S}-K3K3"K3JJJJJ;Ju:JJJX<JX<JC;JD; nManaging dock network, ignoring radio surface power off IE8=EE*F) 2F) :F) BF- P0JF) "G5 =G5 = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248814zK= VBJK9 K9 K= K= Gu i"GIBQOm> w,0ARZ@YRi@R9R*>yRH?@&?@hn޿ Mv?@?@+f?_Z?ɨRZ@Rq;R.CyZƃBZ"IIfjIf;4٢v z1=9~Q ~>|| G٣y [<  > Nusing accuracyPremultiplier from config49?%4Y' i]iB!%4%@D:P:g4) 5@1ZjQ]FNOT Ignoring new targets: 468.20 m.Bj]:Jje:u ProNav: ac range: 468.200012 m, nav range: 345.866394 m, bearing: 302.303657 deg, approach rate: 0.143098 m/s, LOS rate: 0.094710 deg/s, cmd heading: 207.216355 deg, new cmd heading: 207.347966 deg. 2ju;}HeadingCmd: 3.618905 target range: 468.200012 and range: 468.20 m. j}"g@jyjyjyiyhyhhhfffrfbf @ɛ| 隽I  I #II BI 5 =&I .I 6I <:I ` FBA O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:40:15.0724  TRx dataTimestamp_ set to:1736372416.380605 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753217 w,0AyB!IMb@Mb@Mb@ )Y+?L7A`尿S㥛yv?+/ݼ|A )zAI9Ay AIzI=X4٢ >=9Q > G٣WDGy > Nusing accuracyPremultiplier from config49>?4Y iriB?:X/@D;;o4 @PEB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 468.20 m.Bj-N:Jj-N:= ProNav: ac range: 468.200012 m, nav range: 345.909271 m, bearing: 302.347008 deg, approach rate: 0.100017 m/s, LOS rate: 0.101111 deg/s, cmd heading: 207.347960 deg, new cmd heading: 207.477998 deg. 2j=Ȋ;EHeadingCmd: 3.621174 target range: 468.200012 and range: 468.20 m. jEQg@jAjAjAiAhIhIhIhMSBfQfQfQrfYbf]`;F@ɛ䶽 )-?EI) 5ɚ1i1I5g=I=d^*i=++i=h;)=Qg@)A*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=4.006157JJJJJ-;JJJJ0W<J0W<JJG ~q;G B O >  I w, 50A6e[@Y6i@6I=96q>y6HY?" ?W޿ lY@P? ?8?`?ɨ6e[@6ӓ;6/CyBBF!IHJAINyINxV4٢VG V^=9Vh:Q V>XX ZG٣Xy^< ^> bNusing accuracyPremultiplier from config`j49b?n4YbK ibiBpr.r@bDb ;b;;bu4vvB v@vSEZjFNOT Ignoring new targets: 468.20 m.Bj%:Jj%:5 ProNav: ac range: 468.200012 m, nav range: 345.944519 m, bearing: 302.384522 deg, approach rate: 0.095301 m/s, LOS rate: 0.101417 deg/s, cmd heading: 207.477993 deg, new cmd heading: 207.590522 deg. 2j54;5HeadingCmd: 3.623138 target range: 468.200012 and range: 468.20 m. j5g@]Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:40:15.0724 LVL= 17504, 19425, 19698, 23363, AGC= 71, IDX= 46, 0.01,-1.129,-0.985,-3.064,-1.673, PHS= 0.632, 0.735,-1.393, RAW= 27.5, 0.2, CAL= 26.9, -1.0, ROT= 123.1, 1.0 Ygot valid direction response: 21:40:15.0724 LVL= 17504, 19425, 19698, 23363, AGC= 71, IDX= 46, 0.01,-1.129,-0.985,-3.064,-1.673, PHS= 0.632, 0.735,-1.393, RAW= 27.5, 0.2, CAL= 26.9, -1.0, ROT= 123.1, 1.0 PDAT read: Bearing 123.1, 1.0 (Local) ~Local bearing/azimuth received: Bearing 123.1, 1.0 (Local) DAT read: Range 10 to 50 : 478.0 m (Round-trip 637.4 ms) speed -0.2 m/s ,DAT read: user:1962> BDAT read: Tx time:21:40:16.1809 $Ping request sent.ed; eva>)e5Ie @ie5? 9_hdr?)eοIe쐻ieHx?e;ؾaa-:publishing transmit ping time5Fpublishing direction and range infoj1j1j1i1h9h9h9h9fAfAfArfE}@bfE@S!?a9e?sy,?}F6?yaaaa a)aIaiaaaaa a)aIaiaaae >? 9_hdr?)aIaiaaaaɛ?B{ II %}ɚiI/g=I5>*i +iFT<)g@)zK-BoHK)K)K-K-7Rgv*Fm?2Fi:FiBFm0JFiGO;GG Will construct direction to contact in vehicle frame from tetrahedron phase data.% JDAT read: TxSync time:21:40:16.1802 Gi B O >! w,SO0A6[@Y6Ti@6I 96?>y6Hž?-֩?߿ZP?ۚ??Ic?ɨ6[@6;4yRBR!II^I^a4٢(  D=9 x;Q  > G٣y; > %Nusing accuracyPremultiplier from config!-49%?54Y% i%iB15.=@%D%];%];%|4A E.@Ak9R6?k!I  $?Ik kՕ80A:kCBkUCZk"@"LH/@[<{@ 8yh@?sy,?}F6?JkHx?Rk;ؾ*AS&1j@;Flu;=;o@`]!?@5,Fd?"k`*kWWCk2{y7?k  2kCkk#.?k  kCk7CkǦ@ addTargetRange:: Added new target pos. range: 478.000000 m, deltaT: 4.281344 s, deltaX: 9.799988 m, approachRate: 2.288998 m/s, rangeRepo size: 4  Added new target pos. range: 478.000000 m, bearing: 302.139642 deg, lat: 36.902204 deg, lon: -122.120263 deg, deltaT: 4.281344 s, deltaX: 9.799988 m, approachRate: 2.288998 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 478.00 m.BjJj ProNav: ac range: 478.000000 m, nav range: 390.432800 m, bearing: 298.613864 deg, approach rate: 0.000000 m/s, LOS rate: 0.101417 deg/s, cmd heading: 207.590527 deg, new cmd heading: 207.720518 deg. 2jH >IC I"IItBI6 =&I.I0D6I<:I FBIJI HeadingCmd: 3.625407 target range: 478.000000 and range: 478.00 m. jh@jjjihhh!h!f!f!RIZI4 =bI4 =jI³5fIrfIbfU `?mWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ MI wɚiIIwf=I *iQ)*iDR<)h@)*F2F:FBF0JFG N<G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.; w,]pi0AN[@YNQi@N2R 9N >yNHa`?I? +߿`+N??v[?@e?ɨN[@NsX;N-Cy^B^!IMb@Mb@Mb@ )Y?Mbyf&?"A )dAI Ay AIdI?14٢ <=9˟Q > G٣XDGy|J; > Nusing accuracyPremultiplier from config 49  ?%4Y  i iB%s&?%:%'%@ D W; J; j4-wB -@5VEZjYeFNOT Ignoring new targets: 478.00 m.Bje:Jje:} ProNav: ac range: 478.000000 m, nav range: 390.427856 m, bearing: 298.655012 deg, approach rate: -0.011696 m/s, LOS rate: 0.097350 deg/s, cmd heading: 207.720519 deg, new cmd heading: 207.843964 deg. 2j};HeadingCmd: 3.627562 target range: 478.000000 and range: 478.00 m. j)h@jjjihhhhBff frfbf2?ɛ!ɽ *QI) 5)!ɚ1i1I5Ge=I=)i= v)i=D<)=)h@)A $?I*F92F9:FABFE\5JFA}Will construct direction to contact in vehicle frame from tetrahedron phase data.zKe NKa Ka Ke Ke voiZS^t\QF=875420.*''(&$#"!    RKu ?JKu ?G O<Ga By O > w,I0A @2[@Y2j@27 92 >y2H&?-n?D߿^L2t?x??1j?ɨ2[@2t;2/Cy:B>!IIr=Ir=3٢zsW z\=9~A>;Q ~>| G٣y; > Nusing accuracyPremultiplier from config 49 q?4Y ҍ i iB'@ D ; ; 4! ->@)ZjimFNOT Ignoring new targets: 478.00 m.Bju:Jju: ProNav: ac range: 478.000000 m, nav range: 390.423370 m, bearing: 298.690210 deg, approach rate: -0.012040 m/s, LOS rate: 0.094468 deg/s, cmd heading: 207.843968 deg, new cmd heading: 207.949566 deg. 2j;HeadingCmd: 3.629405 target range: 478.000000 and range: 478.00 m. j*Hh@jjjihhhhfffrfbf>?ɛ$Խ 6VI i#ɚiIde=I)i(iBD<)*Hh@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*FQ2FQ:FQBFUZ0JFYJJJ1JJM;Jw:J3Ja@a@a@a@G5iG<G=?G=.? yIyGBOU>ZH RH H5 >I1  I5 "II5 [BI5 7 =&I1 .I1 6I5 <:I5 P F Will construct direction to contact in vehicle frame from tetrahedron phase data.& w,%0A:%[@Y: j@:w( 9:V>y:H s#!???߿ Q&?@]W?W?`m?ɨ:%[@:;:-CyRBR!I5Mb@Mb@Mb@111 1)1Y5n?Zd;?Mb`?y5V.?5y=5;5A 5X@)5X@I5A1y5G AIE;IE&3٢e; eC=9eH";Q e>ii mG٣iyuu u> }Nusing accuracyPremultiplier from configy49}]?4Y} i}jB/?:_"@}ȌD};};}44xB B@ZEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 478.00 m.BjP:JjP:] ProNav: ac range: 478.000000 m, nav range: 390.394226 m, bearing: 298.731457 deg, approach rate: -0.070205 m/s, LOS rate: 0.099366 deg/s, cmd heading: 207.949563 deg, new cmd heading: 208.073312 deg. 2jec;eHeadingCmd: 3.631564 target range: 478.000000 and range: 478.00 m. jekh@jijijiiihihihhBfffrfbf ~G vA PY vAy QB- w,0A6[@Y6hj@6N96 >y6Hٚ ?Aa?@߿,W ?BB!IIFxIFT4٢Z < ^V=9^ dh jGEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.005603٣jYDGy}X }> Nusing accuracyPremultiplier from config49J?4Y) i,jBc"@ьD^;I;L4yB @]EZj!%FNOT Ignoring new targets: 478.00 m.Bj-:Jj-:] ProNav: ac range: 478.000000 m, nav range: 390.366119 m, bearing: 298.771549 deg, approach rate: -0.067413 m/s, LOS rate: 0.096166 deg/s, cmd heading: 208.073312 deg, new cmd heading: 208.193597 deg. 2j];eHeadingCmd: 3.633664 target range: 478.000000 and range: 478.00 m. jeh@jajajaiahihihhfffrfbf{@ɛʽ RI #)ɚiId=I5đ)i=P'i=<)Eh@)AzKM$NKM9KIKMKMBKQ:KUqA*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257916G <G B J J J 0J J ;J s:J ـ3J O >4 w,{0A6F[@Y6i@6Y96>>y6H@u?*?@<߿]`T?p?C?x?ɨ6F[@6I;6.Cy@@IN|IN[4٢V= VK=9V;Q V>XX ZG٣Xy^س ^> bNusing accuracyPremultiplier from config`f49b9?f4Yb ibRjBdjl"j@bٌDb":b:b4l n@l $?IZj FNOT Ignoring new targets: 478.00 m.BjB:Jj%B:5 ProNav: ac range: 478.000000 m, nav range: 390.340240 m, bearing: 298.808953 deg, approach rate: -0.070240 m/s, LOS rate: 0.101528 deg/s, cmd heading: 208.193592 deg, new cmd heading: 208.305810 deg. 2j5Z;=HeadingCmd: 3.635622 target range: 478.000000 and range: 478.00 m. j h@jjjihhhhfffrfbf@H>IC I"IIKBI9 =&I.I/D6I<:IN Fɛ0̽ 15RI9 E+]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.510450ɚAiI,4d=Iq)iQ&i;) h@)EE*F}?2Fy:FyBF^0JFG GsAG 1X<G qAG Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7609690: w,0AyMBM!IMb@Mb@Mb@ )Y9v?Mb? G٣y %> -Nusing accuracyPremultiplier from config!549%#?54Y% i%jB56?5:5=@%D%>;%;%ǧ4A EK@E`EZjamFNOT Ignoring new targets: 478.00 m.Bju:Jju: ProNav: ac range: 478.000000 m, nav range: 390.295746 m, bearing: 298.854951 deg, approach rate: -0.099192 m/s, LOS rate: 0.102555 deg/s, cmd heading: 208.305812 deg, new cmd heading: 208.443821 deg. 2jČ;]HeadingCmd: 3.638031 target range: 478.000000 and range: 478.00 m. jeh@jajajaiahahhhBfffrfbfh8@ $?IɛHĽ LI .ɚiIc=I%6J)iEp&iM;)Mh@)I*F2F:FBF`0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011716zK KK 9K K K G CQ;RK ?JK ?G B OE >4A w,1A2[@Y2i@2!922>y2H@?=? ߿p8??:?@~?ɨ2[@2iP;2/Cy:B:!IIFdIF?14٢Jڳ= Jf=9N PP RG٣RZDGyR- V> ZNusing accuracyPremultiplier from configT^49V?^4YV iVjB\^ b@VDVS;V;V4d fK@dZj FNOT Ignoring new targets: 478.00 m.Bj:Jj%:- ProNav: ac range: 478.000000 m, nav range: 390.261719 m, bearing: 298.891345 deg, approach rate: -0.094635 m/s, LOS rate: 0.101225 deg/s, cmd heading: 208.443822 deg, new cmd heading: 208.553013 deg. 2j5;5HeadingCmd: 3.639937 target range: 478.000000 and range: 478.00 m. j5h@j9j9j9iAhAhAhAhAfIfIfIrfIbfU` @ɛ5>B=TqϽ 9=DI9 =0ɚ9iAIEhwc=IE*)iM(&iMQ~)Mh@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267532*F?2F:FBF?1JFGs;JJJ1JJ;J|:J3JGABQOu6> IjH<bHH>I I"IIFBI; =&I.I6Iְ<:Im Fu Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:40:19.2251  TRx dataTimestamp_ set to:1736372420.416534 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522258EBG w,&r1A6Uq[@Y6i@6`96`>y6H?`ۥ? ޿V@9?ؾ?`"?{?ɨ6Uq[@6܋;6-CyBɃBB"IMb@Mb@Mb@ )YX9v?K7A?y&1?y3? >`<A @)X@InAyAI%wI%R4٢== =@=9E?;Q E>AI MG٣IyM M> ]Nusing accuracyPremultiplier from configQe49US?e4YU iUjBe6?e:eYe@UDU;U;Um4uzB u@ucE-B*** querying acoustic contact ***j)j)ZjiFNOT Ignoring new targets: 478.00 m.BjO:JjO: ProNav: ac range: 478.000000 m, nav range: 390.208679 m, bearing: 298.934523 deg, approach rate: -0.118283 m/s, LOS rate: 0.096305 deg/s, cmd heading: 208.553010 deg, new cmd heading: 208.682563 deg. 2j/;HeadingCmd: 3.642198 target range: 478.000000 and range: 478.00 m. ji@jjjihhhhBfffrfbf| @ɛ15_ 15:I1 =3ɚ9i9I=c=I)i%i֢)i@)*Fa2Fa:FaBFm1JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769083G ;G ?G ? $?I Ga Bi O >mM w, S81A%Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:40:19.2251 LVL= 13408, 17121, 16754, 21027, AGC= 66, IDX= 454,-0.10, 0.347, 0.730,-1.376,-0.570, PHS= 1.005, 1.347,-0.809, RAW= 21.5, -15.2, CAL= 23.5, -22.8, ROT= 126.5, 22.8 Ygot valid direction response: 21:40:19.2251 LVL= 13408, 17121, 16754, 21027, AGC= 66, IDX= 454,-0.10, 0.347, 0.730,-1.376,-0.570, PHS= 1.005, 1.347,-0.809, RAW= 21.5, -15.2, CAL= 23.5, -22.8, ROT= 126.5, 22.8 PDAT read: Bearing 126.5, 22.8 (Local) ~Local bearing/azimuth received: Bearing 126.5, 22.8 (Local) K[@Y=ji@T9>yHu[?=? ޿ M?p)??`?ɨK[@s;.CyB8"IDAT read: Range 10 to 50 : 480.0 m (Round-trip 640.0 ms) speed -0.4 m/s IEnIEB4٢5= 0=9M;Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=495?=4Y5U i5(kBAEE@5D5P:5;:M,DAT read: user:1963> UBDAT read: Tx time:21:40:20.3310 U$Ping request sent.U-ԇ -~>)-%˾I-FM @i-%>))--p:¿IJ>jп)-WܿI-K>i-g'?-4:)):publishing transmit ping timeQFpublishing direction and range info)9-T?Dv?I?y)))zKjIK+9KKK $>KRQQRRVX[\Z[ZXTOKHD<4.'# BKrA:KrA t@fE) )))I)i))))) )))I)i)))--p:¿IJ>jп))I)i))))k-|mz ?k-SJ# k) k-A:1A:k-CBk-QCZk-@"-hGc@ҁNz@@c@-T?Dv?I?Jk-g'?Rk-4:*-GQT@pO2ozsSk@-)ޭZ۫?DhCzp?"k-*k-Bk-V" ?k- # 2k-Ck-{&?k-A k-Ck-]Ck-g@ addTargetRange:: Added new target pos. range: 480.000000 m, deltaT: 4.033595 s, deltaX: 2.000000 m, approachRate: 0.495836 m/s, rangeRepo size: 4  Added new target pos. range: 480.000000 m, bearing: 281.027212 deg, lat: 36.902006 deg, lon: -122.120571 deg, deltaT: 4.033595 s, deltaX: 2.000000 m, approachRate: 0.495836 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 480.00 m.Bj=Jj9M ProNav: ac range: 480.000000 m, nav range: 404.730103 m, bearing: 294.366835 deg, approach rate: 0.000000 m/s, LOS rate: 0.096305 deg/s, cmd heading: 208.682565 deg, new cmd heading: 208.822546 deg. 2jIUHeadingCmd: 3.644641 target range: 480.000000 and range: 480.00 m. jUAi@jQjYjYiYhhhhff9f9rfE~@bfM|{?ɛ=B{ 隽-I tb6ɚiIb=I(i|%il )Ai@)*FY2Fa:FaBFe0JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:40:20.3302 GM g{G! B) OE >J J J 0J J ;J z:J ـ3J >TT w,N(R1A 0I0:[@Y:Y1i@:-9:7=y:H j`[?@?޿ໞ`? t? J? ?ɨ:[@:;:0CyBS"IIjI;4٢= h=9 G٣[DGy > Nusing accuracyPremultiplier from config49u?4Yw iUkB @D4p<gp<4=|B =,@=hEH]>I]C I]"II]UBI]< =&IY.IY6I]<:I]L FZj)UFNOT Ignoring new targets: 480.00 m.Bje:Jje:5Will construct direction to contact in vehicle frame from tetrahedron phase data. ProNav: ac range: 480.000000 m, nav range: 404.667755 m, bearing: 294.401155 deg, approach rate: -0.179331 m/s, LOS rate: 0.098728 deg/s, cmd heading: 208.822543 deg, new cmd heading: 208.925516 deg. 2j;HeadingCmd: 3.646438 target range: 480.000000 and range: 480.00 m. j>_i@jjjihhhhfffrfbf @?ɛQUz QU!IY ]B8ɚYiYI]b_i@)*F2F:FBFO5JFG=  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B) OE >vZ w,qk1ARZ@YRi@R9RRQ=yRH@!9?@M?@9|޿ y?`?þ??ɨRZ@RA;R-Cy^ B^j"I`bAMMb@Mb@Mb@III I)IYM@5^I ?q= ףp?l?yMb0?M=M=MA M@)IIM AIyMAI]CI]3٢u8= uM=9}';Q }>yy }G٣y> > Nusing accuracyPremultiplier from config]49;?]4Y ikB]3?]:ee@D<w<4q u@ukEZjFNOT Ignoring new targets: 480.00 m.Bj:Jj: ProNav: ac range: 480.000000 m, nav range: 404.604279 m, bearing: 294.438875 deg, approach rate: -0.165199 m/s, LOS rate: 0.098182 deg/s, cmd heading: 208.925515 deg, new cmd heading: 209.038692 deg. 2jÆ;HeadingCmd: 3.648413 target range: 480.000000 and range: 480.00 m. ji@jjjihhhhBfffrfbfΈ?ɛ EWill construct direction to contact in vehicle frame from tetrahedron phase data.zKU JK] ??Wa w,1AN@Z@YNh@Ne 9Na=yNH  e?Bx?@I޿`$O? r?@o?@?ɨN@Z@Ni;N/CyZ.BZ"IIb9Ib3٢j 1> jV=9n;Q n>pp rG٣pyr v> zNusing accuracyPremultiplier from configt~49vԵ?~4Yv ivkB|~~@vDv ;v ;v^4  @ ZjFNOT Ignoring new targets: 480.00 m.Bj:Jj: ProNav: ac range: 480.000000 m, nav range: 404.544769 m, bearing: 294.474836 deg, approach rate: -0.159893 m/s, LOS rate: 0.096638 deg/s, cmd heading: 209.038691 deg, new cmd heading: 209.146591 deg. 2j;HeadingCmd: 3.650297 target range: 480.000000 and range: 480.00 m. jvi@jjjihhhhfffrfbf  ?ɛʪ 隍 IWill construct direction to contact in vehicle frame from tetrahedron phase data. ;ɚiIa=I@(ie&i!)vi@)*F?2F:FBF_0JF e}$?IiZHqRHu>AH>I I"II~BI= =&I.I.D6I˰<:Ia FBI=ȖCJI=ȖCRI9ZI=; =bI=: =jI=6GKG B O= >u Will construct direction to contact in vehicle frame from tetrahedron phase data.g w,s1A6Z@Y6\h@6(a߽96=y6H]?&,? ޿H:c?ݻ? 5?`e?ɨ6Z@6q;6.CyBRBB"IeMb@Mb@Mb@aaa a)aYev/? ףp= ?Q?yex)?eQ=e\=eA e@)e@IeA AayeAI}I}3٢)> ?=99;Q > G٣\DGy > Nusing accuracyPremultiplier from config49?4Yj ikBC+?:*!@!D&;B2;4}B @nEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 480.00 m.Bj:Jj:  ProNav: ac range: 480.000000 m, nav range: 404.489960 m, bearing: 294.513944 deg, approach rate: -0.132995 m/s, LOS rate: 0.094909 deg/s, cmd heading: 209.146594 deg, new cmd heading: 209.263935 deg. 2j E;HeadingCmd: 3.652345 target range: 480.000000 and range: 480.00 m. ji@jjjihhh!h%܄Bf!f!f)rf)bf- qO?ɛ;BXW I 7=ɚiI6a=I _(i &i ʼ) i@)Q*F?2F:FBFJFWill 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.G|GBOh>JJJ1JJ;J:J3JJbg S=9;Q  >    G٣ y" >%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.944951 Nusing accuracyPremultiplier from config492?4Y ilBm!@*Du:u:4 @Zj9=FNOT Ignoring new targets: 480.00 m.BjE-:JjE-:u ProNav: ac range: 480.000000 m, nav range: 404.439117 m, bearing: 294.551181 deg, approach rate: -0.123040 m/s, LOS rate: 0.090126 deg/s, cmd heading: 209.263937 deg, new cmd heading: 209.375662 deg. 2juiw;}HeadingCmd: 3.654295 target range: 480.000000 and range: 480.00 m. j}i@jyjyjihhhhfffrfbf@@ɛ:B4  ɾI Ca>ɚiIA`=I ?(i5|'i5)5i@)9zKMDRLKM9KIKMKM& 1LH/Bn z/eN1*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.196156G ~FG B O > = |$?IA Dt w,A(1AyB#II-iI-:4٢E3> EF=9MQ M>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe49]x~?e4Y]v i]LlBiim@]2D]:]:]4q u@uqEZjFNOT Ignoring new targets: 480.00 m.Bj:Jj: ProNav: ac range: 480.000000 m, nav range: 404.390228 m, bearing: 294.587116 deg, approach rate: -0.127131 m/s, LOS rate: 0.093456 deg/s, cmd heading: 209.375665 deg, new cmd heading: 209.483482 deg. 2jF;HeadingCmd: 3.656177 target range: 480.000000 and range: 480.00 m. ji@jjjihhhhfffrfbf`$@H%>I%C I%A#II%BI%? =&I!.I!6I%<:I%+ Fɛ9B# 隭ƧI o?ɚiICN`=I (iJ!(i )i@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465460*F2F :F BF 0JFG+GBOc> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704005z w, 1AJWdZ@YJh@Jǽ9J>yJH `>?@,̙? v޿' ?Wٸ? A?˗?ɨJWdZ@Jh;J0Cy%B%:#IJJJ0JJ;J~:Jـ3JJj<Jj<Jm;Jn;Mb@Mb@Mb@ )YMb?/$?Q?y#?,=< A )I AyAI[IK!4٢%"> %==9%4)) -G٣-]DGy5; 5> =Nusing accuracyPremultiplier from config9E49=j?E4Y=< i=wlBM#?M:M%M@=;D=r;=;=Y4U~B U@]tE {$?IG-vA9 uYuvAyue BZjFNOT Ignoring new targets: 480.00 m.Bj:Jj: ProNav: ac range: 480.000000 m, nav range: 404.356964 m, bearing: 294.625574 deg, approach rate: -0.071068 m/s, LOS rate: 0.082171 deg/s, cmd heading: 209.483486 deg, new cmd heading: 209.598869 deg. 2ja;HeadingCmd: 3.658190 target range: 480.000000 and range: 480.00 m. jj@jjjihhhhBff f rf bf @X@ɛU8BU* Y]YIY ]|f@ɚYiYI]_=I'i(i)j@)*F=?2F9:F9BF=S1JF9UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.955761Ge fzK BkOK s9K K K   GY Ba O} >G w,2AvZ@Yv]h@v:½9v[>yvH? ?P޿`E?@>?@x?–?ɨvZ@vA;v/Cy~܄B~k#I  AIjI;4٢%U> %\=9%;Q %>)) -G٣)y5OE< 5> =Nusing accuracyPremultiplier from config9E49=Z?E4Y= i=lBAE%M@=BD=7:=X:=4Q U@QZjy}FNOT Ignoring new targets: 480.00 m.Bj:Jj: ProNav: ac range: 480.000000 m, nav range: 404.327515 m, bearing: 294.658605 deg, approach rate: -0.087671 m/s, LOS rate: 0.098341 deg/s, cmd heading: 209.598876 deg, new cmd heading: 209.697976 deg. 2j;HeadingCmd: 3.659920 target range: 480.000000 and range: 480.00 m. j"I I#IIBI@ =&I.I6I<:IR FG ?G B m Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463322O >· w,I 2AjZ@YjEi@j*9js>yjH `S??,޿ ާY?œ??Ĕ?ɨjZ@j;j-CyB#IMb@Mb@Mb@ )Y1Zd? ?=9j;Q > G٣y< > Nusing accuracyPremultiplier from config49F?4Y ilB F? : d* @KD;f;Q4B _@xEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 480.00 m.Bj]:Jj]:% ProNav: ac range: 480.000000 m, nav range: 404.315033 m, bearing: 294.695022 deg, approach rate: -0.027771 m/s, LOS rate: 0.081028 deg/s, cmd heading: 209.697982 deg, new cmd heading: 209.807236 deg. 2j%o^;mHeadingCmd: 3.661827 target range: 480.000000 and range: 480.00 m. jm`[j@jqjqjqiqhqhqhyh}LBfyfyfrfbfϪ @ɛu6Bu` y}Iy }XAɚiI"^=IT'i *ik<ܼ)`[j@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:40:23.3768 TRx dataTimestamp_ set to:1736372424.701223checking for new query: numPingsReceived=0, elapsed TxPingTime=3.713454)*Fu?2Fq:FqBF}P5JFyJJ#JJJ5;J:JJJUc<JVc<J;J; z$?IG] +G1 BA Oe >= w,1:2A2.5[@Y2Si@292-] >y2H @P??\޿ߐ u?`?`nk?=?ɨ2.5[@2_@;2,Cy>B>#IIJeIJ34٢R@> R`=9V<;Q V>TT ZG٣Z^DGyZV< Z> ^Nusing accuracyPremultiplier from config\b49^g6?b4Y^Q i^lBdf*f@^RD^K ;^6;^4h j,@lZj FNOT Ignoring new targets: 480.00 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.963947Bj:Jj:- ProNav: ac range: 480.000000 m, nav range: 404.303497 m, bearing: 294.726092 deg, approach rate: -0.033522 m/s, LOS rate: 0.090293 deg/s, cmd heading: 209.807237 deg, new cmd heading: 209.900451 deg. 2j-w;5HeadingCmd: 3.663454 target range: 480.000000 and range: 480.00 m. j5vj@j1j1j9i9h9h9h9hAfAfAfArfAbfM*@ɛ5B $P >I wAɚiIk^=I%'i% k*iż)vj@)*F-?2F):F1BF5_0JF1zKYKKKKK.GX[TRJ?6+! BKqA:KqAG}ټG ?G>Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:40:23.3768 LVL= 18816, 18897, 20082, 29539, AGC= 66, IDX= 321, 0.30,-1.399,-1.138, 2.964,-1.934, PHS= 0.623, 0.843,-1.389, RAW= 24.9, -0.7, CAL= 24.4, -2.5, ROT= 125.6, 2.5 - Ygot valid direction response: 21:40:23.3768 LVL= 18816, 18897, 20082, 29539, AGC= 66, IDX= 321, 0.30,-1.399,-1.138, 2.964,-1.934, PHS= 0.623, 0.843,-1.389, RAW= 24.9, -0.7, CAL= 24.4, -2.5, ROT= 125.6, 2.5 5 PDAT read: Bearing 125.6, 2.5 (Local) = ~Local bearing/azimuth received: Bearing 125.6, 2.5 (Local) M DAT read: Range 10 to 50 : 481.2 m (Round-trip 641.6 ms) speed -0.3 m/s M ,DAT read: user:1964> U BDAT read: Tx time:21:40:24.4810 U $Ping request sent.] +H ^ >)¸2IK @i¸2=E&䶿i,^eUC*)ԿI'WQ I w,uT2A6ʉ[@Y6hi@6v96 >y6H{`ݕ?)6?f߿Y{??-?`"?ɨ6ʉ[@6;6.Cyb6Bb#IIj`Ij(*4٢%= %C=9%;Q ->)) -G٣)y5@J< 5> ]Nusing accuracyPremultiplier from configYm49]{#?m4Y]v i]lBim)u@]ZD]3;]N3;] 4y }@}{EH>I I#IISBI&IID.I6I<:IQ Fkj/?k"a k k, M2A:kCBkCZk@"'o^%;@s0{@ P?f@(,?b?gԺ٫?JkH?RkF*k#侯h@Nv4m@N\?on ?"k*k5FCkAn#b0?k  2kCkk  kkGCk˝@U addTargetRange:: Added new target pos. range: 481.200012 m, deltaT: 4.286189 s, deltaX: 1.200012 m, approachRate: 0.279972 m/s, rangeRepo size: 4 m Added new target pos. range: 481.200012 m, bearing: 298.345117 deg, lat: 36.902006 deg, lon: -122.120575 deg, deltaT: 4.286189 s, deltaX: 1.200012 m, approachRate: 0.279972 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 481.20 m.BjJj ProNav: ac range: 481.200012 m, nav range: 404.558380 m, bearing: 294.744484 deg, approach rate: 0.000000 m/s, LOS rate: 0.090293 deg/s, cmd heading: 209.900456 deg, new cmd heading: 210.019736 deg. 2jHeadingCmd: 3.665536 target range: 481.200012 and range: 481.20 m. j$j@jjjihhh hfffrf@3~@bf@?5Will construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:21:40:24.4802 ɛ%4B-wD@ 15;I9 }sAɚiI]=I'i.*iu)$j@)E*FQ2FQ:FQBF]]0JFY"Ge=Ge=GM vż Will construct direction to contact in vehicle frame from tetrahedron phase data. i G B! O= >d w,$n2A6[@Y6i@6괽96 >y6H?0T?Y>߿tDv?@?`?3?ɨ6[@6;;6/CyNZBN$I*JuR="Ju4=J}J}'JyJyJ};J}:JyJyJ}l<J}l<J}H;J}H;-Mb@Mb@Mb@ Uy$?IQ))) )))Y-On?V- 1=9Q > G٣y%>; %> -Nusing accuracyPremultiplier from config)549-G?54Y-_ i-mB=P?=:=.=@-cD-;-;-"4EB Eo@M~EZjFNOT Ignoring new targets: 481.20 m.Bjv:Jjv: ProNav: ac range: 481.200012 m, nav range: 404.563477 m, bearing: 294.783395 deg, approach rate: 0.011420 m/s, LOS rate: 0.087192 deg/s, cmd heading: 210.019738 deg, new cmd heading: 210.136471 deg. 2j[o;HeadingCmd: 3.667573 target range: 481.200012 and range: 481.20 m. jj@jjjihhhhBfffrfbfʊ?ɛ=3B=+ AEd=IA E1AɚAiAIE+]=IM/f'iM<+iUὯ)Uj@)Q*F?2F:FBF_0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.G5 לּG B) zK= CMK= +9K9 K= K= RKM >JKM >OU > w,u2AB[@YB3i@B/Ӳ9B^ >yBHٿ k?%C?ca߿h ? !S?l? -m=95!B;Q 5?11 =G٣=_DGy=O; E? UNusing accuracyPremultiplier from configIm49M?m4YM iM'mBiun.u@MiDM;Mɋ;M4}B }@yZjFNOT Ignoring new targets: 481.20 m.Bj :Jj : ProNav: ac range: 481.200012 m, nav range: 404.566895 m, bearing: 294.812213 deg, approach rate: 0.010061 m/s, LOS rate: 0.084826 deg/s, cmd heading: 210.136466 deg, new cmd heading: 210.222917 deg. 2jh;HeadingCmd: 3.669082 target range: 481.200012 and range: 481.20 m. j>j@jjjihhhhfffqrfybfT?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ2B 隽=I @ɚiIۊ\=IxM'i+ik娼)->j@)1 Ux$?IUg*F?2F:FBFo0JFZHRHAAH>I Ia$IIBIA =&I.I6I<:IJ FG } Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O= > w,"á2AyB@$IMb@Mb@Mb@ )Y-?bX9ȶy??E A )A@IAyIIF3٢= ?=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y i8mB ? : 1 @qD<;;4B W@EZjAMFNOT Ignoring new targets: 481.20 m.BjM:JjM:e ProNav: ac range: 481.200012 m, nav range: 404.584229 m, bearing: 294.847687 deg, approach rate: 0.040779 m/s, LOS rate: 0.083452 deg/s, cmd heading: 210.222923 deg, new cmd heading: 210.329341 deg. 2jee;eHeadingCmd: 3.670939 target range: 481.200012 and range: 481.20 m. jmj@jijijiiihihihhхBfffrfbf?ɛae im/>Ii X>@ɚiI[=I /'i+ix)j@)*Fa2Fa:FaBFm0JFiGq GurAWill construct direction to contact in vehicle frame from tetrahedron phase data. 9I9G ~FGa B O > : w,.2A2\@Y2Fj@2yo92v >y2H4? f? ߿? m? G? Gq??ɨ2\@2 ;2/Cy>B>]$IIJ;IJ&3٢R> Ra=9R8TT VG٣TyZ< Z> bNusing accuracyPremultiplier from config\b49^?f4Y^ i^EmBdf1f@^xD^ :^P:^%4h n@lzB*** querying acoustic contact ***jxjxZj FNOT Ignoring new targets: 481.20 m.Bj U:JjU: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.E ProNav: ac range: 481.200012 m, nav range: 404.596893 m, bearing: 294.877973 deg, approach rate: 0.034794 m/s, LOS rate: 0.083201 deg/s, cmd heading: 210.329337 deg, new cmd heading: 210.420191 deg. 2jEfd;MHeadingCmd: 3.672525 target range: 481.200012 and range: 481.20 m. jM k@jIjIjIiIhIhQhYhYfYfYfarfabfe_?ɛ-1BM]& IUa>IQ UE?ɚQiQIU<[=I]'i] ,i]Od)] k@)a*FE?2FA:FABFEA5JFAzK]K]9KYK]K]BKepA:KepAGfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998538Ga Bi O >JK(3 K(.KK"KJ J 3J 1J J ;J :J 3J a @a @a @a @  w$?I! o w,[x2A2\@Y2 k@2-^92| >y2H =Z?0@`e& 'UO??{}?8?ɨ2\@2rэ;2-CyRBRm$IIZ\IZ#4٢vx= zF=9zm;Q z>x| ~G٣|yf< >  Nusing accuracyPremultiplier from config 49 ?4Y W i TmB0@ D  ; K ; -4%B %@%EZjauFNOT Ignoring new targets: 481.20 m.H>IC I$IIBIB =&I.I-D6I<:IA FBIECJIECRIAZIE@ =bIE@ =jIEf5Bj:Jj: ProNav: ac range: 481.200012 m, nav range: 404.609985 m, bearing: 294.912330 deg, approach rate: 0.031591 m/s, LOS rate: 0.082901 deg/s, cmd heading: 210.420192 deg, new cmd heading: 210.523262 deg. 2jc;HeadingCmd: 3.674324 target range: 481.200012 and range: 481.20 m. j (k@jjjihhhhfffrfbfڊ@ɛ 隵{>I $>ɚiIiZ=I&i",i;) (k@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252609*F?2F:FBFM4JFGsGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501236bH w,R2AVY]@YVxk@V=9V< >yVH{f`w?\g@2V` `?`_"? g?Q?ɨVY]@V7;V.Cy^ÅBb$IeMb@Mb@Mb@aaa a)aYekt?K7AMbye ?e eeA A eI@)e+@IeEAayeAIuSIu4٢= A=9;Q > G٣`DGy< > Nusing accuracyPremultiplier from config49u?4Ya tIiYmB?:w4@D ; u$?Ii ;449 =@9ZjFNOT Ignoring new targets: 481.20 m.Bj4:Jj4: ProNav: ac range: 481.200012 m, nav range: 404.637634 m, bearing: 294.946736 deg, approach rate: 0.062605 m/s, LOS rate: 0.077899 deg/s, cmd heading: 210.523260 deg, new cmd heading: 210.626470 deg. 2jU;HeadingCmd: 3.676125 target range: 481.200012 and range: 481.20 m. jEk@jjjihhhhBfffrfbf`@ɛ0B)R 隵>I ʺ=ɚiIEY=I&i ,iX{)Ek@)*F2F :F BF 2JF "G=G==Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.753562G% |`G B O- >zK BHK +9K K K 1 w,5 3A2]@Y24k@2fi92P >y2HLາ?b[uу`? ȳ?n??ɨ2]@2;2/Cy:˅B:$IIFLIF4٢N&= NZ=9Nq;Q R>PP RG٣PyV+< V> ZNusing accuracyPremultiplier from configX^49ZA?^4YZ6 iZ]mB`b 4b@ZDZ ;Z ;Z ;4d f]@fEZjxzFNOT Ignoring new targets: 481.20 m.Bj~:Jj~:  ProNav: ac range: 481.200012 m, nav range: 404.660736 m, bearing: 294.977099 deg, approach rate: 0.065504 m/s, LOS rate: 0.086087 deg/s, cmd heading: 210.626464 deg, new cmd heading: 210.717547 deg. 2j Rl;HeadingCmd: 3.677715 target range: 481.200012 and range: 481.20 m. j_k@jjjihhh!h!f!f!f!rf)bf-w@ɛ5qü 15>I1 =t<ɚ9i9I=,Y=IE&iET+iEc)E_k@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005531*F?2F:FBF_0JFJuJu6Ju0JqJu;Ju{:Juـ3Jq IGGBOA>jHqbHu<H}>Iy I}$II}BI}D =&Iy.Iy6I}<:I}+ FE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257285_ w,#3AN&^@YNDl@N`b9N# >yNH\3?`;` ? g? >? ?ɨN&^@N);N0CynԅBn$ImMb@Mb@Mb@iii i)iYm"~?M¿/$ym?mnmm A m3@)m@ImAiymAIIId4٢9(= ;=9y];Q > G٣y*a< > Nusing accuracyPremultiplier from config49]?4YV i_mB?:4@D;D;B4B @EZjFNOT Ignoring new targets: 481.20 m.Bj/:Jj/: ProNav: ac range: 481.200012 m, nav range: 404.692291 m, bearing: 295.013746 deg, approach rate: 0.071968 m/s, LOS rate: 0.083573 deg/s, cmd heading: 210.717551 deg, new cmd heading: 210.827483 deg. 2jle;HeadingCmd: 3.679634 target range: 481.200012 and range: 481.20 m. j%k@j!j!j!i!h!h!h1h5Bf1f1f9rf9bf=@X @ɛƼ %0>I! -;ɚ)i)I-qX=I5&i=+i=)=k@)a*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:40:27.5171 TRx dataTimestamp_ set to:1736372428.733498checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511250)}= }C t$?I~GvA =Y=vAy=_AG G- rAG) G B O% >ڄ w,<3A2:^@Y2ףl@2z왽92d >y2H?m``#?8?{??ɨ2:^@2Ԍ;2/CyRхBR$IIZQIZ4٢bn bZ=9f:Q f>dd jG٣jaDGyjE}< j> nNusing accuracyPremultiplier from configlr49ny{?r4Yn2 in`mBtv4z@nDn%;n&;nCI4~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761473  @ -B*** querying acoustic contact ***j)j)Zj15FNOT Ignoring new targets: 481.20 m.Bj=:Jj=:M ProNav: ac range: 481.200012 m, nav range: 404.718170 m, bearing: 295.045207 deg, approach rate: 0.068519 m/s, LOS rate: 0.083294 deg/s, cmd heading: 210.827476 deg, new cmd heading: 210.921854 deg. 2jMd;UHeadingCmd: 3.681281 target range: 481.200012 and range: 481.20 m. jUk@jQjYjYiYhYhYhahafafafarfibfmY@ɛ/Bo >I U:ɚiIW=I&i@+iJ;)k@)Ea*F?2F:FBF`0JFG GsAGϳzKk3IKs9KKKGYBiO^>Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:40:27.5172 LVL= 17744, 25201, 16626, 24803, AGC= 70, IDX= 324, 0.06, 2.790, 2.939, 0.857, 2.175, PHS= 0.703, 0.811,-1.321, RAW= 27.4, -1.9, CAL= 27.1, -4.1, ROT= 122.9, 4.1  Ygot valid direction response: 21:40:27.5172 LVL= 17744, 25201, 16626, 24803, AGC= 70, IDX= 324, 0.06, 2.790, 2.939, 0.857, 2.175, PHS= 0.703, 0.811,-1.321, RAW= 27.4, -1.9, CAL= 27.1, -4.1, ROT= 122.9, 4.1  PDAT read: Bearing 122.9, 4.1 (Local)  ~Local bearing/azimuth received: Bearing 122.9, 4.1 (Local) = DAT read: Range 10 to 50 : 474.0 m (Round-trip 632.0 ms) speed -0.3 m/s M ,DAT read: user:1965> U BDAT read: Tx time:21:40:28.6327 U $Ping request sent.U ٽ ڽ*>)ڽCIڽG @iڽC=ڹڹ۽ uiDP5saɠ)۽οI۽2Q=i۽ھ?۽fHؾ۹۹} :publishing transmit ping timeQ } Fpublishing direction and range infoع9ؽzXO?'.&? l =?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽ uiDP5saɠ)۹I۹i۹۹۹۹J J >J J J L*;J :J J I dm w,V3A6,^@Y6m@6З96 >y6H@u@)?ڐ@g???>?ɨ6,^@6~;4yRمBR$IIZOIZ 4٢f&"= fJ=9jo&;Q j>lp rG٣pH%>I%C I%#%II%BBI!&I!.I!6I%<:I%; FyE)j< E> UNusing accuracyPremultiplier from configI49Mg?4YMN iMamB%4@MDM;M;MP4B @Ek)/?kb^b k k6O3A:kCBkTCZku@"M5uL8A@pY[z@j䦂Jh@zXO?'.&? l =?Jkھ?RkfHؾ*h@LuYo@_?.n?"k*kGCk 70?kpM 2k3Ck 70?kA kCkCk(ɦ@e addTargetRange:: Added new target pos. range: 474.000000 m, deltaT: 4.033773 s, deltaX: -7.200012 m, approachRate: -1.784932 m/s, rangeRepo size: 4  Added new target pos. range: 474.000000 m, bearing: 299.945762 deg, lat: 36.902261 deg, lon: -122.120571 deg, deltaT: 4.033773 s, deltaX: -7.200012 m, approachRate: -1.784932 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 474.00 m.BjJj ProNav: ac range: 474.000000 m, nav range: 417.304901 m, bearing: 298.628758 deg, approach rate: 0.000000 m/s, LOS rate: 0.083294 deg/s, cmd heading: 210.921856 deg, new cmd heading: 211.032349 deg. 2jHeadingCmd: 3.683209 target range: 474.000000 and range: 474.00 m. jk@jjjihhhhff f rf-}@bf-(_?ɛY]⽼ aeʩ>Ia eυ9ɚaiaIeOW=If&i*iE;)k@Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:21:40:28.6319 )Q*F2F:F!BF%o0JF)GE GRGM ?GM ?G B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data. w,8p3A6_@Y687m@696 >y6H?f>?Ta`%??{{?v?ɨ6_@6E;6-CyB݅BB$I Es$?IEg]Mb@Mb@Mb@YYY Y)YY](\?x&y]z?]7 ]̼Y ]@)YI]3AYy]GAIm ImV2٢Z~< ?=9AeQ > G٣y; > Nusing accuracyPremultiplier from config49T?4Y i:2@D;;W4 W@ZjFNOT Ignoring new targets: 474.00 m.Bj :Jj : ProNav: ac range: 474.000000 m, nav range: 417.342712 m, bearing: 298.662257 deg, approach rate: 0.097231 m/s, LOS rate: 0.086135 deg/s, cmd heading: 211.032355 deg, new cmd heading: 211.132843 deg. 2jtl; HeadingCmd: 3.684963 target range: 474.000000 and range: 474.00 m. j pk@j j j i h hhhBfffrfbfz?ɛ ->I ~8ɚiIhV=IEI&i)i;)pk@)*F?2F:FBF)2JFGCQ;GyBO]>Will construct direction to contact in vehicle frame from tetrahedron phase data. w,J{3AzKuJK9KKKRKJ?JKJ> f#_@Y Bm@ 4˜9 =y H,`)D? 8@G?? \? Ұ?ɨ f#_@ %; .CyׅB$I))I5OI5 4٢E EO=9EFsQ E>II MG٣MbDGyUH: U> ]Nusing accuracyPremultiplier from configYe49]RA?e4Y] i]bmBam2m@]D]:]C:]^4uB u@uEZjFNOT Ignoring new targets: 474.00 m.Bj:Jj: ProNav: ac range: 474.000000 m, nav range: 417.379150 m, bearing: 298.694221 deg, approach rate: 0.091947 m/s, LOS rate: 0.080650 deg/s, cmd heading: 211.132841 deg, new cmd heading: 211.228724 deg. 2je];uWill construct direction to contact in vehicle frame from tetrahedron phase data.HeadingCmd: 3.686637 target range: 474.000000 and range: 474.00 m. jk@jjjihhhhfffrfbf@a? 5r$?I1JMJMEJIJIJM4.;JMB:JIJIɛm0Bmm qu >Iq u)Q7ɚqiqIuHU=I}-&i}Va)i};)k@)*F2F:FBFH1JFZH9RH9HE>IEC IE<%IIEWBIEF =&IA.IE,D6IE<:IA% Will construct direction to contact in vehicle frame from tetrahedron phase data.G ;G B O >M w,3A63_@Y6{Rm@6`96&=y6HJ?DT ??8??ɨ63_@6n;6/Cy>̅BB$IMb@Mb@Mb@ )Y +?A`"S㥛y?ٽ/ݼ+ A )@IyAI-I-3٢; 8=99Q > G٣yL; > Nusing accuracyPremultiplier from config49m,?4YW idmB\?: / @Dc;\b;f4B @%EZjamFNOT Ignoring new targets: 474.00 m.Bju:Jju: ProNav: ac range: 474.000000 m, nav range: 417.407501 m, bearing: 298.730896 deg, approach rate: 0.062687 m/s, LOS rate: 0.081089 deg/s, cmd heading: 211.228723 deg, new cmd heading: 211.338742 deg. 2j^;HeadingCmd: 3.688557 target range: 474.000000 and range: 474.00 m. jQl@jjjihhhhDžBfffrfbf|?ɛü 隍q>I %?6ɚiIT=Ic&i(i;)Ql@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF@5JF ]q$?IYG] O;G9 BA Om >/ w,3AWill construct direction to contact in vehicle frame from tetrahedron phase data.>'_@Y>Fm@>ꖽ9>`=y>Hn ;E?l#?`ز? ?F?ɨ>'_@>;>.CyJ…BJ$IIZIIZd4٢^ W=9k:Q >!! %G٣)y5 5> =Nusing accuracyPremultiplier from config9E49=?E4Y= i=emBIM/M@=ōD=:=q:=.m4Q U5@QuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 474.00 m.Bjn:Jjn: ProNav: ac range: 474.000000 m, nav range: 417.431702 m, bearing: 298.761865 deg, approach rate: 0.064713 m/s, LOS rate: 0.082807 deg/s, cmd heading: 211.338743 deg, new cmd heading: 211.431644 deg. 2jQc;HeadingCmd: 3.690178 target range: 474.000000 and range: 474.00 m. j+l@jjjihhhhfffrfbf ?ɛ >I k5ɚiIg]T=I%iXx(iQ;) +l@) *F2F:FBF_0JFzKBHK9KKK'eqYRQ( G 1;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.GBO> Y IY J% J% SJ% 1J! J% <5;J% :J% 3J! He >Ie C Ie B%IIe \BIe J =&Ia .Ie +D6Ie Ű<:Ie ? F' w,W3A6_@Y6g=m@6/ғ96hu>y6H @?c {m?*v?`t?v?ɨ6_@6f;6-Cy^B^$IdfAIjFIj%3٢rǼ rK=9vzv;Q v>tt vG٣vcDGyz" z> ~Nusing accuracyPremultiplier from config|49~?4Y~ i~fmB  / @~͍D|~\:~-t4B @EZj9EFNOT Ignoring new targets: 474.00 m.BjEl:JjEl:U ProNav: ac range: 474.000000 m, nav range: 417.457489 m, bearing: 298.794588 deg, approach rate: 0.064567 m/s, LOS rate: 0.081929 deg/s, cmd heading: 211.431648 deg, new cmd heading: 211.529812 deg. 2jU`;]HeadingCmd: 3.691892 target range: 474.000000 and range: 474.00 m. jeGl@jajajaiihihihihifqfqfqrfqbf}`g@ɛ3tѼ 隥8>I t4ɚiI@S=I%iY (i=:)Gl@)Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248257*F?2F:F!BF!JF)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=2.499273 % p$?I! B w,i3A:@%_@Y:Cm@:9:*u>y:H A?힃\١? ?X?]?ɨ:@%_@:#;8yBBFq$IEMb@Mb@Mb@AAA A)AYEA`"?L7A`尿S㥛yE?E+AE A E@)AIAAyEQAI]KI]4٢uN uD=9u |;Q u>yy }G٣yy2w: > Nusing accuracyPremultiplier from config49#?4Y iimB,?:u+@ՍD~$;/#;z{4 ?@ZjFNOT Ignoring new targets: 474.00 m.Bj:Jj: ProNav: ac range: 474.000000 m, nav range: 417.467651 m, bearing: 298.829104 deg, approach rate: 0.024283 m/s, LOS rate: 0.082471 deg/s, cmd heading: 211.529811 deg, new cmd heading: 211.633355 deg. 2jeb;HeadingCmd: 3.693699 target range: 474.000000 and range: 474.00 m. jel@jjjihhhhBff f rf bf .@ɛ1BLzԼ 隽>I 3ɚiIB$S=I&%i'iT9)el@)*Fm?2Fi:FiBFiJFqEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.751395G7:G B O >zK .OK 9K K K 6* w,EF 4AyBi$II-TI-4٢= =N=9EQ M>QY ]G٣aym m> Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.00413649?4Y ilmB@ݍDI;r;4B @EZjFNOT Ignoring new targets: 474.00 m.Bj:Jj: ProNav: ac range: 474.000000 m, nav range: 417.477600 m, bearing: 298.862436 deg, approach rate: 0.023163 m/s, LOS rate: 0.077602 deg/s, cmd heading: 211.633357 deg, new cmd heading: 211.733351 deg. 2jU; o$?I5HeadingCmd: 3.695444 target range: 474.000000 and range: 474.00 m. j5(l@j1j1j1i1h9h9h9h9fAfAfArfAbfE @ɛ s>I Q2ɚiIۃR=I%i T'iv)(l@)Hؼ>IC I/%IILBIN =&I.I*D6I<:I FBIőCJIőCRIŔCZIF =bIH =jI6*F?2F:FBFJFM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255271Gm }:G B O >9M w,'4Anz_@Ynm@n@19n>ynH 3b?i@*@G?@? Ы?ަ?ɨnz_@n~2;n/CyzBz]$IMb@Mb@Mb@ )Y'1Z?/${Gzy"?ף A @)@IzAyp@IUNIU@ 4٢}?- }8=9;Q > G٣dDGy@< > Nusing accuracyPremultiplier from config49?4Y ivmB"?:[&@Dc;;,4 ]@EZjFNOT Ignoring new targets: 474.00 m.Bj:Jj: ProNav: ac range: 474.000000 m, nav range: 417.466980 m, bearing: 298.900599 deg, approach rate: -0.025755 m/s, LOS rate: 0.092553 deg/s, cmd heading: 211.733351 deg, new cmd heading: 211.847843 deg. 2j~;HeadingCmd: 3.697442 target range: 474.000000 and range: 474.00 m. jl@jjj i h h hh_Bfffrfbf @ɛ2B e 4_>I 2ɚiI-Q=I |%i &i  ;) l@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509002*F?2F:FBFo0JF IJJRJ0JJ2;J:Jـ3JJO0 w,>@4AWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:40:31.6928 TRx dataTimestamp_ set to:1736372433.017062checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760842B_@YB9m@Bx!9BV>yBHz?ྎEZ z?@@? ˴?#?ɨB_@B;B.Cy^B^O$IIf^If&4٢n& nj=9r=;Q r?pp rG٣pyvp0< v? ~Nusing accuracyPremultiplier from config|49~?4Y~ i~}mB&@~D~:~2:~H4 @5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 474.00 m.BjM:JjM:] ProNav: ac range: 474.000000 m, nav range: 417.457794 m, bearing: 298.931100 deg, approach rate: -0.026298 m/s, LOS rate: 0.087323 deg/s, cmd heading: 211.847838 deg, new cmd heading: 211.939342 deg. 2j]o;eHeadingCmd: 3.699039 target range: 474.000000 and range: 474.00 m. jel@jajajaiahihihihifqfqfqrfybf}Ԕ@ɛ}3B}) 隅PF>I {1ɚiIsQ=Ib%i&iZ~;)l@)*F 2F :F BF 3JFzKa3JK9KKK /+BKrA:KrAWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=4.014541G=; n$?IGa B O >H ּ>I C I %II 3BI P =&I .I 6I ϰ<:I = F3X w,cZ4A2m_@Y2 n@2<92>y2H@X ? :Ql@hn? G$?`C?@3?ɨ2m_@2;0y:B:?$IIF_IFb(4٢vd vJ=9vQ:Q v>xx zG٣xy~G; ~>  Nusing accuracyPremultiplier from config 49)?4Y@ imB%@D;;]4%B %@%EZjIMFNOT Ignoring new targets: 474.00 m.BjM#:JjU#:e ProNav: ac range: 474.000000 m, nav range: 417.446625 m, bearing: 298.966458 deg, approach rate: -0.027636 m/s, LOS rate: 0.087488 deg/s, cmd heading: 211.939336 deg, new cmd heading: 212.045411 deg. 2je*p;mHeadingCmd: 3.700891 target range: 474.000000 and range: 474.00 m. jmdl@jijijqiqhqhqhyhyfyfyfrfbfc@ɛg 隽*>I 0ɚiI Q=IRD%i&i";)dl@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFm4JFiDAT read: 21:40:31.6928 LVL= 16368, 18801, 16882, 20691, AGC= 71, IDX= 154, 0.24,-2.638,-2.851, 1.452, 2.393, PHS= 1.340, 1.086,-0.944, RAW= 35.8, -13.6, CAL= 40.2, -21.5, ROT= 109.8, 21.5 Ygot valid direction response: 21:40:31.6928 LVL= 16368, 18801, 16882, 20691, AGC= 71, IDX= 154, 0.24,-2.638,-2.851, 1.452, 2.393, PHS= 1.340, 1.086,-0.944, RAW= 35.8, -13.6, CAL= 40.2, -21.5, ROT= 109.8, 21.5 PDAT read: Bearing 109.8, 21.5 (Local) ~Local bearing/azimuth received: Bearing 109.8, 21.5 (Local) DAT read: Range 10 to 50 : 492.0 m (Round-trip 656.0 ms) speed -0.4 m/s ,DAT read: user:1966> BDAT read: Tx time:21:40:32.7811 $Ping request sent.99=_v>?VN+)P*-ο)= I=i="۟?=;99E:publishing transmit ping timeEFpublishing direction and range info99=9ޱ/?{~@E?(?y9999 9)9I9i99999 9)9I9i999=_v>?VN+)P*-ο)9I9i9999Gl;GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:40:32.7803 I  ~~G9 M AU w,\st4AJ6!J6]J4J4J6:;J6:J4J4J6<J6<J6S<J6S< RYPyV8By~B~9$IMb@Mb@Mb@ )YNbX9?V-?I +y%?<94rA @)v@IdAy@IJI)4٢   9=9UQ U>YY ]G٣]eDGye e> Nusing accuracyPremultiplier from configi49mE?4Ym immB%?:!!@mDml;mH;m84 J@km%#?kmK ki kmUa4A:kmCBkm?CZkm @"mfԃ`@h#x@6Bp@m9ޱ/?{~@E?(?Jkm"۟?Rkm;*mNY@jsv as@m PO?:sY}Sg/?"km*kmBBkmd`?km& 7 2km\Ckikm& 7 kmCkmCkm$@e addTargetRange:: Added new target pos. range: 492.000000 m, deltaT: 4.283157 s, deltaX: 18.000000 m, approachRate: 4.202507 m/s, rangeRepo size: 4  Added new target pos. range: 492.000000 m, bearing: 285.863687 deg, lat: 36.902261 deg, lon: -122.120527 deg, deltaT: 4.283157 s, deltaX: 18.000000 m, approachRate: 4.202507 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 492.00 m.BjJj ProNav: ac range: 492.000000 m, nav range: 413.996338 m, bearing: 299.268533 deg, approach rate: 0.000000 m/s, LOS rate: 0.087488 deg/s, cmd heading: 212.045408 deg, new cmd heading: 212.169297 deg. 2jHeadingCmd: 3.703053 target range: 492.000000 and range: 492.00 m. jl@jjjihhhh'Bfffrf~@bf-%?ɛu4B}N y}>Iy }W0ɚyiyI^P=I %i%iƐ;)l@)EEEWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP5JFG 1;G ?G >Gy B O >0h# w,8J4AzK MK59KKKC(< RK" ?JK"?Uv_@YUn@Un劽9UL>yUH ?.^w`m@?EY???ɨUv_@UW;U-CymrBm#$II}=I}=3٢߳ S=9H Q > GWill construct direction to contact in vehicle frame from tetrahedron phase data.٣yQ; > Nusing accuracyPremultiplier from config49?=4Y imB9=!=@Dژ<<إ4MB M@ME mm$?ImgZjFNOT Ignoring new targets: 492.00 m.Bj:Jj:  ProNav: ac range: 492.000000 m, nav range: 413.968353 m, bearing: 299.302244 deg, approach rate: -0.072579 m/s, LOS rate: 0.087436 deg/s, cmd heading: 212.169294 deg, new cmd heading: 212.270434 deg. 2j p;5HeadingCmd: 3.704818 target range: 492.000000 and range: 492.00 m. j5m@j1j1j1i9h9h9h9h9fAfAfArfAbfM-?ɛ5B =I /ɚiIP=I%i4%iߵ;)m@)HҼ>I I$IIBIQ =&I.I)D6I<:Il F*F?2F:FBFP0JFM Will construct direction to contact in vehicle frame from tetrahedron phase data.G% ;G B1 Ou >) w,<4A _@Y n@ Z݋9 >y H`P`?lr@$G?0x? !?`n?ɨ _@ ^; .Cy-lB-$IMb@Mb@Mb@ )YMbX?Zd;?{Gzty*?y=ףA ~@)I@IAy@IIm?3٢Fؼ 8=9Q > G٣ym` > -Nusing accuracyPremultiplier from config)549-ys?54Y-w i-mB5x+?5:=?=@-D-&;-/;-ǭ4A E@AZjiuFNOT Ignoring new targets: 492.00 m.Bju:Jju: ProNav: ac range: 492.000000 m, nav range: 413.920868 m, bearing: 299.343708 deg, approach rate: -0.111570 m/s, LOS rate: 0.097432 deg/s, cmd heading: 212.270436 deg, new cmd heading: 212.394840 deg. 2j;HeadingCmd: 3.706989 target range: 492.000000 and range: 492.00 m. jP?m@jjjihhhhBfffrfbfɠ?ɛ( =I ̚/ɚiIiO=Ie$i$i|U})P?m@)Will construct direction to contact in vehicle frame from tetrahedron phase data. mk$?Ii*F?2F:FBF_0JFJ}*J}lJyJyJ}A;J}z:JyJyJ}"<J}"<J} <J} <G G B O >U Will construct direction to contact in vehicle frame from tetrahedron phase data.0 w,#4AN_@YN$m@N 9N>>yNHg +w?| T]~`?Q? ?`?ɨN_@Noʍ;N-Cyf`Bf $IIn%In)3٢zI zl=9z>˺Q ~? G٣fDGy' ? Nusing accuracyPremultiplier from config49d?4Y imBx@D:&:4-B -@-EEB*** querying acoustic contact ***jAjAZjQ]FNOT Ignoring new targets: 492.00 m.Bj]:Jj]:m ProNav: ac range: 492.000000 m, nav range: 413.886658 m, bearing: 299.374410 deg, approach rate: -0.101777 m/s, LOS rate: 0.091349 deg/s, cmd heading: 212.394841 deg, new cmd heading: 212.486955 deg. 2juz;uHeadingCmd: 3.708597 target range: 492.000000 and range: 492.00 m. j}Ym@jyjyjyiyhhhhfffrfbf6?ɛ6B+ $=I 2`/ɚiI~RO=I$i2$iS*)Ym@)Ee>E*F?2F:FBFJF"G=Gp=zKgMK+9KKKWill 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. iIiG!G B O >H ̼>I C I $II BI S =&I .I (D6I <:I F'6 w,&4A6_@Y6#m@61d96>y6HVj?9oI?'I?`%??ɨ6_@6r;4yBfBB$IIJgIJ64٢R+< RP=9VQ;Q V>TT VG٣XyZ Z> bNusing accuracyPremultiplier from config\b49^=S?b4Y^\ i^mBdff@^ D^:^:^}4h jY@hZjFNOT Ignoring new targets: 492.00 m.Bj:Jj: ProNav: ac range: 492.000000 m, nav range: 413.847382 m, bearing: 299.410200 deg, approach rate: -0.096311 m/s, LOS rate: 0.087771 deg/s, cmd heading: 212.486953 deg, new cmd heading: 212.594333 deg. 2jp;HeadingCmd: 3.710471 target range: 492.000000 and range: 492.00 m. j\xm@jjjihhhhfffrfbf@?ɛF 隍|=I  /ɚiIN=IY$i`$i!)\xm@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993910*F2F:FBFk0JFGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245649 u j$?Iy < w,N4A*J"C="J"a=J&+J&uJ&1J$J&B;J&$:J&3J$J&Ϙ<J&Ϙ<J&<J&yFH@~h?@<>I@}? ? ?`F?ɨF&_@F;F0Cy`B $IMb@Mb@Mb@ )YGz?MbX?Mbp?y0?=;3A h@)3@In@y\@IKI4٢ʼ 9=9o>;Q > G٣yF > Nusing accuracyPremultiplier from config49??4Y" imBs2?:k@)D;W;94B @ EZj)5FNOT Ignoring new targets: 492.00 m.Bj5:Jj=:E ProNav: ac range: 492.000000 m, nav range: 413.786469 m, bearing: 299.451912 deg, approach rate: -0.143048 m/s, LOS rate: 0.097971 deg/s, cmd heading: 212.594337 deg, new cmd heading: 212.719492 deg. 2jMy;HeadingCmd: 3.712656 target range: 492.000000 and range: 492.00 m. j&m@jjjihhhhBfffrfbfN@ɛX 隕=I .ɚiIzN=I$i$i)&m@)*F2F:FBFq0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498324G AG B O >ԶC w,5A:_@Y:m@:2e9:>y:H@l?@Y[N`?@ɰ??Ǧ?ɨ:_@:>;8yFgBF$IzKNBHKN]9KLKNKNIVMIV{4٢^= ^]=9b:Q b>`d fG٣fgDGyf: f> nNusing accuracyPremultiplier from confighr49j\/?r4Yj' ijnBtv`v@j2DjB.;jB.;j4zB zd@zEZjFNOT Ignoring new targets: 492.00 m.Bj%`:Jj%`:5 ProNav: ac range: 492.000000 m, nav range: 413.735779 m, bearing: 299.486621 deg, approach rate: -0.137482 m/s, LOS rate: 0.094149 deg/s, cmd heading: 212.719493 deg, new cmd heading: 212.823631 deg. 2j5:;=HeadingCmd: 3.714473 target range: 492.000000 and range: 492.00 m. j=m@j9j9j9iAhAhAhAhAfIfIfIrfIbfU@}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749759ɛ 隍=I X.ɚiI"N=Ie$i$i()m@) i$?I!*F2F!:F)BF-P5JF)G1 G5rAjHe<bHe4=HmǼ>ImC Im$IImBImU =&Ii.Ii6ImѰ<:Im3 FG5׹GBO5>- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001690AI w,=)5A5n_@Y5 m@595pU>y5Hj?M ?@˱? ?8?ɨ5n_@5);5.CyMhBM$IMb@Mb@Mb@ )Ykt?v/?Q?y 0?x=u< )I@IX@yIWI44٢; 7=9T:Q > G٣y > -Nusing accuracyPremultiplier from config!549%?54Y%, i%5nB52?5:5!5@%;D%J;%;%}4A EP@AZjaFNOT Ignoring new targets: 492.00 m.Bj :Jj:% ProNav: ac range: 492.000000 m, nav range: 413.668488 m, bearing: 299.528636 deg, approach rate: -0.150302 m/s, LOS rate: 0.093860 deg/s, cmd heading: 212.823627 deg, new cmd heading: 212.949692 deg. 2j%Ԁ;MHeadingCmd: 3.716673 target range: 492.000000 and range: 492.00 m. jMm@jIjIjIiIhQhQhQhUĄBfYfYfYrfYbf]` @ɛ  =I .ɚi I íM=I A$i$ihI)m@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253859 IJQJU?A*Fq2Fq:FqBFu2JFqG] -,G9 BA O] >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= BDAT read: Rx Time:21:40:35.8207 E TRx dataTimestamp_ set to:1736372437.049322E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507434'P w,KC5A2"_@Y2m@2u'92۸>y2H=n?H@'Q`??@??@?ɨ2"_@27;0y>nBB$IIFMIF{4٢N = Re=9R2:Q R>TT VG٣TyV: V> ^Nusing accuracyPremultiplier from configXb49Zu ?b4YZ0 iZPnB`bf@ZCDZI;Z;Z4jB j@jEzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 492.00 m.Bj :Jj : ProNav: ac range: 492.000000 m, nav range: 413.615021 m, bearing: 299.562018 deg, approach rate: -0.149527 m/s, LOS rate: 0.093371 deg/s, cmd heading: 212.949698 deg, new cmd heading: 213.049859 deg. 2j%(;%HeadingCmd: 3.718421 target range: 492.000000 and range: 492.00 m. j%m@j)j)j)i)h)h)h1h1f1f1f1rf9bf=` @ɛ9E AE=IA E7-ɚAiIIMSM=IM%$iU$i};tW)}m@)*FM?2FI:FIBFMP0JFIzKK9KK K 7A Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757689 h$?IGf AGi Ju 0Ju xJu 0Jq Ju lF;Ju :Ju ـ3Jq a} @a} @a @a @B O >He ¼>Ie C Ie $IIe ݅BIe W =&Ia .Ie 'D6Ie <:Ie FBI=ˍCJI=ˍCRI9ZI=S =bI=S =jI=)56aV w,B']5A _@Y m@ 9  >y H:g?@@Jn? ?Y%??ɨ _@  ω; /Cyލ|Bޕ0$I ==IMNIM@ 4٢}w= }0=9039Q > G٣hDGy > Nusing accuracyPremultiplier from config49?4Y6 itnB)@ND:X:4Will construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 21:40:35.8207 LVL= 12960, 15345, 13042, 16979, AGC= 68, IDX= 215,-0.05,-0.449,-0.285,-2.429,-1.044, PHS= 0.683, 0.805,-1.388, RAW= 27.2, -0.9, CAL= 26.7, -2.8, ROT= 123.3, 2.8 5Ygot valid direction response: 21:40:35.8207 LVL= 12960, 15345, 13042, 16979, AGC= 68, IDX= 215,-0.05,-0.449,-0.285,-2.429,-1.044, PHS= 0.683, 0.805,-1.388, RAW= 27.2, -0.9, CAL= 26.7, -2.8, ROT= 123.3, 2.8 =PDAT read: Bearing 123.3, 2.8 (Local) =~Local bearing/azimuth received: Bearing 123.3, 2.8 (Local) EDAT read: Range 10 to 50 : 476.5 m (Round-trip 635.4 ms) speed -0.2 m/s M,DAT read: user:1967> UBDAT read: Tx time:21:40:36.9311 U$Ping request sent.U >)+HI9 @i+H=۷kVerQA)gfϿII '-ɚiIL=IH#iQ %i])m n@)*F ?2F :F BF [5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:40:36.9303 I gG SG G GBO>N^ w,2|5A:s_@Y:rm@:ն9: >y:H[?`|>@%?г?g?`J?ɨ:s_@:f;8yBBF;$IMb@Mb@Mb@ )YQ?V-?I +?y\/?=9< ;@)@Iyf@IGI3٢K= 0=9GQ > G٣yj  > Nusing accuracyPremultiplier from config 49 '?4Y @< i nB1?: @ XD ; ^; 4B @Eku1?k~ k kSc5A:k@CBkCZk>@"`:@-{@lwk6"h@?Bc?Bk3?E|?Jk;?RkQվ*D9j@oz5ܞuγ1wo@Hc.?7RJ7;@/r?"k*kQCk%e1?k} 2k>Ckkk>CkCk [@ZjFNOT Ignoring new targets: 492.00 m.Bj%:Jj%:5 ProNav: ac range: 492.000000 m, nav range: 413.476837 m, bearing: 299.649113 deg, approach rate: -0.151109 m/s, LOS rate: 0.095301 deg/s, cmd heading: 213.182075 deg, new cmd heading: 213.311182 deg. 2j5΂;]HeadingCmd: 3.722982 target range: 492.000000 and range: 476.50 m. j]XEn@jajajaiihihihqhu҄BfqfqfqrfyWill construct direction to contact in vehicle frame from tetrahedron phase data.bfa$?ɛiu y隅>I ,ɚiITL=I]#iHQ%i+)XEn@)*Fm?2Fi:FiBFm4JFqGEG!B1OM>zK -LK 9K K K M Will construct direction to contact in vehicle frame from tetrahedron phase data. g$?I -e w,45AJ#K+3 K+.K#K#"K#Jz5JzJz1JxJzSJ;Jzز:Jz3Jxjp_@YjLm@j;9j5>yjH@{Z?<=|`d'?Y? ƅ??ɨjp_@jF;j.CyBW$II-=I-=3٢== EX=9E*Q E>AI MG٣IyM8 M> ]Nusing accuracyPremultiplier from configQe49U?e4YU@ iUnBae+e@U`DU>;U`;U4i u9@qZjQuFNOT Ignoring new targets: 492.00 m.Bj}x:Jj}x: ProNav: ac range: 492.000000 m, nav range: 413.421204 m, bearing: 299.684436 deg, approach rate: -0.146261 m/s, LOS rate: 0.092877 deg/s, cmd heading: 213.311179 deg, new cmd heading: 213.417163 deg. 2j~;ZHRH@AH>IC I$IIBIZ =&IJD.I&D6I!<:Ic FHeadingCmd: 3.724832 target range: 492.000000 and range: 476.50 m. jcn@jjjihhhhfffrfbf`:?ɛam i隕vL>I ,ɚiIDK=I#iǡ%ix)cn@)*Fa2Fa:FiBFm]0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B Ou >]Wk w,5A6_@Y6m@6$96%>y6H`o?dQq?U!?T*?@?ɨ6_@6Z;6-Cy>BRo$IXZAEMb@Mb@Mb@AAA A)AYECl?Cl??yE/?E;=Eqq uG٣uiDGy}Z; > Nusing accuracyPremultiplier from config49?4YE inB/2?:@iDh;;4B  @E)= ~C%Will construct direction to contact in vehicle frame from tetrahedron phase data. ]f$?IY|uA 5Y5|uAy5BZjIUFNOT Ignoring new targets: 492.00 m.BjU:Jj]:e ProNav: ac range: 492.000000 m, nav range: 413.362976 m, bearing: 299.722970 deg, approach rate: -0.134750 m/s, LOS rate: 0.089189 deg/s, cmd heading: 213.417156 deg, new cmd heading: 213.532776 deg. 2jmt;HeadingCmd: 3.726850 target range: 492.000000 and range: 476.50 m. jn@jjjihhhhBfffrfbfG?ɛߕѼ ft>I V>+ɚiIGK=I-#i5%i5T)5n@)1*F?2F:FBF_0JFG~FGyBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.?r w,Do5A:[_@Y:m@:79:>y:H@ ?ΕAbGh?#?( ? ?ɨ:[_@:ɸ;:/CyFDžBF$IIRIRM3٢Z= ZW=9ZĸQ ^>\\ bG٣`ybl; b> fNusing accuracyPremultiplier from configdj49fi?j4YffJ ifoBlnn@frDf ;f ;fb4p r@tB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 492.00 m.Bj%:Jj%:5 ProNav: ac range: 492.000000 m, nav range: 413.308807 m, bearing: 299.758476 deg, approach rate: -0.161380 m/s, LOS rate: 0.105794 deg/s, cmd heading: 213.532778 deg, new cmd heading: 213.639310 deg. 2jE6;UHeadingCmd: 3.728709 target range: 492.000000 and range: 476.50 m. jU-n@jajajaiihihqhhfffrfbfHf?ɛm5Bm imđ>Ii k*ɚiI"J=I|#i9&iZ)-n@)*F)2F):F)BF-o0JF1-Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode. QIQzKBHKh9KK KBKqA:KqAJ;JxJ0JJO;J:Jـ3JGQH>I I$IIBI\ =&I.I6I<:IL FGI BQ Om >;jx w,K5A2[_@Y2m@292x>y2Hk'? c h`N?@?@?Μ?ɨ2[_@26;2.CBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004168y>BF$IINEIN3٢ S>  E=9 q:Q > G٣y9 > %Nusing accuracyPremultiplier from config!-49%Z?-4Y%mO i%%oB15}5@%{D%*:%:%4Y ]@eEZjFNOT Ignoring new targets: 492.00 m.Bj:Jj: ProNav: ac range: 492.000000 m, nav range: 413.249573 m, bearing: 299.797403 deg, approach rate: -0.138705 m/s, LOS rate: 0.091164 deg/s, cmd heading: 213.639315 deg, new cmd heading: 213.756112 deg. 2j Bz;HeadingCmd: 3.730748 target range: 492.000000 and range: 476.50 m. j=n@jAjAjAiAhAhAhIhIfIfIfIrfQbfuߢ@ɛ]^ >I <)ɚiI-J=I=![#im&imM)un@)y*Fy2Fy:FyBF}m0JFy 5e$?I9=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257485*J R="J %=G FǓGY Bi O >~ w,%5A6_@Y6%m@6pm96&>y6H@H@}?ނ`ya@h`?`ʰ?*?>?ɨ6_@6l;6-CyRBR$I Vp=Va=5Mb@Mb@Mb@111 1)1Y5sh|??#~j?Q?y5)?5=5<5A 5@)1I5@1y5@IMCIM3٢a> >=9:Q > G٣jDGyX > Nusing accuracyPremultiplier from config49ʌ?4Y7T iKoBj+?:@D6;E5;( 4 B @EZj9=FNOT Ignoring new targets: 492.00 m.BjE:JjE:] ProNav: ac range: 492.000000 m, nav range: 413.201324 m, bearing: 299.836442 deg, approach rate: -0.115340 m/s, LOS rate: 0.093336 deg/s, cmd heading: 213.756111 deg, new cmd heading: 213.873242 deg. 2j];eHeadingCmd: 3.732792 target range: 492.000000 and range: 476.50 m. jen@jajajaiahihihihm(Bfqfqfyrfybf}@ɛ4BeK -,=隭z>I ''ɚiIaI=I9#i &i쏼)n@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508980*Fm?2Fi:FiBFm4JFiGGi Bq O >M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761205 9 I zK JK 9K K K RK ?JK ?{ w,6A2_@Y2]m@2Ɇ92>y2Hfx?@ }\i?ְ?X?`?ɨ2_@2h;2,Cy:#B>$IIF^IF&4٢N%> Na=Jb<JbJ`J`JbO;Jb:J`J`9jQ j>ll nG٣|y >  Nusing accuracyPremultiplier from config 49 |?4Y bX i koB@ D ;: : 4Q U@QZjFNOT Ignoring new targets: 492.00 m.Bj:Jj: ProNav: ac range: 492.000000 m, nav range: 413.159668 m, bearing: 299.870421 deg, approach rate: -0.106113 m/s, LOS rate: 0.086564 deg/s, cmd heading: 213.873249 deg, new cmd heading: 213.975195 deg. 2jm; HeadingCmd: 3.734572 target range: 492.000000 and range: 476.50 m. j 9o@j j j i hhjHYbH]<He>IeC Ie%IIe3BIa&Ia.Ia6Ie <:Iahyhyfffrfbf'@ɛ3Bt *>I  X&ɚi I H=I{#i[z'iͼ)9o@)*F2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011988G fG B O >˦ w,06Ayn8Bn%IMb@Mb@Mb@ )Y?l?Zd;O?yf&?=j<A @)@I@y@ICI3٢/= 7=9Q > G٣y >Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.264490 Nusing accuracyPremultiplier from config 49oi? 4Y\ ioB&?: %d$?I%g% %@Dh;;H4) -@5EZjY]FNOT Ignoring new targets: 492.00 m.Bjew:Jjew:u ProNav: ac range: 492.000000 m, nav range: 413.130310 m, bearing: 299.909194 deg, approach rate: -0.069987 m/s, LOS rate: 0.092440 deg/s, cmd heading: 213.975196 deg, new cmd heading: 214.091525 deg. 2ju};}HeadingCmd: 3.736602 target range: 492.000000 and range: 476.50 m. j}}$o@jyjyjyiyhhhhWBfffrfbf[ @ɛ` ?I $ɚiIG=I8"i(i0 ڼ)}$o@)*Fa2Fa:FaBFe4JFa Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:40:39.9722  TRx dataTimestamp_ set to:1736372441.083705 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520137G \KȼG B O >B w,(J6A2ڠ_@Y2wm@2Q?92.>y2H`jm?Q`LQ`p@?İ?%k??ɨ2ڠ_@2*;2.CyB^BBE%IDFAIJPIJ 4٢VN> V`=9Z=:Q Z>XX ZG٣ZkDGy^^ ^> bNusing accuracyPremultiplier from config`f49bBY?f4Yb^` iboBhj!j@bDb:b;:b4l nm@pB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 492.00 m.Bj:Jj: ProNav: ac range: 492.000000 m, nav range: 413.106140 m, bearing: 299.941837 deg, approach rate: -0.062311 m/s, LOS rate: 0.084159 deg/s, cmd heading: 214.091528 deg, new cmd heading: 214.189461 deg. 2jg;HeadingCmd: 3.738311 target range: 492.000000 and range: 476.50 m. j~@o@jjj!i!h!h!h)h)f)f)f)rf1bf5~ @ɛE2BE9 AE?IA E"ɚIiIIM#F=Iu7"iu@(iu)u~@o@)y b$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770508zKjIK+9KK KBK rA:K tAE;=H]>I]C I]a%II]uBI]_ =&IY.I]$D6I]<:I]J F*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=4.023988GN޼G BIO?e w,Ak6Ay-{B-i%IMb@Mb@Mb@ )YGz?I +/$?yp?94<A @)IA@yz@INI@ 4٢w=  =9Q > G٣y >  Nusing accuracyPremultiplier from config 49 ^??4Y Ve i oB%?%:%%%@ D :b; _; (4-B 5@5EZjY]FNOT Ignoring new targets: 492.00 m.Bje-:Jje-:u ProNav: ac range: 492.000000 m, nav range: 413.096222 m, bearing: 299.991819 deg, approach rate: -0.017624 m/s, LOS rate: 0.088815 deg/s, cmd heading: 214.189459 deg, new cmd heading: 214.339409 deg. 2jus;}HeadingCmd: 3.740928 target range: 492.000000 and range: 476.50 m. j}_ko@jyjjihhhhBfffrfbf@ɛAE8 AE$?IA MɚIiIIMME=IUV"iU)iU)U_ko@)a IWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 21:40:39.9722 LVL= 20112, 18705, 17362, 27267, AGC= 70, IDX= 439,-0.24, 0.433, 0.599,-1.610,-0.194, PHS= 0.715, 0.841,-1.419, RAW= 27.2, -1.3, CAL= 26.8, -3.2, ROT= 123.2, 3.2 =Ygot valid direction response: 21:40:39.9722 LVL= 20112, 18705, 17362, 27267, AGC= 70, IDX= 439,-0.24, 0.433, 0.599,-1.610,-0.194, PHS= 0.715, 0.841,-1.419, RAW= 27.2, -1.3, CAL= 26.8, -3.2, ROT= 123.2, 3.2 E8DAT read: $Error in header E*Received a bad headerX#Rx 1: Read direction message, but no range.\direction in FSK: [0.061711,0.912059,0.405389]9sAi?Cp/?!?NI C)jIFi= 7?KW?ˡ޹ |>)dI @id=Did} ,늖)jϿI[y6H^t? /XiF5?-ް???Ɩ?ɨ6_@6iև;6,CyBBB%IIJ;IJ&3٢R I> R==9V;kQ V>TT ZG٣XyZ; Z> bNusing accuracyPremultiplier from config\b49^b,?f4Y^h i^oBdf%f@^D^0;^1;^~04nB n@nEZjFNOT Ignoring new targets: 492.00 m.Bj5:Jj5: ProNav: ac range: 492.000000 m, nav range: 413.088898 m, bearing: 300.028487 deg, approach rate: -0.016259 m/s, LOS rate: 0.081398 deg/s, cmd heading: 214.339409 deg, new cmd heading: 214.449415 deg. 2js_;HeadingCmd: 3.742848 target range: 492.000000 and range: 476.50 m. jԊo@jjjihhhhfffrfbf-@ɛ 1Br< ^:?I *ɚiIXD=I"i%@Y*i%)%Ԋo@)!E)E)*E1"E1 ma$?ImgWill 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 elapsezKBoHKs9KKKRK>JK?H>IC I%IIBIc =&I.I6I$<:IP FBIljCJIljCRIZI\ =bI^ =jIk6*F2F:FBF?1JFGM } 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) B9 OU > w,B 6A_@Ypn@ 96>yH@'?@IR@w ?T@??1?@??ɨ_@^;騕.CyƆB%II2I?3٢5> (=9B;Q %>!! -G٣-lDGy-<< -> UNusing accuracyPremultiplier from configIm49M?m4YM#m iMpBq}y%}@MDM;MZ w,-6AyB %IMb@Mb@Mb@ )YQ?V-:v?y?mT<A @)@I@y@IIT3٢7> N=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Yo ipB?:*@ŽD;h;?4B ɻ@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 elapseZj15FNOT Ignoring new targets: 492.00 m.Bj=:Jj=:M ProNav: ac range: 492.000000 m, nav range: 413.090454 m, bearing: 300.101890 deg, approach rate: 0.029476 m/s, LOS rate: 0.086147 deg/s, cmd heading: 214.573562 deg, new cmd heading: 214.669622 deg. 2jM}l;UHeadingCmd: 3.746692 target range: 492.000000 and range: 476.50 m. jUo@jQjQjQiQhYhYhYhe Bfafafarfibfm`>@ɛ9=< E}zK BoIK h9K K K BK :K rAϤ w,6AHB>IBC IB&IIB BIBd =&I@.IB#D6IB3<:IBX Fzdu`@Yzn@zt9zx>yzH ?@[3@a'????ɨzdu`@z;z-Cy]B]&IIm(Im̍3٢}= }P=9;Q > G٣y< > Nusing accuracyPremultiplier from config49?4Yr i"pB*@ɎDq ; ;F4B @EB*** querying acoustic contact ***jjZjqFNOT Ignoring new targets: 492.00 m.BjS:JjS: ProNav: ac range: 492.000000 m, nav range: 413.099823 m, bearing: 300.133804 deg, approach rate: 0.024040 m/s, LOS rate: 0.081886 deg/s, cmd heading: 214.669622 deg, new cmd heading: 214.765359 deg. 2j`;HeadingCmd: 3.748363 target range: 492.000000 and range: 476.50 m. j,o@jjjihhhhfffrfbf@ɛIM< 隍c?I KɚiIBA=I:"i],i׼),o@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse*F?2F:FBF]0JFG JG B O > G vA A % _$?I) 5 FY5 vAy5 Aϼ w,g6ABWill 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 elapseN`@YN^n@N[z9N¢>yNHqN?wx@? >??>?ɨN`@N I;LyZBZ&I-only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00, , 20.00,1361.05  @ @ @  @ I 5I 3٢= @=9c;Q %>!! %G٣%mDGy-M< ->J=EJ=J9J9J=V;J=:J9J9J=Z<J=[<J=<J=< ]bBottom track data is 0.4 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from config1e495 ?e4Y5u i54pBm+:im:m)m@5юD5*;5)>5L4uB }@}EZjFNOT Ignoring new targets: 492.00 m.Bj:Jj:5 ProNav: ac range: 492.000000 m, nav range: 413.108795 m, bearing: 300.168316 deg, approach rate: 0.020869 m/s, LOS rate: 0.080271 deg/s, cmd heading: 214.765354 deg, new cmd heading: 214.868888 deg. 2j=[\;=HeadingCmd: 3.750170 target range: 492.000000 and range: 476.50 m. j=p@jAjAjAiAhAhAhIhIfififqrfqbfuə@ɛ 6< =n?I ɚiIk?=I"i|,iQ¼)p@)E*F2F:FBF_0JFG GG} ټGG?G1BAOew>5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse w,؛7A6a@Y6-o@6Kt96^>y6H`q??ڡ# ??? ܕ?ɨ6a@6;6/CyNBN.&II^ I^b3٢b= fb=9fx;Q f>hh jG٣hyj6< n> vbBottom track data is 0.8 s old, using for 20.0 s. vNusing accuracyPremultiplier from configpz49rK?z4Yrx irBpBz :x~l:~m)~@r؎DrG;rJ?rP4 @ Zj1=FNOT Ignoring new targets: 492.00 m.Bj=):Jj=):M ProNav: ac range: 492.000000 m, nav range: 413.115692 m, bearing: 300.197745 deg, approach rate: 0.019276 m/s, LOS rate: 0.082251 deg/s, cmd heading: 214.868886 deg, new cmd heading: 214.957172 deg. 2jMa;]HeadingCmd: 3.751710 target range: 492.000000 and range: 476.50 m. j]p@jYjYjYiYhYhahahafafafirfibfm @ɛ= 15t?I1 =u|ɚ9i9I=v>=IE"iE)-iEe)Ep@)I 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 elapsezKBoHK9KKKRK->JK-?jHabHe<Hm>ImC Imt&IImUBImf =&Ii.Ii6Imq<:Im FEd=*F-?2F):F1BF5]0JF1= 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 elapseG} FټGI BY O} >t w,I+7A2Vsa@Y2o@2n92t>y2HU#?@| `Q ?`!Э?`?p?ɨ2Vsa@2;0yB&BB;&IIJ0IJ(3٢RI= R;=9R(W;Q R>TT VG٣TyZf< Z> jbBottom track data is 1.2 s old, using for 20.0 s. nNusing accuracyPremultiplier from config`z49bU?z4Yb{ ibSpBz9xz?:~)~@bDb;bx?bT4B ?@EZj)5FNOT Ignoring new targets: 492.00 m.Bj5:Jj5:E ProNav: ac range: 492.000000 m, nav range: 413.122589 m, bearing: 300.233298 deg, approach rate: 0.015648 m/s, LOS rate: 0.080663 deg/s, cmd heading: 214.957173 deg, new cmd heading: 215.063829 deg. 2jEo];HeadingCmd: 3.753572 target range: 492.000000 and range: 476.50 m. j:p@j j j ihhhIhIfQfYfrfbf @ɛ2B< 隍@z?I p ɚiI`==I/!i}-i}):p@) ^$?IEu<}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*FI2FQ:FQBFU_0JFQJ1J5J51J1J1J5ľ:J53J1J1J1J5L<J5L<GEG BO->~U w,RE7A2Ͽa@Y2lo@2nf92n>y2H@@?? 5sW?@Ӭ?G ??ɨ2Ͽa@2k;2-CyB(BB>&I F=F=rWill 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        Mb@Mb@Mb@ )Y/$?MbI +y1?94A @)@I+@yIIT3٢\< 6=9;Q >! %G٣%nDGy% *< %> -Nusing accuracyPremultiplier from config)549-?=4Y-~ i)=T:= ?=:=0=@-D-;-;-\4EB M*@MEZjy}FNOT Ignoring new targets: 492.00 m.Bj$:Jj$: ProNav: ac range: 492.000000 m, nav range: 413.159698 m, bearing: 300.266939 deg, approach rate: 0.083496 m/s, LOS rate: 0.075685 deg/s, cmd heading: 215.063833 deg, new cmd heading: 215.164747 deg. 2jO;HeadingCmd: 3.755333 target range: 492.000000 and range: 476.50 m. jaWp@jjjihhhhGBfffrfbf p@ɛY]I= Y]2{?IY ]AɚaiaIe.<=IuT!iu-iuJʄ)uaWp@)qEyEy*E"E ]$?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*F2F:FBFJFzKE BoIKE 9KA KE KE 3T]YM@4+$  BK] qA:K] qAHE >IE C IE &IIE BIE h =&IA .IE "D6IE ><:IE U FG5 ^G1 G1 G BOM>{ w,ѕc7AB|$b@YBCp@BίZ9B>yBH`=% 1f?`_`?R? "?`"?ɨB|$b@BY;@yN,BNC&IIV*IV3٢^2< ^@=9b;Q b>`d fG٣dyfm< f> nNusing accuracyPremultiplier from confighn49j?r4Yjh ihpr0r@jDj;j:j9d4t z@x B*** querying acoustic contact ***j j Zj)=FNOT Ignoring new targets: 492.00 m.BjEO:JjEO:m ProNav: ac range: 492.000000 m, nav range: 413.193573 m, bearing: 300.298820 deg, approach rate: 0.079575 m/s, LOS rate: 0.074886 deg/s, cmd heading: 215.164742 deg, new cmd heading: 215.260378 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 elapse2juM; HeadingCmd: 3.757002 target range: 492.000000 and range: 476.50 m. j rp@j j j i h hhhfffrfbf%`% @ɛ = 隵|?I >ɚiIZ:=I!i-iK)rp@)*F2F:FBF0JFGGB!Oew> IPExceeded connect timeout, disconnecting. 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,`s}7Ajb@Yj)p@jN9j>yjH` ?ఇ@W?Qܩ?`*??ɨjb@j(;j.Cy.BF&IMb@Mb@Mb@ )Yx&?L7A`y7 ?+̼ @)I@y@I/I3٢/< ;=9;Q > G٣yw`< > Nusing accuracyPremultiplier from config49?4Yς iKpBu ?:L0@Da;;k4B շ@EZjFNOT Ignoring new targets: 492.00 m.Bj%h:Jj%h:= ProNav: ac range: 492.000000 m, nav range: 413.227814 m, bearing: 300.331975 deg, approach rate: 0.078743 m/s, LOS rate: 0.076239 deg/s, cmd heading: 215.260378 deg, new cmd heading: 215.359834 deg. 2j=JQ;EHeadingCmd: 3.758738 target range: 492.000000 and range: 476.50 m. jE+p@jAjAjAiAhIhIhIhU4BfQfQfQrfQbf] @ɛ3B[= }?I $Fɚ i I H9=I!iU-iXW)+p@)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}1JFG G ?G >Gy B O > } \$?I w,JB7A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2T****** received valid address query ******6R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapse:b@Y:p@:A9:y>y:H`?@7^ #b C?4?@b(?v?ɨ:b@:<`;:+CyM#BM8&II}8I}3٢a N=9 G٣oDGyP< > Nusing accuracyPremultiplier from config49u?4Y iCpB/@D;;r4 @ZjFNOT Ignoring new targets: 492.00 m.Bje:Jje: ProNav: ac range: 492.000000 m, nav range: 413.257904 m, bearing: 300.362098 deg, approach rate: 0.075720 m/s, LOS rate: 0.075798 deg/s, cmd heading: 215.359840 deg, new cmd heading: 215.450203 deg. 2jP; HeadingCmd: 3.760315 target range: 492.000000 and range: 476.50 m. j p@j j jihzK5:MK59K1K5K5 *JE4="JEa=JMIJMJIJIJMY;JM:JIJIa]@a]@a]@a]@hhhfffrfbf >!@ɛ= w?IZHRHHI I&IIBIi =&I.I6I6<:IN F =2ɚ9i9I=8=IEv!iE/-iEλ)Ep@)I*F?2F:FBFY5JFG}"GYBO>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,j/7A!=c@Y[q@~49Y>yH@]?@j`' Tsط?@?@?@s?ɨ!=c@;騥-CyB)&I I MnManaging dock network, ignoring radio surface power offMb@Mb@Mb@ )YFx?!rh rhy ?l罹C A @)@IyI @I 3٢U 3=9%;Q %>99 =G٣9y=Y< => MNusing accuracyPremultiplier from configIU49Mzb?U4YMއ iM7pBU?U:U-U@MDM<;MD;Mz4eBmWill construct direction to contact in vehicle frame from tetrahedron phase data.iimAmT****** received valid address query ******uR****** received valid ping request ******ureceived new query, but waiting for acoustic response period to elapse eY@uEZjFNOT Ignoring new targets: 492.00 m.Bj:Jj: ProNav: ac range: 492.000000 m, nav range: 413.281647 m, bearing: 300.397393 deg, approach rate: 0.051495 m/s, LOS rate: 0.076546 deg/s, cmd heading: 215.450203 deg, new cmd heading: 215.556082 deg. 2j!R;HeadingCmd: 3.762163 target range: 492.000000 and range: 476.50 m. jIp@jjjihhhhBfffrfbf"@ɛ 4B =  |q?I  ]ɚiI_7=IlX!iiX-i<)Ip@)!*F2F:FBF4JFG G 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 elapse w,7AVc@YV2q@VS%9VQ>yVH`W?@!iaX? ش?=?@?ɨVc@V;V.CynBn&IIv/Iv3٢%M %l=9%*=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 elapseJcJJJJCn;J:JJzKMMKKMH9KIKMKMH>I I&IIBI&I.I!D6IW<:Ic FBIuȄCJIuȅCRIqZIuh =bIug =jIu(6 w,Y7AFc@YFtq@F9F>yFHs]?=  J?آ?!?`j?ɨFc@F̑;DyRBR&I)T T Z=Za=\^@AI^8I^3٢fM fP=9jhh nG٣npDGyne< n> vNusing accuracyPremultiplier from configpv49r4C?v4Yr ir pBxzs,z@rDr:rz:r4| d@E%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 492.00 m.Bj54:Jj54:U ProNav: ac range: 492.000000 m, nav range: 413.317169 m, bearing: 300.454165 deg, approach rate: 0.048509 m/s, LOS rate: 0.079648 deg/s, cmd heading: 215.635752 deg, new cmd heading: 215.726396 deg. 2jUZ;eHeadingCmd: 3.765136 target range: 492.000000 and range: 476.50 m. jmp@jijijqiqhqhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.' w,27Ay~B~%IMb@Mb@Mb@ )YX9v?L7A`尿 rhy?+A @)Iv@y\@I,I3٢4 ;=9Q > G٣y > Nusing accuracyPremultiplier from config490?4Y ipB?:&@D;;8;R4 @ Zj)5FNOT Ignoring new targets: 492.00 m.Bj=N:Jj=N:M ProNav: ac range: 492.000000 m, nav range: 413.316193 m, bearing: 300.489363 deg, approach rate: -0.002235 m/s, LOS rate: 0.080566 deg/s, cmd heading: 215.726402 deg, new cmd heading: 215.831997 deg. 2jM*];UHeadingCmd: 3.766979 target range: 492.000000 and range: 476.50 m. jU/q@jQjQjQiQhQhYhYheBfafifirfibfm@^%@ɛ$< 隝0V?I bɚiI4=I !iFA,ic:)/q@)*Fm?2Fi:FiBFqJFqWill construct direction to contact in vehicle frame from tetrahedron phase data. Z$?I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] y2H`+?@@C@35%? ?!??ɨ2Fd@2e;2-CyRƆBR%IIZ<IZ3٢E[ EQ=9MII MG٣IyU< U> Nusing accuracyPremultiplier from config49 ?4Y i pBc&@#D 2;i);H4JJJJJق;J:JJB @EZj)5FNOT Ignoring new targets: 492.00 m.jH=<bH9HE>IEC IE&IIEBIEk =&IA.IE D6IE <:IE$ FzKU:IKU9KQKUKUBj7:Jj7: ProNav: ac range: 492.000000 m, nav range: 413.314026 m, bearing: 300.521452 deg, approach rate: -0.005319 m/s, LOS rate: 0.078779 deg/s, cmd heading: 215.831997 deg, new cmd heading: 215.928263 deg. 2jBX;HeadingCmd: 3.768659 target range: 492.000000 and range: 476.50 m. j1q@jjjihhhhfffrfbf%@ɛ%7B-< )-G?I) U&ݼɚQiQIU3=I] i]+i]:;)]1q@)a*FE?2FA:FABFE`0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:1969> BDAT read: Tx time:21:40:47.8812 $Ping request sent.& w,U28A):E= :yC~G)Y yIy YyAUkd@YUr@Uܼ9U>yUH@@7? @QQ UG٣UqDGy]; ]> mbBottom track data is 0.5 s old, using for 20.0 s. mNusing accuracyPremultiplier from configau49e ?u4Ye ieoBu+:q}:}B&}@e+DeWL;e>eȜ4B @EZjFNOT Ignoring new targets: 492.00 m.Bji:Jji: ProNav: ac range: 492.000000 m, nav range: 413.311157 m, bearing: 300.558434 deg, approach rate: -0.006355 m/s, LOS rate: 0.081924 deg/s, cmd heading: 215.928262 deg, new cmd heading: 216.039210 deg. 2j`;HeadingCmd: 3.770596 target range: 492.000000 and range: 476.50 m. jpQq@jjjihhhhfffrfbf&@ɛ9Bº< ??I ׼ɚiI93=IE i0)+i;)pQq@)EE*F2F:FBFo0JFG G Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497082G @;G B O > w,;L8ARKvd@YRr@Rȼ9R,[>yRH@}f;?T@.?? ?j?ɨRKvd@R;R.Cy^B^%Ii1In(In̍3٢v9 v{=9v\;Q v ?xx zG٣xyz ; ~ ?  bBottom track data is 0.8 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config 49 0?4Y N i oB :%o:%:&%@ 1D /]; I? 4) -k@)ZjQUFNOT Ignoring new targets: 492.00 m.Bj]߸:Jj]߸:m ProNav: ac range: 492.000000 m, nav range: 413.309113 m, bearing: 300.584708 deg, approach rate: -0.006289 m/s, LOS rate: 0.080815 deg/s, cmd heading: 216.039211 deg, new cmd heading: 216.118033 deg. 2jm];uHeadingCmd: 3.771971 target range: 492.000000 and range: 476.50 m. jugq@jqjjihhhhfffrfbf Ok'@ɛU:BU2< QU0?IY ],ӼɚYiYI]2=Ie ie[*ie^Z;)egq@)i*F?2F:FBFS5JF }X$?I%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749233JJ@AJ 3K 3 K /.KK"KJJ:JJJ;J ;JJH]w>I]C I]t&II]UBI]q =&I]KD.I]D6I]#<:I]) FGizKBHK9KKK  BK:KG) B1 Ou >~8w,f8A:{d@Y:r@:w 9:%>y:H7{`=?ܰW -`K???D?ɨ:{d@:[F;:-CybBb}%IIn&In3٢z zI=9~f;Q ~>|| ~G٣|y: > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 49 :?4Y  i oB9A:2&%@ 9D 6; ? H4) -\@5EeB*** querying acoustic contact ***jaja}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001575ZjFNOT Ignoring new targets: 492.00 m.Bj:Jj: ProNav: ac range: 492.000000 m, nav range: 413.306610 m, bearing: 300.617330 deg, approach rate: -0.006066 m/s, LOS rate: 0.079073 deg/s, cmd heading: 216.118032 deg, new cmd heading: 216.215899 deg. 2jUY;UHeadingCmd: 3.773679 target range: 492.000000 and range: 476.50 m. jUq@jYjYjYiYhYhahahifififqrfqbfuC(@ɛ;B< p:=隽Y(?I pϼɚiI2=I iM*iT;)q@)*F?2F:FBF 5JF W$?I% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252528G- ;G! B) OM > w,y8A6܂d@Y6yr@6s96 >y6Huz@5??̰ dY`0"?C•?`n? ͱ?ɨ6܂d@6ƈ;6.CyfBfo%I ] e ee ee  e e eMb@Mb@Mb@aaa a)aYeQ?v/?{Gzye(?exi=eףedA eb@)aIe@aye@I} I}<2٢x[ A=9;Q > G٣rDGy9 > Nusing accuracyPremultiplier from config49?4Y~ ioBT:)?:@BD] ;/;4 @ZjFNOT Ignoring new targets: 492.00 m.Bj:Jj:  ProNav: ac range: 492.000000 m, nav range: 413.249756 m, bearing: 300.655377 deg, approach rate: -0.136875 m/s, LOS rate: 0.091609 deg/s, cmd heading: 216.215895 deg, new cmd heading: 216.330050 deg. 2j {{; HeadingCmd: 3.775672 target range: 492.000000 and range: 476.50 m. jq@jjjihhhh3Bf!f!f!rf!bf% )@ɛy6Hvv&C? ?. _`"1??" ??ɨ6d@6;4y~kB~V%IIMI{4٢%ҽ %Q=9--)) 5G٣1y5; 5> ENusing accuracyPremultiplier from config9E49=?M4Y= i9IMM@=JD=:=C:=4UB ]m@]EZjFNOT Ignoring new targets: 492.00 m.Bj:Jj: ProNav: ac range: 492.000000 m, nav range: 413.197174 m, bearing: 300.690551 deg, approach rate: -0.134661 m/s, LOS rate: 0.090092 deg/s, cmd heading: 216.330054 deg, new cmd heading: 216.435590 deg. 2jQw;HeadingCmd: 3.777514 target range: 492.000000 and range: 476.50 m. jq@jj*JR="J=jihhhhfffrfbf D)@ZHRH?AHm>I~C I)&IIBIv =&I.ID6IѰ<:I FzKeKK 9KKK ɛ=BG{<  ?I GǼɚiI1=I%\ i%)i-۔:)-q@)I*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009911G :G B O >s,w,78A 5V$?I9Xxd@Yr@e9K>yHy~ 6?@޳U2<U6?`??`?ɨXxd@X;騵-Cy=_B=G%IMb@Mb@Mb@ )YGz?:v?y&1|y0?=`MA x@)I@y(@I<I3Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260707٢L .=9!! %G٣!y-W => ENusing accuracyPremultiplier from configAM49E[?M4YEH iEoBU2?U:UU@EUDE;E;E4Y ]-@YZjYeFNOT Ignoring new targets: 492.00 m.Bj:Jj: ProNav: ac range: 492.000000 m, nav range: 413.112061 m, bearing: 300.734479 deg, approach rate: -0.171010 m/s, LOS rate: 0.088278 deg/s, cmd heading: 216.435594 deg, new cmd heading: 216.567405 deg. JJ=JJJ;Jh ;JJJQB>< ?I ¼ɚYiYI]٬0=Ie<7 ie$)ie)ezq@)i Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513839E 8<E *Fq 2Fq :Fq BFu 3JFq Gy  Gy IG:GqByO?05w,8A^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.764994yVB;%II%II%d4٢E E=9EQ M>II MG٣MsDGyU U> ]Nusing accuracyPremultiplier from configYe49]??e4Y] i]oBiim@]`D];];]4uB u@}EZjFNOT Ignoring new targets: 492.00 m.Bj1:Jj1: ProNav: ac range: 492.000000 m, nav range: 413.019165 m, bearing: 300.782579 deg, approach rate: -0.190918 m/s, LOS rate: 0.098876 deg/s, cmd heading: 216.567403 deg, new cmd heading: 216.711735 deg. 2j;HeadingCmd: 3.782333 target range: 492.000000 and range: 476.50 m. jr@jjjihhhhfffrfbf +@He>I}C I%IIBI{ =&I.ID6I<:I FzKLK9KKKɛ%?Bt7< 5 ?I PɚiIE0=I% i%(i%愻)%r@))Ez=*F?2F:FBF 5JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.017116G *G B O >#<w,8AFhd@YF$r@F=پ9F>yFH ?𦲿S(`f l?w??`?ɨFhd@Fx;DyRQBR5%IIvHIv<3٢Bɼ N=9; U$?IgYY eG٣ayЂ > Nusing accuracyPremultiplier from config49?4Y ioBg@jD2 </<4 :@ EB*** querying acoustic contact ***jAjAZjquFNOT Ignoring new targets: 492.00 m.Bj}^:Jj}^: ProNav: ac range: 492.000000 m, nav range: 412.940765 m, bearing: 300.824509 deg, approach rate: -0.169460 m/s, LOS rate: 0.090648 deg/s, cmd heading: 216.711739 deg, new cmd heading: 216.837552 deg. 2jx;HeadingCmd: 3.784529 target range: 492.000000 and range: 476.50 m. j5r@jjjihhhhfffrfbf,@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268682ɛ@BEN< 隍H?I KpɚiI0=Iip(i*jH)5r@)EE*E"EJJJ0JJl;J;Jـ3JJ4=J4=J<J<*F 2F :F BF _5JF "G =G =} Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:40:50.9378  TRx dataTimestamp_ set to:1736372452.172570 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521569G-GBO->vDw,9A6Qc@Y6q@6s96 >y6H+$?ٲy @{V?rn?`u?`?ɨ6Qc@6BЇ;6*CyBWBB<%IMb@Mb@Mb@ )Y-?Mb?Mbp?y?5?>;X@ b@)I@y@I-8I-3٢ѳ< =9;Q > G٣y > Nusing accuracyPremultiplier from config49X~?4YX i pB08?:@uD;;4B @E T$?IZj!%FNOT Ignoring new targets: 492.00 m.Bj-:Jj-:E ProNav: ac range: 492.000000 m, nav range: 412.849121 m, bearing: 300.869333 deg, approach rate: -0.201748 m/s, LOS rate: 0.098699 deg/s, cmd heading: 216.837551 deg, new cmd heading: 216.972053 deg. 2jEx;MHeadingCmd: 3.786877 target range: 492.000000 and range: 476.50 m. jM0\r@jIjIjQiQhQhQhYh]BfYfYfYrfabfeӢ-@ɛABf< 隕 ?I .ɚiIڿ/=Ii)iY)0\r@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773793*F?2F:FBF]0JFGGBjHbH<HI I%IIBIy =&I.I6I5<:I' FBI~CJICRIŕCZIv =bIu =jI96O J>zKBHK9KKK Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:40:50.9378 LVL= 11872, 15409, 13618, 17267, AGC= 67, IDX= 86,-0.29,-2.817,-2.924, 1.409, 2.711, PHS= 0.844, 0.695,-1.305, RAW= 33.5, -2.3, CAL= 33.6, -4.9, ROT= 116.4, 4.9  Ygot valid direction response: 21:40:50.9378 LVL= 11872, 15409, 13618, 17267, AGC= 67, IDX= 86,-0.29,-2.817,-2.924, 1.409, 2.711, PHS= 0.844, 0.695,-1.305, RAW= 33.5, -2.3, CAL= 33.6, -4.9, ROT= 116.4, 4.9  PDAT read: Bearing 116.4, 4.9 (Local)  ~Local bearing/azimuth received: Bearing 116.4, 4.9 (Local) % DAT read: Range 10 to 50 : 489.3 m (Round-trip 652.5 ms) speed 0.0 m/s - ,DAT read: user:1970> 5 BDAT read: Tx time:21:40:52.0312 5 $Ping request sent.5 y6HJ ? s` @{?}]?`4^??ɨ6c@6;6-C)sCICibX?1?= ?l$ Q ?)%I"@i%=oFV¯?U%4\)?I"=i%?1E:publishing transmit ping timeiEFpublishing direction and range info9^N?DZ_?;?yy]aB]I%I )Ii )IiIKI4oFV¯?U%4\)Ii٢EH= EB=9Eǔ;Q E>II MG٣MtDGyM4 U> ]Nusing accuracyPremultiplier from configYe49]l?e4Y]" i]pBaem@]D]L:]:] 4B P@Ek ,?k`w k k[+9A:kCBkCZkp@"pꂊ@@ldz@qmn@^N?DZ_?;?Jk%?Rk1*OmRw,J9A6Will construct direction to contact in vehicle frame from tetrahedron phase data.Jic@YJq@Js9Jf`>yJH`?8/@W=?`A"?@?ఽ?ɨJic@JA;J.CyRlBVW%I=Mb@Mb@Mb@999 9)9Y=bX9?p= ף?{Gz?y=E6?=>=ף<=+@ =x@)=@I=@9y=@IU)IUW3٢]J= e9=9ev;Q e>ii mG٣iyuл u> }Nusing accuracyPremultiplier from configy49}0Z?4Y}8 i}$pB[9?:X@}D} 3;}1;}4 @ZjFNOT Ignoring new targets: 489.30 m.Bj:Jj: ProNav: ac range: 489.299988 m, nav range: 401.232727 m, bearing: 301.938215 deg, approach rate: -0.192256 m/s, LOS rate: 0.107057 deg/s, cmd heading: 217.104693 deg, new cmd heading: 217.237243 deg. 2j;HeadingCmd: 3.791505 target range: 489.299988 and range: 489.30 m. jr@jjjihhhhBfffrfbfY?ɛO< ?I! %+Oɚ!i!I%>/=I-wi-:)i-hfͼ)-r@)1*F?2F:FBF]0JFG"3 S$?IGBOb>%Will construct direction to contact in vehicle frame from tetrahedron phase data.H _>I |C I %II BI ~ =&I .I D6I <:I n FzK% jIK% +9K! K% K% Xw,Nd9Ay~~B~m%II ?I T3٢EDz= MM=9MQ M>QQ UG٣QyU ]> eNusing accuracyPremultiplier from configam49elI?m4Ye ie3pBiim@eDe:e:e4}B @EZjFNOT Ignoring new targets: 489.30 m.Bj:Jj: ProNav: ac range: 489.299988 m, nav range: 401.161407 m, bearing: 301.978053 deg, approach rate: -0.175741 m/s, LOS rate: 0.098183 deg/s, cmd heading: 217.237240 deg, new cmd heading: 217.356774 deg. 2jÆ;HeadingCmd: 3.793591 target range: 489.299988 and range: 489.30 m. j3r@jjj!i!h!h)h)h)f)f1f1rf1bf5 G?ɛuCB4l< ?I hɚiI.=I Ui5v*i5ؼ)=3r@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF_0JF G|uA =G Y=|uAy=BG5 A IA GQ B O >E Will construct direction to contact in vehicle frame from tetrahedron phase data.^w,(,~9A:/c@Y:Mq@:}99:sy>y:H`J ?<:@!ݫ`z=?8>C?@?ɨ:/c@:ZF;:-Cy^Bbw%IJrJrAJpJpJr;Jrr ;JpJp  @ @ @  @ I I2٢= F=9i:Q > G٣uDGy > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config497?4Y` iBpB+:m:@D06;>4  @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 489.30 m.Bj:Jj: ProNav: ac range: 489.299988 m, nav range: 401.088623 m, bearing: 302.019463 deg, approach rate: -0.178693 m/s, LOS rate: 0.101683 deg/s, cmd heading: 217.356768 deg, new cmd heading: 217.481020 deg. 2j;HeadingCmd: 3.795760 target range: 489.299988 and range: 489.30 m. jr@jjjih!h!h!h!f)f)f)rf)bf5q?ɛaeGM< ae!?Ia mo@ɚiiiIm.=Iu1iu+iux)ur@)y*F?2F:FBFp0JFGϼGBOA>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. = R$?IE gew,9AFw1c@YFPq@Fu:9F`>yFH`?@G?`?_l?A?ɨFw1c@Ḟ;DyrBr%IIz8Iz3٢> S=9 t;Q  >   G٣y9 > %bBottom track data is 0.8 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config-49'?54Y iPpB= :9=@:==@DZn;M?4EB Er@EEZjiuFNOT Ignoring new targets: 489.30 m.Bju:Jj}: ProNav: ac range: 489.299988 m, nav range: 401.020538 m, bearing: 302.058296 deg, approach rate: -0.176017 m/s, LOS rate: 0.100411 deg/s, cmd heading: 217.481023 deg, new cmd heading: 217.597542 deg. 2j҉;HeadingCmd: 3.797794 target range: 489.299988 and range: 489.30 m. j s@jjjihhhhfffrfbf. ?ɛ_< /?I 䡼ɚiIL.=Ii$+iV) s@Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.748342)*Fi2Fi:FiBFmW1JFiZHRHHc>I I%IIBI| =&I.I6I<:I FzK.JKs9KKKGN޼GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000039kw,"9A:fEc@Y:dq@:ǘ;9:>y:Hࢮ?cv#@O?pX?@D?ɨ:fEc@:;:,Cy^B^%IIfEIf3٢n = rM=9r;Q r>tt vG٣tyvwH; z> ~bBottom track data is 1.2 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx49z?4Yz) iz^pB 9  :  @zDz6;zǙ?z4 @ZjAMFNOT Ignoring new targets: 489.30 m.BjM4:JjM4:] ProNav: ac range: 489.299988 m, nav range: 400.950562 m, bearing: 302.098159 deg, approach rate: -0.175849 m/s, LOS rate: 0.100193 deg/s, cmd heading: 217.597546 deg, new cmd heading: 217.717158 deg. 2j];eHeadingCmd: 3.799881 target range: 489.299988 and range: 489.30 m. jeA1s@jajijiiihihihqhqfqfqfqrfybf}N3@ɛp= 隭 :?I Y)ɚiI-=Iui,i_)A1s@) Q$?I*F]?2FY:FaBFeP5JFiG%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256124GBOB>JurJuJu0JqJuy;Juv:Juـ3Jqrrw,/9A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504100yȆB%I        Mb@Mb@Mb@ )Yw/?&1?Zd;O?y&?P=j<n@ @)@I@y@IGI3٢S= <=9Q > G٣vDGy > Nusing accuracyPremultiplier from config49x?4Y ijpBT:'?:@DJO;L;S4 B  @EZjFNOT Ignoring new targets: 489.30 m.Bj:Jj:m ProNav: ac range: 489.299988 m, nav range: 400.910126 m, bearing: 302.138476 deg, approach rate: -0.087989 m/s, LOS rate: 0.087737 deg/s, cmd heading: 217.717157 deg, new cmd heading: 217.838117 deg. 2jup;uHeadingCmd: 3.801992 target range: 489.299988 and range: 489.30 m. juSs@jyjyjyiyhyhyhhgBfffrfbf@}@ɛ]DB]D< YeEB?Ia e ɚiI!-=Iḯ-ih)Ss@)EE I*F=?2F9:F9BF=D5JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756492H d>I  I %II ֆBI { =&I .I 6I <:I a FG} GY Ba O >zKU BHKU 9KQ KU KU xw,9AFmc@YFiq@Ff;9F; >yFH ? 0#_ҔbN?ߚ{`?f?ɨFmc@F㦈;F-CyR܆BR%IIZKIZ4٢b= b\=9b;Q f>dd jG٣hyj; j> nNusing accuracyPremultiplier from configlr49n?r4Yn' intpBtvz@nDn.;n/;n4| ~@|Zj!%FNOT Ignoring new targets: 489.30 m.Bj-:Jj-:= ProNav: ac range: 489.299988 m, nav range: 400.875366 m, bearing: 302.172766 deg, approach rate: -0.100489 m/s, LOS rate: 0.099142 deg/s, cmd heading: 217.838119 deg, new cmd heading: 217.941000 deg. 2j=;EHeadingCmd: 3.803788 target range: 489.299988 and range: 489.30 m. jECqs@jAjAjAiAhAhIhIhIfQfQfQrfQbf]@Ӥ@ɛyY9= 隅$L?I ɚiIK"-=Isi.iW )Cqs@)*F?2F:F BF Y0JF eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.008538G GBO"> O$?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260067 w,6s9ABc@YBq@B;9B)>yBH )`?xr?@%~)?@ӭ?ɨBc@By;B,CybBb%IMb@Mb@Mb@ )YZd;?Mb?Q?y?<u< @)`@Iy@I3Iʴ3٢= ==9:Q > G٣yi; > Nusing accuracyPremultiplier from config49?4Ye iypB ?:@ǏD$;;[ 4B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 489.30 m.Bj/:Jj/:- ProNav: ac range: 489.299988 m, nav range: 400.853455 m, bearing: 302.211000 deg, approach rate: -0.050650 m/s, LOS rate: 0.088382 deg/s, cmd heading: 217.940996 deg, new cmd heading: 218.055701 deg. 2j-r;5HeadingCmd: 3.805790 target range: 489.299988 and range: 489.30 m. j5s@j1j1j1i1h9h9h9h=BfAfIfIrfIbfM @ɛy}s = y}5W?Iy ɚiI~,=Ii.i#w)s@) *F2F:FBF\0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512224GW G B O > I w,N:A6 c@Y6q@6<96E>y6Hv@r?  `wKu? x?@?ɨ6 c@6o;6-Cy^B^&IIj+Ijn3٢r= rX=9v:Q v>tx zG٣zwDGyz< z> Nusing accuracyPremultiplier from config| 49~? 4Y~ i~}pB   @~ϏD~.:~:~4B t@EZjIMFNOT Ignoring new targets: 489.30 m.BjU.:JjU.:e ProNav: ac range: 489.299988 m, nav range: 400.833679 m, bearing: 302.244476 deg, approach rate: -0.052205 m/s, LOS rate: 0.088381 deg/s, cmd heading: 218.055702 deg, new cmd heading: 218.156137 deg. 2jer;mHeadingCmd: 3.807543 target range: 489.299988 and range: 489.30 m. jmȮs@jijijiiqhqhqWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:40:55.0783 TRx dataTimestamp_ set to:1736372456.456715checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765156hqhfffrfbf%L@jH9bH=<HEu>IEC IE&IIEBIEw =&IA.IED6IEd<:IET FɛEB2= 隽%`?I ɚiI2,=IpJQJJJJ3`;JͿ:JJJsE>*F?2F:FBF]0JF"G=G=zK]BIK]s9KYK]K]J`X?@> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016000G G B1 Ou >4w,#23:AFc@YFsr@Fb <9FF>yFHͥ ?#? f"d`p?6L?`{?ɨFc@Fě;F,CybBb,&IIjCIj3٢&= H=9^S:Q  >    G٣ y< > Nusing accuracyPremultiplier from config%49?%4Y+ ipB)-s-@׏D:u:4=B =B@= EZjaeFNOT Ignoring new targets: 489.30 m.Bjm:Jjm:} ProNav: ac range: 489.299988 m, nav range: 400.811615 m, bearing: 302.280584 deg, approach rate: -0.054171 m/s, LOS rate: 0.088656 deg/s, cmd heading: 218.156133 deg, new cmd heading: 218.264462 deg. 2j`s;HeadingCmd: 3.809433 target range: 489.299988 and range: 489.30 m. js@jjjihhhhfffrfbf @ɛT?O= i?I `yɚiIx+=IQid0i5)s@) =N$?I9*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:40:55.0783 LVL= 15264, 18929, 15586, 22899, AGC= 68, IDX= 339, 0.11, 2.994, 2.865, 0.882, 2.161, PHS= 0.921, 0.751,-1.282, RAW= 34.0, -3.7, CAL= 34.4, -7.1, ROT= 115.6, 7.1 Ygot valid direction response: 21:40:55.0783 LVL= 15264, 18929, 15586, 22899, AGC= 68, IDX= 339, 0.11, 2.994, 2.865, 0.882, 2.161, PHS= 0.921, 0.751,-1.282, RAW= 34.0, -3.7, CAL= 34.4, -7.1, ROT= 115.6, 7.1 PDAT read: Bearing 115.6, 7.1 (Local) ~Local bearing/azimuth received: Bearing 115.6, 7.1 (Local) DAT read: Range 10 to 50 : 482.1 m (Round-trip 642.8 ms) speed -0.3 m/s ,DAT read: user:1971> BDAT read: Tx time:21:40:56.1813 $Ping request sent.w,}M:A"Will construct direction to contact in vehicle frame from tetrahedron phase data.:-7d@Y:Ur@:<9:>y:H ?w!<.P!?o?@Y?ɨ:-7d@:;:-Cyv)Bv?&IMb@Mb@Mb@ )Yv?S㥛~jth?y?/ݼD;A )v@I@y@I]8I]3٢u= u5=9}::Q }>yy G٣y< > Nusing accuracyPremultiplier from config49D?4Y, ipB?:"@D;o;"4B S@ Ek-L&?k-E k) k-y=:A:k- CBk-ECZk-Z@"- NF@ŕB y@ tin@-[?Ii?]cF;?Jk-+?Rk-&6*-ρ0g@21$^tZ4r@-WC밠?-Ĵc?"k-*k-9Ck-M&?k-X 2k-DCk-:|-?k-pM k-Ck-fCk-U\@ addTargetRange:: Added new target pos. range: 482.100006 m, deltaT: 4.284644 s, deltaX: -7.199982 m, approachRate: -1.680415 m/s, rangeRepo size: 4  Added new target pos. range: 482.100006 m, bearing: 299.648640 deg, lat: 36.902187 deg, lon: -122.120355 deg, deltaT: 4.284644 s, deltaX: -7.199982 m, approachRate: -1.680415 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 482.10 m.BjJj5 ProNav: ac range: 482.100006 m, nav range: 394.799561 m, bearing: 301.448614 deg, approach rate: 0.000000 m/s, LOS rate: 0.088656 deg/s, cmd heading: 218.264460 deg, new cmd heading: 218.385720 deg. 2j1=HeadingCmd: 3.811550 target range: 482.100006 and range: 482.10 m. j=os@j9j9j9i9h9h9hAhEBfAfAfIrfM!~@bfMtZ?ɛ}FB}?= 隅aq?I wtɚiI|+=IG/i%1i&)os@) -M$?I-g*FE?2FA:FIBFMc0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.G oG G H= >I= C I= U&II= ;BI= n =&I9 .I= D6I= s<:I= o FBI|CJI~CRIZI{ =bIx =jIȫ6G J WJ J J J d;J :J J J <J <J <J <B O- >hFw,f:ABnd@YB&r@B;9B!>yBH?DR= n?X@s1?#?ɨBnd@B;B)CzKNNKN59KLKNKN6RB7-# yV2BVJ&II^%I^)3٢f5R= fi=9jPQ j>hl nG٣nxDGyn< r> vNusing accuracyPremultiplier from configpv49r?z4YrM ir}pBxz{"z@rDr ;r ;r)4 @Zj9EFNOT Ignoring new targets: 482.10 m.BjM:JjM:e ProNav: ac range: 482.100006 m, nav range: 394.788300 m, bearing: 301.478966 deg, approach rate: -0.032435 m/s, LOS rate: 0.087425 deg/s, cmd heading: 218.385723 deg, new cmd heading: 218.476782 deg. 2jmo;}HeadingCmd: 3.813139 target range: 482.100006 and range: 482.10 m. jy t@jjjihhhhfff1rf1bf5`?ɛGB*`= u?I hɚiI*=I<i 1i  )) y t@)EMWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF0JFG G IGrG B Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data.,w,(:A:/d@Y:̮r@:_;9:>y:H w`A ?vƸ_`2@J?@| I?B?ɨ:/d@:;:,CynBBn]&IMb@Mb@Mb@ )Yi|?5?Q G٣yޚ; > Nusing accuracyPremultiplier from config49َ?4Y ispB}?:%@D;;04B ط@EB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 482.10 m.Bj-:Jj5:E ProNav: ac range: 482.100006 m, nav range: 394.788544 m, bearing: 301.515063 deg, approach rate: 0.000564 m/s, LOS rate: 0.083377 deg/s, cmd heading: 218.476783 deg, new cmd heading: 218.585071 deg. 2jEd;MHeadingCmd: 3.815029 target range: 482.100006 and range: 482.10 m. jMp)t@jIjIjIiIhQhQhhBfffrfbfY?ɛMHBM, ]= iu|?Iq u+[ɚqiqIu)=I}Ei} _2i})}p)t@)*FA2FA:FABFE1JFI]Will construct direction to contact in vehicle frame from tetrahedron phase data.eT****** received valid address query ******eR****** received valid ping request ******eQuerying Benthos address 50 with one ping in standard two-way mode.G nG B O >  L$?I Yw,:AyDB `&II IV2٢e(T< eP=9eQ e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy49}~?4Y} i}jpB@}D}F1;}D;}74 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.454996ZjFNOT Ignoring new targets: 482.10 m.Bj:Jj: ProNav: ac range: 482.100006 m, nav range: 394.788879 m, bearing: 301.547608 deg, approach rate: 0.000851 m/s, LOS rate: 0.082486 deg/s, cmd heading: 218.585069 deg, new cmd heading: 218.682706 deg. 2job;HeadingCmd: 3.816733 target range: 482.100006 and range: 482.10 m. j[Et@jjjihhhhff f rf bf+U?ZHRHH>IC I&IIiBIf =&IJD.I"D6I0<:IJ FɛIB:j= }?I \NɚiIm;)=*J4="Ja=J;JJ1JJO;J:J3JJ<J<J<J)M ž=w,y:A nGzvA  UYUvAyUuA IyGBd&II:I3٢o< ?=9Q > %G٣%yDGy! %> -Nusing accuracyPremultiplier from config)=49-1m?=4Y-' i-`pBAAE@-D-H<;-<;-?4MB M@MEZjy}FNOT Ignoring new targets: 482.10 m.BjE:JjE: ProNav: ac range: 482.100006 m, nav range: 394.789398 m, bearing: 301.582999 deg, approach rate: 0.001219 m/s, LOS rate: 0.083173 deg/s, cmd heading: 218.682699 deg, new cmd heading: 218.788870 deg. 2jSd;HeadingCmd: 3.818586 target range: 482.100006 and range: 482.10 m. jct@jjjihhhhfffrfbf!?ɛ]JB]9~g= ae~?Ia e @ɚaiaIe(=Ii3iPK)ct@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.962712*FI2FQ:FQBF]O4JF"G=G=G ~G B O >wiw,O:AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.210777RXe@YRt@RK<9R >yRH g?f? iIs??ɨRXe@R;R+Cy^OB^m&IMb@Mb@Mb@ )YGz?V-Qy?huA @)v@I@y@IHI<3٢P= M=9k;Q > G٣y`= >  Nusing accuracyPremultiplier from config 49 \?4Y L i TpB?:%@ D [; ; E4! %@)ZjQ]FNOT Ignoring new targets: 482.10 m.Bj]:Jje:m ProNav: ac range: 482.100006 m, nav range: 394.789124 m, bearing: 301.615980 deg, approach rate: -0.000688 m/s, LOS rate: 0.082660 deg/s, cmd heading: 218.788868 deg, new cmd heading: 218.887812 deg. 2jub;}HeadingCmd: 3.820313 target range: 482.100006 and range: 482.10 m. j}t@jyjyjyiyhyhhh0Bfffrfbf@ɛKB!s= 隝?I P~3ɚiI'=Ii.3ic5`)t@)) K$?Ig*F?2F:FBFX0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.462582H>IC I&IIBId =&I.I#D6I<:I" FJ J J 8J J J J L;J y:J J J <J <J "<J "<G oG B O >w,*:AZ\f@YZ{t@Z/<9Z/!>yZH?ế@> a?倿 ??ɨZ\f@Zw;Z,CyjCBn^&IzK~K~+9K|K~K~BK pA:K I%QI%4٢=X =W=9EM:Q E>II MG٣IyUy< ]> mNusing accuracyPremultiplier from configau49eWM?}4YeV ieHpBy}H%@e De^;e7_;eL4B @EZj9=FNOT Ignoring new targets: 482.10 m.BjE:JjE:U ProNav: ac range: 482.100006 m, nav range: 394.787598 m, bearing: 301.647573 deg, approach rate: -0.003813 m/s, LOS rate: 0.078954 deg/s, cmd heading: 218.887810 deg, new cmd heading: 218.982588 deg. 2juX;}HeadingCmd: 3.821967 target range: 482.100006 and range: 482.10 m. j}t@jyjyjyiyhyhhhfffrfbf@=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.716435ɛLB_i= 8{?I &ɚiI5'=Iin3iC)t@)*Fe?2Fa:FaBFe_0JFaGE ҼGB!OMs> J$?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969566_}w, ;A:f@Y:t@:[<9:4">y:H ?( 6``?sf G٣zDGyL< > Nusing accuracyPremultiplier from config49 I w,;A6g@Y6!u@6<96/#>y6H82 ?`q\U1lq? O??ɨ6g@6%;6+Cy^!! %G٣!y--Q< -> 5Nusing accuracyPremultiplier from config1=495-?E4Y5 i5,pBAEu#E@5D5*;5*;5Z4MÒB Mm@UEZjyFNOT Ignoring new targets: 482.10 m.Bj:Jj:Will construct direction to contact in vehicle frame from tetrahedron phase data.ՙiՙBDAT read: Rx Time:21:40:59.2297 TRx dataTimestamp_ set to:1736372460.489024checking for new query: numPingsReceived=0, elapsed TxPingTime=3.472113 ProNav: ac range: 482.100006 m, nav range: 394.773102 m, bearing: 301.713303 deg, approach rate: -0.020407 m/s, LOS rate: 0.086372 deg/s, cmd heading: 219.084451 deg, new cmd heading: 219.179775 deg. 2jm;HeadingCmd: 3.825409 target range: 482.100006 and range: 482.10 m. jt@jjjihhhhfffrfbf&B @ɛOB:~= v?I  ɚ i I W%=I5Li3igݻ)t@)jH<bHH>IC I&IIBI` =&I.I$D6I<:I7 F*F?2F:FBF0JFGm{#G)B1OM1>zK5k3IK5s9K1K5 K5CMH5 U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.723927Nw,g5;AZKg@YZju@Z~<9ZF">yZH``'?n`Rq;V3?2?@?ɨZKg@Z;Z-Cyf9BfS&IIrFIr%3٢vT zM=9zQ z>|| ~G٣|y5< > Nusing accuracyPremultiplier from config  1I9M49 ?U4Y ? i pBiu-#u@ !D `d< g< a4 @Zj 5FNOT Ignoring new targets: 482.10 m.Bj5:Jj5:E ProNav: ac range: 482.100006 m, nav range: 394.764496 m, bearing: 301.746023 deg, approach rate: -0.018923 m/s, LOS rate: 0.071946 deg/s, cmd heading: 219.179773 deg, new cmd heading: 219.277933 deg. 2jEE;mHeadingCmd: 3.827122 target range: 482.100006 and range: 482.10 m. jut@jyjyjyihhhhfffrfbf8@Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 21:40:59.2297 LVL= 20384, 23793, 19442, 31331, AGC= 70, IDX= 434,-0.16,-1.891,-2.204, 2.296,-2.793, PHS= 0.990, 0.636,-1.197, RAW= 38.7, -4.3, CAL= 39.7, -8.1, ROT= 110.3, 8.1 %Ygot valid direction response: 21:40:59.2297 LVL= 20384, 23793, 19442, 31331, AGC= 70, IDX= 434,-0.16,-1.891,-2.204, 2.296,-2.793, PHS= 0.990, 0.636,-1.197, RAW= 38.7, -4.3, CAL= 39.7, -8.1, ROT= 110.3, 8.1 -PDAT read: Bearing 110.3, 8.1 (Local) -~Local bearing/azimuth received: Bearing 110.3, 8.1 (Local) 5DAT read: Range 10 to 50 : 483.2 m (Round-trip 644.3 ms) speed 0.2 m/s ɛ=QBEM= AE>t?IA EɚAiAIM+*%=IM$0iUߋ3iU)Ut@)Q},DAT read: user:1972> BDAT read: Tx time:21:41:00.3313 $Ping request sent.ڹڹ۽jܑ??짏zA )۽-I۽~=i۽a?۽ ۹۹:publishing transmit ping time؁Fpublishing direction and range infoع9ؽoG?c1e??Q?yعع*F2F:FBF_0JFعع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽jܑ??짏zA )۹I۹i۹۹۹۹G9 G= ?G= ,?m Will construct direction to contact in vehicle frame from tetrahedron phase data.m JDAT read: TxSync time:21:41:00.3305 G B O >]w,=Q;ABug@YBu@Bi{ <9BF!>yBHʐ?8?[@K@UJj?`_oy? ?ɨBug@B-;B,Cy^-B^C&IMb@Mb@Mb@ )Yy G٣{DGy; > Nusing accuracyPremultiplier from config49W ?4Yr i pBG?:C"@*D.<.<j4 ĒB w@Ek%F%?k%:Y k! eI$?Ii k%ס?;A:k%CBk%CZk%6@"%@fF@:oS0x@s#Jq@%oG?c1e??Q?Jk%a?Rk% *%tHv> g@ċ#;rHt@%^xi?&օ㿍2n&?"k%*k%Q8Ck%MН%?k%ŷ 2k% Ck%M&?k%P k%DCk%Ck%j@ addTargetRange:: Added new target pos. range: 483.200012 m, deltaT: 4.032127 s, deltaX: 1.100006 m, approachRate: 0.272810 m/s, rangeRepo size: 4  Added new target pos. range: 483.200012 m, bearing: 301.909397 deg, lat: 36.902003 deg, lon: -122.120270 deg, deltaT: 4.032127 s, deltaX: 1.100006 m, approachRate: 0.272810 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 483.20 m.BjJj  ProNav: ac range: 483.200012 m, nav range: 377.773956 m, bearing: 299.753786 deg, approach rate: 0.000000 m/s, LOS rate: 0.071946 deg/s, cmd heading: 219.277937 deg, new cmd heading: 219.374618 deg. 2j HeadingCmd: 3.828809 target range: 483.200012 and range: 483.20 m. j6 u@jj9j9i9h9h9hAhE"BfAfAfArfM@33~@bfM_?ɛRB1r= Om?I 2ɚiIO$=IiV3i)6 u@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G󻂻H>IC I&IIBI] =&I.I%D6I<:I9 FGBO>Aw,\k;A>sg@Y>Ru@>H;9>=s>y>H`WA? č؀P!? yN?8?ɨ>sg@>$;>-CzKNgLKN+9KLKN!KNyVBV1&II^I^M3٢f  fk=9jлQ j?ll nG٣lyr: r? vNusing accuracyPremultiplier from configtz49v?z4Yvo ivoBx~K"~@v0Dvh;v;vp4 d@ZjFNOT Ignoring new targets: 483.20 m.BjV:JjV: ProNav: ac range: 483.200012 m, nav range: 377.756836 m, bearing: 299.783862 deg, approach rate: -0.051091 m/s, LOS rate: 0.089760 deg/s, cmd heading: 219.374611 deg, new cmd heading: 219.464846 deg. 2jgv;HeadingCmd: 3.830384 target range: 483.200012 and range: 483.20 m. j%u@jjjihhhhfffrfbfB?UWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ}SBi= 隭Ae?I ϻɚiI#=I-i503i5՗)5%u@)9*F2F:FBFS5JF eH$?IaG  Will construct direction to contact in vehicle frame from tetrahedron phase data.G1 BA O] >J 3J vJ J J H;J :J J &w,Fӄ;AyB0&IMb@Mb@Mb@ )YzG?Mb:vy ?ԼA b@)I@y\@ILI4٢0 <=9Q > G٣y > Nusing accuracyPremultiplier from config49L?4Y" ioBh?:@9D;L;w4ŒB |@ EB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 483.20 m.Bj-:Jj5:M ProNav: ac range: 483.200012 m, nav range: 377.723999 m, bearing: 299.822510 deg, approach rate: -0.077504 m/s, LOS rate: 0.091228 deg/s, cmd heading: 219.464852 deg, new cmd heading: 219.580805 deg. 2jMoz;UHeadingCmd: 3.832408 target range: 483.200012 and range: 483.20 m. jU,Fu@jQjQjQiQhYhYhYh]Bfafafarfabfe@?ɛUBd= 隝d?I 跻ɚiIl?#=Ii3i),Fu@)*F)2F):F)BF5V0JF1eWill construct direction to contact in vehicle frame from tetrahedron phase data.mT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.Gİ˻GGnAGBO > Q IQ wQw,ⱞ;A6yg@Y6u@6γ;96)>y6HE? Pؼ?yv$?`v?ɨ6yg@6;6.Cy>B>"&IIJIJ3٢R R_=9V2Q V>TX ZG٣Z|DGyZg: Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.451451 fNusing accuracyPremultiplier from configdj49f?j4Yf% ifoBlnn@f@Df;f;f+~4p r9@tZj FNOT Ignoring new targets: 483.20 m.Bj%:Jj%:5 ProNav: ac range: 483.200012 m, nav range: 377.696228 m, bearing: 299.855265 deg, approach rate: -0.075449 m/s, LOS rate: 0.088995 deg/s, cmd heading: 219.580801 deg, new cmd heading: 219.679073 deg. 2j5Nt;ZHRHH>IC I&IIBI[ =&I.I&D6I<:IBICJICRIZI` =bIa =jIї65HeadingCmd: 3.834123 target range: 483.200012 and range: 483.20 m. j=Fbu@j9j9j9i9h9h9hAhAfAfAfIrfIbfM\?ɛWByAb= 隽N]?I ~ɚiIx"=Ini2i" )mFbu@)q*F?2F :F BF ^0JF zKBHKs9KK"KuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.703308GM ;3Ga B O > M G$?~w,g;AI~g@Y~u@~S;9~<>y~HT?eoH?@d|@:W?C?ɨ~g@~v;~-Cy B  &II%XI%4٢-# 5A=9=s;Q =>99 EG٣AyE"; E> MNusing accuracyPremultiplier from configIU49M?U4YM) iMoBY]j]@MHDM ;M* ;M4eƒB eT@m#EZjFNOT Ignoring new targets: 483.20 m.Bj:Jj: ProNav: ac range: 483.200012 m, nav range: 377.664185 m, bearing: 299.892666 deg, approach rate: -0.075914 m/s, LOS rate: 0.088613 deg/s, cmd heading: 219.679074 deg, new cmd heading: 219.791285 deg. 2jAs;5HeadingCmd: 3.836082 target range: 483.200012 and range: 483.20 m. j5\u@j1j1j1i1h9h9h9h9fAfAfArfAbfE`m?ɛYB5ZY= 隽S?I ĊɚiI!=IYia2i)\u@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958806)J1J{JJJ4G;J@:JJ*F?2F:FBF]0JFG% ZG B O% >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207292ycw,0h;A6 g@Y6u@6"<96&>y6Hp kk?@ܸ/ 9Q/?S䀿??ɨ6 g@6R-;6+CyBBB%I=Mb@Mb@Mb@999 9)9Y=v?MbI +y=?==99 =@)=`@I99y9IU\IU#4٢mqu mG=9m=;Q u>qq }G٣yy}4 < }> Nusing accuracyPremultiplier from config49 ?4Y. ioB?:@OD; ;4 @ZjFNOT Ignoring new targets: 483.20 m.Bj:Jj: ProNav: ac range: 483.200012 m, nav range: 377.622375 m, bearing: 299.929298 deg, approach rate: -0.102061 m/s, LOS rate: 0.089435 deg/s, cmd heading: 219.791280 deg, new cmd heading: 219.901190 deg. 2ju;HeadingCmd: 3.838000 target range: 483.200012 and range: 483.20 m. jʡu@jjjihhhhЅBfffrfbf  @ɛ5[B5,Z= 1=L?I9 =@mɚ9i9I=nf!=IE}iE2iE׻)Eʡu@)IEQEU> =E$?I=g*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.459385H>IC I&IInBIW =&I.I'D6I<:I? FG>uG B O5 >w,lC;A:h@Y:v@:y<9:>y:Hd/{?.ϸq`-? -O$?Я?ɨ:h@:;:-CybBb%IdfAIjHIj<3٢rK rS=9vd:Q v>tx zG٣z}DGyzR; z> Nusing accuracyPremultiplier from config 49.? 4Y1 ioB @WD\::w4zKK9KK#K-ȒB -@-(EZjQUFNOT Ignoring new targets: 483.20 m.Bj]:Jj]:m ProNav: ac range: 483.200012 m, nav range: 377.582550 m, bearing: 299.963836 deg, approach rate: -0.102344 m/s, LOS rate: 0.088763 deg/s, cmd heading: 219.901191 deg, new cmd heading: 220.004813 deg. 2jms;uHeadingCmd: 3.839808 target range: 483.200012 and range: 483.20 m. julu@jqjyjyiyhyhhhfffrfbfG@ɛ\BT= 隽]E?I EɚiI =II`i2iWʻ)lu@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711548*F?2F:FBF0JFuG Y y  B 1I1G-G B O)  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967140J 3J fJ 1J J H;J ]:J 3J tw,3v@2T^<92>y2HY@c?@W$(?냿?@ԯ?ɨ2uh@2@&;2+CyB܆BB%IuMb@Mb@Mb@qqq q)qYuZd;O?{Gzt?~jtyuj?uף;uļudA u@)uv@Iu@qyu @INI@ 4٢U @=9:Q > G٣yv; > Nusing accuracyPremultiplier from config49?4Y6 ioB?:@_D;;4 ƾ@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 483.20 m.Bj :Jj : ProNav: ac range: 483.200012 m, nav range: 377.531616 m, bearing: 300.002716 deg, approach rate: -0.119419 m/s, LOS rate: 0.091172 deg/s, cmd heading: 220.004819 deg, new cmd heading: 220.121477 deg. 2jHz;-HeadingCmd: 3.841845 target range: 483.200012 and range: 483.20 m. j-u@j)j)j)i1h1h1h9h=Bf9f9fArfAbfE@e @ɛm_Bm9D= qu>?Iq u(ɚqiyI}Q =I}>is2iAл)u@)*F?2F:FBF0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.216437G4λ 9 I9 G B O >(w,y2HJM? ``U?U`?@M?ɨ2Eh@2R;0y>ɆB>%IIJCIJ3RWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.467602٢Mϼ MO=9M<:Q M>QQ UG٣QjH]<bH]<He>IeC Ien&IIePBIeT =&Ia.Ia6Ie <:IeU Fy}; }> Nusing accuracyPremultiplier from config49C?4Y: ioB@gD!;H!;4ɒB @+EZjFNOT Ignoring new targets: 483.20 m.Bj:Jj: ProNav: ac range: 483.200012 m, nav range: 377.483856 m, bearing: 300.038860 deg, approach rate: -0.120009 m/s, LOS rate: 0.090832 deg/s, cmd heading: 220.121479 deg, new cmd heading: 220.229923 deg. 2jYy;HeadingCmd: 3.843737 target range: 483.200012 and range: 483.20 m. ju@jjjihhh h f f frfbf`ʕ @ɛaBp?= 隥"4?I 2ɚiI=IiH2ik>)u@)E*Fi2Fi:FiBFm`5JFiGy G}rAzKu KKu+9KqKu$KuUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:21:41:03.3810 ]TRx dataTimestamp_ set to:1736372464.772650echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.720460GG B O >  D$?I! ^ w,=9yVH |H?B| W?@7?`?ɨVTh@V;TybBb%I fa=fR=IjUIj4٢v`# vQ=9v:Q v>xx zG٣z~DGy~; ~> Nusing accuracyPremultiplier from config 49V~? 4Y> ioB @oDn::4 ~@ZjFNOT Ignoring new targets: 483.20 m.Bj2:Jj2: ProNav: ac range: 483.200012 m, nav range: 377.437378 m, bearing: 300.074004 deg, approach rate: -0.115722 m/s, LOS rate: 0.087513 deg/s, cmd heading: 220.229929 deg, new cmd heading: 220.335373 deg. 2j= 隍/?I ĤɚiIY=Ii%2it߻)v@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.974844-#@getADC uart error serial timeout]#Puart error - getPosition..serial timeout-#(Communications FaultG! G B !% bCommunications Fault in component: DockingStepperO- >m Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:41:03.3810 LVL= 20848, 25393, 22818, 32403, AGC= 65, IDX= 447,-0.43,-2.399,-2.728, 1.864, 3.011, PHS= 0.961, 0.591,-1.150, RAW= 39.4, -4.2, CAL= 40.6, -8.0, ROT= 109.4, 8.0  Ygot valid direction response: 21:41:03.3810 LVL= 20848, 25393, 22818, 32403, AGC= 65, IDX= 447,-0.43,-2.399,-2.728, 1.864, 3.011, PHS= 0.961, 0.591,-1.150, RAW= 39.4, -4.2, CAL= 40.6, -8.0, ROT= 109.4, 8.0  PDAT read: Bearing 109.4, 8.0 (Local)  ~Local bearing/azimuth received: Bearing 109.4, 8.0 (Local)  DAT read: Range 10 to 50 : 484.2 m (Round-trip 645.6 ms) speed -0.3 m/s  ,DAT read: user:1973>  BDAT read: Tx time:21:41:04.4813  $Ping request sent. q q u ;?ng{K )u Iu є=iu ͺ?u Jq q  :publishing transmit ping time % Fpublishing direction and range infoq 9u k?w*o?ԧ?yq q q q q )q Iq iq q q q q q )q Iq iq q q u ;?ng{K )q Iq iq q q q w,GSy H@/<`/?;`r?\w?m?ɨ Gzh@ q; -Cy%B%%I IMb@Mb@Mb@ )Y'1Z?Q?Mby"?u< @)`@Iy\@I \I #4٢]5 ])=9]9Q e>aa eG٣aym; > Nusing accuracyPremultiplier from config49j?4Y]D ioB"?:@xD;Y;,4ʒB <@.Ek1&?k*\ k k.Qg@'Tjhrj/Ot@U_N?gtwC] g?"kF*kx?CkBq'?k* 2kHCkBq'?kX kkɻCkm@ addTargetRange:: Added new target pos. range: 484.200012 m, deltaT: 4.283590 s, deltaX: 1.000000 m, approachRate: 0.233449 m/s, rangeRepo size: 4 5 Added new target pos. range: 484.200012 m, bearing: 303.025145 deg, lat: 36.902022 deg, lon: -122.120233 deg, deltaT: 4.283590 s, deltaX: 1.000000 m, approachRate: 0.233449 m/s, posRepo size: 4 Zj1=FNOT Ignoring new targets: 484.20 m.Bj=Jj9m ProNav: ac range: 484.200012 m, nav range: 375.574158 m, bearing: 300.651941 deg, approach rate: 0.000000 m/s, LOS rate: 0.087513 deg/s, cmd heading: 220.335373 deg, new cmd heading: 220.466929 deg. 2jiuHeadingCmd: 3.847874 target range: 484.200012 and range: 484.20 m. juCv@jqjqjyiyhyhyhhBfffrf@3C~@bf˸?ɛefBe"= am'?Ii mGɚiiiIm=Iu%iun1iuڻ)uCv@)#Stop #:Uninitialize Docking Stepper.#Powering downEEEEWill construct direction to contact in vehicle frame from tetrahedron phase data.H}¼>I}C I}H&II}1BI}R =&I}ID.I}(D6I}<:I}H FJ!JeJ0JJ:;J٤:Jـ3JJuGa Bq O > w,my:H@=?x$ 1 @3?\?`j?ɨ:vh@:T;;:+CyVBV%IIb.Ib3٢j j=9jƺQ j ?l| ~G٣|yO  ?  Nusing accuracyPremultiplier from config 49 C^?4Y G i oB==@ D ; F; ȶ4A E @IzK]k3IK]9KYK]%K]ZjFNOT Ignoring new targets: 484.20 m.Bj:Jj: ProNav: ac range: 484.200012 m, nav range: 375.533051 m, bearing: 300.682454 deg, approach rate: -0.135192 m/s, LOS rate: 0.100363 deg/s, cmd heading: 220.466922 deg, new cmd heading: 220.558473 deg. 2j;HeadingCmd: 3.849472 target range: 484.200012 and range: 484.20 m. j]v@jjjihWill construct direction to contact in vehicle frame from tetrahedron phase data.hh!h!f!f)f)rf)bf- $?ɛhBbS= 隝 ?I bɚiIw=Ii1iJ )]v@)#Stopping C$?IG4λGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.n!w,iy:H-@b?xr? H@?`?ɨ:Gh@:^;:/Cy^Bb%IMMb@Mb@Mb@III I)IYMuV?V-? rhyMr(?Mm=MCMA M@)IIIIyMf@I}I}g4٢+B ?=9PQ > G٣DGy'; > Nusing accuracyPremultiplier from config49M?4YNM ioB()?:@Dc;;24˒B A@1EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 484.20 m.Bj-:Jj-: ProNav: ac range: 484.200012 m, nav range: 375.458527 m, bearing: 300.723696 deg, approach rate: -0.169935 m/s, LOS rate: 0.094061 deg/s, cmd heading: 220.558474 deg, new cmd heading: 220.682224 deg. 2j;HeadingCmd: 3.851631 target range: 484.200012 and range: 484.20 m. j!v@jjjihhhhtBfffrfbf@X?ɛjB,= !%*?I! %m9ɚ!i!I%G=I-i5p1i5i1)5!v@)1#EStopping-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.G5w G BOE> B$?I:'w,1?I I#&IIBIQ =&I.I6I۰<:I9 Fy%B%%II5I544٢E; EO=9EQ M>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe49]>?m4Y]?R i]{oBqqu@]D]J;]}K;]4̒B @2EZjFNOT Ignoring new targets: 484.20 m.Bjv:Jjv: ProNav: ac range: 484.200012 m, nav range: 375.389587 m, bearing: 300.761986 deg, approach rate: -0.186859 m/s, LOS rate: 0.103803 deg/s, cmd heading: 220.682224 deg, new cmd heading: 220.797114 deg. 2jz;HeadingCmd: 3.853637 target range: 484.200012 and range: 484.20 m. jv@jjjihhhhfffrfbf@`?ɛmB]5= l?I mE:ɚiI\=I%}i%<1i%B)%v@))J}"J}TJyJyJ}|;;J} :JyJyJ}<J}<J};J};#StoppingGDػzKK9KK&K GBO>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495257 I g.w,8y2H`y;?Id a?`܄`Ɗ?F?ɨ20h@2*;2+CyHJ%IIb Ib4٢r$ vP=9z::Q ~>  G٣ y< > Nusing accuracyPremultiplier from config%49f/?%4Y?W iuoB!-Y-@D";";4=͒B =@=5EZjaeFNOT Ignoring new targets: 484.20 m.Bjup:Jjup: ProNav: ac range: 484.200012 m, nav range: 375.319366 m, bearing: 300.800598 deg, approach rate: -0.176802 m/s, LOS rate: 0.097235 deg/s, cmd heading: 220.797107 deg, new cmd heading: 220.912965 deg. 2jv;HeadingCmd: 3.855659 target range: 484.200012 and range: 484.20 m. jv@j j j i h h hhfffrfbft?ɛoB!,= 隍1?I H:ɚiI*=I\i1i-)v@)#StoppingWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749872G)+GBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9992044w,y6H@ W?`N3#@v?@ @\??ɨ6h@6=[;6-CyNBN%I]Mb@Mb@Mb@YYY Y)YY]oʡ?:v?I +y]-?]T=]94]`A Y)]n@I]@Yy] @IuIu4٢@ A=9;Q > G٣yo; > Nusing accuracyPremultiplier from config49?4Y\ ipoB-?:@D[K;-J;[4 P@ZjFNOT Ignoring new targets: 484.20 m.Bj:Jj: ProNav: ac range: 484.200012 m, nav range: 375.246307 m, bearing: 300.842573 deg, approach rate: -0.173949 m/s, LOS rate: 0.099958 deg/s, cmd heading: 220.912961 deg, new cmd heading: 221.038909 deg. 2j 3; =A$?I9MHeadingCmd: 3.857857 target range: 484.200012 and range: 484.20 m. jM v@jIjQjQiQhYhYhYh]oBfafifirfqbf}@ @ɛEqBEv&= AE?II ml:ɚiiiImſ=Iu8iu1iux )} v@)y#StoppingWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251464H̼>IC I%IIBIP =&I.I)D6I<:IV FBIƌCJIƌCRIƔCZIR =bIS =jI[46GGQBaO}>JJWJJJt4;J:JJJ<J<J<J<,;w,y2Hi?@J$?@@g?P?ɨ2#i@2;0yRBR%IIZIZ4٢b bW=9f ;Q f>dh jG٣jDGyjZ; n> rNusing accuracyPremultiplier from configlv49n?v4Ynza inkoBtvv@nDn:n :n4~ΒB ~@~8EZj)-FNOT Ignoring new targets: 484.20 m.Bj5 :Jj5 :E ProNav: ac range: 484.200012 m, nav range: 375.179718 m, bearing: 300.880570 deg, approach rate: -0.175433 m/s, LOS rate: 0.100124 deg/s, cmd heading: 221.038910 deg, new cmd heading: 221.152922 deg. 2jEm;MHeadingCmd: 3.859847 target range: 484.200012 and range: 484.20 m. jMw@jIjIjIiIhQhQhQhYfYfYfYrfYbfe9@ɛsB5= 隝?I  ;ɚiIa=Iiz1i)w@)#StoppingzKLK9KK'K  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503287 AIIGJGBOe> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755420/Bw,=A2u8i@Y2Ww@2aO<92I >y2H`?kLJ,` з?@ 쉿K?5?ɨ2u8i@2;2,CyNBR%I-Mb@Mb@Mb@))) )))Y-(\?V-?I +y-.?-m=)-A -@)-@I-@)y-@II4٢< ==9:Q > G٣y?; > Nusing accuracyPremultiplier from config49n?4Yg ifoB.?:?@D;;4 ^@ZjFNOT Ignoring new targets: 484.20 m.Bj%:Jj%:- ProNav: ac range: 484.200012 m, nav range: 375.101196 m, bearing: 300.923870 deg, approach rate: -0.181093 m/s, LOS rate: 0.099883 deg/s, cmd heading: 221.152919 deg, new cmd heading: 221.282847 deg. 2j5;=HeadingCmd: 3.862114 target range: 484.200012 and range: 484.20 m. j=,w@j9j9j9i9h9hAhAhEBfAfIfIrfIbfM@u@ɛ}uB}V'= 隅?I U,;ɚiI=Ii(h1iy),w@)#Stopping"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007509GGBO> =@$?I9IRC IR%IIRBIRL =&IP.IR*D6IRǰ<:IR5 FrOi@Yr/nw@r b[<9r|k >yrH?h48J?` l???ɨrOi@r6[;r-Cy~B~%II I 4٢` S=9%:Q %>!! %G٣)y-n; -> =Nusing accuracyPremultiplier from config1=495?=4Y5#l i5aoBAE(E@5D5t;5R;5J4UϒB U@];EuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 484.20 m.Bj:Jj: ProNav: ac range: 484.200012 m, nav range: 375.030487 m, bearing: 300.962751 deg, approach rate: -0.183681 m/s, LOS rate: 0.101021 deg/s, cmd heading: 221.282843 deg, new cmd heading: 221.399509 deg. 2j;HeadingCmd: 3.864150 target range: 484.200012 and range: 484.20 m. j=Nw@jjjihhhhfffrfbf 9 @J] J];JYJYJ]);J]:JYJYJ]6<J]6<J]2;J]2;ɛwB)= 隭 ?I J;ɚiI=IyiZ1i)=Nw@)# StoppingGu(Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:41:07.5442 %TRx dataTimestamp_ set to:1736372468.805485-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513554GqzKuolLKu9KqKu(KuBO>)  - vAA m XYm vAyu 4 B @  B ! I! gNw,#k<=A:`i@Y:@w@:3c<9:a >y:H@"?_r?; Qc?6f0??ɨ:`i@:ND;:,CyNBN%IIVIV4٢z|= ~M=92:Q  > G٣DGy%7); -> ENusing accuracyPremultiplier from config9U49=?]4Y=mq i=\oBaee@=ŐD=$;=h;=`4mВB mc@m=EZjFNOT Ignoring new targets: 484.20 m.Bj :Jj : ProNav: ac range: 484.200012 m, nav range: 374.956360 m, bearing: 301.003476 deg, approach rate: -0.182211 m/s, LOS rate: 0.100124 deg/s, cmd heading: 221.399503 deg, new cmd heading: 221.521701 deg. 2jm;HeadingCmd: 3.866283 target range: 484.200012 and range: 484.20 m. j.qw@jjjihhhhfffrfbf@ @ɛxB Y4= ?I rf;ɚiI9=I i )U1i () .qw@)#StoppingmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.763493GGyBOE> Will construct direction to contact in vehicle frame from tetrahedron phase data.M DAT read: 21:41:07.5442 LVL= 11664, 19121, 15858, 21123, AGC= 71, IDX= 53,-0.03,-2.481,-2.892, 1.724, 2.933, PHS= 0.957, 0.505,-1.213, RAW= 41.4, -2.5, CAL= 42.2, -5.6, ROT= 107.8, 5.6 e Ygot valid direction response: 21:41:07.5442 LVL= 11664, 19121, 15858, 21123, AGC= 71, IDX= 53,-0.03,-2.481,-2.892, 1.724, 2.933, PHS= 0.957, 0.505,-1.213, RAW= 41.4, -2.5, CAL= 42.2, -5.6, ROT= 107.8, 5.6 m PDAT read: Bearing 107.8, 5.6 (Local) m ~Local bearing/azimuth received: Bearing 107.8, 5.6 (Local) u DAT read: Range 10 to 50 : 493.9 m (Round-trip 658.6 ms) speed -0.1 m/s } ,DAT read: user:1974>  BDAT read: Tx time:21:41:08.6314  $Ping request sent. V=Ay%B%%I ?$?IMb@Mb@Mb@ )YM?J +?y&1|yn2?H=`dA )v@I@y @BAII4٢< -=9%Q %>)) -G٣IyU U> ]Nusing accuracyPremultiplier from configYe49]?e4Y]w i]WoBe2?e:em@]ϐD];]-;]4ђB @@EkU[%+?kU= kQ kU̲S=A:kUCBkU1CZkUj@"Uy;@A1tx@Ъr@U7Đ׬?Li?Y?&u r?JkU?RkU(3'*U"lui@wcqc9u@Uc ?L>⿃ 4?"kUˌ*kUNCkUC+?kU;q 2kUmCkQkU* kUHCkU\CkU{@u addTargetRange:: Added new target pos. range: 493.899994 m, deltaT: 4.029945 s, deltaX: 9.699982 m, approachRate: 2.406976 m/s, rangeRepo size: 4  Added new target pos. range: 493.899994 m, bearing: 306.198200 deg, lat: 36.902022 deg, lon: -122.119911 deg, deltaT: 4.029945 s, deltaX: 9.699982 m, approachRate: 2.406976 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 493.90 m.BjJj ProNav: ac range: 493.899994 m, nav range: 350.721954 m, bearing: 303.458830 deg, approach rate: 0.000000 m/s, LOS rate: 0.100124 deg/s, cmd heading: 221.521695 deg, new cmd heading: 221.670846 deg. 2jHeadingCmd: 3.868886 target range: 493.899994 and range: 493.90 m. jԛw@j j j i h h hhxBfffrf`f~@bf)r?ɛm{Bm"= imN?Ii u;ɚqiqIu=I}i}Dd1i}cL)}ԛw@)#StoppingG GWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:41:08.6306 Hּ>IC I%IIۆBIJ =&I.I6Iİ<:I7 FG -,G G rAG B O >x[w,p=A2zi@Y2w@2]u<92Zs >y2H`PW?೜ Dܻ?`W ?f?ɨ2zi@2؈;0yRBR%II^I^4٢z)1= zu=9zZ;Q ? %G٣!y%Ν; %? -Nusing accuracyPremultiplier from config)549-?U4Y-| i-ToBY]]@-אD-d;-;-t4a e@iZjWill construct direction to contact in vehicle frame from tetrahedron phase data.FNOT Ignoring new targets: 493.90 m.Bj;Jj; ProNav: ac range: 493.899994 m, nav range: 350.672607 m, bearing: 303.495965 deg, approach rate: -0.156812 m/s, LOS rate: 0.118020 deg/s, cmd heading: 221.670839 deg, new cmd heading: 221.782257 deg. 2j;%HeadingCmd: 3.870831 target range: 493.899994 and range: 493.90 m. j%w@j!j!j!i!h!h!h)h)f)zK5KK59K1K5)K5 #,5=CGLNSVVW[\ada\YWRMJIGE=1/,,)$ f)fqrfqbfu?ɛ|BܫO= `?I ;ɚiIk=ImdimWo1imM)mw@)q#}Stopping >$?IgGzGGiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data.J J 6J J J J {:J J a @a @a @a @bbw,u=A6QMi@Y6kw@6Bd<96==y6H?  4b@?`+@mV?9?ɨ6QMi@6l;6-CyRBR%I]Mb@Mb@Mb@YYY Y)YY]&1?~jt?MbPy]0?]D=]]A Y)]`@IYYy]f@ImIm4٢}= }A=9Q > G٣DGy4ڻ > Nusing accuracyPremultiplier from config49ˬ?4Yy iQoBR1?:H@Di ;;4ҒB j@CEZjFNOT Ignoring new targets: 493.90 m.Bj;Jj; ProNav: ac range: 493.899994 m, nav range: 350.612701 m, bearing: 303.542270 deg, approach rate: -0.145917 m/s, LOS rate: 0.112809 deg/s, cmd heading: 221.782253 deg, new cmd heading: 221.921193 deg. 2j֚;HeadingCmd: 3.873255 target range: 493.899994 and range: 493.90 m. jkw@jjjihh h h Bfffrfbf@XT?ɛ]}B]H= Ye$?Ia eТ;ɚaiaIe=ImK<imO1iu1ލ)ukw@)q#}StoppingWill construct direction to contact in vehicle frame from tetrahedron phase data.GMGiBy IO>hw,У=A"Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH$RH$H*ؼ>I*C I*%II*BI*H =&I(.I*+D6I*$<:I* FvVi@Yvtw@v}g<9v=yvH :?U B7@`?t?@?ɨvVi@vWp;ty=ƆB=%IIMIM:4٢]T= ]M=9eG9Q e>aa eG٣iym: m> uNusing accuracyPremultiplier from configq}49u{?4Yu iuOoB?@uDu;u;u 4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 493.90 m.Bj:Jj: ProNav: ac range: 493.899994 m, nav range: 350.555634 m, bearing: 303.586424 deg, approach rate: -0.142777 m/s, LOS rate: 0.110484 deg/s, cmd heading: 221.921193 deg, new cmd heading: 222.053674 deg. 2j;HeadingCmd: 3.875568 target range: 493.899994 and range: 493.90 m. jM x@jjjihhhqhqfqfqfyrfybf}R?ɛBI=  #?I  5b;ɚQiQIUe}=I]hiei1ieV )eM x@)i#}Stopping"G=G=G5G ?G>GBO?>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zKI NKKK*K <$?I nw,ߩ=A60i@Y6Ow@6?d<96W=y6HP? A@c) ? Ǿ??ɨ60i@6昐;4yRІBR%ITVAIZIZ4٢v:E= vR=9v8Q z>xx zG٣xy~m ~> Nusing accuracyPremultiplier from config 49? 4Y iMoBe@DU;;4ӒB 5@FEZj FNOT Ignoring new targets: 493.90 m.Bj :Jj := ProNav: ac range: 493.899994 m, nav range: 350.500671 m, bearing: 303.629605 deg, approach rate: -0.133273 m/s, LOS rate: 0.104724 deg/s, cmd heading: 222.053671 deg, new cmd heading: 222.183236 deg. 2jE;EHeadingCmd: 3.877829 target range: 493.899994 and range: 493.90 m. jEZ.x@jIjIjIiIhIhIhQhQfYfYfYrfYbfe`?ɛB/S= '?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751718 ;ɚiI=I[iK@2iض)Z.x@)#StoppingJmJm)JiJiJm%;Jm:JiJiG1܌GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003277xuw,˄=AVi@YVP5w@V@s<9Vk=yVH``N?RvpF?`gŢ?@L?ɨVi@Vo;TybBb%I !I!eMb@Mb@Mb@aaa a)aYeHzG?y&1?{Gz?ye=*?e` G٣DGyv > Nusing accuracyPremultiplier from config498{?4Yܐ iOoBh*?:\@De"; ;4ՒB  @GEZjFNOT Ignoring new targets: 493.90 m.Bj;Jj; ProNav: ac range: 493.899994 m, nav range: 350.451752 m, bearing: 303.675200 deg, approach rate: -0.122032 m/s, LOS rate: 0.113753 deg/s, cmd heading: 222.183240 deg, new cmd heading: 222.320042 deg. 2j";HeadingCmd: 3.880217 target range: 493.899994 and range: 493.90 m. jyUx@jjjihhhhυBfffrfbfwD@ɛB.A\= 1?I ;ɚiIds=I<i2i-м)-yUx@))#5StoppingHE߼>IEC IE%IIEBIEG =&IA.IE,D6IE<:IE F]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.255285JQJUAAG]VG) B9 Oe >i{w,)_=A:h@Y: w@:Xق<9:/>y:H@?n?`ZM?6?ɨ:h@:;8yFBF%ILLIRIR4٢V+= VZ=9ZD;Q Z>X\ ^G٣\y^Ի b> fNusing accuracyPremultiplier from config`f49bk?j4Ybb ibPoBlnr@bDbU;bU;b 4t v'@vJEZjFNOT Ignoring new targets: 493.90 m.Bj:Jj:- ProNav: ac range: 493.899994 m, nav range: 350.409454 m, bearing: 303.715407 deg, approach rate: -0.112546 m/s, LOS rate: 0.106996 deg/s, cmd heading: 222.320048 deg, new cmd heading: 222.440683 deg. 2j-ܒ;5HeadingCmd: 3.882322 target range: 493.899994 and range: 493.90 m. j5wx@j1j1j1i1h9h9hAhAfAfAfArfIbfM @ɛuB}}= y}8?Iy }B;ɚiI(=Ii823iT)wx@)#StoppingWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508120G¼zKJKKK+KBKqA:KrAGQBYO}= ;$?Im Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759256Jـ3Km3 KS}-KK"KJ} Jy Jy Jy J} \;Jy Jy Jy <w,O >A 02@Rh@YR9v@RG<9Rw>yRH`-?lK j?`w?I?ɨRh@RŎ;R)CyjBj&IMb@Mb@Mb@ )YMbX9?y&1|?y&1|?y!?`;`;A @)Iy@II4٢= 7=9,;Q > G٣yQ > Nusing accuracyPremultiplier from config 49 )Z?4Y T i OoB!?:@  D ; {; T(4! %=@)ZjQ]FNOT Ignoring new targets: 493.90 m.Bj]d:Jj]d:m ProNav: ac range: 493.899994 m, nav range: 350.370636 m, bearing: 303.761169 deg, approach rate: -0.086904 m/s, LOS rate: 0.102460 deg/s, cmd heading: 222.440683 deg, new cmd heading: 222.577984 deg. 2ju;uHeadingCmd: 3.884719 target range: 493.899994 and range: 493.90 m. ju;x@jyjyjyiyhyhyhhBfffrfbf`@ɛBg= n>?I ;ɚiIFZ=Izi 3i  ) ;x@) #StoppingWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012079 IgG p6ϼGBO >jH5 <bH5 <H= >I= C I= #&II= BI= C =&I9 .I9 6I= <:I= l F׈w,'%>AWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263622BI=CJI=CRI9ZI=H =bI=H =jI=kZ6Bh@YBTw@B~<9B7 >yBH `#?`>广2 2Jɶ? (? L?ɨBh@BJs;B,CyRBR&IIZIZ4٢e= eU=9e:Q e>ii mG٣mDGyu; u> Nusing accuracyPremultiplier from config49J?4Y iMoBn@D:P:/4֒B v@ME%B*** querying acoustic contact ***j)j)ZjFNOT Ignoring new targets: 493.90 m.Bj:Jj: ProNav: ac range: 493.899994 m, nav range: 350.336609 m, bearing: 303.800961 deg, approach rate: -0.083307 m/s, LOS rate: 0.097432 deg/s, cmd heading: 222.577984 deg, new cmd heading: 222.697374 deg. 2j;HeadingCmd: 3.886802 target range: 493.899994 and range: 493.90 m. j_x@jjjihhhhff!f!rf)bf- @ɛUB]aEz= Y]CD?IY ] <ɚYiYIe=IeW^imܭ4im)m_x@)#StoppingGGABQOm5>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:41:11.6837 TRx dataTimestamp_ set to:1736372472.836730checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516399zKk3IK+9KK,KRK ?JK? :$?I jw,>>AB,i@YB.w@B0<9B >yBHT `?`V ?œ`T?2?ɨB,i@B*;B+CybBb+&IIvIvs4٢(@= Q=9 :Q  > G٣yŁ; > uNusing accuracyPremultiplier from configi}49m:?}4Ym imLoBy}U}@mDm ;m ;m64 ߻@ZjFNOT Ignoring new targets: 493.90 m.Bj:Jj:= ProNav: ac range: 493.899994 m, nav range: 350.301544 m, bearing: 303.841677 deg, approach rate: -0.091503 m/s, LOS rate: 0.106260 deg/s, cmd heading: 222.697375 deg, new cmd heading: 222.819534 deg. 2j=ّ;EHeadingCmd: 3.888935 target range: 493.899994 and range: 493.90 m. jMNx@jIjIjQiYhYhYhahifififqrfybf}` @5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767344ɛBl= 隽 H?I @<ɚiI'=Ih;iBh5i+)Nx@))#5StoppingJEJE-JAJAJE;JEч:JAJAGmGu?Gu>GI BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021598w,X>A yfH/?FԺ@W5N@4???ɨfQi@f ;f*Cyv,BvB&I}Mb@Mb@Mb@yyy y)yY}V-?~jtMb`?y}?}};}vA }@)yIyyy}@II4٢= @=9i:Q > G٣yG< > Nusing accuracyPremultiplier from config49)?4Y< iFoB:?:@$D;I;h=4גB @PEZj!-FNOT Ignoring new targets: 493.90 m.Bj-R:Jj-R:= ProNav: ac range: 493.899994 m, nav range: 350.283051 m, bearing: 303.883722 deg, approach rate: -0.044667 m/s, LOS rate: 0.101556 deg/s, cmd heading: 222.819540 deg, new cmd heading: 222.945682 deg. 2j=d;EHeadingCmd: 3.891136 target range: 493.899994 and range: 493.90 m. jE`y@jAjIjihhhh!BfffrfbfM@ɛ-B-GJ= -$<5P?I1 5Y<ɚ1i1I5=I=Ui= 6i=͝)=`y@)a#mStoppingH>I IO&II6BIB =&I.I-D6I<:If F5Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 21:41:11.6837 LVL= 13296, 17489, 16274, 20451, AGC= 70, IDX= 314, 0.23,-2.318,-2.722, 1.895, 3.084, PHS= 0.969, 0.524,-1.193, RAW= 41.2, -3.1, CAL= 42.2, -6.4, ROT= 107.8, 6.4 }Ygot valid direction response: 21:41:11.6837 LVL= 13296, 17489, 16274, 20451, AGC= 70, IDX= 314, 0.23,-2.318,-2.722, 1.895, 3.084, PHS= 0.969, 0.524,-1.193, RAW= 41.2, -3.1, CAL= 42.2, -6.4, ROT= 107.8, 6.4 PDAT read: Bearing 107.8, 6.4 (Local) ~Local bearing/azimuth received: Bearing 107.8, 6.4 (Local) DAT read: Range 10 to 50 : 486.1 m (Round-trip 648.2 ms) speed -0.2 m/s ,DAT read: user:1975> BDAT read: Tx time:21:41:12.7814 $Ping request sent. w,r>A6i@Y6w@6n<96>y6H` ?@ZMV c?`-???ɨ6i@6;G;4yB2BBJ&IIJIJ4٢r= rX=9r9Q v>tt vG٣vDGyzS,< z> ~Nusing accuracyPremultiplier from config|49~?4Y~ i~@oB  b @~+D~e:~ :~C4 W@Will construct direction to contact in vehicle frame from tetrahedron phase data.~G YyBkm6g'?km켸@ ki kmre>A:km CBkmUCZkm|@"mvvF$@@/ax@`>%ir@m P?G*@8M]?8kd?Jkm\?Rkm&*mXeh@T{qf u@m(I?>$wj ?"kmߋ*kmECkm}/(?km5t 2km=Ckikmŷ km CkmCkm@ addTargetRange:: Added new target pos. range: 486.100006 m, deltaT: 4.283975 s, deltaX: -7.799988 m, approachRate: -1.820736 m/s, rangeRepo size: 4 zKBoHKKK-KBKrA:K Added new target pos. range: 486.100006 m, bearing: 305.251651 deg, lat: 36.902022 deg, lon: -122.119910 deg, deltaT: 4.283975 s, deltaX: -7.799988 m, approachRate: -1.820736 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 486.10 m.BjJj5 ProNav: ac range: 486.100006 m, nav range: 350.188721 m, bearing: 303.929632 deg, approach rate: 0.000000 m/s, LOS rate: 0.101556 deg/s, cmd heading: 222.945680 deg, new cmd heading: 223.074247 deg. 2j1=HeadingCmd: 3.893380 target range: 486.100006 and range: 486.10 m. j=$-y@j9jAjAiAhAhAhIhI u9$?Iugfyfyfyrf}a~@bf`P?ɛB = R?I f*<ɚiIm=Ii6iO)$-y@)#-StoppingGGGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.w,٘>AyyyMb@Mb@Mb@ )YX9v?&1y?PA )@I@y@I%I%495Q 5>99 =G٣9y= E> MNusing accuracyPremultiplier from configIU49M ?U4YM iM8oBUI?U:U ]@M3DM;M;MK4eؒB ef@eSEZjFNOT Ignoring new targets: 486.10 m.Bj:Jj: ProNav: ac range: 486.100006 m, nav range: 350.176086 m, bearing: 303.972003 deg, approach rate: -0.031610 m/s, LOS rate: 0.106012 deg/s, cmd heading: 223.074252 deg, new cmd heading: 223.201368 deg. 2j;HeadingCmd: 3.895599 target range: 486.100006 and range: 486.10 m. j}Qy@jjjihhhhABfffrfbf[?ɛBX = 隭Q?I 4<ɚiI(;=I7iZY7i))}Qy@)#StoppingWill construct direction to contact in vehicle frame from tetrahedron phase data. ]8$?IYGnG G qAGBO >ZH RH @AH >I  I &II _BI @ =&I .I 6I <:I FM Will construct direction to contact in vehicle frame from tetrahedron phase data.N*w,q>A2j@Y2:'x@2<92>y2H ̷ _0?D y<Ѹ?`@?`?ɨ2j@2R;2-Cy>V&IIJIJ̍4٢R< R<9VQ V>TX ZG٣Xy]/< ]> mNusing accuracyPremultiplier from configi}49m?}4Ym im1oB@m:DmI;mb;mQR4ڒB @UEJJ JJJ;J:JJJnk w,c>AVj@YVK y@V^č<9VL>yVHjB?o@@:?Q f??ɨVj@VX;Tyb:BbT&IIjIj4٢rs׻ r,=9rX8:Q v>xx zG٣~DGy~< ~> Nusing accuracyPremultiplier from config 49? 4Yȶ i)oBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499197%%@CDX~;~;DZ4-ےB - @-XEZj1=FNOT Ignoring new targets: 486.10 m.Bj=:Jj=:U ProNav: ac range: 486.100006 m, nav range: 350.146057 m, bearing: 304.050482 deg, approach rate: -0.039879 m/s, LOS rate: 0.095093 deg/s, cmd heading: 223.307789 deg, new cmd heading: 223.436809 deg. 2jU;]HeadingCmd: 3.899708 target range: 486.100006 and range: 486.10 m. j]єy@jYjYjYiYhYhahahafafifirfibfm}?ɛB݃= 隥S?I K<ɚiI\=Ii#8iD)єy@)EX<#StoppingGN޼GqBO]>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751017 E 7$?IA 3w,D6>A2Tk@Y2Osy@2Wؙ<92`]>y2H F@8?ѼF`?:>z??ɨ2Tk@2;2+Cy>4B>L&I Mb@Mb@Mb@    ) Y Gz?x&Mby ? 7  A @) @I 3@ y (@I%I%4٢5 5F=9=~i;Q =>99 =G٣AyEo~< E> MNusing accuracyPremultiplier from configI]49M.?]4YMz iMoB]?]:] e@MJDM5;MZ4;Mza4i mo@iZj5FNOT Ignoring new targets: 486.10 m.Bj5\:Jj5\:E ProNav: ac range: 486.100006 m, nav range: 350.135132 m, bearing: 304.088821 deg, approach rate: -0.028570 m/s, LOS rate: 0.100261 deg/s, cmd heading: 223.436812 deg, new cmd heading: 223.551833 deg. 2jE;mHeadingCmd: 3.901716 target range: 486.100006 and range: 486.10 m. jmy@jqjqjqiqhqhqhyh}]Bfyfyfrfbf@d?ɛB= WO?I V<ɚiIF=IjiIC I&IIsBI&I.I6I4<:I F-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003292J%J%J!J!J%T;J% :J!J!J%h<J%h<J%S;J%S;EU4|<#UStopping"G]=G]=G} ټ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255053GQ BY Ou >ow,Z>A \I\nk@Yny@nk<9n=>ynH??8 H I'?7v?`?ɨnk@n;n-Cyv0BvH&I||II&4٢| I=9];Q %>!! %G٣!y-ϓ< -> 5Nusing accuracyPremultiplier from config1=495?=4Y5% i5oBAEE@5RD5:5\:5h4I M@zKQKU9KQKU/KUBK]qA:K]sAM[EZjFNOT Ignoring new targets: 486.10 m.Bj|:Jj|: ProNav: ac range: 486.100006 m, nav range: 350.122894 m, bearing: 304.126480 deg, approach rate: -0.030041 m/s, LOS rate: 0.092448 deg/s, cmd heading: 223.551832 deg, new cmd heading: 223.664811 deg. 2j};HeadingCmd: 3.903687 target range: 486.100006 and range: 486.10 m. jy@jjjihhhhfffrfbfF@ɛEBm= imL?Ii ua<ɚqiqIuy=I}Ii}68i})}y@)EE*E"E#UStoppingWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507444GEo>G BO5>NSw,_$?Ay~'B=&IMb@Mb@Mb@ )YV-?X9v~jty ?} )@I@yII4٢+ ?=9Q > G٣DGy > Nusing accuracyPremultiplier from config49ٹ? 4Y ioB ? :  @YD9;^7; p4 D@ZjAEFNOT Ignoring new targets: 486.10 m.BjM :JjM :] ProNav: ac range: 486.100006 m, nav range: 350.108215 m, bearing: 304.165306 deg, approach rate: -0.034395 m/s, LOS rate: 0.090979 deg/s, cmd heading: 223.664817 deg, new cmd heading: 223.781301 deg. 2j]y;eHeadingCmd: 3.905720 target range: 486.100006 and range: 486.10 m. jeSy@jajajaiahihihihmPBuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759148fffrfbf2@ɛB[= F?I hk<ɚiI=Ib(i;8im3F)mSy@)q#}Stopping 6$?IGשhGiByO>jHm <bHm p<Hu >Iq  Iu &IIu }BIu ? =&Iq .Iu .D6Iu <:Iu g FM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015687*J R="J J! J! J! J! J! J! J! J! J! J! J! J! y}w,+?A2l@Y2Kz@2!C<92s">y2H!?`h` N?Gr?U?ɨ2l@27Q;2*CyRBR2&IIZIZ4٢b? b^=9bt;Q b>dd fG٣dyj = j> rNusing accuracyPremultiplier from configlv49n[?v4YnQ innBtv)v@n`Dn<;n<;nxv4~ܒB ~@]^EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 486.10 m.Bj]:Jj]: ProNav: ac range: 486.100006 m, nav range: 350.093201 m, bearing: 304.198652 deg, approach rate: -0.039042 m/s, LOS rate: 0.086711 deg/s, cmd heading: 223.781299 deg, new cmd heading: 223.881340 deg. 2j n;HeadingCmd: 3.907466 target range: 486.100006 and range: 486.10 m. jz@jjjihhhhff!f!rf!bf%:S @ɛB^|= 隽A?I 8u<ɚiI ==I i07i}Ѻ)z@))#=StoppingWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266977 IGf AzKk3IK9KK0K RK?JK ?GBO>PExceeded connect timeout, disconnecting. ew,E?A2l@Y2z@2ą<92>y2H@@1?>`eT?` pq?,?ɨ2l@2;2,Cy> B>&IIRIR4٢b fJ=9j6;Q j>pt vG٣tyzA"< ~>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:41:15.8352  TRx dataTimestamp_ set to:1736372477.124729 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520208 Nusing accuracyPremultiplier from config49U?%4Y inB!%%@gD* ;K ;}4) 5@1Zj9=FNOT Ignoring new targets: 486.10 m.BjE:JjM:} ProNav: ac range: 486.100006 m, nav range: 350.075592 m, bearing: 304.235896 deg, approach rate: -0.041697 m/s, LOS rate: 0.088197 deg/s, cmd heading: 223.881334 deg, new cmd heading: 223.993071 deg. 2j}r;HeadingCmd: 3.909417 target range: 486.100006 and range: 486.10 m. j3z@jjjihhhhfffrfbf௴ @ɛB=@}= am6?Iq }C6<ɚyiI"=Ii7ik)3z@)#StoppingGïGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771085 5$?I w,_?A].m@Y]8M{@]j<9]޸>y]H *gN?I | i?lE??ɨ].m@]|i;]+CyޝBޝ&IMb@Mb@Mb@ )Y-?MbI +y??@9A @) @I+@yz@II4٢,5 +=9;Q > G٣DGH>I I&IIsBI> =&I.I6I<:IJ FBI“CJI“CRI“CZI@ =bI@ =jIŸ5y=C(< => ENusing accuracyPremultiplier from configAM49E?M4YE iEnBU?U:UU@EpDE-;EW;E4]ݒB ]@]aEZjFNOT Ignoring new targets: 486.10 m.BjR:JjR: ProNav: ac range: 486.100006 m, nav range: 350.044342 m, bearing: 304.281093 deg, approach rate: -0.069908 m/s, LOS rate: 0.101118 deg/s, cmd heading: 223.993076 deg, new cmd heading: 224.128679 deg. 2jʊ;HeadingCmd: 3.911783 target range: 486.100006 and range: 486.10 m. jZz@jjjihhhh0Bfffrfbfz@ɛBWill construct direction to contact in vehicle frame from tetrahedron phase data.eDAT read: 21:41:15.8352 LVL= 16304, 20289, 16354, 26483, AGC= 68, IDX= 441,-0.02,-0.034,-0.599,-2.245,-1.036, PHS= 1.090, 0.484,-1.212, RAW= 44.7, -3.5, CAL= 46.4, -7.3, ROT= 103.6, 7.3 mYgot valid direction response: 21:41:15.8352 LVL= 16304, 20289, 16354, 26483, AGC= 68, IDX= 441,-0.02,-0.034,-0.599,-2.245,-1.036, PHS= 1.090, 0.484,-1.212, RAW= 44.7, -3.5, CAL= 46.4, -7.3, ROT= 103.6, 7.3 uPDAT read: Bearing 103.6, 7.3 (Local) u~Local bearing/azimuth received: Bearing 103.6, 7.3 (Local) DAT read: Range 10 to 50 : 487.2 m (Round-trip 649.7 ms) speed -0.3 m/s ,DAT read: user:1976> BDAT read: Tx time:21:41:16.9314 $Ping request sent. " G? 5z 4QO?) wI q?i w>   nu8?vUN" R) 2I S}=i ? X5  -:publishing transmit ping time5Fpublishing direction and range info 9 Qg? [!4?$މ?y     ) I i      ) I i    nu8?vUN" R) I i    JJBAJJ%JJJ;J:JJJd<Jd<J};J~;P=  0?I c<ɚiI$=I ip)7iYi:) Zz@) #=StoppingG pG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:41:16.9306 w,y?A Ig:gm@Y:{@:5<9:3>y:Hc?`Iiش?@􅚿 W?@?ɨ:gm@:H;8yFBF%IIRIR4٢V Zy=9Z2V;Q Z?\l nG٣lyr/< r? vNusing accuracyPremultiplier from configtz49vr?z4Yv" ivnBxz]z@vvDv;v;v4%ߒB %I@%bEk=Hï&?k= 4 k9 k=0h?A:k=CBk=CZk=N˫@"=7^@@m`w@As@=Qg? [!4?$މ?Jk=?Rk=X5*=kb9h@$otzEv@=\/a?e Ou?"k=*k=DCk=B9oT'?k=g# 2k=,Ck9k=5t k==Ck=Ck=,@zK:KKs9KK1K BKrA:KqA addTargetRange:: Added new target pos. range: 487.200012 m, deltaT: 4.036199 s, deltaX: 1.100006 m, approachRate: 0.272535 m/s, rangeRepo size: 4 % Added new target pos. range: 487.200012 m, bearing: 307.596266 deg, lat: 36.902022 deg, lon: -122.119789 deg, deltaT: 4.036199 s, deltaX: 1.100006 m, approachRate: 0.272535 m/s, posRepo size: 4 Zj!-FNOT Ignoring new targets: 487.20 m.Bj-Jj)] ProNav: ac range: 487.200012 m, nav range: 341.141602 m, bearing: 305.336240 deg, approach rate: 0.000000 m/s, LOS rate: 0.101118 deg/s, cmd heading: 224.128682 deg, new cmd heading: 224.235272 deg. 2jaeHeadingCmd: 3.913644 target range: 487.200012 and range: 487.20 m. je$yz@jijijiiihi unManaging dock network, ignoring radio surface power offhihhfffrf@3s~@bf?ɛBA=  "?I  v<ɚiIޱ=Ii6i>;)$yz@)!#MStoppingG59GB O5.>%Will construct direction to contact in vehicle frame from tetrahedron phase data.w,n?Ayb܆Bb%IUMb@Mb@Mb@QQQ Q)QYU~jt?Mb:vyU?UUԼUA Q)U@IU@QyQIuIuP4٢ >=9Q > G٣y > Nusing accuracyPremultiplier from config49o?4Y inB?:@~D;Y;#4B >@eEZjFNOT Ignoring new targets: 487.20 m.Bj:Jj: ProNav: ac range: 487.200012 m, nav range: 341.102509 m, bearing: 305.379285 deg, approach rate: -0.096348 m/s, LOS rate: 0.106100 deg/s, cmd heading: 224.235274 deg, new cmd heading: 224.364425 deg. 2j;HeadingCmd: 3.915898 target range: 487.200012 and range: 487.20 m. jz@jjji!h!h!h!h% Bf)f)f)rf)uWill construct direction to contact in vehicle frame from tetrahedron phase data.bf5G?ɛBq= =?I y<ɚiIA=I  4$?Ii t6i-T)-z@)1#=StoppingGu}:GQByO>ZH RH AAH I  I z&II ZBI &I .I 6I <:I 3 F% Will construct direction to contact in vehicle frame from tetrahedron phase data.- Ai) +w,b?AJ*J*!J(J(J*;J*:J(J(J*bg<J*bg<J*;J*;Fm@YF>{@FE<9F:>yFH`m ?ܾsH`H?`;u?`?ɨFm@F;DyRÆBR%II^I^פ4٢f fV=9jՆQ j>hh nG٣nDGynSe< n> rNusing accuracyPremultiplier from configpv49ra?z4Yr& irnBxzz@rDrw;r;rϙ4| @B*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 487.20 m.Bj5h:Jj5h:M ProNav: ac range: 487.200012 m, nav range: 341.066437 m, bearing: 305.417753 deg, approach rate: -0.095255 m/s, LOS rate: 0.101594 deg/s, cmd heading: 224.364420 deg, new cmd heading: 224.479836 deg. 2jMr;UHeadingCmd: 3.917912 target range: 487.200012 and range: 487.20 m. jUz@jQjQjQiYhYhYhYhYfafafarfabfm>?ɛBm= 隕m ?I <ɚiI =I`i 6iDZ;)z@)#Stopping)E= oC5~~GU|uAi Y|uAyA}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 IGBO`>zKKKKK2KRK%>JK%?Ew,<.?A6}n@Y6.|@6&<96o>y6HPy?ิ@*/h?Ly?@?ɨ6}n@6 j;4yNBN%InWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.484245ITIT٢ ½  G=9BR;Q >!! -G٣)yI7< > Nusing accuracyPremultiplier from config49Q?4Y inB9@D;h;m4 @Zj)5FNOT Ignoring new targets: 487.20 m.Bj5?:Jj5?:E ProNav: ac range: 487.200012 m, nav range: 341.024261 m, bearing: 305.461638 deg, approach rate: -0.096716 m/s, LOS rate: 0.100649 deg/s, cmd heading: 224.479836 deg, new cmd heading: 224.611508 deg. 2jE&;UHeadingCmd: 3.920210 target range: 487.200012 and range: 487.20 m. jUz@jQjQjQiQhQhYhYhYfYfafarfabfe?ɛ}B}AHO= 隅?I <ɚiI =I:i]l5iy;)z@)#StoppingGe;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737187GB 2$?IO>-w, ?A2An@Y2;`|@2x<92c>y2H >@?u]` ⭳?`??ɨ2An@2P;2,CyNBN%IUMb@Mb@Mb@QQQ Q)QYU}?5^I?y&1|?S㥛yUM"?U`;U/ݼU/A U@)U @IU@QyQImIm74٢x C=9q;Q > G٣yl; > Nusing accuracyPremultiplier from config49{C?4Y irnBv"?:@D;_;V4B @hEZjFNOT Ignoring new targets: 487.20 m.Bj:Jj: ProNav: ac range: 487.200012 m, nav range: 340.974640 m, bearing: 305.502877 deg, approach rate: -0.125608 m/s, LOS rate: 0.104404 deg/s, cmd heading: 224.611509 deg, new cmd heading: 224.735242 deg. 2jM;HeadingCmd: 3.922370 target range: 487.200012 and range: 487.20 m. j{@jjjihhhhυBff!f!rf!bf%T?H>I IB&II,BI&I.I6Iа<:IV FɛB8=X= >I [<ɚiI-7 =Ii4iC/;)-{@))#=StoppingWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989673Gu@;G ?G"?GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240359 I U w,?A6Vjn@Y6|@6<96 >y6H/`?`B  /?}?@?ɨ6Vjn@6;6(CybBb~%IInInk4٢v;ܽ vT=9zOo;Q > G٣DGy; %> -Nusing accuracyPremultiplier from config!549%Z5?U4Y% i%anBQU]@%D%$;%x;%!4a eM@iZjFNOT Ignoring new targets: 487.20 m.Bjx:Jjx:zK-jIK-h9K)K-3K- BK=qA:K=rAE ProNav: ac range: 487.200012 m, nav range: 340.925507 m, bearing: 305.543384 deg, approach rate: -0.123773 m/s, LOS rate: 0.102057 deg/s, cmd heading: 224.735244 deg, new cmd heading: 224.856783 deg. 2jE;MHeadingCmd: 3.924491 target range: 487.200012 and range: 487.20 m. jM*{@jIjIjIiQhQhQhQhYfYfYfYrfYbfe`^@ɛBID= 隍>I 5<ɚiI =IiY4i,;)*{@)#StoppingGO;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493786GBO>JJJJJT;Jx:JJa@a@a@a@w,)@A6xn@Y6|@6%<96; >y6HW*?'%e? oTq? ?ɨ6xn@6`;6-Cy^B^s%I}Mb@Mb@Mb@yyy y)yY}ʡE?+? rhy}/?}=}C}A }$@)yI}@yy}@II4٢ @=9k;Q > G٣y ; > Nusing accuracyPremultiplier from config49%?4Yk iSnB/?:@D9;J;4B @kEZj FNOT Ignoring new targets: 487.20 m.Bj };Jj }; ProNav: ac range: 487.200012 m, nav range: 340.855469 m, bearing: 305.590648 deg, approach rate: -0.169016 m/s, LOS rate: 0.114082 deg/s, cmd heading: 224.856781 deg, new cmd heading: 224.998602 deg. 2j;%HeadingCmd: 3.926966 target range: 487.200012 and range: 487.20 m. j%kS{@j!j)j)i)h)h)h1h5BfI]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744619fafarfabfe h0@ }1$?IyɛB:6@= 隥>I <ɚiI =IJiD3i_t;)kS{@)#Stopping"G=G=GGjH<bHH>I I &IIBI&I.I6Iΰ<:IBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996873 w,.@A:zn@Y:V|@:=9:z >y:H)`C?`a f@BA?@|T`P_?@?ɨ:zn@:;:*CyFxBFe%IIRIRN4٢Z:t Z[=9^D;Q b>`` bG٣`yf9 f> jNusing accuracyPremultiplier from confighn49jy?n4Yj ijFnBprr@jDjX;j;j 4vB v@vmE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 487.20 m.Bj%@;Jj%@;5 ProNav: ac range: 487.200012 m, nav range: 340.793579 m, bearing: 305.632541 deg, approach rate: -0.165622 m/s, LOS rate: 0.112127 deg/s, cmd heading: 224.998603 deg, new cmd heading: 225.124302 deg. 2j=;EHeadingCmd: 3.929160 target range: 487.200012 and range: 487.20 m. jE]w{@jAjAjAiAhIhIhIhIfQfQfQrfQbfU}$ @ɛB>= 隅>I "<ɚiI4 =IWif3i?;)]w{@)#Stopping 0$?IgWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253363G 1;GB1O~>zKLKKK4Kw,jH@ABn@YBV|@B=9B8 >yBH`$Y?@瘾 ޱ? @N7? &?ɨBn@B];B-CyRdBRM%IIZIZ4٢b8ý bI=9b:Q f>dd fG٣fDGyji; j>rWill construct direction to contact in vehicle frame from tetrahedron phase data.rBDAT read: Rx Time:21:41:19.9869 vTRx dataTimestamp_ set to:1736372481.160803vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.505681 Nusing accuracyPremultiplier from configl49nK?4Yn$ in8nB@nDnHI1 =<ɚ9i9I=s =IEliE2iE:)EH{@)I#uStoppingGU!<;G1B9OU> qIqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756509,w,Fb@A2sn@Y2|@2r =92n >y2H+`;?Ǭ  ʅ?vm!? ?ɨ2sn@2;2+CyB[BFB%IMMb@Mb@Mb@III I)IYM9v?X9v?:vyM4?M}=MTMA I)M@IM@IyMz@Y]@AIeIe+4٢+ ?=9RP;Q > G٣y 9 > Nusing accuracyPremultiplier from config49:?4Ye i+nB5?:@‘D;+;4 @ZjFNOT Ignoring new targets: 487.20 m.Bj;Jj; ProNav: ac range: 487.200012 m, nav range: 340.645111 m, bearing: 305.727226 deg, approach rate: -0.208960 m/s, LOS rate: 0.126526 deg/s, cmd heading: 225.260404 deg, new cmd heading: 225.408417 deg. 2j; HeadingCmd: 3.934119 target range: 487.200012 and range: 487.20 m. j {@j j j i hhhhBfffrf!bf%@ɛMBM+= QHYI]C I]%II]ˆBIY&IY.IY6I]հ<:I]\ F-G>I1 =<ɚ9iAIErZ =IWiÔ2iĺ){@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012208)a#StoppingG GG- 7:G B! O= > a Ia  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:41:19.9869 LVL= 14384, 21457, 21298, 25811, AGC= 71, IDX= 441,-0.27,-2.635, 3.059, 1.378, 2.634, PHS= 1.102, 0.472,-1.259, RAW= 44.9, -3.0, CAL= 46.4, -6.5, ROT= 103.6, 6.5  Ygot valid direction response: 21:41:19.9869 LVL= 14384, 21457, 21298, 25811, AGC= 71, IDX= 441,-0.27,-2.635, 3.059, 1.378, 2.634, PHS= 1.102, 0.472,-1.259, RAW= 44.9, -3.0, CAL= 46.4, -6.5, ROT= 103.6, 6.5  PDAT read: Bearing 103.6, 6.5 (Local)  ~Local bearing/azimuth received: Bearing 103.6, 6.5 (Local)  DAT read: Range 10 to 50 : 488.4 m (Round-trip 651.2 ms) speed -0.2 m/s  ,DAT read: user:1977>  BDAT read: Tx time:21:41:21.0815  $Ping request sent. ٥ &٥ yH?٥ PwV ڡ )ڥ VIڡ iڥ V=ڡ ڡ ۥ W;tw?/y!1䪿)ۥ Iۥ :W=iۥ M?ۥ 16ۡ ۡ E :publishing transmit ping time E Fpublishing direction and range infoء 9إ uQ7?Pe)?\b`?yء ء ء ء ١ )١ I١ i١ ١ ١ ١ ١ Vw,}!|@Av|n@Yv|@v %=9vd>yvHm(@a?@Kn )?㡿 ? {?ɨv|n@v;t )IiW;tw?/y!1䪿)Iiy=bB=J%II}I}%4٢2 = J=9;Q > G٣y4: > Nusing accuracyPremultiplier from config49?4Y] inB@̑Dw<<4 B -@sEk<(?k k k2z@A:k3CBk{CZk@")*<@xiJ w@3s@uQ7?Pe)?\b`?JkM?Rk16*М6@i@coоv@zKBoHK 9KK5KKwsoj_}-?{-?"kc}*kLCkG)?k 2kCk}/(?k;q kmCkCk@@ addTargetRange:: Added new target pos. range: 488.399994 m, deltaT: 4.288737 s, deltaX: 1.199982 m, approachRate: 0.279798 m/s, rangeRepo size: 4 = Added new target pos. range: 488.399994 m, bearing: 308.928264 deg, lat: 36.902042 deg, lon: -122.119787 deg, deltaT: 4.288737 s, deltaX: 1.199982 m, approachRate: 0.279798 m/s, posRepo size: 4 Zj9EFNOT Ignoring new targets: 488.40 m.BjEJjA ProNav: ac range: 488.399994 m, nav range: 341.803101 m, bearing: 306.092140 deg, approach rate: 0.000000 m/s, LOS rate: 0.126526 deg/s, cmd heading: 225.408414 deg, new cmd heading: 225.574310 deg. 2jHeadingCmd: 3.937014 target range: 488.399994 and range: 488.40 m. j {@jjji)h1h1h9h9f9f9fArf`f~@bf@?ɛeBe4#= mŶ=m>>Ii m<ɚiiiImE =Iu'iuF2i}0P)} {@)y#StoppingWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ;J :JJGm m ݺGI By O >>%w,z@A6QPn@Y6n|@6=96E>y6H(8~?7$@c'?2?ղ?ɨ6QPn@6j*;6.Cy>\BBC%IMb@Mb@Mb@ )YzG?V-?y 7?h=/A ) @I@y@ /$?III4٢ ܼ  B=UWill construct direction to contact in vehicle frame from tetrahedron phase data.949Q e>ii mG٣mDGymzͻ > Nusing accuracyPremultiplier from config49H?4Y inB7?:i@֑D@;j;4) 5@1ZjFNOT Ignoring new targets: 488.40 m.Bj;Jj;- ProNav: ac range: 488.399994 m, nav range: 341.718201 m, bearing: 306.143476 deg, approach rate: -0.193585 m/s, LOS rate: 0.117083 deg/s, cmd heading: 225.574306 deg, new cmd heading: 225.728351 deg. 2j-;5HeadingCmd: 3.939703 target range: 488.399994 and range: 488.40 m. j5$|@j1j9j9i9hahahihmBfififqrfqbfuiQ?ɛÅBd*= ,>I <ɚiI|0 =Ii(2i%)$|@)#eStoppingZHQRHU@AHYI]C I]%II]BIY&IY.IY6I]<:I]n FBIJIRIZI> =bI> =jIȗ)4G OP Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >g+w,կ@A6n@Y68|@6| =963=y6H`KE?Di?=? ?`?ɨ6n@6?D;6)CybdBbL%IIjIj4٢r&= v_=9vPQ v>xx zG٣xyz ~> Nusing accuracyPremultiplier from config 49t? 4Y inB@ޑD ; ;q4%B %7@%wE=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 488.40 m.BjU;JjU;e ProNav: ac range: 488.399994 m, nav range: 341.653900 m, bearing: 306.182975 deg, approach rate: -0.202811 m/s, LOS rate: 0.124608 deg/s, cmd heading: 225.728354 deg, new cmd heading: 225.846873 deg. 2je;mHeadingCmd: 3.941772 target range: 488.399994 and range: 488.40 m. jmE|@jijqjqiqhqhqhyhyfyfyfrfbf'?ɛŅBl:= 隽 >I <ɚiI =Ii-2i6J)E|@)#Stopping"G=G=GTGqByO= .$?IeWill 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.zK- ǙNK- +9K) K- 6K- H>9432*'%&%$$# RK5 ?JK5 ?R2w,s@A:Pm@Y:{@: =9:G=y:HGc? qU`Z???ɨ:Pm@:N;:+CbWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247670ynhBnQ%ItvAI=I=t4٢m< mB=9u0 Q u> G٣y > Nusing accuracyPremultiplier from config49,?4YH i nB MU@D <<4Y ]@YJKـ3 KKK"KJ}J}JyJyJ};J}{:JyJyZjFNOT Ignoring new targets: 488.40 m.Bj:Jj: ProNav: ac range: 488.399994 m, nav range: 341.574127 m, bearing: 306.232925 deg, approach rate: -0.176338 m/s, LOS rate: 0.110439 deg/s, cmd heading: 225.846871 deg, new cmd heading: 225.996755 deg. 2j;HeadingCmd: 3.944387 target range: 488.399994 and range: 488.40 m. jp|@jjji)h)h)h1h1f1f1f1rf9bf= r?ɛDžB((= 隭>I <ɚiI =Iݮig2iF!)p|@) IgEm<#StoppingWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503602G >uG B O >8w,@AyqB\%IH]>IY I]%II]BI]? =&IY.IY6I]а<:I]X FMb@Mb@Mb@ )Y-?X9v?~jtx?y?5?}=;A ;@)f@I@y@II4٢-= 56=9=Q =>9A EG٣AyM M> ]Nusing accuracyPremultiplier from configYm49]=?m4Y] i]nBu5?u:uu@]D];];]4B x@zEZjFNOT Ignoring new targets: 488.40 m.Bj  ;Jj  ;- ProNav: ac range: 488.399994 m, nav range: 341.496521 m, bearing: 306.284278 deg, approach rate: -0.181103 m/s, LOS rate: 0.119866 deg/s, cmd heading: 225.996753 deg, new cmd heading: 226.150848 deg. 2j-;5HeadingCmd: 3.947077 target range: 488.399994 and range: 488.40 m. j5|@j1j1j1i1h9h9MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.754704hAhUBfQfQfYrfYbf]O?ɛ5ʅB50'/= 15>I9 ]QmvA YvAyA % -$?I!  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006446+?w,@A2cm@Y2N{@23$=92=y2H`h?~O5~@? b#@߿? ?ɨ2cm@2q;0y^{B^i%IddIfIf 4٢n_= n`=9rIpp vG٣vDGyvϠ v> Nusing accuracyPremultiplier from config%49%?%4Y" inB)-"-@D: :4Q U@QZjFNOT Ignoring new targets: 488.40 m.Bj;Jj; ProNav: ac range: 488.399994 m, nav range: 341.434540 m, bearing: 306.326739 deg, approach rate: -0.169190 m/s, LOS rate: 0.115926 deg/s, cmd heading: 226.150842 deg, new cmd heading: 226.278247 deg. 2j;HeadingCmd: 3.949301 target range: 488.399994 and range: 488.40 m. jW|@jjjihhhhfff rf bf @zK-iMK-9K)K-7K-BK9:K9ɛM˅BMgA= aem>Ia e<<ɚaiaIe =Im_^iu#3iu)uW|@)qEyEy*E"E#StoppingMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.260582G 'G B O] >Ew,AA2Dm@Y2b{@2=92R>y2H `Y?`My N?`J??ɨ2Dm@2u];0y>B>o%I `I`MMb@Mb@Mb@III I)IYMV-?A`"?I +?yMh1?MY=M94 G٣y > Nusing accuracyPremultiplier from config49N?4Y( imB1?:@D;;[4B @}EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514479ZjFNOT Ignoring new targets: 488.40 m.Bj;Jj; ProNav: ac range: 488.399994 m, nav range: 341.370117 m, bearing: 306.373863 deg, approach rate: -0.158498 m/s, LOS rate: 0.115960 deg/s, cmd heading: 226.278252 deg, new cmd heading: 226.419651 deg. 2j*; HeadingCmd: 3.951768 target range: 488.399994 and range: 488.40 m. j |@j j j i hhhhBfffrf!bf%I@ɛMͅBMS<= IMS>II U;<ɚiiiImT =Im5i{3i)|@)#%StoppingG GBO%>jH]<bH]<HaIa IaIaIa&Ia.Ia6Ie<:IeJ F Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս AiՉ  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766659J J J J J ;J y:J J J fy6H Z? <`Hఇ`곯?`JV?K?ɨ6Jm@6 ;6-CyZBZ~%IIfIf4٢n'= rU=9vZ;Q v>tt zG٣xyz_x: z> Nusing accuracyPremultiplier from config|49~}? 4Y~. i~mB   @~ D~q:~:~4 @5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 488.40 m.BjM;JjM;e ProNav: ac range: 488.399994 m, nav range: 341.310425 m, bearing: 306.417612 deg, approach rate: -0.154938 m/s, LOS rate: 0.113576 deg/s, cmd heading: 226.419651 deg, new cmd heading: 226.550921 deg. 2je;mHeadingCmd: 3.954060 target range: 488.399994 and range: 488.40 m. jmP}@jijijiiqhqhqhqhqfffrfbfk@ɛ ЅB #D=  >I  <<ɚiI& =Ieim4i!)P}@)!#-Stopping ,$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019003G]޼G9BAOew>zK7KKKK8KRK>JK?Rw, ALAA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270449:Um@Y:,t{@:4&=9:>y:H]@[?9`;?+ݤޭ?`J?ɨ:Um@:ԋ;:+CyFBF%IIZIZ4٢f.= fK=9j:Q j>hh nG٣nDGyn : n> vNusing accuracyPremultiplier from configpv49rMn?z4Yr3 irmBxzz@rDr:r:r 4]B ]g@eEZjFNOT Ignoring new targets: 488.40 m.Bj:Jj:% ProNav: ac range: 488.399994 m, nav range: 341.248230 m, bearing: 306.463232 deg, approach rate: -0.146621 m/s, LOS rate: 0.107567 deg/s, cmd heading: 226.550927 deg, new cmd heading: 226.687812 deg. 2j%;-HeadingCmd: 3.956449 target range: 488.399994 and range: 488.40 m. j-u6}@j)j1j1i1hQhQhYhYfYfYfarfabfe @ɛ%҅B%WC= !%>I) -<ɚ)i)IMs =IU@iUi:5iU)]u6}@)Y#eStopping IGWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:41:24.1375  TRx dataTimestamp_ set to:1736372485.454559checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525715GBO>Yw,fAA6pm@Y6 {@6'=96 >y6H@~h?@nĿcoװ?2?ˮ?ɨ6pm@6;6,CyNBR%IH>I I%IIBI> =&I.I6I<:IH FMb@Mb@Mb@ )Yw/?Mb?y&1?y&?<`e<EA @)AIA@y@IIa4٢= :=99Q > G٣y; >  Nusing accuracyPremultiplier from config49]?4Y 9 imB'?%:%%@DH;;41 =a@9ZjFNOT Ignoring new targets: 488.40 m.Bj-:Jj-:= ProNav: ac range: 488.399994 m, nav range: 341.198151 m, bearing: 306.510812 deg, approach rate: -0.114423 m/s, LOS rate: 0.108727 deg/s, cmd heading: 226.687818 deg, new cmd heading: 226.830576 deg. 2jE<;EHeadingCmd: 3.958941 target range: 488.399994 and range: 488.40 m. jEH_}@jAjIjIUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.774560iIhihqhqhu+Bfqfyfyrfybf}W@ɛՅBV!N= >I }<ɚiIR =Imi5i)H_}@)# StoppingJJJJJJw:JJJJJ;J;G5GBO > +$?I g Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: 21:41:24.1375 LVL= 16304, 24705, 22866, 28387, AGC= 69, IDX= 432, 0.11,-1.778,-2.264, 2.352,-2.771, PHS= 1.081, 0.554,-1.163, RAW= 43.0, -4.7, CAL= 44.9, -8.9, ROT= 105.1, 8.9 E Ygot valid direction response: 21:41:24.1375 LVL= 16304, 24705, 22866, 28387, AGC= 69, IDX= 432, 0.11,-1.778,-2.264, 2.352,-2.771, PHS= 1.081, 0.554,-1.163, RAW= 43.0, -4.7, CAL= 44.9, -8.9, ROT= 105.1, 8.9 U PDAT read: Bearing 105.1, 8.9 (Local) U ~Local bearing/azimuth received: Bearing 105.1, 8.9 (Local) ] DAT read: Range 10 to 50 : 488.9 m (Round-trip 651.9 ms) speed -0.2 m/s e ,DAT read: user:1978> m BDAT read: Tx time:21:41:25.2315 m $Ping request sent.m    5?Kᅯ[) 6I ǧ=i ? *.   :publishing transmit ping timei  Fpublishing direction and range info 9 #O÷?S?E:!?y     ) I i      ) I i    5?Kᅯ[) I i    @_w,bAA Em@Y {@ #&=9 >y Hlv?n<`Fs[v?ۤ~??ɨ Em@ ; +Cy=BE%IIUIU4٢7= L=9;Q > G٣y; > Nusing accuracyPremultiplier from config 49lN? 4Y*> imB55@&D;;;4=B E@EEzKRIK59KK9KBKrA:KqAk5|$$?k5 W k1 k5,}AA:k5sCBk5CZk5v@"5NKuyٰF@Ow@Nh?z8s@5#O÷?S?E:!?Jk5?Rk5*.*5 [Y2Bh@XI <ɚiI, =Ii:6i)}@)#StoppedG  G "G G ]Will construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:21:41:25.2307 G B ! dClearing failed state for component DockingStepper O >b(fw,әAA IJm@YJ|@JFZ&=9J]>yJHW`?s/ CD7? ɤ%?j?ɨJm@J;J.CybBb%IWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )YS?~jthI +?y/?D94<\A @)vAIy@IEIE<4٢u= }B=9}Q }> G٣DGyJ < > Nusing accuracyPremultiplier from config49 ??4YC imB6?:@.DP;;7!4 \@Zj)UFNOT Ignoring new targets: 488.90 m.BjU;JjU;e ProNav: ac range: 488.899994 m, nav range: 341.112732 m, bearing: 306.597302 deg, approach rate: -0.106003 m/s, LOS rate: 0.116750 deg/s, cmd heading: 226.976680 deg, new cmd heading: 227.105850 deg. 2je?;HeadingCmd: 3.963745 target range: 488.899994 and range: 488.90 m. j}@jjjihhhhUBfffrfbf[!?ɛڅBfc= >I  &<ɚiI =Iqi%W[7i%/)%}@)A#U Start #U4Initializing EZServoServo.ZHRHH >I  I %II BI &I .I 6I <:I ; F #%8Initializing DockingStepper.G=?G=>G B O5 >m Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J ;J :J J J j<J j<J 8;J 8;Qlw,ɬAA:m@Y:k |@:y=9:3 >y:H \`Ԍ?i@[H4?.f?$?ɨ:m@:c;:+CybBb%IIjIj94٢vKI= ve=9vQ v>xx zG٣xyzc ~> Nusing accuracyPremultiplier from config 49,2? 4YG imB  @5D::b'4 @=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 488.90 m.BjUX:JjUX:e ProNav: ac range: 488.899994 m, nav range: 341.080322 m, bearing: 306.633301 deg, approach rate: -0.094580 m/s, LOS rate: 0.105062 deg/s, cmd heading: 227.105853 deg, new cmd heading: 227.213858 deg. 2je4;mHeadingCmd: 3.965630 target range: 488.899994 and range: 488.90 m. jm}@jijqjqiqhqhqhyhfffrfbf`?ɛ܅Bm= 隽>I F<ɚiqIu =I}Ri}7i} )}}@)#Starting 5)$?I1GBO>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.zKM BoIKM h9KI KM :KM :sw,AAWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249027FRm@YF|@FZ=9FE">yFH U1?. >`? ?i?ɨFRm@FI;F,CybB`Ij=Ij=3٢; G=91Q %>!! -G٣)y5\*; 5> =Nusing accuracyPremultiplier from config9E49=-#?E4Y=K i=mBIM}M@=>D=:=7:=.4UB U@]EZjQ]FNOT Ignoring new targets: 488.90 m.Bje6:Jje6: ProNav: ac range: 488.899994 m, nav range: 341.042419 m, bearing: 306.675299 deg, approach rate: -0.086470 m/s, LOS rate: 0.095825 deg/s, cmd heading: 227.213852 deg, new cmd heading: 227.339861 deg. 2j;HeadingCmd: 3.967829 target range: 488.899994 and range: 488.90 m. j}@jjjihhhhfffrfbf e?ɛE߅BEX= AE>IA M<<ɚIiiIm =Iu.iu8iu )u}@)y#StartingGBO'> 9IEgWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498655gyw,sAA6An@Y6f`|@6`=96>y6H@&=?`k@P$x?@f?`?ɨ6An@6;6+CHPIP IR%IIRۆBIR? =&IP.IP6IR<:IR? FBIaJIaRIaZIe? =bIe? =jIe#4yzBz%I=Mb@Mb@Mb@999 9)9Y=Zd;?Mb{Gzt?y=?==ף;= A =@)=AI=@9y=@IUPIU 4٢]+ e7=9etQ e>ii mG٣mDGyu< u> }Nusing accuracyPremultiplier from configy49}?4Y}P i}mB?:1@}FD}V;}sU;}\64B #@EZj!5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752000=FNOT Ignoring new targets: 488.90 m.BjM:JjU:m ProNav: ac range: 488.899994 m, nav range: 341.013702 m, bearing: 306.720039 deg, approach rate: -0.066679 m/s, LOS rate: 0.103892 deg/s, cmd heading: 227.339855 deg, new cmd heading: 227.474086 deg. 2jm;}HeadingCmd: 3.970172 target range: 488.899994 and range: 488.90 m. jK~@jjjihhhAhEBfAfIfIrfIbfM?JJ"J/JJ;J:J(N3JJd<Jd<J;J;ɛBV= |>I  <ɚiIL =I%ji%̝9i%G)-K~@))#5Starting#uBInit string: /1z16352aE13561N3m50 - ($?I1  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002765G ϼG G G B O >w,"BA>On@Y>}@>@=9>>y>H?/<?`_m?@?ɨ>On@> ;>*CyDDIRTIR4٢Ve: ZL=9Z;Q Z>\\ ^G٣\ybr< b> jNusing accuracyPremultiplier from configd549f?=4YfT ifmB9=t=@fNDfYuI <ɚiI =Ii :iż)9~@) #StartingGԼWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255545GBO%+> I U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506638WGw,jBA6hho@Y6}@6=96H>y6H@: ?`@ ?@`F?`U?ɨ6hho@6.;;6+CyBBB%IMb@Mb@Mb@ )Y&1?Zd;Oy?j< A @)I@y@IuIaO4٢< 8=99Q > G٣ybl< > Nusing accuracyPremultiplier from config 493? 4YsY imB_?:@VD;:;"E4  @ZjIUFNOT Ignoring new targets: 488.90 m.BjUE:JjUE: ProNav: ac range: 488.899994 m, nav range: 340.960724 m, bearing: 306.802427 deg, approach rate: -0.057797 m/s, LOS rate: 0.099347 deg/s, cmd heading: 227.594730 deg, new cmd heading: 227.721256 deg. 2j\;HeadingCmd: 3.974486 target range: 488.899994 and range: 488.90 m. j]~@jjjihhhhBfffrfbf@ɛMBM[= QU>IQ UF<ɚQiQIUR =I]i]Zi:in)]~@)#StartingjHbH<H>I I%IIBI> =&I.I6I<:Iq FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759580GG?G>GBO>)= ž= = jC G % Y! y- Bkw,wJ8BAFo@YF'}@F=9F>yFHK`/?@ٿ@ّL?`e?`+?ɨFo@F;F,CyVBV%II^_I^b(4٢f9V f_=9j 9Q j>hl nG٣nDGyn< r> vNusing accuracyPremultiplier from configpv49rY?z4Yr*] irmBxzGz@r]Dr:rn:rK4B @E%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 488.90 m. E'$?IABj5&:JjE&:U ProNav: ac range: 488.899994 m, nav range: 340.939148 m, bearing: 306.837151 deg, approach rate: -0.058976 m/s, LOS rate: 0.094923 deg/s, cmd heading: 227.721253 deg, new cmd heading: 227.825432 deg. 2jJ;HeadingCmd: 3.976304 target range: 488.899994 and range: 488.90 m. j{~@jjjihhhhfffrfbf]@ɛB`= >I <ɚiIm =Ii:ir){~@)#uStarting"G}4=G}a=Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011695GmFټG)B9OU>zK BoHK 9K K <K  Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267662JE JE JE 0JA JE T;JE z:JE ـ3JA aU @aU @aU @aU @ Uw,,RBABEp@YBd~@By!=9B>yBHۀ`R?$`kѱ?i? ?ɨBEp@B;@yNBN%I TTIZdIZ?14٢5^ =D=9=@Q =>AA EG٣AyEy< M> UNusing accuracyPremultiplier from configI49M?4YMoa iMmB@MdDM7&I f<ɚ i I ou =Ii:i~_)~@)#%Starting#LSent speed cmd:/1V10000 Response:/0@ IIQWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:21:41:28.2888 %TRx dataTimestamp_ set to:1736372489.484822-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515987GNGGrAGa Bq O >H1 I1  I5 %II5 BI5 ? =&I1 .I1 6I5 <:I5 x Fe}w,\kBA6lp@Y6 ~@6 =96s>y6HeY u?@ D]ʱ?_ࢿไ?@/?ɨ6lp@6;6+CyRBR%I5Mb@Mb@Mb@111 1)1Y5Gz?v/ G٣ym< > Nusing accuracyPremultiplier from config49?4Ye imBd?:@lD;k8;Z45B 5@5EZjy}FNOT Ignoring new targets: 488.90 m.Bj':Jj': ProNav: ac range: 488.899994 m, nav range: 340.888245 m, bearing: 306.919241 deg, approach rate: -0.055033 m/s, LOS rate: 0.093614 deg/s, cmd heading: 227.944163 deg, new cmd heading: 228.071710 deg. 2j~;HeadingCmd: 3.980602 target range: 488.899994 and range: 488.90 m. j0~@jjjihhhhBfffrfbf@@ɛ=B=|I= 9=W>IA E<ɚAiAIE0G =I]i:i݃()0~@)#StartingG=sGB! =&$?IAOUu>= Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:41:28.2888 LVL= 14064, 20209, 17618, 25139, AGC= 66, IDX= 444,-0.16, 3.006, 2.355, 0.703, 1.911, PHS= 1.184, 0.492,-1.210, RAW= 46.3, -4.4, CAL= 48.7, -8.6, ROT= 101.3, 8.6  Ygot valid direction response: 21:41:28.2888 LVL= 14064, 20209, 17618, 25139, AGC= 66, IDX= 444,-0.16, 3.006, 2.355, 0.703, 1.911, PHS= 1.184, 0.492,-1.210, RAW= 46.3, -4.4, CAL= 48.7, -8.6, ROT= 101.3, 8.6  PDAT read: Bearing 101.3, 8.6 (Local)  ~Local bearing/azimuth received: Bearing 101.3, 8.6 (Local)  DAT read: Range 10 to 50 : 489.8 m (Round-trip 653.1 ms) speed -0.3 m/s  ,DAT read: user:1979>  BDAT read: Tx time:21:41:29.3816  $Ping request sent. E HᚿE N?E nF E Y?)E `IE oN?iE `>A A E ?]))E IE ϝ=iE ?E 'y6H 5 ? ?yb?`?ɨ6vq@63;4yBBB%IIJdIJ?14٢RD Rp=9VQ V?TX ZG٣ZDGyZ < Z? bNusing accuracyPremultiplier from config`f49b ?f4Ybmi ibmBhj,j@brDb:b:b`4 @!kuKF%?ku kq ku`BA:kuCBku-CZkul@"u̫.C@gtv@MU't@uB |?z8?EWu?Jku?Rku'<*uph@tnވ#ktw@u1?x9[P <?"kuu*kuDCku{%?ku~ 2kuHCkuB9oT'?kug# kuCku̠Cku4@zKa3JKKK=K= addTargetRange:: Added new target pos. range: 489.799988 m, deltaT: 4.034443 s, deltaX: 0.899994 m, approachRate: 0.223078 m/s, rangeRepo size: 4 M Added new target pos. range: 489.799988 m, bearing: 308.725071 deg, lat: 36.902018 deg, lon: -122.119536 deg, deltaT: 4.034443 s, deltaX: 0.899994 m, approachRate: 0.223078 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 489.80 m.BjuJjq ProNav: ac range: 489.799988 m, nav range: 321.599457 m, bearing: 308.980370 deg, approach rate: 0.000000 m/s, LOS rate: 0.093614 deg/s, cmd heading: 228.071710 deg, new cmd heading: 228.172225 deg. 2jHeadingCmd: 3.982357 target range: 489.799988 and range: 489.80 m. j~@jjjihhhhfffrf̜~@bf?ɛUBUwI= QUV>IQ ]<ɚYiYI] =Ie@ie:ieޡ)e~@)i#&Changing to mode: 1#Standby mode.Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:41:29.3808 *FE?2FA:FABFEe5JFAGMrA GMsAJ J J 1J J m;J x:J 3J Gm Ji I II GY B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.xw,BAy~B~u%I  AMb@Mb@Mb@ )Y"~? ףp=  G٣y   > Nusing accuracyPremultiplier from config49{?4Y-n ismB|?:@{D$<Ε<oh4B @EZjFNOT Ignoring new targets: 489.80 m.Bj:Jj: ProNav: ac range: 489.799988 m, nav range: 321.575653 m, bearing: 309.026166 deg, approach rate: -0.055425 m/s, LOS rate: 0.106641 deg/s, cmd heading: 228.172223 deg, new cmd heading: 228.309623 deg. 2j_;HeadingCmd: 3.984755 target range: 489.799988 and range: 489.80 m. j8@jjjihhhh{Bf f f rfbf`"^?ɛEBE[:= AE>IA M <ɚIiIIM=IU}iU)}:iU)U8@)YZHRH*F?2F:FBFo5JFGJHI I%IIֆBI&I.I6I԰<:IZ FGyBO^>Will construct direction to contact in vehicle frame from tetrahedron phase data.8w,嗹BA2q@Y2&@2 =92Q>y2H `?=[? {`h? ʪ?ɨ2q@2_;2)CyNuBNb%IIVkIV=4٢^ b`=9bQ b>dd fG٣dyf}< j> r%$?Irg ENusing accuracyPremultiplier from confighM49jݠ?M4Yjr ijcmBQU!U@jDj:jy;jn4]B ]@eEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 489.80 m.Bj:Jj: ProNav: ac range: 489.799988 m, nav range: 321.554901 m, bearing: 309.063516 deg, approach rate: -0.056950 m/s, LOS rate: 0.102507 deg/s, cmd heading: 228.309619 deg, new cmd heading: 228.421675 deg. 2j;HeadingCmd: 3.986710 target range: 489.799988 and range: 489.80 m. jC&@jjjihhhhfffrfbf?ɛ B m4= s>I C<ɚiI =IridM:i%)%C&@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F2F:FBFh5JFG;3zKMRIKM9KIKM>KM  "! GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240465J J (J 0J J ;J 9:J ـ3J Ew,akBANq@YN$@N=9Nj>yNHJ?."hw{??k??ɨNq@N;N,Cyb^BbE%IIj&Ij3٢r rH=9r'Q r>tt vG٣vDGyz; z> ~Nusing accuracyPremultiplier from configx49zĒ?4Yzvv izQmB @zDz ;z;zu4 `@ZjiuFNOT Ignoring new targets: 489.80 m.BjP:JjP:] ProNav: ac range: 489.799988 m, nav range: 321.531281 m, bearing: 309.105337 deg, approach rate: -0.059574 m/s, LOS rate: 0.105487 deg/s, cmd heading: 228.421675 deg, new cmd heading: 228.547148 deg. 2jeʐ;mHeadingCmd: 3.988900 target range: 489.799988 and range: 489.80 m. jm$J@jijqjqiqhqhqhyhyfyfyfrfbf@%R?ɛB = !%=>I! %<ɚ!i!I%=IMiU:iU븦)U$J@)Q I*F2F:FBF0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492642G ԑG qAG pAGa By O >H >I C I %II BI > =&I .I 6I <:I Fo˺w,FBA2q@Y2@2 =92>y2H ? `G9`.?P??ɨ2q@2F;0yRHBR*%I-Mb@Mb@Mb@))) )))Y-bX9?L7A`堿Mby-E?-+--= A )))I-@)y)IMZIM4]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.744625٢mν mB=9mZ(Q u>qq uG٣qyUD< U> eNusing accuracyPremultiplier from configYe49]c?e4Y]|{ i]?mBm?m:mdm@]D];];]}4uB }@}EZjFNOT Ignoring new targets: 489.80 m.Bj:Jj: ProNav: ac range: 489.799988 m, nav range: 321.498535 m, bearing: 309.152007 deg, approach rate: -0.073761 m/s, LOS rate: 0.105139 deg/s, cmd heading: 228.547145 deg, new cmd heading: 228.687170 deg. 2jO;HeadingCmd: 3.991344 target range: 489.799988 and range: 489.80 m. j.r@jjjihhhh>Bfffrfbf?ɛuBu= qu< >Iq }}<ɚyiyI}=Ii9i9i).r@)*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=1.996388GE G B) OE >Dw,!CA>'r@Y>M#@> =9>>y>H2?@K@ ?@@?B?ɨ>'r@>$i;>*CyF8BJ%IIVwIVR4٢ZJ ^W=9^ @:Q b>`` bG٣`yf< f> jNusing accuracyPremultiplier from confighn49jXw?n4Yjr ij1mBpr,r@jDj ;jq ;j4t v@tZjFNOT Ignoring new targets: 489.80 m.Bj:Jj:5 ProNav: ac range: 489.799988 m, nav range: 321.472229 m, bearing: 309.188676 deg, approach rate: -0.074504 m/s, LOS rate: 0.103859 deg/s, cmd heading: 228.687164 deg, new cmd heading: 228.797178 deg. 2j5;=HeadingCmd: 3.993264 target range: 489.799988 and range: 489.80 m. j=@j9j9jAiAhAhAhAhIfIfIfIrfIbfU`O@ɛB>j = 隵4=I H <ɚiI=Iis9iJe)@)zKUѦLKUh9KQKU?KUBKepA:KerA*F?2F:FBF0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250742JJ!J1JJT;J:J3JGmxGI BY O > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500496Kw,!CA2fr@Y2B@2^=92 >y2H M? _`R?` kh?@S?ɨ2fr@2̉;2(CyN!BN$IMb@Mb@Mb@ )YT㥛 ?~jtI +y!?D9 A )AI @yAIxIT4٢˽ :=9@:Q > G٣DGy< > Nusing accuracyPremultiplier from config49 h?4Y imB&!?:@D;w;4B J@EZj)5FNOT Ignoring new targets: 489.80 m.Bj5:Jj=:E ProNav: ac range: 489.799988 m, nav range: 321.426086 m, bearing: 309.237184 deg, approach rate: -0.104695 m/s, LOS rate: 0.110079 deg/s, cmd heading: 228.797171 deg, new cmd heading: 228.942718 deg. 2jM;MHeadingCmd: 3.995804 target range: 489.799988 and range: 489.80 m. jmB@jijijiiihihqhqhu+Bfqfyfyrfybf}@ɛ5 B5< 15@=I1 =d<ɚ9i9I==IEtdiE39iEQ%)EB@)iEyjHQbHU<*F?2F:FBF0JFGqA GrAH%>I%C I%n%II%BI%? =&I!.I!6I%Ͱ<:I%V FBIAJIARIAZIAbIAjIE4uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752425G- *G- ?G- >G B O= >w,:CA6r@Y6Y@6Ud=965 >y6Hܣ ?Ͽn~^N?@K'g?཯?ɨ6r@6.;6+C F#$?IDyFBF$IIR`IR(*4٢Z' Z^=9Z)Q ^>\\ ^G٣`ybm; b> fNusing accuracyPremultiplier from configdj49fF[?j4Yf if mBlnTn@fDfÚ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256486w,fTCA26r@Y2i@2G=92 >y2H@W`Z+?~ؿ6yp,?Aha??ɨ26r@2;2-CyNBN$IIjfIj44٢v[ zF=9~y :Q >  G٣y<; > -Nusing accuracyPremultiplier from config)=49-L?=4Y- i-lBAE4M@-D-r;-Zr;-Z4]B e@eEZj)MFNOT Ignoring new targets: 489.80 m.BjU:JjU:e ProNav: ac range: 489.799988 m, nav range: 321.342377 m, bearing: 309.323762 deg, approach rate: -0.106360 m/s, LOS rate: 0.109642 deg/s, cmd heading: 229.064409 deg, new cmd heading: 229.202485 deg. 2je~;mHeadingCmd: 4.000338 target range: 489.799988 and range: 489.80 m. j@jjjihhhhfffrfbf`Z @ɛ B ܥ<  8I  (-<ɚiI=I,ia8iߠ)@)! qIq*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510607G˴G B O >H >I  I /%II LBI &I .I 6I <:I F7w,nCAF;r@YFlv@F'=9F%U >yFH !4?nhqz~G  G) ]YYyeB٣%DGyA; > Nusing accuracyPremultiplier from config49z:?4YÕ ilB+?:M@D'<'<Y4B @EZjQUFNOT Ignoring new targets: 489.80 m.Bj];Jj]; ProNav: ac range: 489.799988 m, nav range: 321.273926 m, bearing: 309.383975 deg, approach rate: -0.135018 m/s, LOS rate: 0.118794 deg/s, cmd heading: 229.202488 deg, new cmd heading: 229.383165 deg. 2j ;HeadingCmd: 4.003491 target range: 489.799988 and range: 489.80 m. j@jjjihhhhBfffrf bf  'z@ e"$?IegɛB< \I <ɚiI =Ii&8i5=+)5@)9EMrAEMrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.013663*F- ?2F) :F) BF- 4JF) "G5 =G5 =G G rAG rAG B O>w,CA6~r@Y6w@6~<96)" >y6H O3?`@4^x`[?ԓ?`n?ɨ6~r@6;6+Cy>օBB$I F=F=IJiIJ:4٢Rݽ RZ=9VuQ V>TX ZG٣XyZ9 Z? bNusing accuracyPremultiplier from config\b49^.?f4Y^[ i^lBdjJj@^ÒD^)G;^H;^84nB n-@rEzKzBHKz9KxKzAKzZjFNOT Ignoring new targets: 489.80 m.Bj;Jj; ProNav: ac range: 489.799988 m, nav range: 321.229401 m, bearing: 309.423278 deg, approach rate: -0.132298 m/s, LOS rate: 0.116798 deg/s, cmd heading: 229.383161 deg, new cmd heading: 229.501086 deg. 2jP;HeadingCmd: 4.005549 target range: 489.799988 and range: 489.80 m. jv-@jjjihhhhfffrfbf @ɛB%1< !%IA Mp<ɚIiIIM & =IUiU7iU/䌻)Uv-@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:41:32.4405 LVL= 16112, 19505, 16882, 21731, AGC= 69, IDX= 445,-0.15, 1.084, 0.292,-1.219,-0.006, PHS= 1.178, 0.345,-1.217, RAW= 50.0, -2.9, CAL= 52.4, -6.7, ROT= 97.6, 6.7 Ygot valid direction response: 21:41:32.4405 LVL= 16112, 19505, 16882, 21731, AGC= 69, IDX= 445,-0.15, 1.084, 0.292,-1.219,-0.006, PHS= 1.178, 0.345,-1.217, RAW= 50.0, -2.9, CAL= 52.4, -6.7, ROT= 97.6, 6.7 PDAT read: Bearing 97.6, 6.7 (Local) ~Local bearing/azimuth received: Bearing 97.6, 6.7 (Local) DAT read: Range 10 to 50 : 491.0 m (Round-trip 654.7 ms) speed 0.0 m/s ,DAT read: user:1980>  BDAT read: Tx time:21:41:33.5316  $Ping request sent.؍1L ٍA)ٍTIٍEiٍȖ?ٍף>ٍƛٍf_?ٍ4QO ڍ j?)ڍ|Iڍ^ ?iڍ|=ډډۍ|;? w$8Q#D)ۍNIۍB=R=iۍΫ?ۍ¡KۉۉU:publishing transmit ping time UFpublishing direction and range info؉9؍Ez?EGTY?qGz?y؉؉؉؉ ى)ىIىiىىىىى ډ)ډIډiډډډۍ|;? w$8Q#D)ۉIۉiۉۉۉۉ*F?2F:FBFo0JF IG OPE Will construct direction to contact in vehicle frame from tetrahedron phase data.M JDAT read: TxSync time:21:41:33.5308 Gy B O >Xw,CA6Mr@Y6u}@6\<96 >y6H8?`@@9t@p?jUZn?ϯ?ɨ6Mr@6;4ynDžBn$IMb@Mb@Mb@ )Y|?5^?Q?y&1y2?<`e A @)AI"@yI yI xV4٢% %5=9-EZH9RH9Q E>QQ UG٣Qy]: ]> uNusing accuracyPremultiplier from configi}49m*?}4Ym imlB%3?:?@m͒Dmk;mQ;m64  @H>IC I$II$BI> =&I.I6I<:I; Fksi &?kS} k kQhCA:kCBkCZk/@"h{6@Y,ou@Hu@Ez?EGTY?qGz?JkΫ?Rk¡K* (5i@-~"jzikѓx@FpI?&&dۿe?"kU*kICk&?kI+ 2kCk&?k k,CkCk􏭬@ addTargetRange:: Added new target pos. range: 491.000000 m, deltaT: 4.281700 s, deltaX: 1.200012 m, approachRate: 0.280265 m/s, rangeRepo size: 4  Added new target pos. range: 491.000000 m, bearing: 313.309601 deg, lat: 36.901996 deg, lon: -122.119531 deg, deltaT: 4.281700 s, deltaX: 1.200012 m, approachRate: 0.280265 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 491.00 m.BjJj ProNav: ac range: 491.000000 m, nav range: 319.244324 m, bearing: 309.178697 deg, approach rate: 0.000000 m/s, LOS rate: 0.116798 deg/s, cmd heading: 229.501077 deg, new cmd heading: 229.665566 deg. 2jHeadingCmd: 4.008420 target range: 491.000000 and range: 491.00 m. j D@j j j i h h hh…Bfffrf~@bf+?ɛBPԆ< 隕8$I <ɚiI@_ =Iiտ7i »)D@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fy:FyBF}n0JFyJK3 KA.KK"KJ%J%J!J!J%;J%w:J!J!J%`<J%`<J%;J%; !$?I G G B O >_0w,CA6r@Y6a@6<96W>y6H62$?@ th?_? ?ɨ6r@6O;4y>BB$IIJ?IJT3٢Rn] Rg=9V[Q V>TT VG٣ZDGyZt Z> bNusing accuracyPremultiplier from config\b49^?f4Y^$ i^lBdfvf@^ՒD^:^:^M4h j@l~B*** querying acoustic contact ***Will construct direction to contact in vehicle frame from tetrahedron phase data.j|j|ZjFNOT Ignoring new targets: 491.00 m.Bjv;Jjv; ProNav: ac range: 491.000000 m, nav range: 319.188446 m, bearing: 309.221261 deg, approach rate: -0.165775 m/s, LOS rate: 0.126299 deg/s, cmd heading: 229.665575 deg, new cmd heading: 229.793290 deg. 2j[;HeadingCmd: 4.010650 target range: 491.000000 and range: 491.00 m. j>W@jjjihhhhfffrfbf`MW?ɛmBmL< imrW@)ER>E>*Fm?2Fi:FiBFmo0JFiGurA GqzKuJKu9KqKuBKuG4λWill 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.Gq B O >Kw,XCAFQr@YFwn@F}<9F >yFHq@.?`X||A9??`V?ɨFQr@Ftt vG٣tyvy; v> ~Nusing accuracyPremultiplier from configx49z?4Yz) izlB  \ @zޒDzY<;z;;z~4B @E !I!ZjIUFNOT Ignoring new targets: 491.00 m.BjU;JjU;e ProNav: ac range: 491.000000 m, nav range: 319.122223 m, bearing: 309.271526 deg, approach rate: -0.166779 m/s, LOS rate: 0.126617 deg/s, cmd heading: 229.793300 deg, new cmd heading: 229.944128 deg. 2jmʭ;mHeadingCmd: 4.013282 target range: 491.000000 and range: 491.00 m. jml@jqjqjqiqhqhqhhf f f rf bf@?ɛBpS< EI %P<ɚiI =I=FiE:7iE17)El@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247533*F%?2F!:F!BF!JF)HIC I$IIBI? =&I.I6I<:Io FGM I6G! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495568Bw,3lCAJpJrAAJtJvJv0JtJtJvz:Jvـ3JtJtJtJv;Jv;y=B=q$I Mb@Mb@Mb@    ) Y (\?+?{Gzty .? = ף = A ) I  @ y AI%(I%̍3٢5+ =7=9=Q =>AA EG٣AyE M> UNusing accuracyPremultiplier from configI]49M?]4YM iMlB]^.?]:] ]@MDM;M;MS4mB m@uEZjFNOT Ignoring new targets: 491.00 m.BjB;JjB; ProNav: ac range: 491.000000 m, nav range: 319.048584 m, bearing: 309.324693 deg, approach rate: -0.164961 m/s, LOS rate: 0.119128 deg/s, cmd heading: 229.944138 deg, new cmd heading: 230.103674 deg. 2j;HeadingCmd: 4.016067 target range: 491.000000 and range: 491.00 m. j@jjjihhhhBfffrfbf`t?ɛ!B;< ^I <ɚ i I 5 =Ixi~7i _)@) $?I*FA2FA:FABFAJFAGM GM"GMGMWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747608G B O >5*w,AF DA6r@Y6"j@6*s<96j{ >y6H˗`d-?azp?@l͜?ѯ?ɨ6r@6ܱ;6+CyBBBx$IDFAAIJIJk4٢Rv< Rg=9Vo9Q V>TT ZG٣ZDGyZĺ Z> bNusing accuracyPremultiplier from config\f49^n?f4Y^ i^lBhj j@^D^,;^>;^{4nB rS@rEZjFNOT Ignoring new targets: 491.00 m.Bj;Jj;zKJQJK9KKCKBK:K ProNav: ac range: 491.000000 m, nav range: 318.990967 m, bearing: 309.366526 deg, approach rate: -0.156394 m/s, LOS rate: 0.113571 deg/s, cmd heading: 230.103664 deg, new cmd heading: 230.229186 deg. 2j;HeadingCmd: 4.018257 target range: 491.000000 and range: 491.00 m. j@jjjihhhhfffrfbf?}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999731ɛ#Bc 3< 隽8XI y<ɚiIJ4 =Ii7i᱁)@)E1*F2F:FBFJFGBOD> Ig5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254027dT w,!'DA @6r@Y6e@6'<96 >y6H`)? {v˄?:s̀??ɨ6r@6y;6*CyfBjq$IMb@Mb@Mb@ )Ygfffff?ˡE?y&1|?y33?'=`; A@)AIf@yAjH<bHIxIT4٢ ּ 6=9ø:Q  >  G٣y^ > -Nusing accuracyPremultiplier from config!54HQIQ IU$IIUBIU@ =&IQ.IQ6IUʰ<:IUT F9%x?4Y%Q i%lB3?: @%D%x<%<%Y4 @Zj!-FNOT Ignoring new targets: 491.00 m.Bj5 ;Jj5 ;E ProNav: ac range: 491.000000 m, nav range: 318.916016 m, bearing: 309.421606 deg, approach rate: -0.163798 m/s, LOS rate: 0.120399 deg/s, cmd heading: 230.229175 deg, new cmd heading: 230.394452 deg. 2jEB;UHeadingCmd: 4.021142 target range: 491.000000 and range: 491.00 m. jU2@jQjQjQiQhQhQhYh]څBfYfYfarfabfe͙@ɛ&BgO/< 隽iI <ɚ)i)I-w =I=RiE-8iE)E2@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505290*F]?2FY:FYBFaJFaJJJ/JJ5;J:J(N3JJUc<JVc<J;J;GBO> $?I >w,ADA2r@Y2^@2 <92 >y2H f`$?G~rg? ڇ?@C?ɨ2r@2P;0y>B>w$IIJ[IJK!4٢Rb< Rc=9Rո:Q V>TT VG٣TyZ, Z> ^Nusing accuracyPremultiplier from config\b49^?b4Y^ i^lBdf f@^D^z:^:^4jBnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755816 jo@rE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 491.00 m.Bj%;Jj%;5 ProNav: ac range: 491.000000 m, nav range: 318.856689 m, bearing: 309.465507 deg, approach rate: -0.176093 m/s, LOS rate: 0.130332 deg/s, cmd heading: 230.394466 deg, new cmd heading: 230.526193 deg. 2j5;=HeadingCmd: 4.023441 target range: 491.000000 and range: 491.00 m. jE@jAjAjAiAhAhAhIhIfIfIfQrfQbfUHL@ɛ(Bt< dcI <ɚi I ) =Iilp8i<֭)@)*F?2F:FBFJFGBO#>zKBHKKKDKRK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007484gw,{ZDA2vr@Y2 X@2K<92 >y2Hy` ?@DnҎ`g?eȝ'?`f?ɨ2vr@2X;2+C @I@ybBbz$IIzfIz44٢-< -B=9-yQ ->11 5G٣5DGy= => ENusing accuracyPremultiplier from configAM49Eͻ?M4YE iElBQU U@E DEm ;E ;E4Y ]O@aZjFNOT Ignoring new targets: 491.00 m.Bj ;Jj ; ProNav: ac range: 491.000000 m, nav range: 318.787598 m, bearing: 309.517042 deg, approach rate: -0.165019 m/s, LOS rate: 0.123113 deg/s, cmd heading: 230.526179 deg, new cmd heading: 230.680817 deg. 2j;HeadingCmd: 4.026140 target range: 491.000000 and range: 491.00 m. j#ր@jjjihhhhfffrfbf? @ɛ+BJ#< cI *<ɚiI =Ipsi/8iļ)#ր@)  Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264688*F12F1:F9BF=p0JFAHU>IQ IU$IIUBIU? =&IQ.IQ6IU<:IUm FBIJIRIZIbIjI4GAG ?G?GI Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:41:36.5914  TRx dataTimestamp_ set to:1736372497.804675 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516660w,1tDAyB$I}Mb@Mb@Mb@yyy y)yY}9v?Q?~jt?y}4?}<}D<}S A }X@)yI}O@yy}fAII٢= 5=9Q > G٣y > Nusing accuracyPremultiplier from config497?4Yz ilB.5?:@D;,;4B @EZj)-FNOT Ignoring new targets: 491.00 m.Bj5 ;Jj5 ;E ProNav: ac range: 491.000000 m, nav range: 318.718140 m, bearing: 309.573221 deg, approach rate: -0.152013 m/s, LOS rate: 0.122978 deg/s, cmd heading: 230.680815 deg, new cmd heading: 230.849389 deg. 2jĘ;MHeadingCmd: 4.029082 target range: 491.000000 and range: 491.00 m. jM=@jQjQjQiYhYhYhYh]BfafafarfabfmL @ u$?I}gɛ5-B5 ?< 15dZI1 =e<ɚ9i9I=t9 =IE;CiEk9iEPd׼)E=@)*FA2FA:FABFEo0JFAGS.EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.773241GBO>$y#w,SDAyuȅBޥ$IIVIn4zKBoHK+9KKEKBK%rA:K!٢5 = =Q=99Q =>9A EG٣AyA E> MNusing accuracyPremultiplier from configIU49M?]4YM5 iMlBYY]@MDM6;M;M4a m@iWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:41:36.5914 LVL= 15264, 24993, 24242, 30483, AGC= 67, IDX= 454, 0.18,-2.674, 2.817, 1.301, 2.469, PHS= 1.228, 0.395,-1.172, RAW= 50.0, -4.3, CAL= 53.1, -8.7, ROT= 96.9, 8.7 Ygot valid direction response: 21:41:36.5914 LVL= 15264, 24993, 24242, 30483, AGC= 67, IDX= 454, 0.18,-2.674, 2.817, 1.301, 2.469, PHS= 1.228, 0.395,-1.172, RAW= 50.0, -4.3, CAL= 53.1, -8.7, ROT= 96.9, 8.7 PDAT read: Bearing 96.9, 8.7 (Local) ~Local bearing/azimuth received: Bearing 96.9, 8.7 (Local) DAT read: Range 10 to 50 : 491.7 m (Round-trip 655.6 ms) speed -0.1 m/s ,DAT read: user:1981> BDAT read: Tx time:21:41:37.6816 $Ping request sent.ٵٱٵ` ڵ@m?)ڵ|Iڵz?iڵ|>ڱڱ addTargetRange:: Added new target pos. range: 491.700012 m, deltaT: 4.043189 s, deltaX: 0.700012 m, approachRate: 0.173134 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 491.00 m.Bj:Jj: ProNav: ac range: 491.000000 m, nav range: 318.658569 m, bearing: 309.621646 deg, approach rate: -0.135905 m/s, LOS rate: 0.110499 deg/s, cmd heading: 230.849384 deg, new cmd heading: 230.994685 deg. ۵b,?v\s I)۵{iI۵m=i۵?۵CK۱۱ :publishing transmit ping timeؑ Fpublishing direction and range infoر9صm(N? H?v& $?yرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵b,?v\s I)۱I۱i۱۱۱2je;uHeadingCmd: 4.031618 target range: 491.000000 and range: 491.70 m. ju@jy۱jyjihhhhfffrf@3~@bf@U0? aIaɛ0B G< 隽OI <ɚiI} =Ii:iS)@)*FQ2FQ:FQBFUl0JFQ] Will construct direction to contact in vehicle frame from tetrahedron phase data.u JDAT read: TxSync time:21:41:37.6808 Gu Gy Gy G1 BA Oe >.*w,DAZH4RH6AAH8I8 I:$II:BI:@ =&I8.I:-D6I:<:I:v FZكr@YZ;Q@Z<9ZF >yZH` 8?/i`NM?ROY??ɨZكr@ZZӇ;Z*Cyv΅Bv$IMb@Mb@Mb@ )Yoʡ? rh?~jt?y-?C< A )AIyAIRIW4٢5Z< 5-=9=xQ =>99 EG٣EDGyE E> uNusing accuracyPremultiplier from configI}49M?}4YM iMlB}#-?}: @M(DM;M9;M4B 2@Ek5"?k  k k+DA:kCBkCZk󵇭@"*\A@V)שfu@~u@m(N? H?v& $?Jk?RkCK*21h@m'}kjf-x@W:s?:Mp#ݿC=ޕ?"k_*k@Ckú"?k;b 2kCk{%?k~ kHCkӜCk'@ZjAEFNOT Ignoring new targets: 491.00 m.Bjm;Jjm;} ProNav: ac range: 491.000000 m, nav range: 318.595490 m, bearing: 309.677936 deg, approach rate: -0.142949 m/s, LOS rate: 0.127588 deg/s, cmd heading: 230.994675 deg, new cmd heading: 231.163579 deg. 2j} ;Will construct direction to contact in vehicle frame from tetrahedron phase data.HeadingCmd: 4.034565 target range: 491.000000 and range: 491.70 m. j)@jjjihhhh BfffrfbfYEu>)E= oC~~G-tAI urYutAyuB*F2F:FBF%n0JF!G-rA G-sA =$?I9G VG B O >1w,NDAWill construct direction to contact in vehicle frame from tetrahedron phase data.67r@Y6jV@60<96) >y6H @!?v.qm]?@u{`m??ɨ67r@6P;4yF҅BF$IINBIN3٢V< V=9Z)Q Z ?X\ ^G٣\yb; b ? fNusing accuracyPremultiplier from configdj49f?j4Yf) iflBlnn@f/Df :fq ;f~4p r@tB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 491.00 m.Bj ;Jj ; ProNav: ac range: 491.000000 m, nav range: 318.553040 m, bearing: 309.715869 deg, approach rate: -0.135909 m/s, LOS rate: 0.121464 deg/s, cmd heading: 231.163572 deg, new cmd heading: 231.277387 deg. 2j;HeadingCmd: 4.036552 target range: 491.000000 and range: 491.70 m. jo+@jjjihhhh f f f rf bfb7?ɛ3B!< 隍AI <ɚiI =Ii>;i)o+@)*F)2F1:F1BF50JF1G ?GBOI>zKuBoIKuh9KqKuFKuyVD1! Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JJJ0JJ;Jx:Jـ3J A II 17w,+DArr@YrQ@rͳ<9r>yrH``? o@j? U??ɨrr@rHh;r+Cy~مB~$II 1I 3٢%k< %C=9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E49=q?E4Y= i=lBAE M@=8D=:=:=4Q U@QZjFNOT Ignoring new targets: 491.00 m.Bj# ;Jj# ; ProNav: ac range: 491.000000 m, nav range: 318.497650 m, bearing: 309.765729 deg, approach rate: -0.137054 m/s, LOS rate: 0.123392 deg/s, cmd heading: 231.277391 deg, new cmd heading: 231.426995 deg. 2j];HeadingCmd: 4.039163 target range: 491.000000 and range: 491.70 m. j@@jjjihhhhfffrfabfm-?EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.234978ɛ5BP< !%8I) 5UB<ɚ1i1I5 =IUim  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484188Gq By O >[=w,DAN.r@YNp@NY<9NF!>yNH@ /?@u@r?!_4? _?ɨN.r@NO;N*CyZޅBZ$IEMb@Mb@Mb@AAA A)AYES㥛? rhI +?yE$&?ECE94qy }G٣}DGy< > Nusing accuracyPremultiplier from config49b?4Y> ilB9&?: @AD2;$1; 4B =@EZj $?IgFNOT Ignoring new targets: 491.00 m.Bj;Jj;} ProNav: ac range: 491.000000 m, nav range: 318.457642 m, bearing: 309.813556 deg, approach rate: -0.097117 m/s, LOS rate: 0.116110 deg/s, cmd heading: 231.426999 deg, new cmd heading: 231.570497 deg. 2j}^;HeadingCmd: 4.041667 target range: 491.000000 and range: 491.70 m. jWU@jjjihhhh?BfffrfbfS?ɛ7BE< 1I .<ɚiIu; =IuiuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.741937)DDw,EAFs@YFZ@Fj<9FN>yFHtE?rC1V? w??ɨFs@F;F,Cy``IjgIj64٢rK: rS=9v^:Q v>tt zG٣xyz1L< z> Nusing accuracyPremultiplier from config|49~T? 4Y~5 i~lB   @~ID~C:~:~4B S@EzK=MK=9K9K=GK= , *IuI, 'ZjYeFNOT Ignoring new targets: 491.00 m.Bje0;Jje0;u ProNav: ac range: 491.000000 m, nav range: 318.419281 m, bearing: 309.858198 deg, approach rate: -0.098543 m/s, LOS rate: 0.114693 deg/s, cmd heading: 231.570488 deg, new cmd heading: 231.704429 deg. 2j}l;}HeadingCmd: 4.044005 target range: 491.000000 and range: 491.70 m. j~h@jjjihhhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991881ɛ8BZ<< 4I <ɚiI.f =INif=i^)~h@)JJJJJ5;J :JJ*FU?2FY:FYBF]|2JFa IGGBO% >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246718pJw,~+EAjH<bH<HI I$IIBI&I.I6I<:I FFys@YF:̀@FhP<9F4>yFH L d?@o+/@?Mi?~?ɨFys@Fe;DyRBR$IMb@Mb@Mb@ )Y?~jt{Gzt?y ?ļף;A n@)IyAIMI{4٢3m< ==9V:Q > G٣yp< > Nusing accuracyPremultiplier from config49xE?4Y ilB ?:@RD;;V4B .@EZj%FNOT Ignoring new targets: 491.00 m.Bj%*;Jj-*;= ProNav: ac range: 491.000000 m, nav range: 318.379395 m, bearing: 309.906288 deg, approach rate: -0.092922 m/s, LOS rate: 0.112049 deg/s, cmd heading: 231.704441 deg, new cmd heading: 231.848731 deg. 2j=̙;EHeadingCmd: 4.046524 target range: 491.000000 and range: 491.70 m. jE}@jAjAjAiAhAhAhIhUaBfQfQfQrfYbf]@@ɛ:B-M< )-1I) -<ɚ1i1I5 =I=v%i=>i=)=}@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496211*F?2F:FBF?1JF $?IG G qAG G B O >2VQw,EEEAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747862:8s@Y:@:<9:ȼ>y:H@+}?$` ?@M ? ?ɨ:8s@:;:+Cyln$IIvoIvD4٢~ X=99Q >   G٣ y 5a<  > Nusing accuracyPremultiplier from config%49I8?%4Y6 ilB!%%@YDM;,; 41 55@1MB*** querying acoustic contact ***jIjIZjaeFNOT Ignoring new targets: 491.00 m.Bjm3:Jjm3:} ProNav: ac range: 491.000000 m, nav range: 318.343414 m, bearing: 309.948428 deg, approach rate: -0.094866 m/s, LOS rate: 0.111119 deg/s, cmd heading: 231.848722 deg, new cmd heading: 231.975156 deg. 2j};HeadingCmd: 4.048730 target range: 491.000000 and range: 491.70 m. j3@jjjihhhhfffrfbfƘ@ɛiUռ)3@)EEsA*Fq2Fq:FqBFu`5JFqGy G}rAG>zK9 PKs9KKHKg" Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001297GiByO>JJJJJ;J|:JJ I Ww,s_EA6`9t@Y6+@6Ȗ<96X5>y6HX`?v@H G?ֳ?`K?ɨ6`9t@6o;6)CyBBB$IIZ^IZ&4٢nG< rM=9vm7Q z>xx zG٣zDGy~&< ~> Nusing accuracyPremultiplier from config 49h*? 4Y6 iylBI@aDz::'4B  @%EZjIMFNOT Ignoring new targets: 491.00 m.BjU:JjU:e ProNav: ac range: 491.000000 m, nav range: 318.303802 m, bearing: 309.993077 deg, approach rate: -0.098806 m/s, LOS rate: 0.111383 deg/s, cmd heading: 231.975163 deg, new cmd heading: 232.109125 deg. 2je;mHeadingCmd: 4.051068 target range: 491.000000 and range: 491.70 m. jmZ@jijijqiqhqhqhyhyfyfyfrfbfW @ɛ>BV@< 隭^3I )<ɚiI =Ii>i乼)Z@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.255105*F?2F:FBF%_5JF!H)I) I-$II-$BI)&I).I-.D6I-,<:I- FGUҼG) B9 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504748J J BA]w,rOyEA:t@Y:[@:<9:\>y:H ? @= n? ??ɨ:t@:;:+CyVBV$IUMb@Mb@Mb@QQQ Q)Q aIaYU\(\?=99Q > G٣ye_< > Nusing accuracyPremultiplier from config49?4YO iolB'?:(@jD;;v/4 W@ZjFNOT Ignoring new targets: 491.00 m.Bj F:Jj F: ProNav: ac range: 491.000000 m, nav range: 318.266632 m, bearing: 310.039281 deg, approach rate: -0.086948 m/s, LOS rate: 0.108092 deg/s, cmd heading: 232.109116 deg, new cmd heading: 232.247744 deg. 2j];-HeadingCmd: 4.053488 target range: 491.000000 and range: 491.70 m. j-,@j)j)j)i1h1h1h9h=jBf9f9f9rfAbfE@; @ɛm@Bm5< im@Iq uqR<ɚqiqI}) =I}]i(?i),@)*F ?2F :F BF 15JF EWill construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:21:41:40.7421 MTRx dataTimestamp_ set to:1736372502.100780Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.757036GG ?G>GBO>ڑdw,*EA2u@Y2@2<92>y2H`w?h4rѱ?`7?ä?ɨ2u@2;2)Cy:܅B>$IIFlIFm?4٢R R\=9V݂:Q V>TT VG٣TyZ$< Z> Nusing accuracyPremultiplier from config\49^^?4Y^ i^glB%@^qD^;^;^54-B -@-EZjQUFNOT Ignoring new targets: 491.00 m.Bj]:Jj]:m ProNav: ac range: 491.000000 m, nav range: 318.233185 m, bearing: 310.079206 deg, approach rate: -0.087744 m/s, LOS rate: 0.104750 deg/s, cmd heading: 232.247742 deg, new cmd heading: 232.367530 deg. 2jmǏ;uHeadingCmd: 4.055579 target range: 491.000000 and range: 491.70 m. juMǁ@jqjqjqiyhyhyhhfffrfbf $@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.008035zKMKKKIKɛBBԟ< KI <ɚiI` =Ii?S?iG)Mǁ@)JJJJ*F2F:FBF_0JFJ5;Jx:JJ"G=G= e$?IaGuGQ } Will construct direction to contact in vehicle frame from tetrahedron phase data.B Om >} DAT read: 21:41:40.7421 LVL= 18976, 28033, 23058, 32755, AGC= 66, IDX= 430, 0.16, 0.158,-0.624,-2.178,-1.046, PHS= 1.292, 0.469,-1.135, RAW= 49.5, -5.9, CAL= 53.5, -11.0, ROT= 96.5, 11.0  Ygot valid direction response: 21:41:40.7421 LVL= 18976, 28033, 23058, 32755, AGC= 66, IDX= 430, 0.16, 0.158,-0.624,-2.178,-1.046, PHS= 1.292, 0.469,-1.135, RAW= 49.5, -5.9, CAL= 53.5, -11.0, ROT= 96.5, 11.0  PDAT read: Bearing 96.5, 11.0 (Local)  ~Local bearing/azimuth received: Bearing 96.5, 11.0 (Local)  DAT read: Range 10 to 50 : 492.3 m (Round-trip 656.4 ms) speed -0.2 m/s  ,DAT read: user:1982>  BDAT read: Tx time:21:41:41.8316  $Ping request sent. ٵGٵ +]?ٵBҽ ڵQ o?)ڵ DIڵD?iڵ D>ڱڱ۵>@T9?a0?5&\)۵⍝I۵F=i۵ք?۵ oI۱۱F:publishing transmit ping timeJFpublishing direction and range infoر9ص"˩%?z X[?b|?yرررر ٱ)ٱIٱiٱٱٱٱٱ^^u@Y^X@^+<9^>y^HUc?@Os??H?ɨ^^u@^;^*C ڱ)ڱIڱiڱڱڱ۵>@T9?a0?5&\yӅB$I)۱I۱i۱۱۱۱Mb@Mb@Mb@ )YS?S㥛{Gzy?/ݼ#A v@)IyAIfI44٢" ,=9JQ > G٣DGy%8< -> eNusing accuracyPremultiplier from configYe49]J?4Y] i]XlB?:O@]zD];];]>4 6@kâ!?kji k kEA:k&CBkjCZke@"hFI@RO$Mbu@ցu@"˩%?z X[?b|?Jkք?Rk oI*Xg@v:!lQ_x@?r4ݿ敊?"k`*k?CkȀ"?k. 2khCkLt00%?k. kCkCk(@U addTargetRange:: Added new target pos. range: 492.299988 m, deltaT: 4.295572 s, deltaX: 0.599976 m, approachRate: 0.139673 m/s, rangeRepo size: 4 e Added new target pos. range: 492.299988 m, bearing: 310.465578 deg, lat: 36.901960 deg, lon: -122.119321 deg, deltaT: 8.338761 s, deltaX: 1.299988 m, approachRate: 0.155897 m/s, posRepo size: 4 ZjaFNOT Ignoring new targets: 492.30 m.BjJj ProNav: ac range: 492.299988 m, nav range: 301.502686 m, bearing: 311.831941 deg, approach rate: 0.000000 m/s, LOS rate: 0.104750 deg/s, cmd heading: 232.367543 deg, new cmd heading: 232.523632 deg. 2jWill construct direction to contact in vehicle frame from tetrahedron phase data.թiթHeadingCmd: 4.058303 target range: 492.299988 and range: 492.30 m. j݁@jjjihhhhSBfffrf~@bf?ɛ5EB5< 9=&dI9 =J0<ɚ9iaIe =I}ydi}t?i}όl)݁@) ]$?I]g*Fa2Fa:FaBFeQ5JFaG} ňGQ Ba O} >qw,7EAWill construct direction to contact in vehicle frame from tetrahedron phase data.:u@Y:ځ@:<9: >y:H`%y?bma`f@H?@[0 C? ?ɨ:u@:gӈ;:)CyzʅBz$II@I3٢P g=9%Q %>!! -G٣)y-V$< -? ]Nusing accuracyPremultiplier from configYe49]?e4Y] i]NlBaee@]D]L:]:]D4uB u@uEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 492.30 m.Bj;Jj; ProNav: ac range: 492.299988 m, nav range: 301.473022 m, bearing: 311.870914 deg, approach rate: -0.089694 m/s, LOS rate: 0.117855 deg/s, cmd heading: 232.523627 deg, new cmd heading: 232.640557 deg. 2jġ;HeadingCmd: 4.060344 target range: 492.299988 and range: 492.30 m. jV@jjjihhh)h1f1f1f1rf1bf=``?ɛFB; yI 2<ɚiI =I Ci?i[)V@)*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.zK BHK 9K K JK  "Qnxui[H<3*$ RKM ?JKM?GJiG B O > 9 I9 ww,EAJu@YJ@J<9J[X>yJH@ld@+?UjqO?۟{?@?ɨJu@J&;J+CyVąBV$II^-I^3٢f jP=9n\Q r>tt zG٣xy< > %Nusing accuracyPremultiplier from config549:?=4Y iClB9==@DƂ;~;gK4E B MQ@MEZj!-FNOT Ignoring new targets: 492.30 m.Bj-:Jj5:E ProNav: ac range: 492.299988 m, nav range: 301.438232 m, bearing: 311.915799 deg, approach rate: -0.083559 m/s, LOS rate: 0.107818 deg/s, cmd heading: 232.640560 deg, new cmd heading: 232.775230 deg. 2jE;EHeadingCmd: 4.062694 target range: 492.299988 and range: 492.30 m. jM@jIjIjIiIhIhQhQhQfYfYfYrfYbf] Nn?ɛHB`n; I 1<ɚiI=]Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.940609I i1?i$R)@))HI I$IIBI&I.I6I:I*F=?2F9:F9BF=_0JF9GA GEnAG _ |uA  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.188699 ] Y] |uAy] 9AGy B J J J 1J J m;J y:J 3J J aV~w,uEA dId~Fu@Y~@~J<9~=>y~HW2?<߾ +{A?ന :??ɨ~Fu@~;~)Cy B {$I =p=Mb@Mb@Mb@ )YʡE?{Gzy&1y?ף`e9A @)AIAyAI=I=3٢6 7=9Ԟ8Q >    G٣ DGy ; > Nusing accuracyPremultiplier from config%49?%4YL i5lB%?%:%%@D;;S41 5@1ZjaeFNOT Ignoring new targets: 492.30 m.Bjm ;Jjm ;} ProNav: ac range: 492.299988 m, nav range: 301.394958 m, bearing: 311.966659 deg, approach rate: -0.104162 m/s, LOS rate: 0.122439 deg/s, cmd heading: 232.775224 deg, new cmd heading: 232.927824 deg. 2j};HeadingCmd: 4.065358 target range: 492.299988 and range: 492.30 m. ji@jjjihhhhbBfffrfbf\?ɛJBp3_; 퐾I bD<ɚiIg=I i?i^)i@)*Fm?2Fi:FiBFmg0JFi=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.439643GIG) B1 OM >w,bFA6X v@Y6{@6<96 >y6H@)K z9?y{4?``??ɨ6X v@6I;6+Cy>BBr$IIJlIJm?4٢R Rd=9Vs:Q V>XX ZG٣Xy^; ^> bNusing accuracyPremultiplier from config`f49b4?f4Yb" ib)lBdjj@bDb:b:bbY4n B nu@nEZj FNOT Ignoring new targets: 492.30 m.Bj ;Jj ;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.691641 ProNav: ac range: 492.299988 m, nav range: 301.359344 m, bearing: 312.008236 deg, approach rate: -0.099214 m/s, LOS rate: 0.115838 deg/s, cmd heading: 232.927838 deg, new cmd heading: 233.052582 deg. 2j;zKsMK+9KKKKBKpA:KpAHeadingCmd: 4.067535 target range: 492.299988 and range: 492.30 m. j?)@jjjihhhhfffrfbf@nx?ɛ}LB}ԭ: y隅晾I jH} <bH} 4<H I  I $II BI &I .I 6I ]<:I F*w,^.FAyrBr^$IuMb@Mb@Mb@qqq q)qYu)\(?MbPy&1yuG!?uquA u@)urAIuvAqyuAIyIxV4٢4 ;=9Q > G٣y > Nusing accuracyPremultiplier from config494?4Y( ilBQ!?: @D;; a4 |@ZjFNOT Ignoring new targets: 492.30 m.Bj%;Jj%;- ProNav: ac range: 492.299988 m, nav range: 301.306885 m, bearing: 312.059752 deg, approach rate: -0.119407 m/s, LOS rate: 0.117281 deg/s, cmd heading: 233.052584 deg, new cmd heading: 233.207160 deg. 2j-;=HeadingCmd: 4.070233 target range: 492.299988 and range: 492.30 m. j=Y?@j9j9j9i9h9hAhAhEFBfAfIfIrfIbfM@e@ɛNB`) FI %<ɚ!i!I% =Im im?im̈́)mY?@)qEyE}qAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200762*F?2F:FBFo0JF"G=G=JEJE JE0JAJE;JE:JEـ3JAJEY<JEY<JE;JE; IG _G B O >w,HFAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.451715^Jv@Y^4@^D<9^λ>y^He1LH?6̗ Rt?g?@?ɨ^Jv@^#@;\yjBjP$IIrwIrR4٢~Qr ~U=9d:Q > G٣ DGy 0(<  > Nusing accuracyPremultiplier from config49"?4Y- ilB!% %@D" ; ;g4) -5@)MB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 492.30 m.Bjew;Jjew;} ProNav: ac range: 492.299988 m, nav range: 301.260651 m, bearing: 312.104399 deg, approach rate: -0.121720 m/s, LOS rate: 0.117559 deg/s, cmd heading: 233.207165 deg, new cmd heading: 233.341126 deg. 2j}\;HeadingCmd: 4.072571 target range: 492.299988 and range: 492.30 m. jR@jjjihhhhfffrfbfC@ɛPBD% -=I մ<ɚiIf=Iz i?iUl)UR@)Q*F ?2F :F BF t0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.703686GM(zKUBHKUh9KQKULKUG) BQ Ou > $?I !;w,bFAFCv@YFQ@F<9Fj>yFH@X?YY@`tt vG٣tyz$< z> ~Nusing accuracyPremultiplier from config|49~{?4Y~ 3 i~lBb  @~D~~ ;~ ;~n4 B @EZjFNOT Ignoring new targets: 492.30 m.Bj;Jj;  ProNav: ac range: 492.299988 m, nav range: 301.211273 m, bearing: 312.151396 deg, approach rate: -0.121142 m/s, LOS rate: 0.115320 deg/s, cmd heading: 233.341119 deg, new cmd heading: 233.482132 deg. 2j I;=HeadingCmd: 4.075032 target range: 492.299988 and range: 492.30 m. jEf@jAjAjIiIhIhIhyhyfyfyfyrfbf`H@EWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.958691ɛRB5N |þI <ɚiI=IbR i?ig])f@)HE>IA IE$IIEBIA&IA.IA6IE<:IEk F*F2F:FBFn0JFG =u Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.209035JKm3 KL.KK"KJm Jm Ji Ji Jm 5;Jm y:Ji Ji Jm Uc<Jm Vc<Jm ;Jm ;G B O >fw,d|FA IgFv@YFm@F#h<9F6>yFHg?`? ^, y5?@/?ɨFv@FSL;DyNBN?$I=Mb@Mb@Mb@999 9)9Y={Gz?~jt?y&1|y=#?=D<=`9 9)9I99y9IIIUIU1h4٢eԼ eB=9eT9Q e>ii mG٣iyuj< u> }Nusing accuracyPremultiplier from configy49}[?4Y}8 i}kB#?: @}D};};} v4 3@ZjFNOT Ignoring new targets: 492.30 m.Bj\ ;Jj\ ;} ProNav: ac range: 492.299988 m, nav range: 301.152924 m, bearing: 312.201430 deg, approach rate: -0.141041 m/s, LOS rate: 0.120966 deg/s, cmd heading: 233.482121 deg, new cmd heading: 233.632254 deg. 2j} ;HeadingCmd: 4.077652 target range: 492.299988 and range: 492.30 m. j |@jjjihhhh-Bfffrfbf[W @ɛTB# ʾI u<ɚiI  7=Iu' i@iV) |@)E%x>E%>*F2F:FBF0JFG GsA=Will construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:21:41:44.8935 MTRx dataTimestamp_ set to:1736372506.149376Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.461469GM_G) B1 OU >Mw,;FA6v@Y6@6<96rK>y6H@ v?<~`Q?+8?`1?ɨ6v@6|;6)Cy>BB7$IIJyIJxV4٢j0 jT=9nQ n>pp rG٣rDGyv< v> zNusing accuracyPremultiplier from configx~49z`?~4Yz%> ~tIizkB @zDz;z;z|4  B @EZj9EFNOT Ignoring new targets: 492.30 m.BjE;JjE;U ProNav: ac range: 492.299988 m, nav range: 301.098907 m, bearing: 312.247279 deg, approach rate: -0.139633 m/s, LOS rate: 0.118541 deg/s, cmd heading: 233.632249 deg, new cmd heading: 233.769818 deg. 2jU;]HeadingCmd: 4.080053 target range: 492.299988 and range: 492.30 m. j]ˏ@jajajaiahahahihifififirfqbfu D@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.711890ɛUBq 隵+ӾI <ɚiI=I i @iM)ˏ@)zKBoHK9KKMK%K7  $?IE@o=*F2F!:F!BF-z0JF)] Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:41:44.8935 LVL= 20208, 30177, 31650, 32755, AGC= 68, IDX= 443,-0.39,-0.150,-0.987,-2.467,-1.347, PHS= 1.285, 0.407,-1.122, RAW= 51.1, -5.5, CAL= 55.2, -10.5, ROT= 94.8, 10.5  Ygot valid direction response: 21:41:44.8935 LVL= 20208, 30177, 31650, 32755, AGC= 68, IDX= 443,-0.39,-0.150,-0.987,-2.467,-1.347, PHS= 1.285, 0.407,-1.122, RAW= 51.1, -5.5, CAL= 55.2, -10.5, ROT= 94.8, 10.5  PDAT read: Bearing 94.8, 10.5 (Local)  ~Local bearing/azimuth received: Bearing 94.8, 10.5 (Local) ZH! RH% AAH- >I)  I- $II- ȅBI) &I) .I) 6I- <:I- FGA  DAT read: Range 10 to 50 : 493.2 m (Round-trip 657.7 ms) speed -0.2 m/s  ,DAT read: user:1983>  BDAT read: Tx time:21:41:45.9817  $Ping request sent. e e &Qd?e Ľ e Ϣv?)e f;Ie ?ie f;>a a e ]!_r?w<ٶGW)e UޙIe <=ie 2?e NePa a  :publishing transmit ping time؉  Fpublishing direction and range infoa 9e "9X??ڋ*D?ya a a G B! O= >nw,FAء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥ]!_r?w<ٶGW)ۡIۡiۡۡۡۡyU|B]/$IMb@Mb@Mb@ )Yw/?S㥛?Mb`y&?/<A @)AIyfAI}I]4٢e1̼ e(=9mQ m>iq uG٣qyu u> Nusing accuracyPremultiplier from config49z~?4YE ikB'?:k @˓Dm(;%;E4 @k"?k  k kFA:kCBkCZk@" i=F@=\t@Hȅviv@"9X??ڋ*D?Jk2?RkNeP*;Rh@0TDCjy@T0@?%Cۿy6HMe?gk@S@ܫ?ko *?`?ɨ6Aw@6sʉ;6(CyBoBB$IIN<IN3٢RDT V)=9VQ V>XX ZG٣Xy^ ,< ^> bNusing accuracyPremultiplier from config`f49bo?f4YbK ibkBhj j@b֓Db J;bJ;b4rB r@rEEB*** querying acoustic contact ***jAjAZjiuFNOT Ignoring new targets: 493.20 m.BjuA;Jj}A; ProNav: ac range: 493.200012 m, nav range: 294.363434 m, bearing: 311.739183 deg, approach rate: -0.175384 m/s, LOS rate: 0.130489 deg/s, cmd heading: 233.956901 deg, new cmd heading: 234.134754 deg. 2j;HeadingCmd: 4.086422 target range: 493.200012 and range: 493.20 m. jÂ@jjjihhhhfffrfbfV?ɛYBjb% 隅I ̥<ɚiIq=Iė Will construct direction to contact in vehicle frame from tetrahedron phase data.եAiեAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.iH@i ])Â@)E1E1*E1"E1zKHLKs9KKNK $?I*F]?2FY:FYBFaJFae Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.938061H- >I)  I- t$II- BI- A =&I) .I) 6I- ٰ<:I- _ FBIJIRIZIbIjI4G} k}GA BI Oe >w,FA6oCw@Y6@6Q<96$ >y6H f?i @K5?I )?b?ɨ6oCw@6;6-Cy>iB>$IuMb@Mb@Mb@qqq q)qYu/$?y&1?yu1(?u` G٣DGy-g9 > Nusing accuracyPremultiplier from config49_a?4YR ikBX(?: @ߓDw;;4B g@EZjFNOT Ignoring new targets: 493.20 m.Bj;Jj; ProNav: ac range: 493.200012 m, nav range: 294.285217 m, bearing: 311.797430 deg, approach rate: -0.171283 m/s, LOS rate: 0.127588 deg/s, cmd heading: 234.134759 deg, new cmd heading: 234.309548 deg. 2j;HeadingCmd: 4.089473 target range: 493.200012 and range: 493.20 m. j܂@jjjihh!h!h%Bf!f)f)rf1bf5?ɛ]ZBeV5> ae Ia eyh<ɚaiaI=I e i q@i \ )܂@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.186868*F2F:FBFp0JF IG iG B O >] PExceeded connect timeout, disconnecting.U Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.438479~w, GAj؁w@Yj;Ђ@jT<9j7>yjH ? 迿@஘x?_?`?ɨj؁w@jH:;j)Cyr_Bv $II~4I~V3٢vR S=9Q > G٣y% < %> -Nusing accuracyPremultiplier from config)549-U?54Y-]X i-kB1= =@-D-X:-X:-4A E @AZjimFNOT Ignoring new targets: 493.20 m.Bju ;Jju ; ProNav: ac range: 493.200012 m, nav range: 294.220123 m, bearing: 311.845336 deg, approach rate: -0.168240 m/s, LOS rate: 0.123843 deg/s, cmd heading: 234.309558 deg, new cmd heading: 234.453306 deg. 2j;HeadingCmd: 4.091982 target range: 493.200012 and range: 493.20 m. j@jjjihhhhfffrfbf?ɛ[Bx rI I<ɚiIl=I< i@i]s)@)EErA*F?2F:FBF0JFG! G!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.693610J5J5J1J1J5M;J5y:J1J1a=@a=@a=@a=@G= IgG B! O= >zKE KKE 9KA KE OKE zw,[a$GANw@YNX@N<9NBG>yNH@zw?@ѿ=? B@'??ɨNw@NW;N+CyZ`BZ $IhhIr{IrZ4٢v; ~M=9~ںQ > G٣y <  > Nusing accuracyPremultiplier from config49uI?4Y*^ ikB!% %@DC::4-B - @-EZjFNOT Ignoring new targets: 493.20 m.Bj;Jj;e ProNav: ac range: 493.200012 m, nav range: 294.152130 m, bearing: 311.894814 deg, approach rate: -0.162841 m/s, LOS rate: 0.118525 deg/s, cmd heading: 234.453319 deg, new cmd heading: 234.601787 deg. 2je;HeadingCmd: 4.094573 target range: 493.200012 and range: 493.20 m. j@jjjihhhhfffrfbf@Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945901HI Ig$IIBI&I.I6I<:I Fɛ]B%[? !%I! -&<ɚ)i)I- =I7 i#@ipb)@)*FI2FQ:FQBFUo0JFQ)ž= U Gm vA jY vAy B Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194504*J1 "J5 %=GU s $?I G B! Ou >w,>GA>w@Y>' @><9>u>y>H `?࿿`;g`?@??ɨ>w@>6;>*CyFVBJ$I%Mb@Mb@Mb@!!! !)!Y%J +?QQ ]G٣]DGy] < ]> eNusing accuracyPremultiplier from configam49eow,IXGA63x@Y6=)@6'<96/>y6H ml ?ٿ(^N+?@`@?`­?ɨ63x@6/;4yBYBB$IIRIRHo4٢Z< ZU=9ZQQ Z>\\ bG٣`yfh< f> jNusing accuracyPremultiplier from confighn49j0?n4Yji ijkBpr r@jDj ;j ;j4t vs@x B*** querying acoustic contact ***j j ]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.698418ZjFNOT Ignoring new targets: 493.20 m.Bj;Jj; ProNav: ac range: 493.200012 m, nav range: 294.021362 m, bearing: 311.994730 deg, approach rate: -0.172693 m/s, LOS rate: 0.131246 deg/s, cmd heading: 234.758055 deg, new cmd heading: 234.901598 deg. 2j%;JJJJJm;Jx:JJHeadingCmd: 4.099806 target range: 493.200012 and range: 493.20 m. j1@jjjihhhhfff rf bf `]U@ !I%gɛ}_B}?* y}Iy <ɚiIL=I{ i@@iK)1@zKKK+9KKPK)E5]>E5>*FA2FI:FIBFM`5JFQ"G]=G]=% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953765G :_G H I B  I a$II BI &I .I 6I <:I y FO >nw,_$rGA2ax@Y2L@@2<92>y2H`YK? ῿ 5@:eK? ?@_?ɨ2ax@2;2(Cy:WB>$I5Mb@Mb@Mb@111 1)1Y5L7A`?Mb`?y5+'?5;51 5 @)5AI5A1y53AIIq4٢/ ;=9ںQ > G٣yf; > Nusing accuracyPremultiplier from config49"?4Yo ikB+'?:m @ D;_;R4 @EZjFNOT Ignoring new targets: 493.20 m.Bjj;Jjj; ProNav: ac range: 493.200012 m, nav range: 293.956573 m, bearing: 312.048753 deg, approach rate: -0.142995 m/s, LOS rate: 0.119262 deg/s, cmd heading: 234.901598 deg, new cmd heading: 235.063705 deg. 2j;HeadingCmd: 4.102635 target range: 493.200012 and range: 493.20 m. jH@jjjihhhh$Bfffrfbf^ @ɛU`BUɋ Y]ZIY ]}o<ɚYiYI]e=Ie ież@im;hN)mH@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.203533*F?2F:FBFJF $?IG- LG B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.% BDAT read: Rx Time:21:41:49.0445 % TRx dataTimestamp_ set to:1736372510.180596- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.4555883w,-BGAv x@YvS^@vr<9v&>yvH A`?g`HG" ii uG٣uDGyu < > Nusing accuracyPremultiplier from config49[?4Yu ikB1 @D5L;L;a4B D@EZjFNOT Ignoring new targets: 493.20 m.Bj;Jj; ProNav: ac range: 493.200012 m, nav range: 293.895813 m, bearing: 312.098790 deg, approach rate: -0.156593 m/s, LOS rate: 0.128982 deg/s, cmd heading: 235.063692 deg, new cmd heading: 235.213833 deg. 2j ;HeadingCmd: 4.105256 target range: 493.200012 and range: 493.20 m. jA^@jjjih!h!h!h!f)f)f)rf)bf- @ɛi 隝I  <ɚiIC=I3c i@i>)A^@)*F2F:FBF4JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.707440 IJJJJJ;Jz:JJGKzKE k3IKE 9KA KE QKE BKU rA:KU qAG B O >w,GABx@YBv@B&a<9B>yBH`6-k ? G3UN [?@$`??ɨBx@B];B)CyJVBN$IIjsIjK4٢vu= vS=9~7Q >    G٣y; > %Nusing accuracyPremultiplier from config!549%Z ?54Y%{ i%kB15 =@%D%Y[;%`F;%4EB E@EEZjimFNOT Ignoring new targets: 493.20 m.Bju ;Jj} ; ProNav: ac range: 493.200012 m, nav range: 293.837311 m, bearing: 312.146548 deg, approach rate: -0.151777 m/s, LOS rate: 0.123926 deg/s, cmd heading: 235.213820 deg, new cmd heading: 235.357121 deg. 2j;HeadingCmd: 4.107757 target range: 493.200012 and range: 493.20 m. jr@jjjihhhhfffrfbf@@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.958592ɛaB⣼ I #<ɚiI G=I8: i~@ia9)r@)!EyZHRH@AHE>IA IET$IIEBIE@ =&IA.IA6IE<:IEr F*F?2F :F BF 2JF G GG) G B O= >e Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I  DAT read: 21:41:49.0445 LVL= 18336, 26705, 21730, 28643, AGC= 65, IDX= 437, 0.03, 1.358, 0.432,-0.974, 0.190, PHS= 1.256, 0.289,-1.167, RAW= 53.3, -3.6, CAL= 56.8, -7.9, ROT= 93.2, 7.9  Ygot valid direction response: 21:41:49.0445 LVL= 18336, 26705, 21730, 28643, AGC= 65, IDX= 437, 0.03, 1.358, 0.432,-0.974, 0.190, PHS= 1.256, 0.289,-1.167, RAW= 53.3, -3.6, CAL= 56.8, -7.9, ROT= 93.2, 7.9  PDAT read: Bearing 93.2, 7.9 (Local)  ~Local bearing/azimuth received: Bearing 93.2, 7.9 (Local)  DAT read: Range 10 to 50 : 493.9 m (Round-trip 658.6 ms) speed 0.0 m/s  ,DAT read: user:1984>  BDAT read: Tx time:21:41:50.1317  $Ping request sent. m B`m %n?m m }?)m 0 Im 5?im 0 >i i m ?hQ?cqQ"5YF))m 㔿Im b=im ?m Yi i E :publishing transmit ping time M Fpublishing direction and range infoi 9m ȵp?3h-" ? / ?yi i i i i )i Ii ii i i i i i )i Ii ii i i m ?hQ?cqQ"5YF))i Ii ii i i i @w,fGA:{y@Y:@:{rJ<9:>y:HT? 3$lgY? %N@? ϯ?ɨ:{y@:;:+CyJB#I-}only read 2 of 4 data items for water velocity. Device response is::WS,-2768,-32768,V  }@ @ @  @ IyIxV4٢cP .=9QBQ > G٣ y0< > %bBottom track data is 0.5 s old, using for 20.0 s. %Nusing accuracyPremultiplier from config%49?-4Yǁ ikBM+:IU:U U@$D%;>4Y ]@Yk2)%?kWC k kGA:kCBk5CZk=@"Y9@ KLt@񏛮W3w@ȵp?3h-" ? / ?Jk?RkY*vfi@ɠ8fMy@Țj!?pZ(v ׿fy?"k1*kMCkŝʣ%?k0B 2kCkk  khCkICk@ addTargetRange:: Added new target pos. range: 493.899994 m, deltaT: 4.281570 s, deltaX: 0.699982 m, approachRate: 0.163487 m/s, rangeRepo size: 4 M Added new target pos. range: 493.899994 m, bearing: 319.141250 deg, lat: 36.901899 deg, lon: -122.119181 deg, deltaT: 4.281570 s, deltaX: 0.699982 m, approachRate: 0.163487 m/s, posRepo size: 4 ZjIMFNOT Ignoring new targets: 493.90 m.BjUJjQe ProNav: ac range: 493.899994 m, nav range: 286.571289 m, bearing: 313.522807 deg, approach rate: 0.000000 m/s, LOS rate: 0.123926 deg/s, cmd heading: 235.357117 deg, new cmd heading: 235.537643 deg. 2jaHeadingCmd: 4.110908 target range: 493.899994 and range: 493.90 m. j@jjjihhhhfffrf`f~@bfJ?ɛ=bB=3 9= I9 e_.<ɚaiaIej=Im im|@im()/)m@)qWill construct direction to contact in vehicle frame from tetrahedron phase data.*FM ?2FI :FI BFM `5JFI u Will construct direction to contact in vehicle frame from tetrahedron phase data.G jLB I J J +J J J 5;J Ȇ:J J GiBqO>4Ew,t~GAfay@Yf@f<9f>yfH??n i0@?܍??ɨfay@f;f*CyrNBr#I'zTFailed to parse incomplete device message.I~TI~4٢ <  D=9A̻Q > G٣DGy: > -bBottom track data is 0.9 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!549%?54Y% i%kB= :9=U:= =@%-D%7;%[b?%}4EB Er@EEeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 493.90 m.Bj};Jj}; ProNav: ac range: 493.899994 m, nav range: 286.514099 m, bearing: 313.575457 deg, approach rate: -0.144409 m/s, LOS rate: 0.132974 deg/s, cmd heading: 235.537653 deg, new cmd heading: 235.695637 deg. 2j;HeadingCmd: 4.113665 target range: 493.899994 and range: 493.90 m. j%@jjjihhhhfffrfbf@?ɛ}- 隅^ I e<ɚiI,=Ij i@iXT)%@)*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.RK>JK>HI III&I.I6I<:I FG{#G B O > G٣y > Nusing accuracyPremultiplier from config49o?4Y ikBT:#?: @6D;;f4 @ZjQ]FNOT Ignoring new targets: 493.90 m.Bj]8 ;Jj]8 ; ProNav: ac range: 493.899994 m, nav range: 286.466766 m, bearing: 313.632464 deg, approach rate: -0.101768 m/s, LOS rate: 0.122588 deg/s, cmd heading: 235.695649 deg, new cmd heading: 235.866697 deg. 2jC;HeadingCmd: 4.116651 target range: 493.899994 and range: 493.90 m. j@jjjihhhh-Bfffrfbf?ɛ%cB%= 15 I1 5S}<ɚ1i1I5=IM iM@iMy{)U@)QEYE]qA*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=1.238596G% UG B O% >kSw,$HA2_y@Y2ڃ@2;92Ӻ>y2HF?vƾ>ײ۲?`x?*?ɨ2_y@2XM;0yREBR#IIZJIZ)4٢b! bl=9b#2Q f?dd fG٣dyj< j? nNusing accuracyPremultiplier from configlr49ne?r4Ynd inkBpvQ v@n=Dnh;n:nl4zB z@zEZjFNOT Ignoring new targets: 493.90 m.Bjk;Jjk; ProNav: ac range: 493.899994 m, nav range: 286.429169 m, bearing: 313.675842 deg, approach rate: -0.107908 m/s, LOS rate: 0.124514 deg/s, cmd heading: 235.866704 deg, new cmd heading: 235.996854 deg. 2j;HeadingCmd: 4.118922 target range: 493.899994 and range: 493.90 m. j6΃@jjjihhhhfffrfbf?ɛּ kI v<ɚiI=IJ i@i)6΃@)*F?2F:FBFJF $?Ig%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494272zK]BoIK]9KYK]SK]GkG B O >| w,+HAJWill construct direction to contact in vehicle frame from tetrahedron phase data.Jchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.748097jHbH<H>I IH$IIBIA =&I.I6I߰<:Ic FBIqJIqRIqZIuA =bIuA =^y@Y^@^%;9^>y^Hѷ^?@>x|t?XQz@?m?ɨ^y@jIu4^}҈;^+CyU;B#IMb@Mb@Mb@ )Yp= ף?+{Gzy%?#SA )IAyAI%I%d4٢5] 5=9=X:Q =>9A EG٣EDGyE!< E> UNusing accuracyPremultiplier from configIU49M|?]4YMm iMkB]p%?]:] ]@MHDM;Mj;Mu4mB m@uEZjFNOT Ignoring new targets: 493.90 m.Bj;Jj; ProNav: ac range: 493.899994 m, nav range: 286.374817 m, bearing: 313.741787 deg, approach rate: -0.108431 m/s, LOS rate: 0.131583 deg/s, cmd heading: 235.996860 deg, new cmd heading: 236.194731 deg. 2j;HeadingCmd: 4.122376 target range: 493.899994 and range: 493.90 m. j@jjjihhhh"Bfffrfbf6?ɛdB   1I  m<ɚ i Iw=IJ i$@isz)@)*F?2F:FBFJF I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998697JJJJJ;Jx:JJJ] ew,EHAB'&z@YBc"@Bo;9BNk>yBH`)n?μ˵Hy`BN?zS??ɨB'&z@Bc;B)CyJE>*FQ2FQ:FQBFU0JFQGY G]rAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250647GjGiByO> $?I E Will construct direction to contact in vehicle frame from tetrahedron phase data.E AiA M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502741w, _HA>{dz@Y>A@>;9>J>y>H ?;@&_E?vy`h?r?ɨ>{dz@>&;`` bG٣dyfi< f> jNusing accuracyPremultiplier from confighn49j?n4Yj ijkBprM r@jVDj. ;j ;j4vB v@vE B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 493.90 m.Bj-;Jj-;= ProNav: ac range: 493.899994 m, nav range: 286.299866 m, bearing: 313.830232 deg, approach rate: -0.108940 m/s, LOS rate: 0.127602 deg/s, cmd heading: 236.305803 deg, new cmd heading: 236.460116 deg. 2j=$;EHeadingCmd: 4.127007 target range: 493.899994 and range: 493.90 m. jEr@jAjAjIiIhIhIhIhQfQfQfQzK]K]+9KYK]TK]!I KAvI+ rfQbf @ɛ~Լ ZI 8`<ɚ i I I=I  i;q@i(޻)5r@)9*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756002H}>Iy I}B$II}BIy&Iy.Iy6I} <:I} FG>uGB O] > G vA Y vAy 0B¹w,őyHA2z@Y2%W@2D;92>y2Hs ?M`6?Hv@??ɨ2z@2Ȉ;2*Cyj1Bj#I IuMb@Mb@Mb@qqq q)qYu%C?I +yuZ$?uLu94uA q)qIuAqyuAIxIT4٢F <=9Q > G٣DGy}; > Nusing accuracyPremultiplier from config49?4YǨ ikB$?:8@_D%;L$;14 }@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006621Zj%FNOT Ignoring new targets: 493.90 m.Bj%;Jj-;JQJU@AJ]J]J]1JYJ];J]|:J]3JYJ]`<J]`<J];J]; ProNav: ac range: 493.899994 m, nav range: 286.256897 m, bearing: 313.885630 deg, approach rate: -0.098178 m/s, LOS rate: 0.126597 deg/s, cmd heading: 236.460111 deg, new cmd heading: 236.626331 deg. 2jí;HeadingCmd: 4.129909 target range: 493.899994 and range: 493.90 m. j6(@jjjihhhh1Bfffrfbf@ɛY]ټ aeIa ebW<ɚaiaIe=IJ iF@i)6(@)*F!2F):F)BF-0JF)GU U Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259210G! B1 OM >6$w,ToHA6z@Y6Bn@6t;96 >y6H_?UX9&?`s@?`?ɨ6z@67;6+CyN-BN#IIVIVq4٢^ ^[=9bҺQ b>`d fG٣dyf; f> jNusing accuracyPremultiplier from confighr49jl?r4Yjӭ ijkBtv v@jgDjI;j-J;j4x z@|Zj!%FNOT Ignoring new targets: 493.90 m.Bj-B;Jj-B;= ProNav: ac range: 493.899994 m, nav range: 286.219604 m, bearing: 313.933134 deg, approach rate: -0.100369 m/s, LOS rate: 0.127869 deg/s, cmd heading: 236.626330 deg, new cmd heading: 236.768860 deg. 2j=;EHeadingCmd: 4.132396 target range: 493.899994 and range: 493.90 m. jE<@jAjAjAiAhAhIhIhIfIfQfQrfQbf I @ɛ!% )-I) -P<ɚ)i)I5~2=I] i] @i]$߻)]<@)YE*F 2F :F BF c4JF "GG= u $?IqWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:41:53.1954  TRx dataTimestamp_ set to:1736372514.468763checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511750zK|NKh9KKUK<c!F8 Cw6=&GGBO>*w,DHA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762585:z@Y:ă@:Nl;9:". >y:HM~? +@ 'lA?ۉm@p?@6?ɨ:z@:CA;8yF,BHH1I1 I55$II5BI5@ =&I1.I16I5<:I5v FIfIfb4٢,  7=995Q =>IQ G٣9yMs; m> }Nusing accuracyPremultiplier from configq}49um?4Yuu iukB @uqDu:uX:uE 4B @EZjFNOT Ignoring new targets: 493.90 m.Bj s;Jj s; ProNav: ac range: 493.899994 m, nav range: 286.170135 m, bearing: 313.995483 deg, approach rate: -0.100182 m/s, LOS rate: 0.126288 deg/s, cmd heading: 236.768863 deg, new cmd heading: 236.955942 deg. 2jW;MHeadingCmd: 4.135662 target range: 493.899994 and range: 493.90 m. jUWW@jYjYjaiahhhhfffrfbf{@ɛAeZ˼ amIi m {E<ɚiiiIm=Iuq iu?iu|)uWW@) iImg*F?2F:FBF0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 21:41:53.1954 LVL= 17184, 25537, 21746, 30595, AGC= 66, IDX= 446, 0.39,-2.167, 3.042, 1.802, 2.886, PHS= 1.317, 0.202,-1.087, RAW= 57.6, -4.2, CAL= 62.4, -9.1, ROT= 87.6, 9.1 J}J}J}0JyJ};J}{:J}ـ3JyJ}H_<J}I_<J};J};Ygot valid direction response: 21:41:53.1954 LVL= 17184, 25537, 21746, 30595, AGC= 66, IDX= 446, 0.39,-2.167, 3.042, 1.802, 2.886, PHS= 1.317, 0.202,-1.087, RAW= 57.6, -4.2, CAL= 62.4, -9.1, ROT= 87.6, 9.1 PDAT read: Bearing 87.6, 9.1 (Local) ~Local bearing/azimuth received: Bearing 87.6, 9.1 (Local) DAT read: Range 10 to 50 : 494.6 m (Round-trip 659.5 ms) speed 0.0 m/s ,DAT read: user:1985> BDAT read: Tx time:21:41:54.2817 $Ping request sent.-"-?-Q -'g?)-"I-E?i-">))-S ?KG+2`ն)-cI-ؕ=i-?-k))E :publishing transmit ping timeE Fpublishing direction and range info)9- lz?tt8J?}wy?y)))) )))I)i))))) )))I)i)))-S ?KG+2`ն))I)i))))G= ;3G B O >g2w,HAym"Bm#IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:41:54.2809 Mb@Mb@Mb@ )YHzG? rh~jty=*?C DjA +@) AIyIhIV84٢/ 0=9Q > G٣DGy E> MNusing accuracyPremultiplier from configIU49Mu?U4YM iM{kBU}*?U:U, ]@MzDM;M#;M4a e@ak?kx k k9_HA:kLCBkCZk@" :@&er@dw֛x@ lz?tt8J?}wy?Jk?Rkk*"L4]vg@]Bc* -z@oI? ݁ӿ4u?"k*k;Ckm??k|6 2kCkܵ "?kk$CkCkXM@] addTargetRange:: Added new target pos. range: 494.600006 m, deltaT: 4.038649 s, deltaX: 0.700012 m, approachRate: 0.173328 m/s, rangeRepo size: 4 u Added new target pos. range: 494.600006 m, bearing: 320.622045 deg, lat: 36.901888 deg, lon: -122.119181 deg, deltaT: 4.038649 s, deltaX: 0.700012 m, approachRate: 0.173328 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 494.60 m.BjJj ProNav: ac range: 494.600006 m, nav range: 285.282959 m, bearing: 313.877245 deg, approach rate: 0.000000 m/s, LOS rate: 0.126288 deg/s, cmd heading: 236.955955 deg, new cmd heading: 237.121244 deg. 2jHeadingCmd: 4.138546 target range: 494.600006 and range: 494.60 m. jn@jjjih!h!h!h%"Bf)f)f)rf-~@bf5`p??ɛ 隥 I  =<ɚiI,=IA ig?iq$)n@)*Fm?2Fi:FiBFm0JFi $?I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.G >uGi By O >d8w,v3HAzKVUMKV9KTKVVKVBFfa2ucSE:3+#  y%B-#II5KI54٢Ee Mg=9IQ M>QQ UG٣QyQ ]> eNusing accuracyPremultiplier from configYu49]7j?u4Y] i]tkByy}@]D]};]};]4B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 494.60 m.Bj@;Jj@; ProNav: ac range: 494.600006 m, nav range: 285.240051 m, bearing: 313.923264 deg, approach rate: -0.128166 m/s, LOS rate: 0.137480 deg/s, cmd heading: 237.121246 deg, new cmd heading: 237.259323 deg. 2j;HeadingCmd: 4.140956 target range: 494.600006 and range: 494.60 m. j@jjjihhhhfyffrfbfe?ɛcB\y 隍#I Z5<ɚiI=IH i?iC)@)EQEUrA}Will construct direction to contact in vehicle frame from tetrahedron phase data.}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF`5JFH!I! I%)$II%wBI!&I!.I!6I%<:I%7 FGY GYG-9"G1BQO> ) I) >w,HA2+{@Y2"@2rസ92>y2H`1` ?{8 `OG?@?O?K?ɨ2+{@2 7;2&CyNBR#IrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.978808JJJJJ;Jx:JJJ]<J]<J;J;Mb@Mb@Mb@ )Y rh?V-~jtxyC+?Ļ|A  @) AI\AyI=>I=3٢M0 M<=9M% Q U>YY ]G٣Yy]N< e> mNusing accuracyPremultiplier from configam49e+\?u4Ye ieokB}n+?}:} }@eDeG;eF;eh!4 '@ZjFNOT Ignoring new targets: 494.60 m.Bjh;Jjh; ProNav: ac range: 494.600006 m, nav range: 285.183624 m, bearing: 313.980710 deg, approach rate: -0.129997 m/s, LOS rate: 0.132370 deg/s, cmd heading: 237.259325 deg, new cmd heading: 237.431696 deg. 2j;5HeadingCmd: 4.143965 target range: 494.600006 and range: 494.60 m. j5\@j1j1j1i1h1h9h9h=Bf9fAfArfAbfE W?ɛ| $I -,<ɚ)i)I-~=I5i5R?i5t.)5\@)9*F]?2FY:FYBF]?5JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.231448G "G B O > mEw, IA6H{@Y6@6Ve96'>y6H@S%? 雽 @t?,b?V?`+?ɨ6H{@6E;6+Cy>BB#IIJUIJ4٢R`2 Rj=9VǻQ V>TT ZG٣ZDGyZ; Z> Nusing accuracyPremultiplier from config%49P?%4Y ilkB)-c -@Dq: :'41 5@1ZjamFNOT Ignoring new targets: 494.60 m.Bjm;Jjm; ProNav: ac range: 494.600006 m, nav range: 285.136536 m, bearing: 314.028450 deg, approach rate: -0.130179 m/s, LOS rate: 0.132001 deg/s, cmd heading: 237.431692 deg, new cmd heading: 237.574934 deg. 2j.;HeadingCmd: 4.146465 target range: 494.600006 and range: 494.60 m. jׯ@jjjihhhhfffrfbf@?ɛ2% (I :%<ɚiID=Ii?i;)ׯ@)  $?I*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483061zKUNKU9KQKUWKU  RKe ?JKe"?G:Q1GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734973H I  I $II hBI &I .I 6I <:I | FiKw,0IAy5B=#I]Mb@Mb@Mb@YYY Y)YY]S?Mb` G٣y > Nusing accuracyPremultiplier from config49TA?4Y ihkB/?:@D1;;O04B @EZjFNOT Ignoring new targets: 494.60 m.Bj>;Jj>; ProNav: ac range: 494.600006 m, nav range: 285.058228 m, bearing: 314.094102 deg, approach rate: -0.159759 m/s, LOS rate: 0.133976 deg/s, cmd heading: 237.574934 deg, new cmd heading: 237.771945 deg. 2j;HeadingCmd: 4.149903 target range: 494.600006 and range: 494.60 m. j̄@jjjihhhh BfffrfbfX?ɛEbBE<1 AES)IA MC<ɚIiIIMZ=IUiU?iUq`l)Ū@)YEeR>Ee> IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986821*F?2F:FBF_0JF"G=G=G5 f AG B O5 >Rw,JIAy B#II%I%%x4٢5 ={=99Q = ?9A EG٣AyA E ? UNusing accuracyPremultiplier from configIU49MK7?]4YMs iMfkBYY]@MDM:M.:M54a eO@iZjFNOT Ignoring new targets: 494.60 m.Bj};Jj}; ProNav: ac range: 494.600006 m, nav range: 285.006714 m, bearing: 314.137478 deg, approach rate: -0.156222 m/s, LOS rate: 0.131567 deg/s, cmd heading: 237.771944 deg, new cmd heading: 237.902095 deg. 2j;HeadingCmd: 4.152175 target range: 494.600006 and range: 494.60 m. jބ@jjjihhhhfffrfbf@MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.238659ɛo2 隽,I s<ɚiIo=I-zbi- @i-Z?)-ބ@)1*F2F:FBFb0JFGJiGqByO]> Ig Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490983JK KS}-KK"KJ J J J J ;J w:J J a @a @a @a @ӨXw, RdIA6{@Y6܄@6_96P >y6H?U_K&? K]`?ě?@?ɨ6{@6W;6,CyFBF#IIRzIR=X4٢Z ZT=9Z::Q Z>\\ ^G٣bDGybFT< b> fNusing accuracyPremultiplier from configdj49fq+?j4YfW ifckBlnxn@fDf\ ;f;f<4rB r@vEzKMKK59KKXK3i{tqhhiBK-qA:K-rAZj15FNOT Ignoring new targets: 494.60 m.Bj=8;Jj=8;M ProNav: ac range: 494.600006 m, nav range: 284.944336 m, bearing: 314.189080 deg, approach rate: -0.161893 m/s, LOS rate: 0.133955 deg/s, cmd heading: 237.902100 deg, new cmd heading: 238.056940 deg. 2jMݷ;UHeadingCmd: 4.154877 target range: 494.600006 and range: 494.60 m. jU@jQjQjQiQhYhYhYhYfafafarfabfm @ɛ]aB] # Ye.Ia ej <ɚaiaIm=I36i@ikb)@)*F2F:FBFo0JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744812HI I $II^BI&I.I6Iް<:Id FBIJIRIZI@ =bI@ =jIœ4GiG B O > $?I ^w,+~IA6x{@Y6@696A >y6H `?ڗ`qy3?yb?ܢ?ر?ɨ6x{@6;6+Cy>B>#IbWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.994790Mb@Mb@Mb@ )YʡE?{Gz?~jtxy/?ף<ĻA "@) AIAyIIkf4٢i-< 8=94Q > G٣y!; > Nusing accuracyPremultiplier from config 49? 4YB ibkB /? : g @Dw;;xD4 @5B*** querying acoustic contact ***j9j9ZjiuFNOT Ignoring new targets: 494.60 m.Bj};Jj}; ProNav: ac range: 494.600006 m, nav range: 284.863251 m, bearing: 314.248048 deg, approach rate: -0.184005 m/s, LOS rate: 0.133853 deg/s, cmd heading: 238.056927 deg, new cmd heading: 238.233881 deg. 2j;-HeadingCmd: 4.157966 target range: 494.600006 and range: 494.60 m. j5@j1j1j1i1h1h1h9h=Bf9f9fArfAbfE@ɛ`By -I P<ɚiIm=IiNB@iO)@)*F2F:FBFJFGqA GuWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247875G OXG B O >Iew,= IA @6{@Y6!@6_B96o >y6HV ?.}`d"*2R?Kh?@?`?ɨ6{@6;6)CyBBB#IIJkIJ=4٢R< Ra=9RSQ V>TT VG٣TyZ2: Z> bNusing accuracyPremultiplier from config`f49b?f4Yb i`hj\j@bDb:b:bJ4Y ]x@YZjFNOT Ignoring new targets: 494.60 m.Bj;Jj; ProNav: ac range: 494.600006 m, nav range: 284.796814 m, bearing: 314.296452 deg, approach rate: -0.173928 m/s, LOS rate: 0.126748 deg/s, cmd heading: 238.233884 deg, new cmd heading: 238.379128 deg. 2j;HeadingCmd: 4.160501 target range: 494.600006 and range: 494.60 m. j"@jjjihhhhf 9I9ffIrfIbfM @ɛ}_B}+ y隅+I :;ɚiIs=Iik@i!掼)"@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:41:57.3458 TRx dataTimestamp_ set to:1736372518.502040checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501746*FM?2FI:FQBFU0JFQJ}J} JyJyJ};J}:JyJyzK9NK9KKYKf]SND2  !""!GmGi B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.750849ZH RH H I  I #II SBI &I .I 6I <:I y F1kw,uIA-*{@Y-@-`9-h>y-Hb`?`!.ی? l?@N?ܰ?ɨ-*{@-{;-,C)E= jCyޝBAU#Iaq YyBMMb@Mb@Mb@III I)IYMgfffff??yM33?ML=MM|A I)M AIMrAIyMp AIeIekf4٢uӼ u=9}`Q }>yy }G٣}DGyЕ > Nusing accuracyPremultiplier from config49?4Y igkB3?:@˔D;;?T4"B @E 5$?I1Zj9EFNOT Ignoring new targets: 494.60 m.BjE;JjE;U ProNav: ac range: 494.600006 m, nav range: 284.681793 m, bearing: 314.368987 deg, approach rate: -0.220387 m/s, LOS rate: 0.139039 deg/s, cmd heading: 238.379121 deg, new cmd heading: 238.596814 deg. 2jU׾;]HeadingCmd: 4.164300 target range: 494.600006 and range: 494.60 m. j]A@jajajaiahahahihmBfififqrfqbfun@ɛ^Bp 隥.I r;ɚiIm=Iқiq@if)A@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.006545*Jy"J}R=*F?2F:FBFq0JFG D&G B O >;/sw,S[IAy~B~#II I 1h4٢< =9%Q % ?!! -G٣)y- - ? =Nusing accuracyPremultiplier from config1E495_?E4Y5 i5jkBIIM@5ҔD5/;5);5Y4Y ]@YuWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:41:57.3458 LVL= 17136, 27297, 22770, 30643, AGC= 66, IDX= 450, 0.36,-0.941,-1.981, 2.911,-2.233, PHS= 1.380, 0.299,-1.142, RAW= 55.3, -4.9, CAL= 60.1, -10.0, ROT= 89.9, 10.0 Ygot valid direction response: 21:41:57.3458 LVL= 17136, 27297, 22770, 30643, AGC= 66, IDX= 450, 0.36,-0.941,-1.981, 2.911,-2.233, PHS= 1.380, 0.299,-1.142, RAW= 55.3, -4.9, CAL= 60.1, -10.0, ROT= 89.9, 10.0 PDAT read: Bearing 89.9, 10.0 (Local) ~Local bearing/azimuth received: Bearing 89.9, 10.0 (Local) DAT read: Range 10 to 50 : 494.9 m (Round-trip 659.9 ms) speed -0.1 m/s ,DAT read: user:1986> %BDAT read: Tx time:21:41:58.4318 %$Ping request sent.%u-u0w?u% uC?)u¸2Iu?iu¸2>qqJkuso?RkuTa*uRRh@$gd_z@u[PȽ?0Wտs pH?"ku %*ku GCkuH&"?ku" 2ku>Cuoi% Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J J u:J J yZH`@? `@b G٣y0 > Nusing accuracyPremultiplier from config49?4Y iokB@۔DDw;_;a4 @kfe#?kf k k:kBkZk@"'TQA@^s@S:"w@w?r?&1?Z[bv?JkRk*$bIi@n0d>tb?Bz@dq)?MpտQN=*?"k%*kKJCk?#?k, 2kSCkܵ "?k, kSCkCkܲ@ZjFNOT Ignoring new targets: 494.90 m.BjD9;JjD9; ProNav: ac range: 494.899994 m, nav range: 263.855438 m, bearing: 319.019646 deg, approach rate: -0.172157 m/s, LOS rate: 0.161973 deg/s, cmd heading: 238.746940 deg, new cmd heading: 238.934632 deg. 2jR;HeadingCmd: 4.170196 target range: 494.899994 and range: 494.90 m. j?r@jjjih!h!h!h!f)f)fQrfQbfU ?ɛ\B0 ,I ;ɚiI]=I8;iAi<׼)?r@)Will construct direction to contact in vehicle frame from tetrahedron phase data.HI III&I.I6I<:Ih F*F2F:FBF`5JFG Q IQ GQ Ba O} >= Will construct direction to contact in vehicle frame from tetrahedron phase data.2bw,ܛJAJJAAbg{@Ybل@bR9b&g>ybH@?ې@@Ց?A~?(?B?ɨbg{@b};b)Cyn Bn#IMb@Mb@Mb@ )YCl?Q?~jth?y/?u=D;A )AI\AyzAII<4٢;< ?=9Q > G٣DGy= > Nusing accuracyPremultiplier from config49?4Yc iukB0?:@D;;Ih4#B @EB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 494.90 m.Bj5@.;Jj5@.;E ProNav: ac range: 494.899994 m, nav range: 263.787231 m, bearing: 319.080299 deg, approach rate: -0.171271 m/s, LOS rate: 0.152343 deg/s, cmd heading: 238.934634 deg, new cmd heading: 239.116639 deg. 2jM;MHeadingCmd: 4.173373 target range: 494.899994 and range: 494.90 m. jUE@jQjQjQiQhQhQhYh]BfYfYfarfabfe?ɛ[Bc. 隕(I '˨;ɚiI=I+iBi%)E@)*Fe?2Fa:FaBFe4JFaG5|ӼGBOL>MWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.jw,JA r$?It-{@Y-Ԅ@-; 9-o >y-H@: ?`h`@@?p'? 0?@}?ɨ-{@-;-(CyEBE#IIUIIUd4٢ez= eU=9mQ m>qq uG٣qy} }> Nusing accuracyPremultiplier from config49e?4Y i|kB@D;;n4 @ZjFNOT Ignoring new targets: 494.90 m.Bj&;Jj&; ProNav: ac range: 494.899994 m, nav range: 263.724945 m, bearing: 319.136061 deg, approach rate: -0.162707 m/s, LOS rate: 0.145698 deg/s, cmd heading: 239.116645 deg, new cmd heading: 239.283969 deg. 2j;HeadingCmd: 4.176293 target range: 494.899994 and range: 494.90 m. j1@jjjihhhhfffrfbf ?ɛ-ZB-{& 15L"I1 5 ;ɚ1i1I5j3 =I=Ti=Bi= )E1@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238752JJJJJ;Jz:JJ*F?2F:FBF_0JFzKmRLKm+9KiKm[KmGc׼GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492106jH bH H I  I $II ^BI &I .I 6I <:I A FȔw,4JA{@Yτ@9g>yHq @?X!fǴ?S??`?ɨ{@;'CyB#I%Mb@Mb@Mb@!!! !)!Y%Cl?T㥛 ?YY ]G٣Yyeҫ e> mNusing accuracyPremultiplier from configiu49m ?u4Ym imkBu0?}:}}@mDm;m#;m#w4%B @EZjFNOT Ignoring new targets: 494.90 m.Bj&;Jj&; IgE ProNav: ac range: 494.899994 m, nav range: 263.648651 m, bearing: 319.203975 deg, approach rate: -0.163521 m/s, LOS rate: 0.145602 deg/s, cmd heading: 239.283957 deg, new cmd heading: 239.487757 deg. 2jM;UHeadingCmd: 4.179850 target range: 494.899994 and range: 494.90 m. jUU@jQjYjYiYhYhyhhBfffrfbf@x?ɛXB 9=XI9 =*ф;ɚAiAIE =IE iM߱CiM.N)MU@)IWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743111*J"Ja=*F?2F:FBF4JFG5 RG9 G9 G B O5 >mw,$bNJABև{@YB:ӄ@B9B >yBHh `T?`"h u??`? ?ɨBև{@Bێ;B+CyN$BN#IIVIVb4٢b4T= b=9fQ f ?dd MG٣UDGyU: U? ]Nusing accuracyPremultiplier from configYe49];?e4Y] i]kBimm@]DuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994169]:]Q;]|4 @ZjFNOT Ignoring new targets: 494.90 m.Bj";Jj";u ProNav: ac range: 494.899994 m, nav range: 263.594360 m, bearing: 319.252439 deg, approach rate: -0.159281 m/s, LOS rate: 0.142216 deg/s, cmd heading: 239.487770 deg, new cmd heading: 239.633192 deg. 2ju4;}HeadingCmd: 4.182388 target range: 494.899994 and range: 494.90 m. j} օ@jyjyjyiyhhhhfffrfbfs@ɛWB8, I %Co;ɚ!i!I- =I-tsi-aDi5 )5 օ@)1*F2F:FBF`0JFGW GqByO\> $?I% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245990Vw,-hJA2{@Y2@27,92}>y2H?+弿 ?|;?ᆅ?? >?ɨ2{@2;2(CzK5k3IK59K1K5\K5BKI:KMqAy}-B}#III4٢ )= <=9"Q > G٣y; > Nusing accuracyPremultiplier from config490?4YJ ikB@Dn:X:G4 @Zj%FNOT Ignoring new targets: 494.90 m.Bj%);Jj%);= ProNav: ac range: 494.899994 m, nav range: 263.525635 m, bearing: 319.313466 deg, approach rate: -0.166991 m/s, LOS rate: 0.148322 deg/s, cmd heading: 239.633198 deg, new cmd heading: 239.816325 deg. 2j=;=HeadingCmd: 4.185585 target range: 494.899994 and range: 494.90 m. jEO@jAjAjAiAhAhAhIhIfIfIfrfbf ʥ@ɛUB9 +I  I GA BI Om >= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750114|w, JAJDJFJDJDJDJFs:JDJDJF<[aa eG٣aye m> uNusing accuracyPremultiplier from configq}49uݯ?}4Yu% iukB}+?}:@uDu;uI;u4&B @ E B*** querying acoustic contact ***j j Zj%FNOT Ignoring new targets: 494.90 m.Bj%;Jj%;= ProNav: ac range: 494.899994 m, nav range: 263.464355 m, bearing: 319.373829 deg, approach rate: -0.140294 m/s, LOS rate: 0.138229 deg/s, cmd heading: 239.816329 deg, new cmd heading: 239.997461 deg. 2j=;EHeadingCmd: 4.188746 target range: 494.899994 and range: 494.90 m. jE5 @jAjAjAiAhAhihihm/BfffrfbfZ%@ɛSBC  I ն1;ɚiI~!=IL i>Fi')5 @)E)E)*F?2F:FBFm0JFGrA GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002215G% G B O- >w,ޛJA 4I4B)|@YBd@B=F9B >yBH ?_;.eе?و? G?l?ɨB)|@Bډ;B)CyJBBJ#IIVyIVxV4٢Z6= ^i=9^ӗQ ^>`` bG٣bDGyf< f> jNusing accuracyPremultiplier from confighn49j?z4Yj]+ ijkBxzz@jDj;j;j̑4 J@Zj)-FNOT Ignoring new targets: 494.90 m.Bj5 (;Jj5 (;E ProNav: ac range: 494.899994 m, nav range: 263.412384 m, bearing: 319.423686 deg, approach rate: -0.153120 m/s, LOS rate: 0.146919 deg/s, cmd heading: 239.997466 deg, new cmd heading: 240.147066 deg. 2jE;MHeadingCmd: 4.191357 target range: 494.899994 and range: 494.90 m. jM@jIjIjIiIhIhQhQhQfQfYfYrfYbfe`( @ɛRB* 隕4I ޔ;ɚiI!=Ii}Fi@)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.255425*F12F1:F1BF50JF1G ,&GBO$>zKBoIK9KK]KRK  ?JK ?H I  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:42:01.4966  TRx dataTimestamp_ set to:1736372522.788335 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510851 I B$II BI &I .I 6I -<:I FBIYJIYRIYZIYbIYjI]4ZϬw,JAJS|@YJH9@JW9J˩>yJH``- ?`ؽJy`-??`??ɨJS|@JN;HyޝLBޥ#III1h4٢}C4= 1=9AQ > G٣y; >  Nusing accuracyPremultiplier from config549?54Y2 ikB15c5@#D;; 4E(B E@E E U$?I]gZjFNOT Ignoring new targets: 494.90 m.Bj!;Jj!; ProNav: ac range: 494.899994 m, nav range: 263.340881 m, bearing: 319.491514 deg, approach rate: -0.148416 m/s, LOS rate: 0.140827 deg/s, cmd heading: 240.147074 deg, new cmd heading: 240.350612 deg. 2jK;HeadingCmd: 4.194910 target range: 494.899994 and range: 494.90 m. j<@jjjihhhhfffrfbf@ @ɛePBmJ imIi mZ:ɚqiqIu;"=IuPi}mGi})}<@)yWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758976*Fy2Fy:FyBF}0JFJJJJJ;J|:JJJH_<JI_<J;J;G &G rAG Gy B O >ֶw,JA6+|@Y6d@6Jc96a>y6H9 Z?`t<aR`=d?`p?e? ?ɨ6+|@6;4y^^Bb $I)d fA]Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: Range 10 to 50 : 495.5 m (Round-trip 660.7 ms) speed 0.0 m/s u,DAT read: user:1987> }BDAT read: Tx time:21:42:02.5818 }$Ping request sent.} G٣yj< >  Nusing accuracyPremultiplier from config 49 6?4Y Z8 i kB%?:>@ *D ; ^; 4! %@)] addTargetRange:: Added new target pos. range: 495.500000 m, deltaT: 4.031967 s, deltaX: 0.600006 m, approachRate: 0.148812 m/s, rangeRepo size: 4 ZjY]FNOT Ignoring new targets: 494.90 m.Bje>!;Jje>!;u ProNav: ac range: 494.899994 m, nav range: 263.294220 m, bearing: 319.542814 deg, approach rate: -0.128201 m/s, LOS rate: 0.140969 deg/s, cmd heading: 240.350614 deg, new cmd heading: 240.504540 deg. 2j}};}HeadingCmd: 4.197596 target range: 494.899994 and range: 495.50 m. jR@jjjihhhh^Bfffrf~@bfR?ɛNBW &I :ɚiIu"=I%Kzi%״Hi%)%R@)I*F2F:FBF0JF III Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:42:02.5810 G G B O- >?w,mpJAb.|@Yb扅@bt9byW>ybHtn0?W~t 0 ? ǂ?n??ɨb.|@b#;b*Cy%oB%$II5NI5@ 4٢E= EV=9M}-Q M>II UG٣UDGyUA< U> eNusing accuracyPremultiplier from configYe49]?m4Y] > i]kBimm@]2D]:]:]J4u)B }@}EZjFNOT Ignoring new targets: 494.90 m.Bj;Jj; ProNav: ac range: 494.899994 m, nav range: 263.245361 m, bearing: 319.595565 deg, approach rate: -0.127595 m/s, LOS rate: 0.137787 deg/s, cmd heading: 240.504539 deg, new cmd heading: 240.662823 deg. 2j;HeadingCmd: 4.200359 target range: 494.899994 and range: 495.50 m. jWi@jjjihhzKBIK9KK^KBK!:K!hhfffrfbf w?ɛ%MB%Hm )-ݾI) -4b:ɚiI"=IMileIi )Wi@)H9I9 I=g$II=BI9&I9.I96I=ʰ<:I=T FmWill construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBF`5JFQutA yYtAyB I II G G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.-w,KKAJ2J2J0J0J2M;J2~:J0J0J2\<J2\<J2m;J2n;BC}@YB*@B9B"!>yBHL;K?A@r ?0s?`3??ɨBC}@B5ӎ;B(CyJsBN$$IMb@Mb@Mb@ )YV-? G٣y9< > Nusing accuracyPremultiplier from config49dz?4YC ikB?:@:DKG;#9;4 c@)B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 494.90 m.Bj;Jj;- ProNav: ac range: 494.899994 m, nav range: 263.209503 m, bearing: 319.651416 deg, approach rate: -0.081240 m/s, LOS rate: 0.126552 deg/s, cmd heading: 240.662836 deg, new cmd heading: 240.830410 deg. 2j5;5HeadingCmd: 4.203284 target range: 494.899994 and range: 495.50 m. j=M@j9j9j9i9h9h9hAhEBfAfAfIrfIbfD%?ɛuKBu5޼ y}JؾIy }5M:ɚyiIB"=Ii"Ji)M@)E*F?2F:FBF_5JF}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 VG ?G >G B O > = $?IA w,&KABZ}@YB@BSn9BR>yBHB`N? н&h???ا?ɨBZ}@BH;B+CyJBN4$IPRAIVCIV3٢^~= ^^=9bUQ b>`d fG٣dyfy; f> ~Nusing accuracyPremultiplier from configx49zp?4YzH izkB @zBDzw;zV;z-4 @Zj1=FNOT Ignoring new targets: 494.90 m.BjE;JjE;U ProNav: ac range: 494.899994 m, nav range: 263.177856 m, bearing: 319.700581 deg, approach rate: -0.089939 m/s, LOS rate: 0.139743 deg/s, cmd heading: 240.830421 deg, new cmd heading: 240.977935 deg. 2jeϿ;eHeadingCmd: 4.205858 target range: 494.899994 and range: 495.50 m. jmd@jijijiiihihihqhqfqfyfyrfybf}@Mt?ɛJBt 隭%ʾI C/ :ɚiI"=Ii5Ji5 )5d@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258236*F?2F:FBF_0JFG^zKMBoIKMs9KIKM_KMGBO >H9 I9  I= $II= ȅBI9 &I9 .I9 6I= <:I= L F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510345,$w,\7KA:}@Y:O@:9:1>y:HBc? i95߿2? ߑ? ??ɨ:}@::;:*CyFBF6$II^RI^W4٢n< nG=9rXQ r>pp vG٣tyvT< z> Nusing accuracyPremultiplier from config%49d?4YyN ikBR@JDy<<N4*B @%E IZjQUFNOT Ignoring new targets: 494.90 m.Bj];Jj]; ProNav: ac range: 494.899994 m, nav range: 263.142029 m, bearing: 319.754472 deg, approach rate: -0.075456 m/s, LOS rate: 0.113515 deg/s, cmd heading: 240.977926 deg, new cmd heading: 241.139621 deg. 2jϛ;HeadingCmd: 4.208680 target range: 494.899994 and range: 495.50 m. j@jjjihhhhfffrfbf@&?ɛ%HB-Ǽ )-yƾI) -<5(9ɚ)i)I5#=IEiEnKiMuB)M@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762289*FM?2FQ:FQBFQJFQ*JuC="Ju=JJJJJ;Jr:JJJ]<J]<J;J;Gu GI Ba O} >w,PKA6_ ~@Y6~@6]96L>y6H߿/~?Up@ܿ?_߿`)?y?@??ɨ6_ ~@6"F;6(CyBBBB$I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012870]Mb@Mb@Mb@YYY Y)YY]^I +?~jty]X?]D]]A ]A@)]AI] AYy] AImgIm64٢\*= 1=99Q > G٣DGyi< > %Nusing accuracyPremultiplier from config!-49%uW?-4Y%T i%kBM?U:U U@%SD%;%;%4]+B ]@]EZj9 $?IgFNOT Ignoring new targets: 494.90 m.Bj;Jj; ProNav: ac range: 494.899994 m, nav range: 263.113281 m, bearing: 319.815790 deg, approach rate: -0.061826 m/s, LOS rate: 0.131888 deg/s, cmd heading: 241.139610 deg, new cmd heading: 241.323583 deg. 2j;HeadingCmd: 4.211891 target range: 494.899994 and range: 495.50 m. jdž@jjjihhhhBfffrfbf@ɛFB"ʺ 隍 I ``ɚiI&#=IiZ"Lih)dž@)EEqAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266158*F ?2F :F BF P5JF "G =G =G G qAG GBO>Y\w,oKAzKK9KK`K:~@Y:U@:W9:>y:H|߿?`Em߿YP? c?v?N?ɨ:~@:x;:)CyFBFD$I J=J=INpINF4٢V; VD=9Z5,:Q Z>\\ ^G٣\y^`< b> fNusing accuracyPremultiplier from config`f49bL?j4YbY ibkBQU U@b[DbvIy I}$II}݅BIy&Iy.Iy6I}<:I}k FZjFNOT Ignoring new targets: 494.90 m.Bj%;Jj%;Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518873E ProNav: ac range: 494.899994 m, nav range: 263.087250 m, bearing: 319.868362 deg, approach rate: -0.071645 m/s, LOS rate: 0.144705 deg/s, cmd heading: 241.323588 deg, new cmd heading: 241.481318 deg. 2jE;]HeadingCmd: 4.214644 target range: 494.899994 and range: 495.50 m. j]]ކ@jajajaiahahahhfffrfbfwd@ɛ EB ٸI DɚiI F#=Ibi%}Li%#-м)%]ކ@)A*Fe?2Fa:FaBFe_0JFi IGE 8 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771217G9 Bi O >J J J J J M;J t:J J J \<J \<J ^;J ^;.Aw,tKAyrBrB$IuMb@Mb@Mb@qqq q)qYul?x& G٣DGy > Nusing accuracyPremultiplier from config 49?? 4Y_ ikB?:q @cD06;3;Y4! %@!EB*** querying acoustic contact ***jAjAZjIUFNOT Ignoring new targets: 494.90 m.Bj];Jj];m ProNav: ac range: 494.899994 m, nav range: 263.067108 m, bearing: 319.925754 deg, approach rate: -0.047400 m/s, LOS rate: 0.135072 deg/s, cmd heading: 241.481311 deg, new cmd heading: 241.653499 deg. 2jme;uHeadingCmd: 4.217649 target range: 494.899994 and range: 495.50 m. ju@jqjqjqiqhqhyhyh}BfyffrfbfQ@ɛDBG׼ 隽(I AɚiId#=I1iLi)@)*Fe?2Fi:FiBFm`0JFi Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022030GnμGa Bq I O >Cjw,KKA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272854:}@Y:&Ά@:9:|>y:H`ѩ޿``? 5@1޿ 8ܵ?`}W?I?@5?ɨ:}@:`;:+CyDDINfIN44٢V': Va=9Z9Q Z>XX ^G٣\y^%= ^> fNusing accuracyPremultiplier from config`f49b4?j4YbBd ibkBhj j@bjDbL:bn:b4p r @pZjFNOT Ignoring new targets: 494.90 m.Bj ;Jj ; ProNav: ac range: 494.899994 m, nav range: 263.047638 m, bearing: 319.972698 deg, approach rate: -0.051385 m/s, LOS rate: 0.123901 deg/s, cmd heading: 241.653486 deg, new cmd heading: 241.794328 deg. 2j;HeadingCmd: 4.220107 target range: 494.899994 and range: 495.50 m. j @jjjihhhhfffrfbf@! @ɛ%CB%dڼ !-I) -,ɚ)i)I-#=IUy iU.MiUYm)] @)Y*F2F:FBFo0JFG GsAzK}BoHKyKyK}aK}ZHRHHI I$IIBI&I.I.D6I<:IF FGGG ?G*?EWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:21:42:05.6473 ]TRx dataTimestamp_ set to:1736372526.824423mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.534721GBO >ʖw,0KA $?I ] @Y]_ @]9]@T>y]H:޿v?2(>3ݿ?? 4??ɨ] @]C;])CyޝBޝ=$I-Mb@Mb@Mb@))) )))Y-A`"?(\µaa eG٣aym< m> uNusing accuracyPremultiplier from configq}49u&?}4Yu-j iukB}?: @usDu;u;u4-B `@EZjFNOT Ignoring new targets: 494.90 m.Bj;Jj; ProNav: ac range: 494.899994 m, nav range: 263.028015 m, bearing: 320.032982 deg, approach rate: -0.044367 m/s, LOS rate: 0.136311 deg/s, cmd heading: 241.794325 deg, new cmd heading: 241.975190 deg. 2j;HeadingCmd: 4.223264 target range: 494.899994 and range: 495.50 m. j$@jjjihhhhBfffrfbf.@Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՍAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781080ɛBB|ϼ I  ɚiIޢ#=Ii$EMij)$@)*F2F:FBFJFGݗGYBiO~>E Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035328|w,KAN9@YNH@N9N$>yNHݿ` ?@uh*OZݿn?e??"?ɨN9@N;N(CyZBZ5$IIflIfm?4٢n  ng=9nd :Q r>pp rG٣pyv< v> zNusing accuracyPremultiplier from configx~49za?~4Yzn izkB5 @zzDz;z;z4  @ ZjFNOT Ignoring new targets: 494.90 m.Bj;Jj; ProNav: ac range: 494.899994 m, nav range: 263.011505 m, bearing: 320.079453 deg, approach rate: -0.044930 m/s, LOS rate: 0.126475 deg/s, cmd heading: 241.975188 deg, new cmd heading: 242.114612 deg. 2j;HeadingCmd: 4.225697 target range: 494.899994 and range: 495.50 m. j8@jjjihhhhfffrfbf`@ɛ]AB] YeIa e"ӺɚaiaIe#=Imim~9Mim( 1I1)m8@)A*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:42:05.6473 LVL= 15792, 24353, 21954, 27187, AGC= 66, IDX= 449, 0.36,-2.687, 2.474, 1.142, 2.299, PHS= 1.385, 0.221,-1.160, RAW= 57.2, -4.1, CAL= 61.8, -8.9, ROT= 88.2, 8.9 Ygot valid direction response: 21:42:05.6473 LVL= 15792, 24353, 21954, 27187, AGC= 66, IDX= 449, 0.36,-2.687, 2.474, 1.142, 2.299, PHS= 1.385, 0.221,-1.160, RAW= 57.2, -4.1, CAL= 61.8, -8.9, ROT= 88.2, 8.9 PDAT read: Bearing 88.2, 8.9 (Local) ~Local bearing/azimuth received: Bearing 88.2, 8.9 (Local) DAT read: Range 10 to 50 : 496.0 m (Round-trip 661.4 ms) speed 0.0 m/s ,DAT read: user:1988> BDAT read: Tx time:21:42:06.7318  $Ping request sent. ٝzٝr?ٝC ڝ?)ڝIڝj ?iڝ>ڙڙ۝ *h)?H_Mdwh?)۝^VI۝=i۝?۝iۙۙ=:publishing transmit ping time =Fpublishing direction and range infoؙ9؝?QaQ y?sZV?yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝ *h)?H_Mdwh?)ۙIۙiۙۙۙۙJyJ}J}1JyJyJ}v:J}3Jya@a@a@a@GM D&G! B1 OM >w,3KAzKBoIK9KKbKBKrA:KrAy~sB~$$II qI JH4٢%4 -E=9-Q ->11 5G٣5DGy5HAIA IE$IIEBIE? =&IA.IA6IE<:IEo FBIJIRIZIbIjI4 }> Nusing accuracyPremultiplier from config49?4Y;t ikB@D::J40B @EWill construct direction to contact in vehicle frame from tetrahedron phase data.kQl"?kTژ k kKA:kCBk@CZk;@"0):@fAr@*ħx@?QaQ y?sZV?Jk?Rki*Ui@Z`Sa{@HފW?Lп$G?"k*k'LCkAC#?k,i 2k CkAC#?k" k>CkʁCk³@ addTargetRange:: Added new target pos. range: 496.000000 m, deltaT: 4.287937 s, deltaX: 0.500000 m, approachRate: 0.116606 m/s, rangeRepo size: 4  Added new target pos. range: 496.000000 m, bearing: 327.787758 deg, lat: 36.901907 deg, lon: -122.118750 deg, deltaT: 8.319904 s, deltaX: 1.100006 m, approachRate: 0.132214 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 496.00 m.BjJj  ProNav: ac range: 496.000000 m, nav range: 259.578156 m, bearing: 321.858769 deg, approach rate: 0.000000 m/s, LOS rate: 0.126475 deg/s, cmd heading: 242.114606 deg, new cmd heading: 242.279314 deg. 2j 5HeadingCmd: 4.228572 target range: 496.000000 and range: 496.00 m. j5vP@j1j1j1i1h9h9h9h9fAfAfArfE@bfEn?ɛ$ 隽;I ɚiI#=I~i@Mi^)vP@)*F2F:FBF0JF E$?IIGK7GrAGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,A LA @Bј@YB @B#9B>yBHT(ݿ9?`zTܿ`c?? r??ɨBј@B;B)Cy^eB^$IeMb@Mb@Mb@aaa a)aYeGz?V-yep?ehe̼eA eX@)erAIe Aaye AI}XI}4٢ D=9/Q > G٣y< > Nusing accuracyPremultiplier from config492?4Yy ikB?: @D;;n4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 496.00 m.Bj%;Jj%;  ProNav: ac range: 496.000000 m, nav range: 259.556885 m, bearing: 321.914396 deg, approach rate: -0.055366 m/s, LOS rate: 0.144806 deg/s, cmd heading: 242.279323 deg, new cmd heading: 242.446217 deg. 2j ;HeadingCmd: 4.231485 target range: 496.000000 and range: 496.00 m. jSh@jjjihhh!h%Bf!f!f!rf)bf-/?ɛ@B+ ھI YɚiI7"$=I%Oi%+Mi%k߬)%Sh@))*F2F:FWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.BF_5JF1 9 I= gGI G! B1 OM >-w,l$LA2Will construct direction to contact in vehicle frame from tetrahedron phase data.0i06checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994967f@Yfi‡@f!9f">yfH@gܿ 6F? V ÆɅܿ?c? h? Y?ɨf@f;f*Cyv]Bv $II~@I~3٢ m-  S=9 XQ > G٣y< > -Nusing accuracyPremultiplier from config!-49%%ߛ?54Y% i%kB15 5@%D%X:%z:%44JK KKK"KJEJEJE0JAJE;JEr:JEـ3JAa e/@aZjFNOT Ignoring new targets: 496.00 m.Bj;Jj; ProNav: ac range: 496.000000 m, nav range: 259.536133 m, bearing: 321.967199 deg, approach rate: -0.052896 m/s, LOS rate: 0.134606 deg/s, cmd heading: 242.446225 deg, new cmd heading: 242.604648 deg. 2j;HeadingCmd: 4.234250 target range: 496.000000 and range: 496.00 m. j~@jjjihhhhfffrfbfn?ɛ?Bn I ,ɚiIS$=I !i \Li ) ~@)*F5?2F1:F1BF=4JF9G$ĻGBOI>zKRIKs9KKcKRK>JK>H=>I9 I=$II=ͅBI=@ =&I9.I=-D6I=<:I=K FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246796)9 = _C ~G |uA iY |uAy f Be  @e B 9 IA w,N>LA΀@Yb݇@ҧ9Q&>yH ܿ`S?`+h Sܿ ??S?ܩ?ɨ΀@0B;騕+CyޭIBޭ#I=Mb@Mb@Mb@999 9)9Y=~jt?I +X9vy=$?=94=="A =A@)=AI= A9y= AIUWIU44٢e e6=9m bQ m>iq uG٣uDGyu4; u> }Nusing accuracyPremultiplier from configy49}ߛ?4Y} i}kB/%?:G@}D}c;}5;} 41B ~@!EZjEFNOT Ignoring new targets: 496.00 m.BjM";JjM";] ProNav: ac range: 496.000000 m, nav range: 259.496887 m, bearing: 322.030535 deg, approach rate: -0.088255 m/s, LOS rate: 0.142451 deg/s, cmd heading: 242.604658 deg, new cmd heading: 242.794695 deg. 2j];mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.498711HeadingCmd: 4.237567 target range: 496.000000 and range: 496.00 m. j&@jjjihhhhgBfffrfbf 3?ɛQUL QUIQ ]JɚYiYI]$=IiihLi)&@)*F5?2F1:F1BF5:5JF9G] Ge ?Ge ? Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751156G1 BA Oe >w,ILXLAB@YB^ @B9BF>yBHnsܿ@*i?l] ܿ?@"? .?l?ɨB@B.֎;B(CyR9BR#IiV >IV?>IZIZ%x4٢bk fi=9fʀ;Q f>hh jG٣hyj< n> rNusing accuracyPremultiplier from configpv49rcߛ?v4Yrي irkBtvv@rDr:r:r, 4| {@Zj)-FNOT Ignoring new targets: 496.00 m.Bj53!;Jj53!;E ProNav: ac range: 496.000000 m, nav range: 259.465210 m, bearing: 322.079911 deg, approach rate: -0.090405 m/s, LOS rate: 0.140933 deg/s, cmd heading: 242.794702 deg, new cmd heading: 242.942846 deg. 2jEq;MHeadingCmd: 4.240152 target range: 496.000000 and range: 496.00 m. jMT@jIjIjIiIhQhQhQhfffrfbf@?ɛ->B=. AEIA EaɚAiAIM$=I]iupYLi}4:)}T@) $?I*F12F1:F1BF5_0JF1}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002607JJJJJ;JJJGEҸG B! OE >-w,'rLA2u(@Y27@2Ȗ92f8>y2H|'ܿ`|?76`Qۿ@&?`ؒ?@? ?ɨ2u(@2;0yR8BR#IIZzK^jIK^9K\K^dK^ BKfpA:KfqAIZ{4Hr>Ip Irm$IIrBIp&Ip.Ir.D6IrѰ<:IrZ F٢n= ~I=9~:Q ~> G٣y N<  > Nusing accuracyPremultiplier from config49bߛ?4Y ikB%@D ; ;W4-2B -@-"EZjQUFNOT Ignoring new targets: 496.00 m.Bj]!;Jj]!;m ProNav: ac range: 496.000000 m, nav range: 259.427032 m, bearing: 322.137697 deg, approach rate: -0.093344 m/s, LOS rate: 0.141309 deg/s, cmd heading: 242.942835 deg, new cmd heading: 243.116219 deg. 2jm;uHeadingCmd: 4.243178 target range: 496.000000 and range: 496.00 m. juȇ@jyjyjyiyhyhyhhfffrfbf(@ɛ"$ 隽I ={ɚiI%=Iyi`Liҫ)ȇ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254644*F2F:FBF`0JF IGOPGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506585"w, LA:{D@Y:S@:9:f>y:H'ۿ?`ҽ `ۿ@b?ٞ? ??ɨ:{D@:;:*CyB$BF#I-Mb@Mb@Mb@))) )))Y-Q?MbPy&1y-\/?--`-A -@)-\AI-A)y-AIEtIEM4٢Uh UC=9]M :Q ]>aa eG٣eDGymw< m> uNusing accuracyPremultiplier from configq}49uߛ?}4Yu iukB/?:3@uDu ;u;u43B @%EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 496.00 m.Bj(;Jj(;U ProNav: ac range: 496.000000 m, nav range: 259.366821 m, bearing: 322.199382 deg, approach rate: -0.143889 m/s, LOS rate: 0.147445 deg/s, cmd heading: 243.116212 deg, new cmd heading: 243.301308 deg. 2jUa;]HeadingCmd: 4.246409 target range: 496.000000 and range: 496.00 m. je@jajajaiahihihqhuBfqfqfyrfybf}@g@ɛ=B(  I oɚiIe%=I-Zi5ߘKi1)5@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758990*F2F:FBF_0JF"G =G = $?IGE ˴GM qAGI G B) OE >?)w,ޥLA&Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011841R]@YRm@R`v9R3 >yRHۿr?J` aۿ=\? N?m??ɨR]@Ra;R)Cy^Bb#I)d fAIjIjkf4J%J%J!J!J%M;J% :J!J!٢Nn H=9kD:Q > G٣y+; > Nusing accuracyPremultiplier from config49ߛ?4Ys ikB@D;; 4 5@1ZjFNOT Ignoring new targets: 496.00 m.Bjx ;Jjx ; ProNav: ac range: 496.000000 m, nav range: 259.306396 m, bearing: 322.260726 deg, approach rate: -0.138162 m/s, LOS rate: 0.140295 deg/s, cmd heading: 243.301310 deg, new cmd heading: 243.485383 deg. 2j; HeadingCmd: 4.249621 target range: 496.000000 and range: 496.00 m. j @j j j1i1h1h1h9h9f9f9fArfAbfm@ɛ^/ pI +ɚiI%=I%%i%5KiE伺)E@)Q*F?2F:FBF`0JFHI IH$IIBI? =&I.I6I<:ID FzK}KK9KKeK      Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262613G% pG B O% > I g*5/w,ɿLA n@YZ}@9m >yHHۿ? Ff@@Dۿv??@?i?u?ɨ n@ʍ;+Cy B#IMb@Mb@Mb@ )Y333333?Q?Mby9?<jA )AIrAy(AI~IT_4٢H 6=9bQ > G٣y; > Nusing accuracyPremultiplier from config49 ߛ?4Y9 i9?:@ǕD;;(4 g@Zj15FNOT Ignoring new targets: 496.00 m.Bj=;;Jj=;;Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:42:09.7979 TRx dataTimestamp_ set to:1736372531.117041checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528079 ProNav: ac range: 496.000000 m, nav range: 259.225464 m, bearing: 322.329352 deg, approach rate: -0.193264 m/s, LOS rate: 0.163929 deg/s, cmd heading: 243.485370 deg, new cmd heading: 243.691313 deg. 2j ; HeadingCmd: 4.253216 target range: 496.000000 and range: 496.00 m. j X@jjjihhhhBf9fAfArfAbfEr{ @ɛ)X@)*F=?2F9:F9BF=o0JF9G i"G B O U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7786396w,LAy~B~#III<4٢=v =i=9EQ E>AA EG٣EDGyM M> eNusing accuracyPremultiplier from configYu49]ߛ?}4Y]h i]kB@]ϕD];]<].4 @ iIugZjFNOT Ignoring new targets: 496.00 m.BjU#;JjU#;e ProNav: ac range: 496.000000 m, nav range: 259.161377 m, bearing: 322.383955 deg, approach rate: -0.167766 m/s, LOS rate: 0.142974 deg/s, cmd heading: 243.691314 deg, new cmd heading: 243.855163 deg. 2je>;eHeadingCmd: 4.256075 target range: 496.000000 and range: 496.00 m. j1@jjjihhhhfffrfbf@ɛ-;B-JaK )-I) 5-ؽɚ1i1I5&=I=+i=Ji=v)=1@)A*F2F:FBF0JF!G) G-rAWill construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 21:42:09.7979 LVL= 18800, 28529, 20786, 32147, AGC= 70, IDX= 455,-0.35,-0.031,-1.295,-2.490,-1.396, PHS= 1.452, 0.148,-1.097, RAW= 60.8, -4.6, CAL= 66.7, -9.9, ROT= 83.3, 9.9 =Ygot valid direction response: 21:42:09.7979 LVL= 18800, 28529, 20786, 32147, AGC= 70, IDX= 455,-0.35,-0.031,-1.295,-2.490,-1.396, PHS= 1.452, 0.148,-1.097, RAW= 60.8, -4.6, CAL= 66.7, -9.9, ROT= 83.3, 9.9 EPDAT read: Bearing 83.3, 9.9 (Local) M~Local bearing/azimuth received: Bearing 83.3, 9.9 (Local) ]DAT read: Range 10 to 50 : 496.4 m (Round-trip 661.9 ms) speed -0.1 m/s ],DAT read: user:1989> eBDAT read: Tx time:21:42:10.8819 e$Ping request sent.mjԇ?l \?);0I?i;0>5KP?̈́t ch뿊@)TI-=iU?y:publishing transmit ping timeaFpublishing direction and range info9 ݭ1?,*?~ٱ4s?y )Ii )Ii5KP?̈́t ch뿊@)IiGe V'SGe ?Ge >G! B1 OM >D<w,tLAHB>I@ IB$IIBmBI@&I@.I@6IB<:IB FynBn#IttzK~LK~s9K|K~fK~"$! I nI B4٢@ L=9Q >!! %G٣!y) -> 5Nusing accuracyPremultiplier from config)]49-ߛ?]4Y-n i)YYe@-ؕD-;-;-54m6B m@m*EWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:42:10.8811 k󎵩?k + k kLA:k3CBksCZk1@"iSU;@pJD`q@MiPy@ ݭ1?,*?~ٱ4s?JkU?Rky*g@ގ\Q_O{@D< u?M̿`x?"k*k=Ckb9F?k @ 2kCkH&"?k|6 kCkSyCk"C@ addTargetRange:: Added new target pos. range: 496.399994 m, deltaT: 4.045531 s, deltaX: 0.399994 m, approachRate: 0.098873 m/s, rangeRepo size: 4  Added new target pos. range: 496.399994 m, bearing: 329.389129 deg, lat: 36.901887 deg, lon: -122.118600 deg, deltaT: 4.045531 s, deltaX: 0.399994 m, approachRate: 0.098873 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 496.40 m.BjJj% ProNav: ac range: 496.399994 m, nav range: 249.327866 m, bearing: 324.548784 deg, approach rate: 0.000000 m/s, LOS rate: 0.142974 deg/s, cmd heading: 243.855157 deg, new cmd heading: 244.029427 deg. 2jIUHeadingCmd: 4.259117 target range: 496.399994 and range: 496.40 m. jUJ@jQjQjQiQhQhQhYhYfYfYfarfe`f@bfe?ɛtM &!I nλɚiI&=I-Ti-^yJi--;)-J@)) m$?Iq*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G ҸJM JM JM 1JI JM ;JM y:JM 3JI JM XP*Cw,F MA: @Y:Y@:/9:j >y:H*`ۿ?')ڿc.? 7?OG?@?ɨ: @:";:(Cy^Bb#ImMb@Mb@Mb@iii i)iYm"~j?~jt?{GztymSC?m=mףmA i)mEAIm\Aiym\AIYI4٢ = A=9RQ > G٣y A< > Nusing accuracyPremultiplier from config49̝ߛ?4Y ikBLD?:@D;;$=4 _@qB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 496.40 m.BjqJ;JjqJ; ProNav: ac range: 496.399994 m, nav range: 249.239258 m, bearing: 324.620874 deg, approach rate: -0.217463 m/s, LOS rate: 0.176989 deg/s, cmd heading: 244.029436 deg, new cmd heading: 244.245783 deg. 2j;HeadingCmd: 4.262893 target range: 496.399994 and range: 496.40 m. ji@jjjih h hQhU҅BfQfQfYrfYbf]`B?ɛ:BmAL imIi m\f޻ɚqiqIuZ'=I}wLi}EJi}ͻ)}i@)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.*Fa2Fa:FaBFe`2JFa QIYG Gy B O >UIw,9('MA6@Y6A@696 >y6H`lۿ`M?ü`ۿo??'?S?ɨ6@6W;6'C>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.986361yB#II5eI534٢u= uO=9}gqQ > G٣DGy- > Nusing accuracyPremultiplier from config49'ߛ?4Y ikB @D/;;D4 @ZjYeFNOT Ignoring new targets: 496.40 m.Bje~D;Jje~D; ProNav: ac range: 496.399994 m, nav range: 249.157120 m, bearing: 324.688260 deg, approach rate: -0.209328 m/s, LOS rate: 0.171788 deg/s, cmd heading: 244.245789 deg, new cmd heading: 244.448012 deg. 2j;HeadingCmd: 4.266423 target range: 496.399994 and range: 496.40 m. j@jjjihhhhfffrfbf:V?ɛE9BE)K I隍;I $ɚiI8'=Ii2JiN#,)@)*Fy2Fy:FBF@5JF"G=G%=jHybH}p<H>I I $II^BI&I.I-D6I<:Iv FBIIJIIRIIZIM? =bIM? =jIML4zKLK9KKgK5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238340G 4λG rAG nAG B O > A IA APw, AMAyލBލ#IMb@Mb@Mb@ )Y~jt?+η?~jtx?yD?v=;SA +@)AIyAI]GI]3٢m u.=9uQ u>qy }G٣yy} }>Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՉchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.491514 Nusing accuracyPremultiplier from config49fߛ?4Y" ikB F?:@D;;JL47B B@-EZjFNOT Ignoring new targets: 496.40 m.BjI;JjI; ProNav: ac range: 496.399994 m, nav range: 249.052887 m, bearing: 324.768261 deg, approach rate: -0.229667 m/s, LOS rate: 0.176348 deg/s, cmd heading: 244.448017 deg, new cmd heading: 244.688120 deg. 2j ;J J J 0J J -;J w:J ـ3J J /W<J 0W<J ;J ;%HeadingCmd: 4.270613 target range: 496.399994 and range: 496.40 m. j%ݨ@j!j!j!i)h)h)h)h5Bf1f1f1rf1bf= m?ɛe8BmD imIi m@ɚiiqIu(=Iui}s;Ji}a)}ݨ@)y*F2F:FBF4JFG-,GBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742377"gVw,ZMAy~B~#II I <4٢%< %z=9!Q %?)) -G٣)y1 5? }Nusing accuracyPremultiplier from configq49uߛ?4Yu iukB@uDu6;u6;uR48B (@.EZjFNOT Ignoring new targets: 496.40 m.BjB;JjB; ProNav: ac range: 496.399994 m, nav range: 248.979492 m, bearing: 324.824866 deg, approach rate: -0.220440 m/s, LOS rate: 0.170061 deg/s, cmd heading: 244.688112 deg, new cmd heading: 244.857974 deg. $?Ig2jl;HeadingCmd: 4.273578 target range: 496.399994 and range: 496.40 m. j&@jjjihhhhfffrfbf:?ɛ-7B57] 15{I1 =ɚ9i9I=T{(=IEhiEgRJiE)E&@)I*F2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994620*J4="J4=G5.-GBO >\w, tMAHI I$IIYBI@ =&I.I6I <:I Fv@Yv@v^9v r >yvHl<ۿ ?EʼH ڿG?K?$ ??ɨv@vLى;v*CyB#III{4٢%I= %J=9%B9Q ->)) -G٣-DGy5s< 5> =Nusing accuracyPremultiplier from config9E49=X|ߛ?E4Y=5 i=kBIU,U@= D=L;=L;=Y4zK]N KK]9KYK]hK]BKmqA:KmrAq u@qZjFNOT Ignoring new targets: 496.40 m.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246436BjU5A;]~~GJjm5A;uvA YYvAyvB ProNav: ac range: 496.399994 m, nav range: 248.891205 m, bearing: 324.892432 deg, approach rate: -0.220638 m/s, LOS rate: 0.168914 deg/s, cmd heading: 244.857965 deg, new cmd heading: 245.060735 deg. 2j;HeadingCmd: 4.277117 target range: 496.399994 and range: 496.40 m. j$ވ@jjjihhhhfffrfbff@ɛm5BuH? q}Iy \^ɚiI*(=ImcitJi>)$ވ@)  I*F2F:FBFJFGGBOM> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498417J- J- J) J) J- ;J- y:J) J) J- <[<J- <[<J- ;J- ;xcw,2MAFڱ@YF)@Fx29F>yFHu/ۿ8?J ڿo??%?`??ɨFڱ@FΈ;F'Cy^B^#IMb@Mb@Mb@ )Y%C?Zd;O?:v?yZD?j=T< @)AIEAy AII4٢= @=9Q > G٣y; > Nusing accuracyPremultiplier from config49sߛ?4Yf ikBE?:[@D#;;t`4 @B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 496.40 m.Bj-D;JjED;U ProNav: ac range: 496.399994 m, nav range: 248.797577 m, bearing: 324.964808 deg, approach rate: -0.222247 m/s, LOS rate: 0.171867 deg/s, cmd heading: 245.060740 deg, new cmd heading: 245.277950 deg. 2jU;]HeadingCmd: 4.280908 target range: 496.399994 and range: 496.40 m. j]2@jYjYjYiYhahahaheBfififirfibfu`{@ɛE4BM%U@ IU\ IQ UsɚQiQI]j5)=IuR%iuCJiu[v)u2@)y*F2F:FBFd0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752364 IG $G B O >^iw,hMA6Will construct direction to contact in vehicle frame from tetrahedron phase data.4i4:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003531Jⵁ@YJ1ň@JC9J >yJH-(ۿ@^?pҼ@@ڿC??"??ɨJⵁ@J;J+Cy^.Bb#IIrIr%x4٢I= X=9 d9Q  > G٣y: %> 5Nusing accuracyPremultiplier from config)=49-kߛ?E4Y- i-kBAEKM@-D-G~;-'r;-g4U9B @1EZj!%FNOT Ignoring new targets: 496.40 m.Bj-7;Jj-7;] ProNav: ac range: 496.399994 m, nav range: 248.713928 m, bearing: 325.029654 deg, approach rate: -0.207285 m/s, LOS rate: 0.160745 deg/s, cmd heading: 245.277940 deg, new cmd heading: 245.472542 deg. 2j];eHeadingCmd: 4.284304 target range: 496.399994 and range: 496.40 m. je@jajajaiihihihihifffrfbf@ɛ3BP: HI 1ɚiI)=I%Wi%Ji%ʄ)%@))*F2F:FBFo0JFZH)RH-AAH1I1 I5"$II5rBI5? =&I1.I16I5<:I5m FzKBHK9KKiKv l k f9RK?JK>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254453G D& I G B O >pw,_EMAJ@@YJƈ@J)9Jɟ >yJH`%ۿ ?% `ڿm?D?{E?`L?ɨJ@@J4;J)Cy~=B#IIM~IMT_4٢= B=9Q > G٣DGy9 > Nusing accuracyPremultiplier from configq49ubߛ?4YuX iukBG@u)DuV;u;;un4;B @3EZjFNOT Ignoring new targets: 496.40 m.BjK;JjK; ProNav: ac range: 496.399994 m, nav range: 248.616257 m, bearing: 325.105718 deg, approach rate: -0.227842 m/s, LOS rate: 0.177505 deg/s, cmd heading: 245.472545 deg, new cmd heading: 245.700824 deg. 2j;%HeadingCmd: 4.288288 target range: 496.399994 and range: 496.40 m. j%9@j!j!j!i!h)h)hIhIfQfQfQrfQbf] r/ @uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:21:42:13.9478 TRx dataTimestamp_ set to:1736372535.149466checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508286ɛ1B, 隥I d"ɚiI])=IXimLKicż)9@)J J  J 1J J ;J lm:J 3J J X<J X<J ;J ;*Fa2Fa:FaBFe0JFaG ~FG G rAG B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758528ܴvw,!MA6$@Y6tƈ@6s96!] >y6H%ۿJ?R9eڿ~?k4?\? ?ɨ6$@6;6*CyB]BB $IMb@Mb@Mb@ )Y-?+?Zd;O?y5>?=j<&A )AIAyAI-I-b4 E$?IEg٢> G=99Q > G٣y > Nusing accuracyPremultiplier from config49Zߛ?4Yw i lBX??:f@2D ;3;u4 @ZjFNOT Ignoring new targets: 496.40 m.Bj%J@;Jj%J@;5 ProNav: ac range: 496.399994 m, nav range: 248.539856 m, bearing: 325.169369 deg, approach rate: -0.201725 m/s, LOS rate: 0.168114 deg/s, cmd heading: 245.700810 deg, new cmd heading: 245.891823 deg. 2j5;=HeadingCmd: 4.291622 target range: 496.399994 and range: 496.40 m. j=T@j9j9jAiAhAhAhIhM BfIfIfIrfQbf]'@ɛ0BK$ 隅bҾI W'ɚiI*=Ii[Kiۼ)T@)*FI2FI:FIBFMk2JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:42:13.9478 LVL= 16032, 24353, 23282, 32755, AGC= 67, IDX= 421, 0.31, 0.360,-0.802,-2.117,-0.909, PHS= 1.358, 0.154,-1.211, RAW= 57.9, -2.7, CAL= 61.8, -6.9, ROT= 88.2, 6.9 Ygot valid direction response: 21:42:13.9478 LVL= 16032, 24353, 23282, 32755, AGC= 67, IDX= 421, 0.31, 0.360,-0.802,-2.117,-0.909, PHS= 1.358, 0.154,-1.211, RAW= 57.9, -2.7, CAL= 61.8, -6.9, ROT= 88.2, 6.9 PDAT read: Bearing 88.2, 6.9 (Local) %~Local bearing/azimuth received: Bearing 88.2, 6.9 (Local) =DAT read: Range 10 to 50 : 496.3 m (Round-trip 661.8 ms) speed 0.0 m/s M,DAT read: user:1990> UBDAT read: Tx time:21:42:15.0319 U$Ping request sent.]؝!_ ٝZ)ٝIٝCiٝҭ?ٝ->ٝ ٝY?ٝA ڝ?)ڝϢIڝj ?iڝϢ=ڙڙ۝ ?Bd=p7Or)۝I۝C=i۝?۝lۙۙ:publishing transmit ping timeQFpublishing direction and range infoؙ9؝iE\?d$H! I!  I% T$II% BI! &I! .I% .D6I% ˰<:I% V F(|w,MAynvBn($IIvIvkf4٢ >  V=9 Q  > G٣y > %Nusing accuracyPremultiplier from config!549%Rߛ?54Y% i%lBQY]@%;D%;%G;%F|4a eJ@akcV&?k{U Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:42:15.0311 zKNOK9KKjKBKrA:Kk koMA:k&CBkgCZk@"݉&)@1W'r@"x@iE\?d$,ɚ9i9I=1C*=IEuiELLiEP")Ear@)I 1I1*F2F:FBFP5JFGFټ Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >ƃw,NA6@Y6È@6^96>y6H k*ۿ?6) ڿQ?@X˖?`5?޴?ɨ6@6;6(CyBBB<$IMb@Mb@Mb@ )Y-?A`"?~jt?y?5?Y=<A )I\AyAI-OI- 4٢== EG=9EwQ E>AI MG٣MDGyMN M> ]Nusing accuracyPremultiplier from configQe49UIߛ?e4YU iU2lBm5?m:mFm@UEDU<;;UU;Uq4uG B O >w,()NA&Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=0.981468V@YVȈ@V/Ծ9VP>JdJfJdJdJdJfq:JdJdan@an@an@an@yVH`"ۿ@c?N# @ݹڿ`%?ٗ?&??ɨV@VL;V*CyޝBޝc$II sI K4٢%> %==9%)Q ->)) -G٣)y5i: 5> =Nusing accuracyPremultiplier from config9E49=o@ߛ?E4Y=9 i=GlBIM3M@=OD=:=:=4Q U]@YZjFNOT Ignoring new targets: 496.30 m.Bj<;Jj<; ProNav: ac range: 496.299988 m, nav range: 240.322891 m, bearing: 329.288283 deg, approach rate: -0.117250 m/s, LOS rate: 0.164436 deg/s, cmd heading: 246.302468 deg, new cmd heading: 246.519201 deg. 2j;HeadingCmd: 4.302572 target range: 496.299988 and range: 496.30 m. j@jjj i h h)h1h1f1f1f1rf9bf=U?5EkEnAggregate::initialize lineCaptureHoming:MicromodemComms16E lE~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6Eɛ+BP I u4ɚiI{*=IixMi'9)@)jHbH4=H>I I$IIͅBI&I.I6I<:I F*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232924zKMKM 9KIKMkKM  I G% ˱G B Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484945OM!?Vw,'3RNA2@Y2м@2&˼92/R >y2H6ۿF?\@Xڿ`{? }?`'[?DZ?ɨ2@2U;2(Cy>BB}$I=Mb@Mb@Mb@999 9)9Y=? G٣y > Nusing accuracyPremultiplier from config492ߛ?4Y iblB&?:s@[Dn;;4=B  @8EZj%FNOT Ignoring new targets: 496.30 m.Bj5/;Jj=/;U ProNav: ac range: 496.299988 m, nav range: 240.276093 m, bearing: 329.382337 deg, approach rate: -0.076439 m/s, LOS rate: 0.153654 deg/s, cmd heading: 246.519204 deg, new cmd heading: 246.801419 deg. 2jU;]HeadingCmd: 4.307498 target range: 496.299988 and range: 496.30 m. j]׉@jajajaiihqhqhqhuBfyffrf)bf5>?ɛ)B 隵ZI %8ɚiIr*=IYi)OiG&)׉@)EV>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739861*F2F:FBF0JF"G=G= $?IgG G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989519J= J= J= 0J9 J= ;J= lm:J= ـ3J9 w,ClNAZ΁@YZk݈@Z<¼9Z >yZHڿ@?NQ@ ڿKD?G?@b?`8?ɨZ΁@ZF;Z+CyfBf$IIroIrD4٢ziO> zR=9~G;Q ~> G٣DGyE'< > Nusing accuracyPremultiplier from config 49 Q*ߛ?4Y  i slB@ cD q ;  ; 4%>B -@-;EZjQ]FNOT Ignoring new targets: 496.30 m.Bj]3;Jje3;m ProNav: ac range: 496.299988 m, nav range: 240.245636 m, bearing: 329.442219 deg, approach rate: -0.079809 m/s, LOS rate: 0.156936 deg/s, cmd heading: 246.801427 deg, new cmd heading: 246.981095 deg. 2juh;HeadingCmd: 4.310633 target range: 496.299988 and range: 496.30 m. j@jjjihhhhff!f!rf!bf%@ɛu(BuZ$ y}Iy }_:ɚyiyI}j*=I|iOix!)@)HIC I$II BI&I.I6I<:Iv FBIqJIqRIqZIqbIqjIuĪ4*F2F:FBF1JFGO!GyBO^>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240785zKk3IK+9KKlK Itw,.NA:@Y:`@:CW9:t>y:H@AڿJ?V@Lڿ@J? \ʗ?`?@?ɨ:@: G٣yh< > Nusing accuracyPremultiplier from config49I ߛ?4Y & ilBn@mDh;;4 @ZjQUFNOT Ignoring new targets: 496.30 m.Bj],;Jj],; ProNav: ac range: 496.299988 m, nav range: 240.208755 m, bearing: 329.513028 deg, approach rate: -0.078626 m/s, LOS rate: 0.150981 deg/s, cmd heading: 246.981088 deg, new cmd heading: 247.193547 deg. 2j;;HeadingCmd: 4.314341 target range: 496.299988 and range: 496.30 m. j@jjjihhhhfffrfbf@;y@ɛ=&B=v 9=ƽI9 E;ɚAiAIE`U*=IiPi| )@)*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744668G # I G B O} >w,DNA:@Y:.@:b9:>y:H`iڿ?ԋ#Fٿ]?`m? ??ɨ:@:4Y;:+CyBBB$I%Mb@Mb@Mb@!!! !)!Y%Q?Zd;OI +?y%(?%j%94<%A %+@)%AI%A!y%AI=mI=3A4٢M\= Ma=9M ;Q U> G٣yqv< > Nusing accuracyPremultiplier from config49ߛ?4Y+ ilBK?:P@tD;;F-;24 %p@)MB*** querying acoustic contact ***jIjIZjY]FNOT Ignoring new targets: 496.30 m.Bjm9';Jju9'; ProNav: ac range: 496.299988 m, nav range: 240.193436 m, bearing: 329.568135 deg, approach rate: -0.040640 m/s, LOS rate: 0.146197 deg/s, cmd heading: 247.193535 deg, new cmd heading: 247.358866 deg. 2j;HeadingCmd: 4.317227 target range: 496.299988 and range: 496.30 m. j&@jjjihhhhBfffrfbf@x@ɛ%B oI ¬<ɚiI,A*=IilQiw)&@)I*F?2F:FBF 15JF G GEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.997850JJ JJJ ;Jun:JJG- !G B O- >ZHy RH} @AH >I  I #%II BBI &I .I 6I ְ<:I _ F) G  = Y9 y= $Bw,INA6Q@Y6Ba@6޶96qC>y6H@ ڿ?8MٿM?Vۖ?^7?@?ɨ6Q@6 ̉;6(Cy>B>$IFWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.248761INSIN4٢Z5= ZS=9^9Q ^>\\ bG٣bDGybډ< b> jNusing accuracyPremultiplier from configdj49fߛ?n4Yf0 iflBlnn@f|Dfz:f:f4vAB v @v?EZjFNOT Ignoring new targets: 496.30 m.Bj(;Jj(;5 ProNav: ac range: 496.299988 m, nav range: 240.177277 m, bearing: 329.621965 deg, approach rate: -0.044309 m/s, LOS rate: 0.147614 deg/s, cmd heading: 247.358880 deg, new cmd heading: 247.520379 deg. 2j=;zKEVBJKE9KAKEmKEj_Q# UHeadingCmd: 4.320045 target range: 496.299988 and range: 496.30 m. jU=@jQjQjQiQhQhYhYhYfafafarfabfeg @ %$?I!ɛ]$B]Rk Y]x!IY e,=ɚaiaIe?'*=Im)HimWbRim )m=@)q*F?2F:FBF_0JFGMWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504045G B O5 > PExceeded connect timeout, disconnecting.w,NA6@Y6㕉@6ⶼ96>y6Hܫٿ ?`Ձ@M8ٿ@s?ۖ?n??ɨ6@6|;6)CynBn$ItvAMb@Mb@Mb@ )Ygfffff?)\(y&1|?y3?Ga`;jA @)\AIy(AIfI44٢/= ;=9Q > G٣yp< > Nusing accuracyPremultiplier from config49ߛ?4Y6 ilB?:@D#;"";R4  s@ ZjFNOT Ignoring new targets: 496.30 m.Bj;Jj; ProNav: ac range: 496.299988 m, nav range: 240.172043 m, bearing: 329.682235 deg, approach rate: -0.011514 m/s, LOS rate: 0.132597 deg/s, cmd heading: 247.520373 deg, new cmd heading: 247.701186 deg. 2j;HeadingCmd: 4.323201 target range: 496.299988 and range: 496.30 m. jW@jjjihhhhBfffrfbf; @ɛ}#B}Q y}PIy q=ɚiIi*=IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:42:18.0983 TRx dataTimestamp_ set to:1736372539.433611checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754729iSi)W@) 1I1*F2F:FBFJFG  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=4.006734*J C="J %=JCKK3 KK.KCKC"KCJ J J J J e ;J p:J J w,NA2ǂ@Y2։@2D92>y2H`m4ٿ$?Zֿg@Aؿ:ϳ??R??ɨ2ǂ@2;2+Cy,B%%IIrIJ4٢ = UG=9]Q e> G٣yw< > Nusing accuracyPremultiplier from config49ޛ?4Y< ilB @D/;r;4 S@ZjamFNOT Ignoring new targets: 496.30 m.Bju ;Jju ;} ProNav: ac range: 496.299988 m, nav range: 240.165115 m, bearing: 329.742136 deg, approach rate: -0.016261 m/s, LOS rate: 0.140615 deg/s, cmd heading: 247.701182 deg, new cmd heading: 247.880890 deg. 2j;HeadingCmd: 4.326338 target range: 496.299988 and range: 496.30 m. j\q@jjjihhhhfffrfbf@g@H5>I1 I5[%II5pBI5> =&I1.I16I5<:I5q Fɛ"BB) 隥@ uBDAT read: Tx time:21:42:19.1820 u$Ping request sent.}·"?5z K?)I?i>%XH6?u@ $쿞y(fPzKNK9KKnKBK:K) Ip{|=is?Gn:publishing transmit ping timeqFpublishing direction and range info97a?)TA?aWղ?y Ig )Ii )Ii%XH6?u@ $쿞y(fP)IiG} rG9 BY O} >w,ǻOAy$B$I=Will construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:21:42:19.1812 mnManaging dock network, ignoring radio surface power offMb@Mb@Mb@ )Yn?~jtI +yV?94A )IyAIE_IEb(4٢M( U*=9UQ U>YY G٣DGy > Nusing accuracyPremultiplier from config49Tޛ?4YnB ilB?:@Dx;;4BB @BEk dB$?k ynV k  k m6NA:k LCBk CZk R@" Lw_3@M{@bo~r@0uyx@ 7a?)TA?aWղ?Jk s?Rk Gn* !8j@|a|YpT{@ LU?b>%GʿK(-?"k *k TCk k$?k a7 2k /Ck ?#?k @ k Ck *jCk @ addTargetRange:: Added new target pos. range: 496.600006 m, deltaT: 4.285217 s, deltaX: 0.300018 m, approachRate: 0.070012 m/s, rangeRepo size: 4  Added new target pos. range: 496.600006 m, bearing: 334.327872 deg, lat: 36.901915 deg, lon: -122.118236 deg, deltaT: 4.285217 s, deltaX: 0.300018 m, approachRate: 0.070012 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 496.60 m.BjJj ProNav: ac range: 496.600006 m, nav range: 234.167908 m, bearing: 332.860560 deg, approach rate: 0.000000 m/s, LOS rate: 0.140615 deg/s, cmd heading: 247.880898 deg, new cmd heading: 248.082332 deg. 2jHeadingCmd: 4.329854 target range: 496.600006 and range: 496.60 m. j)@jjjihhh!h% Bf!f!f!rf- @bf-i?ɛq/8 隝;I =ɚiI)=IiKTi))@)*Fe?2Fi:FiBFm_0JFi Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I G +Ga Bq O >_w,!$OA @:>@Y:5N@:ʼ9:#>y:HGXؿ`Y?\vT׿@H?J^???ɨ:>@:,;:'Cy@DIROIR 49ZQ Z ?\\ ^G٣\y^G<= b ? fNusing accuracyPremultiplier from config`f49bޛ?j4Yb|F iblBhjj@bDb%;b;b4p pp~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 496.60 m.Bj(;Jj(;- ProNav: ac range: 496.600006 m, nav range: 234.176575 m, bearing: 332.903976 deg, approach rate: 0.029417 m/s, LOS rate: 0.147358 deg/s, cmd heading: 248.082333 deg, new cmd heading: 248.212579 deg. 2j-B;HeadingCmd: 4.332127 target range: 496.600006 and range: 496.60 m. jȠ@jjjihhhhfffrfbf`?ɛ!B5 !%;I! % =ɚ!i!I%ۉ)=IMIiM}TiU)UȠ@)Q*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.GG?G>GyBOA>jH<bH<H>I It%IIBI= =&I.I6Iݰ<:Ie F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988440Mw,=OA 0I4F+i@YF{x@F+Ѽ9FQB>yFH ؿg?i᾿`L ׿?$??2?ɨF+i@F|;Dy^%B^%IIjFIj%3٢r; <9 wQ  >  G٣y3L< > %Nusing accuracyPremultiplier from config-49-ޛ?-4YK ilB)--@D::4zK=BoHK=9K9K=oK=1 e@aZjFNOT Ignoring new targets: 496.60 m.Bj;Jj; ProNav: ac range: 496.600006 m, nav range: 234.186920 m, bearing: 332.960813 deg, approach rate: 0.024437 m/s, LOS rate: 0.134248 deg/s, cmd heading: 248.212571 deg, new cmd heading: 248.383072 deg. 2jD;HeadingCmd: 4.335103 target range: 496.600006 and range: 496.60 m. j)@jjjihhhhff!f!rf!bf%?ɛm Bm32 q5<ɚ9i9IElV)=IZi9Tiě))@)i*F?2F :F BFm0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243037JyJ}J}1JyJyJ}s:J}3JyJ}Uw,rWOA6@Y6H@6ͼ96>y6H׿`{?_q^)׿gS? ?`+?`k?ɨ6@6ъ;6)CyBBB$IMb@Mb@Mb@ )Yn?l:vyԼ )IAyQAI-7I-3٢= =F=9=:Q E>AA EG٣EDGye < m> uNusing accuracyPremultiplier from configq}49uޛ?}4Yu3Q iulB}?}:}@uDu;uY;u4DB @ DEZjQ]FNOT Ignoring new targets: 496.60 m.Bje;Jje;mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.492144 ProNav: ac range: 496.600006 m, nav range: 234.194092 m, bearing: 333.017880 deg, approach rate: 0.016791 m/s, LOS rate: 0.133611 deg/s, cmd heading: 248.383080 deg, new cmd heading: 248.554277 deg. 2jd;HeadingCmd: 4.338090 target range: 496.600006 and range: 496.60 m. jъ@jjjihhhhBfffrfbfa?ɛ9 M$?IMg{W 隅¼I yB=ɚiI+)=Ii Ti10{)ъ@)*F12F9:F9BF=0JF9GrϼGBOm> Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744024w,qOAy~ B$Ii )>I >  AIIk4٢%@  %M=9-Q ->)) -G٣)y5 5> MNusing accuracyPremultiplier from configAM49Eޛ?U4YEXV iElBQQU@EDEu:E;E4a e@eGEZjFNOT Ignoring new targets: 496.60 m.Bjo%;Jjo%; ProNav: ac range: 496.600006 m, nav range: 234.201157 m, bearing: 333.072338 deg, approach rate: 0.018764 m/s, LOS rate: 0.144633 deg/s, cmd heading: 248.554272 deg, new cmd heading: 248.717641 deg. 2j;HeadingCmd: 4.340942 target range: 496.600006 and range: 496.60 m. j@jjjihhhhfffrfbf@G?ɛul XI +=ɚiI )=IniTiM)@) HI III&I.I6I԰<:I_ F*F?2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996247 AIAG]圼zKBoIK 9KKpKG1B9OU>w,OArWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251280JJJ0JJJw:Jـ3JJJJ;J;MI4@YMC@M㽼9M>yMH` ֿ\?X$ֿvU??2?`?ɨMI4@M;Iy]B]$I=Mb@Mb@Mb@999 9)9Y="~?L7A`尿X9vy=?=+==A 9)=AI=A9y=(AIUpIUF4٢e e+=9mӃ;Q m>ii mG٣iyu= u> }Nusing accuracyPremultiplier from configy49}-ޛ?4Y}\ i}xlB$?:N@}D};}};}W4 @ZjFNOT Ignoring new targets: 496.60 m.Bj";Jj"; ProNav: ac range: 496.600006 m, nav range: 234.200012 m, bearing: 333.140289 deg, approach rate: -0.002393 m/s, LOS rate: 0.142108 deg/s, cmd heading: 248.717650 deg, new cmd heading: 248.921503 deg. 2j ;HeadingCmd: 4.344500 target range: 496.600006 and range: 496.60 m. j$@jjjihhhhBfffrfbf@ɛ-B-u )-TI) - >ɚ1i1I5(=I5&i= Ti=u()=$@)A*F2F:FBFz2JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500034 ) I) G ݗG B O >w,\YOA2o@Y2 @2渼92>y2H ֿ?)  տg?O?~F??ɨ2o@2;2%Cy>BB$IIJnIJB4٢e  er=9e:Q m?ii mG٣uDGyu< ? Nusing accuracyPremultiplier from config49ޛ?4Ya iolB  @D ?<?<[4 %{@!uB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 496.60 m.Bjb;Jjb; ProNav: ac range: 496.600006 m, nav range: 234.197922 m, bearing: 333.189303 deg, approach rate: -0.005757 m/s, LOS rate: 0.134973 deg/s, cmd heading: 248.921490 deg, new cmd heading: 249.068532 deg. 2j B;5HeadingCmd: 4.347066 target range: 496.600006 and range: 496.60 m. j5*@j1j1j1i1h1h9h9h9f9fAfArfAbfE @ɛ= 隽ȽI ?ɚiI(=IikTWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752171i%o!)-*@))*F2F:FBFS5JFG+I,GQBaO|>ZHRHAAHI IU%IIkBI&I.I6I<:Ii FBI]ȔCJI]ȔCRIYZI]= =bI]> =jI]ȣT5 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003915  I! #w,>OA@Yд@/9d>yHտ?@;Sտ?d0?+? ?ɨ@;(Cy5܅B5$I)9 9 E=Ea=IIII٢eϧ eJ=9mXFQ m>izKuBoHKuh9KqKuqKuq G٣y/< > Nusing accuracyPremultiplier from config49ޛ?4Y:g idlBl@ǖD*:h;v4 @Zj9EFNOT Ignoring new targets: 496.60 m.BjE';JjM';} ProNav: ac range: 496.600006 m, nav range: 234.194153 m, bearing: 333.247179 deg, approach rate: -0.009549 m/s, LOS rate: 0.146646 deg/s, cmd heading: 249.068531 deg, new cmd heading: 249.242162 deg. 2j}H;HeadingCmd: 4.350096 target range: 496.600006 and range: 496.60 m. j3@jjjihhhhfffrfbf$ @ɛQU Y]IY ]9wAɚYiYI](=IwoiTib8)3@)*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260180JJJJJ-;Jp:JJJ/W<J0W<J;J;G G ?G ?G B O >w, OA:΄@Y:Dދ@:9:9>y:Hmտ?8%qտ?–?36?`?ɨ:΄@:;:+CyFBF$IMb@Mb@Mb@ )YK7A?~jtII MG٣IyUaT< U> eNusing accuracyPremultiplier from configYe49]ޛ?e4Y]Cm i]YlBm"?m:mTm@]ϖD];];]J4uEB uM@JEZjFNOT Ignoring new targets: 496.60 m.Bjc3;Jjc3;]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:21:42:22.2488 eTRx dataTimestamp_ set to:1736372543.468915echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.509330u ProNav: ac range: 496.600006 m, nav range: 234.175903 m, bearing: 333.307677 deg, approach rate: -0.047306 m/s, LOS rate: 0.156833 deg/s, cmd heading: 249.242154 deg, new cmd heading: 249.423661 deg. 2juD;}HeadingCmd: 4.353264 target range: 496.600006 and range: 496.60 m. j}M@jjjihhhhBfff $?IrfbfY @ɛ!%˼ )-F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759932$w,JOA6@Y6X@6 ]96.?>y6H)տ? (1XԿ.?*??ެ?ɨ6@6O;6'CyBBBr$IIJIJ4٢V ZS=9Zm9Q Z>\\ ^G٣^DGyb:< b> fNusing accuracyPremultiplier from configdj49f5ޛ?j4Yf:s ifNlBhj]@f֖DfwI9 I=#%II=BBI9&I=HD.I96I=İ<:I=T F~G 5Y9y= B*FY2FY:FYBFJFmWill construct direction to contact in vehicle frame from tetrahedron phase data. IgDAT read: 21:42:22.2488 LVL= 21200, 29169, 32754, 32755, AGC= 68, IDX= 447,-0.43, 1.80,-0.693, 0.480, PHS= 1.176, 0.147,-1.176, RAW= 55.9, -1.5, CAL= 58.5, -4.9, ROT= 91.5, 4.9 !unknown deviceResponse_: 21:42:22.2488 LVL= 21200, 29169, 32754, 32755, AGC= 68, IDX= 447,-0.43, 1.80,-0.693, 0.480, PHS= 1.176, 0.147,-1.176, RAW= 55.9, -1.5, CAL= 58.5, -4.9, ROT= 91.5, 4.9 PDAT read: Bearing 91.5, 4.9 (Local) ~Local bearing/azimuth received: Bearing 91.5, 4.9 (Local) DAT read: Range 10 to 50 : 496.9 m (Round-trip 662.6 ms) speed -0.1 m/s ,DAT read: user:1992> BDAT read: Tx time:21:42:23.3320 $Ping request sent.w, PAfWill construct direction to contact in vehicle frame from tetrahedron phase data.rJDAT read: TxSync time:21:42:23.3312 JJ JJJ ;Jbl:JJJQ<JQ<J3;J4;@Y+@9@ >yH/տ?`t@07UԿ??@?ǯ?ɨ@Ua;(CyBc$I  AMb@Mb@Mb@ )Ym? G٣yΓ; > Nusing accuracyPremultiplier from config 49lޛ? 4Y{ iClB.?:@DaB;@;4 @M addTargetRange:: Added new target pos. range: 496.899994 m, deltaT: 4.032067 s, deltaX: 0.299988 m, approachRate: 0.074400 m/s, rangeRepo size: 4 ZjIUFNOT Ignoring new targets: 496.60 m.BjUC;JjUC;m ProNav: ac range: 496.600006 m, nav range: 234.114273 m, bearing: 333.451801 deg, approach rate: -0.086851 m/s, LOS rate: 0.171269 deg/s, cmd heading: 249.602706 deg, new cmd heading: 249.856093 deg. 2jm;mHeadingCmd: 4.360812 target range: 496.600006 and range: 496.90 m. juŋ@jqjqjqiqhqhqhyh}^Bfyffrf`f@bf?ɛ-߼ 隽rI ~9JɚiI)=IXiRiR9)ŋ@)*F=?2F9:F9BF=_0JF9mWill construct direction to contact in vehicle frame from tetrahedron phase data. IG} ;GQ Ba O} >U5 w,^&PA6@Y6@6ż96Ý >y6H`տ`?`b6Կ` ??3%?ų?ɨ6@6;6)Cy>B><$IIJoIJD4٢R_R R=9V'Q V?TT ZG٣XyZ Z? bNusing accuracyPremultiplier from config\b49^ޛ?f4Y^ i^=lBdff@^D^:^:^4h j@lZj  FNOT Ignoring new targets: 496.60 m.Bj=;Jj=;% ProNav: ac range: 496.600006 m, nav range: 234.089584 m, bearing: 333.501034 deg, approach rate: -0.083074 m/s, LOS rate: 0.165679 deg/s, cmd heading: 249.856106 deg, new cmd heading: 250.003820 deg. 2j%h;-HeadingCmd: 4.363390 target range: 496.600006 and range: 496.90 m. j-䠋@j)j1j1i1h1hhhf f f rf1bf5J|?ɛT 隍bI uMɚiI$)=Iۻi?Rio)䠋@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F2F:FBFo0JF"G=G=jHM<bHMp<HQIQ IU$IIUBIQ&IQ.IQ6IUڰ<:IUe FGG B O > I  Will construct direction to contact in vehicle frame from tetrahedron phase data.w,y@PA>@Y> @>ʼ9>PA>y>H տ@?`5O@6 aԿ`Bٰ?@:O? ך?@?ɨ>@>䑉;pp rG٣rDGyvW v> zNusing accuracyPremultiplier from configx~49zωޛ?~4Yzه iz4lB| @zDz ;zK ;zI4 HB @ NE-B*** querying acoustic contact ***j)j)Zj15FNOT Ignoring new targets: 496.60 m.BjMD>;JjMD>;] ProNav: ac range: 496.600006 m, nav range: 234.055878 m, bearing: 333.569113 deg, approach rate: -0.082348 m/s, LOS rate: 0.166345 deg/s, cmd heading: 250.003830 deg, new cmd heading: 250.208095 deg. 2j]R;eHeadingCmd: 4.366955 target range: 496.600006 and range: 496.90 m. je@jajajaiahihihihifqfqfqrfqbf}/Q?ɛp 隭I z[QɚiIG)=IGzKU3MKQKQKUsKUipQieꤻ)e@)i*F2F:FBF0JFG^غGBOA>Will construct direction to contact in vehicle frame from tetrahedron phase data.iT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JUJUJQJQJUE ;JUr:JQJQJUpP<JUpP<JU;JU;`Gw,UZPA2@Y2-@2ͼ92q>y2HDտ`?|Y5Կ l? b?9?@ַ?ɨ2@2Q;2'CyRnBR$I Za=Zp=5Mb@Mb@Mb@111 1)1Y5V-?y&1?L7A`堿y5ai mG٣iymY m> }Nusing accuracyPremultiplier from configq}49uBޛ?4Yu iu0lB@=?:q @uDu;u;u#4 @ZjFNOT Ignoring new targets: 496.60 m.BjZK;JjZK; ProNav: ac range: 496.600006 m, nav range: 234.003647 m, bearing: 333.644223 deg, approach rate: -0.123604 m/s, LOS rate: 0.177786 deg/s, cmd heading: 250.208107 deg, new cmd heading: 250.433485 deg. 2j;HeadingCmd: 4.370889 target range: 496.600006 and range: 496.90 m. jRދ@jjjihhhhBfffrfbf ? $?ImWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.503201ɛ0  `I .aVɚiIp)=I!iQi )Rދ@)*F2F:FBF/1JFG i"G B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756218tw,~;tPAy`B $II-I-@4٢=폽 =L=9=Q E>AA EG٣AyM M> UNusing accuracyPremultiplier from configQ]49U{ޛ?]4YU) iU+lBaae @UDUG:U;:U*4mJB m@mPEZjFNOT Ignoring new targets: 496.60 m.BjuL;JjuL; ProNav: ac range: 496.600006 m, nav range: 233.954391 m, bearing: 333.715642 deg, approach rate: -0.123253 m/s, LOS rate: 0.178752 deg/s, cmd heading: 250.433476 deg, new cmd heading: 250.647777 deg. 2jZ;HeadingCmd: 4.374629 target range: 496.600006 and range: 496.90 m. j@jjjihhhhfH>I I$IIBI&I.I6I<:I9 Ffqfqrfqbfu?ɛ! ׿I Y[ɚiIl)=IKiQi:)-@))*F?2F:FBF`5JF I gWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008492GJGYBaOY>zKMBHKMs9KIKMtKM BKUpA:KUpAY#w, PAvWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263149t@Y!@q\ȼ*Jq"Jq9>yH!Կ?`b:Կǰ? ?N?`?ɨt@;)CymTBm#I]Mb@Mb@Mb@YYY Y)YY]/$?S㥫?y&1y]1H?]/]=]`e]A ]@)]AI]AYy]AImImt4٢> +=9:Q > G٣DGy; > Nusing accuracyPremultiplier from config49rޛ?4Y i2lBH?:꿑 @DN;;24 W@ZjFNOT Ignoring new targets: 496.60 m.BjX;JjX; ProNav: ac range: 496.600006 m, nav range: 233.881592 m, bearing: 333.805742 deg, approach rate: -0.152589 m/s, LOS rate: 0.188910 deg/s, cmd heading: 250.647780 deg, new cmd heading: 250.918162 deg. 2j<HeadingCmd: 4.379348 target range: 496.600006 and range: 496.90 m. j#@jj j i h h hhمBfffrfbf` @ɛAM # IM6˾II M6aɚIiIIU)=IUi]Qi]DY)]#@)Y*F}?2F:FBFJF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512546G ZG qAG Gy B O >ك)w,PABs@YB'@Bɼ9B'u>yBHԿ??h`<`|Կİ?6?F??ɨBs@Bi;B+CyNXBR$II^I^)4٢n< n=9rp Q r ?tt zG٣xyz; ~ ?  Nusing accuracyPremultiplier from config 49 hmޛ?4Y  i 6lB!%꿑% @ D D\; v\; 845KB 5,@=SEZjFNOT Ignoring new targets: 496.60 m.BjS;JjS; ProNav: ac range: 496.600006 m, nav range: 233.833008 m, bearing: 333.866058 deg, approach rate: -0.148577 m/s, LOS rate: 0.184494 deg/s, cmd heading: 250.918173 deg, new cmd heading: 251.099159 deg. 2j;;]HeadingCmd: 4.382507 target range: 496.600006 and range: 496.90 m. j]=@jajajaiahahahihifififrfbf@@ɛoH/ 隍ǾI feɚiI*=InIiQi.y)=@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765324JuJu JqJqJue ;Juun:JqJqa@a@a@a@*FE?2FA:FABFE4JFAGKGBO-o>ZHRH?AHI I$IIÅBI&I.I6Iٰ<:If F I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016137l0w,PA6@Y6X"@69˼96F>y6H@Կ@?`;@lԿ?f? #?,?ɨ6@6;6)CyBSBB#IIJIJF4٢Zȼ ZM=9^Q ^>\` bG٣`ybٺ b> jNusing accuracyPremultiplier from configdj49ffޛ?n4Yf if;lBln꿑n @f"Df ;f ;f?4p v|@tB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 496.60 m.Bj6[;Jj6[; ProNav: ac range: 496.600006 m, nav range: 233.773438 m, bearing: 333.940769 deg, approach rate: -0.152772 m/s, LOS rate: 0.191651 deg/s, cmd heading: 251.099146 deg, new cmd heading: 251.323336 deg. 2j<HeadingCmd: 4.386420 target range: 496.600006 and range: 496.90 m. j]@jjjihhhhfffrfbf@ɛIM / IzKu1LKu9KqKuuKu"* ?>(RZ$vovm\N<,":b@ RK}?JK}?隽Y̾I jɚiIL*=I9imQRimJ)m]@)qEyE}rA*F2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274321G% UG- ?G- ?G B O% >/6w,,PAyZB$I $?IMb@Mb@Mb@ )Y|?5^?Q?~jtxyM?u=ĻA )AIAyAIId4٢< 9=9Q > G٣DGy  > %Nusing accuracyPremultiplier from config]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.521799549^ޛ?M4Y' iElBUfN?U:U!꿑U @.Da#="=OG4]LB ])@eTEZjFNOT Ignoring new targets: 496.60 m.Bj 6I;Jj 6I;% ProNav: ac range: 496.600006 m, nav range: 233.703476 m, bearing: 334.027266 deg, approach rate: -0.142241 m/s, LOS rate: 0.175912 deg/s, cmd heading: 251.323340 deg, new cmd heading: 251.582905 deg. 2jMt;MHeadingCmd: 4.390950 target range: 496.600006 and range: 496.90 m. jU@jQjQjQiQhQhQhYh]BfYfYfarfabfe @ɛσ 3žI! -qɚ)i)I-*=I54i5saRi5)5@)9*F5?2F9:F9BF9JF9 Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:42:26.3988  TRx dataTimestamp_ set to:1736372547.760680 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773157J J J J J ;J J J G S.G B O >=w,PA: @Y:J@:oѼ9:=>y:HԿ`'?7 ƜԿM2?`5? ??ɨ: @:Ͼ;8yBiBF$I J=J=IN|IN[4٢VƤ= VU=9ZQ Z>XX ^G٣\y^> ^> fNusing accuracyPremultiplier from config`f49bDXޛ?j4Yb ibMlBhjE꿑j @b8Db\:b:bM4H->I-C I-z$II-BI-< =&I).I)6I-<:I-Q FBIJIRIZIbI= =jI4I U-@QZjFNOT Ignoring new targets: 496.60 m.Bjn;Jjn; ProNav: ac range: 496.600006 m, nav range: 233.644852 m, bearing: 334.100739 deg, approach rate: -0.166585 m/s, LOS rate: 0.208831 deg/s, cmd heading: 251.582915 deg, new cmd heading: 251.803388 deg. 2jQ<HeadingCmd: 4.394798 target range: 496.600006 and range: 496.90 m. j0@jjjihh h h f ffrfbf@ɛBM, 隅I tɚiI*=IiݿRiܼ)0@) Ig*FU?2FQ:FQBFU`0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024973GMNGB9OuX>zKuMOKu+9KqKuvKu{{fVE8-&@%nPSmdQB3)  Cw,ߧQAWill construct direction to contact in vehicle frame from tetrahedron phase data.*JNR="JN=DAT read: 21:42:26.3988 LVL= 19952, 29201, 22930, 26355, AGC= 69, IDX= 430, 0.17, 0.508,-0.604,-1.905,-0.733, PHS= 1.329, 0.175,-1.176, RAW= 57.4, -3.1, CAL= 61.4, -7.4, ROT= 88.6, 7.4 MYgot valid direction response: 21:42:26.3988 LVL= 19952, 29201, 22930, 26355, AGC= 69, IDX= 430, 0.17, 0.508,-0.604,-1.905,-0.733, PHS= 1.329, 0.175,-1.176, RAW= 57.4, -3.1, CAL= 61.4, -7.4, ROT= 88.6, 7.4 UPDAT read: Bearing 88.6, 7.4 (Local) ]~Local bearing/azimuth received: Bearing 88.6, 7.4 (Local) eDAT read: Range 10 to 50 : 496.9 m (Round-trip 662.6 ms) speed -0.1 m/s ,DAT read: user:1993> BDAT read: Tx time:21:42:27.4820 $Ping request sent.+;?k] >+?) AI.?i A>էfCi?^QM)\ًIZ=i?je:publishing transmit ping timeeFpublishing direction and range info9X3? Sp?ٷ+e?y )Ii )IiէfCi?^QM)IiyuB'$I-Mb@Mb@Mb@))) )))Y-Zd;O?Q?~jt?y-~J?)-D<-A -@)-AI-A)y-zAIeIem4٢m= u =9Q > G٣y > Nusing accuracyPremultiplier from config49Mޛ?4Y iflBK?:}꿑 @GD;R;fX4MB @WEkPA*?kњ k kQA:ksCBkCZk۫@"kq;b0@bϏr@oQx@X3? Sp?ٷ+e?Jk?Rkj*Xll@JU!rz@f/EAA?A@,4ƿ ?"kd*kgCkm*?k)ê 2kCkk$?k kkkCkE@ addTargetRange:: Added new target pos. range: 496.899994 m, deltaT: 4.292646 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4  Added new target pos. range: 496.899994 m, bearing: 339.605179 deg, lat: 36.901948 deg, lon: -122.118200 deg, deltaT: 8.324713 s, deltaX: 0.299988 m, approachRate: 0.036036 m/s, posRepo size: 4 ZjWill construct direction to contact in vehicle frame from tetrahedron phase data.FNOT Ignoring new targets: 496.90 m.BjJj ProNav: ac range: 496.899994 m, nav range: 235.548782 m, bearing: 335.310727 deg, approach rate: 0.000000 m/s, LOS rate: 0.208831 deg/s, cmd heading: 251.803393 deg, new cmd heading: 252.182092 deg. 2jHeadingCmd: 4.401408 target range: 496.899994 and range: 496.90 m. jU،@jjQjQiQhQhYhYh]BfYfafarfabf=?ɛ9 I {ɚiI *=I i Si ) U،@) *F ?2F :F BF :4JF G6GrAGWill construct direction to contact in vehicle frame from tetrahedron phase data.GBJJJJJe ;J3g:JJO?Lw,[2QA6@Y6@6ټ96>y6H@s տ?^5୨Կ? >??O?ɨ6@6|y;4yBBBG$IIJIJkf4٢R> Rs=9VEGQ V?TT VG٣ZDGyZF Z? ^Nusing accuracyPremultiplier from config\f49^0Hޛ?f4Y^ i^tlBdj꿑j @^OD^8;^8;^5^4nOB n@nYEZj FNOT Ignoring new targets: 496.90 m.Bji;Jji; ProNav: ac range: 496.899994 m, nav range: 235.504700 m, bearing: 335.373892 deg, approach rate: -0.142559 m/s, LOS rate: 0.204307 deg/s, cmd heading: 252.182086 deg, new cmd heading: 252.371615 deg. 2j6 <HeadingCmd: 4.404716 target range: 496.899994 and range: 496.90 m. jn@jjjihhhhfffrfbfב?ɛ=B=r 9EIA Ec~ɚAiAIE+*=IMqiMh?TiM@v)Mn@)Q)) )jHYbH]<HaIa Ie$IIeͅBIa&Ia.Ie/D6Ieu<:Ie FG*FtA2F:FBF`0JF) M YMtAyMBG IgGaBiO\>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK AOK h9K K wK Rw,LQA@Y@s9 >yH`$-տ.?N߾`/Կ ?P?П??ɨ@;騕'CyBd$IAIHI<3٢= 8=9 Q >   G٣ y >Will construct direction to contact in vehicle frame from tetrahedron phase data. Nusing accuracyPremultiplier from configU49?ޛ?]4YD ilB 꿑 @[D=+=f4I M@IB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 496.90 m.BjF;JjF; ProNav: ac range: 496.899994 m, nav range: 235.443100 m, bearing: 335.464121 deg, approach rate: -0.118694 m/s, LOS rate: 0.173904 deg/s, cmd heading: 252.371610 deg, new cmd heading: 252.642365 deg. 2j;HeadingCmd: 4.409441 target range: 496.899994 and range: 496.90 m. j$@jjjihhhhf f f rf bf@\k?ɛy}A 隅kI OɚiID+=Ii=eUi9))$@)*F?2F:FBF_0JF $?I= Will construct direction to contact in vehicle frame from tetrahedron phase data.= T****** received valid address query ******= R****** received valid ping request ******E Querying Benthos address 50 with one ping in standard two-way mode.G oG ?G >Gi Bq O >+Yw,wfQAy%…B%$IMb@Mb@Mb@ )YK7A?l? 5B=95Q =>9A EG٣AyM U> eNusing accuracyPremultiplier from configYm49]8ޛ?m4Y] i]lBmUB?u:uyu @]eD]/;]-;]]m4 @ZjAMFNOT Ignoring new targets: 496.90 m.BjM^;JjM^; ProNav: ac range: 496.899994 m, nav range: 235.402924 m, bearing: 335.535915 deg, approach rate: -0.108925 m/s, LOS rate: 0.194681 deg/s, cmd heading: 252.642359 deg, new cmd heading: 252.857779 deg. 2j<HeadingCmd: 4.413201 target range: 496.899994 and range: 496.90 m. j8@jjjihhhh#Bfffrfbf`\U?ɛ-B-? 153I1 5:0ɚ1i1I5'+=Ie[ie UVimn4)m8@)ieWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.425460JJ JJJJOj:JJ*F?2F:FBF`0JFGoGBO>H- >I- C I- $II- BI) &I) .I- .D6I- <:I- x F I P`w,ybH@Կ?`A`!UԿ`w???C?ɨbp'@b?;b*CjWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.678735yمB$II-rI-J4٢= T=9<:Q > G٣DGyp< > Nusing accuracyPremultiplier from config491ޛ?4Y ilB @nD.;S.;t4 Y@ZjFNOT Ignoring new targets: 496.90 m.Bj\;Jj\;- ProNav: ac range: 496.899994 m, nav range: 235.362198 m, bearing: 335.605934 deg, approach rate: -0.112163 m/s, LOS rate: 0.192873 deg/s, cmd heading: 252.857783 deg, new cmd heading: 253.067876 deg. 2j-]<5HeadingCmd: 4.416868 target range: 496.899994 and range: 496.90 m. j5V@j1j9j9i9h9h9hAhAfAfAfArfIbfM`?ɛy}Ҽ y隅I 삼ɚiI*=I~iWi޴')V@)*F 2F :F BF 0JF zKLK9KKxKG5r(uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.928553G B9 O >{7fw,'QAJK@YJZ@JW+9J}>yJH āԿ_ ?TLjԿ~o?D?j??ɨJK@J,;J&CynBn$I v=v=mMb@Mb@Mb@iii i)iYm"~?{Gz?{Gz?ym3?mף L=9V:Q > G٣y4< > Nusing accuracyPremultiplier from config49*ޛ?4Y2 ilB4?:￑ @wD1;;{4QB @]E 9IEgZjFNOT Ignoring new targets: 496.90 m.Bj29;Jj29; ProNav: ac range: 496.899994 m, nav range: 235.327698 m, bearing: 335.673905 deg, approach rate: -0.082171 m/s, LOS rate: 0.161912 deg/s, cmd heading: 253.067880 deg, new cmd heading: 253.271819 deg. 2j<;HeadingCmd: 4.420427 target range: 496.899994 and range: 496.90 m. j$t@jjjihhhhBfff rf bf @ɛB{ 隥蒽I qɚiI*=IniXis%)$t@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.182767*F%?2F):F)BF-0JF)Gm 'GA BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.4317429dlw,DQA:|{@Y:̊@:0߼9:>y:H&Կ\?+\ӿ M?b?`? ?ɨ:|{@:M;:'CyzBz$III1h4٢> R=9YX:Q >!! %G٣!y-v< -> 5Nusing accuracyPremultiplier from config1=495#ޛ?=4Y5 i5lBAE￑E @5D5:5.:5݁4I M @IZjq}FNOT Ignoring new targets: 496.90 m.BjL;JjL; ProNav: ac range: 496.899994 m, nav range: 235.292923 m, bearing: 335.739919 deg, approach rate: -0.094290 m/s, LOS rate: 0.179021 deg/s, cmd heading: 253.271829 deg, new cmd heading: 253.469901 deg. 2j;HeadingCmd: 4.423884 target range: 496.899994 and range: 496.90 m. jv@jjjihhhhfffrfbf@ɛAEk Iu`I ɚiI@*=IiXi5)v@)ZHRHH>I I%II3BI= =&I.I6IѰ<:I_ F*F2F:FBF`5JF )I)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.683668GE ,&G9 BQ Oi zK m$JK 9K K yK RK ?JK ?dIsw, QA2@Y2ص@2IV92N>y2Hӿ@"?@$~i aӿ :?`)?Ͷ?פ?ɨ2@2-χ;2*Cy:0B: %IIJqIJJH4٢> L=9 Q  > G٣%DGy%U< -> =Nusing accuracyPremultiplier from config1E495"ޛ?E4Y5> i5lBAEUM @5D5%;5:54Q U@QZjy}FNOT Ignoring new targets: 496.90 m.Bj8B;Jj8B; ProNav: ac range: 496.899994 m, nav range: 235.255692 m, bearing: 335.808405 deg, approach rate: -0.092295 m/s, LOS rate: 0.169800 deg/s, cmd heading: 253.469905 deg, new cmd heading: 253.675394 deg. 2j;HeadingCmd: 4.427471 target range: 496.899994 and range: 496.90 m. j׭@jjjihhhhfffrfbf@ɛeKW 8(=I Jɚi I m*=I i¦Yi)׭@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.946812JK3 K.-KK"KJJ J1JJ;Jun:J3JJ<[- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.196588pwyw,QA6Iۅ@Y6@6߼96~>y6H@pӿ3?@ yҿ )?`? ?ӥ?ɨ6Iۅ@6;6'CyBIBB+%IEMb@Mb@Mb@AAA A)AYE&1?Mb{Gz?yE0?EE# G٣yq< %> -Nusing accuracyPremultiplier from config!549%ޛ?54Y% i%lB50?=:== @%D% ;%;%4A E@AeB*** querying acoustic contact ***jajaZjq}FNOT Ignoring new targets: 496.90 m.Bj}>;Jj}>; ProNav: ac range: 496.899994 m, nav range: 235.229294 m, bearing: 335.881415 deg, approach rate: -0.060339 m/s, LOS rate: 0.166903 deg/s, cmd heading: 253.675384 deg, new cmd heading: 253.894438 deg. 2j;HeadingCmd: 4.431294 target range: 496.899994 and range: 496.90 m. j)͍@jjjihhhhÆBfffrfbf@ @ɛ=B=?%# 9=Ը=I9 =%ɚAiAIEU*=I iyZi))͍@)EG>E>*F92F9:F9BF=3JFA"GE=GE=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:42:30.5485 TRx dataTimestamp_ set to:1736372551.801139checking for new query: numPingsReceived=0, elapsed TxPingTime=3.449203HI Ia%IIuBI&IID.I6I<:ID FGe GY Ba O > I {\w,RAV` @YV@V 9V>yVH%ӿ@@?`@ {ҿ̱?`?@H?|?ɨV` @VLz;TrWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.700008y=YB=@%II]iI]:4٢e= mV=9mQ m>iq uG٣qy}}< }> Nusing accuracyPremultiplier from config49 ޛ?4YQ ilB @D::64RB @`EZjFNOT Ignoring new targets: 496.90 m.Bj@;Jj@; ProNav: ac range: 496.899994 m, nav range: 235.204895 m, bearing: 335.945432 deg, approach rate: -0.064157 m/s, LOS rate: 0.168351 deg/s, cmd heading: 253.894442 deg, new cmd heading: 254.086513 deg. 2j;HeadingCmd: 4.434646 target range: 496.899994 and range: 496.90 m. j@jjjihhhhfffrfbf@ɛ)-`4 )-X=I1 5ぼɚ1i1I50*=I=i=[i=m)E@)A*F2F:FBF_0JFzK%BoHK% 9K!K%zK%Will construct direction to contact in vehicle frame from tetrahedron phase data.*J"J%=JJJ0JJ-;Js:Jـ3JJ/W<J0W<Jx;Jy;G|G B 5 DAT read: 21:42:30.5485 LVL= 19824, 29169, 23378, 31859, AGC= 68, IDX= 426, 0.33,-1.456,-2.450, 2.521,-2.627, PHS= 1.259, 0.224,-1.138, RAW= 55.5, -3.4, CAL= 59.3, -7.6, ROT= 90.7, 7.6 ] Ygot valid direction response: 21:42:30.5485 LVL= 19824, 29169, 23378, 31859, AGC= 68, IDX= 426, 0.33,-1.456,-2.450, 2.521,-2.627, PHS= 1.259, 0.224,-1.138, RAW= 55.5, -3.4, CAL= 59.3, -7.6, ROT= 90.7, 7.6 O >] PDAT read: Bearing 90.7, 7.6 (Local) ] ~Local bearing/azimuth received: Bearing 90.7, 7.6 (Local) m DAT read: Range 10 to 50 : 496.7 m (Round-trip 662.3 ms) speed 0.1 m/s u ,DAT read: user:1994>  BDAT read: Tx time:21:42:31.6321  $Ping request sent. ٝٝw?ٝs ڝ;z?)ڝIڝ0?iڝ>ڙڙ۝¡dP??~쿘)۝$I۝o=i۝~?۝bۙۙ :publishing transmit ping timeؙ  Fpublishing direction and range infoؙ9؝ѯf?si4?p ?yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝¡dP??~쿘)ۙIۙiۙۙۙVw,]RA IypB\%IMb@Mb@Mb@ )YK?MbQQ ]G٣]DGy] ]> eNusing accuracyPremultiplier from configa49eޛ?4Ye3 ielB?: @eDekI xɚiI)=I i\i )f @)*F]?2FY:FYBFYJFYG} O Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BA Om > w,:v5RAyBq%IIIId4٢%= -o=9)Q -?)1 5G٣1y1 5? ENusing accuracyPremultiplier from config9E49=iݛ?M4Y=0 i=mBIIM @=D=P:=:=>4Q ]#@YZjFNOT Ignoring new targets: 496.70 m.Bj3;Jj3; ProNav: ac range: 496.700012 m, nav range: 240.351089 m, bearing: 337.040125 deg, approach rate: -0.012686 m/s, LOS rate: 0.157305 deg/s, cmd heading: 254.336738 deg, new cmd heading: 254.482611 deg. 2j;HeadingCmd: 4.441559 target range: 496.700012 and range: 496.70 m. jA!@jjjihhhhfffrfbfl?ɛs: N>I }ɚiI r)=Igi\i G!) A!@) jHQbHU4<H]>IY I]%II]BIY&IY.I]/D6I]Ȱ<:I]V FBI)JI)RI)ZI)bI)jI-~5*FU?2FQ:FQBFU`0JFQGY GY $?IgG% G)G)GBO J>Will construct direction to contact in vehicle frame from tetrahedron phase data.zKy K} 9Ky K} {K} ]dB(ڨw,qYORA2<@Y2@2w92 Q>y2H-ҿ b? Ϊ ѿC?ʍ? a?@?ɨ2<@2O;2(CyNBN%IIV`IV(*4٢^= bQ=9bлQ b>`d jG٣hyrX= r> Nusing accuracyPremultiplier from configy49}ݛ?4Y}R i} mB @}D}:}G:}t4  @Zj%FNOT Ignoring new targets: 496.70 m.Bj% ;Jj% ;5Will construct direction to contact in vehicle frame from tetrahedron phase data.U ProNav: ac range: 496.700012 m, nav range: 240.342880 m, bearing: 337.099565 deg, approach rate: -0.019391 m/s, LOS rate: 0.140404 deg/s, cmd heading: 254.482603 deg, new cmd heading: 254.660927 deg. 2j];eHeadingCmd: 4.444672 target range: 496.700012 and range: 496.70 m. je:@jiJJ JJJ ;Jun:JJJQ<JQ<J;J;jijihhh h1f9fAfrfbf ?ɛBp (q>I 5{ɚiI8(=IjTiT]i):@)*F2F:FBFJF yIy Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O% >әw,7iRAbxʆ@Ybٍ@bw9b*>ybHѿ v?SR0ѿӱ?-???ɨbxʆ@b߇;b)CyrBv%IMb@Mb@Mb@ )Yn?I +Mby?94&A )AI3AyI5I3٢O= <=9Q > G٣DGy< > Nusing accuracyPremultiplier from configm49ݛ?m4YW& imBus?u:uu @D<<4}UB }@}eEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 496.70 m.Bj-;Jj-; ProNav: ac range: 496.700012 m, nav range: 240.331314 m, bearing: 337.157499 deg, approach rate: -0.027433 m/s, LOS rate: 0.137415 deg/s, cmd heading: 254.660926 deg, new cmd heading: 254.834736 deg. 2j;HeadingCmd: 4.447705 target range: 496.700012 and range: 496.70 m. jS@jjjihhhh%Bfffrfbf?ɛ3i; v=)>I TxɚiI0(=I%i%]i%˼)%S@))E9E=oA*F?2F:FBF0JFEWill 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.GoGBOa>}G|uA)HQIQ IU%IIUBIQ&IQ.IQ6IU<:IU7 F }.Y}|uAy}B a Ia w,RA6 @Y6[@6>96=>y6H,ѿO?Q@`п%Y?n???ɨ6 @6;4RWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.664115yVBV%I\^A`b@AIbtIbM4٢j*< jZ=9nL;Q n>lp rG٣pyr< r> zNusing accuracyPremultiplier from configtz49vݛ?~4Yv+ ivmB|~~ @vDv ;v ;v=4 @ ZjFNOT Ignoring new targets: 496.70 m.Bj;Jj; ProNav: ac range: 496.700012 m, nav range: 240.319351 m, bearing: 337.209941 deg, approach rate: -0.031816 m/s, LOS rate: 0.139481 deg/s, cmd heading: 254.834740 deg, new cmd heading: 254.992075 deg. 2js;HeadingCmd: 4.450451 target range: 496.700012 and range: 496.70 m. jj@jjjihh!h!h!f!f)f)rf)bf-(?ɛ|O; 隽ׁ>I A%uɚiI+(=Ii]i )j@)*FE?2FA:FABFE0JFAzK`MKh9KK|KBK:KUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.916362JJJJJ ;Jd:JJJ#S<J#S<J ;J ;G .G B Ou >w,RA Iy B %IMb@Mb@Mb@ )Y|?5^?A`" G٣y > Nusing accuracyPremultiplier from config49$ݛ?4Y1 i mB?: @ɗD;;4WB 9@fEZj%FNOT Ignoring new targets: 496.70 m.Bj-$;Jj-$; ProNav: ac range: 496.700012 m, nav range: 240.309570 m, bearing: 337.269618 deg, approach rate: -0.023614 m/s, LOS rate: 0.144085 deg/s, cmd heading: 254.992081 deg, new cmd heading: 255.171118 deg. 2j;HeadingCmd: 4.453576 target range: 496.700012 and range: 496.70 m. j@jjjihhhh2Bfffrfbf@@ɛmBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.168524m$E; 隽a>I m_qɚiIݵ'=I0i J^i %Ǽ) @)*F?2F:FBF2JFG}GQBaO}z>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.420211+w,¶RAR퐇@YR=@Rۼ9Ry>yRH(п?`pyϿ10? y??@?ɨR퐇@R=4;R'Cy~B~%III_v4٢-Y -T=9-;Q ->11 5G٣1y=:/= => ENusing accuracyPremultiplier from configAM49Eݛ?M4YE}7 iEmBIUU @EїDEn ;E2;E4a eo@aZjFNOT Ignoring new targets: 496.70 m.Bj;Jj; ProNav: ac range: 496.700012 m, nav range: 240.297470 m, bearing: 337.322430 deg, approach rate: -0.031440 m/s, LOS rate: 0.137226 deg/s, cmd heading: 255.171114 deg, new cmd heading: 255.329557 deg. 2jZ;HeadingCmd: 4.456341 target range: 496.700012 and range: 496.70 m. jY@jjjihhZHRHH>I I &IIBI&I.I6I<:I? Fh1h1f9f9f9rf9bf=@@ɛԃ; 隍>I 6nɚiIT'=IieF^i?7)Y@) IgWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.672250E+,=E!E%>*F?2F:FBF0JFzK BIK +9K K }K G G B O>δw,)RA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.924416Zɇ@YZa؎@ZY4׼9Z>yZHwϿ_?@8ο@ڒ?`?@0? ?ɨZɇ@Zأ;Z(CybBf%I)h h j=hInIn{4٢=G =9%:Q %>)Q UG٣UDGy]'T< ]> eNusing accuracyPremultiplier from configam49emݛ?m4Ye? iemB @eڗDe;e;e4 |@ZjFNOT Ignoring new targets: 496.70 m.Bj;Jj;% ProNav: ac range: 496.700012 m, nav range: 240.279068 m, bearing: 337.395058 deg, approach rate: -0.034268 m/s, LOS rate: 0.135259 deg/s, cmd heading: 255.329547 deg, new cmd heading: 255.547448 deg. 2j%;MHeadingCmd: 4.460145 target range: 496.700012 and range: 496.70 m. jM@jIjIjQiQhQhQhQhYfYfYfYrfYbfe7 @ɛB : >I iɚiI6&=IiYi$^i7')@ -$?I1)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.176331E @o=*F ?2F :F BF o0JF G-~7IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:42:34.6989 TRx dataTimestamp_ set to:1736372555.834513checking for new query: numPingsReceived=0, elapsed TxPingTime=3.431796GJJJJJJ~o:JJa@a@a@a@B)OE?w,AFRA60@Y6@6Ӽ96~>y6H ο@Ͽ?Q{ Ϳ@/?~?@?̣?ɨ60@63;6)Cy>B>%IMb@Mb@Mb@ )Yl?~jty&1y?`A )AI3AyAIqIJH4٢C !=9N:Q >!! %G٣!y-2< ->H]>I]C I]&II]BI]< =&I]HD.IY6I]0<:I] F uNusing accuracyPremultiplier from configq}49uݛ?}4YuF iulB}?:e￑ @uDu ;u ;u4XB Q@iEB*** querying acoustic contact ***jjZj-FNOT Ignoring new targets: 496.70 m.Bj5z ;Jj5z ;E ProNav: ac range: 496.700012 m, nav range: 240.250977 m, bearing: 337.465810 deg, approach rate: -0.055699 m/s, LOS rate: 0.140300 deg/s, cmd heading: 255.547457 deg, new cmd heading: 255.759736 deg. 2jE;mHeadingCmd: 4.463850 target range: 496.700012 and range: 496.70 m. jm׎@jijijiiqhqhqhqh}Bfyfyfyrfybf@ @ɛB@`9 6i>I  fɚiIl&=Ii]i)׎@) )I)E9E9*E9"E95Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.680397*Fe ?2Fa :Fa BFm i0JFi zK BoIK ]9K K ~K  BK rA:K rAGM I6GIBqO>w,SA*Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=3.934476yBy%I]Mb@Mb@Mb@YYY Y)YY]/$?{GzMby]?]ף]]&A Y)]AI]AYy]AIlIm?4٢` =9Q > G٣DGy > Nusing accuracyPremultiplier from config49tݛ?4Y5O ilB?:R뿑 @D!;~;?4 @Zj FNOT Ignoring new targets: 496.70 m.Bj (;Jj(;% ProNav: ac range: 496.700012 m, nav range: 240.208679 m, bearing: 337.546119 deg, approach rate: -0.077575 m/s, LOS rate: 0.147317 deg/s, cmd heading: 255.759739 deg, new cmd heading: 256.000708 deg. 2j%4;-HeadingCmd: 4.468055 target range: 496.700012 and range: 496.70 m. j-O@j)j)j)i)h)h)h1h5Bf1f9fArfAbfE@ɛuBu0& quS>Iq }pbɚyiyI}%=I/Vi]i)T)O@)E*F12F1:F9BF=p0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 21:42:34.6989 LVL= 14128, 21441, 17810, 22707, AGC= 69, IDX= 446, 0.47,-2.276, 3.104, 1.817, 2.877, PHS= 1.218, 0.274,-1.063, RAW= 54.3, -4.4, CAL= 58.5, -9.1, ROT= 91.5, 9.1 =Ygot valid direction response: 21:42:34.6989 LVL= 14128, 21441, 17810, 22707, AGC= 69, IDX= 446, 0.47,-2.276, 3.104, 1.817, 2.877, PHS= 1.218, 0.274,-1.063, RAW= 54.3, -4.4, CAL= 58.5, -9.1, ROT= 91.5, 9.1 EPDAT read: Bearing 91.5, 9.1 (Local) E~Local bearing/azimuth received: Bearing 91.5, 9.1 (Local) ]DAT read: Range 10 to 50 : 496.9 m (Round-trip 662.6 ms) speed 0.0 m/s ],DAT read: user:1995> eBDAT read: Tx time:21:42:35.7821 e$Ping request sent.eb_r?nF ?)"Ii?i">m=G?5b^)lI:,=ix?]:publishing transmit ping timeaFpublishing direction and range info9:3gF?&j?8!kc?y )Ii )Iim=G?5b^)IiG} {#G ?G ?GY Bi O >Dw,@/SAy |B j%II{IZ4٢Uv U=9YQ ]? G٣y ? Nusing accuracyPremultiplier from config49@ݛ?4YT ilB @D;A;4YB @kEkW.?k*- k kͯ%SA:ksCBkCZk@"R쿸)?@8Wt@S3GIw@:3gF?&j?8!kc?Jkx?Rk]*T^o@Tgfz@&?f 5WſP^4?"k*k.xCk;r/?km!{ 2kCkm*?km!{ kCkwCk&'@Will construct direction to contact in vehicle frame from tetrahedron phase data.- addTargetRange:: Added new target pos. range: 496.899994 m, deltaT: 4.283080 s, deltaX: 0.199982 m, approachRate: 0.046691 m/s, rangeRepo size: 4 J]J]JYJYJ] ;J]Fi:JYJY Added new target pos. range: 496.899994 m, bearing: 341.540564 deg, lat: 36.902108 deg, lon: -122.118084 deg, deltaT: 4.283080 s, deltaX: 0.199982 m, approachRate: 0.046691 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 496.90 m.BjJj= ProNav: ac range: 496.899994 m, nav range: 247.778809 m, bearing: 340.467486 deg, approach rate: 0.000000 m/s, LOS rate: 0.147317 deg/s, cmd heading: 256.000708 deg, new cmd heading: 256.154912 deg. 2j9EHeadingCmd: 4.470747 target range: 496.899994 and range: 496.90 m. jE[@jAjAjIiIhIhIhhfffrf`f@bf`0?ɛ B }  8>I  M`ɚIiQIU0%=IUi]]i]U_v)][@)YjHbH<H>I I&IIBI: =&I.I6I<:I F*F!2F!:F!BF%0JF! I Will construct direction to contact in vehicle frame from tetrahedron phase data.GE TG B O5 > w,HSAR&f@YRvu@RRɼ9R%>yRH Ϳ :? )8''qY̿I?>? g?Y?ɨR&f@Rø;R'Cy^xB^e%IIhIh٢rE rS=9rN;Q v>tt vG٣tyz= z> ~Nusing accuracyPremultiplier from config|49~Jݛ?4Y~Y i~lB  鿑  @~D~:~C:~N4 @Zj9EFNOT Ignoring new targets: 496.90 m.BjE96;JjE96;] ProNav: ac range: 496.899994 m, nav range: 247.758606 m, bearing: 340.521444 deg, approach rate: -0.059643 m/s, LOS rate: 0.159312 deg/s, cmd heading: 256.154907 deg, new cmd heading: 256.316795 deg. 2je;eHeadingCmd: 4.473572 target range: 496.899994 and range: 496.90 m. je'@jijijiiihihihqhqfqfqfyrfybf}*?ɛ%!B%P8 !-.>I) -c^ɚ)i)I-}l%=Ieiie]iek)e'@)izK/KKػ9KKKRK?JK?*F 2F :F BF 4JF GňGBOA>EWill construct direction to contact in vehicle frame from tetrahedron phase data. I gJw,7bSA6q@Y6瀏@6jw̼96>y6H +̿ ?)@/̿@꺬?`??&??ɨ6q@6j;6*Cy>nB>Y%I)@ @ F=DMMb@Mb@Mb@III I)IYME?y&1|X9vyM&?M`廹MMA M`@)MAIMAIyMAIe`Ie(*4٢u'A uA=9}: G٣DGykX; > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data.49ݛ?4Ya ilB&?:濑 @DGc;a;4 @ZjFNOT Ignoring new targets: 496.90 m.Bjk*;Jjk*; ProNav: ac range: 496.899994 m, nav range: 247.729034 m, bearing: 340.584743 deg, approach rate: -0.069598 m/s, LOS rate: 0.148993 deg/s, cmd heading: 256.316782 deg, new cmd heading: 256.506700 deg. 2j;HeadingCmd: 4.476886 target range: 496.899994 and range: 496.90 m. jB@jjjih h h h ʆBfffrfbfY]?ɛE"BEXM IMh>II Mye\ɚIiIIM!%=Ie4im]im)mB@)i*F-?2F1:F1BF5_0JF1GUyG) B9 M Will construct direction to contact in vehicle frame from tetrahedron phase data.Oe >J J J /J J e ;J v:J (N3J H >I  I %II BI &I .I 6I <:I O FBI˕CJI˕CRIZI< =bI< =jI˔5tw,|SAB@YB@BtƼ9B&>yBH-l̿?21˿? Ҙ???ɨB@B;B(CyRcBRL%II^NI^@ 4٢fY fV=9f:Q f>hh jG٣hyjJ(< n> rNusing accuracyPremultiplier from configpv49r8ݛ?v4Yrkg irlBxz<濑z @r Dr:rC:r]4| ~\@| %$?I!-B*** querying acoustic contact ***j)j)ZjAEFNOT Ignoring new targets: 496.90 m.BjM*;JjM*;] ProNav: ac range: 496.899994 m, nav range: 247.701599 m, bearing: 340.641966 deg, approach rate: -0.071556 m/s, LOS rate: 0.149263 deg/s, cmd heading: 256.506689 deg, new cmd heading: 256.678375 deg. 2j];eHeadingCmd: 4.479883 target range: 496.899994 and range: 496.90 m. je3[@jajijiiihihihqhqfqfqfqrfbf ?ɛ#BV 隭H>I ZɚiI2$=IiuV]i<ֻ)3[@)*Fi2Fq:FqBFqJFqWill 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.GEG!B1OMS>zK BoHK 9K K K  $dY7" e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751870w,SA>@Y>@>UA9>>y>HT˿?7U˿+ƪ?ǖ?@7?e?ɨ>@>;qq uG٣yy< > Nusing accuracyPremultiplier from config49ϫݛ?U4Yn ilBYe忑e @D<<4ZB +@nEZjFNOT Ignoring new targets: 496.90 m.Bj;Jj; Ig ProNav: ac range: 496.899994 m, nav range: 247.669159 m, bearing: 340.708250 deg, approach rate: -0.065816 m/s, LOS rate: 0.134498 deg/s, cmd heading: 256.678372 deg, new cmd heading: 256.877251 deg. 2j;HeadingCmd: 4.483354 target range: 496.899994 and range: 496.90 m. jw@jjjihhh!h!f!f!f!rf)bf-5?ɛ$Bխ =I YɚiI$=I`i]iۻ)w@)*F 2F :FBFJFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.001701G JG B O >Zw,VSA6È@Y6ҏ@6aީ96>y6H` ˿@?`<U ˿=?`h;?}?ܭ?ɨ6È@6-;6'CyRTBR9%I^A\Mb@Mb@Mb@ )Ykt?I +y 0?9 A )AIAyfAII1h4٢Ia @=9l;Q > G٣DGy2; >  Nusing accuracyPremultiplier from config 49 Ǧݛ?4Y v i lB70?:a俑 @ D ; ; A 4=\B Eu@EoEZjimFNOT Ignoring new targets: 496.90 m.Bju*N;Jju*N; ProNav: ac range: 496.899994 m, nav range: 247.634659 m, bearing: 340.772965 deg, approach rate: -0.096075 m/s, LOS rate: 0.180242 deg/s, cmd heading: 256.877240 deg, new cmd heading: 257.071413 deg. 2je;HeadingCmd: 4.486742 target range: 496.899994 and range: 496.90 m. je@jjjihhhhBfffrfbf@ɛ%B4Z̻ ,=I XɚiIQv$=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253923Ii\i])e@)JJ J0JJ ;JOj:Jـ3J)-= 5ZC*Fy2F:FBF`0GvAJF Y vAy BZHQRHQH]>IY I]%II]ƆBI]; =&IY.IY6I]Ѱ<:I]a F IG= G B! Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505655n~w,uSA64̈@Y6ۏ@60V96 >y6H˿i?@W>``ʿ r?`mj???ɨ64̈@6Ve;4yRSBR8%IIZ~IZT_4٢zM z]=9~~ ;Q ~> G٣y":;  > Nusing accuracyPremultiplier from config %49 Bݛ?%4Y | i lB!%@俑- @ 'D W; #X; 41 5@1ZjY]FNOT Ignoring new targets: 496.90 m.Bje 6;Jje 6;u ProNav: ac range: 496.899994 m, nav range: 247.603531 m, bearing: 340.831384 deg, approach rate: -0.084798 m/s, LOS rate: 0.159164 deg/s, cmd heading: 257.071409 deg, new cmd heading: 257.246688 deg. 2juw;}HeadingCmd: 4.489802 target range: 496.899994 and range: 496.90 m. j}u@jyjjihhhhfffrfbf@ɛ'Bܻ݇  =I WɚiIM$=Ii\i)u@)*F?2F:FBF0JFzK7 MK 9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757633JJG;3GB O] > I Dw,OSA2҈@Y2Q@2'92* >y2Hq˿?@Ժ?.ʿpǨ??`m?` ?ɨ2҈@2ʇ;2(CyRLBR/%I5Mb@Mb@Mb@111 1)1Y5x?iq uG٣qyu : u> Nusing accuracyPremultiplier from config49=ݛ?4Y` ilB`7?:⿑ @1D/;;4 @ZjFNOT Ignoring new targets: 496.90 m.Bj#<;Jj#<; ProNav: ac range: 496.899994 m, nav range: 247.563492 m, bearing: 340.900164 deg, approach rate: -0.095736 m/s, LOS rate: 0.164484 deg/s, cmd heading: 257.246699 deg, new cmd heading: 257.453070 deg. 2j;HeadingCmd: 4.493404 target range: 496.899994 and range: 496.90 m. jɏ@jjjihhhhBfffrfbf Z@ɛ(B% !%h=I) -VɚIiQIU$$=I]i]\ieVk<)eɏ@)aE*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=3.263176GM (GQ GQ G! B1 O >He >Ia  Ie %IIe BIa &Ia .Ia 6Ie I<:Ie Fw,FESA >y:H@'_˿?]@@ +ʿ@o?2?`x? α?ɨ:ֈ@:w;:'CyZDBZ&%I)\ \IbIbi4٢n rQ=9rAB:Q r>tt vG٣vDGyz: z> ~Nusing accuracyPremultiplier from config|49~ݛ?4Y~ i~lB⿑ @~:D~:~3:~!4 u@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 496.90 m.Bj2;Jj2; ProNav: ac range: 496.899994 m, nav range: 247.526550 m, bearing: 340.963912 deg, approach rate: -0.090481 m/s, LOS rate: 0.156160 deg/s, cmd heading: 257.453080 deg, new cmd heading: 257.644350 deg. 2jW;HeadingCmd: 4.496742 target range: 496.899994 and range: 496.90 m. jP@jjjihhh h f f frfbf % @ɛM*BMF] QU`U=IY ]_UɚYiYI]:$=Ie*ie@\im:la)mP@)i*F!2F!:F!BF%2JF!eWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:21:42:38.8488 mTRx dataTimestamp_ set to:1736372560.117212uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515310GehAG9 BI O >zK BoIK +9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765884w,PTA*J>C="J>a=JBJB J@J@JB ;JBun:J@J@JB|TyeH(˿ ?@z~ D`ʿ?@ޒ?b??ɨe@e_և;e(Cyޝ?Bޝ%IIIr4٢  U7=9]:Q e>qy G٣y*q; > Nusing accuracyPremultiplier from config49 ݛ?%4 m$?IugY9 ilBa⿑ @ED< <)4 ]B -@-qEZjMFNOT Ignoring new targets: 496.90 m.BjU+;Jj]+; ProNav: ac range: 496.899994 m, nav range: 247.481766 m, bearing: 341.040946 deg, approach rate: -0.087322 m/s, LOS rate: 0.150231 deg/s, cmd heading: 257.644352 deg, new cmd heading: 257.875495 deg. 2j4;HeadingCmd: 4.500776 target range: 496.899994 and range: 496.90 m. j\@jjjihhhhfffrfbf@ɛ ,B:8/ 8=I ]{TɚYiYI]#=Ie%ies\ie5})e\@)ieWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:42:38.8488 LVL= 14624, 19617, 18738, 25203, AGC= 67, IDX= 445, 0.48,-2.882, 2.555, 1.197, 2.292, PHS= 1.198, 0.310,-1.098, RAW= 52.6, -4.1, CAL= 56.2, -8.6, ROT= 93.8, 8.6 Ygot valid direction response: 21:42:38.8488 LVL= 14624, 19617, 18738, 25203, AGC= 67, IDX= 445, 0.48,-2.882, 2.555, 1.197, 2.292, PHS= 1.198, 0.310,-1.098, RAW= 52.6, -4.1, CAL= 56.2, -8.6, ROT= 93.8, 8.6 PDAT read: Bearing 93.8, 8.6 (Local) ~Local bearing/azimuth received: Bearing 93.8, 8.6 (Local) DAT read: Range 10 to 50 : 496.8 m (Round-trip 662.5 ms) speed 0.1 m/s ,DAT read: user:1996> BDAT read: Tx time:21:42:39.9321 $Ping request sent.eDek?eC e{?*F=?2F9:F9BF=0JF9)e`Ie?ie`>aaez?VpyUu)eIeȓ=ie?ebVaa}:publishing transmit ping timeFpublishing direction and range infoa9e\]?"IS? q?yaaaa a)aIaiaaaaa a)aIaiaaaez?VpyUu)aIaiaaaaG5 _G B O >zW w,3TAV@YVG@VCݑ9V1 >yVH`˿ 2?^@F?xʿ?@i;?f? ?ɨV@V;V&Cyr@Br!%IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:42:39.9313 mMb@Mb@Mb@iii i)iYmZd;? G٣yJ); > Nusing accuracyPremultiplier from config49Aݛ?4Y: ilB9?:忑 @OD~$;";}14 ^B @ tEk!⹪4?kԗ k k'TA:kfCBkCZkd@"VEVC6?@6t@Qbw@\]?"IS? q?Jk?RkbV*RHp@zC̵T<.y@NO*?=L!ſ= D{?"k*kBCku[&H5?kᮼ  2k$Ckp,?kkCk}Ckʾ@  addTargetRange:: Added new target pos. range: 496.799988 m, deltaT: 4.032719 s, deltaX: -0.100006 m, approachRate: -0.024799 m/s, rangeRepo size: 4  Added new target pos. range: 496.799988 m, bearing: 342.896164 deg, lat: 36.902170 deg, lon: -122.118084 deg, deltaT: 4.032719 s, deltaX: -0.100006 m, approachRate: -0.024799 m/s, posRepo size: 4 jH!bH%<H->I) I-%II-BI)&I).I)6I-&<:I- FZjYeFNOT Ignoring new targets: 496.80 m.BjeJjau ProNav: ac range: 496.799988 m, nav range: 253.906311 m, bearing: 341.610498 deg, approach rate: 0.000000 m/s, LOS rate: 0.150231 deg/s, cmd heading: 257.875486 deg, new cmd heading: 258.052705 deg. 2jqHeadingCmd: 4.503870 target range: 496.799988 and range: 496.80 m. j@jjjihhhhKBfffrf @bf?ɛ.B%) !%0=I! %T?Tɚ!i)I->#=I-i5\i5))5@)Y I*F?2F:FBFN1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >Z9w,ƅMTA62@Y6@696ҋ >y6H+˿ T?C ɘʿ?В?N?}?ɨ62@6X;4yBFBB'%IIJbIJ-4٢V< Vt=9V:ݺQ Z?XX ZG٣ZDGy^j ^? bNusing accuracyPremultiplier from config`f49bݛ?f4Ybu iblBhj忑j @bVDb:b:bT74l m@iZjFNOT Ignoring new targets: 496.80 m.Bja>;Jja>; ProNav: ac range: 496.799988 m, nav range: 253.882782 m, bearing: 341.664981 deg, approach rate: -0.071873 m/s, LOS rate: 0.166443 deg/s, cmd heading: 258.052716 deg, new cmd heading: 258.216179 deg. 2jt;HeadingCmd: 4.506722 target range: 496.799988 and range: 496.80 m. j7@jjjihhhhfffrfbfj?ɛ/B 4=I! %oSɚ!i!I%#=I5#ci5]i=$ߩ)=7@)9*F?2F:FBF_0JF"G=G=zK K h9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ ;J3g:JJJQ<JQ<J;J;GfGBO5 > A IA rhw,ugTA.Will construct direction to contact in vehicle frame from tetrahedron phase data.yAB"%I=Mb@Mb@Mb@999 9)9Y=A`"?{Gztaa mG٣iym u> }Nusing accuracyPremultiplier from configq}49uݛ?4Yu iulB9?:忑 @uaDu[K;uBI;ub?4 @ZjFNOT Ignoring new targets: 496.80 m.BjB;JjB; ProNav: ac range: 496.799988 m, nav range: 253.849411 m, bearing: 341.739823 deg, approach rate: -0.076003 m/s, LOS rate: 0.170479 deg/s, cmd heading: 258.216176 deg, new cmd heading: 258.440732 deg. 2j;HeadingCmd: 4.510642 target range: 496.799988 and range: 496.80 m. j-W@jjjiahahihihmVBfifqfqrfqbfu`?ɛ1B1  =I TSɚiI#=Iid]ig)-W@)*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G H5 >I1  I5 %II5 BI5 : =&I1 .I1 6I5 <:I5 | FG B O >  I /L w,?TA:ڈ@Y:A@:4C9:b>y:HO˿? þAʿ@\Z??D? ?ɨ:ڈ@:݌;:)CyB@BB %IIJJIJ)4٢R_ݻ Rl=9VQ V?TX ZG٣XyZU Z? bNusing accuracyPremultiplier from config`f49b~ݛ?f4Ybz iblBdfC忑f @biDb:b7:bqE4n`B n@rvEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 496.80 m.Bj,9;Jj%,9;- ProNav: ac range: 496.799988 m, nav range: 253.824905 m, bearing: 341.796163 deg, approach rate: -0.070410 m/s, LOS rate: 0.161890 deg/s, cmd heading: 258.440725 deg, new cmd heading: 258.609760 deg. 2j55;5HeadingCmd: 4.513592 target range: 496.799988 and range: 496.80 m. j5Xo@j1jjihhhhfffrfbf K?ɛ3B583 9=zKA KE +9KA KE KE $1:CLZbiouvvutolif% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743204JKـ3 K .KK"KJ J J 1J J E ;J *f:J 3J J pP<J pP<J Է;J Է;y&w,A)TANo@YN@NZ,9N>yNH ˿?p F ʿ@D?Pő?f??ɨNo@NK;N$Cy=KB=.%IIMIM1h4٢^J= 9=94{;Q  >! %G٣-DGy]]; e> Ig Nusing accuracyPremultiplier from config49wݛ?-4Y% ilB9=俑E @tD<<M4 L@ZjFNOT Ignoring new targets: 496.80 m.Bj-;Jj-;- ProNav: ac range: 496.799988 m, nav range: 253.791565 m, bearing: 341.871871 deg, approach rate: -0.066824 m/s, LOS rate: 0.151762 deg/s, cmd heading: 258.609759 deg, new cmd heading: 258.836913 deg. 2j-N;5HeadingCmd: 4.517556 target range: 496.799988 and range: 496.80 m. j5ҏ@j1j1j1i1h1h9h9h9fafafirfibfm\'?ɛ5BKS& 隽8.=I ZRɚiI`#=I$i>V^i#)ҏ@)*Fu?2Fq:FqBF}_0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000826G G B O >,w,ZTA6O @Y6@6w964 >y6Hʿ`?L vʿۥ?2?K? ?ɨ6O @6+;6'CybOBb3%IUMb@Mb@Mb@QQQ Q)QYUn?MbI +yU6?UU94UA A Q)UMAIUAQyUGAIm_Imb(4٢0< O=9;Q > G٣y"< > Nusing accuracyPremultiplier from config49rݛ?4Y ilB6?:f濑 @|DD;+;T4 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251393Zj FNOT Ignoring new targets: 496.80 m.Bj G;JjG; ProNav: ac range: 496.799988 m, nav range: 253.768677 m, bearing: 341.931342 deg, approach rate: -0.067269 m/s, LOS rate: 0.174803 deg/s, cmd heading: 258.836903 deg, new cmd heading: 259.015331 deg. 2j;HeadingCmd: 4.520670 target range: 496.799988 and range: 496.80 m. jU@jjjihhhh^Bfffrfbf}_@ɛU7BUL QU==IY ])QɚYiYI]O#=Ieieѽ^ie?)eU@)iEyZHRH@AH>I III&I.I6I<:I~ FBIJIRIZI; =bI; =jIþ4*F%?2F!:F!BF%`0JF) IG޼GBOg> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503210E3w,TA60@Y6@@6VY96O >y6H ɿ@w ? @{T ɿJ? >??ݰ?ɨ60@6;6)CyBPBB4%IIJIJkf4٢f; fW=9j;Q j>hh nG٣lynm@< r> vNusing accuracyPremultiplier from configpv49rmݛ?z4Yr irlBxz忑z @rDr:r :rZ4aB @yEZj FNOT Ignoring new targets: 496.80 m.Bj%]+;Jj%]+;E ProNav: ac range: 496.799988 m, nav range: 253.744415 m, bearing: 341.991971 deg, approach rate: -0.059947 m/s, LOS rate: 0.149820 deg/s, cmd heading: 259.015335 deg, new cmd heading: 259.197239 deg. 2jE;UHeadingCmd: 4.523845 target range: 496.799988 and range: 496.80 m. jUWÐ@jYjYjYiYhahahihqfqfqfyrfbf @ɛ:BƸ 2=I 7QɚiIVC#=I2iY/_iּ)WÐ@)zKMWMKM9KIKMKMb^[VPNC:/('#   RKU>JKU> Will construct direction to contact in vehicle frame from tetrahedron phase data. i Achecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756357*F?2F:FBFo0JFJJ J0JJJun:Jـ3JJJJ;J; $?IG% ##G B O% >`9w,֫TA2Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008350J'Q@YJx`@J L9J>yJH-ɿ@?`[ ɿ]?? :? ?ɨJ'Q@JXߊ;J(CyZMBZ1%IfAfAMb@Mb@Mb@ )Y99 =G٣=DGy=6< E> MNusing accuracyPremultiplier from configAM49E%hݛ?U4YE iElB]3?]:]>俑] @EDE4;Ec2;Eb4a e8@aZjFNOT Ignoring new targets: 496.80 m.Bj1@;Jj1@; ProNav: ac range: 496.799988 m, nav range: 253.712570 m, bearing: 342.062692 deg, approach rate: -0.075653 m/s, LOS rate: 0.168029 deg/s, cmd heading: 259.197237 deg, new cmd heading: 259.409425 deg. 2j;HeadingCmd: 4.527549 target range: 496.799988 and range: 496.80 m. j@jjjihhhhbBfffrfbf@ɛI  I %II BI 9 =&I .I 6I հ<:I g FG B O > I @w,UAy \B C%II!I!٢-= 5\=95Q 5>19 =G٣9y= E> MNusing accuracyPremultiplier from configAU49Ecݛ?U4YE iElBYY] @EDEE;E.F;E i4ecB mb@mzEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 496.80 m.Bj4;Jj4; ProNav: ac range: 496.799988 m, nav range: 253.686539 m, bearing: 342.121183 deg, approach rate: -0.070051 m/s, LOS rate: 0.157416 deg/s, cmd heading: 259.409437 deg, new cmd heading: 259.584927 deg. 2j;HeadingCmd: 4.530612 target range: 496.799988 and range: 496.80 m. j@jjjihhhhfffrfbf1 @ɛ >B  r=I  PɚiI/#=IXTi`i%h)%@)!E)E-rA}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:42:42.9982 TRx dataTimestamp_ set to:1736372564.154449checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514897*F?2F:FBFZ5JFG~>ԼGBO>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=3.763281hFw,jUAj@Yji@j?*49jV,>yjHH[ȿ@ ?}`iǿ=? *?`?R?ɨj@jT;j&CyzcBzK%IIuIaO4٢= L=9%@n;Q ->99 EG٣AyM¸< M> UNusing accuracyPremultiplier from configI]49M^ݛ?]4YM iMlBY]㿑e!@MDM;M;M!p4i m@iZjFNOT Ignoring new targets: 496.80 m.Bj4;Jj4; ProNav: ac range: 496.799988 m, nav range: 253.655792 m, bearing: 342.185043 deg, approach rate: -0.076066 m/s, LOS rate: 0.158008 deg/s, cmd heading: 259.584918 deg, new cmd heading: 259.776522 deg. 2j;MHeadingCmd: 4.533956 target range: 496.799988 and range: 496.80 m. Ig j*@jjjihhh1h9fAfifqrfybf~@ɛeABmX: im=Ii mOɚiiiIu?%#=Iu߿i}q`i};)}*@)y*Fm?2FiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018950:FqBF_5JFG EG B O >$2Mw,X7UAJ@YJѐ@Jcp$9J>yJH Oǿ ?pZǿ@??`MK?{?ɨJ@JF;HyRhBVQ%I \^=UWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:42:42.9982 LVL= 13968, 25841, 21490, 31731, AGC= 68, IDX= 439,-0.21,-1.914,-2.706, 2.229,-2.949, PHS= 1.124, 0.291,-1.108, RAW= 51.7, -3.2, CAL= 54.5, -7.1, ROT= 95.5, 7.1 Ygot valid direction response: 21:42:42.9982 LVL= 13968, 25841, 21490, 31731, AGC= 68, IDX= 439,-0.21,-1.914,-2.706, 2.229,-2.949, PHS= 1.124, 0.291,-1.108, RAW= 51.7, -3.2, CAL= 54.5, -7.1, ROT= 95.5, 7.1 PDAT read: Bearing 95.5, 7.1 (Local) ~Local bearing/azimuth received: Bearing 95.5, 7.1 (Local) DAT read: Range 10 to 50 : 496.5 m (Round-trip 662.0 ms) speed -0.1 m/s ,DAT read: user:1997> BDAT read: Tx time:21:42:44.0821 $Ping request sent.UҍUqf?Ud U"s?)UIU[Y?iU=QQUYJҘ?G؉)gH>IC I%IIBI&I.I0D6I<:I F)U0IU-Wc=iU9?URQQ:publishing transmit ping time%Fpublishing direction and range infoQ9UZR?'Y?ys?yQQQQ Q)QIQiQQQQQ Q)QIQiQQQUYJҘ?G؉)g)QIQiQQQQMb@Mb@Mb@ )Y(\?QMbyz4?u @)MAIAyAIIy4٢< =9:Q > G٣DGy< > Nusing accuracyPremultiplier from config49IXݛ?4Y ilB4?:B㿑!@DB<8<by4  @ )I)kU6?kUySg- kQ kU:UA:kU@CBkUCZkU>@"U[tlL7@xu@)1Vv@UZR?'Y?ys?JkU9?RkUR*U q@o|Qh\?_3y@UKDq?Y¿۳Q@T?"kUV*kUCkUs:7?kU+: 2kUCkU;r/?kU0m= kUCkUuCkU0@ addTargetRange:: Added new target pos. range: 496.500000 m, deltaT: 4.286372 s, deltaX: -0.299988 m, approachRate: -0.069986 m/s, rangeRepo size: 4 5 Added new target pos. range: 496.500000 m, bearing: 345.392012 deg, lat: 36.902240 deg, lon: -122.118077 deg, deltaT: 4.286372 s, deltaX: -0.299988 m, approachRate: -0.069986 m/s, posRepo size: 4 Zj9=FNOT Ignoring new targets: 496.50 m.Bj=JjAu ProNav: ac range: 496.500000 m, nav range: 260.919769 m, bearing: 342.922705 deg, approach rate: 0.000000 m/s, LOS rate: 0.158008 deg/s, cmd heading: 259.776519 deg, new cmd heading: 260.044610 deg. 2jq}HeadingCmd: 4.538635 target range: 496.500000 and range: 496.50 m. j}<@jyjyjyiyhyhhhrBfffrf@bf{?ɛDB <=I Mɚ i)I-#=I5nM߿i5`i5+Ƽ)=<@)9*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.G EG B O >wTw,͑TUA>@Y>9@>G$9>>>y>H 1=ǿ`'?dow`ƿr:?∄?7?`0?ɨ>@>Ј; Will construct direction to contact in vehicle frame from tetrahedron phase data. [w,LnUA:y@Y:@:&89:Vp>y:H I#ǿ`-? 2x`8ƿ@:p???\?ɨ:y@:p;8yFxBFf%IMb@Mb@Mb@ )Yd;O?Mbp~jty4?+ A @)@I@yQAI-fI-44٢= @=9 ;Q > G٣y\: > Nusing accuracyPremultiplier from config49Oݛ?4Y ilB4?:࿑!@Db:;T;4eB @EZj FNOT Ignoring new targets: 496.50 m.Bj 3;Jj 3;% ProNav: ac range: 496.500000 m, nav range: 260.862823 m, bearing: 343.040409 deg, approach rate: -0.081019 m/s, LOS rate: 0.156950 deg/s, cmd heading: 260.203214 deg, new cmd heading: 260.397773 deg. 2j%m;%HeadingCmd: 4.544798 target range: 496.500000 and range: 496.50 m. j-n@j)j)j)i)h)h)h9h=iBf9f9f9rfAbfEr?ɛuIBu%2» y}=Iy }LɚyiIZ#=Ix޿i}ai`м)n@)*F?2F:FBF_0JF"G=G=Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJJJJHYIY I]%II]BI]8 =&IY.IY6I]<:I]R FGM ,GI GM nA I G! B) OM >aw,'UAy=B=p%IIM>IM3]Will construct direction to contact in vehicle frame from tetrahedron phase data.٢e-= mN=9mQ m>qq uG٣uDGyu }> Nusing accuracyPremultiplier from config49ZKݛ?4Y ilB!@ǘD; ;4 B@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 496.50 m.Bj/0;Jj/0; ProNav: ac range: 496.500000 m, nav range: 260.831604 m, bearing: 343.101490 deg, approach rate: -0.078719 m/s, LOS rate: 0.154031 deg/s, cmd heading: 260.397766 deg, new cmd heading: 260.581029 deg. 2jk;HeadingCmd: 4.547997 target range: 496.500000 and range: 496.50 m. j1@jjjihhhhfffrfbfT?ɛKBs =I JɚiI;"=I޿iai)1@) *F?2F:FBF`0JFGϼ Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.zKM qKNKM 9KI KM KM G *J R="J R=B O >Lhw,4UA :$?I:hyޭB޵v%IEMb@Mb@Mb@AAA A)AYE(\?{Gz?QyEz4?Eף G٣y > Nusing accuracyPremultiplier from config49Gݛ?4Y ilB4?:[ܿ!@јD*b;_;4 @mWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756662ZjFNOT Ignoring new targets: 496.50 m.Bj-%;Jj-%;  ProNav: ac range: 496.500000 m, nav range: 260.783783 m, bearing: 343.174188 deg, approach rate: -0.094976 m/s, LOS rate: 0.144410 deg/s, cmd heading: 260.581033 deg, new cmd heading: 260.799167 deg. 2j6;EHeadingCmd: 4.551804 target range: 496.500000 and range: 496.50 m. jEa@jAjIjIiIhIhQhQhUBfQfyfrfbf2?ɛOBm X=I nHɚi1I51"=I=ݿi=_bi=B)Ea@)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=2.007956J J J J J ;J p:J J G B O >nw,SUAH*>I( I*%II*ˆBI*7 =&I(.I(6I*۰<:I*n Fy%B%%IIUIUq4٢h= a=9Q > G٣y > Nusing accuracyPremultiplier from config49Cݛ?4Y& ilB!@٘D9;;:4 @ZjFNOT Ignoring new targets: 496.50 m.Bj?;Jj?; ProNav: ac range: 496.500000 m, nav range: 260.747711 m, bearing: 343.229425 deg, approach rate: -0.109435 m/s, LOS rate: 0.167601 deg/s, cmd heading: 260.799162 deg, new cmd heading: 260.964894 deg. 2j ;HeadingCmd: 4.554697 target range: 496.500000 and range: 496.50 m. j@jjji h h h h fffrfbf@ɛEQBM%Һ IM>II M#vGɚQiQIU'"=IU!?ݿi]#ci] )]@)a Ih*F2F:FBFo0JFGrGBOG>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258489y{uw,UA69^@Y6m@6H*96͏>y6Hn_ſ ) G٣y%h= %> -Nusing accuracyPremultiplier from config)549-@ݛ?54Y-E i-lB1=ڿE!@-D-@;-@;-4MgB M@MEZjquFNOT Ignoring new targets: 496.50 m.Bj}.;Jj}.; ProNav: ac range: 496.500000 m, nav range: 260.705475 m, bearing: 343.288635 deg, approach rate: -0.109067 m/s, LOS rate: 0.152924 deg/s, cmd heading: 260.964890 deg, new cmd heading: 261.142549 deg. 2j;HeadingCmd: 4.557797 target range: 496.500000 and range: 496.50 m. jzّ@jjjihhhhfffrfbf @ɛSBxs >I EɚiI"=Iܿinycid)zّ@)EE=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.511305zKRIKh9KKK*F?2F:FBF0JF IGyG1BAOe> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762596{w,UA:@Y:@:aF9:v>y:HrĿ@ @?T:}ĿC?? f?`?ɨ:@:j;8yVBZ%IuMb@Mb@Mb@qqq q)qYud;O?AA EG٣EDGyMd< M> }Nusing accuracyPremultiplier from configq}49u<ݛ?4Yu| iq4?:0ܿ!@uDu+;u;uɪ4 @ZjFNOT Ignoring new targets: 496.50 m.Bj,;Jj,;5 ProNav: ac range: 496.500000 m, nav range: 260.660950 m, bearing: 343.357248 deg, approach rate: -0.098115 m/s, LOS rate: 0.151220 deg/s, cmd heading: 261.142557 deg, new cmd heading: 261.348430 deg. 2j5;=HeadingCmd: 4.561390 target range: 496.500000 and range: 496.50 m. j=@j9j9j9i9h9h9hAhEBfAfAfIrfIbfm@ɛWB| 隝&>I z+CɚiI"=Icܿici[tļ)@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.015429*F]?2Fa:FaBFe0JFaJJJ1JJ} ;J]:J3JG%ļHe>Ia Ie%IIeBIa&Ia.Ia6Ie<:IeH FBI%ƖCJI%ƖCRI!ZI%8 =bI%8 =jI%ƻ5GBOk> IQw,g VAJ@YJVđ@JRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.2665239J,z>yJHĿ \F?`=¿͚ÿ`f?q~?+??ɨJ@Jd;J)Cy^B^%IIf~IfT_4٢nf= nd=9r>;Q r>pp vG٣tyvs< v> Nusing accuracyPremultiplier from configx49z9ݛ? 4Yz" izlB  Zۿ !@zDzCE;z:z4 v@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 496.50 m.Bj*;Jj*; ProNav: ac range: 496.500000 m, nav range: 260.624237 m, bearing: 343.411714 deg, approach rate: -0.100714 m/s, LOS rate: 0.149438 deg/s, cmd heading: 261.348419 deg, new cmd heading: 261.511839 deg. 2j; HeadingCmd: 4.564243 target range: 496.500000 and range: 496.50 m. j G@j j j i hhh1h1f9f9f9rf9bfE @ɛYB3; 隵&L>I .@ɚiIm"=INܿi[di䨼)G@)*Fm?2Fi:FiBFmI4JFiUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:21:42:47.1480 eTRx dataTimestamp_ set to:1736372568.441133echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.520492GfzKk3IK 9KKKG B O > I ڼw, $VAyˆB%IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770605Mb@Mb@Mb@ )Y@5^I ?{Gztyb0?ף A )AI@yAIIk4٢c5= "=9Q > G٣DGy > Nusing accuracyPremultiplier from config495ݛ?4Y + ilBc0? : ޿ !@D;5;˹4 @Zj9EFNOT Ignoring new targets: 496.50 m.BjEM2;JjEM2;U ProNav: ac range: 496.500000 m, nav range: 260.581116 m, bearing: 343.487472 deg, approach rate: -0.088714 m/s, LOS rate: 0.155883 deg/s, cmd heading: 261.511851 deg, new cmd heading: 261.739160 deg. 2jU;]HeadingCmd: 4.568210 target range: 496.500000 and range: 496.50 m. je.@jajajaiahahihihmƆBfifqfqrfqbfu`d{@ɛ]B(; 隭[>I k=ɚiIF"=IQۿizdiUʼ).@)E]>E!>*F5?2F1:F1BF=92JF9G ~F)I I GG B! OE >] Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:42:47.1480 LVL= 16048, 23441, 22338, 26099, AGC= 71, IDX= 420,-0.19, 1.571, 0.879,-0.446, 0.667, PHS= 0.992, 0.259,-1.116, RAW= 50.0, -1.5, CAL= 51.5, -4.5, ROT= 98.5, 4.5  Ygot valid direction response: 21:42:47.1480 LVL= 16048, 23441, 22338, 26099, AGC= 71, IDX= 420,-0.19, 1.571, 0.879,-0.446, 0.667, PHS= 0.992, 0.259,-1.116, RAW= 50.0, -1.5, CAL= 51.5, -4.5, ROT= 98.5, 4.5  PDAT read: Bearing 98.5, 4.5 (Local)  ~Local bearing/azimuth received: Bearing 98.5, 4.5 (Local)  DAT read: Range 10 to 50 : 496.2 m (Round-trip 661.7 ms) speed 0.0 m/s % ,DAT read: user:1998> % BDAT read: Tx time:21:42:48.2322 - $Ping request sent.- IQ  IU &IIU BIQ &IQ .IQ 6IU <:IU x Fw, >VA R#Rx 1: Read range and direction messages."\direction in FSK: [0.018664,0.700807,0.713107]&:publishing transmit ping time9&Fpublishing direction and range infoq9uMl?K,m?lU?yuCqu>u[ uBW)ueIuGiu}?u>uَuf_?uPwּ uf?)u|٠Iu ?J2J2J20J0J2E ;J2`:J2ـ3J0J0aBJ0aBJ2Y;aBJ2Y;aF8iu|٠=qqumSq'?V>o C[)uRIuKqqV:publishing transmit ping time9ZFpublishing direction and range infoq9uMl?K,m?lU?yqqqq q rYtyvXB)qIqiqqqqq q)qIqiqqqumSq'?V>o C[)qIqiqqqq 9I9y=BE%IIUiIU:4٢e > ec=9aQ m>ii G٣y > Nusing accuracyPremultiplier from config491ݛ?4Y1 ilB!@D;;64hB I@EkuS;?kuŌ kq kupxK*u]q@AtJs y@uIu?eԺĨ?"kuP*kuCku(U;?ku 2kuCkuu[&H5?kqku$CkůCkus@ addTargetRange:: Added new target pos. range: 496.200012 m, deltaT: 4.036905 s, deltaX: -0.299988 m, approachRate: -0.074311 m/s, rangeRepo size: 4  Added new target pos. range: 496.200012 m, bearing: 349.764544 deg, lat: 36.902400 deg, lon: -122.118077 deg, deltaT: 4.036905 s, deltaX: -0.299988 m, approachRate: -0.074311 m/s, posRepo size: 4 Zj  FNOT Ignoring new targets: 496.20 m.BjJjE ProNav: ac range: 496.200012 m, nav range: 277.599915 m, bearing: 344.579545 deg, approach rate: 0.000000 m/s, LOS rate: 0.155883 deg/s, cmd heading: 261.739160 deg, new cmd heading: 261.921279 deg. 2jAMHeadingCmd: 4.571389 target range: 496.200012 and range: 496.20 m. jMH@jIjIjIiQhQhQhQhYfYfYfYrf]@3@bf?ɛ`B{; 隵σ>I 9ɚiI"=I(ۿidi`߼)H@)*Fy2Fy:FyBF}O5JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:42:48.2314 GUS&żG] ?G]>GBO=>ʕw,KXVA6@Y6@696>y6H -1ÿN?#D¿$`¿?@?@??ɨ6@6";6'Cy>BB%IIJ@IJ3٢MT= g=9iQ >    G٣ y < ? %Nusing accuracyPremultiplier from config!-49%`.ݛ?-4Y%7 i%lB)-?ݿ-!@%D%P:%:%D4]iB ]@]EZjFNOT Ignoring new targets: 496.20 m.Bj";Jj ";Will construct direction to contact in vehicle frame from tetrahedron phase data.= ProNav: ac range: 496.200012 m, nav range: 277.573456 m, bearing: 344.628536 deg, approach rate: -0.076830 m/s, LOS rate: 0.142272 deg/s, cmd heading: 261.921280 deg, new cmd heading: 262.068267 deg. 2j=G;EHeadingCmd: 4.573954 target range: 496.200012 and range: 496.20 m. jE]@jAjAjAiAhIhIhIhIfQfqfqrfqbf}.|?ɛcBo< >I 6ɚiIG!=zKK9KKKIڿi.ei弼)]@) *F?2F:FBF_0JF QI]hG- a.ʼ Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O- >Aw,,rVA25@Y2@2f92œ>y2H`:ÿK?X¿̢¿B>&I Mb@Mb@Mb@    ) Y Fx?{GztMb`?y +?  ; A A ) dAI  y AI%qI%JH4٢-= 5G=95 :Q 5>99 =G٣9yE9 E> MNusing accuracyPremultiplier from configIU49M*ݛ?U4YM> iMlBU+?]:]]ݿ]!@MDM ;M;Ml4a eh@aZj eFNOT Ignoring new targets: 496.20 m.Bjm;Jjm; ProNav: ac range: 496.200012 m, nav range: 277.543518 m, bearing: 344.684911 deg, approach rate: -0.073702 m/s, LOS rate: 0.138801 deg/s, cmd heading: 262.068266 deg, new cmd heading: 262.237408 deg. 2j;HeadingCmd: 4.576906 target range: 496.200012 and range: 496.20 m. jv@jjjihhhhBfffrfbfo?ɛ=fBE#< AEŜ>IA E2ɚAiiImz!=IuZgڿiueiu`ڼ)uv@)yE%Will construct direction to contact in vehicle frame from tetrahedron phase data.*F-?2F):F)BF)JF)HI IH&II1BI&I.I6I<:IT F 1I1G EG B O >'ܢw,VA:W@Y:@:DBWill construct direction to contact in vehicle frame from tetrahedron phase data.9:h>y:H3¿@Q?JN¿@`¿ŝ?|?V?J?ɨ:W@:;:'CyJBJ&IIVVIVn4٢^f= ^R=9b,Q b>`` bG٣fDGyff< f> jNusing accuracyPremultiplier from confighr49jQ'ݛ?r4YjE ijlBprܿr!@j Dj*;jS*;j54x z@xZjFNOT Ignoring new targets: 496.20 m.Bj%Y$;Jj%Y$;5 ProNav: ac range: 496.200012 m, nav range: 277.514557 m, bearing: 344.738386 deg, approach rate: -0.077809 m/s, LOS rate: 0.143685 deg/s, cmd heading: 262.237409 deg, new cmd heading: 262.397850 deg. 2j58;=HeadingCmd: 4.579707 target range: 496.200012 and range: 496.20 m. j=@j9j9j9i9hAhAhAhAfIfIfIrfIbfMe?ɛiBn^< 隅>I T/ɚiIlj!=I ڿieiռ)@)*F?2F:FBFj0JFG UؼGBO&>ePExceeded connect timeout, disconnecting.5Will construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ ;J3g:JJJ#S<J$S<J;J;zK BHK s9K K K BK qA:K pA % $?I! w,VA !@Y]0@һ9*>yH]¿vV?@ZE¿  ¿?FCz?`M??ɨ !@z;&CyM!BM6&I-Mb@Mb@Mb@))) )))Y-jt?YY ]G٣Yye; e> mNusing accuracyPremultiplier from configiu49m"ݛ?u4YmM ii} ?}:}߿}!@m*Dm;m<;m4Will construct direction to contact in vehicle frame from tetrahedron phase data. ~@-B*** querying acoustic contact ***j)j)Zj9]FNOT Ignoring new targets: 496.20 m.Bje;Jje;u ProNav: ac range: 496.200012 m, nav range: 277.485748 m, bearing: 344.801706 deg, approach rate: -0.056743 m/s, LOS rate: 0.124731 deg/s, cmd heading: 262.397864 deg, new cmd heading: 262.587842 deg. 2ju4;}HeadingCmd: 4.583023 target range: 496.200012 and range: 496.20 m. j@jjjihhhh'Bfffrfbf`?ɛmB%8< !%>I! %)ɚ!i)I-M!=I-ٿi5Qqfi5~|Ҽ)5@)1EaEepA*F?2F:FBF_0JFG N޼E Will construct direction to contact in vehicle frame from tetrahedron phase data.E AiA M T****** received valid address query ******M R****** received valid ping request ******M Querying Benthos address 50 with one ping in standard two-way mode.H >I  I t&II UBI &I .I 6I Ű<:I _ FG B! O= >?*w,RVA-K@Y~Z@Ό90>yH[? AR¿pN?Qs?$??ɨ-K@{;(Cy1BI&II5yI5xV4٢E= Eu=9MJ;Q M?IQ UG٣QyU2|< U? eNusing accuracyPremultiplier from configYm49]ݛ?m4Y]4S iYimn޿m!@]1D];];]4}kB }@}EZjFNOT Ignoring new targets: 496.20 m.Bj;Jj; ProNav: ac range: 496.200012 m, nav range: 277.465240 m, bearing: 344.844798 deg, approach rate: -0.064933 m/s, LOS rate: 0.136450 deg/s, cmd heading: 262.587852 deg, new cmd heading: 262.717137 deg. 2jI; IhHeadingCmd: 4.585279 target range: 496.200012 and range: 496.20 m. j@jjjihhhhfffrfbf@ɛpBTA< >I #X%ɚiI% =I-Tٿi-Ǭfi-R)-@))*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247375GϼGyBO> m nManaging dock network, ignoring radio surface power offw,rOVA>ks@Y>@>j9>>y>H}a?O¿@ c?SBm?? ?ɨ>ks@>tg;>&CyJ/BJG&IIVqIVJH4٢^& ^U=9b8C;Q b>dd fG٣fDGyfjQ< j> nNusing accuracyPremultiplier from confighr49jݛ?r4Yj{Y ihprݿr!@j9Dj" ;jT ;jS4t z@xZjFNOT Ignoring new targets: 496.20 m.Bj%;Jj-;5 ProNav: ac range: 496.200012 m, nav range: 277.440643 m, bearing: 344.894400 deg, approach rate: -0.063996 m/s, LOS rate: 0.129063 deg/s, cmd heading: 262.717134 deg, new cmd heading: 262.865952 deg. 2j=&;EHeadingCmd: 4.587876 target range: 496.200012 and range: 496.20 m. jEϒ@jAjAjIiIhIhIhIhQfQfQfQrfYbf]9@ɛsB< 隍ٻ>I f ɚiIr =Iؿi Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7462643w,-VA:h@Y:@:?@09:o>y:Hࠜe?`M¿`Xc@? f???ɨ:h@:퇈;8yF:BJT&I%Mb@Mb@Mb@!!! !)!Y%333333?+~jtxy%?%%Ļ! !)!I%@!y%AI5oI5D4٢EoP= EB=9M. ;Q M>IQ UG٣QyU < > Nusing accuracyPremultiplier from config49cݛ?4YN` ilB?:ῑ!@AD;;4  @ Zj)5FNOT Ignoring new targets: 496.20 m.Bj=\ ;Jj=\ ;M ProNav: ac range: 496.200012 m, nav range: 277.422119 m, bearing: 344.948769 deg, approach rate: -0.042104 m/s, LOS rate: 0.123586 deg/s, cmd heading: 262.865950 deg, new cmd heading: 263.029069 deg. 2jM;MHeadingCmd: 4.590724 target range: 496.200012 and range: 496.20 m. jU5@jQjQjQiQhQhYhYh]DBfYfafarfabfev@ɛwB< 隝>I CɚiIX =Iؿi'gi4%)5@)EY>E>*F?2F:FBFJF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998050H>IC I&IIxBI6 =&I.I1D6I<:Is F IG-VG B O5 >w, WA2@Y2@2 ˺92>y2H `i?@S¿ܿ@4?aaY?@??ɨ2@2%;2(Cy>BBBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.249826>^&II|I[4٢%$= %L=9-:;Q ->)1 5G٣1y5< => ENusing accuracyPremultiplier from config9M49=ݛ?M4Y=Bf i=lBIMEῑM!@=HD=*:=n:=4Y ]@YZjFNOT Ignoring new targets: 496.20 m.Bj ;Jj ; ProNav: ac range: 496.200012 m, nav range: 277.405304 m, bearing: 344.996160 deg, approach rate: -0.043951 m/s, LOS rate: 0.123877 deg/s, cmd heading: 263.029082 deg, new cmd heading: 263.171264 deg. 2j;HeadingCmd: 4.593205 target range: 496.200012 and range: 496.20 m. j@jjjihhhhfffrfbfS @ɛ{Br{< >I ;cɚiI =IHQؿiUgiZU) @) *F?2F:FBF4JFG  =Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:21:42:51.2977 ETRx dataTimestamp_ set to:1736372572.474001Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.504075GJJJ1JJu;J`:J3Ja @a @a @a @B Om >zK% BoHK% 9K! K% K% BK) :K- rA I hHw,_&WA}r̋@Y}ے@}tF9}P>y}Hlm?=¿` @&`WҒ?`NH?c??ɨ}r̋@}_;}'CyDB`&II{IZ4٢ԩ; 5=9H:Q > G٣DGy; > Nusing accuracyPremultiplier from config49ݛ?4YJm ilB࿑!@QD7::4 v@ZjFNOT Ignoring new targets: 496.20 m.Bj ;Jj ;  ProNav: ac range: 496.200012 m, nav range: 277.384827 m, bearing: 345.052111 deg, approach rate: -0.045420 m/s, LOS rate: 0.124113 deg/s, cmd heading: 263.171260 deg, new cmd heading: 263.339124 deg. 2j Z;HeadingCmd: 4.596135 target range: 496.200012 and range: 496.20 m. j@jjji!h)h)h1h1f9fAfArfIbfM*@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.753754ɛB[< 隅Q>I ʘɚiIQ=IG׿i}gi៼)@)*F2F:FBF25JFG] o>GA ] Will construct direction to contact in vehicle frame from tetrahedron phase data.jH <bH <H >I  I &II BI &I .I 6I ư<:I a FBIyJI}˗CRIyZI}7 =bI}7 =jI}j4B OE >j&w,@WADAT read: 21:42:51.2977 LVL= 23136, 29681, 26722, 32755, AGC= 68, IDX= 432, 0.33, 1.490, 0.505,-0.703, 0.400, PHS= 1.178, 0.152,-1.106, RAW= 56.6, -2.3, CAL= 60.0, -6.2, ROT= 90.0, 6.2 Ygot valid direction response: 21:42:51.2977 LVL= 23136, 29681, 26722, 32755, AGC= 68, IDX= 432, 0.33, 1.490, 0.505,-0.703, 0.400, PHS= 1.178, 0.152,-1.106, RAW= 56.6, -2.3, CAL= 60.0, -6.2, ROT= 90.0, 6.2 "PDAT read: Bearing 90.0, 6.2 (Local) "~Local bearing/azimuth received: Bearing 90.0, 6.2 (Local) ZDAT read: Range 10 to 50 : 496.0 m (Round-trip 661.4 ms) speed 0.1 m/s ^,DAT read: user:1999> bBDAT read: Tx time:21:42:52.3822 b$Ping request sent.b٥h٥'|?٥l$ ڥ ?)ڥkݽIڥ?iڥk=ڡڡۥg?6D쿜r$r)ۥ QIYIۥ#=iۥ?ۥ/Tgۡۡm:publishing transmit ping time`mFpublishing direction and range infoء9إDz?|4?K6r#?yءءءء ١)١I١i١١١١١ ڡ)ڡIڡiڡڡڡۥg?6D쿜r$r)ۡIۡiۡۡۡۡQ@Y@99b>yH`z q?`;¿ 13*?R5\?J?ɨQ@>;騉yMb@Mb@Mb@ )Y|?5^?I +Qy?94u+ A @)dAIyAII{4٢-); -4=95;Q 5>YY ]G٣Yy]|< e> mNusing accuracyPremultiplier from configam49eJ ݛ?u4Yet ielBl?:ῑ!@eYDe_;e;e4nB @Ek4e -?k_\5 k k3>WA:kCBkECZk`@"`0$@+s@ WZx@Dz?|4?K6r#?Jk?Rk/Tg*bn@󢹌CF=z@D5?z=dq?"kl*ktCkv3-?k| 2kCkk+: kkCkZ@m addTargetRange:: Added new target pos. range: 496.000000 m, deltaT: 4.035874 s, deltaX: -0.200012 m, approachRate: -0.049559 m/s, rangeRepo size: 4  Added new target pos. range: 496.000000 m, bearing: 350.806378 deg, lat: 36.902400 deg, lon: -122.118015 deg, deltaT: 4.035874 s, deltaX: -0.200012 m, approachRate: -0.049559 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 496.00 m.BjJj ProNav: ac range: 496.000000 m, nav range: 276.014832 m, bearing: 346.200826 deg, approach rate: 0.000000 m/s, LOS rate: 0.124113 deg/s, cmd heading: 263.339118 deg, new cmd heading: 263.518292 deg. 2jHeadingCmd: 4.599262 target range: 496.000000 and range: 496.00 m. j'-@jjjihhh)h1f1f1f1rf5@bf=?ɛBw< 隍>I  ɚiI=IΊ׿igi)'-@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:42:52.3814 E*FY2FY:FaBFeB5JFaG `6Ga Bq O >w,:]WA^Will construct direction to contact in vehicle frame from tetrahedron phase data.@YS@iB:9">yHl@u?¿ e !?@"MH~4?෬?ɨ@*;&Cy%;B%U&II=:I=3٢MQJKm3 KL.KK"KJyJ}J}/JyJyJ}^:J}(N3Jy h=9:Q > G٣y< > Nusing accuracyPremultiplier from configm49 ݛ?m4Yxy ilBiu&ῑu!@`DA<K< 4y })@yB*** querying acoustic contact ***jj IhzKBIKh9KKKZj)5FNOT Ignoring new targets: 496.00 m.Bj5/;Jj5/; ProNav: ac range: 496.000000 m, nav range: 276.003998 m, bearing: 346.243824 deg, approach rate: -0.028897 m/s, LOS rate: 0.114691 deg/s, cmd heading: 263.518288 deg, new cmd heading: 263.647284 deg. 2jl;HeadingCmd: 4.601513 target range: 496.000000 and range: 496.00 m. j?@jjjihhhhfffrfbf I?ɛMBM6c< am$>Ii uh6ɚyiyIPe=I A׿igiDC)?@)*F=?2F9:FABFE_0JFAuWill 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,wWA6 @Y6@6+96` >y6H`% {?@}`V:S?@>?ฝ? ?ɨ6 @6≉;6)CyN/BRG&I-Mb@Mb@Mb@))) )))Y-&1?{Gzy-?-#-̼- A -@))I-n@)y)GI]tAI$4 M6YMtAyMB٢U^T U;=9]9Q ]>YY eG٣eDGye: e> mNusing accuracyPremultiplier from configiu49mfݛ?}4Ym im~lB}e?}:}࿑}!@mhDm;m;mI4 @ZjFNOT Ignoring new targets: 496.00 m.Bjh;Jjh;M ProNav: ac range: 496.000000 m, nav range: 275.989502 m, bearing: 346.293687 deg, approach rate: -0.037464 m/s, LOS rate: 0.128875 deg/s, cmd heading: 263.647296 deg, new cmd heading: 263.796894 deg. 2jU;UHeadingCmd: 4.604125 target range: 496.000000 and range: 496.00 m. j]T@jYjYjYiYhYhYhahe/Bfafafirfibf?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.949894ɛB p< >I r ɚiI3=Ixֿi/hi%:)%T@)!H5>I1 I5&II5BI55 =&I1.I16I5Ұ<:I5k F I*F?2F:FBFJFG- G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.201830w,ސWA>o@Y>'@>9> 7>y>H @|?#żǕ?@??C? ?ɨ>o@>ȉ;>&Cy~(B~=&II-NI-@ 4٢U' U\=9]͔Q ]>Ya eG٣aye; e> mNusing accuracyPremultiplier from configiu49mCݛ?}4Ym, imrlBy}߿}!@moDm4;m;m4 _@ZjFNOT Ignoring new targets: 496.00 m.Bjp;Jjp; ProNav: ac range: 496.000000 m, nav range: 275.976593 m, bearing: 346.337348 deg, approach rate: -0.034750 m/s, LOS rate: 0.117537 deg/s, cmd heading: 263.796905 deg, new cmd heading: 263.927892 deg. 2jT;5HeadingCmd: 4.606411 target range: 496.000000 and range: 496.00 m. j5g@j1j9j9i9h9h9hAhAfAfAfArfIbfM@?ɛBye< 隽>I #ɚiI:=Iֿit?hi觼)g@)E1E5nA*F?2F:FBF`0JFGe~FG9BAOeU>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.454521 $?IzK BoHK 9K K K 64w,h̪WAE@Y9U@W:95>yH`?J`If6?*@ h?S?ɨE@V;騍(CyޥBޥ,&I-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7058885Mb@Mb@Mb@111 1)1Y5x?:vQ롿y5K?5Լ5\5 A 5@)5IAI5|@1y5zAImdIm?14٢2x 8=9;Q > G٣y.K< > Nusing accuracyPremultiplier from config49ܛ?4Y ialB?:mۿ!@wD;;#4 <@ZjFNOT Ignoring new targets: 496.00 m.Bj ;Jj ; ProNav: ac range: 496.000000 m, nav range: 275.951630 m, bearing: 346.392058 deg, approach rate: -0.055724 m/s, LOS rate: 0.122137 deg/s, cmd heading: 263.927881 deg, new cmd heading: 264.092027 deg. 2j;HeadingCmd: 4.609275 target range: 496.000000 and range: 496.00 m. j/@jjjihhhhBfffrfbf?ɛEBE,< IMg>II MoɚIiIIMr=IUBֿiUfhiUD)]/@)y*F?2F:FBFh0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.957823H% >I!  I% &II% BI% 4 =&I! .I! 6I% <:I% < FG] *J C="J =J J J 0J J :J Y:J ـ3J J = w,\WA6u@Y6@63D;96>>y6H+`^?`f`xP?@b`?`?ɨ6u@6;4y>BR&IIbIb)4٢j jl=9n^;Q r?pp rG٣rDGyv< v? zNusing accuracyPremultiplier from configx~49zܛ?4Yzc izSlBڿ!@z~DzT&;z&;z)4 oB @EZj1=FNOT Ignoring new targets: 496.00 m.Bj= ;JjE ;M ProNav: ac range: 496.000000 m, nav range: 275.931396 m, bearing: 346.434145 deg, approach rate: -0.058841 m/s, LOS rate: 0.122403 deg/s, cmd heading: 264.092024 deg, new cmd heading: 264.218293 deg. 2jU;UHeadingCmd: 4.611479 target range: 496.000000 and range: 496.00 m. jU=@jYjYjaiahahahahifififirfibfu@{@ɛB< 隥TX>I JɚiI=Iyտinhis)=@)*F5?2F1:F1BF5n2JF1G ȸGBO)>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.209810Aw,pWA6љ@Y6"@6dJ;96>y6H ? g"¿f縿:?)Qi.??ɨ6љ@6؊;6&CNWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.461686yVBV&IIfIfv}4٢j^ nJ=9n_;Q n>pp rG٣pyv3< v> zNusing accuracyPremultiplier from configx~49z ܛ?4Yz izBlBڿ!@zDzA6;zs6;z04  @Zj1=FNOT Ignoring new targets: 496.00 m.BjE ;JjE ;U ProNav: ac range: 496.000000 m, nav range: 275.906799 m, bearing: 346.483470 deg, approach rate: -0.060840 m/s, LOS rate: 0.122013 deg/s, cmd heading: 264.218300 deg, new cmd heading: 264.366288 deg. 2jUy;eHeadingCmd: 4.614062 target range: 496.000000 and range: 496.00 m. jef@jajajaiahihihihifqfqfqrfqbfx@ɛBȚ; !%3>I! %.ɚ!i!I-0=I-ԥտi-+lhi5`)5f@ YIa)YEma>Em>zKMyJKM9KIKMKM  *F?2F:FBF`5JFG-v]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.715144G B O5 >/kw,4HWAyrBr%IuMb@Mb@Mb@qqq q)qYuMbX9?I +lyu!?u9uu A u@)u|@IuO@qyu(AII4٢X ?=9Q > G٣y > Nusing accuracyPremultiplier from config497ܛ?4Y i0lB*"?:ؿ!@D;M;/84 M@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 496.00 m.BjY;JjY; ProNav: ac range: 496.000000 m, nav range: 275.876648 m, bearing: 346.539493 deg, approach rate: -0.070266 m/s, LOS rate: 0.130572 deg/s, cmd heading: 264.366297 deg, new cmd heading: 264.534384 deg. 2j8;HeadingCmd: 4.616996 target range: 496.000000 and range: 496.00 m. jn@jjjihhhhֆBfffrfbf@k@ɛB ); >I w$ɚiI=IEտi5hi5)5n@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.չiսAchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.967259H >I I&IIdBI&I.I6I<:IS FJ}J}JyJyJ};J}[:JyJyJ}><J}><J}߮;J}߮;*F2F:FBFP5JF QIUhGJiG B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217844ew,qXAFeی@YF@FW;9F_>yFH`of?K¿@`궿?GpR? ?ɨFeی@FL<;DyNنBR%IIZIZ]4٢b= bV=9f);Q f>dd fG٣fDGyjO< j> rNusing accuracyPremultiplier from configpv49rܛ?v4Yr irlBtz׿z!@rDr:r:r>4| ~`@|Zj!-FNOT Ignoring new targets: 496.00 m.Bj-;Jj-;E ProNav: ac range: 496.000000 m, nav range: 275.848145 m, bearing: 346.589213 deg, approach rate: -0.074727 m/s, LOS rate: 0.130364 deg/s, cmd heading: 264.534374 deg, new cmd heading: 264.683549 deg. 2jE;EHeadingCmd: 4.619599 target range: 496.000000 and range: 496.00 m. jMӓ@jIjIjIiIhIhIhQhQfQfYfarfabfe@ @ɛBS9 =I ɚiI=I%bԿi%Jmhi%8)%ӓ@))*F2F:FBF_0JFG͍GBO@>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.469971 IzK eKK 9K K K BK :K qA w,,XAW@Y @[;9;>yH` ?-R¿~[D?`Br`W?c?ɨW@n;騅'CyB%IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:42:55.4471 TRx dataTimestamp_ set to:1736372576.756687checking for new query: numPingsReceived=0, elapsed TxPingTime=3.722909Mb@Mb@Mb@ )YFx?~jtx? G٣y; > Nusing accuracyPremultiplier from config49ܛ?4Yȭ i lB,?:ѿ!@D1;}0;G4 Y@ZjFNOT Ignoring new targets: 496.00 m.BjY;JjY;  ProNav: ac range: 496.000000 m, nav range: 275.793854 m, bearing: 346.657457 deg, approach rate: -0.105941 m/s, LOS rate: 0.133195 deg/s, cmd heading: 264.683545 deg, new cmd heading: 264.888318 deg. 2jҶ;HeadingCmd: 4.623173 target range: 496.000000 and range: 496.00 m. jM @jQjQjQiQhyhyhyh}Bfffrfbf@ɛB] w,rGXA6@Y@~;9?>yH ol@?`*S¿@/)]M?r W?_?ɨ6@;)Cy-B-%II=I=<4٢M Uf=9U Q U>YY eG٣aye"; e> mNusing accuracyPremultiplier from configiu49mܛ?u4Ym imkBy}ѿ!@mDm-;m-;mM4qB @EZjFNOT Ignoring new targets: 496.00 m.Bj$;Jj$; ProNav: ac range: 496.000000 m, nav range: 275.754547 m, bearing: 346.706433 deg, approach rate: -0.115565 m/s, LOS rate: 0.144013 deg/s, cmd heading: 264.888314 deg, new cmd heading: 265.035262 deg. 2j;HeadingCmd: 4.625738 target range: 496.000000 and range: 496.00 m. j @jjjihhhhfffrfbf6@ɛBi R,=PI! %ɚ!i!I%=&=I-<'Կi-Chi-C)- @)1*F?2F:FBF%_0JF!-Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 21:42:55.4471 LVL= 16544, 32337, 20642, 28579, AGC= 70, IDX= 443,-0.15,-2.033,-2.909, 2.143,-3.032, PHS= 1.087, 0.170,-1.111, RAW= 54.5, -1.6, CAL= 56.9, -4.9, ROT= 93.1, 4.9 uYgot valid direction response: 21:42:55.4471 LVL= 16544, 32337, 20642, 28579, AGC= 70, IDX= 443,-0.15,-2.033,-2.909, 2.143,-3.032, PHS= 1.087, 0.170,-1.111, RAW= 54.5, -1.6, CAL= 56.9, -4.9, ROT= 93.1, 4.9 }PDAT read: Bearing 93.1, 4.9 (Local) }~Local bearing/azimuth received: Bearing 93.1, 4.9 (Local) DAT read: Range 10 to 50 : 495.6 m (Round-trip 660.8 ms) speed 0.0 m/s ,DAT read: user:2000> BDAT read: Tx time:21:42:56.5322 $Ping request sent.5?55"s?5 5M;~?)5%I5?i5%=1150Xڑ?cQhs֡)5>I5 Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:42:56.5314 ;w,QaXA6F!@Y60@6#;969>y6HuԴ@?`)) -G٣-DGy5; 5> =Nusing accuracyPremultiplier from config9E49=ܛ?E4Y= i=kBIM^ѿU!@=D=N3;=3;=T4 w@k}3b]H2?k}ڢ ky k}ϡPXA:k}CBk}CZk}8@"}1.8@{¡t@ןw@}/o F?Nǫ?Ak?Jk} ?Rk}:^*}'`mQp@x)n<+0Dz@}'ͩ?h_uS(#?"k}w*k}Ck}92?k}d  2k}Ckyk} kyk}7Ck}@= addTargetRange:: Added new target pos. range: 495.600006 m, deltaT: 4.279151 s, deltaX: -0.399994 m, approachRate: -0.093475 m/s, rangeRepo size: 4 M Added new target pos. range: 495.600006 m, bearing: 353.784791 deg, lat: 36.902400 deg, lon: -122.117831 deg, deltaT: 4.279151 s, deltaX: -0.399994 m, approachRate: -0.093475 m/s, posRepo size: 4 ZjIuFNOT Ignoring new targets: 495.60 m.Bj}Jjy ProNav: ac range: 495.600006 m, nav range: 272.429718 m, bearing: 350.111770 deg, approach rate: 0.000000 m/s, LOS rate: 0.144013 deg/s, cmd heading: 265.035273 deg, new cmd heading: 265.213493 deg. 2jHeadingCmd: 4.628849 target range: 495.600006 and range: 495.60 m. j@jjjihhhhfffrf~@bfK?zK-JK-+9K)K-K-RK= ?JK=>ɛmBm& quGIq uɚyiyI}_=IOӿi33hi"fM)@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fu?2Fy:FyBFyJFyG KG ?G ?G B O >Zw,1|XAN&@YN6@N7;9Ne>yNH`?@vT¿@3 ?fq\?@??ɨN&@N>;N'CybBb}%IMb@Mb@Mb@ )YS?    G٣ y: > Nusing accuracyPremultiplier from config%49ܛ?%4Y ikB%:?%:%^Ͽ%!@DH5 >I1 I5&II5BI1&I1.I16I5w<:I5- FUWill construct direction to contact in vehicle frame from tetrahedron phase data.BI —CJI RI ZI 4 =bI 4 =jI ¯85;<j\4erB ef@mEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 495.60 m.Bj2;Jj2; ProNav: ac range: 495.600006 m, nav range: 272.389954 m, bearing: 350.179551 deg, approach rate: -0.091542 m/s, LOS rate: 0.156061 deg/s, cmd heading: 265.213486 deg, new cmd heading: 265.416858 deg. 2j4;HeadingCmd: 4.632398 target range: 495.600006 and range: 495.60 m. j<@jjjihhhhIBfJ J J 1J J J S:J 3J J J J ;J ; Iffrfbf?ɛBS I hɚiaIen=IeLӿim8him~rx)m<@)i*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 ****** Querying Benthos address 50 with one ping in standard two-way mode.G= |HG B! O >R>%w,XA6/@Y6+@6g ;96a>y6H@3?@ g@'۴"T?La`??ɨ6/@6ڨ;6%CyZBZq%I`bAIfVIfn4٢nQ n_=9rQ r>pp vG٣tyvg v> zNusing accuracyPremultiplier from configx~49zܛ?~4Yz izkBϿ!@zÙDz ;zC ;zb4  @ Zj9EFNOT Ignoring new targets: 495.60 m.BjEr1;JjEr1;U ProNav: ac range: 495.600006 m, nav range: 272.358002 m, bearing: 350.235230 deg, approach rate: -0.089015 m/s, LOS rate: 0.155136 deg/s, cmd heading: 265.416862 deg, new cmd heading: 265.583918 deg. 2j];]HeadingCmd: 4.635314 target range: 495.600006 and range: 495.60 m. j]~T@jajajaiahahahihifififqrfqbfu`?ɛB 隭0޽I  ɚiIe=Iqҿi0Shi1)~T@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.247257EY I*F?2F:FBFJFzK k3IK h9K K K    b+b;% U 2 uBK rA:K G= ZsG 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504950By O >I,w,wXAB<@YB+@B:9B}>yBH@0?ol˴L?@߹@`??ɨB<@Bg;B&CynyBng%IMb@Mb@Mb@ )YˡE?Mb?/$yG?= A @)n@Iy@IhIV84٢ )=9XQ > G٣DGy%V7 %> -Nusing accuracyPremultiplier from config)549-kܛ?54Y- i-kB5-H?=:=Ϳ=!@-ϙD-;-;-Dk4EsB E@EEZjquFNOT Ignoring new targets: 495.60 m.Bj}:;Jj}:; ProNav: ac range: 495.600006 m, nav range: 272.308136 m, bearing: 350.314223 deg, approach rate: -0.102960 m/s, LOS rate: 0.163130 deg/s, cmd heading: 265.583928 deg, new cmd heading: 265.820950 deg. 2j;HeadingCmd: 4.639451 target range: 495.600006 and range: 495.60 m. jbv@jjjihhhhABfffrfbf?ɛB D I DKɚiI =IeҿiNhi)bv@))E= UCE)=M~GmvA GYvAyB*F2F:FBFg0JFZHRHHI I%IIBI&I.I6Ix<:I/ F5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751359 )I5hG ]G G qAG B O >2w,XAybuBfb%IIjIj]4٢rz v^=9~Q  > %G٣!y- -> 5Nusing accuracyPremultiplier from config1=495|ܛ?E4Y5D i5kBAAE!@5ٙD5k4;54;5q4I U@QZjq}FNOT Ignoring new targets: 495.60 m.Bj:;Jj:; ProNav: ac range: 495.600006 m, nav range: 272.269897 m, bearing: 350.375399 deg, approach rate: -0.102050 m/s, LOS rate: 0.163287 deg/s, cmd heading: 265.820963 deg, new cmd heading: 266.004515 deg. 2j ;HeadingCmd: 4.642654 target range: 495.600006 and range: 495.60 m. j@jjjihhhhfffrfbf?ɛBu I ɚiIB =Iѿi hiȼ)@)EE*E "E uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003168*F12F9:F9BF=m0JF9- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255350J J J 0J J :J V:J ـ3J a @ I a @a @a @G AG B O- >9w,XA0]@Yl@Hx:9->yH `?9} ˲`3?B?n?ɨ0]@;y5qB5]%IIEIEd4٢U UF=9]W9Q ]>YY ]G٣Yym< m> uNusing accuracyPremultiplier from configq}49uܛ?4Yu iukB̿!@uDu[;u^;ux4 '@zK!OK9KKKZjFNOT Ignoring new targets: 495.60 m.Bj x6;Jjx6;- ProNav: ac range: 495.600006 m, nav range: 272.226257 m, bearing: 350.441756 deg, approach rate: -0.104896 m/s, LOS rate: 0.159527 deg/s, cmd heading: 266.004504 deg, new cmd heading: 266.203608 deg. 2j-;5HeadingCmd: 4.646130 target range: 495.600006 and range: 495.60 m. j=@j9jAjAiAhIhIhQhQfQfYfarfabfeL@ɛ%ņB%ڗ !%D(I! -kɚ)i)I-. =I5 ѿi59%ii5)5@)9*F2F:FBF2JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508119G5 NCüG B O5 >T0?w,մXAHlIl In%IInˆBIl&Il.Il6In}<:In3 FWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759802y-zB5g%IMb@Mb@Mb@ )YV-?Mb?:vyM?T A @)A@I@y@ IJJAAII4٢ %= @=9Q > G٣DGy% %> 5Nusing accuracyPremultiplier from config)=49-ܛ?=4Y- i-kB=M?=:=6ͿE!@-D-;-t;-_4I M@IMB*** querying acoustic contact ***jIjIZjq}FNOT Ignoring new targets: 495.60 m.Bj}5;Jj5; ProNav: ac range: 495.600006 m, nav range: 272.180664 m, bearing: 350.513074 deg, approach rate: -0.101459 m/s, LOS rate: 0.158731 deg/s, cmd heading: 266.203618 deg, new cmd heading: 266.417606 deg. 2j;HeadingCmd: 4.649864 target range: 495.600006 and range: 495.60 m. j˔@jjjihhhh-Bfffrfbfs@ɛmɆBm im(Iq usɚqiqIu) =I}ѿi}{ii}Vļ)}˔@)*FY2FY:FYBFe4JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011668GE GU ?GU ?G B) OE >zFw,OYARm@YR }@R9R*>yRHr֘?¿78?@7S??Э?ɨRm@Rˌ;R)CyZBZs%IIbIb4٢jN= ja=9nQ n>pp rG٣pyr; v> zNusing accuracyPremultiplier from configtz49vܛ?~4YvV ivkB̿!@vDv?;v@;v4 uB @EZj1FNOT Ignoring new targets: 495.60 m.BjR;JjR; ProNav: ac range: 495.600006 m, nav range: 272.141449 m, bearing: 350.573984 deg, approach rate: -0.118634 m/s, LOS rate: 0.184293 deg/s, cmd heading: 266.417594 deg, new cmd heading: 266.600350 deg. 2j;HeadingCmd: 4.653054 target range: 495.600006 and range: 495.60 m. j@jjjihhhhff f rf bf  @ɛ=̆B=ᗼ 9=I9 E/DɚAiAIE =IM(пiMiiMGʼ)M@)Q*F2F:FBF_0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263392GI IhJ J J J J :J Y:J J GBO=>zKmBoIKm9KiKmKm Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:42:59.5964  TRx dataTimestamp_ set to:1736372580.793340 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522569JWLw,3YAyޅBޅy%Ii>Ia=Mb@Mb@Mb@ )Y/$?Mb?~jtyL?<D A ~@)X@Iy@I5I5#4٢E< E3=9MQ M>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam49e*ܛ?m4Ye iekBmL?u:uпu!@eDe1;e;e4y }@yZjFNOT Ignoring new targets: 495.60 m.Bj;?;Jj;?; ProNav: ac range: 495.600006 m, nav range: 272.103760 m, bearing: 350.650156 deg, approach rate: -0.082713 m/s, LOS rate: 0.167189 deg/s, cmd heading: 266.600342 deg, new cmd heading: 266.828887 deg. 2j{;HeadingCmd: 4.657043 target range: 495.600006 and range: 495.60 m. j~@jjjihhhh,Bfffrfbf# @ɛφBrꌼ 隭 I ɚiIb9!=Is%пi'Cji)~@)*Fy2Fy:FyBFyJFyH >I III&I.I6Iİ<:Ig FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767264 IG S&żG B O >r*Sw,AGMYA6b{@Y6@6zrh96>y6H`?¿`H?@Km?/?׬?ɨ6b{@6;4yRBR%IIZIZ@4٢f= fi=9j޻Q j>hl nG٣nDGyr; r> Nusing accuracyPremultiplier from configx49zܛ?4YzG izkBп!@z Dz Bju!;Jju!; ProNav: ac range: 495.600006 m, nav range: 272.074585 m, bearing: 350.708878 deg, approach rate: -0.070157 m/s, LOS rate: 0.141227 deg/s, cmd heading: 266.828880 deg, new cmd heading: 267.005067 deg. 2j;HeadingCmd: 4.660118 target range: 495.600006 and range: 495.60 m. j@jBDAT read: Tx time:21:43:00.6823 $Ping request sent.jUYw,%gYA6̅@Y6@6%D96>y6H@*?@-¿`O@UX?Hs?`C??ɨ6̅@6;4ynBn%IIvIvb4٢=  G=9 8Q >9 =G٣9yEG; E> UNusing accuracyPremultiplier from configQe49U0ܛ?e4YU iUkBim_пm!@UDU7z;U{;U4 @k<+?kgH k kRYA:kCBkCZku@"-ZU+Pr@<^x@lu{}P? ;e?Jk&?Rk m@$'ҹ{@|?n;Șx?"k?*k%oCkɄ+?kCJ 2kICk92?k| kCkCk@e addTargetRange:: Added new target pos. range: 495.000000 m, deltaT: 4.033864 s, deltaX: -0.600006 m, approachRate: -0.148742 m/s, rangeRepo size: 4 zKKK9KKK Added new target pos. range: 495.000000 m, bearing: 357.132250 deg, lat: 36.902334 deg, lon: -122.117720 deg, deltaT: 4.033864 s, deltaX: -0.600006 m, approachRate: -0.148742 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 495.00 m.BjJj ProNav: ac range: 495.000000 m, nav range: 263.398651 m, bearing: 352.643834 deg, approach rate: 0.000000 m/s, LOS rate: 0.141227 deg/s, cmd heading: 267.005072 deg, new cmd heading: 267.165298 deg. 2jHeadingCmd: 4.662914 target range: 495.000000 and range: 495.00 m. j6@j j j i h)h)h1h1f1f1f9rf9bf=?ɛֆBqd 隵ܤI rbɚiIH!=I eϿiAki)6@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >;?`w,5 YAH0I0 I2%II2ۆBI0&I0.I06I2<:I2c FF>@YF@FP`ѻ9FQ=yFH !g?񥿿*D?`+z?@Կ?A?ɨF>@Fӎ;F%CyRBR%I)T T TV=Will construct direction to contact in vehicle frame from tetrahedron phase data.i 9I9MMb@Mb@Mb@III I)IYM%C?Mbp?{GztyMZD?M;MףM A M@)IIM+@IyM@InIB4٢ˣ= :=9zQ >!! %G٣!y%E.; %> 5Nusing accuracyPremultiplier from config1=495tܛ?=4Y5 i5kB=[D?=:=ѿ=!@5!D5;5;54MwB M@MEZjquFNOT Ignoring new targets: 495.00 m.Bj}qJ;Jj}qJ; ProNav: ac range: 495.000000 m, nav range: 263.376862 m, bearing: 352.715912 deg, approach rate: -0.053501 m/s, LOS rate: 0.176990 deg/s, cmd heading: 267.165308 deg, new cmd heading: 267.381557 deg. 2j;HeadingCmd: 4.666688 target range: 495.000000 and range: 495.00 m. jU@jjjihhhhwBfffrfbf@?ɛMنBU@ QUQIQ UɚQiYI]!=I]`οiekieǐ)eU@)*FA2FA:FABFEg0JFAWill construct direction to contact in vehicle frame from tetrahedron phase data.G fhGa Bi O >wffw,8ؚYA2@Y2 @2q92>y2Ha`?@}ľ@f?@*n|?5?ݽ?ɨ2@2>;2&Cy>ɆBB%IIJZIJ4٢Rge= Rf=9V˺Q V>TT VG٣ZDGyZUU; Z> bNusing accuracyPremultiplier from config\b49^ܛ?f4Y^ i\dfпf!@^*D^:^:^4h j@lB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 495.00 m.Bj1;Jj1;= ProNav: ac range: 495.000000 m, nav range: 263.358948 m, bearing: 352.775116 deg, approach rate: -0.047025 m/s, LOS rate: 0.155424 deg/s, cmd heading: 267.381552 deg, new cmd heading: 267.559176 deg. 2j=U;MHeadingCmd: 4.669788 target range: 495.000000 and range: 495.00 m. jMn@jIjIjIiIhhhhfffrfbf`b?ɛ܆B/ 隭@I ɚiIa!=I˃οi}li )n@) 1I5 h=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.JJJJJ:JdP:JJ*F?2F:FBFo0JFzK JK h9K K K @# "! G G B O= > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487344lw,jYAyB%IMb@Mb@Mb@ )Y`"?:vMb`y7?TA )n@I@yz@IWI44٢= -=9Q > G٣y > Nusing accuracyPremultiplier from config49ܛ?4Y' ikB7?:ӿ!@5D?a;_;!4 r@ZjFNOT Ignoring new targets: 495.00 m.Bj4;Jj4; ProNav: ac range: 495.000000 m, nav range: 263.345093 m, bearing: 352.848662 deg, approach rate: -0.029656 m/s, LOS rate: 0.157432 deg/s, cmd heading: 267.559164 deg, new cmd heading: 267.779814 deg. 2j;HeadingCmd: 4.673639 target range: 495.000000 and range: 495.00 m. jt@jjjihhhhBfffrfbf?ɛM߆BMI IM:IQ ]~ɚYiYI!=IοiJmi\L)t@)*F5?2F9:F9BF=0JF9ZHaRHe?AHiIi Im&IImBIm2 =&Ii.Ii6ImͰ<:Imm FBIƘCJIƘCRIZI3 =bI3 =jI'4 $?I hUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.736229G OG B O >Xxsw,YA6(@Y6y̔@6296 >y6H?&/@@ =q?Ӂ?;I? ?ɨ6(@6(;6'CyRBR&IiZ=IZ]>XZAIbIbr4٢j> jo=9jQ j?ll nG٣lyrT< r? vNusing accuracyPremultiplier from configtz49vܛ?z4YvA. itxzLӿz!@v=Dva:v:v4 @Zj15FNOT Ignoring new targets: 495.00 m.Bj>;Jj>; ProNav: ac range: 495.000000 m, nav range: 263.334167 m, bearing: 352.902152 deg, approach rate: -0.033941 m/s, LOS rate: 0.166182 deg/s, cmd heading: 267.779807 deg, new cmd heading: 267.940282 deg. 2j;HeadingCmd: 4.676440 target range: 495.000000 and range: 495.00 m. jf@jjjihhhhfffrfbf?ɛuBu y}P<=Iy }ɚyiyI}!=IթͿimiL)f@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990128*F)2F):F)BF-Z5JF)GGGBOF> I } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244288yw,IiYA62Í@Y6Ҕ@6 96>y6H@? s@@כ?@ ?S??ɨ62Í@68;4yb Bb&IIvIv{4٢K=  G=9Q > G٣%DGy%7: -> =Nusing accuracyPremultiplier from config1E495ܛ?E4Y5 6 MtIi5kBIM4ӿM"@5FD5{;5{;5W4xB @EZj!-FNOT Ignoring new targets: 495.00 m.Bj-);Jj-);] ProNav: ac range: 495.000000 m, nav range: 263.321075 m, bearing: 352.966681 deg, approach rate: -0.030071 m/s, LOS rate: 0.148223 deg/s, cmd heading: 267.940289 deg, new cmd heading: 268.133885 deg. 2jer;eHeadingCmd: 4.679819 target range: 495.000000 and range: 495.00 m. je@jijijiiihihihqhfffrfbf`c@zKLK9KKKP '.9"/QN?2)! RK ?JK?ɛ=BEHC AE=IA EɚAiAIM^!=I;Ϳi niW)@)*Fm?2Fi:FqBFuO5JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495374e G Y y =BG G B O >Ha Ia  Ie U&IIe ;BIa &Ia .Ie 2D6Ie <:Ie R Fw,UZA:΍@Y:/ޔ@:w-9:V>y:H@֮?¿` ~? ٮ?:?@ ?ɨ:΍@:P;:(C DIDyJ!BJ5&IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7442195Mb@Mb@Mb@JJJ1JJJJ3JJ~9)) -G٣)y-2S; 5> eNusing accuracyPremultiplier from configam49e,ܛ?m4Ye= iekBu+?:w׿"@ePDe;e;e'4 u@Zj -FNOT Ignoring new targets: 495.00 m.Bj5*;Jj5*;E ProNav: ac range: 495.000000 m, nav range: 263.318207 m, bearing: 353.031950 deg, approach rate: -0.006560 m/s, LOS rate: 0.149252 deg/s, cmd heading: 268.133884 deg, new cmd heading: 268.329694 deg. 2jE;MHeadingCmd: 4.683237 target range: 495.000000 and range: 495.00 m. jMݕ@jIjYjYiYhahihihBfffrfbf@_@ɛB` =I) -Kɚ)i)I-$^!=I5̿i5ioi=")=ݕ@)9*F2F:FBF 5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996200G G B O ~w,}ZA6w@Y6@6<96>y6H_ͬ`8?@v¿{@?\?˒??ɨ6w@6;6$CyR6BRO&I)T T Z=Za=I^I^v}4٢f= fe=9j+Q j>ll nG٣lyrh6< r> vNusing accuracyPremultiplier from configtz49vܛ?z4YvD ivkBxzֿ~"@vWDv:v|;vL4yB +@%B*** querying acoustic contact ***j!j!Zj15FNOT Ignoring new targets: 495.00 m.Bj=,;Jj=,;M ProNav: ac range: 495.000000 m, nav range: 263.315216 m, bearing: 353.083278 deg, approach rate: -0.008805 m/s, LOS rate: 0.151111 deg/s, cmd heading: 268.329692 deg, new cmd heading: 268.483676 deg. 2jMi;HeadingCmd: 4.685924 target range: 495.000000 and range: 495.00 m. j@jjjihhhhff f rf bf  @ɛBl\; 隝j>I ɚiI{2!=Is̿i>Dpi)@) I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249434*Fm?2Fi:FiBFm_0JFiGw!Gi B zK NK O >K K K QaA-! ~r$a-E P O\"M) BK qA:K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502706w,i6ZA}T@Y},@}L9}&O>y}H`?@¿ ¸;?7?`?@?ɨ}T@};}%CyޕPBޕn&IUMb@Mb@Mb@QQQ Q)QYUZd;?I +Mb`yU?U94UQ U@)UX@IUX@QyUf@I}I}t4٢= 0=9Q > G٣DGytF< > Nusing accuracyPremultiplier from config49ܛ?4YK i`?:qؿ"@`D6; ;a4 @ZjimFNOT Ignoring new targets: 495.00 m.Bju;Jju; ProNav: ac range: 495.000000 m, nav range: 263.315216 m, bearing: 353.145934 deg, approach rate: 0.000000 m/s, LOS rate: 0.130931 deg/s, cmd heading: 268.483671 deg, new cmd heading: 268.671639 deg. 2j;HeadingCmd: 4.689205 target range: 495.000000 and range: 495.00 m. j @jjjihhhhBfffrfbf@en @ɛMBM; QUtF>IQ U=ɚiI =I̿i qiU) @)H >I I&IIsBI&I.I6If<:I" F qIu h*F?2F:FBFJF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:21:43:03.7457 ETRx dataTimestamp_ set to:1736372585.082011Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.756043JK3 K.-KK"KJJJ0JJK:JQN:Jـ3JJq5<Jr5<J:;J:;G GQ BY Ou >Ɠw,OZA6P@Y6E`@6T96>y6HX?!¿=y ??3??ɨ6P@6a2;6&CyRhBR&IIZIZr4٢b > bn=9b̺Q b?dd fG٣dyj=< j? nNusing accuracyPremultiplier from configlr49nܛ?r4Yn5Q iltv׿v"@ngDnN;n;n`4z{B z-@zEZjFNOT Ignoring new targets: 495.00 m.Bj;Jj; ProNav: ac range: 495.000000 m, nav range: 263.314056 m, bearing: 353.192430 deg, approach rate: -0.003336 m/s, LOS rate: 0.133772 deg/s, cmd heading: 268.671638 deg, new cmd heading: 268.811127 deg. 2j;HeadingCmd: 4.691639 target range: 495.000000 and range: 495.00 m. j!@jjjihhhhfffrfbf@@ɛ-B- /< -=-\r>I) -ɚ1i1I5Ƭ =I=ȷ˿i=qi=2)=!@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.013490*F?2F:FBFo0JFG5 G B) OM > q Iq  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:43:03.7457 LVL= 16944, 27713, 22338, 26035, AGC= 66, IDX= 427,-0.28,-0.119,-1.068,-2.067,-1.001, PHS= 0.969,-0.021,-1.069, RAW= 59.1, 1.4, CAL= 60.3, -0.9, ROT= 89.7, 0.9  Ygot valid direction response: 21:43:03.7457 LVL= 16944, 27713, 22338, 26035, AGC= 66, IDX= 427,-0.28,-0.119,-1.068,-2.067,-1.001, PHS= 0.969,-0.021,-1.069, RAW= 59.1, 1.4, CAL= 60.3, -0.9, ROT= 89.7, 0.9  PDAT read: Bearing 89.7, 0.9 (Local)  ~Local bearing/azimuth received: Bearing 89.7, 0.9 (Local)  DAT read: Range 10 to 50 : 494.4 m (Round-trip 659.2 ms) speed 0.0 m/s  ,DAT read: user:2002>  BDAT read: Tx time:21:43:04.8323  $Ping request sent. yUHۜ?Eÿ`@rܡ@c?@?@KX?@'?ɨU@U";U'CymlBm&Iia=I<AIIb4٢]?< ]3=9],Q ]>aa eG٣aym|< m> uNusing accuracyPremultiplier from configq49uܛ?4YuX iqֿ"@upDux1;uF1;uZ4|B @Ek'?kDB k kKfZA:k3CBk{CZk=zK xrOK K K K $w""l޸7E:/S@r@2 ex@-u4ȱl?"#?Jk?Rko*HŰl@^Z@7@ !T{@fh;I Xjɚ!i!I%M =I-L˿i-Zri-0q)-<@))*FM ?2FI :FI BFM _0JFI H I  I &II BI &I .I 6I \<:I  F Y IY Gm O Will construct direction to contact in vehicle frame from tetrahedron phase data.J J BAJ J J J J :J T:J J J :<J :<J ;J ;G1B9OU>ءw,ZAy-B5&I=Mb@Mb@Mb@999 9)9Y=㥛 ? G٣DGy > Nusing accuracyPremultiplier from config49=ܛ?4Y_ ikB?:fտ"@yD;];4 @Zj9eFNOT Ignoring new targets: 494.40 m.Bjm,#;Jjm,#;} ProNav: ac range: 494.399994 m, nav range: 246.465775 m, bearing: 354.839122 deg, approach rate: 0.003510 m/s, LOS rate: 0.142658 deg/s, cmd heading: 268.998176 deg, new cmd heading: 269.193553 deg. 2j};HeadingCmd: 4.698314 target range: 494.399994 and range: 494.40 m. jX@jjjihhhh]Bfffrfbf@ ?ɛBD< 隵>I zSɚiI=Iʿi6ri )X@)*FM?2FQ:FQBFU`0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.G `Gi By O >w,ZA6ߎ@Y6@6 |96@X>y6H`񛛿?3ÿ` `֘Փ?@?`?`?ɨ6ߎ@6*;6&CyBBB&IIJtIJM4٢R= Ro=9VQ V?TX ZG٣XyZa< Z? bNusing accuracyPremultiplier from config\f49^ܛ?f4Y^.e i^kBhjԿj"@^D^4;^4;^4p rɾ@p I B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 494.40 m.Bj%6;Jj%6;5 ProNav: ac range: 494.399994 m, nav range: 246.465042 m, bearing: 354.885009 deg, approach rate: -0.002208 m/s, LOS rate: 0.138320 deg/s, cmd heading: 269.193547 deg, new cmd heading: 269.331206 deg. 2j5ڽ;5HeadingCmd: 4.700716 target range: 494.399994 and range: 494.40 m. j=El@jjjihhhhfffrfbf@?ɛ5B5< 9=0>I9 =/ɚ9i9I=?=IEUʿiEEsiMSԼ)MEl@}Will construct direction to contact in vehicle frame from tetrahedron phase data.yiy}T****** received valid address query ******}R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.)IE .=zK$7LK9KKK*F?2F:FBF_0JF5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250107G Gq B O >ήw,ZAV}@YV@VW9V1">yVH`o?ÿ{m?`J? ? ?ɨV}@V;V(CyfBf&I tv=Mb@Mb@Mb@ )YV-?:vI +yh?Լ94A A ~@)X@Iyf@I[IK!4٢k< '=9HQ > G٣ y C<  > Nusing accuracyPremultiplier from config49Sܛ?4Yl ikB%?%:%*ѿ%"@DS;;/4) -@1ZjQUFNOT Ignoring new targets: 494.40 m.HiIi Im'IImԇBIi&Ii.Ii6Imq<:Im) FBj;Jj; ProNav: ac range: 494.399994 m, nav range: 246.457962 m, bearing: 354.949819 deg, approach rate: -0.014526 m/s, LOS rate: 0.132974 deg/s, cmd heading: 269.331216 deg, new cmd heading: 269.525651 deg. 2j; IHeadingCmd: 4.704110 target range: 494.399994 and range: 494.40 m. j@jjjihhhh_Bfffrfbf`t?ɛBZiK< &>Iq }׻ɚyiyI}/=I$ʿisi̼)@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500519*J}R="J}p=JJJJJ;J`:JJJA<JA<JY;JZ;EƢ=*Fe?2Fa:FiBFmo0JFiGEGB O-> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751490{w,ZAZPT@YZc@ZI߃9Z>yZH`z?`ÿ`F⦄L?{? [?`?ɨZPT@Z2;Z'CyfBf&IIrIrr4٢z= z^=9~ ;Q ~> G٣y3< > Nusing accuracyPremultiplier from config 49 \ܛ?4Y r i kBп"@ D  ; : ; 4%}B -ý@-EZjIUFNOT Ignoring new targets: 494.40 m.BjU;Jj];m ProNav: ac range: 494.399994 m, nav range: 246.451111 m, bearing: 354.998397 deg, approach rate: -0.018629 m/s, LOS rate: 0.132092 deg/s, cmd heading: 269.525658 deg, new cmd heading: 269.671394 deg. 2jmN;uHeadingCmd: 4.706654 target range: 494.399994 and range: 494.40 m. ju蜖@jqjqjyiyhyhyhhfffrfbf@I9 ={ϻɚ9i9I==IEɿiEsiEE)M蜖@)IEqEq*Eq"Eq I h]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004718*F2F:FBFq0JFG ԼG B zK K 9K K K RK ?JK O >1w,%ZAJ6@YJ@J}9Jo>yJH`dt#?@'ÿ @^ek?ʠ?#?-?ɨJ6@J+;J&CyVBV&II^I^y4٢f fA=9j:Q j>hh nG٣nDGyn< r> Nusing accuracyPremultiplier from config|49~eܛ?%4Y~_x i~kB)-Ͽ5"@~D~;~I<~ 4Q uܽ@ Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261290ZjFNOT Ignoring new targets: 494.40 m.Bj% ;Jj- ; ProNav: ac range: 494.399994 m, nav range: 246.441544 m, bearing: 355.054568 deg, approach rate: -0.019674 m/s, LOS rate: 0.115514 deg/s, cmd heading: 269.671387 deg, new cmd heading: 269.839906 deg. 2j;HeadingCmd: 4.709595 target range: 494.399994 and range: 494.40 m. j@jjjihhhhfffrfbf+@ɛMBMJU< IU>IQ UDŻɚQiQIUQ=I]jkɿi]si]n)]@)a*F?2F:FBF1JFG GBHI I0'IIBI&I.I6I]<:I F IBIJIRIZI2 =bI2 =jIǫn4O=> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508959J J J J J :J [O:J J J 6<J 6<J ;J ; w,. [A2֏@Y2@2 k92 >y2H5i? $?`ÿ0u?@K?q? ?f?ɨ2֏@2\;0yRBR&IiV8>IVR==Mb@Mb@Mb@999 9)9Y=@5^I ?I +{Gzy=b?=94=ף= A 9)9I=A@9y=@IMIMb4٢];e eC=9e&;Q e>ii mG٣iym< m> }Nusing accuracyPremultiplier from configy49}/ܛ?4Y}~ i}kB?:mʿ"@}D}M7;}5;}S4  @ZjFNOT Ignoring new targets: 494.40 m.Bj.;Jj.; ProNav: ac range: 494.399994 m, nav range: 246.423874 m, bearing: 355.109121 deg, approach rate: -0.049542 m/s, LOS rate: 0.152966 deg/s, cmd heading: 269.839901 deg, new cmd heading: 270.003571 deg. 2j;HeadingCmd: 4.712451 target range: 494.399994 and range: 494.40 m. jg̖@jjjihhhhfffrfbf!\@ɛBvb< 隽 >I oɚiI5=I ɿisi|A)g̖@)EErA*F?2F:FBF4JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761106GG B O > I !:w,}&[A6@Y6@6d96X4>y6H??iÿ&3?`wU?`w???>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.012143ɨ6@6=;4yJBJ&IIVIVd4٢b~ bT=9b]:Q f>dd fG٣dyj-< j> rNusing accuracyPremultiplier from configpv49rܛ?v4YrN irkBtzɿz"@rDr ;r ;r4| |@B*** querying acoustic contact ***jjZj)5FNOT Ignoring new targets: 494.40 m.Bj=;Jj=;] ProNav: ac range: 494.399994 m, nav range: 246.406387 m, bearing: 355.159554 deg, approach rate: -0.045354 m/s, LOS rate: 0.130816 deg/s, cmd heading: 270.003580 deg, new cmd heading: 270.154891 deg. 2je;eHeadingCmd: 4.715092 target range: 494.399994 and range: 494.40 m. jm @jijijiiqhqhqhyhyfffrfbf`{@ɛ} B4q`< 隅>I `GɚiI=IHȿi sij) @)*FE?2FA:FABFE_0JFAGhGBOI>zKBoHK+9KKK BK:K=Will construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267528) M Gq GY y B @ = BXw,{@[A:s;@Y:J@:^T9:'>y:H7?C?@ÿS?@b??k?@Ν?ɨ:s;@:;:'CyNBR&Ie@e ]Mb@Mb@Mb@YYY Y)YY] G٣DGy]j< > Nusing accuracyPremultiplier from config49Cܛ?4Y ikB?:¿"@Dx;;4 ɾ@ZjFNOT Ignoring new targets: 494.40 m.Bj.;Jj.;- ProNav: ac range: 494.399994 m, nav range: 246.371750 m, bearing: 355.217091 deg, approach rate: -0.080084 m/s, LOS rate: 0.133047 deg/s, cmd heading: 270.154882 deg, new cmd heading: 270.327515 deg. 2j-;5HeadingCmd: 4.718105 target range: 494.399994 and range: 494.40 m. j5@j1j1j1i9h9h9h9h9fAfAfArfIbfM`U @ɛ BpO< ^>I xɚiID=I%Tȿi%hsi%^ۻ)-@))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:43:07.8949 TRx dataTimestamp_ set to:1736372589.124811checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516826*F?2F:FBFJFG f AG ?G ?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=3.767511Gw,WZ[A6Vb@Y6q@6`I96kJ>y6H๷?͞?|ÿ@7d?ݒ?@+?u? (?ɨ6Vb@6y*;6(CyRBR&IIZ|IZ[4٢fݙ fZ=9f:Q j>hh jG٣hynO< n> rNusing accuracyPremultiplier from configpv49rYܛ?v4Yr irkBxzhz"@rDr:r*:r*$4B @EZj15FNOT Ignoring new targets: 494.40 m.Bj=5;Jj=5;M ProNav: ac range: 494.399994 m, nav range: 246.341080 m, bearing: 355.266696 deg, approach rate: -0.081725 m/s, LOS rate: 0.132196 deg/s, cmd heading: 270.327522 deg, new cmd heading: 270.476355 deg. 2jMs;UHeadingCmd: 4.720703 target range: 494.399994 and range: 494.40 m. jU@jQjQjQiQhYhYhahafafafirfibfm@ɛBL< 隝z>I rɚiIt=Ijǿi!siY)@)EY>E*FU?2FQ:FQBFU`0JFQ"G]=G]>G5 IG)BaOE>Will construct direction to contact in vehicle frame from tetrahedron phase data.՝Ai՝AJJJJJk:JU:JJa@a@a@a@DAT read: 21:43:07.8949 LVL= 16416, 24353, 19250, 26995, AGC= 65, IDX= 434,-0.27,-2.477, 2.888, 2.236, 3.123, PHS= 0.771,-0.189,-0.890, RAW= 65.1, 4.3, CAL= 66.5, 3.9, ROT= 83.5, -3.9 Ygot valid direction response: 21:43:07.8949 LVL= 16416, 24353, 19250, 26995, AGC= 65, IDX= 434,-0.27,-2.477, 2.888, 2.236, 3.123, PHS= 0.771,-0.189,-0.890, RAW= 65.1, 4.3, CAL= 66.5, 3.9, ROT= 83.5, -3.9 PDAT read: Bearing 83.5, -3.9 (Local) ~Local bearing/azimuth received: Bearing 83.5, -3.9 (Local) DAT read: Range 10 to 50 : 493.7 m (Round-trip 658.3 ms) speed 0.0 m/s %,DAT read: user:2003> -BDAT read: Tx time:21:43:08.9824 -$Ping request sent.-y2H`jb? N?Yÿ @Ӛ?}??Q?@?ɨ2@2;2$CzKJKKJ59KHKJKJRKR?JKR?yRxBV&IIjIjHo4٢vѽ vH=9v/;Q z>xx ~G٣|y~Q6< ~> Nusing accuracyPremultiplier from config 49ܛ? 4Y ikB"@D ; ;Q+4 s@!k]oo?k kWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:43:08.9816  k7h[A:kCBk"CZk鉸>"L;oXM#Yh/Ro@mTz@㖧K=?3M?JkJ?Rkׂ*I%Lf@^ %*1Q@LX|@yk5?YL}M?PVe?"kB*kv6CkP?k& 2kRDkɄ+?kCJ kICkoCk\&@u addTargetRange:: Added new target pos. range: 493.700012 m, deltaT: 4.034256 s, deltaX: -0.699982 m, approachRate: -0.173509 m/s, rangeRepo size: 4  Added new target pos. range: 493.700012 m, bearing: 20.650956 deg, lat: 36.902135 deg, lon: -122.117476 deg, deltaT: 4.034256 s, deltaX: -0.699982 m, approachRate: -0.173509 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 493.70 m.BjJj ProNav: ac range: 493.700012 m, nav range: 239.546570 m, bearing: 358.366904 deg, approach rate: 0.000000 m/s, LOS rate: 0.132196 deg/s, cmd heading: 270.476365 deg, new cmd heading: 270.665992 deg. 2jHeadingCmd: 4.724013 target range: 493.700012 and range: 493.70 m. j+@jjjihh!h!h!f!f)f)rf-@3~@bf-?ɛB; F>I ɚiIy=Iǿi_ri)+@)*Fu?2Fq:FqBFqJFqHqIq Iu0'IIuBIu3 =&Iq.Iq6Iul<:Iu$ F I h Will construct direction to contact in vehicle frame from tetrahedron phase data.G ;3G G rAG B O >Yw,N[Ay uB &I Mb@Mb@Mb@ )YCl?~jt?/$y;?=+ A h@)IX@y@I;I&3٢z_ >=9Q > G٣DGy > Nusing accuracyPremultiplier from config49ܛ?4Yܝ ikB ? :  "@ŚD;+;24 @ZjAEFNOT Ignoring new targets: 493.70 m.BjMI;JjMI;] ProNav: ac range: 493.700012 m, nav range: 239.514633 m, bearing: 358.431283 deg, approach rate: -0.087491 m/s, LOS rate: 0.176392 deg/s, cmd heading: 270.665999 deg, new cmd heading: 270.859161 deg. 2j];eHeadingCmd: 4.727384 target range: 493.700012 and range: 493.70 m. jeF@jajajiiihihqhyh}-Bfyfyfyrfbfx?ɛEBMB< im\:>Ii uľɚqiyI}m=I}$ǿiuri)F@) Will construct direction to contact in vehicle frame from tetrahedron phase data.*F5?2F1:F1BF5p0JF1G ԑ I G B O >w,K[A2Will construct direction to contact in vehicle frame from tetrahedron phase data.JVJTJTJTJV:JTJTJTyugBu&IAIQI4٢3 I=9Q > G٣y > Nusing accuracyPremultiplier from config49ܛ?4Ym ikB"@͚D ;X;94 w@%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 493.70 m.Bj=);Jj=);M ProNav: ac range: 493.700012 m, nav range: 239.485413 m, bearing: 358.490746 deg, approach rate: -0.072857 m/s, LOS rate: 0.148279 deg/s, cmd heading: 270.859157 deg, new cmd heading: 271.037567 deg. 2jM;]HeadingCmd: 4.730498 target range: 493.700012 and range: 493.70 m. j]=`@jYjYjYiYhYhYhahafafafirfibfm/?ɛB${; @>I ɚiI6=I wƿi zKBoHK+9KKK%Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.kw,<[A:Y@Y:@:Q)9: >y:HW? ?^ ¿@7H?x? *?C??ɨ:Y@:R;:&Cy^^Bb&I !I!HIII IM'IIMهBIM2 =&II.II6IMw<:IM- FMb@Mb@Mb@ )Ysh|??Zd;O? G٣y:< > Nusing accuracyPremultiplier from config49ܛ?4Yv ikBt*?: u"@՚D<i<@4}~B }@}EZjFNOT Ignoring new targets: 493.70 m.Bj ,;Jj ,; ProNav: ac range: 493.700012 m, nav range: 239.451294 m, bearing: 358.554440 deg, approach rate: -0.080556 m/s, LOS rate: 0.150405 deg/s, cmd heading: 271.037561 deg, new cmd heading: 271.228669 deg. 2jq;HeadingCmd: 4.733833 target range: 493.700012 and range: 493.70 m. j{@j j j i h h)h9h=Bf9f9fArfAbfE@G?uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494017*JC="JR=ɛB8f; =I ZɚiIf=I*Qƿi ri͏){@)*F?2F!:F!BF%0JF!G >uG ?G *?G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745878yw,[A2ز@Y2*—@2ݼ'92!>y2H#Ǟ? ?( p?@jZx????ɨ2ز@2;0y>SB>r&IIJIJ4٢Rw R^=9VD9Q V>TX ZG٣ZDGy^: ^> bNusing accuracyPremultiplier from config`f49bܛ?f4Yb ibkBdfj"@bݚDb ;b ;bhG4nB n@rEZjFNOT Ignoring new targets: 493.70 m.Bj5;Jj5; ProNav: ac range: 493.700012 m, nav range: 239.420227 m, bearing: 358.612648 deg, approach rate: -0.084715 m/s, LOS rate: 0.158747 deg/s, cmd heading: 271.228670 deg, new cmd heading: 271.403317 deg. 2j;HeadingCmd: 4.736881 target range: 493.700012 and range: 493.70 m. j@jjjihhh!hIfIfQfQrfYbf]K?ɛ"B; |=I ɚiI7=IMſiqiu.)@) I*F?2F:FBFP5JFuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998540JJJ1JJ=;JHM:J3JG ׹G B O% >.w,([A6̐@Y6Pܗ@6*? 96 >y6H ??`-t? n?G???ɨ6̐@6<;zK>&(KK>9K<K>K>4yJGBJd&I)X XIjIj{4٢r&Z rG=9r;Q r>tt vG٣tyz; z> ~Nusing accuracyPremultiplier from config|49~iܛ?4Y~  i~~kB  "@~D~0;~J;~N4) -@9ZjYeFNOT Ignoring new targets: 493.70 m.Bje;;Jje;;u ProNav: ac range: 493.700012 m, nav range: 239.385056 m, bearing: 358.677477 deg, approach rate: -0.088951 m/s, LOS rate: 0.163981 deg/s, cmd heading: 271.403304 deg, new cmd heading: 271.597818 deg. 2ju;}HeadingCmd: 4.740276 target range: 493.700012 and range: 493.70 m. j}X@jyjjihhhhfffrfbf3@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252998ɛ%B@8 隽4=I 7ɚiI=I ~ſiqi+)X@)EE*F?2F:FBF4JF"G=Ga= IhHI I&IIBI3 =&I.I6ID<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503166G I6J J AAGy B O >Pw,R\AV`ސ@YV@VťԻ9V >yVH?`?qg@fd?͏Z?`z?b??ɨV`ސ@Ve;V(Cyb8BbQ&IMb@Mb@Mb@ )Yd;O? ףp= ?Mby4?Q8=A )@I@y@IIt4٢ >=9;Q > G٣y; > Nusing accuracyPremultiplier from config49ܛ?4Y i{kB&5?:"@DI;G;V4 @ZjFNOT Ignoring new targets: 493.70 m.BjA;JjA;- ProNav: ac range: 493.700012 m, nav range: 239.347443 m, bearing: 358.749725 deg, approach rate: -0.088188 m/s, LOS rate: 0.169421 deg/s, cmd heading: 271.597828 deg, new cmd heading: 271.814605 deg. 2j-;5HeadingCmd: 4.744060 target range: 493.700012 and range: 493.70 m. j5Wϗ@j1j1j1i9h9h9h9hEBfAfAfArfAbfM{@ɛ(B  w,xa)\AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006077J:J:J:0J8J::J:T:J:ـ3J8m@Ymi@m Ȼ9m >ymH@<7?@?@PH @x?$sT?@y?C??ɨm@mt;m'Cyޅ1BޅH&III̍4٢  I=9v:Q > G٣DGy.: > Nusing accuracyPremultiplier from config49wܛ?4Y iykB "@D:n:0]4 @UB*** querying acoustic contact ***jQjQZjFNOT Ignoring new targets: 493.70 m.Bj*9;Jj*9; ProNav: ac range: 493.700012 m, nav range: 239.312210 m, bearing: 358.818009 deg, approach rate: -0.083515 m/s, LOS rate: 0.161884 deg/s, cmd heading: 271.814618 deg, new cmd heading: 272.019500 deg. 2j2;HeadingCmd: 4.747636 target range: 493.700012 and range: 493.70 m. j@jjjihhhhfffrfbf@v@ɛe+Be:z ae#w,C\A @IBhRm@YR@Rį9R >yRH̢?X?;J[`d?rK7?@u?F??ɨRm@Rݓ;PHb >I` Ib&IIbBIb2 =&I`.I`6Ib;<:Ib FBIJIRIZIbIjI]P4yZ-BrC&ImMb@Mb@Mb@iii i)iYm$C?l?I +ym:?m=m9m\A m~@)m@Im@iym@II4٢ L=9^:Q > G٣y:; > Nusing accuracyPremultiplier from config49ܛ?4Y1 itkBp:?:d"@DY;;.d4B MI@UEZjFNOT Ignoring new targets: 493.70 m.BjD;JjD; ProNav: ac range: 493.700012 m, nav range: 239.279861 m, bearing: 358.887343 deg, approach rate: -0.079938 m/s, LOS rate: 0.171356 deg/s, cmd heading: 272.019496 deg, new cmd heading: 272.227525 deg. 2j3;HeadingCmd: 4.751266 target range: 493.700012 and range: 493.70 m. j` @jjjihhhhBfffrfbf  @MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.509855ɛ]/Beԛ aetIa u+HɚqiqIu=IĿi~qix)` @)Ee>E>*F]?2Fa:FaBFe`0JFaGi GiG ZsGY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:43:12.0439  TRx dataTimestamp_ set to:1736372593.408592 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762856.w,\\A:@Y:$@:?Z9: >y:H@?`?M3B?#?Aku?[J?ʹ?ɨ:@:?b;8yVBV,&IInIn4٢vɽ zV=9~9Q > G٣yq: %> -Nusing accuracyPremultiplier from config!-49%ܛ?54Y% i%okB15R5"@% D%:% ;%j4A E}@AZjimFNOT Ignoring new targets: 493.70 m.BjmQ;JjuQ; ProNav: ac range: 493.700012 m, nav range: 239.248932 m, bearing: 358.954092 deg, approach rate: -0.084945 m/s, LOS rate: 0.183343 deg/s, cmd heading: 272.227517 deg, new cmd heading: 272.427787 deg. 2j;HeadingCmd: 4.754762 target range: 493.700012 and range: 493.70 m. j'@jjjihhhhfffrfbfq@ɛ1B =I  ZɚiI =Idÿihqi)'@) qIq*F}?2F:FBF0JFGM'GBO5.>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.015263 w,v\A6Z@Y6@6M96}a >y6H5??`a?? s? `^?`#?ɨ6Z@6Ow;6&CyRBR1&IIZIZt4٢b< bM=9fY:Q f>dd fG٣jDGyn,; r> vNusing accuracyPremultiplier from configtz49vܛ?z4Yv ivikBxz/z"@vDvL:v*:vq4 9@Zj)-FNOT Ignoring new targets: 493.70 m.Bj5QF;Jj5QF;zK9K=+9K9K=K=U ProNav: ac range: 493.700012 m, nav range: 239.217148 m, bearing: 359.022721 deg, approach rate: -0.080287 m/s, LOS rate: 0.173382 deg/s, cmd heading: 272.427778 deg, new cmd heading: 272.633693 deg. 2jU;eHeadingCmd: 4.758356 target range: 493.700012 and range: 493.70 m. jesD@jijijiiihqhyhhfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:43:12.0439 LVL= 14416, 30385, 19154, 29939, AGC= 66, IDX= 424,-0.42,-0.180,-1.270,-1.898,-0.978, PHS= 0.886,-0.245,-0.923, RAW= 68.2, 3.6, CAL= 70.4, 2.1, ROT= 79.6, -2.1 ~G9a Yy Bɛ4Bt 3I TɚiI=I%-ÿ%Ygot valid direction response: 21:43:12.0439 LVL= 14416, 30385, 19154, 29939, AGC= 66, IDX= 424,-0.42,-0.180,-1.270,-1.898,-0.978, PHS= 0.886,-0.245,-0.923, RAW= 68.2, 3.6, CAL= 70.4, 2.1, ROT= 79.6, -2.1 5PDAT read: Bearing 79.6, -2.1 (Local) 5~Local bearing/azimuth received: Bearing 79.6, -2.1 (Local) EDAT read: Range 10 to 50 : 493.0 m (Round-trip 657.4 ms) speed 0.2 m/s ierimC)msD@)i,DAT read: user:2004> BDAT read: Tx time:21:43:13.1324 $Ping request sent.ɬ?)۽YSgI۽%Ӏi۽Ŵ?۽۹۹E:publishing transmit ping timeؙMFpublishing direction and range infoع9ؽN漿t6r-?q/$?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽ zC?7ا>ɬ?)۹I۹i۹۹۹۹ m$?Iq*F?2F:FBFo0JF"G=G=HI I&IIBI3 =&I.I6Ir<:I* Fm Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J J J :J wR:J J J =#w,R\Ay~B~$&I- only read 2 of 4 data items for bottom velocity. Device response is::BS, +745, -20,A   @   @   @    @  I5UI54٢<. .=9Q > G٣y > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49ܛ? 4Y  ickB +:  l:)5"@DK; >x49 =@9k?kX k k\z\A:kCBkCZk$I>"hgg}KBl@$ {@N漿t6r-?q/$?JkŴ?Rk󱍉*d@6x P@E\|@zpWEb?v`Z?$?"kgB*k$Cks?k<L 2kDk2 \(?k  k{CkgCk > addTargetRange:: Added new target pos. range: 493.000000 m, deltaT: 4.283519 s, deltaX: -0.700012 m, approachRate: -0.163420 m/s, rangeRepo size: 4 - Added new target pos. range: 493.000000 m, bearing: 21.294077 deg, lat: 36.902047 deg, lon: -122.117107 deg, deltaT: 4.283519 s, deltaX: -0.700012 m, approachRate: -0.163420 m/s, posRepo size: 4 Zj)5FNOT Ignoring new targets: 493.00 m.Bj5Jj1m ProNav: ac range: 493.000000 m, nav range: 231.104050 m, bearing: 7.220054 deg, approach rate: 0.000000 m/s, LOS rate: 0.173382 deg/s, cmd heading: 272.633694 deg, new cmd heading: 272.891357 deg. 2jiuHeadingCmd: 4.762853 target range: 493.000000 and range: 493.00 m. juJi@jqjqjqiqhqhyhyhyfyfyfrf~@bf@$?ɛ7B 隵I ϗɚiI=IB¿Will construct direction to contact in vehicle frame from tetrahedron phase data.iMlri@ͼ)Ji@)E!*F?2F:FBF0JFG~FGQBaO}> Q IQ !*w,}\AWill construct direction to contact in vehicle frame from tetrahedron phase data.V_@YV@Vx59Vz=yVH`?`?`񧾿I? r?? ?ɨV_@VK;V$Cy~B~(&II I ҅4٢%Gl< %h=9-:Q ->)) -G٣)y5e 5? bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49ܛ?4Y i^kB :?:d"@(D ';SV?|4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 493.00 m.Bj[;Jj [; ProNav: ac range: 493.000000 m, nav range: 231.113403 m, bearing: 7.285503 deg, approach rate: 0.027471 m/s, LOS rate: 0.192210 deg/s, cmd heading: 272.891356 deg, new cmd heading: 273.087695 deg. 2j<%HeadingCmd: 4.766279 target range: 493.000000 and range: 493.00 m. j%\@j!j)j)i)h)h)h1h1f9f9f9rf9bf=f?ɛe:Be"$ imIi mPɚiiqIu:=Iu)¿i}4ri}8)}\@)y*F ?2F :F BF A5JF zKK9KKKBK:KrAWill 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 By O > 9 I= h1w,Q\AZH4RH4H<I< I>&II>sBI>2 =&I<.I<6I><:I>; Fy}B}%&I                Mb@Mb@Mb@    ) Y jt?~jtxZd;Oy @? Ļ j A Q@) @I @ y \@I%bI%-4٢5  =:=9=Q =>9A EG٣EDGyE E> UNusing accuracyPremultiplier from configIU49Mܛ?]4YMq iMUkB]T:]@?]:]Ŀ]"@M2DM;M;M4eB m@mEZjFNOT Ignoring new targets: 493.00 m.BjL;JjL;- ProNav: ac range: 493.000000 m, nav range: 231.143631 m, bearing: 7.364114 deg, approach rate: 0.068862 m/s, LOS rate: 0.179061 deg/s, cmd heading: 273.087683 deg, new cmd heading: 273.323482 deg. 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.1661492jE;EHeadingCmd: 4.770395 target range: 493.000000 and range: 493.00 m. jM@jIjIJuJqJqJqJuk:JqJqJqJu$8<Ju%8<JqJqjIihhhhpBfffrfbfp?ɛ =B a# 8I ᲛɚiI=I iisi%h?)%@)!*F2F:F!BF%P5JF!G) G-qAGGGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.41792827w,j.\A>"@Y>t @>l9> >y>H@??7i?0Vm? M6??ɨ>"@>X;>#CyJBJ(&IIRIR4٢ZF< Zf=9^;Q b>`` bG٣`yf ; f> jNusing accuracyPremultiplier from confighr49jܛ?v4Yj~ ijMkBtvĿv"@j:Dji;j_i;jE4x ~@|Zj!%FNOT Ignoring new targets: 493.00 m.Bj-^;Jj-^;= ProNav: ac range: 493.000000 m, nav range: 231.168823 m, bearing: 7.430200 deg, approach rate: 0.074019 m/s, LOS rate: 0.194152 deg/s, cmd heading: 273.323489 deg, new cmd heading: 273.521726 deg. 2j=>C\=w, \A6K @Y6@6rRX96H6>y6H ڤ?`α?(? $aK k? 3??ɨ6K @6v;6'Cy>BB.&IIJIJ4٢RA< RL=9R=D:Q R>TT VG٣TyZY; Z> bNusing accuracyPremultiplier from config`f49boܛ?f4Ybw ibEkBhjXĿj"@bDDbz:b:bL4A E}@IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.922105zKKKKKRK>JK?ZjFNOT Ignoring new targets: 493.00 m.BjxG;JjxG; ProNav: ac range: 493.000000 m, nav range: 231.197083 m, bearing: 7.504907 deg, approach rate: 0.065975 m/s, LOS rate: 0.174392 deg/s, cmd heading: 273.521728 deg, new cmd heading: 273.745819 deg. 2j];HeadingCmd: 4.777766 target range: 493.000000 and range: 493.00 m. ju@jjjihhhhff f1rf9bfE @ɛBB ܚI ]埻ɚiI%]=I5i5ti5)5u@)A IHiIi Im&IImnBIm3 =&Ii.Ii6Im<:Im< F*F?2F:FBFJFM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.173877JsK{m3 K{S}-KsKs"KsJ J J J J :J T:J J J ~9<J ~9<J ;J ;G JaG B O >[CDw,z]A6*@Y6|#@6fj96 >y6Hw? .?@ )? $b@Lm??n?ɨ6*@6A;6#Cy> B>4&IMMb@Mb@Mb@III I)IYMZd;? rh/$yM>?MC MMEA M$@)M@IM@IyM @IeIe4٢m< u>=9u$(Q u>yy }G٣}DGy}7; > Nusing accuracyPremultiplier from config49tܛ?4Y i;kB???:ȿ"@NDSh;f;˘4 '@ZjFNOT Ignoring new targets: 493.00 m.Bj/^;Jj/^; ProNav: ac range: 493.000000 m, nav range: 231.238922 m, bearing: 7.583609 deg, approach rate: 0.103285 m/s, LOS rate: 0.194249 deg/s, cmd heading: 273.745813 deg, new cmd heading: 273.981877 deg. 2jO< HeadingCmd: 4.781886 target range: 493.000000 and range: 493.00 m. j 5@j j j i hhhhwBfffrf!bf%`g@ɛUDBU' Y]IY ]d_ɚYiYI]/=Ie*ieJuieZ)e5@)i*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.426732Gw IGBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.678010tJw, +]A^0@Y^C@@^3]9^>y^HC??$¿}@VF?qi#k?`Y$?@?ɨ^0@^셤;^'Cyf.BjF&I n=n=IrIry4٢z= zQ=9~P :Q ~>|| G٣y< > Nusing accuracyPremultiplier from config49ܛ?4Y i1kBȿ"@XD::4-B -a@-EZjQUFNOT Ignoring new targets: 493.00 m.Bj]S;Jj]S;m ProNav: ac range: 493.000000 m, nav range: 231.276321 m, bearing: 7.655239 deg, approach rate: 0.096757 m/s, LOS rate: 0.185285 deg/s, cmd heading: 273.981864 deg, new cmd heading: 274.196718 deg. 2juQ;}HeadingCmd: 4.785635 target range: 493.000000 and range: 493.00 m. j}#@jyjyjihhhhfffrfbfT@ɛFB< 隽;I NɚiIi?=IMiMvviM)M#@)QE]R>E]>*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.930003zKBHK]9KKKGEgG! BY O > I hUQw,FE]AHI I&IIsBI&I.I6Il<:I$ Fy-B%D&I}Mb@Mb@Mb@yyy y)yY}ףp= ?Mb~jty}>?}}}A };@)}+@I}@yy}@II4٢û 3=9Q > G٣y > Nusing accuracyPremultiplier from config49ܛ?4Y i(kB>?:8ȿ"@cD/;;4 w@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.181938*JMR="JIJ]J]JYJYJ]:J]wR:JYJYJ]1<<J]1<<J]Ϧ;J]Ϧ;B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 493.00 m.BjF;JjF; ProNav: ac range: 493.000000 m, nav range: 231.319687 m, bearing: 7.738864 deg, approach rate: 0.090084 m/s, LOS rate: 0.173684 deg/s, cmd heading: 274.196715 deg, new cmd heading: 274.447542 deg. 2je;HeadingCmd: 4.790013 target range: 493.000000 and range: 493.00 m. jG@j!j!j!i!h!h!hIhMBfIfQfQrfQbfU  @ɛIBم 隥h\I HɚiIUT=IC i0 wik))G@)*F?2F:FBF`0JFG G G  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:43:16.1926  TRx dataTimestamp_ set to:1736372597.442439 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.436941Gy B O >&Ww,u_]AV|o@YV~@V@9VM>yVH`L+??? V¿`e+?`}po?@Z?`ڧ?ɨV|o@V}6;V%Cyb?Bf[&IIlIl٢v|= vk=9vĺQ v?xx zG٣zDGy~< ~? Nusing accuracyPremultiplier from config 49ܛ? 4Yc& i kB  9ǿ"@kD:L:49 EQ@AZjFNOT Ignoring new targets: 493.00 m.Bj[;Jj[; ProNav: ac range: 493.000000 m, nav range: 231.351089 m, bearing: 7.802670 deg, approach rate: 0.094615 m/s, LOS rate: 0.192219 deg/s, cmd heading: 274.447547 deg, new cmd heading: 274.638938 deg. 2j<HeadingCmd: 4.793354 target range: 493.000000 and range: 493.00 m. j'c@jjjihhhhfff rf bf 3+ @ 9I9ɛJB ڻ ஼I ɚiI'\=IβiϮwi)'c@)*F?2F:FBF0JFGe,&%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.686301G9BAOmW>ث]w,iWy]AFa@YF@F=^9Fk>yFH?!?m¿`a?As p?#??ɨFa@F8>;DyREBRa&IXZAIvIv4٢~< ~I=9~iQ > G٣y #I<  > Nusing accuracyPremultiplier from config49ܛ?%4Y^. ikB!%ƿ-"@uDG;GH;ƴ41 5@1ZjYeFNOT Ignoring new targets: 493.00 m.BjeU;JjeU;}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:43:16.1926 LVL= 20048, 32753, 17730, 26803, AGC= 66, IDX= 426, 0.46,-0.358,-1.547,-2.158,-1.245, PHS= 0.975,-0.255,-0.916, RAW= 69.9, 2.4, CAL= 72.8, -0.4, ROT= 77.2, 0.4 Ygot valid direction response: 21:43:16.1926 LVL= 20048, 32753, 17730, 26803, AGC= 66, IDX= 426, 0.46,-0.358,-1.547,-2.158,-1.245, PHS= 0.975,-0.255,-0.916, RAW= 69.9, 2.4, CAL= 72.8, -0.4, ROT= 77.2, 0.4 PDAT read: Bearing 77.2, 0.4 (Local) ~Local bearing/azimuth received: Bearing 77.2, 0.4 (Local) DAT read: Range 10 to 50 : 492.0 m (Round-trip 656.1 ms) speed 0.0 m/s ,DAT read: user:2005> BDAT read: Tx time:21:43:17.2824 $Ping request sent.dw,1]AFÑ@YFҘ@F9Fn>yFH@5? {? Cÿ~.? DbvQp? ??ɨFÑ@F ;F&CyRMBRl&IMb@Mb@Mb@ )Y ףp= ?~jt rhyQ8?DCA )@I@yIIt4٢= <=9-Q ->QQ UG٣QyUA< ]> eNusing accuracyPremultiplier from configYe49]ܛ?m4Y]6 i]kBm8?m:mȿ"@]D]k;];]4B @Ek ?k\` k kj|]A:kCBkICZk>"@HF< j@1{@o#?, ?Jk?Rko*s{ݤa@xVL@q0}@xL?ډkᶽ?ֆ3`?"kmdB*kCkXB ?kjV 2kDkP?kjV kRDk>CkЗ>m addTargetRange:: Added new target pos. range: 492.000000 m, deltaT: 4.032091 s, deltaX: -1.000000 m, approachRate: -0.248010 m/s, rangeRepo size: 4 } Added new target pos. range: 492.000000 m, bearing: 21.655062 deg, lat: 36.901623 deg, lon: -122.116825 deg, deltaT: 4.032091 s, deltaX: -1.000000 m, approachRate: -0.248010 m/s, posRepo size: 4 ZjyFNOT Ignoring new targets: 492.00 m.BjJj ProNav: ac range: 492.000000 m, nav range: 190.839188 m, bearing: 17.411765 deg, approach rate: 0.000000 m/s, LOS rate: 0.186910 deg/s, cmd heading: 274.862440 deg, new cmd heading: 275.123916 deg. 2jHeadingCmd: 4.801818 target range: 492.000000 and range: 492.00 m. j@jjjihhhhBfffrf~@bf`?ɛ5OB59 151I9 =[Oɚ9i9I=}h=Iepie&yie)m@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFP5JFGGqBO~> QIUh= Will construct direction to contact in vehicle frame from tetrahedron phase data.Hjw,!]AJJJJJ;JT:JJa@a@a@a@>T@Y>@>欻9>L >y>H`:??I]O@? Op͜u?[?4?ɨ>T@>۟;>'Cy`B&II%}I%]4٢5= 5W=9=xWQ =>AA EG٣EDGyE 1< M> UNusing accuracyPremultiplier from configIU49Mܛ?]4YM= iMkBY]yȿe"@MDM;M6;M4i ue@qZjFNOT Ignoring new targets: 492.00 m.Bjz;Jjz; ProNav: ac range: 492.000000 m, nav range: 190.917816 m, bearing: 17.488072 deg, approach rate: 0.225372 m/s, LOS rate: 0.218630 deg/s, cmd heading: 275.123927 deg, new cmd heading: 275.352754 deg. 2j <HeadingCmd: 4.805812 target range: 492.000000 and range: 492.00 m. j7ə@jjjihhhhfffrfbf@.?ɛPB/ a=I iyi)7ə@)*F?2F:FBF_0JF) KCmGtAWill construct direction to contact in vehicle frame from tetrahedron phase data. zKLK9KKK  G5  eYmtAym^BGBO > Y Ia ZH RH AAH! I!  I% &II% BI! &I! .I! 6I% r<:I% ) Fqw,/]AJ@YJS @Jf/9J>yJH??` ?q`ev?j?w?ɨJ@Jԥ;J%CyVpBV&I Z=Za=Mb@Mb@Mb@ )Yi|?5?J +~jty1?H\A )@I@yQ@IFI%3٢= ?=9Q > G٣y; > Nusing accuracyPremultiplier from config49ܛ?4YE ijB,2?:}ȿ"@D:;;4 h@Zj15FNOT Ignoring new targets: 492.00 m.Bj=c;Jj=c;E ProNav: ac range: 492.000000 m, nav range: 191.006271 m, bearing: 17.573415 deg, approach rate: 0.206564 m/s, LOS rate: 0.199204 deg/s, cmd heading: 275.352765 deg, new cmd heading: 275.608674 deg. 2jM} Will construct direction to contact in vehicle frame from tetrahedron phase data.ww,]A6'@Y66@6Ag96$>y6H@S?`?@^5¿|`V?tLw?`4??ɨ6'@6;6&CyR|BR&II^>I^3٢f= f_=9fQ f>hh jG٣hync< n> rNusing accuracyPremultiplier from configpv49rܛ?v4YrlL irjBxzǿz"@rDrC:r:r4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 492.00 m.BjX;JjX; ProNav: ac range: 492.000000 m, nav range: 191.080948 m, bearing: 17.646417 deg, approach rate: 0.193946 m/s, LOS rate: 0.189522 deg/s, cmd heading: 275.608679 deg, new cmd heading: 275.827597 deg. 2j<HeadingCmd: 4.814100 target range: 492.000000 and range: 492.00 m. j @jjjihhhhff Ifrfbf`A!?ɛ5TB=05: 9=\=I9 =ɚ9iAIE<=IE iM8&{iM)M @)I*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.JJJJJk:JmQ:JJGBGBO>}w,I]A2T@Y2d@2䛲92?>y2Hi?ӌ?O¿`?{z@uSv?શ?ڧ?ɨ2T@2;0yRBR&IIZ}IZ]4٢bu= bJ=9fK:Q f>dd jG٣jDGyj_< n> rNusing accuracyPremultiplier from configlr49n_ܛ?v4YnS injBtvǿv"@nDn :nL:n4~B ~@~EZj)-FNOT Ignoring new targets: 492.00 m.Bj5o;Jj5o;E ProNav: ac range: 492.000000 m, nav range: 191.162247 m, bearing: 17.727093 deg, approach rate: 0.211152 m/s, LOS rate: 0.209447 deg/s, cmd heading: 275.827600 deg, new cmd heading: 276.069526 deg. 2jEI I&IIBI&I.I6I<:IN FGu_GIBQOm> Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254462߄w,?r^A:@Y:E@:K9:>y:HK??5Kÿ:?%q)t? P? ?ɨ:@:;8y^B^&IibC>Ibp=MMb@Mb@Mb@III I)IYM(\? G٣yQk< > Nusing accuracyPremultiplier from config49Kܛ?4Yx[ ijBY.?:@Ŀ"@D:;d;j4 @ZjFNOT Ignoring new targets: 492.00 m.Bj>a;Jj>a; ProNav: ac range: 492.000000 m, nav range: 191.240387 m, bearing: 17.810873 deg, approach rate: 0.183742 m/s, LOS rate: 0.196922 deg/s, cmd heading: 276.069525 deg, new cmd heading: 276.320759 deg. 2j%<HeadingCmd: 4.822707 target range: 492.000000 and range: 492.00 m. jS@jjjihhhhBfffrfbf @ɛ5WB=<ĕ; 9=>I9 =FɚAiAIEc=IEiMw|iMM )MS@)qEi>E>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508059*F?2F:FBFJF IhG- G B OM >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758894 w,L.^AJ@JBJ@J@J@JBX:J@J@y!!I=I= 49UQ U>QQ UG٣Yy] e> mNusing accuracyPremultiplier from configam49e&ܛ?u4Yeb iejBqqu"@eDe:e ;e`4 ZjFNOT Ignoring new targets: 492.00 m.Bj`;Jj`; ProNav: ac range: 492.000000 m, nav range: 191.313782 m, bearing: 17.889093 deg, approach rate: 0.184285 m/s, LOS rate: 0.196325 deg/s, cmd heading: 276.320767 deg, new cmd heading: 276.555336 deg. 2j<HeadingCmd: 4.826801 target range: 492.000000 and range: 492.00 m. j(u@jjjihhhhfffrfbf @ɛ XB T1; <>I |ɚiI7=I%ji%}i%4)%(u@))*F?2F:FBF0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010274zK KK]9KKKGXi G B I O >jH <bH <H I  I 'II އBI 2 =&I .I 6I <:I ? Fw,/H^A2#@Y2u@2<92z>y2H@s?s?ÿ`@?†~gr?`? Ŝ?ɨ2#@2;0yNBN&I]Mb@Mb@Mb@YYY Y)YY]x&?Q G٣DGy!= > Nusing accuracyPremultiplier from config49ܛ?4Yi ijBF)?:Ҿ"@D;V;4 "@Zj!-FNOT Ignoring new targets: 492.00 m.Bj5"\;Jj5"\;E ProNav: ac range: 492.000000 m, nav range: 191.377930 m, bearing: 17.970063 deg, approach rate: 0.152524 m/s, LOS rate: 0.192457 deg/s, cmd heading: 276.555343 deg, new cmd heading: 276.798171 deg. 2jEI cɚiIݳ=I߹i@}iv)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262213*F?2F:FBF3JFGG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517382= PExceeded connect timeout, disconnecting.w,b^A6W'@Y66@6ŕ96<@ >y6HH?-m? ÿA!?ӈ r??`Λ?ɨ6W'@6(;6%CyB‡BB&I)H HINxINT4٢V= V\=9ZZQ Z>X\ ^G٣\y^ < b> fNusing accuracyPremultiplier from config`f49bܛ?j4YbGp ibjBhjj"@bśDba:b:b"4%B %r@%E=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 492.00 m.BjUxW;JjUxW; Ih ProNav: ac range: 492.000000 m, nav range: 191.432739 m, bearing: 18.040836 deg, approach rate: 0.145929 m/s, LOS rate: 0.188377 deg/s, cmd heading: 276.798170 deg, new cmd heading: 277.010427 deg. 2jH<HeadingCmd: 4.834744 target range: 492.000000 and range: 492.00 m. j9@jjjihhhhfffrfbf, @ɛE[BE"< AEN>II MnjɚIiIIM܃=Ifi-~iA)9@)E*F=?2F9:F9BF=35JFAG%GWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:43:20.3416 TRx dataTimestamp_ set to:1736372601.729550checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772206GBAO]U>JJJ1JJ:JmQ:J3JBFw,{^A6X@Y6ig@6696 >y6H`m̼?/g?ÿ O?As?@U?'?ɨ6X@6V;6(CyBLJBB'IIJIJ)4٢R< VK=9V@;Q V>XX ZG٣XyZq< ^> fNusing accuracyPremultiplier from config`f49bܛ?j4YbIw ibjBhj:j"@b͛Db:b*:b14rB r@rEZj FNOT Ignoring new targets: 492.00 m.Bj`;Jj`;- ProNav: ac range: 492.000000 m, nav range: 191.491837 m, bearing: 18.118787 deg, approach rate: 0.149087 m/s, LOS rate: 0.196589 deg/s, cmd heading: 277.010425 deg, new cmd heading: 277.244204 deg. 2j-<5HeadingCmd: 4.838824 target range: 492.000000 and range: 492.00 m. j5ך@j1j1j1i1h1=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.018380hAhIhIfIfIfQrfQbfUZ#@ɛ\BB1< 隍U>I wɚiIQ=I฿i^~i S׼)ך@)zKBIK9KKKRK ?JK?*FA2FA:FIBFU_0JFQ IHiIi ImH'IImBIi&Ii.Ii6ImG<:Im FGGGqByO>Will construct direction to contact in vehicle frame from tetrahedron phase data.- DAT read: 21:43:20.3416 LVL= 15280, 26193, 18834, 26307, AGC= 67, IDX= 430, 0.35,-1.894,-3.137, 2.835,-2.653, PHS= 0.846,-0.437,-0.799, RAW= 77.9, 5.3, CAL= 82.1, 4.9, ROT= 67.9, -4.9 5 Ygot valid direction response: 21:43:20.3416 LVL= 15280, 26193, 18834, 26307, AGC= 67, IDX= 430, 0.35,-1.894,-3.137, 2.835,-2.653, PHS= 0.846,-0.437,-0.799, RAW= 77.9, 5.3, CAL= 82.1, 4.9, ROT= 67.9, -4.9 = PDAT read: Bearing 67.9, -4.9 (Local) = ~Local bearing/azimuth received: Bearing 67.9, -4.9 (Local) M DAT read: Range 10 to 50 : 491.1 m (Round-trip 654.9 ms) speed 0.0 m/s U ,DAT read: user:2006> ] BDAT read: Tx time:21:43:21.4325 ] $Ping request sent.] y6H ?@`?`ÿm@>Y?@bKs??A?ɨ6@6~;6&Cy>чBB'I5Mb@Mb@Mb@111 1)1Y5y&1?~jt?y&1|y5`%?5<5`5A 1)5+@I11y1IxIT4٢6:= :=9:9Q > G٣yIz< >  Nusing accuracyPremultiplier from config ]49 ܛ?]4Y ~ i ]u%?]:]ӵ]"@ ֛D 0< -0< 4i mv@ik%Lq?k%MN/ k! k%h^A:k%CBk%CZk% addTargetRange:: Added new target pos. range: 491.100006 m, deltaT: 4.283991 s, deltaX: -0.899994 m, approachRate: -0.210083 m/s, rangeRepo size: 4 % Added new target pos. range: 491.100006 m, bearing: 52.537364 deg, lat: 36.901466 deg, lon: -122.116712 deg, deltaT: 4.283991 s, deltaX: -0.899994 m, approachRate: -0.210083 m/s, posRepo size: 4 Zj!-FNOT Ignoring new targets: 491.10 m.BjMJjIe ProNav: ac range: 491.100006 m, nav range: 178.755127 m, bearing: 23.026332 deg, approach rate: 0.000000 m/s, LOS rate: 0.196589 deg/s, cmd heading: 277.244209 deg, new cmd heading: 277.520824 deg. 2jaHeadingCmd: 4.843652 target range: 491.100006 and range: 491.10 m. j3@jjjihhhh=Bfffrf~@bf?ɛ]B3}*< tg>I pYɚi!I%=MWill construct direction to contact in vehicle frame from tetrahedron phase data.IUBiUg~i]rɼ)]3@)a =nManaging dock network, ignoring radio surface power off*F?2F:FBF2JF yIyG% FټG B O% > Will construct direction to contact in vehicle frame from tetrahedron phase data.Ww,1^A6S@Y6š@6096 >y6H&?\?ÿ x?1 fw?`?r?ɨ6S@6©;6'Cy]އB]'IqqIXI4٢= I=9Q > G٣DGy`1< > Nusing accuracyPremultiplier from config49ܛ?4Y~ iE"@ߛDn:: 4 @ZjaeFNOT Ignoring new targets: 491.10 m.BjmLo;JjmLo;} ProNav: ac range: 491.100006 m, nav range: 178.818344 m, bearing: 23.106343 deg, approach rate: 0.165357 m/s, LOS rate: 0.209211 deg/s, cmd heading: 277.520831 deg, new cmd heading: 277.760778 deg. 2j}<HeadingCmd: 4.847840 target range: 491.100006 and range: 491.10 m. j!@jjjihhhhfffrfbf w?ɛE^BM1j< I隍>I ZtɚiIV=IaiP il˼)!@)EErA*Fe?2Fa:FaBFe_0JFa]Will construct direction to contact in vehicle frame from tetrahedron phase data.zK- k3IK- 9K) K- K- G nμG I B! H I  I h'II BI &I .I 6I <:I U FBI1JI1RI1ZI52 =O >bI1jI5F}4?w,n^ABǓ@YB֚@B\Ի9BN>yBH`;!?>j?5B¿?܇@z? L?`?ɨBǓ@Be;B&CyJ݇BN'IEMb@Mb@Mb@AAA A)AYE}?5^I??qq uG٣qy; > Nusing accuracyPremultiplier from config-49vܛ?-4Y0 ijBUr"?U:UU#@D << 4a e@aZjWill construct direction to contact in vehicle frame from tetrahedron phase data.FNOT Ignoring new targets: 491.10 m.Bj];Jj]; ProNav: ac range: 491.100006 m, nav range: 178.878769 m, bearing: 23.186616 deg, approach rate: 0.146054 m/s, LOS rate: 0.193964 deg/s, cmd heading: 277.760789 deg, new cmd heading: 278.001526 deg. 2j<HeadingCmd: 4.852042 target range: 491.100006 and range: 491.10 m. jC@jjjihh!h!h%CBf)f)f)rfIbfU^p?*Jma="JiJ}J}J}0JyJ}k:J}U:J}ـ3JyJ}$8I fɚiI0=I/i-di-}uؼ)-C@))*F?2F:FBFJFG ~ʼm Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >Cjw,K^A:@Y:@:%߻9:W6>y:H?@ f?`K¿`?@&Z {?@yV?M?ɨ:@:(;:(CyRBR 'IIZVIZn4٢b< bV=9b^Q b>dd fG٣dyju< j> nNusing accuracyPremultiplier from configlr49nܛ?r4Yn@ iltv+v#@nDn ;n=;nx4~B ~@EB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 491.10 m.Bj-j;Jj-j;E ProNav: ac range: 491.100006 m, nav range: 178.932953 m, bearing: 23.259332 deg, approach rate: 0.153035 m/s, LOS rate: 0.205313 deg/s, cmd heading: 278.001513 deg, new cmd heading: 278.219593 deg. 2jE I 5[ɚiIO=Iijiؼ)c@)*F5?2F1:F9BF=0JF9Will 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.GUϼGB!O=>- ~GE vAƔw,c(^A *Y.vAy.BN@YN@Nuػ9N)>yNH`? `? w¿@X ?Na{?ׄ??ɨN@N;N&CyVBV+'II I r4Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750711٢%)= -E=9-9Q ->11 5G٣5DGy54< => ENusing accuracyPremultiplier from configAM49Eݛ?M4YE  iEjBIUU#@EDE;EA;E4a e@aZjFNOT Ignoring new targets: 491.10 m.Bjb;Jjb; ProNav: ac range: 491.100006 m, nav range: 178.993790 m, bearing: 23.341927 deg, approach rate: 0.145986 m/s, LOS rate: 0.198132 deg/s, cmd heading: 278.219587 deg, new cmd heading: 278.467287 deg. 2j<HeadingCmd: 4.860171 target range: 491.100006 and range: 491.10 m. j@jjjihhhhfffrfbf9?ɛaB)w< >I CMɚiI=IV%iimڼ)@) EN>E>zKuBHKu9KqKuKu*F?2F:FBF1JF IH)I) I-'II-/BI)&I).I)6I-p<:I-' FGfGqBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002575J J AAJ J J J J :J HM:J J J ~9<J ~9<J U;J U;|w,_AynBr%'IMb@Mb@Mb@ )Yx&1?/$? G٣y > Nusing accuracyPremultiplier from config491ݛ?4Y ijB!?:9#@D;<;&4 f@Zj FNOT Ignoring new targets: 491.10 m.Bj b;Jj b; ProNav: ac range: 491.100006 m, nav range: 179.048233 m, bearing: 23.425203 deg, approach rate: 0.129770 m/s, LOS rate: 0.198434 deg/s, cmd heading: 278.467277 deg, new cmd heading: 278.717027 deg. 2j.<%HeadingCmd: 4.864530 target range: 491.100006 and range: 491.10 m. j%:@j!j)j)i)h)h)h1h5@Bf1f1f9rfAbfEལ@ɛmbBml< im>Iq u?ɚqiqIu=I}i}Gi}0):@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255413*F5?2F9:F9BF=4JF9 }$?IyGUBG) B9 Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506556&w, 0_Ab`@Ybo@b߳9bw>ybH?`XO?¿ߩe?` t`{v??`=?ɨb`@bY;b'CyjBj('IIvIv҅4٢~|{< ~V=9~A;Q > G٣y <  > Nusing accuracyPremultiplier from config%49| ݛ?%4Y2 i!%Э-#@DB;B;,41 56@1ZjY]FNOT Ignoring new targets: 491.10 m.Bje?b;Jje?b;u ProNav: ac range: 491.100006 m, nav range: 179.095352 m, bearing: 23.500867 deg, approach rate: 0.123211 m/s, LOS rate: 0.197801 deg/s, cmd heading: 278.717016 deg, new cmd heading: 278.943947 deg. 2ju<}HeadingCmd: 4.868490 target range: 491.100006 and range: 491.10 m. j}ʛ@jyjyjihhhhfffrfbf@ɛޒ< ~>I ו2ɚiIu=Ii>ki1m)ʛ@)Q*F ?2F :F BF @5JF GrGYBiOY>=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.759002zK BIK 9K K K  I jH bH <H) I)  I- 'II- 9BI) &I) .I) 6I- S<:I-  FWw,J_A2@Y2O@2Ϻ92>y2H/?}F?`ÿ`^?p @Tt?`3>?ˢ?ɨ2@2;2$Cy>B>-'IiFJ>IF=uMb@Mb@Mb@qqq q)qYu%C?Mb?y&1yuZ$?u@=u`eq q)u@Iu@qyu @II%x4٢< ?=9:Q > G٣DGy3O< > Nusing accuracyPremultiplier from config49ݛ?4YD ijB$?:##@D;[;@44B @EZj  FNOT Ignoring new targets: 491.10 m.Bj!h;Jj!h;% ProNav: ac range: 491.100006 m, nav range: 179.146011 m, bearing: 23.587474 deg, approach rate: 0.118742 m/s, LOS rate: 0.202944 deg/s, cmd heading: 278.943942 deg, new cmd heading: 279.203689 deg. 2j%G <-HeadingCmd: 4.873024 target range: 491.100006 and range: 491.10 m. j-@j)j)j)i)h1h1h1h5ABf9f9f9rf9bf=@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018629ɛcBw< >I &#ɚi I-*=I5/i5i5 Q¼)5@)1EAJuJuJqJqJu:JuX:JqJqJu6<Ju6<Ju/;Ju/;*F?2F:FBF4JFGp.G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272532w,d_ABϴ@YB!ě@B9Ba>yBHt?!??>ÿN? rt?a?q?ɨBϴ@B;B'CyNBN''IIZIZt4٢bͼ b[=9bJ8Q b>dd fG٣dyfU< j> nNusing accuracyPremultiplier from configlr49nRݛ?r4Yno injBtvv#@nDne:n:n:4zB zU@zEB*** querying acoustic contact ***jj !I%hZj15FNOT Ignoring new targets: 491.10 m.Bj=e;Jj=e;M ProNav: ac range: 491.100006 m, nav range: 179.189423 m, bearing: 23.663118 deg, approach rate: 0.115412 m/s, LOS rate: 0.201056 deg/s, cmd heading: 279.203681 deg, new cmd heading: 279.430555 deg. 2jM Ii mUɚiiiI=IniiWj)?@)*F?2F:FBF_0JF"G=Gp=Gep6ϼWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:43:24.4902 TRx dataTimestamp_ set to:1736372605.769859%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529263G!B1OMR>w,k~_A:@Y:J@:9:>y:H~?7?`IBÿ`5lY? #1bs?`i?#?ɨ:@:;:$CyDF('IIRIRv}4٢V>; ZL=9Z):Q Z>\` bG٣`yb``< f> jNusing accuracyPremultiplier from configdj49fmݛ?n4Yf ifjBlrϪr#@f Df ;fj!;fA4t vK@tZjFNOT Ignoring new targets: 491.10 m.Bji;Jji;- ProNav: ac range: 491.100006 m, nav range: 179.235092 m, bearing: 23.744547 deg, approach rate: 0.114318 m/s, LOS rate: 0.203777 deg/s, cmd heading: 279.430552 deg, new cmd heading: 279.674775 deg. 2j- <5HeadingCmd: 4.881246 target range: 491.100006 and range: 491.10 m. j5*3@j1j1j1i1h9hAhAhAfAfIfIrfIbfM P@eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.778702ɛdB< 隍>I  ɚiI=IriȀi󤴼)*3@)*F2F:FBFJFzKmBHKm9KiKmKm 1I1HI I'II>BI&I.I6IM<:I FG=vżGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. i M DAT read: 21:43:24.4902 LVL= 15280, 25393, 16370, 26259, AGC= 67, IDX= 433,-0.16,-0.081,-1.502,-1.620,-0.933, PHS= 0.940,-0.522,-0.689, RAW= 84.6, 3.5, CAL= 90.3, 1.3, ROT= 59.7, -1.3 U Ygot valid direction response: 21:43:24.4902 LVL= 15280, 25393, 16370, 26259, AGC= 67, IDX= 433,-0.16,-0.081,-1.502,-1.620,-0.933, PHS= 0.940,-0.522,-0.689, RAW= 84.6, 3.5, CAL= 90.3, 1.3, ROT= 59.7, -1.3 ] PDAT read: Bearing 59.7, -1.3 (Local) e ~Local bearing/azimuth received: Bearing 59.7, -1.3 (Local)  DAT read: Range 10 to 50 : 490.2 m (Round-trip 653.6 ms) speed 0.3 m/s  ,DAT read: user:2007>  BDAT read: Tx time:21:43:25.5825  $Ping request sent. y6H@?U1?Aÿʏ?ҔOs? G٣DGy}2< > Nusing accuracyPremultiplier from config49 !ݛ?4Y ijB(?:z #@)D;;I41 52@1kEA8?kE kA kEy_A:kECBkEeCZkE?"E$ISQG(X@rDSv}@EmF¿2'?QMN?JkEI @RkE*E@I?~*@.yR@WwB~@Em 7^?Zɺ?J?"kEB*kE;VAkEZ?kER 2kE DkEXB ?kER kEDkE!CkE> addTargetRange:: Added new target pos. range: 490.200012 m, deltaT: 4.045074 s, deltaX: -0.899994 m, approachRate: -0.222491 m/s, rangeRepo size: 4  Added new target pos. range: 490.200012 m, bearing: 79.950984 deg, lat: 36.901279 deg, lon: -122.116677 deg, deltaT: 4.045074 s, deltaX: -0.899994 m, approachRate: -0.222491 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 490.20 m.BjJj ProNav: ac range: 490.200012 m, nav range: 161.888657 m, bearing: 27.821758 deg, approach rate: 0.000000 m/s, LOS rate: 0.203777 deg/s, cmd heading: 279.674772 deg, new cmd heading: 279.959677 deg. 2jHeadingCmd: 4.886218 target range: 490.200012 and range: 490.20 m. j[@jjjihhhh Bfffrf@3~@bf@&?ɛ15J< 9=g>I9 = eɚ9i9I=^=mWill construct direction to contact in vehicle frame from tetrahedron phase data.mJDAT read: TxSync time:21:43:25.5817 I}ϲi}ꀼi}#L)}[@)*F=?2F9:F9BF9JFA I!G% ^G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.w,&_A6Q4@Y6C@6ۛ96ԛ>y6H? *?`1ÿ``/?wr?`H`?@?ɨ6Q4@6E;4ynևBr'IIzNIz@ 4٢  Y=9 L9Q  > G٣yc< > %Nusing accuracyPremultiplier from config!-49%%ݛ?-4Y% i%jB)5Ϫ5#@%1D%P:%q:%P49 =H@9ZjaeFNOT Ignoring new targets: 490.20 m.BjmR;JjmR; ProNav: ac range: 490.200012 m, nav range: 161.949799 m, bearing: 27.906491 deg, approach rate: 0.173329 m/s, LOS rate: 0.240115 deg/s, cmd heading: 279.959673 deg, new cmd heading: 280.213773 deg. 2j$<HeadingCmd: 4.890653 target range: 490.200012 and range: 490.20 m. j;@jjjihhhhfffrfbfD?ɛ< dd>I piɚiI'=I>ii\);@)*F?2F:FBFp0JFG G"GGuWill construct direction to contact in vehicle frame from tetrahedron phase data.G B!O=>zK BoHK 9K K K    ! I! ZH RH @AH I  I 'II 9BI &I .I 6I <:I ? Fw,_ANC@YNR@Nǻ9N72>yNH`?`6 ?@zƿ?CyNx? !5? ?ɨNC@N꿚;N&Cyj̇Bj'IMb@Mb@Mb@ )Yw/?Mb?Zd;Oy&?=j\A @)@I@y@IwIR4٢FB ;=9 \Q  > G٣yp; > %Nusing accuracyPremultiplier from config%49U+ݛ?-4Y- ijB-7'?-:--#@:D;;W49 =@9ZjYeFNOT Ignoring new targets: 490.20 m.Bjm;Jjm;} ProNav: ac range: 490.200012 m, nav range: 162.023468 m, bearing: 28.004132 deg, approach rate: 0.168360 m/s, LOS rate: 0.223042 deg/s, cmd heading: 280.213784 deg, new cmd heading: 280.506571 deg. 2j}<}HeadingCmd: 4.895763 target range: 490.200012 and range: 490.20 m. j@jjjihhhhBfffrfbf`I?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ =< N>I ʺɚiI=I i(iɼ)@)J1K53 K5.-K1K1"K1JJJ1JJ:JdP:J3JJd1<Je1<J;J;*F?2F:FBFo0JFGBOe>} Will construct direction to contact in vehicle frame from tetrahedron phase data.w,^_A2]@Y2l@2û9260>y2H@Wf??>ſ`p2?`x *xx?? ܆?ɨ2]@2+;2%CyRЇBR 'ITVA f$?IdIZJIZ)4٢O< ]=99Q >    G٣ DGy < > Nusing accuracyPremultiplier from config%49/ݛ?%4Y\ ijB!--#@BD;;5^45B 5ɻ@5E]B*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 490.20 m.Bjm~;Jjm~;} ProNav: ac range: 490.200012 m, nav range: 162.085251 m, bearing: 28.086503 deg, approach rate: 0.166666 m/s, LOS rate: 0.222121 deg/s, cmd heading: 280.506580 deg, new cmd heading: 280.753599 deg. 2jp<HeadingCmd: 4.900074 target range: 490.200012 and range: 490.20 m. ji͜@jjjihhhhfffrfbf?ɛt4k< 隝>W>I lɚiIW=I iLi~ϼ)i͜@)*FM?2FI:FIBFM1JFQGABIOm5>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.`0w,_A:M@Y:@:#ѻ9:K.>y:H?E?`sſ@z`? p3z?`?ಉ?ɨ:M@:L ;:&Cyb͇Bb'IIjIj1h4٢rLJ vL=9vQ v>tx zG٣xyzI7< z> Nusing accuracyPremultiplier from config 495ݛ? 4Y ijB #@JD::8e4B @%E=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.747006ZjFNOT Ignoring new targets: 490.20 m.Bj]{;Jj]{; ProNav: ac range: 490.200012 m, nav range: 162.151672 m, bearing: 28.176072 deg, approach rate: 0.163035 m/s, LOS rate: 0.219760 deg/s, cmd heading: 280.753587 deg, new cmd heading: 281.022181 deg. 2j<HeadingCmd: 4.904762 target range: 490.200012 and range: 490.20 m. j@jjjihhhhfffrfbf x?ɛI ɚiIu:e=I},pi}ti}?м)}@) IhHiIi Im'IIm/BIm3 =&Ii.Ii6Im<:ImP FBI)JI)RI)ZI)bI-2 =jI-R4zK=uKK=h9K9K=*F2F:FBF%P5JF!K=RK9JK=?G!BIO^>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998772J J BAw,͕`AR@YRU@RaȻ9RS*>yRHF??` ſrt`^P? 2"y?`D? ?ɨR@R6͚;R"CyjƇBj'IMb@Mb@Mb@ )YHzG? rh?I +y=*?C<9A @)@I@y(@IIv}4٢ <=91:Q > G٣yE$< > Nusing accuracyPremultiplier from config49N:ݛ?4Y ijBc*?:|#@TD5;;l4  W@ ZjFNOT Ignoring new targets: 490.20 m.Bjb};Jjb}; ProNav: ac range: 490.200012 m, nav range: 162.230713 m, bearing: 28.274206 deg, approach rate: 0.178510 m/s, LOS rate: 0.221525 deg/s, cmd heading: 281.022177 deg, new cmd heading: 281.316435 deg. 2j<HeadingCmd: 4.909898 target range: 490.200012 and range: 490.20 m. j@jjjihhhhBff!f!rf!bf%@ɛ:<< 隝D>I NɚiI!"=Iǯiiռ)@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.251385*F?2F:FBFJF IG vżG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502796C w,?n3`AJ&J&J&0J$J&:J&G:J&ـ3J$a*@a*@a*@a*@^!ʕ@Y^sٜ@^Ɛ9^K'>y^H`;?`G?`.Ŀm?w??ƒ?ɨ^!ʕ@^ؙ;^%Cy-B5&I)9 9IEIE4٢UnR US=9].:Q ]>aa eG٣mDGym9< m> }Nusing accuracyPremultiplier from configq}49u?ݛ?4Yu' iujB﬿#@u\Du:u:us4 @ZjFNOT Ignoring new targets: 490.20 m.Bj;Jj; ProNav: ac range: 490.200012 m, nav range: 162.300827 m, bearing: 28.362110 deg, approach rate: 0.187965 m/s, LOS rate: 0.235555 deg/s, cmd heading: 281.316422 deg, new cmd heading: 281.580018 deg. 2j!<HeadingCmd: 4.914498 target range: 490.200012 and range: 490.20 m. jC@jjjihhhhfffrfbfF@ɛd9< 0>I sɚiI=I5"1i5L΁i5Uּ)5C@)9EA)A A~~G*F2F:FBF_0JF 5Y9y=_ BUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754736GM ռ I G! B1 jHU <bHU 4<Hi Ii  Im t'IIm %BIi &Ii .Ii 6Im x<:Im - FzK K 9K K O K -w,TM`Ayޕ‡Bޕ&I5Mb@Mb@Mb@111 1)1Y5Dl?MbPy&1y5O-?55`1 5@)5`@I5`@1y5@IUIU%x4٢eu< e:=9mQ m>iq uG٣qyu u> Nusing accuracyPremultiplier from configy49}Cݛ?4Y} i}jBu-?:,#@}eD};};}B{4B @EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006891ZjFNOT Ignoring new targets: 490.20 m.Bj%;Jj%; ProNav: ac range: 490.200012 m, nav range: 162.388992 m, bearing: 28.462192 deg, approach rate: 0.200579 m/s, LOS rate: 0.227564 deg/s, cmd heading: 281.580013 deg, new cmd heading: 281.880090 deg. 2j,<*JI"JM%=HeadingCmd: 4.919736 target range: 490.200012 and range: 490.20 m. jzn@jjjihhhhцBfffrfbfxm@ɛ %$<< !%<>I! -Iɚ)i)I-=I5i5i51)5zn@)9*F2F:FBFJFG c׼e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260364G B O- >fTw,!g`A I^j4@Y^C@^^9^q+>y^HE? ?'ÿY? ə@ثu?@aR?`?ɨ^j4@^RP;^&CyjBj&IIrIr1h4٢~* ~e=9:Q >    G٣yw= > -Nusing accuracyPremultiplier from config)549-Hݛ?54Y- i-jB9EE#@-mD-tM;-M;-4Q U.@QB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 490.20 m.Bj;Jj; ProNav: ac range: 490.200012 m, nav range: 162.458801 m, bearing: 28.544539 deg, approach rate: 0.191127 m/s, LOS rate: 0.225360 deg/s, cmd heading: 281.880104 deg, new cmd heading: 282.127040 deg. 2j<HeadingCmd: 4.924046 target range: 490.200012 and range: 490.20 m. jȑ@jjjihhhhfffrfbf; @ɛcBNB< ,.>I ȫ(ɚiIu=ILi).iV) ȑ@) *F 2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:43:28.6386 TRx dataTimestamp_ set to:1736372609.801585checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512840GrG?G?JmJmJiJiJm:JmmQ:JiJiGBOj>C w,7`A:[U@Y:d@:?9:>y:HN3?? ¿`pR ?*@t?`?z?ɨ:[U@: ;8yFBF&IININy4٢ZQ< ZN=9ZN9Q Z>\\ ^G٣^DGyb&< b> fNusing accuracyPremultiplier from configdj49fLݛ?j4Yf ifjBhjn#@fvDfG ;f ;fk4p r@pWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763138Zj%FNOT Ignoring new targets: 490.20 m.Bj%[;Jj-[;= ProNav: ac range: 490.200012 m, nav range: 162.534485 m, bearing: 28.634567 deg, approach rate: 0.194647 m/s, LOS rate: 0.231430 deg/s, cmd heading: 282.127029 deg, new cmd heading: 282.396983 deg. 2j=<=HeadingCmd: 4.928757 target range: 490.200012 and range: 490.20 m. jEa@jAjAjAiAhAhAhIhIfIfQfQrfQbfUL@ɛ]K< 隍24>I *ɚiI@=I]iLi^vƼ)a@)EE $?Ih*F?2F:FBFo0JFHI Ih'IIBI&I.I6I<:Ic FzKejIKe]9KaKeKeG-GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018012Ja Ja e&w,՚`A6q@Y6@6Mѫ96N>y6H ?N?¿ L@p?O #zu?#?ץ?ɨ6q@6Gm;6#CyRBR&I]Mb@Mb@Mb@YYY Y)YY]B`"?~jty&1y].?]DY]A Y)]@I]v@Yy]3@IuIum4٢  >=9LQ > G٣y< > Nusing accuracyPremultiplier from config49Qݛ?4Y ijB/?:#@D<;;4B o@EZjFNOT Ignoring new targets: 490.20 m.Bj=;Jj=; ProNav: ac range: 490.200012 m, nav range: 162.621933 m, bearing: 28.733379 deg, approach rate: 0.204742 m/s, LOS rate: 0.231225 deg/s, cmd heading: 282.396985 deg, new cmd heading: 282.693261 deg. 2j< HeadingCmd: 4.933928 target range: 490.200012 and range: 490.20 m. j @j j jihhhhφBfff!rf!bf%@@ɛMbBM-< IU$&>IQ UТŹɚQiQIU=I]vi]wieYҼ)e@)a5Will construct direction to contact in vehicle frame from tetrahedron phase data.*Fm?2Fi:FiBFm{0JFiDAT read: 21:43:28.6386 LVL= 15776, 26609, 17426, 25427, AGC= 67, IDX= 433,-0.47, 2.122, 0.545, 0.437, 1.148, PHS= 1.062,-0.556,-0.713, RAW= 85.4, 2.5, CAL= 91.3, -0.5, ROT= 58.7, 0.5 Ygot valid direction response: 21:43:28.6386 LVL= 15776, 26609, 17426, 25427, AGC= 67, IDX= 433,-0.47, 2.122, 0.545, 0.437, 1.148, PHS= 1.062,-0.556,-0.713, RAW= 85.4, 2.5, CAL= 91.3, -0.5, ROT= 58.7, 0.5 PDAT read: Bearing 58.7, 0.5 (Local) ~Local bearing/azimuth received: Bearing 58.7, 0.5 (Local) DAT read: Range 10 to 50 : 489.0 m (Round-trip 652.0 ms) speed 0.0 m/s ,DAT read: user:2008> BDAT read: Tx time:21:43:29.7325 Ge`ɼ$Ping request sent.9=7BSS*?<>b-?y=C9===g =D)=ScI9i=?=V=+6=ɾ?=¸2= =W?)=5I=#?i=5<99=ЗQZR?̖b%ڞ?)=I=S0i=a @=a99:publishing transmit ping timeFpublishing direction and range info99=7BSS*?<>b-?y9999 9)9I9i99999 9)9I9i999=ЗQZR?̖b%ڞ?)9I9i9999 Will construct direction to contact in vehicle frame from tetrahedron phase data.,w,b`AJJJJJJHM:JJB@YB@B¸9B`>yBH-??q¿G?@l:w?@ ?V?ɨB@B;B'CyNBN&IIVGIV3٢bd< fW=9fQ f>hh jG٣hyn; n> rNusing accuracyPremultiplier from configpv49rVݛ?v4YrC  ir|jBtzQz#@rDr*:rn:r4| ~@keJvߛ?keLH ka keT`A:keCBkeCZke?"eG//SNW.%NV@jpT}@e7BSS*?<>b-?Jkea @Rkea*e!@0わP@lY.G~@epbuI KsɚiII=Ii񧂼iG޼)@)*Fe?2Fa:FiBFm0JFi5Will construct direction to contact in vehicle frame from tetrahedron phase data.GmvżGqGq IhGa Bq O >ZH RH ?AH >I  I ['II BI 2 =&I .I 6I <:I H FzK BHK h9K K K 83w,`Ayލ‡Bލ&I5Mb@Mb@Mb@111 1)1Y5Gz?lZd;Oy50?55j5EA 1)5v@I11y5@IMjIM;4٢]k< ]2=9eQ e>iq uG٣uDGWill construct direction to contact in vehicle frame from tetrahedron phase data.y > Nusing accuracyPremultiplier from config49vZݛ?4Y ipjB0?:#@DN;L;4B ¼@EZjFNOT Ignoring new targets: 489.00 m.Bjg;Jjg; ProNav: ac range: 489.000000 m, nav range: 102.130226 m, bearing: 47.788755 deg, approach rate: 0.432176 m/s, LOS rate: 0.306698 deg/s, cmd heading: 282.960667 deg, new cmd heading: 283.382453 deg. 2j{R<HeadingCmd: 4.945957 target range: 489.000000 and range: 489.00 m. jGE@j j j i h h hhBfffrfbfx?ɛeaBm0H< imA>Ii miɚiI^=IP*iiE )GE@)E R>E  >*F?2F:FBF0JF5 Will construct direction to contact in vehicle frame from tetrahedron phase data.G ޼G B I O >Z9w,h`AV@YV@V:9V>yVH@? q?ÿe@@\V? r >?C?o?ɨV@V8;V#CyfŇBj&IISI4٢< T=9Q > G٣y1< > MNusing accuracyPremultiplier from configU49,^ݛ?U4Yb igjBQ]z]#@D;;J4a e@aB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 489.00 m.Bj:;Jj:; ProNav: ac range: 489.000000 m, nav range: 102.292389 m, bearing: 47.904332 deg, approach rate: 0.415832 m/s, LOS rate: 0.295902 deg/s, cmd heading: 283.382445 deg, new cmd heading: 283.728622 deg. 2jK<HeadingCmd: 4.951999 target range: 489.000000 and range: 489.00 m. jv@jjjihhhhfffrfbf@?ɛ`B)r< ~J>I &8ɚiIkB=ISdi_>i Wp) v@) *F?2F:FBF85JFGaWill 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.GBJJJJJ:J[O:JJOe>@w,ZEaA:Ж@Y:ߝ@:?(9:7>y:H@??¿ 28 ?`p$~?@44? ?ɨ:Ж@:K;:&Cy^ÇBb&IIjIjb4٢r2= r\=9r:Q r>tx zG٣xyz;K< ~>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460753 Nusing accuracyPremultiplier from config 49 aݛ?4Y # i ^jB㲿%#@ D ; j; ֫4) -@)ZjQUFNOT Ignoring new targets: 489.00 m.Bj]^;Jj]^;m ProNav: ac range: 489.000000 m, nav range: 102.451912 m, bearing: 48.018455 deg, approach rate: 0.439087 m/s, LOS rate: 0.313635 deg/s, cmd heading: 283.728626 deg, new cmd heading: 284.070459 deg. 2jm>W<}HeadingCmd: 4.957965 target range: 489.000000 and range: 489.00 m. j}@jyjyjyiyhhhhfffrfbf@I l9ɚiI=IҠiij{)@) I*FU?2FQ:FQBFU_0JFQ-%bFailed to parse device response: 68.56,10.042429 zKK9KKKGU GB!O]>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714369nFw,:aA2@Y2; @2ӻ925>y2H ?? t¿.ཉ? `/cz?0?:?ɨ2@2,;0yN·BR 'IiV=IV{>TVAmMb@Mb@Mb@iii i)iYm|?5^?Q롿/$ym-?m\mm3A m@)m@Im`@iym@IIi4٢J= @=9 ;Q > G٣DGyPK< > Nusing accuracyPremultiplier from config49Jfݛ?4Y* iUjB#.?:#@D1;;@4 @ZjFNOT Ignoring new targets: 489.00 m.Bj3;Jj3;  ProNav: ac range: 489.000000 m, nav range: 102.628532 m, bearing: 48.145881 deg, approach rate: 0.415631 m/s, LOS rate: 0.299347 deg/s, cmd heading: 284.070464 deg, new cmd heading: 284.452076 deg. 2j pM<HeadingCmd: 4.964625 target range: 489.000000 and range: 489.00 m. j6ޞ@jjjihhh!h%Bf!f!f)rf)bf-f>?ɛe^Behy< aeJ_>Ia e9ɚiiiImj=Imƨiu䃼iu)u6ޞ@)yE Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964842*F-?2F):F)BF)JF) iIiG1GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.2165883Lw,C6aA6"@Y6<2@6]û96>y6HU? $?J¿@%?Okx?@0?`C?ɨ6"@6 ;4yN؇BN'IIZIZHo4٢bW= fX=9f{:Q f>hh jG٣hyjZN< > ENusing accuracyPremultiplier from config9E49=fjݛ?E4Y=r1 i=LjBIMcM#@=D=:=:=4}B }v@}EZjFNOT Ignoring new targets: 489.00 m.Bj5;Jj5; ProNav: ac range: 489.000000 m, nav range: 102.790428 m, bearing: 48.263118 deg, approach rate: 0.406800 m/s, LOS rate: 0.294121 deg/s, cmd heading: 284.452080 deg, new cmd heading: 284.803234 deg. 2jI<HeadingCmd: 4.970754 target range: 489.000000 and range: 489.00 m. jk@jjjihh h h f f1f9rf9bf=@ɛ]Bv<  u>I9 =o :ɚ9iAIEa=IUi][Gi]4S)]k@)Y*F%?2F!:F!BF!JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468611 YI]hG- jH <bH <H I  I h'II BI &I .I 6I ̰<:I k FG! B1 OM >zK BoHK K K K Sw,"OaA]?F@Y]U@]l9]W>y]Hh? ?m¿D? "{ rw?W? ɡ?ɨ]?F@]W[;]%CymՇBu'IMb@Mb@Mb@ )YB`"?X9v{Gzy.?ףA @)v@II@y@IMIMv}4٢]^R ]3=9et:Q e>aa mG٣iuWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.720862y}< > Nusing accuracyPremultiplier from config49doݛ?4YV9 iCjB/?:#@DK;;4 @ZjFNOT Ignoring new targets: 489.00 m.Bj;Jj; ProNav: ac range: 489.000000 m, nav range: 102.974800 m, bearing: 48.398636 deg, approach rate: 0.421060 m/s, LOS rate: 0.308935 deg/s, cmd heading: 284.803234 deg, new cmd heading: 285.209053 deg. 2jT<HeadingCmd: 4.977837 target range: 489.000000 and range: 489.00 m. jqJ@jjjihhhhՆBfffrfbf O@ɛ-\B-< )54r>I1 5-T:ɚ1i1I5=I=i9i=%)=qJ@)AJJJ/JJ:JHM:J(N3JJ4% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972606 A IA "Yw,AiaAZi@YZx@Z|е9ZV>yZHh?`?ÿR`)?!gv?`fd?P?ɨZi@Z8;Xyn܇Bn'I)p pIzIzb4٢< = c=9 @:Q  >  G٣DGyE< > %Nusing accuracyPremultiplier from config!-49%ysݛ?-4Y%? i%;jB)--#@%ƜD%:%:% 4=B =$@=EZjaeFNOT Ignoring new targets: 489.00 m.BjmS;JjmS; ProNav: ac range: 489.000000 m, nav range: 103.122070 m, bearing: 48.507203 deg, approach rate: 0.411698 m/s, LOS rate: 0.303068 deg/s, cmd heading: 285.209056 deg, new cmd heading: 285.534287 deg. 2jO<HeadingCmd: 4.983513 target range: 489.000000 and range: 489.00 m. jx@jjjihhhhfffrfbf@- @ɛ[B53< `>I Ӂ:ɚiI?=I[i[i}))x@)EE*FU?2FQ:FQBFU0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՅAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.225782Gu!GQBiO>e G yY y RB6`w,>aAnWill construct direction to contact in vehicle frame from tetrahedron phase data.rBDAT read: Rx Time:21:43:32.7871 vTRx dataTimestamp_ set to:1736372614.084825vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.477922j@YjD@jf9jb>yjHS?:?ÿU ۩?Lw?x?`?ɨj@j ;j$CyB+'IIwIR4٢%z= %H=9-гQ ->)1 5G٣1y5T#< => ENusing accuracyPremultiplier from config9E49=9xݛ?M4Y=F i=2jBIMM#@=ϜD=a:=:=@4Y eX@a}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 489.00 m.Bj;Jj; ProNav: ac range: 489.000000 m, nav range: 103.289528 m, bearing: 48.630995 deg, approach rate: 0.409021 m/s, LOS rate: 0.301875 deg/s, cmd heading: 285.534282 deg, new cmd heading: 285.905050 deg. 2j,O<HeadingCmd: 4.989985 target range: 489.000000 and range: 489.00 m. j@jjjihhhhfffrfbf`q @ $?IɛZBƤ< 隭>I X:ɚiIh=Iix i=1)@)H1I1 I5{'II5*BI53 =&I1.I16I5<:I55 FBI٢JI٢RI٢ZIݢ3 =bI٢jIݢ4*Fq2Fq:FyBF}0JFyRKe>JKe>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.728763J J J J J J S:J J J J J ;J ;G fL$G ?G ?Gy B O- >fw,@2aAEϵ@YE"Ş@EIP9Ea>yEH?|?`Hÿ @K?W@v???ɨEϵ@E}r;Ay]B]('IMb@Mb@Mb@ )Y|?5^?Zd;O{Gzy-?j )I3@yG@II_v4٢ 2  >=9e9Q > G٣yRG< > -Nusing accuracyPremultiplier from config!-49%}ݛ?54Y%[N i%*jB5-?5:5ެ5#@%؜D%h;%);%49 E~@AZjiuFNOT Ignoring new targets: 489.00 m.Bju;Jju; ProNav: ac range: 489.000000 m, nav range: 103.461502 m, bearing: 48.761819 deg, approach rate: 0.400394 m/s, LOS rate: 0.304083 deg/s, cmd heading: 285.905052 deg, new cmd heading: 286.296868 deg. 2jP<HeadingCmd: 4.996823 target range: 489.000000 and range: 489.00 m. j@jjjihhhhBfffrfbf P@ɛUXBUq< QU>IY er:ɚaiaIel =Imim}imv07)m@)q Will construct direction to contact in vehicle frame from tetrahedron phase data.mDAT read: 21:43:32.7871 LVL= 14096, 26705, 17442, 27683, AGC= 67, IDX= 432,-0.06,-2.435, 2.171, 2.152, 2.763, PHS= 1.172,-0.546,-0.614, RAW= 88.1, -0.1, CAL= 95.4, -4.6, ROT= 54.6, 4.6 uYgot valid direction response: 21:43:32.7871 LVL= 14096, 26705, 17442, 27683, AGC= 67, IDX= 432,-0.06,-2.435, 2.171, 2.152, 2.763, PHS= 1.172,-0.546,-0.614, RAW= 88.1, -0.1, CAL= 95.4, -4.6, ROT= 54.6, 4.6 PDAT read: Bearing 54.6, 4.6 (Local) ~Local bearing/azimuth received: Bearing 54.6, 4.6 (Local) DAT read: Range 10 to 50 : 487.7 m (Round-trip 650.3 ms) speed 0.3 m/s ,DAT read: user:2009> BDAT read: Tx time:21:43:33.8826 $Ping request sent. Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:43:33.8818 mw,aA6`ח@Y6@6h96<>y6H`S ??ySÿ@?@w???ɨ6`ח@6#^;4yNBN9'IIVIV4٢<=  ]=9 pQ  > G٣y5< => ENusing accuracyPremultiplier from configAM49E_ݛ?M4YET iE"jBIUWU#@EDE:E:EN4]B ]@]EkE'؛?kE!d kA kE`aA:kECBkE'CZkE?"E#gXC\$Q@P~@Ey{)Os@?Z8~݊?JkEh@RkEN*EE?0yCC@)+^~@Et]m]G9?/际?"kEB*kEVkEQכ?kEH] 2kEw DkEZ?kE2+< kE DkEBkE#? addTargetRange:: Added new target pos. range: 487.700012 m, deltaT: 4.031741 s, deltaX: -1.299988 m, approachRate: -0.322438 m/s, rangeRepo size: 4 % Added new target pos. range: 487.700012 m, bearing: 113.548719 deg, lat: 36.900112 deg, lon: -122.116814 deg, deltaT: 4.031741 s, deltaX: -1.299988 m, approachRate: -0.322438 m/s, posRepo size: 4 Zj!-FNOT Ignoring new targets: 487.70 m.Bj-Jj)e ProNav: ac range: 487.700012 m, nav range: 70.038063 m, bearing: 79.939459 deg, approach rate: 0.000000 m/s, LOS rate: 0.304083 deg/s, cmd heading: 286.296859 deg, new cmd heading: 286.649593 deg. 2jaeHeadingCmd: 5.002979 target range: 487.700012 and range: 487.70 m. jmh@jijijiiihihihhfffrf@3{~@bf`y?ɛWB@< ԝ>I :ɚiIk=IݣiiC>)h@)!E-J>E->*F?2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data. IhG2HY IY  I] 'II] 9BI] 2 =&IY .IY 6I] <:I] T FG B O) zK jIK h9K K K Dtw,aABKBrA:KBqA@Y.@r92>yH:?=z?@ſq?_N|? $? O?ɨ@;%CyB8'IuWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Ykt?/$ rhy 0?C3A b@)I@I`@y@IhIV84٢ 0=92Q > G٣DGy; > Nusing accuracyPremultiplier from config49uݛ?4Y\ ijBC0?:#@D;;T4*J"JR=JJJ0JJJdP:Jـ3JJJJ;J; ι@ZjamFNOT Ignoring new targets: 487.70 m.Bjmn;Jjmn;} ProNav: ac range: 487.700012 m, nav range: 70.328537 m, bearing: 80.041204 deg, approach rate: 0.597876 m/s, LOS rate: 0.208554 deg/s, cmd heading: 286.649598 deg, new cmd heading: 286.953568 deg. 2j <HeadingCmd: 5.008285 target range: 487.700012 and range: 487.70 m. jC@jjjihhhhBfffrfbf?ɛUB< >I ;ɚiI5=I/iiܨE)C@)*F2F:FBF`5JF% Will construct direction to contact in vehicle frame from tetrahedron phase data. I G %:G rAG G B O >Xzw,caA6@Y6n @696n1>y6Hx?`Bs?lſ`N? `}? ?`?ɨ6@6;6&Cy>B>G'IIJ^IJ&4٢R= Re=9R&Q R>TT ZG٣XyZ24< Z> bNusing accuracyPremultiplier from config\b49^Hݛ?b4Y^Nc i^jBdf f#@^D^;^W;^4h n@lZjFNOT Ignoring new targets: 487.70 m.BjZ;Jj Z; ProNav: ac range: 487.700012 m, nav range: 70.554581 m, bearing: 80.120598 deg, approach rate: 0.710939 m/s, LOS rate: 0.248906 deg/s, cmd heading: 286.953568 deg, new cmd heading: 287.190987 deg. 2j*<%HeadingCmd: 5.012428 target range: 487.700012 and range: 487.70 m. j%e@j!j!j!i!h!h)h)h1f1f9f9rf9bf=P?ɛTB< >I ;ɚiI=I-i# iIF)e@)*F?2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GBDGyBO>tw,zbAWill construct direction to contact in vehicle frame from tetrahedron phase data.:A@Y:dP@:9:->y:H?@j?!ſC ?{梿 ;?V??ɨ:A@:̗;:'CyFBFN'I TITIN\IN#4٢< D=9pȺQ > %G٣!y-(f< -> 5Nusing accuracyPremultiplier from config1=495ݛ?E4Y5j i5jBAENE#@5D5b;5;54MB M@UEmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 487.70 m.BjV~;JjV~; ProNav: ac range: 487.700012 m, nav range: 70.817474 m, bearing: 80.213692 deg, approach rate: 0.630280 m/s, LOS rate: 0.222360 deg/s, cmd heading: 287.190986 deg, new cmd heading: 287.469226 deg. 2j<HeadingCmd: 5.017284 target range: 487.700012 and range: 487.70 m. j@jjjihhhhfffrfbf?ɛRBic< |>I _#;ɚiIb=I iciMB)@)E H9I9 I='II=HBI9&I9.I96I=<:I=3 F*F?2F:FBF`0JFzKmk3IKm9KiKmKmGDWill 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.GqByO>J J J J J J J :J ,J:J J J e1<J e1<J ;J ;w,bA2Py@Y2@2d92S*>y2HA?`?ĿN? PBy?`=F?э?ɨ2Py@2";0yNBNL'I=Mb@Mb@Mb@999 9)9Y=ʡE?Mb`ii mG٣mDGyu< u> }Nusing accuracyPremultiplier from configy49}ݛ?4Y}q i} jB<2?:쥿#@}D}ZS;}^R;}4B Ը@EZjFNOT Ignoring new targets: 487.70 m.Bj;Jj; ProNav: ac range: 487.700012 m, nav range: 71.077583 m, bearing: 80.313721 deg, approach rate: 0.627829 m/s, LOS rate: 0.240559 deg/s, cmd heading: 287.469220 deg, new cmd heading: 287.768207 deg. 2j%<HeadingCmd: 5.022503 target range: 487.700012 and range: 487.70 m. jX@jjjihhhhBfffrfbf`Y?ɛPB< h>I 7;ɚiI=I ^i)i <)X@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994474 $?I*F?2F:FBFJFG ;,BG B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246449O >nɍw,9bAJ@YJNŸ@Jj9J++>yJH?`SP?"Ŀ?` `}?K??ɨJ@JY*;J$CyV BVV'II^I^1h4٢f97= fU=9ju:Q j>hh nG٣lyn< n> vNusing accuracyPremultiplier from configtz49vݛ?z4Yvx ivjB|~~#@v DvP';v';v4  H@ Zj)5FNOT Ignoring new targets: 487.70 m.Bj5;Jj=;M ProNav: ac range: 487.700012 m, nav range: 71.319099 m, bearing: 80.407553 deg, approach rate: 0.627990 m/s, LOS rate: 0.243156 deg/s, cmd heading: 287.768219 deg, new cmd heading: 288.048759 deg. 2jM&I wJ;ɚi!I%Vq=I%i-i-5)-t@))*F?2F:FBFo0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.498362 IhGGqjH}<bH}4<HI I'IIXBI3 =&I.I6I<:IF FBO>zK BoHK 9K K K w,sSbAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751529y5 B5X'I-Mb@Mb@Mb@))) )))Y-&1?{Gz?I +y-0?-#<-9-A ))-3@I))y)IEvIE&Q4٢Uܝ; U'=9]Q ]>YY ]G٣eDGye e> uNusing accuracyPremultiplier from configiu49mDݛ?u4Ym6 imiB}1?}:}}#@mDm3;m;mU 4 4@ZjFNOT Ignoring new targets: 487.70 m.Bj;Jj;% ProNav: ac range: 487.700012 m, nav range: 71.619812 m, bearing: 80.528802 deg, approach rate: 0.608360 m/s, LOS rate: 0.244264 deg/s, cmd heading: 288.048748 deg, new cmd heading: 288.410963 deg. 2j%'<5HeadingCmd: 5.033721 target range: 487.700012 and range: 487.70 m. j5>@j1j9j9i9hYhYhaheBfafafarfibfm`+@ɛLBG< >I nd;ɚiI=IuiPiDN)>@) EE*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=3.002301 I G 5G B O >w,hnbA6F@Y6.@6ʢ96,>y6H@?/?Ŀ@ pQ?r5F~?`?i?ɨ6F@6);6%Cy>BB^'IIJIJm4٢R< Ry=9VQ V?TT ZG٣XyZ$= Z? bNusing accuracyPremultiplier from config`f49b-ݛ?j4Yb ibiBhjj#@bDb;b;b4l n@pZj FNOT Ignoring new targets: 487.70 m.Bj;Jj; ProNav: ac range: 487.700012 m, nav range: 71.822121 m, bearing: 80.612423 deg, approach rate: 0.628149 m/s, LOS rate: 0.258903 deg/s, cmd heading: 288.410967 deg, new cmd heading: 288.661121 deg. 2j1<HeadingCmd: 5.038087 target range: 487.700012 and range: 487.70 m. j8@jjjihhhhfffrfbf` @ɛJBkC= ^<隝>I t;ɚiAIEm=IMd_iUᩉiUP))U8@)Q=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.309597JJJJJ:JJJa@a@a@a@]# 4Unknown EZ Servo Error: 13 -# Hardware Fault*F 2F! :F! BF% JF!  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:43:36.9352  TRx dataTimestamp_ set to:1736372618.117047 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507849  I G _NHI I'IIbBI&I.I6IͰ<:Ik FGYBi!VHardware Fault in component: DockingStepperO>?w,bAyvBv\'III_v4٢+  "=9Q > G٣y > Nusing accuracyPremultiplier from config496ݛ?4Y iiB#@*Dm ;6;4B @E B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 487.70 m.Bjk;Jjk;5 ProNav: ac range: 487.700012 m, nav range: 72.131813 m, bearing: 80.739402 deg, approach rate: 0.605693 m/s, LOS rate: 0.247278 deg/s, cmd heading: 288.661116 deg, new cmd heading: 289.040413 deg. 2j5)<=HeadingCmd: 5.044707 target range: 487.700012 and range: 487.70 m. j==n@j9j9j9i9h9hAhAhAfIfIfIrfIbfU @'ETFailed to parse incomplete device message.ɛGBܹ< >I %R;ɚ!i!I-=ImwiOiG)=n@)#Stop #:Uninitialize Docking Stepper.#Powering downEEEE%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761809G{TBGBOi>RK} ?JK} >8w,㪦bA N$?INhbWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 21:43:36.9352 LVL= 14496, 26945, 17714, 27075, AGC= 70, IDX= 429,-0.32, 0.055,-1.730,-1.666,-1.090, PHS= 1.233,-0.593,-0.579, RAW= 90.4, -0.7, CAL= 98.2, -5.5, ROT= 51.8, 5.5 ]Ygot valid direction response: 21:43:36.9352 LVL= 14496, 26945, 17714, 27075, AGC= 70, IDX= 429,-0.32, 0.055,-1.730,-1.666,-1.090, PHS= 1.233,-0.593,-0.579, RAW= 90.4, -0.7, CAL= 98.2, -5.5, ROT= 51.8, 5.5 mPDAT read: Bearing 51.8, 5.5 (Local)  ~Local bearing/azimuth received: Bearing 51.8, 5.5 (Local) DAT read: Range 10 to 50 : 486.3 m (Round-trip 648.5 ms) speed 0.3 m/s ,DAT read: user:2010> %BDAT read: Tx time:21:43:38.0326 %$Ping request sent.%aa mG٣mDGyi m> Nusing accuracyPremultiplier from config49Wݛ?4Yә iiB5?:p#@7DV<><!4 B -@5Ekbėϛ?kb@ k` kbEbA:kb&CBkbuCZkb#$@"b~8RAnfH@Z$@(~@b$mh{m#?9?Jkb @Rkb'*bEV&hE,NG4^;@ě9~@baÉLU?պI  ;ɚ i I #=I i {+i q*a) @) #% Stopping"GM =GM >JK|3 KL.KK"KJ J J 1J J :J >L:J 3J )  G% vA9 m Yu vAyu ,BGm 3,)G)B1Oe>'w,bA^Xә@Y^@^w9^->y^H@+?`@?Ŀ@k ? 9`;?}??ɨ^Xә@^D';^&Cy=BEk'IIU yIIU4٢_< =Will construct direction to contact in vehicle frame from tetrahedron phase data.9лQ ? G٣y=  ? Nusing accuracyPremultiplier from config%49kݛ?%4Y} iiB!%%#@>D::s'4) UL@QZjFNOT Ignoring new targets: 486.30 m.BjP;JjP; ProNav: ac range: 486.299988 m, nav range: 71.978004 m, bearing: 85.890108 deg, approach rate: 0.690781 m/s, LOS rate: 0.229606 deg/s, cmd heading: 289.476640 deg, new cmd heading: 289.685281 deg. 2j<HeadingCmd: 5.055962 target range: 486.299988 and range: 486.30 m. jqʡ@jjjihhhhfffrfbf?HyIy I}'II}gBI}2 =&Iy.Iy6I}r<:I}) FBIAJIARIAZIE2 =bIAjIE\4ɛ]BB #= 隥>>I \*;ɚiI =Iiqi)qʡ@)zKK9KKKENw =#%StoppingG5 Nu Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O5 >Pw,bAnj@Yn@n'9n">ynH`?x?¿`|a&?ޥ@? b?O?ɨnj@nb;lyz Bzo'I-Monly read 0 of 1 data item for BIT error. Device response is::TS,25010813444466,35.0, 0.0,1492.9, 0  M@M M@M M@M  M@M IU IUe4٢e< mM=9m:Q m>qq uG٣qyu(< }> bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49ݛ?4YI iiB+:r:(#@GDz%; >,4 @ZjFNOT Ignoring new targets: 486.30 m.Bj};Jj}; ProNav: ac range: 486.299988 m, nav range: 72.229202 m, bearing: 85.974119 deg, approach rate: 0.665797 m/s, LOS rate: 0.221895 deg/s, cmd heading: 289.685289 deg, new cmd heading: 289.936443 deg. 2jH<HeadingCmd: 5.060346 target range: 486.299988 and range: 486.30 m. jZ@jjjihhhhfffrfbf@K?ɛ5@B5f= 15>I9 =E;ɚ9i9I= =IEiETNjiE$$)EZ@)IE<#Stopping qIqWill construct direction to contact in vehicle frame from tetrahedron phase data.Gu^GQBYOu>Hw,bAWill construct direction to contact in vehicle frame from tetrahedron phase data.V>$@YV3@V l/9V>yVHq?!? .ÿ`MRL?%h?o??ɨV>$@Vt;V$Cyb*Bb|'IIjIj4٢r/V= rR=9rQ v>tt vG٣vDGyzu< ~> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 49hݛ? 4Y( iiB :D:g#@PD<;F?Z14 %a@%EZjAMFNOT Ignoring new targets: 486.30 m.JYJ]J]0JYJYJ]dP:J]ـ3JYBje]{;Jje]{;} ProNav: ac range: 486.299988 m, nav range: 72.482994 m, bearing: 86.059743 deg, approach rate: 0.653666 m/s, LOS rate: 0.219760 deg/s, cmd heading: 289.936449 deg, new cmd heading: 290.192418 deg. 2j}<HeadingCmd: 5.064813 target range: 486.299988 and range: 486.30 m. j@jjjihhhhfffrfbf?ɛ>Bl= >I ^|;ɚiIy =Ii i)@)Em<#StoppingG+ YI]hWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>Ha Ia  Ie 'IIe qBIe 3 =&Ia .Ia 6Ie <:Ie 5 Fbw,fcAFO@YFP_@F 19Fǽ">yFH~?q?%ÿ4D@l?@:?A?I?ɨFO@Fl;F%Cyr4Br'IzKK+9KKK  BKqA:KnAII94٢m)= u4=9먹Q > G٣y<< > bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49ݛ?4YU iiB9:#@[D;A?54B @%E5Will construct direction to contact in vehicle frame from tetrahedron phase data.]B*** querying acoustic contact ***jYjYZjaFNOT Ignoring new targets: 486.30 m.Bjw;Jjw; ProNav: ac range: 486.299988 m, nav range: 72.785271 m, bearing: 86.162404 deg, approach rate: 0.639777 m/s, LOS rate: 0.216383 deg/s, cmd heading: 290.192417 deg, new cmd heading: 290.499118 deg. 2j<HeadingCmd: 5.070166 target range: 486.299988 and range: 486.30 m. j>@jjjihhhh fffrfbf1?ɛe;Bu= 隭f>I o;ɚiIe =I6Dii)>@)EE*E"E#Stopping M $?II  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.G ,&G B O >Cw,?/cAJ)@YJ|@Jj +9JVR%>yJH`(?(?ÿ2?`;Sa? ?`?ɨJ)@Jқ;J$CyR>BV'I 5 5 55 55  5 = =Mb@Mb@Mb@999 9)9Y=bX9?~jtx{Gzy=E6?=Ļ=ף=A =b@)=@I=@9y= @IMIMY4٢e;= mD=9m:Q m>qq uG٣qyu< u> Nusing accuracyPremultiplier from configy49}ݛ?4Y} i}iBT:Y6?:j#@}dD};}=;}<4 D@ZjAEFNOT Ignoring new targets: 486.30 m.BjEs;JjMs;] ProNav: ac range: 486.299988 m, nav range: 73.051338 m, bearing: 86.250644 deg, approach rate: 0.644292 m/s, LOS rate: 0.212898 deg/s, cmd heading: 290.499120 deg, new cmd heading: 290.762873 deg. 2j}<HeadingCmd: 5.074769 target range: 486.299988 and range: 486.30 m. jd@jjjihhhhBfffrf bf ``@ɛ8B(= 隕?I %F;ɚiI =Iai댼id)d@)#StoppingWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.189546JJJJJ:JwR:JJG!GBO> I 6!w,HcA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.441487>@Y>L@>#)9>R(>y>H}}??<Ŀ#ZM?@M 8??[?ɨ>@>;>%CyVMBZ'I 9==IE'IE5٢U\= }M=9}L9Q }> G٣DGy!^< > Nusing accuracyPremultiplier from configHI I'IIBI&I.I6I{<:I/ F49ݛ?4Y iiB#@mD2<2<C4 J@ZjFNOT Ignoring new targets: 486.30 m.Bjq;Jjq; ProNav: ac range: 486.299988 m, nav range: 73.315643 m, bearing: 86.338966 deg, approach rate: 0.635263 m/s, LOS rate: 0.211519 deg/s, cmd heading: 290.762874 deg, new cmd heading: 291.026883 deg. 2j)<HeadingCmd: 5.079377 target range: 486.299988 and range: 486.30 m. jB@jjjihhhhfffrfbf z@ɛu6BuH!:= qu ?Iy }^;ɚyiyI}E =IdiKKw,bcA:i@Y:@:v9:d*>y:H?? \Ŀ7?u@ې?9?4?ɨ:i@:u;8yBUBB'IMb@Mb@Mb@ )Y9v?MbP?II UG٣QyUx< U> eNusing accuracyPremultiplier from configYe49]ݛ?m4Y] i]iBm 5?m:mm#@]vD];];]J4}B }ɳ@}EZjFNOT Ignoring new targets: 486.30 m.Bj.;Jj.; ProNav: ac range: 486.299988 m, nav range: 73.572754 m, bearing: 86.427870 deg, approach rate: 0.696122 m/s, LOS rate: 0.239864 deg/s, cmd heading: 291.026875 deg, new cmd heading: 291.292652 deg. 2j$<HeadingCmd: 5.084016 target range: 486.299988 and range: 486.30 m. jB@jjjihhhhBfffrfbf@;@ yIyɛ3BIB= ?I ;ɚiIH =Ic~i>ih)B@)#StoppingUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.946609GUG)B9Om> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.197602={w,I|cAn/@Yn@ne9n +>ynH??`Ŀ`?`"?H??ɨn/@nX՛;n&CJzJzJxJxJz:JzD:JxJxy`B'III4٢-b= -K=95:Q 5>99 =G٣9y=6< => MNusing accuracyPremultiplier from configAM49ECޛ?U4YE iEiBQU)U#@EDEe ;E ;EQ4]B e,@eEZjFNOT Ignoring new targets: 486.30 m.Bj ;Jj ; ProNav: ac range: 486.299988 m, nav range: 73.832558 m, bearing: 86.518101 deg, approach rate: 0.646967 m/s, LOS rate: 0.223906 deg/s, cmd heading: 291.292651 deg, new cmd heading: 291.562392 deg. 2j<HeadingCmd: 5.088724 target range: 486.299988 and range: 486.30 m. j֢@jjjihhhhfffrfbf@ @ɛ1B?N= b?I  M;ɚiIx=I䘿i эi)֢@)#Stopping ]$?I]hUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.449498G]_GQBYO}>HI I'IIBI2 =&I.I6I<:I9 F_w,;cAzKN.LKN9KLKNKN Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:43:41.0832 TRx dataTimestamp_ set to:1736372622.409500checking for new query: numPingsReceived=0, elapsed TxPingTime=3.703380w5@YD@E 9*>yHt?`?`DĿ:?@ѩ R?`>? ?ɨw5@i;yjB'IMb@Mb@Mb@ )YM? G٣DGy7< > -Nusing accuracyPremultiplier from config549* ޛ?=4Y! iiB=|2?e:eXe#@DP<<bZ4i m@iB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 486.30 m.Bjm;Jjm; ProNav: ac range: 486.299988 m, nav range: 74.147530 m, bearing: 86.623875 deg, approach rate: 0.619947 m/s, LOS rate: 0.207305 deg/s, cmd heading: 291.562389 deg, new cmd heading: 291.878357 deg. 2j%E<%HeadingCmd: 5.094238 target range: 486.299988 and range: 486.30 m. j%@j)j)j)i)h)h)h1h57Bf1f1f9rfYbf]b/@ɛ.B=<= 隭?I  <ɚiIs=Ii/i7ir)@)# StoppingG%rA G%rA QIQm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.954860G] GQ Ba O} >Ȉw,`cAeZ@Ye"j@eup9e)>yeH@z?{}?Ŀ`~?@ E???ɨeZ@e;e'CyuBu'IIIB4٢> y=9:Q ? G٣yc< ? Nusing accuracyPremultiplier from config49ޛ?4Y iiBÛ$@D;;`4B @EZjq}FNOT Ignoring new targets: 486.30 m.Bj}et;Jj}et; ProNav: ac range: 486.299988 m, nav range: 74.356903 m, bearing: 86.694515 deg, approach rate: 0.635081 m/s, LOS rate: 0.213667 deg/s, cmd heading: 291.878353 deg, new cmd heading: 292.089678 deg. 2j<HeadingCmd: 5.097927 target range: 486.299988 and range: 486.30 m. j7"@jjjihhhhfffrfbf@ɛ-B%?z= !%8+?I! %Z<ɚ!i!I-%=IUiUuiUU)U7"@)Y#StoppingWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:43:41.0832 LVL= 14320, 30961, 16802, 28771, AGC= 69, IDX= 424, 0.36, 0.040,-1.763,-1.602,-1.088, PHS= 1.216,-0.628,-0.517, RAW= 93.1, -0.8, CAL= 101.3, -5.7, ROT= 48.7, 5.7  Ygot valid direction response: 21:43:41.0832 LVL= 14320, 30961, 16802, 28771, AGC= 69, IDX= 424, 0.36, 0.040,-1.763,-1.602,-1.088, PHS= 1.216,-0.628,-0.517, RAW= 93.1, -0.8, CAL= 101.3, -5.7, ROT= 48.7, 5.7 PDAT read: Bearing 48.7, 5.7 (Local) ~Local bearing/azimuth received: Bearing 48.7, 5.7 (Local) -DAT read: Range 10 to 50 : 484.8 m (Round-trip 646.4 ms) speed 0.0 m/s -,DAT read: user:2011> 5BDAT read: Tx time:21:43:42.1826 5$Ping request sent.5 A IA ow,]5cAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:43:42.1818 >@Y>@>T9>#)>y>H?o?`-ÿ?  J|?` ?Z?ɨ>@>,;>$Cy^B^'IIfIfY4٢r+; rW=9r ;Q r>tt vG٣tyva\< z> ~Nusing accuracyPremultiplier from configx49zޛ?4YzP iziB$@zDz ;z ;zf4 ݰ@k{ ɛ?kձ k k1]cA:kfCBkCZk8@"MhB9@,~@_L~3*8ɮY?}n?JkiL!@RkL*ӕ0v'PYy1@0Z9~@|W'1t? ?"kϋA*kـkț?k  2k DkQכ?kH] kk:?BZHYRH]AAHaIa Ie(IIeBIa&Ia.Ia6Iec<:Ie Fk$?m addTargetRange:: Added new target pos. range: 484.799988 m, deltaT: 4.282672 s, deltaX: -1.500000 m, approachRate: -0.350249 m/s, rangeRepo size: 4  Added new target pos. range: 484.799988 m, bearing: 164.822615 deg, lat: 36.899851 deg, lon: -122.117156 deg, deltaT: 4.282672 s, deltaX: -1.500000 m, approachRate: -0.350249 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 484.80 m.BjJj ProNav: ac range: 484.799988 m, nav range: 47.806789 m, bearing: 112.865101 deg, approach rate: 0.000000 m/s, LOS rate: 0.213667 deg/s, cmd heading: 292.089679 deg, new cmd heading: 292.346650 deg. 2jHeadingCmd: 5.102412 target range: 484.799988 and range: 484.80 m. jF@jjjihhhhfffrfL~@bfF?ɛ]+Bee= ae,?Ia eA<ɚaiiImL=Iu#iu̿iur)uF@)q#StoppingzKKK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.GGJ% J% J! J! J% K:J% dP:J! J! J% q5w,#cAy5B='I)A A E=Ep= IMb@Mb@Mb@ )YQ?y&1|Mby(?`廹 )I@y@II4٢= 9=9Q >   G٣y > Nusing accuracyPremultiplier from config49!ޛ?4Y iiB(?:$@D;э;n4 @ZjFNOT Ignoring new targets: 484.80 m.-Will construct direction to contact in vehicle frame from tetrahedron phase data.Bj5Jj5U ProNav: ac range: 484.799988 m, nav range: 48.109890 m, bearing: 112.850884 deg, approach rate: 0.707405 m/s, LOS rate: -0.032972 deg/s, cmd heading: 292.346658 deg, new cmd heading: 292.304276 deg. 2jU]HeadingCmd: 5.101672 target range: 484.799988 and range: 484.80 m. je@@jajijiiihihqhqhuVBfyfyfrfbfp?ɛU)B]wDk= Y}I5?Iy $<ɚiI`=I;i iU )@@)#=Stopping"GE=GE=Ge G9 BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data.*J C="J 4=M [GCw,_cA"|uA, ZYZ|uAyZ4 Bb@YbƢ@boԻ9bB*>ybHg?[?1 Ŀ@_M%?z?7??ɨb@b;b%CyjBj(II5I5V4٢E= EX=9E/:Q M>II MG٣MDGyU< U> ]Nusing accuracyPremultiplier from configYe49](ޛ?e4Y] i]iBim8m$@]D]7:]X:]u4uB u @}EZjFNOT Ignoring new targets: 484.80 m.Bj^Jj^ ProNav: ac range: 484.799988 m, nav range: 48.348289 m, bearing: 112.841591 deg, approach rate: 0.671550 m/s, LOS rate: -0.026050 deg/s, cmd heading: 292.304284 deg, new cmd heading: 292.276541 deg. 2jHeadingCmd: 5.101188 target range: 484.799988 and range: 484.80 m. j<@jjjihhhhfffrfbf@?ɛ 'B = oqb< =?I   +<ɚiI=IKi4i)<@)!#-Stopping $?I hGW EWill construct direction to contact in vehicle frame from tetrahedron phase data.GBHyIy I}C(II}͈BIy&Iy.Iy6I}<:I}1 FO>BI!JI!RI!ZI!bI!jI%^4!w,dA'~TFailed to parse incomplete device message.Will construct direction to contact in vehicle frame from tetrahedron phase data.yB(IMb@Mb@Mb@ )YCl?~jth?~jtxy;?D;Ļ )@I@yII?4٢<= '=9Q > G٣y > Nusing accuracyPremultiplier from config49k2ޛ?4Y iiB=?:S$@D;;}4  k@ E-B*** querying acoustic contact ***j)j)Zj15FNOT Ignoring new targets: 484.80 m.Bj=nJj=nM ProNav: ac range: 484.799988 m, nav range: 48.653065 m, bearing: 112.835160 deg, approach rate: 0.622354 m/s, LOS rate: -0.013050 deg/s, cmd heading: 292.276553 deg, new cmd heading: 292.257381 deg. 2jMLUHeadingCmd: 5.100853 target range: 484.799988 and range: 484.80 m. jU1:@jQjQjYihhhhnBfffrfbf`[?ɛ]%Bep= aeoC?Ia m8<ɚiiiIu~=IViNri=c)1:@)#Stopping IBK:KpAE Will construct direction to contact in vehicle frame from tetrahedron phase data.A iE AM T****** received valid address query ******M R****** received valid ping request ******U Querying Benthos address 50 with one ping in standard two-way mode.G= GG B O= > w,Q1dA> @Y>T/@>X9>>'>y>H)?@:?0ÿ ?``Gq? ?`@?ɨ> @>hl;IN>PRAIV IV4٢b)= b=9f ;Q f?dd fG٣dyjD-= j? nNusing accuracyPremultiplier from configlr49ny8ޛ?r4Yn iniBtvv$@nDn:n:n4x z@xZj%FNOT Ignoring new targets: 484.80 m.Bj%IJj%I5 ProNav: ac range: 484.799988 m, nav range: 48.840450 m, bearing: 112.834042 deg, approach rate: 0.622066 m/s, LOS rate: -0.003696 deg/s, cmd heading: 292.257374 deg, new cmd heading: 292.254034 deg. 2j5X"EHeadingCmd: 5.100795 target range: 484.799988 and range: 484.80 m. jE9@jAjAjIiIhIhIhQhQfQfQfQrfYbf] ?ɛ$Bל= 隍9G?I |?<ɚiIF=IXi/uiY)9@)#StoppingWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002200GGBOc> I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254008(w,KdA6Y@Y6Yh@6+96'>y6H ?@%?{aÿzE?`Oήre? +?`?ɨ6Y@6/;6#CyBBB)(IININ4٢R< VK=9V͊;Q V>H|I| I~h(II~BI~3 =&I|.I|6I~<:I~ F %G٣%DGy%< %> 5Nusing accuracyPremultiplier from config)549-@ޛ?=4Y- i-iB9=Ε=$@-ÝD-u:-2:-44A M@IZjFNOT Ignoring new targets: 484.80 m.Bj7Jj7 ProNav: ac range: 484.799988 m, nav range: 49.099487 m, bearing: 112.834615 deg, approach rate: 0.616671 m/s, LOS rate: 0.001356 deg/s, cmd heading: 292.254041 deg, new cmd heading: 292.255750 deg. 2j7n8HeadingCmd: 5.100825 target range: 484.799988 and range: 484.80 m. j9@jjjihhhhfff rf bf @ɛ]"B]͒= Y]J?IY e K<ɚaiaIe@=ImWim`imF)m9@)qE<#StoppingzKMBHKIKIG}7KMWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509684KMGqBJJJ1JJ:J[O:J3JJd1<Je1<J;J;O >w,XedAyB%2(I AIAMb@Mb@Mb@ )Y`"?Mbp?)1 5G٣1y= => MNusing accuracyPremultiplier from configI]49MIޛ?]4YMC  iMiBe?e:ere$@M̝DM:f;Myc;Mޑ4y }8@yZjFNOT Ignoring new targets: 484.80 m.Bji8Jji8 ProNav: ac range: 484.799988 m, nav range: 49.359650 m, bearing: 112.836028 deg, approach rate: 0.589078 m/s, LOS rate: 0.003184 deg/s, cmd heading: 292.255762 deg, new cmd heading: 292.259981 deg. Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7583122j 9HeadingCmd: 5.100899 target range: 484.799988 and range: 484.80 m. j:@jjjihhhh|Bfffrfbf`U@ɛ B*;= WO?I SW<ɚi!I%=IM-UiMKiMYuU)M:@)QE%k<#-StoppingGe ͍Gm ?Gm ?GA BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010135w,7dA6Kœ@Y6ѣ@6d:96##>y6HT?`?=¿`b?[ P`_?@?ɨ6Kœ@6Wԑ;6%CyNBN.(I)P P Va=V%=IZIZ%4٢b뱼 bc=9b$dd fG٣dyj"= j> rNusing accuracyPremultiplier from configpv49rPޛ?v4Yrb iriBxzϓz$@rҝDr ;rL;r 4y }@}EZjFNOT Ignoring new targets: 484.80 m.BjXT9JjXT9 ProNav: ac range: 484.799988 m, nav range: 49.572063 m, bearing: 112.840314 deg, approach rate: 0.577546 m/s, LOS rate: 0.011603 deg/s, cmd heading: 292.259970 deg, new cmd heading: 292.272772 deg. 2j9HeadingCmd: 5.101122 target range: 484.799988 and range: 484.80 m. je<@jj1j1i1h1h1h9h9f9f9fArfAbfEO2 @ɛ B%= !%M?I! %a<ɚ!i!I-%w,dAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:43:45.2313 TRx dataTimestamp_ set to:1736372626.444305checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520437zKBoHK+9Ky]BKKRKm?JKm?]+(IJEJEJE0JAJE:JEHM:JEـ3JAJE4<JE4<JEU;JEU;uMb@Mb@Mb@qqq q)qYuI +? rh?Mbyu9?uC G٣DGy > -Nusing accuracyPremultiplier from config!-49%\ޛ?U4Y% i%iBUX?U:UU$@%ܝD%;%;%4Y e@aB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 484.80 m.Bj9Jj9 ProNav: ac range: 484.799988 m, nav range: 49.885441 m, bearing: 112.855324 deg, approach rate: 0.587416 m/s, LOS rate: 0.027959 deg/s, cmd heading: 292.272783 deg, new cmd heading: 292.317530 deg. 2j:HeadingCmd: 5.101903 target range: 484.799988 and range: 484.80 m. jB@jjjihh!hQhUvBfQfQfYrfYbf]{ @ɛB= M?I n< )I5!hɚi1I5f,w,ƦdA6/@Y6#@6Ÿ;96u>y6H?@?B v?@ w~? H?ɨ6/@6|;6&CyNBR#(IIZIZ4٢bK b=9fc BDAT read: Tx time:21:43:46.3327 $Ping request sent. 9 IA ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e JDAT read: TxSync time:21:43:46.3319 3w,CdA69@Y6H@6 <96>y6H1/?@G?`@2 ?nA? ?ɨ69@6;4yFBJ$(IiNR=IN=NALHXIX IZ(IIZ BIX&IX.IX6IZ'<:IZ FIRIR|4٢j~; jH=9n;Q n>ll nG٣lyrq7< r> zNusing accuracyPremultiplier from configtz49vgjޛ?~4Yv" iviB|~ݎ~$@vDv:v7:vM4 @ kጭ?k.] k kldA:kCBkCZk&1@")f;pSkjU\?͟Ue}@0l5Ŀ/=sA? PA?JkH@RkĴ* WaUnB@O=}@zwȿ4}?T2K?"krB*kkʤv?k?V 2kEDkjϛ?k?V k Dk hBk @e addTargetRange:: Added new target pos. range: 483.399994 m, deltaT: 4.032212 s, deltaX: -1.399994 m, approachRate: -0.347202 m/s, rangeRepo size: 4 u Added new target pos. range: 483.399994 m, bearing: 158.594060 deg, lat: 36.899623 deg, lon: -122.117263 deg, deltaT: 4.032212 s, deltaX: -1.399994 m, approachRate: -0.347202 m/s, posRepo size: 4 Zjq}FNOT Ignoring new targets: 483.40 m.Bj}Jjym ProNav: ac range: 483.399994 m, nav range: 58.031387 m, bearing: 140.564364 deg, approach rate: 0.000000 m/s, LOS rate: 0.035034 deg/s, cmd heading: 292.344145 deg, new cmd heading: 292.387689 deg. 2jiuHeadingCmd: 5.103128 target range: 483.399994 and range: 483.40 m. juL@jqjqjqiqhqhyhhfffrf`f6~@bf@?ɛBa= L?I X<ɚiI`Will construct direction to contact in vehicle frame from tetrahedron phase data.zKK9KKKBK:KrA)9w,mdAVB@YVQ@V5<9VSM>yVH9??t? gb.@?6ѱv??ɨVB@VŎ;TybBb (I v$?IxMb@Mb@Mb@ )Y7A`?aa eG٣eEGyu; u> }Nusing accuracyPremultiplier from configy49}Wtޛ?4Y}X( i}iB?:U$@}D}mG;}.F;}74B ;@EZjFNOT Ignoring new targets: 483.40 m. Will construct direction to contact in vehicle frame from tetrahedron phase data.BjEψJjEψU ProNav: ac range: 483.399994 m, nav range: 58.274200 m, bearing: 140.456734 deg, approach rate: 0.541938 m/s, LOS rate: -0.239219 deg/s, cmd heading: 292.387694 deg, new cmd heading: 292.066154 deg. 2jU,$]HeadingCmd: 5.097516 target range: 483.399994 and range: 483.40 m. j]@jYjajaiahhhhBBfffrfbf?ɛB9=  AB?I  G<ɚiI}GA BI Oe > Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 1J J K:J D:J 3J a @a @a @a @%@w,o~eA:;H@Y:W@:,X<9:_+>y:HzI?N?`@O,`?Pбq?;?ɨ:;H@:פ;:%CyJBJ'IIRIR94٢ZZ Zg=9^;Q ^>`d fG٣dyfY; f> nNusing accuracyPremultiplier from confighn49j|ޛ?r4YjA- ijiBprDr$@jDj;j;je4t z@xZjFNOT Ignoring new targets: 483.40 m.Bj%Jj%5 ProNav: ac range: 483.399994 m, nav range: 58.464050 m, bearing: 140.373383 deg, approach rate: 0.538198 m/s, LOS rate: -0.235522 deg/s, cmd heading: 292.066156 deg, new cmd heading: 291.816916 deg. 2j5!=HeadingCmd: 5.093166 target range: 483.399994 and range: 483.40 m. j=7@j9j9j9i9hAhAhIhIfIfQfQrfQbfU?ɛB$= _Will construct direction to contact in vehicle frame from tetrahedron phase data.HI I(IIBI&I.I6Iy<:I- FKFw,geA:Q@Y:,a@:<9: >y:H@Z?8?`= (,?@G'@? ?ɨ:Q@:!{;:$CyrBr'I)  ==eWill construct direction to contact in vehicle frame from tetrahedron phase data.IzKJQJK59KKKI4٢v 1=9;Q > G٣y "; > Nusing accuracyPremultiplier from config49ޛ?4Y3 iqiB!%$@Dl;;4-B 5@5EZjq}FNOT Ignoring new targets: 483.40 m.Bj}Jj ProNav: ac range: 483.399994 m, nav range: 58.719105 m, bearing: 140.262651 deg, approach rate: 0.528151 m/s, LOS rate: -0.228300 deg/s, cmd heading: 291.816909 deg, new cmd heading: 291.486161 deg. 2jHeadingCmd: 5.087393 target range: 483.399994 and range: 483.40 m. j=ˢ@j9jyjyiyhhhhfffrfbf?ɛBw= 隭5?I <ɚiIrLw,.74eA2b@Y2mq@2<92 >y2H@w??\,` ?`Բ~@+?K?ɨ2b@2#;0y:uB>'IMb@Mb@Mb@ )YX9v? G٣EGy<; > Nusing accuracyPremultiplier from config49ޛ?4Y'9 i`iB9?:$@D@;;4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 483.40 m.Bj Jj 5 ProNav: ac range: 483.399994 m, nav range: 58.922619 m, bearing: 140.172234 deg, approach rate: 0.573123 m/s, LOS rate: -0.253747 deg/s, cmd heading: 291.486164 deg, new cmd heading: 291.215851 deg. 2j5$.=HeadingCmd: 5.082675 target range: 483.399994 and range: 483.40 m. j=G@j9jAjAiAhAhAhIhMBfIfIfQrfQbfU )?ɛ}B}-= y隅.?I W<ɚiIEGG]vAqJJJ0JJJ>L:Jـ3J z YvAy B $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255128YSw,NeAjH bH"<H$I$ I&\(II&BI$&I$.I$6I$:I$BI JI RI ZI bI jI Ն4Jt@YJC@J[<9JX>yJH@q?\?p໿B;1?`?)?ɨJt@J^;J%CybB'II-0I-5٢e eN=9m:8qq }G٣yy; > Nusing accuracyPremultiplier from config49ʗޛ?4Y? iLiB`$@D ::4B @EZj)-FNOT Ignoring new targets: 483.40 m.Bj-GJj5Ge ProNav: ac range: 483.399994 m, nav range: 59.147491 m, bearing: 140.073683 deg, approach rate: 0.549797 m/s, LOS rate: -0.240033 deg/s, cmd heading: 291.215852 deg, new cmd heading: 290.921327 deg. 2je$mHeadingCmd: 5.077535 target range: 483.399994 and range: 483.40 m. jm+{@jijijiihhhhfffrfbf@ɛJ|= %?I <ɚiIYw,-geA IN~@YNߍ@NT4<9N>yNH0?^?@xI==EAEAMb@Mb@Mb@ )Y|?5^?MbpMby-?@X@ )@IQ@y@I,I5٢% -?=9-)1 5G٣1y="5; => ENusing accuracyPremultiplier from configAM49Eޛ?M4YEE iE/iBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759494U>.?:$@EDE Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011208*J R="J p=J J J J J :J [:J J k`w,ÁeA>]y@Y>@>.=9>Q.>y>H@?@z?``/? j8?੹?ɨ>]y@>%;`` bG٣bEGyf< f> jNusing accuracyPremultiplier from confighn49j}ޛ?n4YjK ijiBprr$@j!Dj ;j ;j4t v@tZjFNOT Ignoring new targets: 483.40 m.Bj%zJj%z5 ProNav: ac range: 483.399994 m, nav range: 59.626465 m, bearing: 139.856484 deg, approach rate: 0.666098 m/s, LOS rate: -0.299835 deg/s, cmd heading: 290.567968 deg, new cmd heading: 290.272378 deg. 2jMHeadingCmd: 5.066209 target range: 483.399994 and range: 483.40 m. jb@jjjihhhhfffrfbf & @ɛEBM4}= MZ7fw,NeANGc@YNr@N̉=9NÔ=yNHw?? @?PL>0Ę?'?ɨNGc@Nf;N#CyZ#BZr'II`I`٢vǥ zG=9~ %G٣!y5ӻMWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.518643 => Nusing accuracyPremultiplier from config49ޛ?4YR ihB$@*D\ <h<,4BzKK9KKK  @EZjaFNOT Ignoring new targets: 483.40 m.BjJj ProNav: ac range: 483.399994 m, nav range: 59.889111 m, bearing: 139.737985 deg, approach rate: 0.547669 m/s, LOS rate: -0.246009 deg/s, cmd heading: 290.272385 deg, new cmd heading: 289.918453 deg. 2j(HeadingCmd: 5.060031 target range: 483.399994 and range: 483.40 m. j@jjjihhhhfffrfbf` @ɛBf']= 隕k?I Da<ɚiIWill construct direction to contact in vehicle frame from tetrahedron phase data.iBDAT read: Rx Time:21:43:49.3791 TRx dataTimestamp_ set to:1736372630.724893checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768462lw,yeA2XD@Y2S@2W=920 =y2H=?@j ?@횷 (@?m٣ K?@:?ɨ2XD@2 Ս;2&CyNBRb'I)T T]Mb@Mb@Mb@YYY Y)YY]/$?{GzA`"y] G٣y > Nusing accuracyPremultiplier from config49ޛ?4YY ihB:=?:N$@4D;S;H4 ߷@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 483.40 m.Bj;˻Jj;˻  ProNav: ac range: 483.399994 m, nav range: 60.156483 m, bearing: 139.610690 deg, approach rate: 0.749727 m/s, LOS rate: -0.355358 deg/s, cmd heading: 289.918444 deg, new cmd heading: 289.538260 deg. 2j sHeadingCmd: 5.053396 target range: 483.399994 and range: 483.40 m. jk@jjjihhh!h%|Bf!f!f!rf)bf-@ɛUBU:q= Q]x?IY ]*<ɚYiYI]Bv  I  Will construct direction to contact in vehicle frame from tetrahedron phase data.H9 I9  I= 'II= {BI9 &I9 .I9 6I= <:I= C F5 DAT read: 21:43:49.3791 LVL= 14128, 28449, 20594, 32755, AGC= 69, IDX= 414,-0.01,-0.266,-2.194,-1.879,-1.365, PHS= 1.187,-0.782,-0.517, RAW= 97.1, 1.2, CAL= 106.4, -2.0, ROT= 43.6, 2.0 sw,YQeA6U@Y6*@6r^+=96=y6H@G??@浿8 ?c]4jY?G?ɨ6U@6=;4BYgot valid direction response: 21:43:49.3791 LVL= 14128, 28449, 20594, 32755, AGC= 69, IDX= 414,-0.01,-0.266,-2.194,-1.879,-1.365, PHS= 1.187,-0.782,-0.517, RAW= 97.1, 1.2, CAL= 106.4, -2.0, ROT= 43.6, 2.0 FPDAT read: Bearing 43.6, 2.0 (Local) J~Local bearing/azimuth received: Bearing 43.6, 2.0 (Local) NDAT read: Range 10 to 50 : 481.7 m (Round-trip 642.3 ms) speed 0.4 m/s R,DAT read: user:2013> VBDAT read: Tx time:21:43:50.4827 V$Ping request sent.V>i-@-))~:publishing transmit ping timeTUFpublishing direction and range info)9-ݣ[d7Yc쓏 d?٢M~ }O=9};Q > G٣EGyL > Nusing accuracyPremultiplier from configy)))) )))I)i))))) )))I)i)))-wGPy?+4ؿ[AZ?))I)i))))494ޛ?4Y` ihB$@=Db<w<H4! %@!k-9?iǛ?k-Jd k) k-ݔeA:k-CBk--CZk-7h@@"-V:L€7D}@-ݣ[d7Yc쓏 d?Jk-@Rk-*-y4~QBQ#@^ax}@- `J¿ 쭈?! ?"k-A*k-k-iǛ?k-v7b 2k-Dk-ț?k-ńۻ k- Dk-Bk-ֽ)@u addTargetRange:: Added new target pos. range: 481.700012 m, deltaT: 4.283686 s, deltaX: -1.699982 m, approachRate: -0.396850 m/s, rangeRepo size: 4  Added new target pos. range: 481.700012 m, bearing: 172.251778 deg, lat: 36.899438 deg, lon: -122.117306 deg, deltaT: 4.283686 s, deltaX: -1.699982 m, approachRate: -0.396850 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 481.70 m.BjJj ProNav: ac range: 481.700012 m, nav range: 75.351555 m, bearing: 151.960529 deg, approach rate: 0.000000 m/s, LOS rate: -0.355358 deg/s, cmd heading: 289.538249 deg, new cmd heading: 289.064569 deg. 2jHeadingCmd: 5.045128 target range: 481.700012 and range: 481.70 m. jq@jjjihhh!h!f!f!fIrfM@3~@bfMuo?ɛB?S= >I  <ɚiIZ'zw,-weAVWill construct direction to contact in vehicle frame from tetrahedron phase data. B@Y @ s>=9 @=y H`?@Y? ug? ƴ Ç+?@h?ɨ B@ 0x; $CyEBEE'IEMb@Mb@Mb@AAA A)AYEq= ףp?~jt&1yEK?EDEPE@ Ex@)AIAAyAI]I]4٢12  =9 G٣y > Nusing accuracyPremultiplier from config49ޛ?4Yk ihBNL?:`$@JD[;B;54B Q@EZjIUFNOT Ignoring new targets: 481.70 m.BjuJju ProNav: ac range: 481.700012 m, nav range: 75.653053 m, bearing: 151.755550 deg, approach rate: 0.634119 m/s, LOS rate: -0.429397 deg/s, cmd heading: 289.064561 deg, new cmd heading: 288.452101 deg. 2jXHeadingCmd: 5.034439 target range: 481.700012 and range: 481.70 m. j @jjjihhhhdBfffrfbf ?ɛ-B->S= 隕>I lp<ɚiIw,"fA TIXn^@Ynsm@nH=9n=ynH?@w?! %G٣!y-_ü -? =Nusing accuracyPremultiplier from config1E495ޛ?E4Y5q i5_hBAEE$@5SD5 ;5:5R4UB UD@UEZjy}FNOT Ignoring new targets: 481.70 m.BjAJjA뻝 ProNav: ac range: 481.700012 m, nav range: 75.858536 m, bearing: 151.614706 deg, approach rate: 0.601762 m/s, LOS rate: -0.411349 deg/s, cmd heading: 288.452112 deg, new cmd heading: 288.030732 deg. 2j'HeadingCmd: 5.027085 target range: 481.700012 and range: 481.70 m. jݠ@jjjihhhhfffrfbf`?ɛB~nm= C>I <ɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data.pw,3!fAJFJFJDJDJF:JFdP:JDJDJFd1JK ?@Y>)@N=9=yHx?}?ݯZ@j?@a٩,i??ɨ@;&CyG'IMb@Mb@Mb@ )YV-?i|?5ˡEyhQ?q'@ @)@I@y @II&4٢-iZ -,=95JF;Q 5>99 =G٣=EGyE, E> MNusing accuracyPremultiplier from configIU49Mޛ?U4YM{ iM4hB]6R?]:]B]$@M_DM;M;M 4a eG@a }$?I}$hZjFNOT Ignoring new targets: 481.70 m.BjJjPExceeded connect timeout, disconnecting. ProNav: ac range: 481.700012 m, nav range: 76.141129 m, bearing: 151.414285 deg, approach rate: 0.593017 m/s, LOS rate: -0.419019 deg/s, cmd heading: 288.030744 deg, new cmd heading: 287.431735 deg. 2jȏHeadingCmd: 5.016630 target range: 481.700012 and range: 481.70 m. j<@jjjihhhhWBfffrfbf$?ɛE BE֓U= AE>II M<<ɚIiQIUw,:fA:2@Y:@:|`=9:-@=y:H@?@,? @ s?` `By??ɨ:2@:H;:$Cy^B^N'IIf4If{5٢n< r{=9rWXI YD<ɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984837jH bH H! I!  I% 'II% 4BI% 2 =&I! .I! 6I% <:I% Z F]w,TfA6@Y6QŢ@6kn=96 =y6H Z??},`*@ ? O9֭f? ?ɨ6@63;4yBBBY'I)D DIJFIJt5٢VC5= VN=9VpXX ZG٣Xy^W ^> bNusing accuracyPremultiplier from config`j49bޛ?j4Ybc ibgBhj⡿j$@brDb0;b/;b=4rB rY@rEZj FNOT Ignoring new targets: 481.70 m.BjJj񻝊- ProNav: ac range: 481.700012 m, nav range: 76.568153 m, bearing: 151.109793 deg, approach rate: 0.592572 m/s, LOS rate: -0.422471 deg/s, cmd heading: 287.021133 deg, new cmd heading: 286.520852 deg. 2j--HeadingCmd: 5.000732 target range: 481.700012 and range: 481.70 m. j5@j1j1j1i1h1h1hhfffrfbfA@ɛM BMXj= 隵?I Ĺ<ɚiIz q Iq  nManaging dock network, ignoring radio surface power offw,nfAJu@YJV@RWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.487982J|z=9J=yJH??䩿Vu?@@Jг??ɨJu@J ;J!Cy-B5`'IMb@Mb@Mb@ )YʡE?S㥫 rhyO?/]C v@ @)3@I@yI0I5٢M< 7=9;Q > G٣EGy >  Nusing accuracyPremultiplier from config 49ޛ?4Yt igBAP?:I$@~D;; 4%B %@%EZjIFNOT Ignoring new targets: 481.70 m.BjJj ProNav: ac range: 481.700012 m, nav range: 76.829041 m, bearing: 150.923808 deg, approach rate: 0.585897 m/s, LOS rate: -0.416264 deg/s, cmd heading: 286.520862 deg, new cmd heading: 285.964820 deg. 2j֎ HeadingCmd: 4.991028 target range: 481.700012 and range: 481.70 m. j @j jjihhhhkBfffrf!bf% @ɛ Bl= 隵?I <ɚiI\ e $?Ie %h w,fA2S:@Y2I@2=92O=y2H@r??`ǝ@#? =\@2;??ɨ2S:@2 ;2$Cy>2B>'IDFBAIJ7IJ 5٢RE&> Ra=9Rq;Q R>TX ZG٣XyZF Z> bNusing accuracyPremultiplier from config\b49^Qߛ?f4Y^ޚ i^gBdf8f$@^D^;^2;^c&4h n2@lZj FNOT Ignoring new targets: 481.70 m.Bj Jj % ProNav: ac range: 481.700012 m, nav range: 77.041000 m, bearing: 150.771845 deg, approach rate: 0.582365 m/s, LOS rate: -0.416370 deg/s, cmd heading: 285.964830 deg, new cmd heading: 285.510208 deg. 2j%HeadingCmd: 4.983093 target range: 481.700012 and range: 481.70 m. ju@jjjihhhhfffrfbf@ɛ B ˆ= ?I <ɚiIa] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244609.w,RfAJ>J>J<J<J> :J>D:J<J<J> 0<J> 0<J>*;J>*;zKUKUh9KQKUKUR@Y@F=9ۊ=yH ??S`?4@ ? 5?ɨR@ ;%CyBB'Ii%%>I%4< IMb@Mb@Mb@ )YE?V-{GzyF?mף@ @)@Iy@IU>IU 5٢}{= %=9j;Q > G٣ynl > Nusing accuracyPremultiplier from config49Oߛ?4Y igBFG?:V$@D7z; y; /4a e8@aZjFNOT Ignoring new targets: 481.70 m.BjۻJjۻ ProNav: ac range: 481.700012 m, nav range: 77.316414 m, bearing: 150.569661 deg, approach rate: 0.525716 m/s, LOS rate: -0.384560 deg/s, cmd heading: 285.510213 deg, new cmd heading: 284.905843 deg. 2jHeadingCmd: 4.972545 target range: 481.700012 and range: 481.70 m. j@j!j!j!i!h!h!h)h-džBf)f)f)rf1bf5{ @ɛB)~= ?I sR<ɚiIUw,`fA6ǚ@Y6ס@6nj=96h=y6H?@O?HU I?``??ɨ6ǚ@6Q;6$CyBaBB'IIJ!IJ5٢RM> R=9R IZH RH ?AH I  I 'II SBI &I .I 6I <:I ; F Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:43:53.5267 LVL= 12016, 28913, 18754, 32755, AGC= 67, IDX= 421,-0.29,-1.674, 2.667, 2.906,-2.831, PHS= 1.245,-0.739,-0.549, RAW= 95.0, 0.5, CAL= 103.6, -3.4, ROT= 46.4, 3.4  Ygot valid direction response: 21:43:53.5267 LVL= 12016, 28913, 18754, 32755, AGC= 67, IDX= 421,-0.29,-1.674, 2.667, 2.906,-2.831, PHS= 1.245,-0.739,-0.549, RAW= 95.0, 0.5, CAL= 103.6, -3.4, ROT= 46.4, 3.4  PDAT read: Bearing 46.4, 3.4 (Local)  ~Local bearing/azimuth received: Bearing 46.4, 3.4 (Local) % DAT read: Range 10 to 50 : 479.9 m (Round-trip 639.9 ms) speed 0.3 m/s - ,DAT read: user:2014> 5 BDAT read: Tx time:21:43:54.6327 = $Ping request sent.=    G٣yG} > %Nusing accuracyPremultiplier from config!U49%ߛ?U4Y% i%FgBQ] ]$@%D%;%;%;4eB e=@eEkX ֛?k2" k k/fA:kCBkHCZkzu<@"cbH}bo$@[}@Z (NHB?H?JkS;@RkV*.pԹ;4@L @䯋B}@E X8B-?0Y?"k@*kkgn՛?k/! 2kDkk  kDkBk'2@ addTargetRange:: Added new target pos. range: 479.899994 m, deltaT: 4.032063 s, deltaX: -1.800018 m, approachRate: -0.446426 m/s, rangeRepo size: 4  Added new target pos. range: 479.899994 m, bearing: 168.717171 deg, lat: 36.899438 deg, lon: -122.117455 deg, deltaT: 4.032063 s, deltaX: -1.800018 m, approachRate: -0.446426 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 479.90 m.BjJj5 ProNav: ac range: 479.899994 m, nav range: 72.054085 m, bearing: 159.492374 deg, approach rate: 0.000000 m/s, LOS rate: -0.436156 deg/s, cmd heading: 284.536337 deg, new cmd heading: 283.940094 deg. 2j9=HeadingCmd: 4.955689 target range: 479.899994 and range: 479.90 m. jE@jAjAjAiAhahahihifififqrfu`f}@bfu >?ɛB=  8?I  _<ɚ i I gw,fAFWill construct direction to contact in vehicle frame from tetrahedron phase data.JHT@YJc@J&=9J7=yJHo?@=?ি -.l?ַwಿ?0?ɨJHT@J:};HyrBr'I)t tMb@Mb@Mb@ )Y\(\?ˡE{Gzy:?'# @)@Iy@IEIE4٢]*= ]7=9]];Q ]>aa eG٣aye m> Nusing accuracyPremultiplier from configi49mH"ߛ?4Ym" im'gB1;?:$@mDm>;mY<;mC4 I@Zj9=FNOT Ignoring new targets: 479.90 m.BjE JjE u ProNav: ac range: 479.899994 m, nav range: 72.246719 m, bearing: 159.284993 deg, approach rate: 0.454793 m/s, LOS rate: -0.488304 deg/s, cmd heading: 283.940089 deg, new cmd heading: 283.319628 deg. 2juHeadingCmd: 4.944860 target range: 479.899994 and range: 479.90 m. jL<@jjjihhhhBfffrfbfSx?ɛBұ= (A?I b<ɚiI~ $?I &hOw,B gA>@Y>A@>I=9>ݞ=y>H:?GQ?,z`C?`Ax`E: Eȳ?K?ɨ>@>c;>&CyJBJ(IIR0IR5٢Z> Zi=9^;Q ^>`` bG٣bEGyfż f> jNusing accuracyPremultiplier from confighn49j'ߛ?n4Yj ijgBlrԦr$@jDj;j;jI4t v@tZjFNOT Ignoring new targets: 479.90 m.Bj%w Jj%w 5 ProNav: ac range: 479.899994 m, nav range: 72.397339 m, bearing: 159.121481 deg, approach rate: 0.450211 m/s, LOS rate: -0.487728 deg/s, cmd heading: 283.319635 deg, new cmd heading: 282.830133 deg. 2j5\=HeadingCmd: 4.936317 target range: 479.899994 and range: 479.90 m. j=O@j9j9j9i9hAhAhAhAfIfIfIrfIbfM?ɛBH= 隅O?I F<ɚiI0I9 I='II={BI9&I9.I96I=<:I=c FGYBaO=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.w,X#gA*JC="J%=zK!MKKKK QIQyB(IMb@Mb@Mb@ )YK7?L7A`堿{Gzty)?+ף@ $@)+@I@y@IIg4٢-Z= -=95Q 5>11 =G٣9yE E> MNusing accuracyPremultiplier from configIU49M/ߛ?U4YMW iMfBU)?]:]]$@MÞDM;M;MR4a e@aZj)-FNOT Ignoring new targets: 479.90 m.BjUJjU滝e ProNav: ac range: 479.899994 m, nav range: 72.602455 m, bearing: 158.903613 deg, approach rate: 0.380592 m/s, LOS rate: -0.403110 deg/s, cmd heading: 282.830129 deg, new cmd heading: 282.178400 deg. 2jeSmHeadingCmd: 4.924942 target range: 479.899994 and range: 479.90 m. jm @jijijiiihhhhcBfffrfbf?ɛ]B]ԝ= Ye X?Ia e7<ɚaiaIe<Will construct direction to contact in vehicle frame from tetrahedron phase data.Iڭii=) @)#StoppingGi Ga Bq O >Ew,`>gA2R@Y2@2n=92=y2H Tx?@jr?@BΧ `@b?P, ??ɨ2R@26;2$Cy>LjB><(IIF$IFd5٢N=> R=9RߍjH<bHp<HI I#(IIBI&I.I6I<:IH Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002528w,WgA6l@Y6@6i=96=y6H@8?k}?@3 tg? `? 1?ɨ6l@6;4yBɈBB>(IIJ*IJ 5٢R; RJ=9V4TX ZG٣XyZ# Z> bNusing accuracyPremultiplier from config\b49^9ߛ?f4Y^ i^fBdf.f$@^ҞD^7:^z:^^4jB lnEZj FNOT Ignoring new targets: 479.90 m.Bj Jj  ProNav: ac range: 479.899994 m, nav range: 72.874054 m, bearing: 158.609780 deg, approach rate: 0.416895 m/s, LOS rate: -0.450285 deg/s, cmd heading: 281.806775 deg, new cmd heading: 281.298592 deg. 2j%%HeadingCmd: 4.909586 target range: 479.899994 and range: 479.90 m. j%U@j)j)j)i)h)h)h1h1f1f1f1rf9bf=Y6@ɛmBm= iu+h?Iq u<ɚqiqIunzKBHK9KKK IBK%pA:K%qAw,{qgAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506675yUՈBUN(IMb@Mb@Mb@ )Y`"?!! %G٣%EGy% %> 5Nusing accuracyPremultiplier from config)=49--@ߛ?=4Y- i-fB=?=:=ʣE$@-ڞD-E;-C;-f4I M@QZjFNOT Ignoring new targets: 479.90 m.BjȻJjȻ  ProNav: ac range: 479.899994 m, nav range: 73.038643 m, bearing: 158.445261 deg, approach rate: 0.352170 m/s, LOS rate: -0.351227 deg/s, cmd heading: 281.298582 deg, new cmd heading: 280.806148 deg. 2j- q5HeadingCmd: 4.900992 target range: 479.899994 and range: 479.90 m. j5Ԝ@j1j1j9i9h9h9hAhEBfAfIfrfbf @ɛB%3= Ko?I F<ɚ!i!I%KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761966J5 J5 J1 J1 J5 :J5 @:J1 J1  I ֽw,gA28@Y2BH@2,ĺ=92f0=y2H??@a`&zdC?:n=P?@N?ɨ28@2W;2#CyVوBVS(I)X XI^"I^5٢<  ]=9  G٣y#׼ > -Nusing accuracyPremultiplier from config!-49%LEߛ?54Y%Z i%fB15 5$@%D%:%;%Qm4A Eѫ@AZjimFNOT Ignoring new targets: 479.90 m.BjuڻJjuڻ ProNav: ac range: 479.899994 m, nav range: 73.172539 m, bearing: 158.309724 deg, approach rate: 0.378674 m/s, LOS rate: -0.382613 deg/s, cmd heading: 280.806152 deg, new cmd heading: 280.400293 deg. 2jJHeadingCmd: 4.893909 target range: 479.899994 and range: 479.90 m. j暜@jjjihhhhfffrfbf @ɛB = r?I %e<ɚiI  G٣ EGyH2 > Nusing accuracyPremultiplier from config49Lߛ?4Y i|fB?:^$@D‡;j;u4 7@Zj15FNOT Ignoring new targets: 479.90 m.Bj=഻Jj=഻M ProNav: ac range: 479.899994 m, nav range: 73.338692 m, bearing: 158.152275 deg, approach rate: 0.334513 m/s, LOS rate: -0.316271 deg/s, cmd heading: 280.400302 deg, new cmd heading: 279.929037 deg. 2jM YUHeadingCmd: 4.885684 target range: 479.899994 and range: 479.90 m. jUW@jQjQjQiQhhhhχBfffrfbf @ɛmB= w?I <ɚiI_/) EC G 9 w,FgA6ؘ@Y6@6=96=y6H@?P?ϡ ?z}{??ɨ6ؘ@ BWY@yBDA6;6%CyJ؈BJR(IIR&IRF5٢Z Z=9^!ZHRH@AHI Iu(IIBI1 =&I.I6I<:IR FBIQJIQRIQZIQbIQjIUȓ4e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022551w, gA:7@Y:@:=9:>=y:Hඃ??I`H-?F A? o?ɨ:7@:;:$CyRʈBR@(IiV=IV;IZ%IZ5٢f݉ fI=9jP;Q j>hl nG٣lyn`s r> vNusing accuracyPremultiplier from configpv49ryUߛ?z4Yru irUfBxzz$@rDra:r:rZ4B ˬ@EZj)-FNOT Ignoring new targets: 479.90 m.Bj5DJj5DM ProNav: ac range: 479.899994 m, nav range: 73.578583 m, bearing: 157.922566 deg, approach rate: 0.352566 m/s, LOS rate: -0.337931 deg/s, cmd heading: 279.633026 deg, new cmd heading: 279.241064 deg. 2jMgUHeadingCmd: 4.873676 target range: 479.899994 and range: 479.90 m. jU'@jQjQjQiQhQhYhYhYfafafarfabfe@@@ɛBFM= 隝~l?I _=ɚiI MBDAT read: Tx time:21:43:58.7828 M$Ping request sent.MO??y@C8l rL)oIBiV?&1;?5= Pw?)5I:Fq?i5<@f?1C~࿅<ōq?) IX i@x:publishing transmit ping timeIFpublishing direction and range info9wվ'>O??y #8Initializing DockingStepper. )Ii )Ii@f?1C~࿅<ōq?)IiG}3͚=Ga IBO>zKMBoHKM9KIKMKMn%w,gAWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:43:58.7820 y~B~4(IeMb@Mb@Mb@aaa a)aYeuV?Q?~jtyer?eu G٣y > Nusing accuracyPremultiplier from config49[ߛ?4Y i2fB?:{$@Dg;;|4 r@kmC?k-n" k kYgA:k@CBkCZk,I?"jL|N@Ydq}@wվ'>O??Jk@Rkx* Ę>;@P˔A31@M*}@Ua @'?jU;??<,?"kɏA*kAk6S?kM$ 2kpDkkM$ kpDk+Bko8@= addTargetRange:: Added new target pos. range: 478.500000 m, deltaT: 4.288157 s, deltaX: -1.399994 m, approachRate: -0.326479 m/s, rangeRepo size: 4 M Added new target pos. range: 478.500000 m, bearing: 33.411907 deg, lat: 36.899438 deg, lon: -122.117567 deg, deltaT: 4.288157 s, deltaX: -1.399994 m, approachRate: -0.326479 m/s, posRepo size: 4 ZjIUFNOT Ignoring new targets: 478.50 m.BjUJjQe ProNav: ac range: 478.500000 m, nav range: 70.585220 m, bearing: 165.247946 deg, approach rate: 0.000000 m/s, LOS rate: -0.337931 deg/s, cmd heading: 279.241055 deg, new cmd heading: 278.763374 deg. 2jimHeadingCmd: 4.865339 target range: 478.500000 and range: 478.50 m. jm۰@jqjqjqiqhqhqhyh}ڇBfyfyfrf}@bf 4?ɛBw= 隽g?I ?=ɚiIJGBOJ J J 0J J J >:J ـ3J I w, hA2@Y2'"@2=92=y2H@@f?X?֡@r ?n1`K??ɨ2@2bG;0yNBN(IIVIV.4٢z ~k=9~պ;Q ?   G٣  EGy T  ? Nusing accuracyPremultiplier from config49@`ߛ?%4YK ifB!%̣%$@DQ;Q;4) 5@1ZjY]FNOT Ignoring new targets: 478.50 m.Bje,ԻJje,Իu ProNav: ac range: 478.500000 m, nav range: 70.681664 m, bearing: 165.120269 deg, approach rate: 0.280622 m/s, LOS rate: -0.370995 deg/s, cmd heading: 278.763379 deg, new cmd heading: 278.380879 deg. 2ju~HeadingCmd: 4.858663 target range: 478.500000 and range: 478.50 m. j+z@jjjihhhhfffrfbf?ɛBi= [?I y =ɚiI_G=H9I9 I9I9I9&I9.I96I=<:I=| FG=-Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO= Will construct direction to contact in vehicle frame from tetrahedron phase data.5 w,Ǡ&hA aIa- ՗@Y-t@-G5=9-~Mv=y-H??,_ xJ3?@̽ ٺ|??ɨ- ՗@-d;-%CzK5gKK5}9K1K5K5y]B]'I)a a e=ep=Mb@Mb@Mb@ )YK7? rh?Qy ?C< @)IQ@y(@I\I#4٢½ -=9M;Q > G٣y} > Nusing accuracyPremultiplier from config49tfߛ?4Y ieB ?:)$@ Dp;;4 n@ZjFNOT Ignoring new targets: 478.50 m.BjѻJjѻ  ProNav: ac range: 478.500000 m, nav range: 70.816879 m, bearing: 164.941477 deg, approach rate: 0.278123 m/s, LOS rate: -0.367051 deg/s, cmd heading: 278.380889 deg, new cmd heading: 277.845554 deg. 2j {%HeadingCmd: 4.849320 target range: 478.500000 and range: 478.50 m. j%-@j!j)j)i)h1h1h9hEBfIfIfQrfQbfUj&?ɛBm= x =隥 Q?I % =ɚ!i!I%Lw,̘BhA6~@Y6Ҫ@6G=96h=y6H@:??|᝿ +@X]?`JA?)?ɨ6~@6;4yBqBB'INWill construct direction to contact in vehicle frame from tetrahedron phase data.IJ^IJ&4٢V. Vd=9ZŤ;Q Z?\\ ^G٣\y^ b? jNusing accuracyPremultiplier from configdj49fjߛ?n4Yfz ifeBlnn$@fDf;f2;f4p ve@tB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 478.50 m.BjѻJjѻ- ProNav: ac range: 478.500000 m, nav range: 70.911972 m, bearing: 164.814643 deg, approach rate: 0.275613 m/s, LOS rate: -0.367117 deg/s, cmd heading: 277.845566 deg, new cmd heading: 277.465580 deg. 2j-{HeadingCmd: 4.842688 target range: 478.500000 and range: 478.50 m. jM@jjjihhhhff!f!rf!bf%`?ɛ}B= A?I =ɚiI_jH5<bH1H=>I9 I=I(II=҈BI9&I9.I96I=<:I=M FMWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******MQuerying Benthos address 50 with one ping in standard two-way mode.lw,Nb\hA6ve@Y6t@6=961v_=y6H "*?1?@t (?`k 2? ?ɨ6ve@6;6#CyBMBB'IIJIJn4٢n0 rH=9r;Q r>tt vG٣v EGyv z> ~Nusing accuracyPremultiplier from configx49zoߛ?4Yz  izeB񥿑$@zDzG ;z ;z>4 @Zj9EFNOT Ignoring new targets: 478.50 m.BjEѻJjEѻU ProNav: ac range: 478.500000 m, nav range: 71.023750 m, bearing: 164.664339 deg, approach rate: 0.273436 m/s, LOS rate: -0.367100 deg/s, cmd heading: 277.465589 deg, new cmd heading: 277.015396 deg. 2jU{]HeadingCmd: 4.834831 target range: 478.500000 and range: 478.50 m. jeﶚ@jajajaiahahahihifififqrfqbfu^?ɛM2= 隥/?I ,=ɚiIv] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251375Lw,dI])) -G٣)y-s 5> =Nusing accuracyPremultiplier from config9E49=uߛ?E4Y=s i=zeBEk?E:EM$@=!D=w;=;=4UB U@UEZjy}FNOT Ignoring new targets: 478.50 m.BjwJjw㻝 ProNav: ac range: 478.500000 m, nav range: 71.150459 m, bearing: 164.487283 deg, approach rate: 0.285144 m/s, LOS rate: -0.397735 deg/s, cmd heading: 277.015397 deg, new cmd heading: 276.485190 deg. 2j{HeadingCmd: 4.825577 target range: 478.500000 and range: 478.50 m. j k@jjjihhhhTBff f rf bf-9@ɛUB]-@= Y]-?IY ]}=ɚaiaIeG B O >?$w,BϑhAHI I 'II BI&I.I6I <:I 4 FJ@YJ@JX=9JdS=yJHZ?@1? a`2 h?q|@JQ=?D?ɨJ@JGNj;J"CyVBZJ'IIbIb4٢jJ: jQ=9n%;Q n>ll rG٣pyrq r> zNusing accuracyPremultiplier from configtz49vyߛ?~4Yv ivNeB|~~%@v(DvL:v:vϴ4 `@ Zj9=FNOT Ignoring new targets: 478.50 m.MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.755606BjUIJjUI⻝ ProNav: ac range: 478.500000 m, nav range: 71.260071 m, bearing: 164.332708 deg, approach rate: 0.281009 m/s, LOS rate: -0.395672 deg/s, cmd heading: 276.485183 deg, new cmd heading: 276.022181 deg. 2jŇHeadingCmd: 4.817496 target range: 478.500000 and range: 478.50 m. j(@jjjihhhhfffrfbf@d@ɛuBu= y隽F ?I pH=ɚiI#*J5 R="J5 a=JK KKK"KJ9 J= J= 0J9 J9 J= ?:J= ـ3J9 J9 J9 J= ;J= ; I S*w,MhAzK~NK~9K|K~K~F L%|N#`3mWF8$~yvuponji=@Y=@=d=9=P=y=HI>?A?@ K?e̿[??ɨ=@=v;=$CyUBU&'IMb@Mb@Mb@ )YRQ?Mb`V-y"?mX@ )AI;@yp@II94٢ ;=9t;Q >    G٣  EGy6 > Nusing accuracyPremultiplier from config%49~ߛ?%4Y! ieB%<#?%:%8%%@1D;1;p41 56@9ZjAMFNOT Ignoring new targets: 478.50 m.Bj]Jj] ProNav: ac range: 478.500000 m, nav range: 71.388870 m, bearing: 164.139945 deg, approach rate: 0.279510 m/s, LOS rate: -0.417561 deg/s, cmd heading: 276.022178 deg, new cmd heading: 275.444956 deg. 2jHHeadingCmd: 4.807421 target range: 478.500000 and range: 478.50 m. je֙@jjjihhhh"Bfffrfbf @ɛ׍= >I E_=ɚAiAIE2w,hA HIHNsZ@YNi@N=9N$P=yNH?)Q? sJ6 ?@@`ө??ɨNsZ@N;N'CyZBZ&IIbIb4٢-aJ E<=9M$;Q M>IQ UG٣QyU U> mNusing accuracyPremultiplier from configiu49mWߛ?u4Ym*( imdBquf}%@m9Dm:m7:m4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 478.50 m.BjJj  ProNav: ac range: 478.500000 m, nav range: 71.517014 m, bearing: 163.945812 deg, approach rate: 0.306629 m/s, LOS rate: -0.463700 deg/s, cmd heading: 275.444946 deg, new cmd heading: 274.863611 deg. 2j HeadingCmd: 4.797275 target range: 478.500000 and range: 478.50 m. jG@jjjihhhhAfAfAfArfAbfM@P @ɛB= "1=隕 >I  r=ɚiI)8w,hAWill construct direction to contact in vehicle frame from tetrahedron phase data.6DAT read: 21:44:01.8351 LVL= 13120, 24209, 15794, 20371, AGC= 68, IDX= 26, 0.03,-1.808, 2.862, 2.619,-2.751, PHS= 1.031,-0.623,-0.917, RAW= 82.0, 5.7, CAL= 87.2, 5.4, ROT= 62.8, -5.4 >Ygot valid direction response: 21:44:01.8351 LVL= 13120, 24209, 15794, 20371, AGC= 68, IDX= 26, 0.03,-1.808, 2.862, 2.619,-2.751, PHS= 1.031,-0.623,-0.917, RAW= 82.0, 5.7, CAL= 87.2, 5.4, ROT= 62.8, -5.4 >PDAT read: Bearing 62.8, -5.4 (Local) B~Local bearing/azimuth received: Bearing 62.8, -5.4 (Local) FDAT read: Range 10 to 50 : 486.1 m (Round-trip 648.2 ms) speed 0.3 m/s J,DAT read: user:2016> NBDAT read: Tx time:21:44:02.9328 N$Ping request sent.N G٣ EGy% %> -Nusing accuracyPremultiplier from config)U49-҈ߛ?U4Y--1 i-dBQ]]%@-ED-;--;-4eB e@eEkڃ!?kF? k khA:k CBk\CZkL>"uGUW^tu^@#hɱ|@ƿnY? Tz?JkI @Rkwl*"ݖV@ܒW1H@b?,}@z6T?Ω{?:G?"kAB*kBkzV?kom6 2kDkgn՛?kkDkI Bk{F"@5 addTargetRange:: Added new target pos. range: 486.100006 m, deltaT: 4.031873 s, deltaX: 7.600006 m, approachRate: 1.884982 m/s, rangeRepo size: 4 E Added new target pos. range: 486.100006 m, bearing: 28.121843 deg, lat: 36.899796 deg, lon: -122.117567 deg, deltaT: 4.031873 s, deltaX: 7.600006 m, approachRate: 1.884982 m/s, posRepo size: 4 ZjAMFNOT Ignoring new targets: 486.10 m.BjJj ProNav: ac range: 486.100006 m, nav range: 35.321514 m, bearing: 145.276411 deg, approach rate: 0.000000 m/s, LOS rate: -0.463700 deg/s, cmd heading: 274.863614 deg, new cmd heading: 274.065386 deg. 2jMHeadingCmd: 4.783343 target range: 486.100006 and range: 486.10 m. jM&@jIjIjIiIhIhQhQhQfQfYfYrf]a~@bf]`6?ɛf= 隵(>I : =ɚiI[@w,|)iARR@YRNb@R=9RFXB=yRH G?@-? 3=M݄?J?ਿ?ɨRR@R܌;R%CyzjBz&IWill construct direction to contact in vehicle frame from tetrahedron phase data.UMb@Mb@Mb@QQQ Q)QYUX9v?MbT㥛 yU3?UUQ U3@)UAIUQ@QyUf@IqIJH4٢- :=9XQ > G٣y > Nusing accuracyPremultiplier from config4 E$?IA9ߛ?M4Y8 iPdBM{4?M:UU%@NDb< <4Y ]@yZjFNOT Ignoring new targets: 486.10 m.Bj$hJj$h ProNav: ac range: 486.100006 m, nav range: 35.516270 m, bearing: 144.948034 deg, approach rate: 0.484135 m/s, LOS rate: -0.811818 deg/s, cmd heading: 274.065384 deg, new cmd heading: 273.085757 deg. 2jI HeadingCmd: 4.766245 target range: 486.100006 and range: 486.10 m. j @j j j ihh9hAhEBfAfIfIrfIbfM?ɛ9=3f= 9EL>IA E=ɚAiAIEI]C I]#'II]BIY&IY.IY6I]<:I]D FBIJIRIZI1 =bI1 =jI4GS=G ?G >Will construct direction to contact in vehicle frame from tetrahedron phase data.GB O% >Fw,iA2y@Y2@2=92yG=y2HY~?@?z `@t?@&@gè?X?ɨ2y@2#;2$CyNNBNm&IiR=IR=IZIZs4٢b! bo=9fiQ f?dd fG٣dyj: j? nNusing accuracyPremultiplier from configlr49n<ߛ?r4Yno> in dBtvv%@nUDnz:nX:n4| ~@|Zj!%FNOT Ignoring new targets: 486.10 m.Bj-SpJj-Sp ProNav: ac range: 486.100006 m, nav range: 35.672573 m, bearing: 144.681851 deg, approach rate: 0.495680 m/s, LOS rate: -0.840437 deg/s, cmd heading: 273.085744 deg, new cmd heading: 272.290747 deg. 2j2HeadingCmd: 4.752370 target range: 486.100006 and range: 486.10 m. jj@jjjihyhhhfffrfbf`?ɛ%B%X= !%,J>I! -c=ɚ)i)I-`? Will construct direction to contact in vehicle frame from tetrahedron phase data.gMw,?6iAJ%@YJy@J=9JN=yJH?`?@b $r.`?Xj`ޯ??ɨJ%@Jnr;Hy^?BbZ&IUMb@Mb@Mb@QQQ Q)QYU'1Z?I +QyUB?U9UuUn@ U@)U3AIQQyU@IeIem4٢uL }?=9}ƻQ }> G٣y > Nusing accuracyPremultiplier from config49ߛ?4YF icBC?:%@_D%;;64B @EZjFNOT Ignoring new targets: 486.10 m.BjWgJjWg  ProNav: ac range: 486.100006 m, nav range: 35.889511 m, bearing: 144.304667 deg, approach rate: 0.468140 m/s, LOS rate: -0.809017 deg/s, cmd heading: 272.290737 deg, new cmd heading: 271.166177 deg. 2j- 5HeadingCmd: 4.732743 target range: 486.100006 and range: 486.10 m. j5r@j1j1j1i1h1h9h9h=Bf9fAfArfAbfE ?ɛLL= 隕,>I =ɚiIIq  Iu &IIu BIu 0 =&Iq .Iq 6Iu ް<:Iu ~ FG BO5>Tw,dTiA>66@Y>E@>=9>T=y>H@?`?{ ~,?䳽)k?L?ɨ>66@>;>&CyF/BFF&IININפ4ZWill construct direction to contact in vehicle frame from tetrahedron phase data.٢=5 =2=9E6Q E>AA MG٣MEGyM U> ]Nusing accuracyPremultiplier from configQe49Uߛ?m4YUO iUcBquau%@UjDU|j;U`a;U94y }@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 486.10 m.Bj|Jj| ProNav: ac range: 486.100006 m, nav range: 36.121658 m, bearing: 143.901085 deg, approach rate: 0.548618 m/s, LOS rate: -0.947620 deg/s, cmd heading: 271.166187 deg, new cmd heading: 269.963411 deg. 2j"HeadingCmd: 4.711751 target range: 486.100006 and range: 486.10 m. jƖ@jjjihhhhfffrfbf?ɛ B>D= X >I hp=ɚiIeWill 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. I II [w,J]niAzK~KK~s9K|K~K~@Y@H=9Y=yH`?6?Z? @??ɨ@;騅%CyޝBޝ"&I) %Mb@Mb@Mb@!!! !)!Y%ˡE?+A`"y%G?%%Y%A %Q@)%AI%p@!y%Q@II4٢ 7=9Q > G٣y? > Nusing accuracyPremultiplier from config49Yߛ?4YX i]cBH?:?%@uD;;4B @EZj15FNOT Ignoring new targets: 486.10 m.Bj=NJj=NM ProNav: ac range: 486.100006 m, nav range: 36.347904 m, bearing: 143.491622 deg, approach rate: 0.498957 m/s, LOS rate: -0.897390 deg/s, cmd heading: 269.963418 deg, new cmd heading: 268.742871 deg. 2jM]HeadingCmd: 4.690448 target range: 486.100006 and range: 486.10 m. j]&@jajajiiihihqhyh}}Bfyfyfrfbf@ɛB3= 隵=I w=ɚiIM=I˿iWill construct direction to contact in vehicle frame from tetrahedron phase data.i checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263577i]=)e&@)qEE*E"EE5rAE5rA*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=2.515443J J J J J J @0:J J a @a @a @a @ Q IU +hG%=GB O->*acw,,iAB@YB\@Bo=9B4`=yBHf??“@a?@F@rԻث?@?ɨB@BV;B!CyNBN&IIZIZ4٢^ b;=9b !Q b>dd fG٣fEGyj j> rNusing accuracyPremultiplier from configlr49nxߛ?v4Yna incBtvz%@nDn;ny;n4| ~@|Zj!%FNOT Ignoring new targets: 486.10 m.Bj-ÄJj-Ä= ProNav: ac range: 486.100006 m, nav range: 36.569767 m, bearing: 143.090134 deg, approach rate: 0.516259 m/s, LOS rate: -0.928560 deg/s, cmd heading: 268.742863 deg, new cmd heading: 267.545889 deg. 2j=PEHeadingCmd: 4.669557 target range: 486.100006 and range: 486.10 m. jEm@jAjAjAiAhIhIhIhQfQfQfQrfQbf]@-{@ɛBq3= 隍=I =ɚiI6=Icοii9=)m@)HU>IQ IUn&IIUPBIQ&IQ.IQ6IUݰ<:IQ*F?2F:FBF0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.768337G =GqBO;> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019307miw,iAVH@YVqW@V=9VAwc=yVH@#?? .`͞?<Ҽu`0A?@-?ɨVH@V;V#CyjBj&IIzIz4٢ 2  G=9fQ > )I)1 5G٣1y=̼ E> UNusing accuracyPremultiplier from configI]49M4ߛ?e4YM(j iMbBaem%@MDM\;MP;M4 W@ZjAMFNOT Ignoring new targets: 486.10 m.BjuJju= ProNav: ac range: 486.100006 m, nav range: 36.779408 m, bearing: 142.710337 deg, approach rate: 0.477406 m/s, LOS rate: -0.859961 deg/s, cmd heading: 267.545886 deg, new cmd heading: 266.413146 deg. 2jEHeadingCmd: 4.649786 target range: 486.100006 and range: 486.10 m. j ˔@jjjihhhhfff1rfQbf]{ @zKBoIK9KKKɛMBMx-= QU|=IQ UQH=ɚQiQIUvU=I]6ѿiiN=) ˔@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.272357*F?2F:FBFo0JFG L=G B O >|pw,iAy B &IMb@Mb@Mb@ )Y#~j?:vJ +yE?THzA h@)IAI@y@II"4٢ 7=9Q > G٣y > Nusing accuracyPremultiplier from config 49ߛ? 4Y s ibB F? : ÿ %@D;;4B @EUWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:21:44:05.9719 uTRx dataTimestamp_ set to:1736372647.121590uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.529335ZjFNOT Ignoring new targets: 486.10 m.BjJj ProNav: ac range: 486.100006 m, nav range: 36.997169 m, bearing: 142.309351 deg, approach rate: 0.510209 m/s, LOS rate: -0.933960 deg/s, cmd heading: 266.413141 deg, new cmd heading: 265.217447 deg. 2j= HeadingCmd: 4.628918 target range: 486.100006 and range: 486.10 m. j @jjjihhhhBfffrfbf gh @ɛBt1= z=I t=ɚiI =I ӿiiv>) @)JEJEJAJAJE:JE$-:JAJA I,h*F2F:FBFp0JFGm/=G)B1O]T>ZHRHAAH>I I<&II'BI/ =&I.I3D6I<:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775384vw,diA6@Y6@6=96TZ=y6H@K??BQ?  p!6??ɨ6@6,%;6$Cy\^&IIfIf4٢r; r^=9r2Q r>tt vG٣vEGyz z> ~Nusing accuracyPremultiplier from config|49~ߛ?4Y~tz i~ubB ƿ %@~D~ :~:~4 s@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 486.10 m.Bj#|Jj#|= ProNav: ac range: 486.100006 m, nav range: 37.174946 m, bearing: 141.972436 deg, approach rate: 0.467502 m/s, LOS rate: -0.881749 deg/s, cmd heading: 265.217448 deg, new cmd heading: 264.211646 deg. 2j=HEHeadingCmd: 4.611363 target range: 486.100006 and range: 486.10 m. jEI@jAjIjIiIhIhIhhfffrfbf`D@ɛ B ($1= 隍Ą=I  =ɚiI~=IHտii[>)I@)*Fu?2FyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034851:FyBFo0JF IG C=zK RIK 9K K K G B O >||w,_AiA2!@Y2F1@2=92=_P=y2HI ? ?@ϱ?@5ɺ@빿`? ]?ɨ2!@22;0y>B>&IfWill construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: 21:44:05.9719 LVL= 15344, 31217, 16882, 26899, AGC= 66, IDX= 307,-0.26,-2.026, 2.892, 2.250,-2.918, PHS= 0.980,-0.426,-1.118, RAW= 71.1, 6.1, CAL= 73.4, 7.3, ROT= 76.6, -7.3 MYgot valid direction response: 21:44:05.9719 LVL= 15344, 31217, 16882, 26899, AGC= 66, IDX= 307,-0.26,-2.026, 2.892, 2.250,-2.918, PHS= 0.980,-0.426,-1.118, RAW= 71.1, 6.1, CAL= 73.4, 7.3, ROT= 76.6, -7.3 PDAT read: Bearing 76.6, -7.3 (Local) ~Local bearing/azimuth received: Bearing 76.6, -7.3 (Local) DAT read: Range 10 to 50 : 476.2 m (Round-trip 635.0 ms) speed -0.2 m/s u,DAT read: user:2017> }BDAT read: Tx time:21:44:07.0828 }$Ping request sent.}IjD ?ijwhhjȐ?;;0FNh?)j2jZIjp۽ij$3?j6(hh:publishing transmit ping timeyFpublishing direction and range infoh9jj5ſCk??yhhhh h)hIhihhhhh h)hIhihhhjȐ?;;0FNh?)hIhihhhhMb@Mb@Mb@ )Y%C?&1 rhyZD?PC  @)EAI@y(@I]I].4٢m = m=9uQ u>qq }G٣yy}dɼ }> ENusing accuracyPremultiplier from configAM49Emߛ?M4YE] iE5bBMD?U:UǿU%@EDE;E;E4Y ]@kj ?kj V kh kjiA:kjCBkjrCZkj]>"jG'\*iSؿh@nfLz@jj5ſCk??Jkj$3?Rkj6(*jqLnhe@M;G@9Ƚ{@jw?{I?Om?"kj>B*kj.CkjpK8-?kj]) 2kjCkj6S?khkhkj Bkj8? addTargetRange:: Added new target pos. range: 476.200012 m, deltaT: 4.294370 s, deltaX: -9.899994 m, approachRate: -2.305342 m/s, rangeRepo size: 4  Added new target pos. range: 476.200012 m, bearing: 15.260242 deg, lat: 36.900297 deg, lon: -122.117567 deg, deltaT: 4.294370 s, deltaX: -9.899994 m, approachRate: -2.305342 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 476.20 m.BjJj ProNav: ac range: 476.200012 m, nav range: 35.262924 m, bearing: 41.390266 deg, approach rate: 0.000000 m/s, LOS rate: -0.881749 deg/s, cmd heading: 264.211634 deg, new cmd heading: 262.738411 deg. 2jHeadingCmd: 4.585650 target range: 476.200012 and range: 476.20 m. j@jj j i h h hhBfffrf@3}@bf/g?ɛB4= 隵=I =ɚiI=IHٿii>)@)EuWill construct direction to contact in vehicle frame from tetrahedron phase data.*FI 2FI :FI BFU 4JFQ GY  GY J} J} J} 1Jy J} :J} wR:J} 3Jy I GE >G B O= >׃w,jABȮ@YB@B=9B>=yBH`H? H?@·@w?@ kec??ɨBȮ@B';B"CynBn &I)p pIvIvK4H>IC I)&IIBI. =&I.I6I<:IF F٢#H< =9һQ  ? G٣y 4  ? Nusing accuracyPremultiplier from config49Yߛ?4YK ibBɿ%@D;n:4=B =@9ZjFNOT Ignoring new targets: 476.20 m.Bjэ<Jjэ< ProNav: ac range: 476.200012 m, nav range: 35.412830 m, bearing: 41.662491 deg, approach rate: 0.548530 m/s, LOS rate: 0.991891 deg/s, cmd heading: 262.738417 deg, new cmd heading: 263.551575 deg. 2j.*=HeadingCmd: 4.599843 target range: 476.200012 and range: 476.20 m. j1@jjjihhhhfff rf)bf-?ɛuB})?= 隅P=I tB=ɚiI [=Iٿiinc >)1@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F!2F):F)BF-o0JF)GE R>Ga Bi O >} Will construct direction to contact in vehicle frame from tetrahedron phase data.w,)jA 4I4j@Yj:,@jo=9j%=yjH???kظBq롤??ɨj@j;j%CyvBv$&III4٢ K< X=9H"Q > G٣EGy%@ %> 5Nusing accuracyPremultiplier from config)U49-Нߛ?]4Y- i-aBY]˿e%@-D-;-;-a$4mB m@mEZjFNOT Ignoring new targets: 476.20 m.Bj<Jj< ProNav: ac range: 476.200012 m, nav range: 35.609535 m, bearing: 42.001643 deg, approach rate: 0.526612 m/s, LOS rate: 0.902948 deg/s, cmd heading: 263.551564 deg, new cmd heading: 264.563291 deg. 2j=HeadingCmd: 4.617500 target range: 476.200012 and range: 476.20 m. j“@jjjihhhhfffrfbf?ɛ%B-|== )-`=I) -=ɚ)i1I5"=IM ؿii N=)“@)*F2F:FBFJFzKEBoHKE+9KAKEKEWill construct direction to contact in vehicle frame from tetrahedron phase data.G >) KCG  -G- |uAA Y |uAy B k @ BB) Ou > w,FCjA:@Y:g@: )=9:K=y:HP?? ?4`'??ɨ:@:R:;:'CyF"BF7&IEMb@Mb@Mb@AAA A)AYEl?:vyE7?ETE̼EdA E@)EAIE@AyEz@I]I]_v4٢mr= mE=9mQ u>qq uG٣yy} }> Nusing accuracyPremultiplier from config49ߛ?4Y iaB%8?:ο%@şDY;;+4 @5Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjQ}FNOT Ignoring new targets: 476.20 m.Bj}`<Jj`< ProNav: ac range: 476.200012 m, nav range: 35.818111 m, bearing: 42.339285 deg, approach rate: 0.488820 m/s, LOS rate: 0.786688 deg/s, cmd heading: 264.563279 deg, new cmd heading: 265.570198 deg. 2j=HeadingCmd: 4.635074 target range: 476.200012 and range: 476.20 m. jR@jjjihhhhІBfffrfbf@G?J=J=J=0J9J=:J=J1:J=ـ3J9 YI]-hɛ}ކB}2$D= y}L>I  =ɚiIs=IPҿiiRy=)R@)*Fa2Fa:FaBFaJFa"Gm=Gm=G=>GB!O=r>jH<bH<H>I I6&II"BI- =&I.I6I<:IN FBIeǙCJIeǙCRIaZIe/ =bIe/ =jIe)5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Hw,ߨ]jA6@Y6'@6=96CI~>II4٢-3= P=9%9Q %>!! -G٣)y-! -> 5Nusing accuracyPremultiplier from config1=495Bߛ?E4Y5 i5aBAEпE%@5ΟD5-;5O;524I M=@QmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 476.20 m.Bj"k<Jj"k< ProNav: ac range: 476.200012 m, nav range: 36.020027 m, bearing: 42.650663 deg, approach rate: 0.536221 m/s, LOS rate: 0.822276 deg/s, cmd heading: 265.570186 deg, new cmd heading: 266.498996 deg. 2j =HeadingCmd: 4.651285 target range: 476.200012 and range: 476.20 m. jSה@jjjihhhhfffrfbf zR?ɛ݆B 2O= v>I F| =ɚiI=Iпiik=)Sה@)*Fq2Fq:FqBFu0JFqGMF=G BO5->EWill 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. IIIzK k3IK s9K K K <w,܄wjARWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.959236jo:@YjI@j=9j| G٣EGys > Nusing accuracyPremultiplier from config49ߛ?4YP iwaB1?:SԿ%@؟D5;94;}:4 @ZjFNOT Ignoring new targets: 476.20 m.BjiP<JjiP<- ProNav: ac range: 476.200012 m, nav range: 36.253258 m, bearing: 42.985274 deg, approach rate: 0.511305 m/s, LOS rate: 0.728835 deg/s, cmd heading: 266.498982 deg, new cmd heading: 267.496251 deg. 2j-<5HeadingCmd: 4.668690 target range: 476.200012 and range: 476.20 m. j5e@j1j1j1i1h9h9h9h= BfAfAfArfAbfM 5@ɛۆB*N= 隥.>I !=ɚiI"=I-ǧοi)i-؆:)-e@)1*F?2F:FBFp0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211252 9 I9 J J J J J :J <:J J GE X=GM ?GM ?G B) OM >%w,MfjARPώ@YRޕ@R=9RRvIA IEU&IIE;BIA&IA.IA6IE<:IEl FZjaeFNOT Ignoring new targets: 476.20 m.BjmH<JjmH<} ProNav: ac range: 476.200012 m, nav range: 36.432152 m, bearing: 43.231303 deg, approach rate: 0.512379 m/s, LOS rate: 0.701203 deg/s, cmd heading: 267.496245 deg, new cmd heading: 268.230666 deg. 2j}<HeadingCmd: 4.681508 target range: 476.200012 and range: 476.20 m. jΕ@jjjihhhhfffrfbf @ɛچBF^= I>I !=ɚiI,%=IuͿiyi}#Ք)}Ε@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464542*F-?2F):F)BF-0JF)G1 G1G4=GBO J>e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716059 A IA qNw,m:jAfvf@Yfu@f瓼=9fg    G٣ yl > %Nusing accuracyPremultiplier from config!-49%5ߛ?-4Y% i%:aB)5׿5%@%D%:% :%G4A E@IZjiuFNOT Ignoring new targets: 476.20 m.BjuH<JjuH< ProNav: ac range: 476.200012 m, nav range: 36.648026 m, bearing: 43.516370 deg, approach rate: 0.533022 m/s, LOS rate: 0.699719 deg/s, cmd heading: 268.230654 deg, new cmd heading: 269.080750 deg. 2j<HeadingCmd: 4.696345 target range: 476.200012 and range: 476.20 m. juH@jjjihhhhfffrfbfD@ɛUنBuh5]= y}W>Iy }h"=ɚyiyI˫=I˿ii#)uH@)*F?2F:FBF0JFzKaKe59KaKeKeGXH=GaBiOZ>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.96732456w,jA6@Y6"@6O׻=96]tII MG٣IyUh U> eNusing accuracyPremultiplier from configYe49]ߛ?e4Y] i]aBm\&?m:mտm%@]D];];]N4q u@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219292Zj9=FNOT Ignoring new targets: 476.20 m.BjE1<JjE1<} ProNav: ac range: 476.200012 m, nav range: 36.849503 m, bearing: 43.785396 deg, approach rate: 0.468169 m/s, LOS rate: 0.621712 deg/s, cmd heading: 269.080739 deg, new cmd heading: 269.883349 deg. 2j}V<HeadingCmd: 4.710353 target range: 476.200012 and range: 476.20 m. j6@jjjihhhhJBfffrfbf,Y @ I.hɛ%؆B%c= )Mo>IQ U;#=ɚQiQIU<. =I]RɿiYi]Du)]6@)a*F2F :F BF 0JF G<GBOh>ZHARHE@AHM>II IMt&IIMUBII&II.II6IM<:IMR F Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:44:10.1213  TRx dataTimestamp_ set to:1736372651.401206 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.472852*aw,jA2ƍ@Y2֔@2=92 w =y2H7@C?_ u԰Ia{?>?ɨ2ƍ@2m;0ybNBbm&IIjIj.4٢rC rP=9r/ԺQ r>tt vG٣vEGyz z> Nusing accuracyPremultiplier from config| 49~ߛ? 4Y~ i~`B  ֿ %@~D~;~ ;~U4B .@E=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 476.20 m.BjU?<JjU?I #=ɚiIh =Iǿii])&@)*FU?2FQ:FQBFU[1JFQ"G]=G]>G-:GB-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.724360O]3> IJJJJJ:J9:JJJ2! NBDAT read: Tx time:21:44:11.2344 N$Ping request sent.N G٣y- -> =Nusing accuracyPremultiplier from config1=495ߌߛ?E4Y50 i5`BEw?E:Eu׿E%@5D5 ;5;5^4Q U@Q  addTargetRange:: Added new target pos. range: 475.700012 m, deltaT: 4.029586 s, deltaX: -0.500000 m, approachRate: -0.124082 m/s, rangeRepo size: 4 Zj FNOT Ignoring new targets: 476.20 m.Bj(<Jj(<% ProNav: ac range: 476.200012 m, nav range: 37.270618 m, bearing: 44.324062 deg, approach rate: 0.469672 m/s, LOS rate: 0.590745 deg/s, cmd heading: 270.634334 deg, new cmd heading: 271.490019 deg. 2jMI) -}$=ɚ)i)I-) =I5ſi1i5)5@)9*F?2F:FBF~0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i1=JDAT read: TxSync time:21:44:11.2336 IG :G B O= >-ew,TokAHI I&IInBI&I.I4D6IW<:I# FyEWBEx&II]I]_v4٢m4\ mj=9qQ }?yy }G٣yy ? Nusing accuracyPremultiplier from config49݊ߛ?4Y i`B%@ D;y;d4B @EZjFNOT Ignoring new targets: 476.20 m.BjX-<JjX-< ProNav: ac range: 476.200012 m, nav range: 37.435505 m, bearing: 44.529817 deg, approach rate: 0.487942 m/s, LOS rate: 0.606198 deg/s, cmd heading: 271.490020 deg, new cmd heading: 272.104539 deg. 2j<HeadingCmd: 4.749120 target range: 476.200012 and range: 475.70 m. j@jjjihhhhfff rf bf ?ɛ9={x= 9E>IA EL%=ɚAiAIEx =IM=\ĿiIiM(Ľ)U@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF53JFG >GaBqO9>] Will construct direction to contact in vehicle frame from tetrahedron phase data. I ڍw,cD,kAJ2J2J21J0J2:J2<:J23J0J2*<J2*<J2;J2;B)m@YB~|@Bݩ=9BR J=yBHf@O?a< Z|7y5`(?@?ɨB)m@Bޑ;B"CyYBz&II-I-4٢=; =N=9EQ E>II MG٣MEGyU[ U> ]Nusing accuracyPremultiplier from configYe49]Uߛ?e4Y]& i]`Bimؿm%@]D]r;];]k4q u@yZjFNOT Ignoring new targets: 476.20 m.Bj%<Jj%< ProNav: ac range: 476.200012 m, nav range: 37.627529 m, bearing: 44.761406 deg, approach rate: 0.482401 m/s, LOS rate: 0.578825 deg/s, cmd heading: 272.104546 deg, new cmd heading: 272.795732 deg. 2j<HeadingCmd: 4.761184 target range: 476.200012 and range: 475.70 m. j[@jjjihhhhfffrfbf@$?ɛ ԆB p=  >I  z&=ɚiI =I¿ii)[@)!E)E)*F?2F:FBF`5JFG GGGBOF>zKK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.uw,FkA:4i@Y:x@:'=9:r=y:H `[?@\v`?䳿`} \_?$?ɨ:4i@:R;:#CyROBRn&I)T T5Mb@Mb@Mb@111 1)1Y5Zd;?/$aa mG٣iym{ m> uNusing accuracyPremultiplier from configq}49u+ߛ?}4Yu iu`B?:ֿ%@uDu-;u;u r4 7@ZjFNOT Ignoring new targets: 476.20 m.Bj{"<Jj{"<Will construct direction to contact in vehicle frame from tetrahedron phase data. ]$?I]/h ProNav: ac range: 476.200012 m, nav range: 37.816429 m, bearing: 44.994276 deg, approach rate: 0.463241 m/s, LOS rate: 0.568216 deg/s, cmd heading: 272.795734 deg, new cmd heading: 273.490820 deg. 2jeI V'=ɚiI =I%kCi!i- )-@)Q*F2F:FBFf5JFGPGBOd>H>I I&IIxBI&I.I6I<:IA F Will construct direction to contact in vehicle frame from tetrahedron phase data.7w,/_kA2@Y2@20=92=y2H ˶ ?@7tb@BO^?;?ɨ2@2;2%CyNKBNi&IIZIZF4٢5Ű 5M=9=*Q =>II MG٣IyU< U> mNusing accuracyPremultiplier from configa}49eߛ?}4Ye iep`Bֿ%@e!Dez;e ;e)y4 }@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 476.20 m.BjM<JjM< ProNav: ac range: 476.200012 m, nav range: 38.003426 m, bearing: 45.223615 deg, approach rate: 0.456484 m/s, LOS rate: 0.557092 deg/s, cmd heading: 273.490828 deg, new cmd heading: 274.175425 deg. 2j)< HeadingCmd: 4.785264 target range: 476.200012 and range: 475.70 m. j  @j j j i hhhhfff!rf!bf%?ɛIM(l= 隭p>I f(=ɚiIS =I⻿ii) @)*F2F:FBF`5JF-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. QIQJ}AAJ}AAJKm3 KL.KK"KJJJ/JJ:J7:J(N3JJ#<J#<J;J;G'G B O5 >w,ykAzK"RIK"9K K"K"BK&qA:K$BWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.012981y GB d&IMb@Mb@Mb@ )Y$C?QS㥛y?u/ݼ A @) AI@yAII4٢~ B=9Q > G٣EGy > Nusing accuracyPremultiplier from config495ߛ?4Yc iP`BP?:Կ%@)D;B;u4 @G vA! MYUvAyU BZjiuFNOT Ignoring new targets: 476.20 m.Bju<Jju< ProNav: ac range: 476.200012 m, nav range: 38.196213 m, bearing: 45.462380 deg, approach rate: 0.424812 m/s, LOS rate: 0.523467 deg/s, cmd heading: 274.175432 deg, new cmd heading: 274.888072 deg. 2j<HeadingCmd: 4.797702 target range: 476.200012 and range: 475.70 m. jƆ@jjjihhhhBfffrfbf @ɛm҆Buke= quj>Iq u|(=ɚyiyI}ԟ =IU$iiEu)Ɔ@)*F}?2F:FBF5JF"G>G4>GUD;Ƚ 1I9G9EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.267141BQOm>ϰw,kAFZ@YF@Fat=9F\>yFH`2P ?`5¿e߯@P'>+@?`O?ɨFZ@F;F$CHV>IVC ITITIV, =&IT.IT6IVs<:IV9 FBImCJImCRIiZIm- =bIm- =jIms4yf?BfZ&Iij>IjR=IrIr.4٢z5 zX=9zƵQ z>|| ~G٣|y,= >  Nusing accuracyPremultiplier from config 49 Հߛ?4Y W i 5`BHҿ%@ 0D M;; ;; 4-B -Y@-EZjQ]FNOT Ignoring new targets: 476.20 m.Bje1:<Jje1:I ԃ)=ɚiI/ =Iii' )n@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517035*F?2F:FBF`0JFGmGABIOm5> ) I1 M Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769955w,kAJ"J"J"0J J":J";:J"ـ3J J"?%<J"?%<J";J";Vh@YV$x@V/Ā=9VM&>yVH/͉?ſ`m%@I@ߧ?:?ɨVh@V;V"Cyn1BnI&IIzIz4٢E< EE=9M'Q M>II UG٣QyUm< U> eNusing accuracyPremultiplier from configYe49]ߛ?e4Y] i]`Bimпm%@]8D]:]:]Q4y }0@yZjFNOT Ignoring new targets: 476.20 m.Bj_&<Jj_&< ProNav: ac range: 476.200012 m, nav range: 38.557129 m, bearing: 45.923783 deg, approach rate: 0.454352 m/s, LOS rate: 0.581820 deg/s, cmd heading: 275.543109 deg, new cmd heading: 276.265694 deg. 2j<HeadingCmd: 4.821746 target range: 476.200012 and range: 475.70 m. jK@jjjihhhhfffrfbf(@ɛ цB _=  V@>I  ='*=ɚiI~ =Isii )K@)*F}?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020891zKKs9KKKRK ?JK?GG B O >-w,hkA2ގ@Y2@2So=92:>y2H9r?kǿh 0?(j?ɨ2ގ@2#;2#Cy>B>0&I Mb@Mb@Mb@    ) Y K?I + rhy ^? 94 C AA @) I @ y GAI%I%4٢5˽ 5K=9*Q > G٣EGy = > I0h Nusing accuracyPremultiplier from config49~ߛ?4Yx i_B?:Ϳ%@@D4;2;4 v@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273010Zj%FNOT Ignoring new targets: 476.20 m.Bj%(<Jj-(<= ProNav: ac range: 476.200012 m, nav range: 38.743286 m, bearing: 46.171876 deg, approach rate: 0.443200 m/s, LOS rate: 0.587814 deg/s, cmd heading: 276.265688 deg, new cmd heading: 277.006346 deg. 2j=I թ*=ɚiI =Ihii )@)*F ?2F :FBFo0JFGVGBOA>ZHRH?AH >I I&IIiBI&I.I6Ie<:I1 F Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:44:14.2726  TRx dataTimestamp_ set to:1736372655.433276 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526640w,@kA2d@Y2t@2^=92z=O>y2H]녿`bW?ɿn $`Ыǰ? L?ɨ2d@2";2$CyBBB!&I)D DIJIJ:4٢Vx VT=9VN8Q Z>XX ZG٣Xy^#4= ^> bNusing accuracyPremultiplier from config`f49b~ߛ?f4YbU ib_BhjF˿j%@bGDb7:b:b4l r6@pB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 476.20 m.Bj$<Jj$< ProNav: ac range: 476.200012 m, nav range: 38.906807 m, bearing: 46.394760 deg, approach rate: 0.424683 m/s, LOS rate: 0.576424 deg/s, cmd heading: 277.006354 deg, new cmd heading: 277.672166 deg. 2j<HeadingCmd: 4.846293 target range: 476.200012 and range: 475.70 m. j@jjjihhhhfffrf!bf%{ @ɛimO= 隵>I +=ɚiI =I췿ii)@)*Fm?2Fi:FiBFmn0JFi IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777508GGGrAG B O >w,g(kA6Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031523zKNBoHKN9KLKNKN@Y@!L=9b>yH@z?\8?̿r@ v?.?ɨ@;%Cy%B%&I5Mb@Mb@Mb@111 1)1Y5V-?MbP?X9vy5|?5:55"A 53@)5 AI5@1y5AIUIUb4٢] e&=9eQ e>ii mG٣iyu= u> }Nusing accuracyPremultiplier from configy49}ߛ?4Y}f  i}_B?:ƿ%@}QD};};}4 6@ZjFNOT Ignoring new targets: 476.20 m.Bjy<<Jjy<< ProNav: ac range: 476.200012 m, nav range: 39.125149 m, bearing: 46.710260 deg, approach rate: 0.458702 m/s, LOS rate: 0.659113 deg/s, cmd heading: 277.672161 deg, new cmd heading: 278.613288 deg. 2j+<HeadingCmd: 4.862719 target range: 476.200012 and range: 475.70 m. je@jjjihhhhBfffyrfbf̫@ɛSD=  # ==I {s+=ɚiI =Iѵi i H") e@) *F?2F:FBF1JF I1h Will construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: 21:44:14.2726 LVL= 18672, 25377, 22002, 27411, AGC= 67, IDX= 441,-0.33,-1.723,-2.531, 2.538,-2.702, PHS= 1.067, 0.218,-1.046, RAW= 53.5, -2.6, CAL= 56.4, -6.4, ROT= 93.6, 6.4 }Ygot valid direction response: 21:44:14.2726 LVL= 18672, 25377, 22002, 27411, AGC= 67, IDX= 441,-0.33,-1.723,-2.531, 2.538,-2.702, PHS= 1.067, 0.218,-1.046, RAW= 53.5, -2.6, CAL= 56.4, -6.4, ROT= 93.6, 6.4 PDAT read: Bearing 93.6, 6.4 (Local) ~Local bearing/azimuth received: Bearing 93.6, 6.4 (Local) DAT read: Range 10 to 50 : 475.5 m (Round-trip 634.0 ms) speed 0.2 m/s ,DAT read: user:2019> BDAT read: Tx time:21:44:15.3829 $Ping request sent.:Jq Jq a} @a} @a} @a} @I Ci u? d;_> Tㅿ Q o? 9 d{?) I ?i =   CE?SNp6w) q~I ;=i ? JZ   :publishing transmit ping timeء Fpublishing direction and range info 9 kqҠ?j<4?)Φ?y     ) I i      ) I i    CE?SNp6w) I i    G G B O >w,lAH&!>I$ I&h&II&JBI$&I$.I$6I&<:I& F@YO@#8=9ӆq>yH V??ͿMl?N`??ɨ@@b;#Cy}B}%III4٢ l=9aQ ? G٣EGyP= ? Nusing accuracyPremultiplier from config49ߛ?4Y" i_BHĿ%@XDn::ת4B @EkEl'?kE kA kE- lA:kECBkECZkE@"E+<>/@0Zqs@:Jav@EkqҠ?j<4?)Φ?JkE?RkEJZ*Ek@{BoD=0D@z@EfY?~( M`D?"kE'*kE\CkE<6(?kE3 2kECkEzV?kAkEDkE*BkE> addTargetRange:: Added new target pos. range: 475.500000 m, deltaT: 4.284114 s, deltaX: -0.200012 m, approachRate: -0.046687 m/s, rangeRepo size: 4  Added new target pos. range: 475.500000 m, bearing: 352.452499 deg, lat: 36.900871 deg, lon: -122.117567 deg, deltaT: 8.313700 s, deltaX: -0.700012 m, approachRate: -0.084200 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 475.50 m.BjJj ProNav: ac range: 475.500000 m, nav range: 95.082321 m, bearing: 17.566109 deg, approach rate: 0.000000 m/s, LOS rate: 0.659113 deg/s, cmd heading: 278.613279 deg, new cmd heading: 279.341569 deg. 2j%HeadingCmd: 4.875430 target range: 475.500000 and range: 475.50 m. j%@j!j)j)i)h)hIhQhQfQfQfYrf]}@bf] ?uWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ<= 隥`=I Y+=ɚiII =IS1iirS)@)E E *F2F:FBFo0JFG G"GGG B OE > I % Will construct direction to contact in vehicle frame from tetrahedron phase data.( w,.lAR&@YR{@R=9Rp>yRH?7?@Ϳ`@9?`7 ?@B?ɨR&@R>Ǥ;R!Cy^نB^%Iibtt vG٣tyz= z> ~Nusing accuracyPremultiplier from config|49~ߛ?4Y~B i~_B  ¿ %@~`D~;~;~b4 @ZjAMFNOT Ignoring new targets: 475.50 m.BjM[;JjM[;] ProNav: ac range: 475.500000 m, nav range: 95.141769 m, bearing: 17.701671 deg, approach rate: 0.166001 m/s, LOS rate: 0.378304 deg/s, cmd heading: 279.341568 deg, new cmd heading: 279.747995 deg. 2j]ЁWill construct direction to contact in vehicle frame from tetrahedron phase data.zKK+9KKK   %w,ȳHlA:Y@Y:Ni@::=9:Ox>y:HxЩ?? ^οo)?``F`k?@ ?ɨ:Y@:ǧ;:#CyF͆BF%I !I!UMb@Mb@Mb@QQQ Q)QYU?+yUf&?UUUA U@)U AIUAQyUQAImIm#4٢m @=9]Q > G٣y8= > Nusing accuracyPremultiplier from config492ߛ?4Y  i_B&?:%@hDj;;Ѹ4 @Will construct direction to contact in vehicle frame from tetrahedron phase data.ZjFNOT Ignoring new targets: 475.50 m.Bj;Jj; ProNav: ac range: 475.500000 m, nav range: 95.208801 m, bearing: 17.862776 deg, approach rate: 0.157638 m/s, LOS rate: 0.378601 deg/s, cmd heading: 279.747992 deg, new cmd heading: 280.230954 deg. 2j< HeadingCmd: 4.890953 target range: 475.500000 and range: 475.50 m. j @j j j i hhhhBfffrfbf%@E?ɛ )= I  +=ɚ iIK =I4ii:)@)J1J5J1J1J1J5::J1J1jH=<bH=p<HE#>IA IEB&IIE,BIE+ =&IA.IA6IE\<:IE- FE}3=*F 2F :F BF g0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >';w, blAyB%II-tI-M4٢E EO=9EQ E>II MG٣MEGyU U> eNusing accuracyPremultiplier from configae49eߛ?m4YeB' ieh_Biim%@eqDe:e:e4y }@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 475.50 m.Bj;Jj;= ProNav: ac range: 475.500000 m, nav range: 95.271866 m, bearing: 18.012503 deg, approach rate: 0.159566 m/s, LOS rate: 0.378587 deg/s, cmd heading: 280.230941 deg, new cmd heading: 280.679815 deg. 2j=hw,o|lAWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744879f_@Yfn@fԭ<9f,>yfH?@S?nϿ]j ?*@?@?ɨf_@fS;f$CyrBr%I)t tzKLKh9KKKMb@Mb@Mb@ )YK7?:v/$yI,?T,A @)+ AIAyAIIЬ4٢ü @=9y˼Q > G٣y= > Nusing accuracyPremultiplier from config49ߛ?4Y. iN_B ,? : 꾿 %@zDe&<\&<)4Q Ui@QZjFNOT Ignoring new targets: 475.50 m.Bj/;Jj/; ProNav: ac range: 475.500000 m, nav range: 95.338776 m, bearing: 18.179363 deg, approach rate: 0.153089 m/s, LOS rate: 0.381503 deg/s, cmd heading: 280.679821 deg, new cmd heading: 281.180035 deg. 2j%I9  I= &II= BI9 &I9 .I9 6I= 2<:I=  FGGGoAGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249710BO?B'w,lA6ߒ@Y6q@6<<96>y6H`A ??Ͽ *.?@K`tY ?]?ɨ6ߒ@6;6%Cy>BB%IIJIJh4٢V V+=9VmQ Z>XX ZG٣Xy^p= ^> fNusing accuracyPremultiplier from config`f49bߛ?f4Yb.7 ib3_Bhj鼿j%@bDb;b:b4nB n@nEZjFNOT Ignoring new targets: 475.50 m.Bj;Jj; ProNav: ac range: 475.500000 m, nav range: 95.410126 m, bearing: 18.367485 deg, approach rate: 0.146630 m/s, LOS rate: 0.386318 deg/s, cmd heading: 281.180037 deg, new cmd heading: 281.743963 deg. 2j<HeadingCmd: 4.917360 target range: 475.500000 and range: 475.50 m. j[@jjjihhhhfffrfbfA@ɛ҆Bk= 隍ٽI Z*=ɚiId2 =I^Ӯiirν)[@)EE*E"E }$?IyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501701*F2F:FBFd0JFGEG B O >o/-w,MlA:b@Y:=r@: O<9:7.>y:H!?`?@Ͽ`c?@ि@cቿ@?`?ɨ:b@:Ϧ;8ynBr}%II%I%4٢EJ U4=9e Q e>qy }G٣EGy= > Nusing accuracyPremultiplier from config49ߛ?4YU? i_Bغ%@DD;f;4 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755110ZjAmFNOT Ignoring new targets: 475.50 m.Bjm;Jju;} ProNav: ac range: 475.500000 m, nav range: 95.475388 m, bearing: 18.550278 deg, approach rate: 0.143640 m/s, LOS rate: 0.402047 deg/s, cmd heading: 281.743965 deg, new cmd heading: 282.291950 deg. 2j<HeadingCmd: 4.926924 target range: 475.500000 and range: 475.50 m. j\@jjjihhhhfffzKBoHK9) KKK18:Rrfbf5t@=~GQi  YyBɛ  =  R I  D*=ɚiI| =Iii]Aý)]\@)a*F?2F:FBFo0JF y I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005384G ӽG B J J J J J :J 7:J J O >4w,lAFؓ@YF@F<9FJ>>yFH@*d?IV G٣y = > Nusing accuracyPremultiplier from config49Xߛ?4Y!F i_B2?:.%@D5;;4 h@ZjFNOT Ignoring new targets: 475.50 m.Bj;Jj; ProNav: ac range: 475.500000 m, nav range: 95.531174 m, bearing: 18.702347 deg, approach rate: 0.155033 m/s, LOS rate: 0.422362 deg/s, cmd heading: 282.291937 deg, new cmd heading: 282.747868 deg. 2j<%HeadingCmd: 4.934881 target range: 475.500000 and range: 475.50 m. j%@j!j!j!i!h!h)h)h-Bf)f1f1rf1bf=6 @ɛ]ӆBe$< ael#Ia e8)=ɚiiiIm\ =Im<H}%>I}C I}%II}BI}* =&Iy.Iy6I}g<:I}7 FBI=›CJI=›CRI9ZI=+ =bI=+ =jI=55i)i-Qp)5@)1*F2F:FBF}0JFGG}ɽWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257878GABIOuX>A:w,lA IFP@YFQ`@F[E;9Fہ>yFHA? &?Ͽ`*`?(r@??ɨFP@F.;F$CynBnm%IIvIvQ4٢=C =P=9=dQ =>AA EG٣AyMx= M>]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:21:44:18.4202 mTRx dataTimestamp_ set to:1736372659.717514mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.510868 uNusing accuracyPremultiplier from configQ}49U,ߛ?}4YUHM iU^By}M}%@UDU;U;U4B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 475.50 m.Bj.;Jj.; ProNav: ac range: 475.500000 m, nav range: 95.586777 m, bearing: 18.862917 deg, approach rate: 0.140059 m/s, LOS rate: 0.404225 deg/s, cmd heading: 282.747866 deg, new cmd heading: 283.229282 deg. 2j<HeadingCmd: 4.943284 target range: 475.500000 and range: 475.50 m. ja/@jjjihhhhfffrfbf`a @ɛ9< %z)I! %N)=ɚ!i!I%wU =I-火i)i5<̮)5a/@)1JJBA*F?2F:FBF0JFG-ŽG - Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766621Ba O >zK= MK= 9K9 K= K= mO<'$   BKI :KI "+Aw,mA-@Y-M̛@-H=:9-ܮ>y-H?@ ?_nϿ@#@F?,GG? ?ɨ-@-Mi;-"CyޭwBޭc%IeMb@Mb@Mb@aaa a)aYeQ?+/$ye5?ee,eA a)erAIeAayeAI}I}4٢ 6=9Q > G٣EGy< > Nusing accuracyPremultiplier from config49Sߛ?4YU i^BY6?:%@DE;;4B @E I3hZjFNOT Ignoring new targets: 475.50 m.Bj;Jj; ProNav: ac range: 475.500000 m, nav range: 95.654045 m, bearing: 19.049261 deg, approach rate: 0.143441 m/s, LOS rate: 0.397074 deg/s, cmd heading: 283.229285 deg, new cmd heading: 283.787905 deg. 2jA<HeadingCmd: 4.953033 target range: 475.500000 and range: 475.50 m. j@@jjjihhhhwBff!f!rf!bf%`@eWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:44:18.4202 LVL= 14864, 32753, 19522, 23955, AGC= 67, IDX= 431, 0.02, 1.902, 0.655,-0.155, 0.610, PHS= 1.380, 0.092,-0.768, RAW= 66.6, -7.6, CAL= 75.6, -14.7, ROT= 74.4, 14.7 Ygot valid direction response: 21:44:18.4202 LVL= 14864, 32753, 19522, 23955, AGC= 67, IDX= 431, 0.02, 1.902, 0.655,-0.155, 0.610, PHS= 1.380, 0.092,-0.768, RAW= 66.6, -7.6, CAL= 75.6, -14.7, ROT= 74.4, 14.7 PDAT read: Bearing 74.4, 14.7 (Local) ~Local bearing/azimuth received: Bearing 74.4, 14.7 (Local) DAT read: Range 10 to 50 : 474.9 m (Round-trip 633.2 ms) speed 0.0 m/s ,DAT read: user:2020> BDAT read: Tx time:21:44:19.5329 $Ping request sent.aaenj?)q%z鿟OL)enIeR>ie?e%aa:publishing transmit ping timeFpublishing direction and range infoa9eZ~a?xuC?X?yaaaɛ ԆB -X<  R;I (=ɚiI =I=jBi9i=ͩ)=@@)Aa a)aIaiaaaaa a)aIaiaaaenj?)q%z鿟OL)aIaiaaa*F2F:FBF}0JF"G=G=aG  iHu&>Iq Iu%IIuƆBIq&Iq.Iu5D6Iu_<:Iu2 FGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:44:19.5321 MQGw,1mA6%@Y6c4@6$96}>y6H?@n?WϿ@B?磿d?tj? g?ɨ6%@6^;4yRyBRg%I)T T V=V=IZIZ4٢vxn< vj=9vQ v>xx zG٣xyz= ~> -Nusing accuracyPremultiplier from config!-49%ߛ?54Y%.\ i%^B15b5%@%D%:%;%4Y e@akKa?k9 k krmA:ksCBkCZkd_@"lΊG@AFl@zy@Z~a?xuC?X?Jk?Rk%*zFrn^@+ZO90V|@l4g?ӞCW׫sh?"k*kuBkt:?k-| 2kbDkt:?kkbDkvBk9> addTargetRange:: Added new target pos. range: 474.899994 m, deltaT: 4.031999 s, deltaX: -0.600006 m, approachRate: -0.148811 m/s, rangeRepo size: 4  Added new target pos. range: 474.899994 m, bearing: 348.022842 deg, lat: 36.901153 deg, lon: -122.117567 deg, deltaT: 4.031999 s, deltaX: -0.600006 m, approachRate: -0.148811 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 474.90 m.BjJj ProNav: ac range: 474.899994 m, nav range: 125.731857 m, bearing: 14.494524 deg, approach rate: 0.000000 m/s, LOS rate: 0.397074 deg/s, cmd heading: 283.787912 deg, new cmd heading: 284.218943 deg. 2j HeadingCmd: 4.960557 target range: 474.899994 and range: 474.90 m. j἞@jjjihhhhfff!rf%`f}@bf%*?ɛՆBK< 隝7I  (=ɚiI" =IKiiР)἞@)*F2F:FBF1JF IuWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ:JA:JJJ*}Mw,d8mAJ~@YJ׍@JLĻ9J1z>yJH`?`B?՘ο{ h?<x?? ?ɨJ~@J<;J$CyVtBV`%IIjIjr4٢ ۼ H=9%S Q ->99 EG٣AyM:< > Nusing accuracyPremultiplier from configU49ߛ?]4Y&d i^Baee%@D&|<~|<~4Will construct direction to contact in vehicle frame from tetrahedron phase data. I@Zj9=FNOT Ignoring new targets: 474.90 m.BjE;JjE;u ProNav: ac range: 474.899994 m, nav range: 125.766380 m, bearing: 14.632866 deg, approach rate: 0.080144 m/s, LOS rate: 0.321069 deg/s, cmd heading: 284.218952 deg, new cmd heading: 284.633858 deg. 2juX\<}HeadingCmd: 4.967798 target range: 474.899994 and range: 474.90 m. j}3@jyjyjyiyhyhhhfffrfbfd?zKE{MKE9KAKEKE %.>LWbimnmlqsttstmRKU?JKU>ɛmֆBmE< mG I} Will construct direction to contact in vehicle frame from tetrahedron phase data.bTw,oeRmAy~oB~[%IMb@Mb@Mb@ )YzG?~jtQ롿y 7?\1A )AI3Ay(AII٢ <=9Q > G٣EGy   > Nusing accuracyPremultiplier from configjHbH<H%*>I! I%%II%BI!&I!.I!6I%}<:I%K F=49#ߛ?=4Yk =tIi^BE7?E:EE&@ĠD;;4I M@IZjyFNOT Ignoring new targets: 474.90 m.Bj);Jj); ProNav: ac range: 474.899994 m, nav range: 125.800262 m, bearing: 14.764957 deg, approach rate: 0.089351 m/s, LOS rate: 0.348244 deg/s, cmd heading: 284.633845 deg, new cmd heading: 285.030004 deg. 2jn<HeadingCmd: 4.974712 target range: 474.899994 and range: 474.90 m. j0@jjjihhhh[Bfffrf)bf5?ɛ}׆B}< y}NIy /&=ɚiI=I|iiЩ)0@)*F?2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G <G B O > I Zw,|ClmA2@Y2"@2 Y92=o>y2H-??sͿ@8_?蠿g!?@??ɨ2@2;2"Cy>zB>g%IiB=IB=IJIJ4٢Rg= Rc=9R Q R>TT VG٣TyZM= Z> bNusing accuracyPremultiplier from config\f49^ߛ?f4Y^zr i^^Bdfߴj&@^͠D^H;^;^4rB v@=Will construct direction to contact in vehicle frame from tetrahedron phase data.zEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 474.90 m.Bj;Jj; ProNav: ac range: 474.899994 m, nav range: 125.826263 m, bearing: 14.881823 deg, approach rate: 0.069087 m/s, LOS rate: 0.310458 deg/s, cmd heading: 285.029996 deg, new cmd heading: 285.380516 deg. 2jU<HeadingCmd: 4.980830 target range: 474.899994 and range: 474.90 m. jb@jjjihhhhfffrfbf`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.zK MK 9K K K e^UJ>6% ~aw,5EmAn⿖@Yn7ϝ@nwC9nDi>ynH`?@e?`]̿:`~? `;?`O?`R*?ɨn⿖@n;n$CyzBzn%IuMb@Mb@Mb@qqq q)qYu +? ףp= X9vyu6?uQ8uuA q)uAIuAqyu AII4٢@< 4=9rQ >! %G٣!y%>= -> 5Nusing accuracyPremultiplier from config)549-ߛ?=4Y-z i-^B=Q7?=:==&@-נD-;-;-4I M@I yI}4hZjFNOT Ignoring new targets: 474.90 m.Bj`;Jj`; ProNav: ac range: 474.899994 m, nav range: 125.856552 m, bearing: 15.029139 deg, approach rate: 0.069177 m/s, LOS rate: 0.336377 deg/s, cmd heading: 285.380521 deg, new cmd heading: 285.822356 deg. 2jf<HeadingCmd: 4.988541 target range: 474.899994 and range: 474.90 m. j!@jjjihhhhFBfffrfbf@?ɛنB*<  t4I  %=ɚ i I ?=I鶥iiTw)!@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.004200Ed=H I  I I I ( =&I .I 6I <:I \ F*F ?2F :F BF 1JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254994G GBO>hw,KmA2-@Y2 @292^Ag>y2H? W?m̿ (?@3۝?7?.?ɨ2-@2;2%Cy>B>y%IIJIJQ4٢N0#= R9=9ReQ R>TT VG٣VEGyVA< Z> ^Nusing accuracyPremultiplier from configXb49Zҩߛ?b4YZ iZ^B`bXb&@ZDZ ;Ze ;Z4h j@hZj FNOT Ignoring new targets: 474.90 m.Bj ;Jj ; ProNav: ac range: 474.899994 m, nav range: 125.883698 m, bearing: 15.172308 deg, approach rate: 0.062033 m/s, LOS rate: 0.327100 deg/s, cmd heading: 285.822352 deg, new cmd heading: 286.251756 deg. 2j%|`<%HeadingCmd: 4.996036 target range: 474.899994 and range: 474.90 m. j%ߟ@j)j)j)i)h)h)h1h1f1f1f9rf9bf %k@ɛEچBEn< IMH%II U$=ɚQiIn=ITihei!t)ߟ@) IE[R<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507893*F%?2F):F)BF-B5JF)G柽J=J=J9J9J=;:J=H:J9J9J=L)<J=L)<J=ڝ;J=۝;GBOk>ow,q=mAWill construct direction to contact in vehicle frame from tetrahedron phase data.i"checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762424EYd@YEs@EO9E"f>yEH!S?\E? V̿ 2x?@@ݓ??@/?ɨEYd@E ;E$Cy]Be%I)i iMb@Mb@Mb@ )YʡE?~jtZd;Oy-2?DjA @)3AIAzK-MK-s9K)K-K-yfAIAIA٢U_= U3=9]/Q ]>YY eG٣aye< e> uNusing accuracyPremultiplier from configiu49mߛ?}4Ym_ imz^B}2?}:}}&@mDm#;m<;m4 Q@ZjFNOT Ignoring new targets: 474.90 m.Bj;Jj; ProNav: ac range: 474.899994 m, nav range: 125.911278 m, bearing: 15.316927 deg, approach rate: 0.060565 m/s, LOS rate: 0.317509 deg/s, cmd heading: 286.251753 deg, new cmd heading: 286.685508 deg. 2jY<HeadingCmd: 5.003606 target range: 474.899994 and range: 474.90 m. j@jjjihhhhHBfffrfbf#@ɛ ܆B< I w$=ɚiI=ICɣii%65l)%@)! $?I5hE5<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011922*F?2F:FBF2JFHy Iy  I} %II} ˆBI} ) =&Iy .Iy 6I} <<:I}  FG لyG B O >fvw,mA>ѭ@Y>&@>9>Gc>y>Hp?`!9?@˿P:?ϡ@?+?a5?ɨ>ѭ@>ݶ;>#CyJBJ%IIRIR4٢Z= ZN=9^Y%Q ^>\` bG٣`yb|< b> vNusing accuracyPremultiplier from configtz49vߛ?z4Yv ivr^B|~~&@vDv;v&:v&4 a@EZj)-FNOT Ignoring new targets: 474.90 m.Bj5;Jj5;E ProNav: ac range: 474.899994 m, nav range: 125.933586 m, bearing: 15.443341 deg, approach rate: 0.055859 m/s, LOS rate: 0.316476 deg/s, cmd heading: 286.685497 deg, new cmd heading: 287.064666 deg. 2jE1Y|w,ظmA6+@Y6@6)96_>y6H,?`;0?`~˿`,`?`6᡿`҄??;?ɨ6+@6J;6!CyRBR%IIZIZ4٢Ƒ= F=9úQ  >    G٣ EGy< > Nusing accuracyPremultiplier from config%49ߛ?%4Y ik^B)- -&@D":e:-41 5q@1UB*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 474.90 m.BjmP;JjuP; ProNav: ac range: 474.899994 m, nav range: 125.954979 m, bearing: 15.572628 deg, approach rate: 0.052178 m/s, LOS rate: 0.315284 deg/s, cmd heading: 287.064655 deg, new cmd heading: 287.452443 deg. 2j`X<HeadingCmd: 5.016992 target range: 474.899994 and range: 474.90 m. j2@jjjihhhhfffrfbf@;` @ɛ߆B = PI >#=ɚiI=Iiic)2@)*F2F:FBFg0JFGu%gWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772134~~GG -.Y)y50BBAO]U>zK5K59K1K5K5 I Nw,nA&Will construct direction to contact in vehicle frame from tetrahedron phase data.^DAT read: 21:44:22.5690 LVL= 18384, 28657, 24002, 28915, AGC= 70, IDX= 435,-0.12, 1.650, 0.193, 0.034, 0.624, PHS= 1.114,-0.384,-0.593, RAW= 83.6, -1.7, CAL= 90.9, -7.1, ROT= 59.1, 7.1 zYgot valid direction response: 21:44:22.5690 LVL= 18384, 28657, 24002, 28915, AGC= 70, IDX= 435,-0.12, 1.650, 0.193, 0.034, 0.624, PHS= 1.114,-0.384,-0.593, RAW= 83.6, -1.7, CAL= 90.9, -7.1, ROT= 59.1, 7.1  PDAT read: Bearing 59.1, 7.1 (Local) m~Local bearing/azimuth received: Bearing 59.1, 7.1 (Local) }DAT read: Range 10 to 50 : 473.9 m (Round-trip 631.9 ms) speed 0.2 m/s ,DAT read: user:2021> BDAT read: Tx time:21:44:23.6830 $Ping request sent.yH@?@`%? &˿?hw1?@H? A?ɨ-@m;#C&ľ&&ú?& &?)&I&?i&=$$&;0?J,㿌2J彞)&"I&iq uG٣qyq< > Nusing accuracyPremultiplier from config49wߛ?4Yţ if^B.?:֭&@ D];D\;k74 @k&]Hݛ?k&J k$ k&HnA:k&CBk&QCZk&?"&E3ϛtY@&,}l|@&kTzY ?[D&8?Jk&'?Rk&*&]0r(n<@h}@&0)'h= (?| ?"k&A*k&vk&〙ݛ?k& 2k&Dk$k& k$k&DBk&o> addTargetRange:: Added new target pos. range: 473.899994 m, deltaT: 4.034452 s, deltaX: -1.000000 m, approachRate: -0.247865 m/s, rangeRepo size: 4  Added new target pos. range: 473.899994 m, bearing: 102.729456 deg, lat: 36.901153 deg, lon: -122.117627 deg, deltaT: 4.034452 s, deltaX: -1.000000 m, approachRate: -0.247865 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 473.90 m.BjJj ProNav: ac range: 473.899994 m, nav range: 124.632874 m, bearing: 13.378334 deg, approach rate: 0.000000 m/s, LOS rate: 0.315284 deg/s, cmd heading: 287.452445 deg, new cmd heading: 287.996039 deg. 2jHeadingCmd: 5.026479 target range: 473.899994 and range: 473.90 m. jؠ@jj!j!i!hIhYhhdBfffrf`f}@bf?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:44:23.6822 ɛBI= !%XI) -J#=ɚ)i)I-S=I5۠i5Mi5h)5ؠ@)9*F ?2F :F BF `5JF i Iq GdeGBO>0w,9.nAZWill construct direction to contact in vehicle frame from tetrahedron phase data.  nManaging dock network, ignoring radio surface power offe`f@Yeu@e:Ҩ9esX>yeH@?/?҃ʿ?`º`??@H?ɨe`f@e;e"Cy}نB}%IIIkf4٢> `=9r9Q > G٣y< > Nusing accuracyPremultiplier from config49ߛ?4Y  ib^B&@Dw;;=4 @Zj FNOT Ignoring new targets: 473.90 m.Bj;Jj; ProNav: ac range: 473.899994 m, nav range: 124.636528 m, bearing: 13.490286 deg, approach rate: 0.010791 m/s, LOS rate: 0.330568 deg/s, cmd heading: 287.996047 deg, new cmd heading: 288.331888 deg. 2j%b<5HeadingCmd: 5.032341 target range: 473.899994 and range: 473.90 m. j5@j1j9j9i9hAhIhQhQfYfYfqrfybf}L?ɛ]B]n= y}pI q#=ɚiI=IiBi>e)@)*Fu?2Fq:FqBFu1JFyuWill construct direction to contact in vehicle frame from tetrahedron phase data.G eG B zK K K K K RK >JK >O >w,HnAj@Yj@j<59jT>yjH{b??1 ʿ@6&? =`?;N?ɨj@j57;hyvBz%I IMb@Mb@Mb@ )Ysh|??{GzI +y)?#94A @)IAyAII{4٢]= G=9#Q > G٣EGyS0< > Nusing accuracyPremultiplier from config-49ߛ?54Y i`^B=P*?=:=𬿑=&@D;d;D4EB Ez@EEZjimFNOT Ignoring new targets: 473.90 m.Bju;Jju; ProNav: ac range: 473.899994 m, nav range: 124.641159 m, bearing: 13.616722 deg, approach rate: 0.011136 m/s, LOS rate: 0.304030 deg/s, cmd heading: 288.331901 deg, new cmd heading: 288.711190 deg. 2jP<HeadingCmd: 5.038961 target range: 473.899994 and range: 473.90 m. j+?@jjjihhhh~Bfffrfbf:?ɛmBuz\#= quIq uq#=ɚyiyI}=I}Biin)+?@)Will construct direction to contact in vehicle frame from tetrahedron phase data.*F%?2F!:F!BF%`0JF)JKـ3 KKK"KJ]J]JYJYJ]k:J]=:JYJYam@am@am@am@H=)>I9 I=&II=BI9&I9.I96I=G<:I=" FG gG B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data.5;w,DbnArb@Yrß@r9r&+R>yrH?%?>ɿ@H?Vi@7? ?,R?ɨrb@r;r$Cy~B~%III1h4٢p= Q=90Q > G٣yoT< > Nusing accuracyPremultiplier from config49ߛ?4Y˷ i_^BK&@#D` ;\:K4 @ZjyFNOT Ignoring new targets: 473.90 m.Bj};Jj}; ProNav: ac range: 473.899994 m, nav range: 124.644798 m, bearing: 13.736407 deg, approach rate: 0.008958 m/s, LOS rate: 0.294610 deg/s, cmd heading: 288.711195 deg, new cmd heading: 289.070232 deg. 2j0J<HeadingCmd: 5.045228 target range: 473.899994 and range: 473.90 m. jr@jjjihhhhfffrfbf`8?ɛB(= <Л/fw,d|nAr@Yrm@r9rԂP>yrH?`]?:ɿ`w?@K@? ? T?ɨr@rc#;pyzBz&II I ٢= R=9ͣ9Q %>11 =G٣AyM< U> ]Nusing accuracyPremultiplier from configYe49]ߛ?e4Y]~ i]]^Bamnm&@]+D]:]C:]R4uB u@uEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 473.90 m.Bj˶;Jj˶; ProNav: ac range: 473.899994 m, nav range: 124.647232 m, bearing: 13.856506 deg, approach rate: 0.006477 m/s, LOS rate: 0.319621 deg/s, cmd heading: 289.070244 deg, new cmd heading: 289.430531 deg. 2jZ[<EWill construct direction to contact in vehicle frame from tetrahedron phase data.MT****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.HeadingCmd: 5.051516 target range: 473.899994 and range: 473.90 m. j@jjjihhhhfffrf1bf=g?ɛ Bl1= HJ=I  #=ɚiIR=I\i%Zi%lzo)%@)IzK!K%9K!K%K%BK9:K9*F2F:FBFe0JF m$?Iq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974639G! G B Jm Jm Ji Ji Jm :Jm A:Ji Ji O >Lw,;nAHr'>Ip IrH&IIr1BIr* =&Ip.Ip6Ir><:Ir Fy] B]&IMb@Mb@Mb@ )Y~jt?~jt rhy$?ļCA h@)AIyzAIUIU4٢e{S= e7=9mQ m>iq uG٣uEGyu }> Nusing accuracyPremultiplier from configy49}ߛ?4Y} i}Y^B$?:O&@}4D};}m ;}IZ4 @ZjFNOT Ignoring new targets: 473.90 m.Bj;Jj; ProNav: ac range: 473.899994 m, nav range: 124.643570 m, bearing: 13.987030 deg, approach rate: -0.008289 m/s, LOS rate: 0.295457 deg/s, cmd heading: 289.430523 deg, new cmd heading: 289.822099 deg. 2jJ<HeadingCmd: 5.058350 target range: 473.899994 and range: 473.90 m. jޡ@jjjihhhhBfffrfbf 8@ɛ5B5!8= 15=I1 =#=ɚ9i9I= i Ii ww,jnA>|@Y>@>T/9>^M>y>H@2?@? ɿ@g? E?]?Y?ɨ>|@>;<RWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.477631yVBV&&Ii^>I^p<`bAIfIf)4٢n~'= rg=9r,tt vG٣tyvQL= z> Nusing accuracyPremultiplier from config|49~/ߛ? 4Y~ i~V^B   &@~;D~:~q:~}`4 a@ZjAEFNOT Ignoring new targets: 473.90 m.BjM{;JjM{;] ProNav: ac range: 473.899994 m, nav range: 124.637085 m, bearing: 14.092002 deg, approach rate: -0.018306 m/s, LOS rate: 0.296343 deg/s, cmd heading: 289.822111 deg, new cmd heading: 290.137042 deg. 2j]`KJK ?G 憽 i Iq G B O >w,InA:_@Y:͠@:9:TL>y:Hۯ?@?ȿ@q~?Vy ❐?W^?e\?ɨ:_@:;:&CyFBF/&IMb@Mb@Mb@ )Yx&1?Mb/$y!? A @)zAIAyII@4٢< *=9\;Q > G٣y< > Nusing accuracyPremultiplier from config49ߛ?4Y1 iO^B!?:^&@EDPa;`;h4B @E5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981713Zj9=FNOT Ignoring new targets: 473.90 m.BjEk;JjEk;U ProNav: ac range: 473.899994 m, nav range: 124.622704 m, bearing: 14.231634 deg, approach rate: -0.029787 m/s, LOS rate: 0.289245 deg/s, cmd heading: 290.137038 deg, new cmd heading: 290.555973 deg. 2jUF<]HeadingCmd: 5.071158 target range: 473.899994 and range: 473.90 m. j]F@jYjYjYiYhahahaheBfififirfqbfu\<@ɛB@<= 隝ض=I y$=ɚiI]Iq Iun&IIuPBIu+ =&Iq.Iq6Iuy<:IuD F*F?2F:FBFo0JFG!rGQBYOuy> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233513Ew,nA>@Y>-@>w9>%K>y>H?`?`ؖȿ _@?@I?zE?]?ɨ>@>r;>"Cy^!B^5&IIjIj4٢r|< vX=9vJ?;Q v>xx zG٣z EGyz-< ~> -Nusing accuracyPremultiplier from config549ߛ?54Y0 iJ^B9=uE&@MD;;o4Q U@QZjFNOT Ignoring new targets: 473.90 m.Bj;Jj; ProNav: ac range: 473.899994 m, nav range: 124.610260 m, bearing: 14.341068 deg, approach rate: -0.032411 m/s, LOS rate: 0.285064 deg/s, cmd heading: 290.555974 deg, new cmd heading: 290.884306 deg. 2jC<HeadingCmd: 5.076889 target range: 473.899994 and range: 473.90 m. ju@jjjihhhh I7hfffrfbf`߃ @ɛB*1?= =I C$=ɚiIw,oAzKK9KKKyu)Bu?&I)y y ==-Mb@Mb@Mb@))) )))Y- r?~jt/$y-#?-D)-A -@)-AI-A)y-(AI9I9٢U]< U=9UQ U>YY ]G٣Yye e> mNusing accuracyPremultiplier from configiu49mgߛ?u4Ym imB^Bu#?u:}}&@mXDm/;m';mx4 !@E $?IB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 473.90 m.Bj-R;Jj-R;U ProNav: ac range: 473.899994 m, nav range: 124.590843 m, bearing: 14.499596 deg, approach rate: -0.035614 m/s, LOS rate: 0.290816 deg/s, cmd heading: 290.884315 deg, new cmd heading: 291.359960 deg. 2jUG= Q]=IY ]XA%=ɚYiYI8  BDAT read: Tx time:21:44:27.8330  $Ping request sent. ybHo? ?%ȿ[&$?+ |{?U(?_?ɨb@b6;;`y +B B&II-I-{4٢; %=9 G٣!EGy}0= > Nusing accuracyPremultiplier from config49/ߛ?4Y i:^B  ߞ &@bD[l<kl<4 @ku:כ?k0: k k K"oA:kCBkCZkf@"UDc<.Ffa)S@ťa}@߁th(n?/ d?Jk?RkF̲*%?w:y I:@"ky}@7+!PSr?$/?"kHA*kKk$C*כ?kk5 2kDkkk5 kkBk[> addTargetRange:: Added new target pos. range: 473.100006 m, deltaT: 4.281380 s, deltaX: -0.799988 m, approachRate: -0.186853 m/s, rangeRepo size: 4  Added new target pos. range: 473.100006 m, bearing: 135.541570 deg, lat: 36.901153 deg, lon: -122.117685 deg, deltaT: 4.281380 s, deltaX: -0.799988 m, approachRate: -0.186853 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 473.10 m.Bj Jj = ProNav: ac range: 473.100006 m, nav range: 123.351402 m, bearing: 12.303494 deg, approach rate: 0.000000 m/s, LOS rate: 0.290816 deg/s, cmd heading: 291.359969 deg, new cmd heading: 291.810309 deg. 2j9EHeadingCmd: 5.093050 target range: 473.100006 and range: 473.10 m. jEE@jAjIjIiIhIhIhQhQfQfqfyrf}}@bf}c(?ɛBlL?= =I %=ɚiI)  EC G 5tA A  w,qVBoA"Will construct direction to contact in vehicle frame from tetrahedron phase data.Y]5tAyNBEؚ@YE@Eh#9E I>yEH{?~?ǿu?L㭿`^ā??Ob?ɨEؚ@E؏;E#Cyޅ%Bޅ:&IzKK9KKKRK?JK?Mb@Mb@Mb@ )Y"~j?{Gzy&1yS#?#`A @)IzAyQAIIi4٢ϼ %=9t;Q >9 EG٣AyE;< E> UNusing accuracyPremultiplier from configIU49M?U4YM iM.^B]#?]:]~}&@MlDM;Mp;MO4B @E IZjFNOT Ignoring new targets: 473.10 m.Bj;Jj; ProNav: ac range: 473.100006 m, nav range: 123.312553 m, bearing: 12.447827 deg, approach rate: -0.081836 m/s, LOS rate: 0.304138 deg/s, cmd heading: 291.810297 deg, new cmd heading: 292.243426 deg. 2jP<=HeadingCmd: 5.100610 target range: 473.100006 and range: 473.10 m. j=28@j9j9j9i9hAhAhAhAfIfIfIrfIbfUv?ɛB;= 8=I %T&=ɚ)i)I- I  I &II }BI &I .I 6I 8<:I  FBIJIRIZI* =bI* =jIM5G5 )wG5 ?G5 >G B O >Iw, ]oA2/@Y2@292TG>y2H ?w?ǿ@ ? ~?#?e?ɨ2/@2;2"CyV)BV?&II^~I^T_4٢fC< j=9j;Q j ?ll nG٣lyn9< r ? vNusing accuracyPremultiplier from configpz49r ?z4Yr ir&^Bxz ~&@rrDr ;r ;rڏ4 D@Zj1=FNOT Ignoring new targets: 473.10 m.Bj=;Jj=;M ProNav: ac range: 473.100006 m, nav range: 123.287163 m, bearing: 12.541117 deg, approach rate: -0.082187 m/s, LOS rate: 0.302032 deg/s, cmd heading: 292.243413 deg, new cmd heading: 292.523337 deg. 2jUHO<]HeadingCmd: 5.105495 target range: 473.100006 and range: 473.10 m. j]8`@jYjYjYiYhahahahafafifirfibfuf9?ɛBC= 隥=I 3&=ɚiIv I8h= Will construct direction to contact in vehicle frame from tetrahedron phase data.J J @A<w,YwoA20@Y2@@2[y92{9H>y2H@k?c?`ǿ ?p(`$v?W?c?ɨ20@2;2#CyV,BVB&IIbIbb4٢fn< jK=9j`;Q j>ll nG٣lyr:< r> vNusing accuracyPremultiplier from configtz49v1?z4Yv iv^Bxzz&@v{Dvn:vhH;v4 B @ EZj15FNOT Ignoring new targets: 473.10 m.Bj=U;Jj=U;M ProNav: ac range: 473.100006 m, nav range: 123.253548 m, bearing: 12.659555 deg, approach rate: -0.083515 m/s, LOS rate: 0.294334 deg/s, cmd heading: 292.523342 deg, new cmd heading: 292.878749 deg. 2jMIzKe BoHKe 9Ka Ke Ke   BKq :Ku pA I +$w,^oA2y2H?1P?`1tǿ =o? `j?(?@b?ɨ2 G٣"EGy/< >  Nusing accuracyPremultiplier from config 49 /?4Y Q i  ^B)?%:%Ğ%&@ D 3; 1; 4) 5K@9B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 473.10 m.Bj~;Jj~; ProNav: ac range: 473.100006 m, nav range: 123.221954 m, bearing: 12.794662 deg, approach rate: -0.070102 m/s, LOS rate: 0.299864 deg/s, cmd heading: 292.878757 deg, new cmd heading: 293.284174 deg. 2jM<HeadingCmd: 5.118774 target range: 473.100006 and range: 473.10 m. jͣ@jjjihhhhjBfffrfbf@4A?ɛB49= HI III+ =&I.I6I{<:ID F =I &=ɚ!iaImJ&y:Hc?#7?7ǿR`l?QZ d=-?@b?ɨ:o@:꓏;:$CyF%BF:&I R$?IPININ4٢ZR ^a=9b&`` fG٣dyf7< f> jNusing accuracyPremultiplier from confighn49j ?r4YjO  ij]Bprr&@jDj;j ;j4t vr@xZjFNOT Ignoring new targets: 473.10 m.BjE;JjE; ProNav: ac range: 473.100006 m, nav range: 123.194168 m, bearing: 12.906100 deg, approach rate: -0.078576 m/s, LOS rate: 0.315207 deg/s, cmd heading: 293.284170 deg, new cmd heading: 293.618557 deg. 2jRX<HeadingCmd: 5.124610 target range: 473.100006 and range: 473.10 m. j@jjjihhhhfffrfbf֞@ɛB 9= 隅=I &=ɚiI:JiJiJm& Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511830;w,,oA)@Y@@;9LH>yHy?@%?\ƿL? -@=h?c?ɨ)@;"Cy B4&IMb@Mb@Mb@ )Y/$? rhy&1?̼A )dAIAyII4٢¨ ,=9j;Q > G٣#EGy8g< > Nusing accuracyPremultiplier from config49*?4Yh i]B{1?:&@Df;;=4B @EZj1=FNOT Ignoring new targets: 473.10 m.Bj=J;Jj=J;M ProNav: ac range: 473.100006 m, nav range: 123.152206 m, bearing: 13.057327 deg, approach rate: -0.088412 m/s, LOS rate: 0.318740 deg/s, cmd heading: 293.618549 deg, new cmd heading: 294.072374 deg. 2jUZaw,woA>'@Y>&7@>f;9>`H>y>H 8?m?ƿX? !v ?c?ɨ>'@>V;>$CyJBJ,&IIRIR:4٢ZO# Zu=9Zp- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265583J J J J J [:J D:J J J +<J +<J *;J +;Gw,oA2sZ@Y2i@2=<92aF>y2H?,?Ckƿ@<I?д`IF4=IJIJ4٢n< rH=9r;Q v>tt vG٣tyzv< z> ~Nusing accuracyPremultiplier from config|49~:?4Y~ i~]B  뙿 &@~D~:~:~:4 @Zj9EFNOT Ignoring new targets: 473.10 m.BjE;JjE;U ProNav: ac range: 473.100006 m, nav range: 123.082664 m, bearing: 13.294525 deg, approach rate: -0.094888 m/s, LOS rate: 0.319461 deg/s, cmd heading: 294.391399 deg, new cmd heading: 294.784156 deg. 2j]>[/= 隭 i Iq zK} qkKK} 9Ky K} K} BK :K qA#tw,pAFȎ@YF@F#*<9FF>yFH?8?`V4ƿv+`?l KQ?`e?ɨFȎ@FK;FCyNBLnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.768850Mb@Mb@Mb@ )YQ?L7A`堿+y5?+A @)I@yAII4٢^: <=9;;Q > G٣yp< > Nusing accuracyPremultiplier from config49XC?4Y& i]B:6?:B&@D ;W;4 @EB*** querying acoustic contact ***jAjAZjFNOT Ignoring new targets: 473.10 m.Bj<;Jj<; ProNav: ac range: 473.100006 m, nav range: 123.041969 m, bearing: 13.436852 deg, approach rate: -0.089580 m/s, LOS rate: 0.313398 deg/s, cmd heading: 294.784162 deg, new cmd heading: 295.211275 deg. 2jW<HeadingCmd: 5.152409 target range: 473.100006 and range: 473.10 m. j@j j j ihhh!Hm&>Ii Im&IImnBIi&Ii.Ii6Im<:ImR Fh-BBfffrfbf@ɛBN-=   BDAT read: Tx time:21:44:31.9830 % $Ping request sent.% ] $?IY w w, ,pA綜@Y=ƣ@=J<9D>yH???ſf?@ G@i? i?ɨ綜@V;!CyuBu&&III4٢6 K=9;Q > G٣$EGyFG< > Nusing accuracyPremultiplier from config49L?4Y- i]B&@D7::4Y @kngi͛?km} k k$pA:kCBkFCZk.@"6xIcG@bYc(}@`*EĹ?Y}f?Jkڣ@Rk浿* LYV99@I9}@r$?N|?"kA*kdk:~͛?kK 2kDk〙ݛ?kK kDkAk?] addTargetRange:: Added new target pos. range: 471.799988 m, deltaT: 4.036015 s, deltaX: -1.300018 m, approachRate: -0.322104 m/s, rangeRepo size: 4  Added new target pos. range: 471.799988 m, bearing: 155.787311 deg, lat: 36.900004 deg, lon: -122.117721 deg, deltaT: 4.036015 s, deltaX: -1.300018 m, approachRate: -0.322104 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 471.80 m.BjJjWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:44:31.9822  ProNav: ac range: 471.799988 m, nav range: 26.963846 m, bearing: 107.693125 deg, approach rate: 0.000000 m/s, LOS rate: 0.313398 deg/s, cmd heading: 295.211267 deg, new cmd heading: 295.608882 deg. 2j-HeadingCmd: 5.159348 target range: 471.799988 and range: 471.80 m. j-b@j)j)j)i)h1h1h1h1fYfYfarfe|}@bfe2?ɛB:'= I d'=ɚiIRHw,YmFpAyލBލ+&I)  I:h-Mb@Mb@Mb@))) )))Y-zG?J +~jty- 7?-H--=A ))-AI))y)IEnIEB4٢U< U3=9UQ U>YY ]G٣Yye e> Nusing accuracyPremultiplier from config49U?4Y 6 i]B7?:v&@šDq ; ;4  K@EZj9=FNOT Ignoring new targets: 471.80 m.zKEBoHKEs9KAKEKEBjUy:JjUy:e ProNav: ac range: 471.799988 m, nav range: 27.301344 m, bearing: 107.721208 deg, approach rate: 0.779135 m/s, LOS rate: 0.064029 deg/s, cmd heading: 295.608893 deg, new cmd heading: 295.692100 deg. 2je/;mHeadingCmd: 5.160801 target range: 471.799988 and range: 471.80 m. jmH%@jijijqiqhqhqhyh}w,;:`pA2]@Y2@2Uz<92M D>y2HS?`:?tſG)?s'`oJ/Z?fi?ɨ2]@2J1;2"Cy>B>0&IIFIFK4٢N< R=9R Will construct direction to contact in vehicle frame from tetrahedron phase data.Je Je Ja Ja Je :Je <:Ja Ja Je #<Je #<Je ;Je ;w,nzpA6)@Y6*9@6Na<96uC>y6H? #?Qſ`X8 i?+`G?j?ɨ6)@6-;6$CyNBR,&IIV~IVT_4٢bZ bH=9fn;Q f>hh jG٣j%EGyj*7< n> rNusing accuracyPremultiplier from configpv49rd?v4YrB irU]Btzz&@rաDrP:r:rw4y 8@ZjFNOT Ignoring new targets: 471.80 m.BjY:JjY: ProNav: ac range: 471.799988 m, nav range: 27.806715 m, bearing: 107.774541 deg, approach rate: 0.676103 m/s, LOS rate: 0.072717 deg/s, cmd heading: 295.756207 deg, new cmd heading: 295.850594 deg. 2jG;HeadingCmd: 5.163567 target range: 471.799988 and range: 471.80 m. j;@jj j i h h hhfffrfbf@w?ɛEBE%= AMII U>e'=ɚYiYI]ob $?IzK BHK 59K K K $w,9pAjWill construct direction to contact in vehicle frame from tetrahedron phase data.yEBM3&Ii]=I]{>Mb@Mb@Mb@ )Y(\?J +Qyz4?A ~@)AIn@yAII 4٢%< -6=9-Q ->)1 5G٣y > Nusing accuracyPremultiplier from config49n?4YJ i=]B5?:&@ߡD;;4 @HI I&II_BI&I.I6I<:Ii FBIJIRIZI+ =bI+ =jI“4EB*** querying acoustic contact ***jAjAZjquFNOT Ignoring new targets: 471.80 m.Bjuϣ:Jj}ϣ: ProNav: ac range: 471.799988 m, nav range: 28.135431 m, bearing: 107.807503 deg, approach rate: 0.722534 m/s, LOS rate: 0.071607 deg/s, cmd heading: 295.850600 deg, new cmd heading: 295.948332 deg. 2jD; HeadingCmd: 5.165273 target range: 471.799988 and range: 471.80 m. j I@jjjihhhh>Bfffrf!bf%?ɛ BA&= 隕I c'=ɚiIt I 8*w,1ЭpA:@Y:@:<9:B>y:Hm?@?Ŀ ? '1?@pj?ɨ:@:{Ȍ;:!CyR%BR:&IIZIZ4٢b= bd=9fKdh jG٣hyj= j? vNusing accuracyPremultiplier from configl 49nu?4YnP in*]Bx&@nDn;n;n4%B %@%EZjAMFNOT Ignoring new targets: 471.80 m.BjMz:JjUz:e ProNav: ac range: 471.799988 m, nav range: 28.375813 m, bearing: 107.837145 deg, approach rate: 0.720341 m/s, LOS rate: 0.088073 deg/s, cmd heading: 295.948326 deg, new cmd heading: 296.036498 deg. 2jeq;mHeadingCmd: 5.166811 target range: 471.799988 and range: 471.80 m. jmV@jijijiiihqhqhqhyfyfyfyrfybf@ɛ"BR:)= 15;I1 59g'=ɚ1i9I=j9} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501758;1w,JpA QIU;hyu-B}D&IMb@Mb@Mb@ )Yd;O? ףp= Mby4?Q8A @)I+@yAI5I54٢= = =(=9EQ E>II MG٣M&EGyU U> ]Nusing accuracyPremultiplier from configYe49]?m4Y]X i]]BuI5?u:uu&@]D]vw;]]u;]4  @ZjFNOT Ignoring new targets: 471.80 m.Bj:Jj: ProNav: ac range: 471.799988 m, nav range: 28.718142 m, bearing: 107.882731 deg, approach rate: 0.709293 m/s, LOS rate: 0.093326 deg/s, cmd heading: 296.036491 deg, new cmd heading: 296.171617 deg. 2j;HeadingCmd: 5.169170 target range: 471.799988 and range: 471.80 m. ji@jjjihhhh7Bfffrfbfl@ɛ%%B%+= )-0J=J9J9J9J=:J9J9J9aM@aM@aM@aM@ZHRHH%>I III+ =&I.I6I<:Ix F7w, pAFC4@YFC@F<9F!A>yFH?=Y?@@Ŀv(?i_/?k?ɨFC4@F';DyR7BRP&I)T T XZ=I^I^Q4٢jBm= j}=9j  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257774J9 J= BA'>w,^pAF_@YFo@F* <9F'$@>yFH@^@?/I? mÿ@q? 仿r@? l?ɨF_@F;F"CyR3BRK&II^I^n4٢f fK=9f;Q j>hh jG٣hynCW< n> vNusing accuracyPremultiplier from configpv49r{?z4Yr`e ir\Bxztz&@rDr:rT:r4B @EZj15FNOT Ignoring new targets: 471.80 m.Bj= ;Jj= ;M ProNav: ac range: 471.799988 m, nav range: 29.228962 m, bearing: 107.971816 deg, approach rate: 0.700917 m/s, LOS rate: 0.123323 deg/s, cmd heading: 296.286803 deg, new cmd heading: 296.436482 deg. 2jME;UHeadingCmd: 5.173793 target range: 471.799988 and range: 471.80 m. jU@jQjQjYiYhYhYhYhafafafarfabfm@>6 @ɛ-)BUq,= QU0 IIQzK= BoIK= 9K9 K= K= BKI :KI Ew,7qABc@YB@B=9Bp^>>yBH? w;?bÿzE?L@\`?@n?ɨBc@B;B#CRWill construct direction to contact in vehicle frame from tetrahedron phase data.ZBDAT read: Rx Time:21:44:35.0142 bTRx dataTimestamp_ set to:1736372676.354723fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.766540yr@Bv\&IJCKC KCKCKC"KCJJJJJ:JA:JJmMb@Mb@Mb@iiHI I&IIdBI* =&I.I6Iy<:ID Fi i)iYm/$?{GzV-ym&1?m#mmA m@)mAImI@iymAII٢F= =9$[;Q > EG٣E'EGyM< M> UNusing accuracyPremultiplier from configQ]49UQ?]4YUn iU\B1?:.&@UDU$6Lw,/2qAB@YB@B =9B:>yBH?g2?#¿@:?w}@_-?@s?ɨB@B;@yJGBNd&IiR=IR=IVIVЬ4٢b"= b|=9f;Q f ?hh jG٣hyj(Y< n ? rNusing accuracyPremultiplier from configlr49nĥ?v4Yns in\Btvv&@nDn;n;n4~B ~{@~EZj!%FNOT Ignoring new targets: 471.80 m.Bj- ;Jj- ;E ProNav: ac range: 471.799988 m, nav range: 29.823580 m, bearing: 108.087479 deg, approach rate: 0.718339 m/s, LOS rate: 0.140465 deg/s, cmd heading: 296.652437 deg, new cmd heading: 296.779764 deg. 2jE;MHeadingCmd: 5.179784 target range: 471.799988 and range: 471.80 m. jM@jIjIjQiQhQhQhQhYfYfYfYrfYbfe 8@ɛ.Bn8= 隍C=I $'=ɚiI3L BDAT read: Tx time:21:44:36.1331 $Ping request sent. ]ڿYx"?)ZپIK6-iܽC@e:publishing transmit ping timeeFpublishing direction and range info9Qb1&?Y]?y )Ii )Ii4 ?S> ]ڿYx"?)IiE*F?2F :F BF 1JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:44:36.1323 G5 N $?I Sw,OqAFaÞ@YFҥ@F=9Fe6>yFH A?,?8¿`#?@RO y?@x?ɨFaÞ@F;DyVPBZo&IEMb@Mb@Mb@AAA A)AYEK7?Q롿{GzyE)?E\EףEA A)AIAAyEAIeIe4٢mq= u-=9u};Q u>yy }G٣yyl; > Nusing accuracyPremultiplier from config49?4YM{ i\B *?:풿&@ Dm<C<#4%B %@-EzK5K59K1K5K5RKE?JKE>k›?k  k k6qA:kCBkzCZkĵB@"P`uPK@h }@Qb1&?Y]?JkܽC@Rk*cuVpkp*"@|m|@C@ȿbǓ? b?"kSA*knk›?k 2k5Dk$C*כ?kkk"Bk'@ addTargetRange:: Added new target pos. range: 470.200012 m, deltaT: 4.284400 s, deltaX: -1.599976 m, approachRate: -0.373442 m/s, rangeRepo size: 4  Added new target pos. range: 470.200012 m, bearing: 174.313472 deg, lat: 36.899828 deg, lon: -122.117721 deg, deltaT: 4.284400 s, deltaX: -1.599976 m, approachRate: -0.373442 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 470.20 m.BjJj% ProNav: ac range: 470.200012 m, nav range: 40.703762 m, bearing: 135.291170 deg, approach rate: 0.000000 m/s, LOS rate: 0.140465 deg/s, cmd heading: 296.779752 deg, new cmd heading: 296.991041 deg. 2j!-HeadingCmd: 5.183472 target range: 470.200012 and range: 470.20 m. j-ߥ@j)j)j1i1h1h9h9h=tBf9fAfArfE@3c}@bfE?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛU2BU6= Y]o=Ia ((=ɚiIIy I}&II}sBIy&Iy.Iy6I}<:I} FE a5<E Will construct direction to contact in vehicle frame from tetrahedron phase data.*F] ?2FY :Fa BFe o0JFa QIQGePGm?Gm>G9BIOe ?[w,qqA6 ƞ@Y6vե@6=96.>y6H?BF? ھ@#P? ޼ ?n?ɨ6 ƞ@6];6!CyB\BB~&IHJAAININ4٢V>= V =9Z):Q Z> G٣(EGy (:  > Nusing accuracyPremultiplier from config %49 ?%4Y  i |\B!%%&@ +D 8; 5; >!41 =@9ZjaeFNOT Ignoring new targets: 470.20 m.Bjm@ǻJjm@ǻ} ProNav: ac range: 470.200012 m, nav range: 41.026070 m, bearing: 135.117635 deg, approach rate: 0.652208 m/s, LOS rate: -0.348398 deg/s, cmd heading: 296.991050 deg, new cmd heading: 296.474551 deg. 2j}oHeadingCmd: 5.174457 target range: 470.200012 and range: 470.20 m. j'@jjjihhhhfffrfbfC?ɛ5B<= h=I r(=ɚiIbw,qA tIt֞@YL@)=9r>yHj?@B?{o?u. E??ɨ֞@A;"Cy bB&IMb@Mb@Mb@ )Yw/?~jt/$y&?=A @)AI+@yAIIv}4٢%}< %(=9%_m;Q ->)) -G٣)y5; 5> ENusing accuracyPremultiplier from config9E49=?E4Y= i=d\BM'?M:MM&@=5D=;=;=)4Y ]@YZjFNOT Ignoring new targets: 470.20 m.BjuJju ProNav: ac range: 470.200012 m, nav range: 41.319317 m, bearing: 134.974093 deg, approach rate: 0.609657 m/s, LOS rate: -0.296303 deg/s, cmd heading: 296.474552 deg, new cmd heading: 296.046991 deg. 2jYKHeadingCmd: 5.166995 target range: 470.200012 and range: 470.20 m. jX@jjjihhhhBfffrfbf@R?zK BoHK 9K K K BK:KpAɛ-8B->= )5=I1 5(=ɚ1i1I5(rhw,xqA6@Y6I@6 =96l>y6H{8?@9?3q@?t@A?[?ɨ6@6v;6 CyBlBB&IIJIJ4٢V2p= V=9V>;Q Z ?XX ZG٣Xy^A< ^ ? bNusing accuracyPremultiplier from config`f49b?f4Yb ibT\Bhjdj&@b;Dbn:b:b-/4Will construct direction to contact in vehicle frame from tetrahedron phase data.Y }@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 470.20 m.BjUJjU  ProNav: ac range: 470.200012 m, nav range: 41.515854 m, bearing: 134.879872 deg, approach rate: 0.587558 m/s, LOS rate: -0.280347 deg/s, cmd heading: 296.046982 deg, new cmd heading: 295.765658 deg. 2jf@=HeadingCmd: 5.162085 target range: 470.200012 and range: 470.20 m. j=/@jAjAjAiAhIhIhIhQfffrfbf`*?ɛ;BqE= =I )=ɚ!i!I%!; ow,msqA)4 8fGrvA| - Y-vAy- B% @Y%j@%B(=9%4>y%Hr? +?@&@ya`O?u aO?:?ɨ% @%5;%$CyMkBM&IiU=IU=IeIe̍4٢mJ u>=9u;Q u>yy }G٣})EGyS< > Nusing accuracyPremultiplier from config49?4Y i>\B&@DD ;K ;64 9@EZjIMFNOT Ignoring new targets: 470.20 m.Bj]@Jj]@m ProNav: ac range: 470.200012 m, nav range: 41.780174 m, bearing: 134.756277 deg, approach rate: 0.621873 m/s, LOS rate: -0.288945 deg/s, cmd heading: 295.765660 deg, new cmd heading: 295.397226 deg. 2jmLFmHeadingCmd: 5.155654 target range: 470.200012 and range: 470.20 m. ju@jqjjihhhhfffrfbf`"@ɛ>BCjB= 0=I X)=ɚiIzK K 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=2.489666j vw,!VqAN5@YNE@N01=9NZ>yNH@,?`t?_c@N@O ?@ȻB! >s??ɨN5@N7;N"CyjjBj&IH)I) I-&II-BI)&I).I)6I-<:I-_ FBIJIRIZI* =bIjI4Mb@Mb@Mb@ )Y)\(?Q rhyG!?uCA @)3AI@yAIIƕ4٢v A=9ߡ;Q >   G٣ y @<  > Nusing accuracyPremultiplier from config49?%4YȜ i*\B%b!?%:%%&@MD;;>41 5<@1ZjFNOT Ignoring new targets: 470.20 m.Bj%,Jj%,U ProNav: ac range: 470.200012 m, nav range: 42.032795 m, bearing: 134.643315 deg, approach rate: 0.586839 m/s, LOS rate: -0.260832 deg/s, cmd heading: 295.397212 deg, new cmd heading: 295.060369 deg. 2j]3]HeadingCmd: 5.149775 target range: 470.200012 and range: 470.20 m. j]ʤ@jajajaiahahahhBfffrfbf@SO@ɛEABM0?= IM=II M:)=ɚIiIIUd4|w,3qA:]@Y:,m@:3y:=9:>y:H`,?\? B :@BH?MC??ɨ:]@:ח;:$CyFlBF&IININ@4٢VF< Vb=9Z;Q Z>X\ ^G٣\yb]< b> fNusing accuracyPremultiplier from configdj49f?j4Yf if\Bhjn&@fTDfj<;f<;f_D4t v@tZjFNOT Ignoring new targets: 470.20 m.Bj%НJj%Н5 ProNav: ac range: 470.200012 m, nav range: 42.249119 m, bearing: 134.549311 deg, approach rate: 0.638274 m/s, LOS rate: -0.275945 deg/s, cmd heading: 295.060375 deg, new cmd heading: 294.779807 deg. 2j5`==HeadingCmd: 5.144878 target range: 470.200012 and range: 470.20 m. j=آ@j9j9j9i9hAhAhAhAfIfIfIrfIbfM@ɛ}DB}hC= y}h=Iy )=ɚiIG!B)OE0>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2462825w,W rA \I`E@YES@ED=9E>yEHAD?? ަO'?0`,?Ö?ɨE@E̕;E"CyUoBU&I)Y ]A e=ep=Mb@Mb@Mb@ )Y$C?{Gz rhy?#A @)IAI@yAII٢ee< e&=9eC;Q m>qq uG٣u*EGy}< }> Nusing accuracyPremultiplier from config49 ?4Y i\B1?:{&@]D(;a';L4B @EZjFNOT Ignoring new targets: 470.20 m.BjJj ProNav: ac range: 470.200012 m, nav range: 42.532269 m, bearing: 134.432833 deg, approach rate: 0.575908 m/s, LOS rate: -0.235330 deg/s, cmd heading: 294.779818 deg, new cmd heading: 294.432716 deg. 2j!HeadingCmd: 5.138820 target range: 470.200012 and range: 470.20 m. j7q@jjjihhhhBfffrf bf @ @ɛ5HB5a== 1=L=I9 =&*=ɚ9i9I=I) I-&II-BI-+ =&I).I)6I-<:I-l FGE |<G B) OE >Fw,&rAnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.749776y޵eB޽&IIIƕ4٢ P  c=9Q > G٣!y% %> 5Nusing accuracyPremultiplier from config1=495?=4Y5 i5[BAAE'@5dD5q:5:5NS4U,B ]p@YuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 470.20 m.BjJj ProNav: ac range: 470.200012 m, nav range: 42.740143 m, bearing: 134.348349 deg, approach rate: 0.572907 m/s, LOS rate: -0.231707 deg/s, cmd heading: 294.432707 deg, new cmd heading: 294.180490 deg. 2jHeadingCmd: 5.134418 target range: 470.200012 and range: 470.20 m. j%'M@j!j!j!i!h!h!hIhQfQfYfYrfYbf]@ $?IɛKB8= 隍pR=I  S*=ɚiI 5 BDAT read: Tx time:21:44:40.2831 = $Ping request sent.= 9ؕ:hǿP#*,St?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑە$=z?4 ^ؿɸ~C?)ۑIۑiۑۑۑۑJ J J J J :J ?:J J J X-<J Y-<J ;J ;K-w,@rAy~^B~&II I 4٢eE mU=9iQ m>qq uG٣qyy > Nusing accuracyPremultiplier from config49 ?4Y i[B'@lD::Z4 @EkjX?kC k k8rA:kfCBkCZk8=@": nUt "||@:hǿP#*,St?JkYBRk1d*6 Y62@>_ |@X(;M˿ùp?`MzK K 9K K K (73$&LnxkZE6(TQK  u{V<'!=_`P>/'#! Will construct direction to contact in vehicle frame from tetrahedron phase data.\Ww,ݘZrA6z@Y6Х@6]=96s>y6H``??``?gܱ ?^?ɨ6z@6Z*;6!CyBXBBy&IiNIl In&IInBIn* =&Il.Il6In<:Inx FMb@Mb@Mb@ )YZd;O?~jtyj?ļA )AI@yAI|I[4٢ D=9qo G٣+EGy; > Nusing accuracyPremultiplier from config49?4YN i[Bu?u:u󈿑u'@tD<̕<>a4}+B 0@EZjFNOT Ignoring new targets: 468.80 m.BjJj5 ProNav: ac range: 468.799988 m, nav range: 67.081139 m, bearing: 152.486136 deg, approach rate: 0.506651 m/s, LOS rate: -0.289777 deg/s, cmd heading: 293.896947 deg, new cmd heading: 293.541917 deg. 2j5F=HeadingCmd: 5.123273 target range: 468.799988 and range: 468.80 m. j=@j9j9j9iAhAhAhAhMBfIfifirfqbfu@z?ɛQBc".= 隽`S $?I >h{w,strA2l@Y2{@2R_=92>y2H`?_? xk0I}?@櫿@f? 1?ɨ2l@2ǎ;2$CyBRBFq&IININ4٢V  V_=9V:Q Z>XX ZG٣Xy^d ^> fNusing accuracyPremultiplier from config`f49b?j4Yb| ib[Bhjj'@b{Db:b:bg4l r@pZj15FNOT Ignoring new targets: 468.80 m.BjˬJjˬ ProNav: ac range: 468.799988 m, nav range: 67.266266 m, bearing: 152.379411 deg, approach rate: 0.525539 m/s, LOS rate: -0.302137 deg/s, cmd heading: 293.541914 deg, new cmd heading: 293.222624 deg. 2jZOHeadingCmd: 5.117700 target range: 468.799988 and range: 468.80 m. j3ģ@jjjihhhhfffrfbf?ɛMTBUWill construct direction to contact in vehicle frame from tetrahedron phase data.um(= y}Iy }1s*=ɚyiyI}:JJJL)<JL)<J˕;J˕;*FM?2FI:FIBFM`5JFIGm4=GI BQ Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.ikw,WrA I$y޵AB޵\&III{4٢5 =4=9EQ M>YY eG٣ayu }> Nusing accuracyPremultiplier from config49'?4Y i[B'@DX:X:o4 @ZjQ]FNOT Ignoring new targets: 468.80 m.Bj]۠Jje۠u ProNav: ac range: 468.799988 m, nav range: 67.500603 m, bearing: 152.245343 deg, approach rate: 0.493333 m/s, LOS rate: -0.281265 deg/s, cmd heading: 293.222617 deg, new cmd heading: 292.821815 deg. 2juA}HeadingCmd: 5.110705 target range: 468.799988 and range: 468.80 m. j}劣@jyjyjyiyhhhhfffrfbf {=?ɛXB5H= 隽6I )I*=ɚiI>I I&IIBI&I.I6Iʰ<:I FG1BIO]w>Yw,)rAF@YF@Fy=9FA=yFH_?V?C@]T?뺿5E??ɨF@bWill construct direction to contact in vehicle frame from tetrahedron phase data.FH;F#Cy-7B5P&I)A EAMb@Mb@Mb@ )Yrh|?:vS㥛y?T/ݼ A ;@)I3@y=AIIb4٢ L  M=9  G٣,EGy > %Nusing accuracyPremultiplier from config!-49%0?-4Y% i%z[B?:'@%D%<%<%v4*B /@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 468.80 m.Bj%jJj%j 9I=?hU ProNav: ac range: 468.799988 m, nav range: 67.691925 m, bearing: 152.128604 deg, approach rate: 0.483993 m/s, LOS rate: -0.294481 deg/s, cmd heading: 292.821821 deg, new cmd heading: 292.472600 deg. 2jUJ]HeadingCmd: 5.104610 target range: 468.799988 and range: 468.80 m. j]X@jYjYjYiYhYhahaheeBfafifrfbf˰?ɛ[B5= G;= I  *=ɚiI}zw,rAJ1@YJ@J*=9JU=yJH`o4?d?`b-fg?=d nt??ɨJ1@J~f;J!CyV*BV@&IIbIbV4٢j ja=9j^ll nG٣pyrh r> vNusing accuracyPremultiplier from configtz49v9?z4Yv iva[B|~`~'@vDvK ;v ;v|4 @ Zj1=FNOT Ignoring new targets: 468.80 m.Bj=ᵻJj=ᵻM ProNav: ac range: 468.799988 m, nav range: 67.870766 m, bearing: 152.019552 deg, approach rate: 0.522924 m/s, LOS rate: -0.318024 deg/s, cmd heading: 292.472607 deg, new cmd heading: 292.146317 deg. 2jMAZUHeadingCmd: 5.098915 target range: 468.799988 and range: 468.80 m. jUP*@jQjQjYiYhYhYhahafafafirfibfm@@ɛ5]BU = Q]tνIY ])=ɚYiYI]UO=G! B) OM >zK} MK} +9Ky K} K}  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500056RK ?JK ?w,rAH4I4 I6&II6}BI6) =&I4.I46I6|<:I6J Fb՞@Yb@bh =9bѮ=ybH?r?eoс?@Z仿@}@=8?N?ɨb՞@b|F;`yjBj-&I%Mb@Mb@Mb@!!! !)!Y% r?y&1ˡEy%#?%`弹%'% A %Q@)%`AI%@!y%AI=I=4٢Mm M5=9MC QQ UG٣Yy]K ]> eNusing accuracyPremultiplier from configam49e5C?m4Ye ie8[Bu$?u:ugu'@eDe;e;eф4y }@EZjFNOT Ignoring new targets: 468.80 m.BjxJjx ProNav: ac range: 468.799988 m, nav range: 68.099922 m, bearing: 151.873849 deg, approach rate: 0.503488 m/s, LOS rate: -0.319052 deg/s, cmd heading: 292.146315 deg, new cmd heading: 291.710685 deg. 2jZHeadingCmd: 5.091312 target range: 468.799988 and range: 468.80 m. j@jjjihhhh>Bfffrfbfh)@ɛ-aB- = )- I) 5VF)=ɚ1i1I5BѼw,rA:@Y:ֿ@:=9:đ=y:HE? ?ȭ@~5D?_չ??ɨ:@:H;8yBBB&IiF8>IFC=ININ4٢Vڽ Vi=9VN!XX ZG٣Z-EGy^S ^> bNusing accuracyPremultiplier from config`f49b K?j4Yb ib[Bhnn'@bDbQ;bNR;b4p r#@pZj FNOT Ignoring new targets: 468.80 m.Bj6Jj6- ProNav: ac range: 468.799988 m, nav range: 68.277512 m, bearing: 151.760643 deg, approach rate: 0.509356 m/s, LOS rate: -0.323848 deg/s, cmd heading: 291.710686 deg, new cmd heading: 291.371956 deg. 2j-A^5HeadingCmd: 5.085400 target range: 468.799988 and range: 468.80 m. j5@j1j1j1i1h9h9h9h9fAfAfArfAbfEo@ɛ}cB}< y}7Iy o(=ɚiI͢w,sAuE{@Yu@u讘=9un=yuH`? ?@T =@?@!V@{?@?ɨuE{@uĐ;u"CyB&I-monly read 0 of 1 data item for altitude. Device response is::BD, -25.12, +1047.59, -10.2  m@m m@u u@u  u@u I}I}V4٢4 =9;Q > G٣yN > bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49YV?4Y iZB+::咿'@DD\;??4(B @EZjFNOT Ignoring new targets: 468.80 m.Bj Jj  ProNav: ac range: 468.799988 m, nav range: 68.537125 m, bearing: 151.594204 deg, approach rate: 0.504088 m/s, LOS rate: -0.321949 deg/s, cmd heading: 291.371963 deg, new cmd heading: 290.874550 deg. 2j \HeadingCmd: 5.076719 target range: 468.799988 and range: 468.80 m. j{t@jjjihhh!h!f!f!f!rf)bf-`T @ɛ]fB]Q< aeL:J9J9J=*m Will construct direction to contact in vehicle frame from tetrahedron phase data.} BDAT read: Rx Time:21:44:43.3105 } TRx dataTimestamp_ set to:1736372684.669400 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760902?w,"*sAE@YT@^=9..=yHW? ?LP`m?J&)?@?ɨE@\; C IyB%III4٢! Q=9;Q > G٣yw >  bBottom track data is 0.9 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config49^?4Y iZB :Y:Ó'@D=;h?4! %R@!EB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 468.80 m.Bj]bJj]bu ProNav: ac range: 468.799988 m, nav range: 68.733032 m, bearing: 151.467922 deg, approach rate: 0.501586 m/s, LOS rate: -0.322402 deg/s, cmd heading: 290.874561 deg, new cmd heading: 290.496800 deg. 2juB]}HeadingCmd: 5.070126 target range: 468.799988 and range: 468.80 m. j}x>@jyjyjyiyhyhhhfffrfbf2@ɛiBwN< 隽…I  '=ɚiIL@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012272*F ?2F! :F! BF- `0JF) GQ  GQ G- yy=G5 ?G5 ?G B!OM>F'w,5IsAzWill construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 21:44:43.3105 LVL= 13296, 25825, 18210, 30547, AGC= 66, IDX= 427,-0.42, 1.960, 0.048, 0.296, 0.856, PHS= 1.191,-0.761,-0.564, RAW= 95.3, 1.5, CAL= 104.1, -1.6, ROT= 45.9, 1.6 -Ygot valid direction response: 21:44:43.3105 LVL= 13296, 25825, 18210, 30547, AGC= 66, IDX= 427,-0.42, 1.960, 0.048, 0.296, 0.856, PHS= 1.191,-0.761,-0.564, RAW= 95.3, 1.5, CAL= 104.1, -1.6, ROT= 45.9, 1.6 5PDAT read: Bearing 45.9, 1.6 (Local) =~Local bearing/azimuth received: Bearing 45.9, 1.6 (Local) MDAT read: Range 10 to 50 : 467.4 m (Round-trip 623.3 ms) speed 0.4 m/s U,DAT read: user:2026> UBDAT read: Tx time:21:44:44.4331 ]$Ping request sent.]aa G٣.EGy  $?I > bBottom track data is 1.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 49h? 4Y iZB 9  0: '@D;6?4 @Ekz{ӛ?kz+@ kx kzJsA:kzCBkzCZkzvD@"zxVfLLKf @A<6|@zӆԫcF?HNs?JkzX?@Rkz\*zXJ5oD`s<-@/\}@z*GJQCz?4?"kz=@*kz$kzӛ?kzD 2kz?Dkxkz kz?DkzBkz3@% addTargetRange:: Added new target pos. range: 467.399994 m, deltaT: 4.283686 s, deltaX: -1.399994 m, approachRate: -0.326820 m/s, rangeRepo size: 4 u Added new target pos. range: 467.399994 m, bearing: 175.882875 deg, lat: 36.899564 deg, lon: -122.117857 deg, deltaT: 4.283686 s, deltaX: -1.399994 m, approachRate: -0.326820 m/s, posRepo size: 4 Zjq}FNOT Ignoring new targets: 467.40 m.Bj}Jjy ProNav: ac range: 467.399994 m, nav range: 64.060028 m, bearing: 160.821045 deg, approach rate: 0.000000 m/s, LOS rate: -0.322402 deg/s, cmd heading: 290.496797 deg, new cmd heading: 289.954235 deg. 2jHeadingCmd: 5.060656 target range: 467.399994 and range: 467.40 m. j@jjjihhhh f f frf`f6}@bfS?ɛ]mBe_< 隍I %=ɚiII C I H&II 1BI ) =&I .I 6I <:I N FJ J J J J :J =:J J J '<J '<J ;J ;GM vpx=G!B)OE>LJw,MfsAŝ@YԤ@:1=9=yHi?@,?t@ Q?U? ?ɨŝ@n+;#Cy5ƆB5%IWill construct direction to contact in vehicle frame from tetrahedron phase data.        Mb@Mb@Mb@ )YI +?I +Mby94?94@ A @) AI@yAI I #4٢& &=9;Q %>II MG٣IyUa U> ]Nusing accuracyPremultiplier from configY49]ps?4Y]- i]bZBT:4?:1'@]ɢD];]g;]}4'B  @E I@hZj FNOT Ignoring new targets: 467.40 m.Bj!Jj! ProNav: ac range: 467.399994 m, nav range: 64.282661 m, bearing: 160.593727 deg, approach rate: 0.555719 m/s, LOS rate: -0.565447 deg/s, cmd heading: 289.954234 deg, new cmd heading: 289.274674 deg. 2j¼HeadingCmd: 5.048796 target range: 467.399994 and range: 467.40 m. j@jjjihhhhBfffrfbf~?ɛMoBML< Ut9=UIQ ]Ӛ$=ɚYiYI]N Will construct direction to contact in vehicle frame from tetrahedron phase data.,w,AsA:m@Y:Q}@:B=9:M+=y:H&y?`.?¥?lXuo-??ɨ:m@:;8yFBF%IININƕ4٢ZZҽ Z}=9ZSQ Z ?\\ ^G٣\ybo b ? fNusing accuracyPremultiplier from configdj49fbXw,(sA2J*@Y29@2覤=92N0=y2H? 5?㥿 !?Q`0j? ?ɨ2J*@2X;2"C>Will construct direction to contact in vehicle frame from tetrahedron phase data.yFBF%IiJa=IJ<%Mb@Mb@Mb@!!! !)!Y%\(\?I +y%:?%L%94%A %@)%AI%@!y%fAI=I=4٢E MA=9M6:Q M>QQ UG٣U/EGzKBHK+9KKKHI I&IIBI&I.I6I<:Ik FJJJJJK:JF:JJJr5<Jr5<J;J;y+ > %Nusing accuracyPremultiplier from config%49Ń?%4Y iZB-;?-:--'@ۢDU;;4Q U\@QZjFNOT Ignoring new targets: 467.40 m.Bj Jj  ProNav: ac range: 467.399994 m, nav range: 64.636909 m, bearing: 160.222812 deg, approach rate: 0.458875 m/s, LOS rate: -0.482966 deg/s, cmd heading: 288.825150 deg, new cmd heading: 288.165142 deg. 2jHeadingCmd: 5.029430 target range: 467.399994 and range: 467.40 m. j@jjjihhhhBff frfbf?ɛsBz< ¾I K"=ɚiI$w,rsA2@Y2i@25=92=y2Hov? S?썥 >?? ?ɨ2@2 ;2#Cy>BB%IIJIJP4٢R RV=9R9Q R>TT VG٣TyZ=ϼ Z> ^Nusing accuracyPremultiplier from config\b49^5?b4Y^  i^YB`ff'@^D^>;^`;^#4h j@hzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 467.40 m.Bj }Jj }% ProNav: ac range: 467.399994 m, nav range: 64.802872 m, bearing: 160.046039 deg, approach rate: 0.472314 m/s, LOS rate: -0.501793 deg/s, cmd heading: 288.165135 deg, new cmd heading: 287.636188 deg. 2j%0-HeadingCmd: 5.020198 target range: 467.399994 and range: 467.40 m. j-w@j)j)j)i)h)h1h1h1f1f9f9rf9bfE?ɛuB< ɾI ,!=ɚiI6;w,sAB@YB泣@B]=9Bt"=yBH?k?YU`1? 3崿-m? t?ɨB@B;B"CyRBR%IIZIZD4٢b b<=9f6;Q f>dd jG٣hyj, j> rNusing accuracyPremultiplier from configlr49n?v4Yn inYBtvv'@nDn:n:n4&B @ EZjIMFNOT Ignoring new targets: 467.40 m.BjU~ JjU~ e ProNav: ac range: 467.399994 m, nav range: 65.003036 m, bearing: 159.831737 deg, approach rate: 0.457042 m/s, LOS rate: -0.487813 deg/s, cmd heading: 287.636177 deg, new cmd heading: 286.995281 deg. 2jedmHeadingCmd: 5.009013 target range: 467.399994 and range: 467.40 m. jmI@jijijiiqhqhqhqhyfyfyfyrfybf8@ɛ]xB* O< 隽oоI ۜ=ɚ!i!I%;Z=)eI@)iE}Q9=EEqAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255523zKKK9KKKZHRH@AH->I I%IIBI&I.I6I\<:I5 F*F 2F :F BF o0JF GqA GqAJK KKK"KJUJUJQJQJU:JUY:JQJQJU*<JU*<JU;JU;G5 9=G9 G= ?G B1 Om >w,sAWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507673y99)A AMb@Mb@Mb@ )YZd;?&1+y>?P A @) AI@yAII4٢1* 7=9Q > G٣0EGy > Nusing accuracyPremultiplier from config 49 N?4Y " i YB??:'@ D ; ; 4! -@) yI}AhZj)-FNOT Ignoring new targets: 467.40 m.Bj5Jj5E ProNav: ac range: 467.399994 m, nav range: 65.214424 m, bearing: 159.607667 deg, approach rate: 0.450373 m/s, LOS rate: -0.475845 deg/s, cmd heading: 286.995287 deg, new cmd heading: 286.325288 deg. 2jEHHeadingCmd: 4.997319 target range: 467.399994 and range: 467.40 m. j @jjjihhhhBfffrfbf@[@ɛ%zB-B 4< )-4ӾI) -u"=ɚ)i1I5Ea)w,tAB@YB *@B=9B=yBH ?ਠ?/ڤ? #V ?@?ɨB@B>;@yNBN%IIVIV4٢^Y ^9=9b:Q b>`` fG٣dyfA f> vNusing accuracyPremultiplier from configl49n ? 4YnR% inYYBڟ'@nDn} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263379H] .>IY  I] %II] цBI] ( =&IY .IY 6I] <:I] ] FzK BoJK +9K K K  &@VfzBK :K J J J 1J J {:J QN:J 3J J .<J .<J :;J :;t;w,M"tA> Л@Y>`ߢ@>=9>i==y>H`??&c@,&? Hh2?E?ɨ> Л@> ;>$CyfBf%IMb@Mb@Mb@ )Y+?Mby&1yv>?@` A @) AI@y\AII4٢-J= -6=95EoQ 5>99 =G٣9y= => MNusing accuracyPremultiplier from configAM49EĮ?U4YE- iE/YBU>?U:UU'@E DE;E_;E4a ei@aZjFNOT Ignoring new targets: 467.40 m.BjJj ProNav: ac range: 467.399994 m, nav range: 65.628998 m, bearing: 159.157964 deg, approach rate: 0.471269 m/s, LOS rate: -0.509363 deg/s, cmd heading: 285.656953 deg, new cmd heading: 284.980516 deg. 2jɮHeadingCmd: 4.973848 target range: 467.399994 and range: 467.40 m. j)@jjjihhhhBfffrfbf @ɛ~B%hBC< IMξII U8)=ɚQiYI]ew,cIE<IUIUm4٢em eX=9eQ e>ii mG٣m1EGyuF u> }Nusing accuracyPremultiplier from configy49}?4Y}4 i} YB٢'@}D}:}:}4$B @~EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 467.40 m.)%= %;CBjrJjmr~~G YyB ProNav: ac range: 467.399994 m, nav range: 65.801491 m, bearing: 158.965760 deg, approach rate: 0.454534 m/s, LOS rate: -0.505145 deg/s, cmd heading: 284.980518 deg, new cmd heading: 284.405439 deg. 2jV%HeadingCmd: 4.963811 target range: 467.399994 and range: 467.40 m. j%מ@j!j!j!i)h)hIhQhQfQfQfQrfYbf]` @ɛB4 < 隽gӾI b=ɚiIa ]BDAT read: Tx time:21:44:48.5831 ]$Ping request sent.]?57ź߿1&g?)I;B{iW@Y- :publishing transmit ping timeY- Fpublishing direction and range info9VG.&⍺?Ż?y )Ii )Ii&T>?57ź߿1&g?)IiG =GA Ba O >wSw,VVtAyޅBލ%IEWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:21:44:48.5823 H0>I I%IIˆBI&I.I6D6I<:I} FBIÝCJIÝCRIZI) =bI) =jI)4Mb@Mb@Mb@ )Y7A`?V- G٣y > Nusing accuracyPremultiplier from config49R?4Y= iXB6?:'@"D;_;4 @zK,MKh9KKK ,2lcYQJA>;50-*('#    RK ?JK?k?k/$^ k k MtA:kCBkLCZk]~?"GK{(H@N|@VG.&⍺?Ż?JkW@RkY*]"#@RWb-@ }@R? j'8&?ɣ1?"kkA*kAk{?kP 2k4Dkk k4Dk~Bk6T8@ addTargetRange:: Added new target pos. range: 465.799988 m, deltaT: 4.032170 s, deltaX: -1.600006 m, approachRate: -0.396810 m/s, rangeRepo size: 4  Added new target pos. range: 465.799988 m, bearing: 56.930152 deg, lat: 36.899564 deg, lon: -122.117941 deg, deltaT: 4.032170 s, deltaX: -1.600006 m, approachRate: -0.396810 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 465.80 m.BjJj ProNav: ac range: 465.799988 m, nav range: 63.695709 m, bearing: 165.019862 deg, approach rate: 0.000000 m/s, LOS rate: -0.505145 deg/s, cmd heading: 284.405443 deg, new cmd heading: 283.601852 deg. 2jHeadingCmd: 4.949786 target range: 465.799988 and range: 465.80 m. jd@jjjihhh!h%"Bf!f!f!rf-}@bf-0?ɛBG< 隕7˾I K5=ɚiIBK=IԬiia=)d@)*Fu?2Fq:FyBF}42JFG =GY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. I ww,vptA2{@Y21@2֛=92=y2H`(?v2?o飿 @?nSC??ɨ2{@2.H;2$Cy>BB%IIJIJb4٢vd = v=9v+oQ v?xx  G٣ y-Z -? 5Nusing accuracyPremultiplier from config1]495[?]4Y5B i5XBY]e'@5(D5q;5;54i m@iZjFNOT Ignoring new targets: 465.80 m.Bj!Jj! ProNav: ac range: 465.799988 m, nav range: 63.804092 m, bearing: 164.864354 deg, approach rate: 0.394705 m/s, LOS rate: -0.565357 deg/s, cmd heading: 283.601858 deg, new cmd heading: 283.136139 deg. 2j5HeadingCmd: 4.941658 target range: 465.799988 and range: 465.80 m. j="@j9j9j9i9h9h9hAhAfAfAfIrfIbfM?ɛB(; 隥MǾI S=ɚiI=I+iiimA=)m"@)q*F!2F!:F!BF%_0JF)G-rA G-sAuWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJ0JJ :JmQ:Jـ3Ja@a@a@a@G j=G ?G ?G B O- >_"w,tA:-@Y:<@:ޗ=9:=y:H 5u?L?)@p:@1?i ^#?@?ɨ:-@:R;8yFBF%I)H HININ4٢V; VN=9ZQ Z>XX ZG٣^2EGy^ȼ b> fNusing accuracyPremultiplier from config`f49b?j4YbI ibXBhnOn'@b1Db!E;buE;bw4p v@tZj FNOT Ignoring new targets: 465.80 m.BjJj5 ProNav: ac range: 465.799988 m, nav range: 63.949722 m, bearing: 164.652780 deg, approach rate: 0.380367 m/s, LOS rate: -0.551347 deg/s, cmd heading: 283.136148 deg, new cmd heading: 282.502897 deg. 2j=1=HeadingCmd: 4.930606 target range: 465.799988 and range: 465.80 m. jEǝ@jAjAjAiAhAhAhIhIfIfIfQrfQbfU?ɛBx< 隍FȾI a%=ɚiI=IR!ii{=)ǝ@)Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I*F?2F:FBFg0JFG"=GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.Ս AiՍ AH 3>I  I %II цBI * =&I .I 6I <:I d FzK= EINK= 9K9 K= K=  "#$&*,/26BKI :KM mA(w,tA2ޙ@Y2@2=92=y2H?!d?8 0T`? ̶򍲿`ѩ?` ?ɨ2ޙ@2;2"CyVɆBV%IMb@Mb@Mb@ )Y&1? G٣y > Nusing accuracyPremultiplier from config49?4YQ iXB.1?:  '@;DN;;B4#B @|EZjAMFNOT Ignoring new targets: 465.80 m.Bj]Jj]u ProNav: ac range: 465.799988 m, nav range: 64.106628 m, bearing: 164.416371 deg, approach rate: 0.351138 m/s, LOS rate: -0.527759 deg/s, cmd heading: 282.502908 deg, new cmd heading: 281.795456 deg. 2jHeadingCmd: 4.918259 target range: 465.799988 and range: 465.80 m. j`b@jjjihhhh?Bfffrfbf|$?ɛBuF<  I  z=ɚiI=IiiAؔ=)`b@)Will construct direction to contact in vehicle frame from tetrahedron phase data. QIQ*Fm?2Fi:FiBFm`0JFiG G B O >s.w, tA"Will construct direction to contact in vehicle frame from tetrahedron phase data.y-̆B5%IIEIE4٢< R=9Q > G٣y >JJJJJ+:J5K:JJ Nusing accuracyPremultiplier from config49?4YX ivXB'@DD::"4Q Ug@YB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 465.80 m.BjJj ProNav: ac range: 465.799988 m, nav range: 64.245895 m, bearing: 164.208853 deg, approach rate: 0.338918 m/s, LOS rate: -0.503915 deg/s, cmd heading: 281.795464 deg, new cmd heading: 281.174286 deg. 2jꬼHeadingCmd: 4.907417 target range: 465.799988 and range: 465.80 m. j @jjjihhhhfffrfbf@â?ɛBh-<  I  v=ɚ i Iqu=I,ii =) @)*F?2F:FBFo0JF"G=G=Gex=G!B)OMR>Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode. YI]Ch5w,tAj@YOz@k=9މ=yH??:`w@Z?:xI>-?`?ɨj@;yʆB%Ii>I>Mb@Mb@Mb@ )Y?Mb{Gzyf&?# A QA)Iv@yAII4٢ 6=9Q > G٣3EGy >  Nusing accuracyPremultiplier from config 49 ?4Y _ i [XB&?:'@ MD Q; {; 4! %@!MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.259297ZjY]FNOT Ignoring new targets: 465.80 m.BjeJjeu ProNav: ac range: 465.799988 m, nav range: 64.392792 m, bearing: 163.986467 deg, approach rate: 0.341558 m/s, LOS rate: -0.515905 deg/s, cmd heading: 281.174299 deg, new cmd heading: 280.508693 deg. 2ju}HeadingCmd: 4.895800 target range: 465.799988 and range: 465.80 m. j}e@jyjyjihhhhnBfffrfbf`-B@H2>I I%IIBI' =&I.I6Iv<:IL FɛB8< .I 0=ɚiIZ=Iוiia=)e@)zK$MK+9KKK;:430//0.01143541.-*'%$$#"&$  " *F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511894G C8= A IA G B O5 >;w,/tAynֆBn%IIvIvV4٢E]= Mk=9MQ M?QQ UG٣Qy] ]? eNusing accuracyPremultiplier from configam49e?m4Yee ieFXBiiu'@eTDe;e);e 4 @ZjFNOT Ignoring new targets: 465.80 m.Bj Jj  ProNav: ac range: 465.799988 m, nav range: 64.507271 m, bearing: 163.814860 deg, approach rate: 0.331761 m/s, LOS rate: -0.496433 deg/s, cmd heading: 280.508684 deg, new cmd heading: 279.994793 deg. 2jYHeadingCmd: 4.886831 target range: 465.799988 and range: 465.80 m. j`@jjjihhhhfffrfbf]@ɛB2< 鲾I 7F=ɚiI=I%i!i%v=)-`@))*F2F:FBF2JFG&=GyBO<>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763017JJJJJ :J"I:JJBw, uA6@Y6@6^=96=y6H?@ ?s`5>?@ٱr??ɨ6@6y;6!CyR؆BR%IIZIZЬ4٢b< bT=9fQ f>dd jG٣hyj5" j> rNusing accuracyPremultiplier from configpv49r?v4Yr"l ir/XBxzvz'@r\Dr:rL:r4| @ZjFNOT Ignoring new targets: 465.80 m.BjnJjnWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015884 $?IDh  ProNav: ac range: 465.799988 m, nav range: 64.632652 m, bearing: 163.621986 deg, approach rate: 0.308475 m/s, LOS rate: -0.473606 deg/s, cmd heading: 279.994780 deg, new cmd heading: 279.417301 deg. 2j HeadingCmd: 4.876752 target range: 465.799988 and range: 465.80 m. j5Z@j1j1j1i9h9h9h9h9fAfAfArfAbfMU@ɛ Ba=< tI =ɚiI=Ii!i%퀦=)%Z@)!EUY>EU>*F2F:FBF3JFG GrAG- = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267514H 3>I  I %II BI &I .I 6I b<:I = FG B O5 >zK MK K K K Hw,$uA>5@Y>@>=9>&=y>H#?`?S.V?🵿L#? /?ɨ>5@>-;>#CyF׆BJ%I)L LMb@Mb@Mb@ )YV-?S㥛~jty|?/ݼD/ A ) AIyI5I534٢E E5=9MF Q M>Qq }G٣}4EGy}_ > Nusing accuracyPremultiplier from config49T?4Yls iXB?:'@eD;'<4 @ ~EZjFNOT Ignoring new targets: 465.80 m.BjJj ProNav: ac range: 465.799988 m, nav range: 64.775436 m, bearing: 163.403834 deg, approach rate: 0.308577 m/s, LOS rate: -0.470417 deg/s, cmd heading: 279.417302 deg, new cmd heading: 278.764319 deg. 2jMkMHeadingCmd: 4.865355 target range: 465.799988 and range: 465.80 m. jM@jQjQjQiQhQhQhYh]{BfYfYfarfabfeK @ IWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:21:44:51.6068 -TRx dataTimestamp_ set to:1736372692.7436835checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527789ɛBO< 隵ݴI =ɚiIi=Ix{ii=)@)*F2F:FBF0JFG = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774991G B O >:Ow,]?uAff@Yf+v@f'=9f5=yfH ?@?@@@m?`'BO@Ұ?@?ɨff@*J)"J-p=JeJeJaJaJe+:JeT:JaJafE;f!CyӆB%III\4٢ E=9 7Q  >  G٣y > -Nusing accuracyPremultiplier from config!-49%0?54Y%y i%WB15ʫ5'@%mD%:%L:%#4="B E@E{E]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 465.80 m.BjuJju ProNav: ac range: 465.799988 m, nav range: 64.901817 m, bearing: 163.208803 deg, approach rate: 0.328148 m/s, LOS rate: -0.505411 deg/s, cmd heading: 278.764308 deg, new cmd heading: 278.180375 deg. 2jmHeadingCmd: 4.855164 target range: 465.799988 and range: 465.80 m. j]@jjjihhhhfffrfbf#@ɛim; iuٹIq u =ɚqiqIp=IkɶiiL=)]@)*Fm?2Fi:FiBFmP5JFqGE2=G!B1OMt> aIiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027144cVw,YuAyԆB%IMb@Mb@Mb@ )Yv? ]BDAT read: Tx time:21:44:52.6832 ]$Ping request sent.] G٣y > Nusing accuracyPremultiplier from config49?4Y iWB? : '@vD,R;O;+4 @k^?k zK=aMK=h9K9K=K=  k k_uA:kLCBkCZk]?"`CR0\wV@cE|@L-` ĿvS?V ?Jko@Rkj[*fJH@-];VL@N-D{|@d fcź?D?4Y?"kdB*kWBBk^?kBS 2kzDkӛ?kk5Dk;Bk`.@ addTargetRange:: Added new target pos. range: 464.600006 m, deltaT: 4.292054 s, deltaX: -1.199982 m, approachRate: -0.279582 m/s, rangeRepo size: 4 - Added new target pos. range: 464.600006 m, bearing: 49.670091 deg, lat: 36.899737 deg, lon: -122.117941 deg, deltaT: 4.292054 s, deltaX: -1.199982 m, approachRate: -0.279582 m/s, posRepo size: 4 Zj)UFNOT Ignoring new targets: 464.60 m.Bj]JjYm ProNav: ac range: 464.600006 m, nav range: 46.956501 m, bearing: 156.110756 deg, approach rate: 0.000000 m/s, LOS rate: -0.505411 deg/s, cmd heading: 278.180382 deg, new cmd heading: 277.400798 deg. 2jimHeadingCmd: 4.841558 target range: 464.600006 and range: 464.60 m. ju @jjjihhhhBfffrf }@bf`/?ɛB%JD< )UIQ U =ɚYiYI]d=I}Biyi}=) @)E*F ?2F :F BF 1JF "G G = i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data.GI=G  ?G ?GBO>]w,xuA65ė@Y6Ӟ@6m=96ρ=y6H??7@W6?Ŋ .?v?ɨ65ė@6;6"Cyb̆Bb%Iiz11 =G٣=5EGy= K => ENusing accuracyPremultiplier from configAm49E)?m4YE iEWBquu'@E~DE;E;E24y }Y@yZjFNOT Ignoring new targets: 464.60 m.Bj:Jj: ProNav: ac range: 464.600006 m, nav range: 47.099022 m, bearing: 155.878027 deg, approach rate: 0.400682 m/s, LOS rate: -0.652311 deg/s, cmd heading: 277.400811 deg, new cmd heading: 276.704772 deg. 2j߼HeadingCmd: 4.829409 target range: 464.600006 and range: 464.60 m. jE@jAjAjAiIhIhIhIhIfQfQfYrfYbf]}?ɛB0&; ¾I  =ɚiI =IUii̸=)@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.}-G5tA*F2F:FBF4JFA Y5tAyBGu=GIBYO}Y> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.rdw,uA2X@Y2jg@2)|=92GZ=y2HL??)@ @L? `I?`?ɨ2X@2ڋ;2!CyBBB%IININs4٢~蹽 ~N=9IQ >  G٣ y   > Nusing accuracyPremultiplier from config49F?4Y- iWB!%[%'@D ;q ;94) -@)ZjYeFNOT Ignoring new targets: 464.60 m.Bje>)Jje>)u ProNav: ac range: 464.600006 m, nav range: 47.238159 m, bearing: 155.647015 deg, approach rate: 0.357523 m/s, LOS rate: -0.591852 deg/s, cmd heading: 276.704760 deg, new cmd heading: 276.013801 deg. 2j}˼}HeadingCmd: 4.817349 target range: 464.600006 and range: 464.60 m. j'@jjjihhhhfffrfbf??ɛBx^; վI p =ɚiIU =IiiV=)'@)*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.H9I=C I9I9I9&I9.I96I=<:I=z FBI)JI)RI)ZI-' =bI-( =jI-ƶ5G=JJJJJJG:JJJ2zKM LKM +9KI KM KM BKQ :KU pAkjw,|uAyB%I aIaMb@Mb@Mb@ )Y ףp= ?/$I +Will construct direction to contact in vehicle frame from tetrahedron phase data.yQ?9E A zA)\ AIAy3AII̍4٢   :=9Q >!) -G٣)y= => ]Nusing accuracyPremultiplier from configIe49M?e4YM iMWBe?e:e访m'@MDM[;Mr;MA4q uq@u}EZjFNOT Ignoring new targets: 464.60 m.Bj%Jj% ProNav: ac range: 464.600006 m, nav range: 47.393585 m, bearing: 155.389760 deg, approach rate: 0.349773 m/s, LOS rate: -0.577031 deg/s, cmd heading: 276.013791 deg, new cmd heading: 275.244606 deg. 2jƼHeadingCmd: 4.803925 target range: 464.600006 and range: 464.60 m. j@jjjihhhhwBfQfQfQrfQbfU?ɛyK; 隅I z=ɚiI =IkXiif[=)@)*F ?2F :F BF `0JF G GsAG =GG%PExceeded connect timeout, disconnecting.GBOb> Will construct direction to contact in vehicle frame from tetrahedron phase data.fqw,seuA2@Y2J̝@2r=92[=y2H?6??@.{X?Ʊ`.Z`ao??ɨ2@2B;2"CyNBN%I)P PIVIV4٢b bb=9b˻Q b>dd fG٣f6EGyjwX j> nNusing accuracyPremultiplier from configlr49n?r4Ynr inWBprTv'@nDn:n:nG4x z@xmB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 464.60 m.BjJj ProNav: ac range: 464.600006 m, nav range: 47.516010 m, bearing: 155.181286 deg, approach rate: 0.329035 m/s, LOS rate: -0.558859 deg/s, cmd heading: 275.244602 deg, new cmd heading: 274.620818 deg. 2jſHeadingCmd: 4.793037 target range: 464.600006 and range: 464.60 m. j`@jjjihhhhfffrf1bf5`?ɛ}B}8 y}1Iy =ɚiIle =I*iibƾ=)`@) IIMEh*FQ2FQ:FQBFQJFQWill 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.Gmk=GI BY O} >ww,9uA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002131:&y@Y:}@:1u=9:j V=y:HH?E?`£<R?R@K?)?ɨ:&y@:V;:$CH`I` Ib%IIbBI`&I`.I`6Ib+<:Ib FynBn%IJJJ1JJ:JD:J3JJ~9<J9<J*;J+;-Mb@Mb@Mb@))) )))Y-ףp= ?X9vy&1y-?--`- A -A)- AI-A)y-AIeIe4٢Ǽ 0=9 :Q > G٣y' > Nusing accuracyPremultiplier from config49 ?4Y ijWB?::'@Dz;r;P4 +@zKMk3IKM9KIKMKMRK]?JK]?ZjquFNOT Ignoring new targets: 464.60 m.Bj}0Jj}0 ProNav: ac range: 464.600006 m, nav range: 47.678825 m, bearing: 154.893850 deg, approach rate: 0.351410 m/s, LOS rate: -0.618261 deg/s, cmd heading: 274.620815 deg, new cmd heading: 273.761521 deg. 2j'ԼHeadingCmd: 4.778040 target range: 464.600006 and range: 464.60 m. j@jjjihhhhfBfffrfbf @ɛ15 15I9 ==ɚ9i9I=N =IUiYi]<=)]@)y*F?2F:F!BF!JF! =$?I9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254247GE =G9 BA Oe >  nManaging dock network, ignoring radio surface power off}w,uA6.+@Y6:@6u=96uQ=y6H x?U?0 L"#? 㶮%??ɨ6.+@6;4y>vB>c%IIFIF4٢N! Rq=9R9Q R?PT VG٣TyV V? ^Nusing accuracyPremultiplier from configXb49Z?b4YZZ iZTWB`fsf'@ZDZC;ZD;ZU4h j@lZj|FNOT Ignoring new targets: 464.60 m.Bjs5Jjs5 ProNav: ac range: 464.600006 m, nav range: 47.794556 m, bearing: 154.687805 deg, approach rate: 0.357274 m/s, LOS rate: -0.634545 deg/s, cmd heading: 273.761522 deg, new cmd heading: 273.144909 deg. 2jټHeadingCmd: 4.767278 target range: 464.600006 and range: 464.60 m. j%@j!j!j!i!h!h!h)h)f)f)f1rf1bf5`k@ɛae8? im# Ii m3=ɚiiiIm =Iu@ ¿iqiT=)@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.507538*F?2F:FBF0JF"GG=Gm0=Gm?Gm>G)B1OM1> ) I)  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758106w,vA6ە@Y6?@6'u=96I=y6H L?Xe?\@?`q./?U?ɨ6ە@6y܋;6"CyBdBBL%IiF%>IFp;IJIJ4٢f fG=9f6Q j>hh jG٣j7EGyn n> rNusing accuracyPremultiplier from configpv49r?v4Yr ir8WBxzz'@rDr.:r:r]4~ B ~@~zEZjFNOT Ignoring new targets: 464.60 m.Bj'Jj' ProNav: ac range: 464.600006 m, nav range: 47.934898 m, bearing: 154.435489 deg, approach rate: 0.327283 m/s, LOS rate: -0.586684 deg/s, cmd heading: 273.144920 deg, new cmd heading: 272.390233 deg. 2jQɼHeadingCmd: 4.754107 target range: 464.600006 and range: 464.60 m. j!@jjjihhhhfffrfbfG@ɛB Q]IY ]>=ɚYiYI]=Ie۸ÿiaie`m=)e!@)*F?2F!:F!BF-0JF)eWill construct direction to contact in vehicle frame from tetrahedron phase data.eAieAmchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.010805HI I%IIֆBI&I.I6Iz<:IP FJJJJJ:JmQ:JJJ4<J4<J;J;G `@=zK K 59K K K BK :K rAG B O% >w,!-vA2{@Y2U@2 r=92D=y2H? w?)`n|?  Zt?9?ɨ2{@2Ԋ;2!Cy:YB:?%I hIh-Mb@Mb@Mb@))) )))Y-RQ?Q~jty-"?---/ A )))I-zA)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262345y)II+4٢NA :=9xúQ > G٣yڼ > Nusing accuracyPremultiplier from config49?4Y0 iWB#?:ŷ'@DN;;d4  s@ {EZj1=FNOT Ignoring new targets: 464.60 m.Bj=<Jj=Eӑw,ߧGvA2. @Y2/@2p=92==y2H`j? -?pU !~@?@pϰ1? ?ɨ2. @2,;0y^CB^#%IIfIfx4٢n r\=9r Q r>tt zG٣xyz< z> Nusing accuracyPremultiplier from config|49~R? 4Y~[ i~VB  7 '@~D~:~ :~Gk4 @5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 464.60 m.BjM3JjM3] ProNav: ac range: 464.600006 m, nav range: 48.216331 m, bearing: 153.924140 deg, approach rate: 0.344327 m/s, LOS rate: -0.628026 deg/s, cmd heading: 271.564770 deg, new cmd heading: 270.860795 deg. 2j]׼eHeadingCmd: 4.727413 target range: 464.600006 and range: 464.60 m. jeF@jajajiiihqhqhhfffrfbfK @ɛ)- -^=-+'I1 U<ɚQiQIUU=I]#ǿiYi]=)eF@)a IFh*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=3.767119Gu=GGqAGa Bq O >fw,avAWill construct direction to contact in vehicle frame from tetrahedron phase data.H64>I4 I6%II6BI4&I4.I46I6C<:I6) F^DAT read: 21:44:55.7056 LVL= 13440, 24097, 14514, 24451, AGC= 68, IDX= 424, 0.22,-2.550, 2.319, 1.751, 2.826, PHS= 0.995,-0.460,-1.078, RAW= 73.1, 5.9, CAL= 76.0, 6.7, ROT= 74.0, -6.7 fYgot valid direction response: 21:44:55.7056 LVL= 13440, 24097, 14514, 24451, AGC= 68, IDX= 424, 0.22,-2.550, 2.319, 1.751, 2.826, PHS= 0.995,-0.460,-1.078, RAW= 73.1, 5.9, CAL= 76.0, 6.7, ROT= 74.0, -6.7 f8DAT read: $Error in header j*Received a bad header5X#Rx 1: Read direction message, but no range.=^direction in FSK: [-0.165948,0.388901,0.906211]9=ſvi?{u?4!^ 8)_IDiR~?뾩N?B= ɩ?J}J}J}0JyJ} :J}C:J}ـ3JyJ} 0<J} 0<J}E;J}E;)|=IMQ?i|h$?8S,;翹.w?)sQISԽiį?.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsey2B%I) UMb@Mb@Mb@QQQ Q)QYU!rh?X9vlyUl'?UUU AzKRIKh9KK K UA)UE AIUAQyUAI I4٢م  !=9 Q  > G٣8EGy] e> uNusing accuracyPremultiplier from configi49m?4Ym+ imVB'?:A'@mȣDmgw,}vA2ZR@Y2a@2CLk=92,0=y2Hn??@p?`@?@`de?`?ɨ2ZR@2S;0y>B>$IIJIJ14٢R| Rx=9R艻Q V?TT VG٣TyZ Z? ^Nusing accuracyPremultiplier from config\b49^?b4Y^ i^VBdff'@^ΣD^:^:^y4h jH@lZjy}FNOT Ignoring new targets: 464.60 m.Bj>9Jj>9 ProNav: ac range: 464.600006 m, nav range: 48.512096 m, bearing: 153.381874 deg, approach rate: 0.344978 m/s, LOS rate: -0.647807 deg/s, cmd heading: 269.862769 deg, new cmd heading: 269.239390 deg. 2jJ޼HeadingCmd: 4.699114 target range: 464.600006 and range: 464.60 m. j$_@jjjihhhhfffrfbf@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 隵:I h<ɚiI, =IʿJaJe@Aiiu=)u$_@)y*F=?2F9:F9BF=B5JF9G=GBOl> iIi Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsesw,vA2T@Y2@2bh=92 @&=y2HU?`Ƕ?`%ؠ``D?TtE?@?ɨ2T@2;0yb Bb$IIjIj4٢vɓ vG=9vQ v>xx zG٣xy~ ~>  Nusing accuracyPremultiplier from config 49r?4Y iVB;'@ףDj::4! %;@!ZjIMFNOT Ignoring new targets: 464.60 m.BjUAJjUAe ProNav: ac range: 464.600006 m, nav range: 48.652718 m, bearing: 153.112301 deg, approach rate: 0.354888 m/s, LOS rate: -0.678357 deg/s, cmd heading: 269.239391 deg, new cmd heading: 268.433066 deg. 2je輝mHeadingCmd: 4.685041 target range: 464.600006 and range: 464.60 m. jm@jijijiiihihqhqhqfyffrfbf@@ɛټ 隵BI o<ɚiI=I̿ii=)@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.HiIi Imt%IImBIi&Ii.Ii6Im<:Imk F=T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseE]89=*F2F:FBF_5JFzK K s9K K K  i Ii G =G ?G >G B  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,vAyB$Ii =I =Mb@Mb@Mb@ )Y(\?~jtQ롿y.?\/ A A) AIyAIIr4٢ )=9Q > G٣9EGy > Nusing accuracyPremultiplier from config49 ?4Y= irVB.?:X'@Ds;p;4 @}EZj!%FNOT Ignoring new targets: 464.60 m.Bj-=AJj-=A= ProNav: ac range: 464.600006 m, nav range: 48.822800 m, bearing: 152.784740 deg, approach rate: 0.352112 m/s, LOS rate: -0.675766 deg/s, cmd heading: 268.433073 deg, new cmd heading: 267.453915 deg. 2j=缝EHeadingCmd: 4.667952 target range: 464.600006 and range: 464.60 m. jE_@jAjAjAiAhIhIhIhMBfQfQfQrfQbfU @ɛB 隭EI <ɚiIE[=IUοiQiU6=)U_@)Y)= u~GvAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseA YvAyA*J"Ja=JcKk3 Kk.KcKc"KcJ J J J J K:J ,J:J J a @a @a @a @E A_`=*Fi 2Fi :Fi BFm 0JFi GE /=G) BA Oe >~w,LvA ,I.Ghk@Y“@^=9' =yH Z/?@?et ?B ث管? ?ɨk@;騽$CyB$IWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseII4٢   D=9 Q  > G٣ymӽ > %Nusing accuracyPremultiplier from config!-49%O!?-4Y% i%RVB15Ŀ5'@%D%+;%+;%ɐ49 =@A]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 464.60 m.BjuEJjuE ProNav: ac range: 464.600006 m, nav range: 48.960567 m, bearing: 152.496213 deg, approach rate: 0.331447 m/s, LOS rate: -0.692196 deg/s, cmd heading: 267.453925 deg, new cmd heading: 266.590846 deg. 2jHeadingCmd: 4.652888 target range: 464.600006 and range: 464.60 m. ju@jjjihhhhfffrfbf`EF@ɛ NI <ɚiIj=Iпiik=)u@)EE*E"E*F ?2F :FBFM5JF Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseH I  I B%II \BI &I .I 6I <:I FBImɞCJImɞCRIiZIibIm' =jImJ4G {=G B O >mw,svA6 @Y6@6Y=96=y6H m?`?@2 ?P<?Z?ɨ6 @6`=;6"CzK>k3IK>9K<K> K>RKF>JKF>y^B^$IMb@Mb@Mb@ )Y5^I ?~jtly8?D A )IyAII14 I٢q) 8=9C/Q > G٣y~ > Nusing accuracyPremultiplier from config49~!?4Y i/VB8?:/ȿ'@D;;4 t@ZjYeFNOT Ignoring new targets: 464.60 m.BjmPJjmP} ProNav: ac range: 464.600006 m, nav range: 49.111149 m, bearing: 152.166159 deg, approach rate: 0.333772 m/s, LOS rate: -0.729336 deg/s, cmd heading: 266.590835 deg, new cmd heading: 265.603812 deg. 2j}DHeadingCmd: 4.635661 target range: 464.600006 and range: 464.60 m. jVW@jjjihhhhʆBfffrf1bf5 +@}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 elapseɛBjVѼ @SI ,<ɚiI=I ҿi i =)VW@)*F?2F:FBF_0JFG}=GGrAG1BAOew>% 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'Fw,WwAJ J"J"1J J J"H:J"3J v@YvS@vhTT=9v G٣:EGy > Nusing accuracyPremultiplier from config49L!?4Y iVBʿ'@Dn:;4 4@ ZjIuFNOT Ignoring new targets: 464.60 m.BjuQJj}Q ProNav: ac range: 464.600006 m, nav range: 49.242542 m, bearing: 151.872194 deg, approach rate: 0.328805 m/s, LOS rate: -0.733665 deg/s, cmd heading: 265.603818 deg, new cmd heading: 264.724349 deg. 2jHeadingCmd: 4.620311 target range: 464.600006 and range: 464.60 m. jٓ@jjjihhhhfffrfbf`@ɛFo XI <ɚiI=IԿi)i-+v=)-ٓ@)) IHh*F?2F: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 7=G B O >rw,}<wAFU@YF*@FTM=9FjII IM%IIM3BII&II.II6IM<:IM~ F٢5 8=9{Q > G٣y > Nusing accuracyPremultiplier from config549 ?54Y iUB15˿=(@Dv;;K4A E@EEZjFNOT Ignoring new targets: 464.60 m.BjQJjQ ProNav: ac range: 464.600006 m, nav range: 49.387718 m, bearing: 151.541097 deg, approach rate: 0.322708 m/s, LOS rate: -0.733819 deg/s, cmd heading: 264.724335 deg, new cmd heading: 263.734069 deg. 2jHeadingCmd: 4.603028 target range: 464.600006 and range: 464.60 m. jL@jjjihhhh!f!f)f)rf)bf-@ɛ}B} 隥\I ^<ɚiI=Ii׿ii=)L@)*Fy2Fy:FyBF`0JFzKK+9KK KBKrA:K 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 0=Gy B O >Lw, 9wAVp@YVǹ@VF=9Vj G٣y  > Nusing accuracyPremultiplier from config 49 ?4Y  i UB7?:Ϳ%(@ D }; ; ˭4) -@)ZjYeFNOT Ignoring new targets: 464.60 m.Bje!YJje!Yu ProNav: ac range: 464.600006 m, nav range: 49.507099 m, bearing: 151.267145 deg, approach rate: 0.331694 m/s, LOS rate: -0.759323 deg/s, cmd heading: 263.734067 deg, new cmd heading: 262.914252 deg. 2juG}HeadingCmd: 4.588719 target range: 464.600006 and range: 464.60 m. j}֒@jyjjihhhhBfffrfbf`@ɛ=B=& 9=bI9 Ep<ɚAiAIE0=IMDؿiiimW=)u֒@)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 elapse*F?2F:FBFo0JFJeJeJaJaJek:JedP:JaJaGM =GU ?GU >?G! B1 OM > I w,)RwA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6T****** received valid address query ******6R****** received valid ping request ******6received new query, but waiting for acoustic response period to elapsey%хB-$Ii5YY ]G٣];EGye e> mNusing accuracyPremultiplier from configiu49mB?u4Ym+ imUBqy}(@mDm ;m~ ;m|4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 464.60 m.Bj2QJj2Q ProNav: ac range: 464.600006 m, nav range: 49.631100 m, bearing: 150.986664 deg, approach rate: 0.324239 m/s, LOS rate: -0.731570 deg/s, cmd heading: 262.914253 deg, new cmd heading: 262.074976 deg. 2j HeadingCmd: 4.574071 target range: 464.600006 and range: 464.60 m. j^@jjjihhhhfffrfbfr@ɛY] " Y]]Ia e%;<ɚaiaIe=I}?ڿiyi} =)}^@)*F?2F:FBF0JFH1I1 I5$II5BI5& =&I1.I16I5<:I5 FG}ea=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 >ew,lwA:+Ώ@Y:ݖ@:5=9:=y:H ua? ?f) ^H?TU1??ɨ:+Ώ@:&X;:CyF˅BJ$IzKNKNh9KLKN KNRKR ?JKR>-Mb@Mb@Mb@))) )))Y-`"?&1:vy-7? 9IA-P-Լ) -EA)-X AI-A)y-AIUIU4٢e&ܼ eI=9e0Q m>ii mG٣iyup u> }Nusing accuracyPremultiplier from configy49}?4Y} i}UBd8?:ѿ(@}"D};};}4 N@ZjFNOT Ignoring new targets: 464.60 m.BjVJjVU ProNav: ac range: 464.600006 m, nav range: 49.755817 m, bearing: 150.682216 deg, approach rate: 0.307490 m/s, LOS rate: -0.748729 deg/s, cmd heading: 262.074987 deg, new cmd heading: 261.164012 deg. 2jUv]HeadingCmd: 4.558172 target range: 464.600006 and range: 464.60 m. j]ܑ@jYjYjYiYhahahaheƆBfififirfqbf} @ɛ%BM IMD`II U<ɚQiQIU+8=I]>ܿiYi]=)]ܑ@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F2F:FBF0JFG=GBOa>} Will construct direction to contact in vehicle frame from tetrahedron phase data.} T****** received valid address query ******} R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse͔w,ܡwAJJJ0JJK:J[O:Jـ3JBGY@YBh@BC,=9B~v =yBHˈ?b'@@M؆ J??ɨBGY@B͉;B"CyXXIbIb49jȻQ j>ll nG٣lyr r> zNusing accuracyPremultiplier from configt~49v?]4Yv ivUBY]ӿ](@v+Dvg-w,ywAF@YF@Fi$=9Fb =yFH`B ?8@ =@Ӌ_?`?ɨF@F3;DyRӅBR$I)T TI^I^4٢-< 5<9EfQ M>Qa eG٣m Nusing accuracyPremultiplier from config4H6>I I$IIBI' =&I.I6I<:I FEWill construct direction to contact in vehicle frame from tetrahedron phase data.IiI]T****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse9:?4Y irUBRտ(@5D>=>=49 =@9ZjFNOT Ignoring new targets: 464.60 m.BjFJjF ProNav: ac range: 464.600006 m, nav range: 49.997238 m, bearing: 150.073993 deg, approach rate: 0.273608 m/s, LOS rate: -0.694227 deg/s, cmd heading: 260.298455 deg, new cmd heading: 259.343920 deg. 2j8 HeadingCmd: 4.526405 target range: 464.600006 and range: 464.60 m. j Pؐ@j jjihhhhfff!rf!bfm`O"@ɛBʞ y[I <ɚi)I-h=I5,i9i=j4=)=Pؐ@)zKK+9KKK I!*F%?2F!:F!BF%_1JF)Gq=GBO > 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,\wANr@YNh@N&=9N8=yNH {|? cG΢`ՠ?`?ɨNr@N;N CynօBn$ImMb@Mb@Mb@iii i)iYm`"?:v~jtyimTmļmE A mA)m\ AIiiym AII4٢< ?=9Q > G٣y > Nusing accuracyPremultiplier from config49j?4Y$ i\UB:Z׿(@?D;; 4  @ Zj9=FNOT Ignoring new targets: 464.60 m.BjEwJjEw] ProNav: ac range: 464.600006 m, nav range: 50.117527 m, bearing: 149.760124 deg, approach rate: 0.331869 m/s, LOS rate: -0.863860 deg/s, cmd heading: 259.343922 deg, new cmd heading: 258.404665 deg. 2j]7eHeadingCmd: 4.510012 target range: 464.600006 and range: 464.60 m. jeR@jajajaiahahihihmBfqfqfqrfqbf}"@ɛB]4 隥4YI <ɚiIM=IWiip=)R@)*F-?2F):F)BF-3JF)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 elapseGmw=GA BY Ou > I w,2wA6D@Y6@6S=96,w=y6H@S m?U R ? ?ɨ6D@6k;4RWill 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 elapseyV݅BV$II% I%4٢= O=9Q > G٣y > =Nusing accuracyPremultiplier from config1E495I?E4Y5, i5FUBAE#ٿE(@5HD5i:5G:5>4q u+@qB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 464.60 m.BjRJjR} ProNav: ac range: 464.600006 m, nav range: 50.234222 m, bearing: 149.449212 deg, approach rate: 0.277155 m/s, LOS rate: -0.736706 deg/s, cmd heading: 258.404662 deg, new cmd heading: 257.474178 deg. 2j}HeadingCmd: 4.493772 target range: 464.600006 and range: 464.60 m. j̏@jjjihhhhfffrfbf#@ɛmBu9 quTIq uե<ɚyiyI}] =I}~ iiu+=)̏@)*Fa2Fi:FiBFm4JFi"Gu=Gu=ZHRHAAHI I$II BI& =&I.I6I<:I FeWill construct direction to contact in vehicle frame from tetrahedron phase data.mw,x wA PIPyrBr$Iiz=Izp<zK9K=9K9K=K=Mb@Mb@Mb@ )Yd;O?kt G٣=EGy > Nusing accuracyPremultiplier from config49?4Y3 i4UB!5?:׿(@QD;;4 @EZj  FNOT Ignoring new targets: 464.60 m.BjVJjV% ProNav: ac range: 464.600006 m, nav range: 50.346813 m, bearing: 149.163021 deg, approach rate: 0.296094 m/s, LOS rate: -0.750946 deg/s, cmd heading: 257.474171 deg, new cmd heading: 256.617586 deg. 2j%-HeadingCmd: 4.478822 target range: 464.600006 and range: 464.60 m. j-R@j)j)j)i)h1h1h9h=Bf9f9f9rfAbfE$@ɛB& PI %F <ɚ)iAIE{D!=IUaiQiUkl>)]R@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.] Will construct direction to contact in vehicle frame from tetrahedron phase data.a ia e ?ɨF@F!U;F"Cy B$II% I%e4٢M< MR=9m=Q m>qq uG٣qy} }> Nusing accuracyPremultiplier from config49G ?4Y/; i#UBfۿ(@ZD\;d;4!B @EZjFNOT Ignoring new targets: 464.60 m.Bj"PJj"P  ProNav: ac range: 464.600006 m, nav range: 50.454960 m, bearing: 148.870186 deg, approach rate: 0.269383 m/s, LOS rate: -0.727858 deg/s, cmd heading: 256.617584 deg, new cmd heading: 255.741033 deg. 2j HeadingCmd: 4.463523 target range: 464.600006 and range: 464.60 m. j.Վ@jjjihhhhf!f!f!rf!bf-e%@ɛUBU} Y]]NIY ]G<ɚYiYI]6*"=Ieiaie=)m.Վ@)i IJh*F2F:FBF c0JF GO=GBOG>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2030> BDAT read: Tx time:21:45:03.6333 $Ping request sent.xx zG٣xyz ~> Nusing accuracyPremultiplier from config 49 ? 4YKB iUB  :ݿ(@cD::4 P@H}7>Iy I}$II}BIy&Iy.Iy6I}ϰ<:I} FBIAJIARIAZIE& =bIAjIE5%Will construct direction to contact in vehicle frame from tetrahedron phase data.=JDAT read: TxSync time:21:45:03.6325 Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.255148ZjFNOT Ignoring new targets: 464.60 m.J5J5J51J1J5:J55K:J53J1J54<J54<J5;J5;Bj}=Jj}= ProNav: ac range: 464.600006 m, nav range: 50.558407 m, bearing: 148.583287 deg, approach rate: 0.239677 m/s, LOS rate: -0.663356 deg/s, cmd heading: 255.741025 deg, new cmd heading: 254.882157 deg. 2j㼝HeadingCmd: 4.448533 target range: 464.600006 and range: 464.60 m. jbZ@jjjihhhhfffrf)bf-V&@ɛB 隵JKI nÕ<ɚiI(#=Iii7=)bZ@)E $?I*F2F:FBF`0JFG GzKuyJKus9KqKuKu Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501783G >G G G B O >@6w,;xAb@Yb_@b(p<9b G٣>EGy5' > Nusing accuracyPremultiplier from config49\?4YI iUB/?:߿(@lD;;04 <@ZjFNOT Ignoring new targets: 464.60 m.BjiJji ProNav: ac range: 464.600006 m, nav range: 50.665749 m, bearing: 148.275043 deg, approach rate: 0.285113 m/s, LOS rate: -0.816996 deg/s, cmd heading: 254.882169 deg, new cmd heading: 253.959481 deg. 2j, HeadingCmd: 4.432429 target range: 464.600006 and range: 464.60 m. jv֍@jjjihhhh Bfffrfbf .'@ɛ%B% q Iq w,uUxA:x@Y:@:<BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.0059859:҉dd fG٣dyjI j> nNusing accuracyPremultiplier from configlr49n,?r4YnP inTBprῑv(@ntDn ;n ;n4x ~@~EZj!%FNOT Ignoring new targets: 464.60 m.Bj-6NJj-6N= ProNav: ac range: 464.600006 m, nav range: 50.756935 m, bearing: 148.002928 deg, approach rate: 0.242094 m/s, LOS rate: -0.721145 deg/s, cmd heading: 253.959493 deg, new cmd heading: 253.144673 deg. 2jEuEHeadingCmd: 4.418208 target range: 464.600006 and range: 464.60 m. jEa@jIjIjIiIhIhIhQhQfQfQfQrfYbf]@d'@ɛB1 隕b=I ` <ɚiID$=Iii=)a@)*F92F9:F9BF=F2JF9jHabHaH8>I I%II)BI% =G=&IGD.I7D6I<:Ix FEWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.260969GB JE JE JE 0JA JE :JE "I:JE ـ3JA JE :<JE :<JE ;JE ;O} > Y Ia eOw,*poxA6:@Y6@6G<96fyy }G٣yy >zKBoHK9KKK  Nusing accuracyPremultiplier from config49l?4YX iTBC-?:ῑ(@~D;S;H4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 464.60 m.BjUKJjUK ProNav: ac range: 464.600006 m, nav range: 50.861343 m, bearing: 147.696139 deg, approach rate: 0.242492 m/s, LOS rate: -0.711066 deg/s, cmd heading: 253.144678 deg, new cmd heading: 252.226281 deg. 2j󼝊HeadingCmd: 4.402179 target range: 464.600006 and range: 464.60 m. jތ@j j j i h h hh'Bfffrfbf(@ɛE~BE&C IM:II Mf<ɚIiIIMr%=IUiQi] =)]ތ@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511526*F?2F:FBF`5JFG%=G-?G-?GB O5 >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7618040"w,,xANI@YN@Nڸ<9NnIfIf%4٢n= nV=9rMQ r>pt vG٣v?EGyv# v> zNusing accuracyPremultiplier from configx49z?4Yz^ izTB㿑(@zDz;zA;z4 @Zj9EFNOT Ignoring new targets: 464.60 m.BjEZKJjMZKU ProNav: ac range: 464.600006 m, nav range: 50.951530 m, bearing: 147.424685 deg, approach rate: 0.236686 m/s, LOS rate: -0.711136 deg/s, cmd heading: 252.226291 deg, new cmd heading: 251.413430 deg. 2j]eHeadingCmd: 4.387992 target range: 464.600006 and range: 464.60 m. jenj@jajajaiahahihihififqfqrfqbfu`c)@ɛ]}B]9 ae1Ia e [<ɚaiaIe7+&=Imiiimhi=)unj@)q IKh*F-?2F):F)BF-B5JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013832Gm =GI BQ Ou >a\(w,fxAbT@Yb&@b'p<9b=9,9Q > G٣yWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270096 %> ]Nusing accuracyPremultiplier from configQ}49UL?4YUf iUTBv忑(@UDU7ݘ.w,9xA2p@Y2ȶ@2P<92^ G٣y > Nusing accuracyPremultiplier from config49?4Y$m iTB(?:&鿑(@D;;4#B +@ EZj)5FNOT Ignoring new targets: 464.60 m.Bj5jJj5jE ProNav: ac range: 464.600006 m, nav range: 51.138657 m, bearing: 146.828277 deg, approach rate: 0.247582 m/s, LOS rate: -0.820234 deg/s, cmd heading: 250.452792 deg, new cmd heading: 249.627650 deg. 2jE MHeadingCmd: 4.356824 target range: 464.600006 and range: 464.60 m. jUk@jQjQjQiYhYhYhahe?Bfafafarfibfm@F+@ɛyBP 隝M,I [Ot<ɚiI'=IiiE4=)Ek@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771240*F2F:FBF_0JF IG= |+=G B) OE >g{5w,LxA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022048B2@YB"B@B<9Bjhh jG٣hyje n> ]Nusing accuracyPremultiplier from configYe49]Q?e4Y]s i]TBim꿑m(@]D]e:]:]i4q u@uEZjFNOT Ignoring new targets: 464.60 m.BjDJjD ProNav: ac range: 464.600006 m, nav range: 51.217014 m, bearing: 146.560294 deg, approach rate: 0.201466 m/s, LOS rate: -0.687959 deg/s, cmd heading: 249.627650 deg, new cmd heading: 248.824985 deg. 2j켝HeadingCmd: 4.342815 target range: 464.600006 and range: 464.60 m. jX@jj j i h h hhff1fYrfYbf]q+@ɛwB *I I I<%IIWBI% =&IGD.I6I<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280181GM =G) BQ Ou > $?I 5;w,HxAF@YFɏ@F|<9FBӻ G٣@EGy9 > Nusing accuracyPremultiplier from config49&?4Y9z iTBp#?:(@D;;%4 @zKK9KKKRK?JK?B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 464.60 m.Bj BJj B ProNav: ac range: 464.600006 m, nav range: 51.296230 m, bearing: 146.278932 deg, approach rate: 0.192258 m/s, LOS rate: -0.681811 deg/s, cmd heading: 248.824994 deg, new cmd heading: 247.982275 deg. 2j鼝%HeadingCmd: 4.328107 target range: 464.600006 and range: 464.60 m. j%@j!j!j!i!h!h)h)h-BBf)f1frfbf ,@ɛtBM] E(I >b<ɚiI)=I ?i)i5=)5@)1uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:21:45:06.6546 }TRx dataTimestamp_ set to:1736372707.876916checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531198*F?2F:FBF`0JFGm=G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781881J J J J J K:J wR:J J a @a @a @a @4Bw, yARFF@YRU@R<9R(pt vG٣tyv v> ~Nusing accuracyPremultiplier from configx49z-?4Yz[ izTB   (@zDzd.;z;zO,4 @Zj9EFNOT Ignoring new targets: 464.60 m.BjECJjECU ProNav: ac range: 464.600006 m, nav range: 51.367069 m, bearing: 146.019093 deg, approach rate: 0.186780 m/s, LOS rate: -0.684165 deg/s, cmd heading: 247.982285 deg, new cmd heading: 247.203895 deg. 2j꼝HeadingCmd: 4.314522 target range: 464.600006 and range: 464.60 m. j@jjjihhhh f f f rf 9I=Lhbfu@-@ɛ rB  9E$IA EY<ɚAiAIE)=IM*iQiU8=)U@)Q*F2F:FBFd0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 462.9 m (Round-trip 617.2 ms) speed -0.2 m/s ,DAT read: user:2031> BDAT read: Tx time:21:45:07.7333 $Ping request sent.ŸHw,$yAHHIH IJU%IIJkBIJ& =&IJHD.IH6IJ<:IJ Fy(B%Ii%=I%R=)-AI]I]|4٢m6q mA=9uQ u>yy G٣y > Nusing accuracyPremultiplier from config49?4Y( iTB(@D;K;34 @Will construct direction to contact in vehicle frame from tetrahedron phase data.iA JDAT read: TxSync time:21:45:07.7325 ] addTargetRange:: Added new target pos. range: 462.899994 m, deltaT: 14.883864 s, deltaX: -1.700012 m, approachRate: -0.114218 m/s, rangeRepo size: 4 ZjaFNOT Ignoring new targets: 464.60 m.Bj0Jj0  ProNav: ac range: 464.600006 m, nav range: 51.446880 m, bearing: 145.731709 deg, approach rate: 0.171788 m/s, LOS rate: -0.617612 deg/s, cmd heading: 247.203889 deg, new cmd heading: 246.343143 deg. 2j ӼHeadingCmd: 4.299499 target range: 464.600006 and range: 462.90 m. j@jjjihhh!h!f!f!f)rf-`f|@bf-S?ɛoBb 隝#I {qP<ɚiI}*=ImiiY>)@) )I)*F}?2Fy:FyBFc0JFzKIKM]9KIKMKM'( BK]rA:K]qA Will construct direction to contact in vehicle frame from tetrahedron phase data.G |+=G B O >Nw,6s>yAy)B%%I)= 6C~GtAQ 6 YtAyB0@'BMb@Mb@Mb@ )Y r?ˡE19 =G٣=AEGy9 => ]Nusing accuracyPremultiplier from configQ}49UF?4YU iUTB#?: ￑(@U¤DU;U;U;4$B @EZjFNOT Ignoring new targets: 464.60 m.BjSJjSU ProNav: ac range: 464.600006 m, nav range: 51.535431 m, bearing: 145.417814 deg, approach rate: 0.208536 m/s, LOS rate: -0.737949 deg/s, cmd heading: 246.343149 deg, new cmd heading: 245.403170 deg. 2j]9]HeadingCmd: 4.283093 target range: 464.600006 and range: 462.90 m. j]@jajajaihhhhaBfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ mB r "I /G<ɚiI~3+=Iii>)@)JJJ1JJJmQ:J3J*FQ2FQ:FYBF]n0JFY IMhG-ʙ=G B O- >#Uw,HXyA"Will construct direction to contact in vehicle frame from tetrahedron phase data.V@YVȍ@V1<9V%GB! O >  I [w,9%ryAy !B$I)   >=Mb@Mb@Mb@ )Y r?J +~jtyHļ A) AI`Ay AII4٢  >=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y ioTB-$?:(@ҤDp;;I4 6@%B*** querying acoustic contact ***j!j!zK5olLK59K1K5K5Zj1EFNOT Ignoring new targets: 464.60 m.BjMwDJjMwDe ProNav: ac range: 464.600006 m, nav range: 51.658661 m, bearing: 144.894514 deg, approach rate: 0.159864 m/s, LOS rate: -0.687053 deg/s, cmd heading: 244.722290 deg, new cmd heading: 243.835285 deg. 2je뼝mHeadingCmd: 4.255729 target range: 464.600006 and range: 462.90 m. jm.@jijijiiihihqhqhuJBfyfyfyrfybf}?ɛEiBEh IM$IIUWill 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. m8<ɚiiqIur,=Iuiyi}[>)}.@)y*FU?2FQ:FQBFU`5JFQG%=GBOj> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759921J J J3K;(3 K;(.K3K3"K3J J J 0J J +:J 5K:J ـ3J bw,JDyA6r@Y6Č@6)Yt<96qq uG $?I٣uBEGy* > Nusing accuracyPremultiplier from config49?4Y iaTB(@ڤD` ;*;P4 @ZjYmFNOT Ignoring new targets: 464.60 m.Bj%?Jj%? ProNav: ac range: 464.600006 m, nav range: 51.716000 m, bearing: 144.617997 deg, approach rate: 0.138765 m/s, LOS rate: -0.668454 deg/s, cmd heading: 243.835295 deg, new cmd heading: 243.006724 deg. 2j`弝HeadingCmd: 4.241267 target range: 464.600006 and range: 462.90 m. jv@jjjihhhhfffrfbf#q?ɛgB B&I j/<ɚiI-=Iɮi i =) v@)*F}?2F:FBFS5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016255Gm FM=GA BI Om >Qiw,yAHI Ig%IIzBI&I.I6I<:I FZF@YZU@Z}<9ZG|| ~G٣|yA >  Nusing accuracyPremultiplier from config 49 ˮ?4Y ۦ i STB(@ D ; ; V4%&B -@-EZjQUFNOT Ignoring new targets: 464.60 m.BjeiMJjeiM ProNav: ac range: 464.600006 m, nav range: 51.769028 m, bearing: 144.351856 deg, approach rate: 0.143275 m/s, LOS rate: -0.718341 deg/s, cmd heading: 243.006711 deg, new cmd heading: 242.209160 deg. 2j~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264973HeadingCmd: 4.227347 target range: 464.600006 and range: 462.90 m. jnF@jjjihhhhfffrfbfc@ɛdB &I R&<ɚiI"-=I%ڒi!i%B=)%nF@)I I*F?2F:FBF5JFzKBHK9KKKU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516684G P=G B O >?ow,IyAy=B=$IiEY>IE4=IMAMb@Mb@Mb@ )YNbX9?A`"S㥛y%?Y/ݼ vA)\ AIyf AII4٢Ӑ 0=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y" iATBT&?:C(@D;t;^4 3@Zj!-FNOT Ignoring new targets: 464.60 m.Bj-3HJj53H= ProNav: ac range: 464.600006 m, nav range: 51.833881 m, bearing: 144.026793 deg, approach rate: 0.139856 m/s, LOS rate: -0.700112 deg/s, cmd heading: 242.209163 deg, new cmd heading: 241.235292 deg. 2jE=𼝊EHeadingCmd: 4.210350 target range: 464.600006 and range: 462.90 m. jE0@jIjIjIiIhIhQhQhUFBfQfYfYrfYbf] @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768246ɛbB 隽'I <ɚiID|.=I Ui i >)0@)JJJ1JJ:J[O:J3J*F2F:FBFP4JF aIeNhG ^=G B O >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019928c.vw,yA6i@Y6y@6<96 I Ia%IIuBI&I.I6IŰ<:I FG1B9O]T>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272618 = $?IA S|w,lyA:@Y:@@: {<9: !! -G٣)y=E => ENusing accuracyPremultiplier from configAM49E?U4YEd iE TB])?]:]#](@EDE]y;E/x;El4a m@iB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 464.60 m.BjYJjY ProNav: ac range: 464.600006 m, nav range: 51.927418 m, bearing: 143.465248 deg, approach rate: 0.120142 m/s, LOS rate: -0.761821 deg/s, cmd heading: 240.526587 deg, new cmd heading: 239.552326 deg. zKK9KKK3# %2jHeadingCmd: 4.180977 target range: 464.600006 and range: 462.90 m. jʅ@jjjihhhh4BfffrfbfC+ @ɛ^B +I Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:45:10.7550 TRx dataTimestamp_ set to:1736372711.908799checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525241 % <ɚ!i!I%b/=Iii =)ʅ@)*FY2Fa:FaBFaJFaGE >G! B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775934<w, zAJJJ0JJ:J5K:Jـ3J pIp:@Y,@s<9aa eG٣aye e> uNusing accuracyPremultiplier from configi49mۇ?4Ym1 imTB(@mDmOh -}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.GBO l>H I  I U%II kBI % =&I .I 6I r<:I P Few,Qg'zAz@Yz安@zd<9z"DAT read: Tx time:1:5:11.8333 $Ping request sent. G٣DEGy3 > %Nusing accuracyPremultiplier from config%49Z|?-4Y iSB)--(@ Dq::z4 @ I addTargetRange:: Added new target pos. range: 463.200012 m, deltaT: 4.034211 s, deltaX: 0.300018 m, approachRate: 0.074369 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 464.60 m.Bj8Jj8 ProNav: ac range: 464.600006 m, nav range: 52.003975 m, bearing: 142.885339 deg, approach rate: 0.082511 m/s, LOS rate: -0.646262 deg/s, cmd heading: 238.736476 deg, new cmd heading: 237.814037 deg. 2jݼHeadingCmd: 4.150638 target range: 464.600006 and range: 463.20 m. j҄@jjjihhhhff f rf @3|@bf x?ɛ}YB҈ 隥0I ;ɚiISc1=I{ii`p=)҄@)E!E%rA*F2F:FBF`0JF"G=G>zKOK+9KKKuF' "5,gR3.^5 - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250003G m=G B O >Lw,BzAB@YB#@B[B<9B=yBH@}ڿR?֢ @ڿ~n? C`?e?ɨB@B;B CyNBN$I=Mb@Mb@Mb@999 9)9Y=ʡE?V- rhy=/?=m=C =E A 9)=E AI99y9II4٢| A=9Q > G٣y8$ > Nusing accuracyPremultiplier from config49p?4YN iSBu0?:!(@D$;;4 @Zj!%FNOT Ignoring new targets: 464.60 m.Bj-Jj-= ProNav: ac range: 464.600006 m, nav range: 52.044415 m, bearing: 142.571858 deg, approach rate: 0.116422 m/s, LOS rate: -0.901778 deg/s, cmd heading: 237.814046 deg, new cmd heading: 236.874421 deg. 2j=EHeadingCmd: 4.134239 target range: 464.600006 and range: 463.20 m. jEK@jIjIjIiIhIhQhQhUBfQfYfYrfYbf] ?ɛWBUE 隍6I +;ɚiI 2=IX iis=)K@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503572*FY2FY:FYBF]0JFYG5K=G B 5 $?I1O=P> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754062Ėw,c\zA6@Y6V@6H(3<96P=y6HYۿ?Iġ`[ۿ@~q?d`z??ɨ6@6;6#CyNBN$IiRhh jG٣hyn$ n> rNusing accuracyPremultiplier from configpv49re?v4Yr irSBtzz(@rDrv:r:ru4~)B ~ @~EZjaeFNOT Ignoring new targets: 464.60 m.BjmQJjmQ} ProNav: ac range: 464.600006 m, nav range: 52.077705 m, bearing: 142.294548 deg, approach rate: 0.088166 m/s, LOS rate: -0.733945 deg/s, cmd heading: 236.874430 deg, new cmd heading: 236.043094 deg. 2j}HeadingCmd: 4.119729 target range: 464.600006 and range: 463.20 m. jԃ@jjjihhhhfffrfbf@g`?ɛTB6  6I  ;ɚ i I 2=I5v i9i===)Eԃ@)A*F 2F :F BF _5JF H)I) I-<%II-WBI-& =&I-GD.I)6I-<:I-x F Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009266JJJJJ:JQN:JJJe1>w,)yy }G٣}EEGy} > Nusing accuracyPremultiplier from config49X?4Y iSB,3?:(@(D.B;L;4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 464.60 m.Bj]Jj] ProNav: ac range: 464.600006 m, nav range: 52.110634 m, bearing: 141.970014 deg, approach rate: 0.078706 m/s, LOS rate: -0.775210 deg/s, cmd heading: 236.043087 deg, new cmd heading: 235.070200 deg. 2jHeadingCmd: 4.102749 target range: 464.600006 and range: 463.20 m. jI@jjjihhhhBfff rf bf ?ɛERBE6 AM;II M;ɚIiIIMz3=]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258038IeF iaie*=)eI@)izKOK9KKKO#qpkG(-MXZXVVTSTUMD?<9.+47889RK ?JK ?*F2F:FBFP5JF=~~GUvAi YvAyBG>=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509950 9 IA ֣w,zA2dĀ@Y2Ӈ@2g.<92-dd fG٣dyfr f> nNusing accuracyPremultiplier from confighE49jL?M4Yj ijSBIMM(@j0DjHy ;I ;ɚiI"74=I ii=)̂@)*Fu?2Fq:FqBFu_0JFqeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762027GUm=G)B9OU>H1 I5 C I5 #%II5 BBI5 % =&I1 .I1 6I5 <:I5 FBIJIRIZIbI% =jIf4w,!! %G٣)y- -> =Nusing accuracyPremultiplier from config9M49=F??]4Y=5 i=SBim` m(@=:D=;=;=4JJJJJ:J>L:JJJ6<J6<Jp;Jp;Q ]n@a  $?IZjFNOT Ignoring new targets: 464.60 m.Bj>Jj>% ProNav: ac range: 464.600006 m, nav range: 52.166420 m, bearing: 141.357006 deg, approach rate: 0.058435 m/s, LOS rate: -0.666964 deg/s, cmd heading: 234.196614 deg, new cmd heading: 233.232333 deg. 2j-伝-HeadingCmd: 4.070672 target range: 464.600006 and range: 463.20 m. j5B@j1j1j1i1h1h1h9h9f9f9fArfabfe@@ɛLB) FSw,pzAy хB $IMb@Mb@Mb@ )Y^I +?y&1yX9?L` )I`Ay AIIY4٢bB ?=9Q >  G٣ FEGy   > Nusing accuracyPremultiplier from config491?4Y/ iSB%9?%:%%(@DD;;a4) -@1ZjYeFNOT Ignoring new targets: 464.60 m.Bje~Jje~} ProNav: ac range: 464.600006 m, nav range: 52.206200 m, bearing: 141.019034 deg, approach rate: 0.112452 m/s, LOS rate: -0.954669 deg/s, cmd heading: 233.232327 deg, new cmd heading: 232.219294 deg. 2j}#HeadingCmd: 4.052991 target range: 464.600006 and range: 463.20 m. j@jjjihhhhBfffrfbf`c@ɛ]IB]jP YeT)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518068*F!2F!:F!BF%`0JF)  $?IGM '=G! B1 OM >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7699197w,zA6~@Y6x@62<96X=y6H?߿`?`|Ϡ@߿$}?1⃿}{? ^?ɨ6~@6A;6"CyR҅BR$IIZ&IZF5٢zt < z]=9~K"Q ~> G٣y   > Nusing accuracyPremultiplier from config 49 C%?4Y  i SB!% %(@ LD *; >+; ګ4-+B -@-EZjQUFNOT Ignoring new targets: 464.60 m.Bj]bJjebm ProNav: ac range: 464.600006 m, nav range: 52.234375 m, bearing: 140.725875 deg, approach rate: 0.076180 m/s, LOS rate: -0.792206 deg/s, cmd heading: 232.219301 deg, new cmd heading: 231.340370 deg. 2juuHeadingCmd: 4.037651 target range: 464.600006 and range: 463.20 m. j}p4@jyjyjyiyhyhyhhfffrfbf@ɛGBP A:I |-^;ɚiI{6=IԶii=)p4@)*FA2FA:FIBFMl0JFqGm=ZHRHAAHI I%II3BI&I.I6II<:I3 FGaBiO:>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022080JJJ1JJ:J5K:J3JJe1<Jf1<J;J; I<w,DzA2H}@Y2|@2'<92O*=y2H?`B& -?d`b?g?ɨ2H}@2g;0yBօBB$IiF=IF4=EMb@Mb@Mb@AAA A)AYEOn?A`"QyE8?EYEE A E`A)E AIEAAyE AI]!I]5٢mn< mC=9mlQ u>qq uG٣yy}. > Nusing accuracyPremultiplier from config49?4Y iySB;9?: (@VDN; ;04 Q@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 464.60 m.Bj]aJj]a ProNav: ac range: 464.600006 m, nav range: 52.262161 m, bearing: 140.394622 deg, approach rate: 0.066145 m/s, LOS rate: -0.788116 deg/s, cmd heading: 231.340365 deg, new cmd heading: 230.347242 deg. 2j8HeadingCmd: 4.020318 target range: 464.600006 and range: 463.20 m. jq@jjjihhhhBff f rf bf @) @5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274007ɛEDBM,< IM6II M6;ɚIiQzK-NK9KKKIP=7=Iii=)q@)EqAE*F?2F:FBFn0JFG GrAG>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. i = BDAT read: Rx Time:21:45:14.8571 E TRx dataTimestamp_ set to:1736372716.203298M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537728J J AA I Ph$w,9`{A6|@Y6{@6<96#=y6HzWi?4mzk?㽀c? ?ɨ6|@6u;6$CyBԅBB$IIJ9IJ 5٢R': RX=9V Q V>TT ZG٣ZGEGyZ1 Z> bNusing accuracyPremultiplier from config\b49^ ?f4Y^ i^jSBdf f(@^_D^7:^:^ʹ4j-B j@nEZjFNOT Ignoring new targets: 464.60 m.BjUJjU ProNav: ac range: 464.600006 m, nav range: 52.284195 m, bearing: 140.096343 deg, approach rate: 0.055251 m/s, LOS rate: -0.747640 deg/s, cmd heading: 230.347228 deg, new cmd heading: 229.452845 deg. 2jFHeadingCmd: 4.004708 target range: 464.600006 and range: 463.20 m. j&@jjjihhhhfffrfbfzZ@ɛ@BCC &6I @;ɚiI67=I%i!i-=)-&@))*F?2F:FBF0JFGW=MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779026GBOI>H I  I %II )BI &I .I 6I <:I g FXNw,:+{AZWill construct direction to contact in vehicle frame from tetrahedron phase data.fDAT read: Range 10 to 50 : 464.7 m (Round-trip 619.6 ms) speed -0.3 m/s j,DAT read: user:2033> rBDAT read: Tx time:21:45:15.9333 v$Ping request sent.v9 =G٣Ay > Nusing accuracyPremultiplier from config49?4Y iVSB(@kD :: 4 @  addTargetRange:: Added new target pos. range: 464.700012 m, deltaT: 4.283785 s, deltaX: 1.500000 m, approachRate: 0.350158 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 464.60 m.Bj!jJj!jm ProNav: ac range: 464.600006 m, nav range: 52.317429 m, bearing: 139.679044 deg, approach rate: 0.065249 m/s, LOS rate: -0.818772 deg/s, cmd heading: 229.452856 deg, new cmd heading: 228.201962 deg. 2jmz uHeadingCmd: 3.982876 target range: 464.600006 and range: 464.70 m. juo~@jqjqjqiqhyhyhyhfffrf@3 }@bfX?ɛ5)uo~@)qEE>*F2F:FBFg0JF"G%=G%=UWill construct direction to contact in vehicle frame from tetrahedron phase data.]JDAT read: TxSync time:21:45:15.9326 zK- BoHK- +9K) K- K- * `;&  GU k=G1 BY O} >Gw,G{A2Ӱz@Y2g@2C;92ЅB>$I)@ @EMb@Mb@Mb@AAA A)AYE? rhMbyE@?EC EEE A EIA)AIE`AAyEp AII4٢K G=9Q > G٣yĽ > Nusing accuracyPremultiplier from config49:?4Y iNSB=@?:, (@sD;;,4.B @EZjFNOT Ignoring new targets: 464.60 m.BjjJjj- ProNav: ac range: 464.600006 m, nav range: 52.340290 m, bearing: 139.391488 deg, approach rate: 0.065268 m/s, LOS rate: -0.820586 deg/s, cmd heading: 228.201961 deg, new cmd heading: 227.339739 deg. 2j- 5HeadingCmd: 3.967827 target range: 464.600006 and range: 464.70 m. j5}@j1j1j1i1h1h9h9h=BfAfAfArfAbfMQ?ɛu:Bu^ qu4Iq }j:ɚyiyI}ly9=Will construct direction to contact in vehicle frame from tetrahedron phase data.I.ii=(=)}@)*F?2F:FBFj1JF ]$?IYG=GBOB>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.w,@a{A2~y@Y2΃@2ȁ;92Z='=y2H@?F* d?@5q!??ɨ2~y@2 ̋;2CyBمBB$IIJ"IJ5٢f4= f\=9fQ f>hh jG٣jHEGyjoM n> rNusing accuracyPremultiplier from configpz49r4?z4Yrj irFSBxzY z(@r|Dr/;rPB;r4 X@EZjFNOT Ignoring new targets: 464.60 m.BjN`JjN` ProNav: ac range: 464.600006 m, nav range: 52.360851 m, bearing: 139.086415 deg, approach rate: 0.052889 m/s, LOS rate: -0.784415 deg/s, cmd heading: 227.339732 deg, new cmd heading: 226.424955 deg. 2jHeadingCmd: 3.951861 target range: 464.600006 and range: 464.70 m. jJ|@jjji)h1hqhyhyfyfyfrfbf?ɛ6Bm= .I 9ɚiI+:=I%k4i!i%m=)%J|@))jHU<bHQH];>IY I]$II]$BIY&IY.IY6I]o<:I]O F*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data. qIyGM >GU qAGU nAG B) OM >w,v{{A~Will construct direction to contact in vehicle frame from tetrahedron phase data.y݅B$IMb@Mb@Mb@ )YS?S㥛Mby:?/ݼ `A)IAy AIIr4٢< <=9Q > G٣y > Nusing accuracyPremultiplier from config49h?4Y2 i=SB:?: (@D];;zKUݒNKU59KQKUKUN4u/B }-@}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 464.60 m.BjaJja ProNav: ac range: 464.600006 m, nav range: 52.388710 m, bearing: 138.739446 deg, approach rate: 0.063364 m/s, LOS rate: -0.788749 deg/s, cmd heading: 226.424951 deg, new cmd heading: 225.384719 deg. 2jSHeadingCmd: 3.933705 target range: 464.600006 and range: 464.70 m. j{@jjjihh h)h-Bf1f1f1rf1bf5`J?ɛ3B9 隥 +I  ɚiIX:=I]iic >){@)E*F2F:FBF`5JFG GG>GyBO>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.J J J J J J J J a @a @a @a @ i Im Qhw,0{A6w@Y6M@6jd;96x=y6H@?@ @?il@?`n?ɨ6w@6m;6"CyNBR$IiV=IV=I^HI^W5٢fV= f[=9fRQ f>hh jG٣hyn n> rNusing accuracyPremultiplier from configpv49rq?v4Yr ir6SBtzz(@rDr :r:r4| ~@|Zj!%FNOT Ignoring new targets: 464.60 m.Bj-pJj-p ProNav: ac range: 464.600006 m, nav range: 52.406113 m, bearing: 138.443896 deg, approach rate: 0.049596 m/s, LOS rate: -0.842005 deg/s, cmd heading: 225.384713 deg, new cmd heading: 224.498431 deg. 2jwHeadingCmd: 3.918237 target range: 464.600006 and range: 464.70 m. jdz@jjjihhhhfffrfbf?ɛ0BcUC 隍$I h#ɚiI3z;=IQ[ii=)dz@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756628*F?2F:FBF0JFGb=H] :>IY  I] %II] )BIY &IY .IY 6I] u<:I] S FG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007207)w,Ϯ{A6ov@Y6s@6B;96K_qy }G٣IEGy > Nusing accuracyPremultiplier from config49?4YP& i-SB(@D<<R4%1B %@-EZjFNOT Ignoring new targets: 464.60 m.BjHJjH ProNav: ac range: 464.600006 m, nav range: 52.423733 m, bearing: 138.101011 deg, approach rate: 0.036125 m/s, LOS rate: -0.702756 deg/s, cmd heading: 224.498428 deg, new cmd heading: 223.470234 deg. 2j%񼝊HeadingCmd: 3.900291 target range: 464.600006 and range: 464.70 m. j`y@jjjihhhhff f rf bf @!T@ɛ,BI( I dɚiI-<=IVii>)`y@)*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259983)Y Y zK KK 9K K K  G U YQ yU &BG =G ?G 2?G B O >w,{A2u@Y2@2;92u G٣yB > %Nusing accuracyPremultiplier from config!-49%&?-4Y%p, i%$SB]6?]:]](@%D%<%<%4}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513429 7@ZjFNOT Ignoring new targets: 464.60 m.Bj &tJj &t= ProNav: ac range: 464.600006 m, nav range: 52.440205 m, bearing: 137.775067 deg, approach rate: 0.043162 m/s, LOS rate: -0.853805 deg/s, cmd heading: 223.470239 deg, new cmd heading: 222.492815 deg. 2j=}EHeadingCmd: 3.883232 target range: 464.600006 and range: 464.70 m. jEx@jAjAjAJUJQJQJQJU+:JQJQJQiIhqhqhyh}Bfffrfbfl@ɛ)BT#1 I  ֺɚiIK<= $?IRhI-՘i)i-{a>)-x@)1E=rAE=sA*F2F:FBF`0JF"G=GG>GqBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7634145;w,D{A>ct@Y> o@>;B;9>H ? `8!G?=hxe?D?ɨ>ct@>y;>#CyFBF$I)H H N=N%=IR-IR`5٢Zf< Za=9^:Q ^>`` bG٣`yb6 b> jNusing accuracyPremultiplier from configdr49fL?r4Yf1 ifSBprr(@fDfD=;f-;f4t z@zEZjFNOT Ignoring new targets: 464.60 m.Bj%jJj%j5 ProNav: ac range: 464.600006 m, nav range: 52.451580 m, bearing: 137.494965 deg, approach rate: 0.033345 m/s, LOS rate: -0.820898 deg/s, cmd heading: 222.492811 deg, new cmd heading: 221.652750 deg. 2j5 =HeadingCmd: 3.868570 target range: 464.600006 and range: 464.70 m. j=w@j9j9j9i9h9hAhAhAfAfIfIrfIbfM`3@ɛ'B> 隅I )hɚiI([==Iii=)w@)HI I%II8BI&I.I6IQ<:I9 FBIŸCJIŸCRIZI% =bIjI4*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=3.015342 IG5/>GBAO>rfw,f{A6s@Y6@6r;96Je?`k5 =Q·?Sx(q??ɨ6s@6_;6$Cy> B>$InWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.267294%Mb@Mb@Mb@!!! !)!Y%I +?YY ]G٣]JEGy]' e> mNusing accuracyPremultiplier from configam49e?u4Ye7 ieSBuT4?}:}})@eDe#;e!;eU42B m@EEB*** querying acoustic contact ***jAjAZjquFNOT Ignoring new targets: 464.60 m.Bj}OJj}O ProNav: ac range: 464.600006 m, nav range: 52.461960 m, bearing: 137.169217 deg, approach rate: 0.023136 m/s, LOS rate: -0.725917 deg/s, cmd heading: 221.652753 deg, new cmd heading: 220.675802 deg. 2jHeadingCmd: 3.851519 target range: 464.600006 and range: 464.70 m. jKv@jjjihhhhBfffrfbf @ɛ=$BE6 AE6 IIzKMBHKM9KIKMKMRKYJK]>  u$ɚiI^>=Ikiiј=)Kv@)*Fa2Fa:FiBFmk0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:45:18.9588 TRx dataTimestamp_ set to:1736372720.224625checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521038Jm Jm Jm 1Ji Jm :Jm QN:Jm 3Ji $?I G %>G rAG rAG B O > Mw,;|A6r@Y6(U@6-;96add fG٣dyf?5 j> nNusing accuracyPremultiplier from confighr49jp?r4Yj< ij SBprv)@jDj;j;j4x z@xZj!-FNOT Ignoring new targets: 464.60 m.Bj-jJj-j= ProNav: ac range: 464.600006 m, nav range: 52.468243 m, bearing: 136.873035 deg, approach rate: 0.017407 m/s, LOS rate: -0.820483 deg/s, cmd heading: 220.675803 deg, new cmd heading: 219.787441 deg. 2j= EHeadingCmd: 3.836015 target range: 464.600006 and range: 464.70 m. jECu@jAjIjIiIhIhIhQhQfQfQfQrfbf a @ɛ%!B-u.& )-$I) -V=ɚ)i1I5 >=I=ri9i=n=)=Cu@)A*F?2F:FBF0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772738G=GH ;>I  I /%II LBI &I .I 6I v<:I T FBi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:45:18.9588 LVL= 18096, 19089, 17586, 20579, AGC= 65, IDX= 439,-0.44,-0.975,-0.491,-2.822,-1.289, PHS= 0.401, 0.844,-1.537, RAW= 19.9, 2.7, CAL= 19.3, 2.9, ROT= 130.7, -2.9  Ygot valid direction response: 21:45:18.9588 LVL= 18096, 19089, 17586, 20579, AGC= 65, IDX= 439,-0.44,-0.975,-0.491,-2.822,-1.289, PHS= 0.401, 0.844,-1.537, RAW= 19.9, 2.7, CAL= 19.3, 2.9, ROT= 130.7, -2.9  PDAT read: Bearing 130.7, -2.9 (Local)  ~Local bearing/azimuth received: Bearing 130.7, -2.9 (Local)  DAT read: Range 10 to 50 : 465.9 m (Round-trip 621.3 ms) speed -0.4 m/s w w,r0|A @IDjiq@Yjz@j;;r,DAT read: user:2034> rBDAT read: Tx time:21:45:20.0833 v$Ping request sent.vbX?jĿӱ>A= iw>)4QO=II@i4QO9j=II MG٣QyU U> ]Nusing accuracyPremultiplier from configYe49][?4Y]D i]SB0)@]ɥD];]D;]$ 43B "@Ek=QL?kW6( k k.|A:kCBkZCZk@""s?{@-=`@a*^?DDN?: k?Jk?Rk.|*diw2t@ح 6Pr)M1s@)I*F) 2F) :F) BF- _0JF) zK k3IK 9K K K G ʙ=G B O >>.w,.WM|AbWill construct direction to contact in vehicle frame from tetrahedron phase data. ~`/?1{@j??ɨ G٣KEGy{. > Nusing accuracyPremultiplier from config49J?4YKI iRB5?:)@ҥD;c;45B @EZjFNOT Ignoring new targets: 465.90 m.BjJj ProNav: ac range: 465.899994 m, nav range: 37.287037 m, bearing: 67.971678 deg, approach rate: 0.716307 m/s, LOS rate: -0.465208 deg/s, cmd heading: 218.423343 deg, new cmd heading: 217.916020 deg. 2jHeadingCmd: 3.803352 target range: 465.899994 and range: 465.90 m. jjs@jjjihhhh:Bfffrfbf??ɛB !%tI! %>xɚ!i!I-?=I-i1i5h=)5js@)1*F2F:FBF0JFGB>GqByO~>mWill construct direction to contact in vehicle frame from tetrahedron phase data.RTw,W!g|A:S o@Y:*}@:;9:dI=y:H@?? .^D` J?tH? ?ɨ:S o@:;: CyF1BF %IIN IN<4٢Z= Zm=9^Q ^?`` bG٣`yfm f? jNusing accuracyPremultiplier from confighn49j,G B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data.> w,|AJn@YJ}<|@Jƕ;9JvS=yJH`M I?]7@K`L?t ?`?ɨJn@J;J"CyV:BV%I)X XEMb@Mb@Mb@AAA A)AYEGz?&1y&1yE0?EPE`eE A A)EE AIE`AAyAI]I]x4٢m3= m?=9mHQ m>qq uG٣yy} }> Nusing accuracyPremultiplier from config49)?4YR iRB(1?:)@DJ;I;46B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 465.90 m.Bj+Jj+ ProNav: ac range: 465.899994 m, nav range: 37.775829 m, bearing: 67.621747 deg, approach rate: 0.629095 m/s, LOS rate: -0.465698 deg/s, cmd heading: 217.462841 deg, new cmd heading: 216.873158 deg. 2j͟uHeadingCmd: 3.785151 target range: 465.899994 and range: 465.90 m. ju?r@jqjqjqiqhqhqhyh}OBfyffrfbf H?zKBoHK59KK!KɛB )-#ܾI) 5Tɚ1i1I5U@=I=i9i=b=)=?r@)9*FE?2FA:FABFAJFAG=GGGWill 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.BOn> $?If&w,ؚ|A24m@Y2R{@2 ؑ;92gQ@B>!%IIJ.IJ5٢R*< RX=9RTT VG٣VLEGyV Z> ^Nusing accuracyPremultiplier from configX49Z?%4YZmW iZRB!%{%)@ZDZ%hI) I-%II-BI)&I).I)6I-Q<:I-9 FGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963336 I J J J J J J J J J a J a J ;a J ;a ?,w, |A>Zl@Y>yz@>;9>wH(@O?QΗR?"x?`?ɨ>Zl@>};> CyvFBv(%II-%I-5٢]< e>=9uCZ;Q }>!) -G٣1yeX m> Nusing accuracyPremultiplier from config49?4Y\ iRBU)@D;:\:g-47B @EZj!%FNOT Ignoring new targets: 465.90 m.Bj-nJj-nm ProNav: ac range: 465.899994 m, nav range: 38.297501 m, bearing: 67.220677 deg, approach rate: 0.620470 m/s, LOS rate: -0.477103 deg/s, cmd heading: 216.343974 deg, new cmd heading: 215.678317 deg. 2jmuHeadingCmd: 3.764297 target range: 465.899994 and range: 465.90 m. ju=p@jqjjihhhhfffrfbf@ɛB 隽A˾I fɚiI`A=Ix5!ii=5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215404)=p@)9EAEEqA*F?2F:FBF5JFzKBHK+9KK"K &# G "=G B O >zx3w,|ARWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.467411yNB%1%Ii-,>I-<)) e$?IaMb@Mb@Mb@ )Y> ףp=?Zd;Qy1?yu vA) AIAyII|4٢&= C=9Q > G٣y > Nusing accuracyPremultiplier from config49Vߛ?4Ya iRB2?:6)@D; ;44 @ZjAEFNOT Ignoring new targets: 465.90 m.Bj}> Jj}>  ProNav: ac range: 465.899994 m, nav range: 38.549690 m, bearing: 67.021850 deg, approach rate: 0.621703 m/s, LOS rate: -0.486947 deg/s, cmd heading: 215.678318 deg, new cmd heading: 215.085759 deg. 2jHeadingCmd: 3.753955 target range: 465.899994 and range: 465.90 m. j@p@jjjihhhhbBfffrfbf`@ɛ]B] Y]wIY eBɚaiaIehoB=Im!iiim<=)m@p@)q*F2F:FBF_0JFUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719779G% XY=G B O% >9w,wi|A:%j@Y:շx@:ES;9:8|| ~G٣|y9  ? Nusing accuracyPremultiplier from config-49Hߛ?-4Ye iRB155)@Dd;D;:4E9B M@MEH=>I I%IIBI&I.I6Iܰ<:I FZj!-FNOT Ignoring new targets: 465.90 m.Bj-Jj-e ProNav: ac range: 465.899994 m, nav range: 38.759773 m, bearing: 66.847451 deg, approach rate: 0.571826 m/s, LOS rate: -0.472123 deg/s, cmd heading: 215.085758 deg, new cmd heading: 214.565412 deg. 2jemHeadingCmd: 3.744873 target range: 465.899994 and range: 465.90 m. jmo@jijijiiihihqhhfffrfbf@ɛ Bw I %軻ɚ!i!I%|B=I-s"i)iM=)Mo@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971284 ]$?IYJJJJJ;JQN:JJJF<JF<J:;J:;*F?2F:F BF `0JF GO=GBO-p>e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223565@w,E}AJ}GT` vYxyzB5i@Y5w@5<95.y G٣MEGy > Nusing accuracyPremultiplier from config49ߛ?4YBY_[TQTVTLIC:05B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 465.90 m.BjMyJjMy] ProNav: ac range: 465.899994 m, nav range: 39.023548 m, bearing: 66.604929 deg, approach rate: 0.599211 m/s, LOS rate: -0.547204 deg/s, cmd heading: 214.565407 deg, new cmd heading: 213.842801 deg. 2j]ŻeHeadingCmd: 3.732261 target range: 465.899994 and range: 465.90 m. je]n@jajajaiahahih)h-dBf)f)f1rf1bf5 @ɛ] B]w ae)ƾIa eVǻɚiIC=IWB#ii =)]n@)*F]?2FY:FYBFYJFa"GiGm=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:45:23.1111 TRx dataTimestamp_ set to:1736372724.258506checking for new query: numPingsReceived=0, elapsed TxPingTime=3.478833 =$?IAGE 7=GI GI G! B1 OM >Fw,}A6h@Y6v@61<96?=y6H:%?U@ #?2fW??ɨ6h@6n;6!CyBJBB-%I)D DIJ.IJ5٢Rz< Vt=9V)9Q V?XX ZG٣XyZ5 Z? bNusing accuracyPremultiplier from config\f49^ߛ?f4Y^m i^RBdf/#f)@^D^P:^1;^H4p r@pZj  FNOT Ignoring new targets: 465.90 m.BjJj% ProNav: ac range: 465.899994 m, nav range: 39.213696 m, bearing: 66.426761 deg, approach rate: 0.573664 m/s, LOS rate: -0.534918 deg/s, cmd heading: 213.842800 deg, new cmd heading: 213.310902 deg. 2j%-HeadingCmd: 3.722978 target range: 465.899994 and range: 465.90 m. j5DEn@j1j9jAiAhIhQhhfffrfbfg0@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.727489ɛm BmFv imIi uϻɚqiIC=Ip#iiG=)DEn@)*FM?2FI:FIBFM0JFIG-w=GB O-N>HI I%IIBI$ =&I.I6Iw<:IV FBIJIRIZIbIjI޻4 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.982027 A IA J J J 1J J +:J wR:J 3J J 2<J 2<J Ϧ;J Ц;Lw,T5}AB+g@YBv@BY<9B=yBH am*?w@k@?~?^?ɨB+g@Bˉ;B"CyRHBR*%IIb/IbC5٢   E=99Q %>)1 5G٣y > Nusing accuracyPremultiplier from config-49ߛ?]4Yq iRBae $m)@"D؈<<?P4;B 0@EZj15FNOT Ignoring new targets: 465.90 m.Bj= Jj=  ProNav: ac range: 465.899994 m, nav range: 39.462818 m, bearing: 66.189559 deg, approach rate: 0.524672 m/s, LOS rate: -0.496411 deg/s, cmd heading: 213.310906 deg, new cmd heading: 212.603831 deg. 2jWHeadingCmd: 3.710637 target range: 465.899994 and range: 465.90 m. j{m@jjjihhhhfffrfbf@ɛBf ;I ڻɚ!i!I% D=I$iiC=){m@)%Will construct direction to contact in vehicle frame from tetrahedron phase data.5DAT read: Range 10 to 50 : 467.7 m (Round-trip 623.6 ms) speed -0.5 m/s E,DAT read: user:2035> UBDAT read: Tx time:21:45:24.2334 U$Ping request sent.U6/-.12.*27:::::84201GE (=GM ?GM >G B) OE >2Sw,O}A>Will construct direction to contact in vehicle frame from tetrahedron phase data.BJDAT read: TxSync time:21:45:24.2327 r$?IrThyrIBv+%I Mb@Mb@Mb@    ) Y B`"?ly&1y .?  ` / A `A) / AI  y  AI%!I%5٢5Kf; 58=9=Q =>99 EG٣ENEGyE E> UNusing accuracyPremultiplier from configIU49Mߛ?]4YMv iMRB]0?]:]"])@M+DM?;M=;MW4q u#@y addTargetRange:: Added new target pos. range: 467.700012 m, deltaT: 4.284040 s, deltaX: 1.800018 m, approachRate: 0.420168 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 465.90 m.BjPJjP ProNav: ac range: 465.899994 m, nav range: 39.705700 m, bearing: 65.970308 deg, approach rate: 0.617082 m/s, LOS rate: -0.553636 deg/s, cmd heading: 212.603831 deg, new cmd heading: 211.950131 deg. 2jHeadingCmd: 3.699228 target range: 465.899994 and range: 467.70 m. j%l@jjjihhhhcBfffrf@3;}@bf``?ɛmBm imIi mɚqiqIuE=I}_%iyi})=)}%l@)y*F2F:FBF0JFG GGu =5Will construct direction to contact in vehicle frame from tetrahedron phase data.GIBYOu>iYw,9i}AjH"<bH"p>I I%IIBI&I.I6I|<:IZ FI;I=#I=5٢M;  M[=9MoQ U>QQ UG٣Yye޽ e> mNusing accuracyPremultiplier from configiu49mߛ?u4Ymy imRBy}%})@m3Dm6;m=7;m^4E Will construct direction to contact in vehicle frame from tetrahedron phase data.} PExceeded connect timeout, disconnecting.I`w,\}AJ`d@YJr@J;9JN1=yJH q@.a?@eg`*m`ş? vw6?'?ɨJ`d@J;J"CyV3BV%IeMb@Mb@Mb@aaa a)aYetV?x&V-ye2?e7eeE A eIA)aIeAayep AII4٢l F=9F_Q > G٣yHȼ > Nusing accuracyPremultiplier from config49kߛ?4Y} itRB3?:_%)@B @EZjFNOT Ignoring new targets: 465.90 m.BjJj  ProNav: ac range: 465.899994 m, nav range: 40.159149 m, bearing: 65.533795 deg, approach rate: 0.581512 m/s, LOS rate: -0.551593 deg/s, cmd heading: 211.331941 deg, new cmd heading: 210.648089 deg. 2j FHeadingCmd: 3.676503 target range: 465.899994 and range: 467.70 m. jKk@jjjihh!h!h%HBf!f)f)rf)bf-`?ɛ]B]O ae8ϾIa ewɚaiiIm!F=Im&iqiu=)uKk@)yzK!NKKK%K..,**)*)''&%"!!  RK ?JK>*F2F:FBF_0JFG=GBOB>Will construct direction to contact in vehicle frame from tetrahedron phase data. Igw,g}A6d@Y6r@6;96A91=y6H^ ?R&@/?xJ%?1?ɨ6d@6n;4yLR%IIV IV4٢b bX=9fX9Q f>dh jG٣jOEGyjּ j> rNusing accuracyPremultiplier from configlr49nXߛ?v4YnN infRBtv&v)@nEDnb;n;nk4x ~@|B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 465.90 m.Bj-aJj-aE ProNav: ac range: 465.899994 m, nav range: 40.378784 m, bearing: 65.322647 deg, approach rate: 0.582933 m/s, LOS rate: -0.557358 deg/s, cmd heading: 210.648088 deg, new cmd heading: 210.018116 deg. 2jEAMHeadingCmd: 3.665508 target range: 465.899994 and range: 467.70 m. jMj@jIjIjIiIhQhQhQhQfYfYfYrfYbfe6?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.ɛMBM# IMξII UEɚQiqIuF=I}'iyi}"=)}j@)*FI2FI:FIBFQJFQ"GYG]=HI I%IIBI&I.I6I<:Il FG=Gi Bq O > $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760175s.mw,wI}A^Qc@Y^pq@^Y;9^:=y^H B?@脠. Ѡ?}_{@$S?O?ɨ^Qc@^l;^!Cyj,Bj%I)l lIrJIr:5٢zw  zG=9~;Q ~> G٣yԼ  > %Nusing accuracyPremultiplier from config=49Cߛ?E4Y2 iWRBIU&)@NDm<<s4?B 4@%EZjIUFNOT Ignoring new targets: 465.90 m.BjU Jj] e ProNav: ac range: 465.899994 m, nav range: 40.616920 m, bearing: 65.091697 deg, approach rate: 0.500705 m/s, LOS rate: -0.482749 deg/s, cmd heading: 210.018113 deg, new cmd heading: 209.329357 deg. 2jHeadingCmd: 3.653486 target range: 465.899994 and range: 467.70 m. ji@jjjihhhhfffrfbf@ɫ?ɛ5B5 15ӾI9 =]ɚ9i9I=?RG=IEL(iaieա=)ei@)i Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011763 -nManaging dock network, ignoring radio surface power off*F?2F:FBFJFG% =zKE CMKE 9KA KE &KE G B O% >!tw,#}A I 2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262644Fɧb@YFyp@FV;9FoG=yFH ?bC@6e@`?@z??ɨFɧb@F;DyE!BE$I*Jy"J}%=JJJJJ:JY:JJa@a@a@a@EMb@Mb@Mb@AAA A)AYECl?~jtMbyEd;?EDEE A EA)E AIAAyEG AI]6I]] 5٢eU? m5=9mqQ m>qq uG٣qy} }> Nusing accuracyPremultiplier from config49^,ߛ?4Yˉ iERB;?:f%)@YD;p;z4@B @EZjFNOT Ignoring new targets: 465.90 m.Bj:Jj: ProNav: ac range: 465.899994 m, nav range: 40.893433 m, bearing: 64.838875 deg, approach rate: 0.716529 m/s, LOS rate: -0.650707 deg/s, cmd heading: 209.329356 deg, new cmd heading: 208.576066 deg. 2jI߼HeadingCmd: 3.640339 target range: 465.899994 and range: 467.70 m. jQh@jj!j!i!h)h1h9h=0Bf9f9fArfAbfE@ɛBW" 3ݾI  ɚiIEG=I%e$)i!i%I^=)EQh@)I*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514566G J=G B O >ZH9 RH9 ]Bzw,}AH,I, I.n%II.BI,&I,.I,6I.<:I.u FJa@YJ\p@J;9JU=yJH ?`D?衿@(ML8? y??ɨJa@JF;J"CyVBV$IIbNIb5٢fG fh=9j\Q n>ll nG٣rPEGyr r> vNusing accuracyPremultiplier from configt}49vߛ?}4YvT iv7RB"&)@vaDvM Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018908a'w,~A64a@Y6GSo@65;96HX_=y6H r`?`@1 `lj_?x^??ɨ64a@6f;6 Cy@@iFJ>IF4yy G٣ysԼ > Nusing accuracyPremultiplier from config49}ߛ?4Y i'RB{Pw,}~A6n`@Y6n@69;960g=y6H ӧ?`8>ࡠ`펦?` u ??ɨ6n`@6m;6"Cy>B>$IIFBIF5٢R: RY=9RQ V>TT VG٣TyZ Z> bNusing accuracyPremultiplier from config\f49^ޛ?f4Y^| i^RBdf&f)@^tD^/;^T:^4jCB nC@nEzB*** querying acoustic contact ***jxjxZj FNOT Ignoring new targets: 465.90 m.Bj Jj % ProNav: ac range: 465.899994 m, nav range: 41.604656 m, bearing: 64.199022 deg, approach rate: 0.617128 m/s, LOS rate: -0.549052 deg/s, cmd heading: 207.288564 deg, new cmd heading: 206.667648 deg. 2j-g-HeadingCmd: 3.607031 target range: 465.899994 and range: 467.70 m. j-f@j1j1j1i1h1h1Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:45:27.2642 TRx dataTimestamp_ set to:1736372728.540795checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523812hhfffrfbfH @ɛeBm %* imIi mdɚiiiIuI=IF+iim=)f@)*Fa2Fa:FaBF1JFH]?>IY I][%II]pBIY&IY.IY6I]d<:I]J FGΥ=  $?I UhG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775454B O >{w,8~A2_@Y2Jm@2>;92l=y2H Y?%'@c c?@Gt`?J?ɨ2_@2;2!Cy:B>$IIJSIJ75٢RX"= RJ=9R|Q R>TT VG٣VQEGyZ Z> 5Nusing accuracyPremultiplier from config\M49^ޛ?U4Y^{ i^ RBQU&U)@^}D^ƣ<^_<^(4 @ZjFNOT Ignoring new targets: 465.90 m.Bj-JjU ProNav: ac range: 465.899994 m, nav range: 41.852776 m, bearing: 63.974645 deg, approach rate: 0.532301 m/s, LOS rate: -0.478510 deg/s, cmd heading: 206.667645 deg, new cmd heading: 205.998538 deg. 2j2HeadingCmd: 3.595353 target range: 465.899994 and range: 467.70 m. jBf@jjjihhhhfffrfbf@ɛ%Beq imIi m%ɚiiiImc_J=Ius,iqi}@=)}Bf@)yEWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 469.9 m (Round-trip 626.6 ms) speed -0.5 m/s ,DAT read: user:2036> BDAT read: Tx time:21:45:28.3834  $Ping request sent.  I cw,iR~A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&JDAT read: TxSync time:21:45:28.3827 y=B=$I)A A Ma=Mp=JaJeJaJaJaJedP:JaJaMb@Mb@Mb@ )Y r?{Gz~jtyC?ףļ\ A )E AIvAy AIRI5٢1 *=9Q >   G٣ y > Nusing accuracyPremultiplier from config%49ޛ?%4Y iQB%C?%:%%%)@D;D;4=DB =H@=E addTargetRange:: Added new target pos. range: 469.899994 m, deltaT: 4.032118 s, deltaX: 2.199982 m, approachRate: 0.545614 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 465.90 m.Bjz2Jjz2 ProNav: ac range: 465.899994 m, nav range: 42.163960 m, bearing: 63.706106 deg, approach rate: 0.728650 m/s, LOS rate: -0.624152 deg/s, cmd heading: 205.998533 deg, new cmd heading: 205.198917 deg. 2j,ּHeadingCmd: 3.581397 target range: 465.899994 and range: 469.90 m. j5e@jjjihhhh4Bfffrf`f^}@bf ?ɛB_% 隍I d+ɚiI K=I,iiA=)5e@)*FU?2FQ:FQBFU82JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.G x=HY IY  I] N%II] fBIY &IY .IY 6I] <:I] _ FBIJIRIZI$ =bI$ =jI;4Gy B O >Cw,l~A2^@Y2#l@2-9;92p+=y2H P ?2Fo[J?$Gbl??ɨ2^@2Uފ;2"CyV BV$II^4I^{5٢fּ fo=9jQ j?hh nG٣lyn n? vNusing accuracyPremultiplier from configpv49ryޛ?z4Yr irQB|~'~)@rDrJ;rJ;r4 FB @EZj1=FNOT Ignoring new targets: 465.90 m.Bj=e&Jj=e& E$?IA ProNav: ac range: 465.899994 m, nav range: 42.381744 m, bearing: 63.509779 deg, approach rate: 0.648826 m/s, LOS rate: -0.581893 deg/s, cmd heading: 205.198922 deg, new cmd heading: 204.612989 deg. 2jǼHeadingCmd: 3.571170 target range: 465.899994 and range: 469.90 m. jd@jjjihhhhfffrfbf}?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛmBm= imIq u0ɚqiIޒK=I-iiI=)d@)*FM?2FQ:FQBFU4JFQG-F=G-?G-?GB O|> Will construct direction to contact in vehicle frame from tetrahedron phase data.w,~A>T@]@Y>_k@>C:9>6=y>H ˂S?9g T@]@>a5;>#CyHH-Mb@Mb@Mb@))) )))Y-}?5^I?~jtxQy-MB?-Ļ-u-E A -A)- AI-A)y-AIEIEv4٢U#8 UC=9UvQ U>YY ]G٣]REGye e> Nusing accuracyPremultiplier from configq49uKޛ?4Yu< iuQBYB?:3' )@uDu w,Jy~A6d[\@Y6zj@6E:96g@=y6H @T?@"߿m?H ? ?ɨ6d[\@6;6!CyB BB$IiFa=IF=IJIJ4٢RJ RV=9RQ V>TT VG٣TyZ" Z> ^Nusing accuracyPremultiplier from config\b49^%ޛ?f4Y^ i^QBdj(j)@^D^&D;^M7;^4nGB n@nE~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 465.90 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: 465.899994 m, nav range: 42.888809 m, bearing: 63.061292 deg, approach rate: 0.659209 m/s, LOS rate: -0.584632 deg/s, cmd heading: 203.914300 deg, new cmd heading: 203.275585 deg. 2jȼHeadingCmd: 3.547828 target range: 465.899994 and range: 469.90 m. jc@jjjihhhhfffrfbf}t?ɛMBM5 IU|Iq u<ɚyiyI}ʹL=I}/iiNϛ=)c@)*FU?2FY:FYBFYJFYG- =HiIi IiIiIi&Ii.Ii6Im<:Imm FGB O%M> =$?I9- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759957Kw,%Y~A6`[@Y6~i@6H:96vI=y6Hf?cb߿@@ᾥ?bQ:,??ɨ6`[@6c;6 CyBBB$IIJ=IJw 5٢b:,= fH=9fND:Q f>hh jG٣hyj n> zNusing accuracyPremultiplier from configt49viޛ?4Yv ivQB))@vDv=;vF;v4%HB %f@%EZjFNOT Ignoring new targets: 465.90 m.Bj5JjU ProNav: ac range: 465.899994 m, nav range: 43.146290 m, bearing: 62.827305 deg, approach rate: 0.557436 m/s, LOS rate: -0.503549 deg/s, cmd heading: 203.275582 deg, new cmd heading: 202.577845 deg. 2jʬHeadingCmd: 3.535650 target range: 465.899994 and range: 469.90 m. jHb@jjjihhhhfffrfbf?ɛq}t% y}Iy }CɚyiyI_M=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012163I/iiM=)Hb@)*F?2F:FBF_0JFzK} NK} 59Ky K} *K}    <V]UKA4,' G =G G pA % $?I! G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263826:дw,U0~AVjZ@YVh@Vԏ:9VlO=yVH5@-?@ ؙ@8޿, o?qX?@x?ɨVjZ@V>;V!CyfBf$I]Mb@Mb@Mb@YYY Y)YY]S㥛?y&1| G٣SEGy > Nusing accuracyPremultiplier from config49Mޛ?4Y_ iQB*F?: *)@Dj;;4JB Y@EZj9=FNOT Ignoring new targets: 465.90 m.BjE;JjE;U ProNav: ac range: 465.899994 m, nav range: 43.444656 m, bearing: 62.550883 deg, approach rate: 0.713139 m/s, LOS rate: -0.656146 deg/s, cmd heading: 202.577851 deg, new cmd heading: 201.754342 deg. 2jU'Ἕ]HeadingCmd: 3.521278 target range: 465.899994 and range: 469.90 m. j]\a@jajajaiihhhhBfffrfbf`$@ɛB2 NI e/IɚiI)M=I0ii =) \a@) *F2F:FBFg0JF"GG=GǙ=GqBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516034O>HE @>IA  IA IA IA &IA .IA 6IE ̰<:IE Fw,( ~Ay=B=$I)A AIM>IM 5٢eH< ef=9eQ e>ii mG٣iyu }> Nusing accuracyPremultiplier from configy49}Y9ޛ?4Y} i}QB)@}æD};}+;}(4 @ $?IZjAEFNOT Ignoring new targets: 465.90 m.BjMJjM} ProNav: ac range: 465.899994 m, nav range: 43.671150 m, bearing: 62.344180 deg, approach rate: 0.608943 m/s, LOS rate: -0.552852 deg/s, cmd heading: 201.754349 deg, new cmd heading: 201.137480 deg. 2j}HeadingCmd: 3.510511 target range: 465.899994 and range: 469.90 m. j7`@jjjihhhhfffrfbf@@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768931JMJMJIJIJM:JMwR:JIJIJM6w,Ay=B=$IMb@Mb@Mb@ )Y#~j?Mby&1|yE?`\ A )IAyG AI<I 5٢ a<  @=9 Q  > G٣y %> -Nusing accuracyPremultiplier from config!-49% ޛ?54Y% i%QB5E?5:5*=)@%ΦD%;%;%4EKB E@EEZjimFNOT Ignoring new targets: 465.90 m.Bju,Jj}, ProNav: ac range: 465.899994 m, nav range: 43.939957 m, bearing: 62.096167 deg, approach rate: 0.656174 m/s, LOS rate: -0.601711 deg/s, cmd heading: 201.137473 deg, new cmd heading: 200.398029 deg. 2jyμHeadingCmd: 3.497605 target range: 465.899994 and range: 469.90 m. j_@jjjihhhh,Bfffrfbf QS @ɛh0 +ؾI SɚiIqO=IF2iiM=)_@)q $?IVhzKMK9KK+KRK?JK?*F?2F:FBF0JFG=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272056GBOc>0w,!A:>VX@Y:tf@: ;9:U_=y:HR?`@D_ܿ|?VX@:6;8yBBB$IIN8IN@ 5٢V1< Vc=9Z:Q Z>\\ ^G٣^TEGy^ b> fNusing accuracyPremultiplier from config`f49bo ޛ?j4Ybͼ ibQBhj,j)@bצDbX;b;b4rLB r@rEUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:21:45:31.4175 eTRx dataTimestamp_ set to:1736372732.572726echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.525055}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 465.90 m.Bj;$Jj;$ ProNav: ac range: 465.899994 m, nav range: 44.162636 m, bearing: 61.879276 deg, approach rate: 0.592648 m/s, LOS rate: -0.574330 deg/s, cmd heading: 200.398023 deg, new cmd heading: 199.750662 deg. 2jżHeadingCmd: 3.486307 target range: 465.899994 and range: 469.90 m. j_@jjjihhhhfffrfbf@^ @ɛB). 隕ԾI FYɚiIХO=I3ii;==)_@)*FE?2FA:FABFE`5JFIGQ GQHI I[%IIpBI&I.I6Ih<:IN F IG*= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776665G B O >JK3 K.-KK"KJe Je Je 1Ja Je k:Je W:Je 3Ja Je %8<Je &8<Je J;Je J;Z6w,Z;A6W@Y6be@60:96`=y6H@)I?w%ۿj~?dq^?`?ɨ6W@60y;6 CyR!BR$IiV=ITIZcIZN5٢b< bI=9fQ f>dd jG٣hyj j> rNusing accuracyPremultiplier from configlr49ndݛ?v4Yn> inQBtv-v)@nDn:n:n4x z@|ZjFNOT Ignoring new targets: 465.90 m.Bjh+Jjh+ ProNav: ac range: 465.899994 m, nav range: 44.412838 m, bearing: 61.634110 deg, approach rate: 0.615207 m/s, LOS rate: -0.599427 deg/s, cmd heading: 199.750658 deg, new cmd heading: 199.019344 deg. 2j%ͼmHeadingCmd: 3.473543 target range: 465.899994 and range: 469.90 m. jmN^@jijjihhhhfffrf!bf-?@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: Range 10 to 50 : 472.4 m (Round-trip 629.9 ms) speed -0.8 m/s ,DAT read: user:2037> -X#Rx 1: Read range message, but no direction.qyu3CqT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ# 隽ҾI _ɚiIMP=I/3ii C=)N^@)*F2F:FBFJFGu`=G1BAO]> $?I zKE KKE 59KA KE ,KE % Will construct direction to contact in vehicle frame from tetrahedron phase data.= BDAT read: Tx time:21:45:32.5334 = $Ping request sent.= ۿI? '\z[?i?ɨ2W@2;0yR'BR%I*J"Ja= Mb@Mb@Mb@    ) Y %C?y&1 G٣ye > Nusing accuracyPremultiplier from config49ݛ?4Y$ iQBeD?: .)@D;;24%MB %f@%E addTargetRange:: Added new target pos. range: 472.399994 m, deltaT: 4.032567 s, deltaX: 2.500000 m, approachRate: 0.619952 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 465.90 m.Bj,Jj, ProNav: ac range: 465.899994 m, nav range: 44.699997 m, bearing: 61.352751 deg, approach rate: 0.621328 m/s, LOS rate: -0.604866 deg/s, cmd heading: 199.019350 deg, new cmd heading: 198.180757 deg. 2jϼHeadingCmd: 3.458907 target range: 465.899994 and range: 472.40 m. j^]@jjjih!hIhIhM;BfIfQfQrfU`f}@bfU ?ɛ+ ;I 5dɚiIP=I4ii=)^]@)*F?2F:FBF05JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248561G F=jH bH <H A>I  I n%II BI &I .I 8D6I |<:I ] FGy B O >Gw,PoAB V@YBd@By :9B g=yBH`-?`dڿ@? /[A`ݬ??ɨB V@B;BCyJ-BJ %IIVIV|4٢Zf= ^p=9^NdQ ^?`` bG٣bUEGyfjռ f? nNusing accuracyPremultiplier from configdr49fݛ?r4Yf ifQBpr.v)@fDfS;f}0;f4zOB z@zEZj %$?I!-FNOT Ignoring new targets: 465.90 m.Bj-L.Jj-L.E ProNav: ac range: 465.899994 m, nav range: 44.903927 m, bearing: 61.152101 deg, approach rate: 0.622331 m/s, LOS rate: -0.609539 deg/s, cmd heading: 198.180753 deg, new cmd heading: 197.581561 deg. 2jE)ѼMHeadingCmd: 3.448449 target range: 465.899994 and range: 472.40 m. jMc\@jIjIjIiIhIhQhQhYfYfafarfabfe@?ɛ  6 ƾI V iɚi1I5YQ=I=Ql5i9i==)Ec\@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502121*F?2F:FBF`0JFJ=J=J=0J9J=K:J=S:J=ـ3J9J=r5<J=r5<J=;J=;G|=GiBqO9>- G= tAQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752648 } Y tAy DB0w,#/A6\V@Y6 #d@6: 96΀=y6H-}9?홿JFڿt? ZgA?$?@?ɨ6\V@6d`;6!CyR4BR%I)T TmMb@Mb@Mb@iii i)iYmT㥛 ?V-y&1|ymA?mm`m A mA)iIiiyiI:I# 5٢< ==9 Q > G٣y͓ > Nusing accuracyPremultiplier from config49Uݛ?4Y iQB,A?:g0)@DL;K;4PB @EZjFNOT Ignoring new targets: 465.90 m.Bj+Jj+  ProNav: ac range: 465.899994 m, nav range: 45.157387 m, bearing: 60.891435 deg, approach rate: 0.586874 m/s, LOS rate: -0.600169 deg/s, cmd heading: 197.581568 deg, new cmd heading: 196.804011 deg. 2j ͼHeadingCmd: 3.434878 target range: 465.899994 and range: 472.40 m. j [@jjjihhh!h%HBf!f!f!rf)bf-@2?ɛ{% |I )%nɚiI$Q=IJ6i i Ҵ=)  [@) $?IWh*F2F:FBF_0JFzKE&~JKE9KAKE-KEWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004741G=G ?G ?Gi Bq O >DZw,A2U@Y2ac@2uպ92hw=y2H"C ?Aٿ$5?-Z?? ?ɨ2U@2Ԇ;2 Cy>1B>%IIbIb4٢j;J jW=9jll nG٣lyr㉼ r> vNusing accuracyPremultiplier from configtz49vݛ?z4Yv ivQBxz0~)@vDv:v ;v<4 @-B*** querying acoustic contact ***j)j)Zj15FNOT Ignoring new targets: 465.90 m.EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256616BjM-+JjM-+] ProNav: ac range: 465.899994 m, nav range: 45.379730 m, bearing: 60.662972 deg, approach rate: 0.585449 m/s, LOS rate: -0.598613 deg/s, cmd heading: 196.804005 deg, new cmd heading: 196.122008 deg. 2j]iͼeHeadingCmd: 3.422975 target range: 465.899994 and range: 472.40 m. je[@jajajaiihihihihqfqfqfqrfqbf}L?ɛ, 隭þI rɚiIeR=I 7ii!=)[@)*FU?2FQ:FYBF]o0JFYGM =HI Iz%IIBI&I.I6IX<:IC FBIYJIYRIYZIYbIYjI]ށ4G!B1Oe4> IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508358JM JM JI JI JM :JM dP:JI JI JM 2<<JM 2<<JM ;JM ;w,A2U@Y2}.c@292q=y2H,_I\?[ږ fٿ@Q?``S?@A0??ɨ2U@2Nj;0yB?BB %IIJ:IJ# 5٢f= fK=9fя:Q f>hh jG٣jVEGyj n> rNusing accuracyPremultiplier from configpv49r|ݛ?v4Yr irQBxz]1z)@rDra;r";rH4QB @EZjFNOT Ignoring new targets: 465.90 m.Bj"Jj" ProNav: ac range: 465.899994 m, nav range: 45.615120 m, bearing: 60.420125 deg, approach rate: 0.555065 m/s, LOS rate: -0.569694 deg/s, cmd heading: 196.122011 deg, new cmd heading: 195.397269 deg. 2j|üHeadingCmd: 3.410326 target range: 465.899994 and range: 472.40 m. jBZ@jjjihhhhfff rf bf?ɛ& I) 5+xɚ1i1I5R=I=7i9i==)=BZ@)AMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.760501E]V>E]>*F?2F:FBFn0JFG GpA $?I G Ҵ=G B O >zK} jIKy Ky K} .K}  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012406Plw,A>qT@Y>ub@>9>n=y>H`0~?@2ؿCq?A?խ??ɨ>qT@>{;>!Cyxz%Ii)>I>!%AMb@Mb@Mb@ )Y-??t#\ A 3A)/ AIy AI 3I  5٢1 7=9:Q >!! %G٣!y-ð -> 5Nusing accuracyPremultiplier from config1=495aݛ?=4Y5 i5QB=G>?E:E1E)@5D5;5;54MSB M;@M EZjyFNOT Ignoring new targets: 465.90 m.Bj-Jj- ProNav: ac range: 465.899994 m, nav range: 45.873779 m, bearing: 60.159648 deg, approach rate: 0.607598 m/s, LOS rate: -0.608416 deg/s, cmd heading: 195.397273 deg, new cmd heading: 194.620298 deg. 2jмHeadingCmd: 3.396765 target range: 465.899994 and range: 472.40 m. jdY@jjjihhhhYBfffrfbf@ɛB\% εI |ɚiIwS=I8ii:=)dY@) *F?2F:FBF0JFG=GaBiOZ>]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264366H I C I %II BI &I .I 6I )<:I Fw,A2S@Y21a@2VQݹ92Eh=y2H`o%0? y9ؿ!@?*;?? ?ɨ2S@2A);0 B$?I@yFJBF-%IIRLIR5٢vp= v`=9vw9Q v>xx zG٣xyzb ~> Nusing accuracyPremultiplier from config 49Lݛ? 4Y iQB  1)@%DP::y4TB @ EZjAMFNOT Ignoring new targets: 465.90 m.BjM&JjU&e ProNav: ac range: 465.899994 m, nav range: 46.084412 m, bearing: 59.945942 deg, approach rate: 0.577122 m/s, LOS rate: -0.582866 deg/s, cmd heading: 194.620298 deg, new cmd heading: 193.982138 deg. 2jeȼmHeadingCmd: 3.385627 target range: 465.899994 and range: 472.40 m. jmX@jijijiiihihqhqhqfffrfbfR@ɛ)-" )-.I1 5vɚ1i9I=S=IUq9iYi]&=)]X@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516546*F-?2F):F)BF-`5JF)JJJJJ];J*f:JJJI<JI<JԷ;JԷ;GU=GQ B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768903`~ w,u A6R@Y60a@696|f=y6Hk?@Ԕ u׿Ϲت? 3? ˬ??ɨ6R@6I;6 CyVLBV/%I=Mb@Mb@Mb@999 9)9Y=^I +?MbI +y=X9?==94= A =A)= AI= A9y= AIUCIU 5٢eo; eC=9eޢ9Q m>ii mG٣mWEGyu u> }Nusing accuracyPremultiplier from configy49}4ݛ?4Y}P i}QBi9?:f2)@}/D}@;};}4 @ZjFNOT Ignoring new targets: 465.90 m.Bj"Jj" ProNav: ac range: 465.899994 m, nav range: 46.318665 m, bearing: 59.706129 deg, approach rate: 0.558213 m/s, LOS rate: -0.568570 deg/s, cmd heading: 193.982140 deg, new cmd heading: 193.266379 deg. 2jüHeadingCmd: 3.373135 target range: 465.899994 and range: 472.40 m. jpW@jjjihhhhuBfffrfbf5 @ɛB I ÂɚiI|T=IE>:i i 4=) pW@)1E9 u$?Iy*F?2F:FBF_5JF"G=G=zKKKK/KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020486G5=G?G?G B O > w,Q$A6j8R@Y6W`@6l96M\=y6H@? TֿNԩ? "4?ޓ??ɨ6j8R@6;4yFJBF-%I)H HINPIN5٢Vɻ VW=9V)Q Z>XX ZG٣Xy^c ^> bNusing accuracyPremultiplier from config`f49bݛ?f4Yb ibQBhj$3j)@b8Dbq:b:bs4nUB n@rE~B*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 465.90 m.Bjs#Jjs#%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.2725655 ProNav: ac range: 465.899994 m, nav range: 46.529823 m, bearing: 59.487651 deg, approach rate: 0.554973 m/s, LOS rate: -0.571601 deg/s, cmd heading: 193.266377 deg, new cmd heading: 192.613948 deg. 2j5$ļ=HeadingCmd: 3.361748 target range: 465.899994 and range: 472.40 m. j=&W@j9j9j9i9hAhAhAhAfIfIfIrfIbfM;D @ɛydz' 隅˫I ɚiIT=I:ii+=)&W@)*FQ2FQ:FQBFU`0JFQGe Ge"GeGeH5B>I1 I5%II5BI5# =&I1.I16I5B<:I54 F e$?IaGBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:45:35.5937 TRx dataTimestamp_ set to:1736372736.856672checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525499 w,8,>A6YQ@Y6x_@696IS=y6H` ?@ 쑿Gտ? 0?y? ?ɨ6YQ@6N;6$CylpILI5٢%"x %C=9- 9Q 5>99 =G٣9yE M> eNusing accuracyPremultiplier from configQm49USݛ?m4YUZ iUQBqu4u)@UADU;UѮ;U#4WB @EZjFNOT Ignoring new targets: 465.90 m.Bj!Jj!  ProNav: ac range: 465.899994 m, nav range: 46.762325 m, bearing: 59.243541 deg, approach rate: 0.541328 m/s, LOS rate: -0.565526 deg/s, cmd heading: 192.613944 deg, new cmd heading: 191.885298 deg. 2j ¼HeadingCmd: 3.349030 target range: 465.899994 and range: 472.40 m. jVV@jjjihhh!h!f!f!f!rf)bf-@ɛB=Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780706 隍ȬI gɚiI+U=I3;ii=)VV@)*FY2FY:FYBF]4JFaG1BAOmx> a Iq zK BoIK 9K K 0K  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:45:35.5938 LVL= 21680, 29841, 25282, 32755, AGC= 72, IDX= 187,-0.41,-1.282, 0.262,-2.200,-1.494, PHS= 0.300, 1.803,-0.709, RAW= 353.5, -12.7, CAL= 354.3, -17.5, ROT= 155.7, 17.5  Ygot valid direction response: 21:45:35.5938 LVL= 21680, 29841, 25282, 32755, AGC= 72, IDX= 187,-0.41,-1.282, 0.262,-2.200,-1.494, PHS= 0.300, 1.803,-0.709, RAW= 353.5, -12.7, CAL= 354.3, -17.5, ROT= 155.7, 17.5 % PDAT read: Bearing 155.7, 17.5 (Local) % ~Local bearing/azimuth received: Bearing 155.7, 17.5 (Local) - DAT read: Range 10 to 50 : 492.0 m (Round-trip 656.1 ms) speed -0.7 m/s 5 ,DAT read: user:2038> _ w,hXA&BDAT read: Tx time:21:45:36.6835 &$Ping request sent.& ? 5 n@ b @) aI '-@i a> +xQ⿑fK鿘2֑/̿) F I b>i P? % > ::publishing transmit ping time$:Fpublishing direction and range info 9 Y\A? ?{R7y  ) I i JrJrJpJpJr:Jr\:JpJpav@av@av@az@P@Yȵ^@}P9UG=yH/m6? <տ&z?*?`?`>?ɨP@B;"CyVB<%I ) I i +xQ⿑fK鿘2֑/̿) I i Mb@Mb@Mb@ )Y$C? G٣XEGyü %> -Nusing accuracyPremultiplier from config)549-ܛ?54Y-g i-QB5$:?5:=)4=)@-MD-;-;-,4EXB E@EEk rܛ?k ^a< k  k [WA:k CBk RCZk @" old@~4PM|@}OB)P Y\A? ?{R7Jk P?Rk % >* 8Nzz~X4@IE 6^N[c"k *k Tk 23ܛ?k NzN= 2k Ak k D k k Bk j? addTargetRange:: Added new target pos. range: 492.000000 m, deltaT: 4.283283 s, deltaX: 19.600006 m, approachRate: 4.575931 m/s, rangeRepo size: 4 U Added new target pos. range: 492.000000 m, bearing: 269.902952 deg, lat: 36.900203 deg, lon: -122.118060 deg, deltaT: 16.632008 s, deltaX: 26.100006 m, approachRate: 1.569264 m/s, posRepo size: 4 ZjY]FNOT Ignoring new targets: 492.00 m.BjJj ProNav: ac range: 492.000000 m, nav range: 39.752201 m, bearing: 52.397855 deg, approach rate: 0.000000 m/s, LOS rate: -0.565526 deg/s, cmd heading: 191.885299 deg, new cmd heading: 191.018540 deg. 2jHeadingCmd: 3.333902 target range: 492.000000 and range: 492.00 m. j^U@jjjihhhh`Bfffrf~@bf@IH?ɛ%B-n )-I) -D扼ɚ)i1I5f%V=I5 H- C>I)  I- %II- BI) &I) .I) 6I- l<:I- R F e $?Ia  w,qA6O@Y69]@6596A=y6H@.Tc?3͎viԿwK ?_?@&=??ɨ6O@65;6CyNRBN7%IiRM Will construct direction to contact in vehicle frame from tetrahedron phase data." w,A2N@Y2\@2_92+ 6=y2H Aw?@` ӿOo?b?¦??ɨ2N@2bĊ;2 CyBXBB=%IMb@Mb@Mb@ )Y㥛 ?y&1Mbpy5?`e\ A IA)Iyp AI-%I-5٢= < EE=9E'Q E>II MG٣IyMF M> ]Nusing accuracyPremultiplier from configQe49U2ܛ?e4YUi iUQBe5?e:ei6e)@U]DU;UD;U94uYB u@uEZjQ]FNOT Ignoring new targets: 492.00 m.Bj] Jje m ProNav: ac range: 492.000000 m, nav range: 40.172855 m, bearing: 51.976322 deg, approach rate: 0.556094 m/s, LOS rate: -0.561955 deg/s, cmd heading: 190.473827 deg, new cmd heading: 189.760737 deg. 2jHeadingCmd: 3.311950 target range: 492.000000 and range: 492.00 m. jS@jjjihhhhlBfffrfbf`&&? $?IɛB   СI 1ɚiIW=I(>ii=)S@)!EmY>Em>Will construct direction to contact in vehicle frame from tetrahedron phase data.zKa3JK9KK1K*F?2F:FBFJFJ@AJ?AJJJJJJU:JJG =G B O >( w,A:M@Y:\@:~<)9:0=y:H@D?n儿ҿ@b?@'e?6?T?ɨ:M@:;8yBRBF7%IIN IN4٢V VU=9VCDQ V>XX ZG٣XyZn ^> bNusing accuracyPremultiplier from config`f49bܛ?f4Ybb ibQBdfA7j)@bfDbe:b:b?4nZB n@nEWill construct direction to contact in vehicle frame from tetrahedron phase data. B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 492.00 m.Bjq2Jj%q2- ProNav: ac range: 492.000000 m, nav range: 40.393700 m, bearing: 51.748766 deg, approach rate: 0.608952 m/s, LOS rate: -0.624027 deg/s, cmd heading: 189.760741 deg, new cmd heading: 189.081839 deg. 2j5!ּ5HeadingCmd: 3.300101 target range: 492.000000 and range: 492.00 m. j54S@j9j9j9i9h9h9hAhAfAfAfIrfIbfMVP?ɛB+ 隅I ɚiIW=I>iiM0=)4S@)*FQ2FQ:FQBFU0JFQHI I%IIBI&I.I6ID<:I5 F $?IG7=GiByO>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.p!/ w,`vA22M@Y2P[@2J92+=y2H ? ҿ`@?^i?n??ɨ22M@2 ;2"CyN\BNB%I)P PIZ*IZ 5٢4= D=9 Q  >   G٣YEGyG > %Nusing accuracyPremultiplier from config%49ܛ?-4Yl -tIiQB)-8-*@pD;;G49 =@9ZjamFNOT Ignoring new targets: 492.00 m.Bjm)Jjm) ProNav: ac range: 492.000000 m, nav range: 40.631134 m, bearing: 51.501189 deg, approach rate: 0.572896 m/s, LOS rate: -0.593876 deg/s, cmd heading: 189.081834 deg, new cmd heading: 188.343486 deg. 2j˼HeadingCmd: 3.287214 target range: 492.000000 and range: 492.00 m. jaR@jjjihhhhfffrfbf`?ɛBn ßI GɚiI X=I?iiP=)aR@))1 =1CavAWill construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744566 YvAyW BEBa=E*FU?2FQ:FYBF]o0JFYGerA GepA $?IG} %= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991874zK= BoIK= h9K9 K= 2K= GY Ba O} >6 w,mـA*JJR="JJ%=JNJNJLJLJN:JNT:JLJLymaBmI%I-only read 2 of 4 data items for beam range. Device response is::RA, 0.01, 84.61, 86.65  @ @ @  @ IEI5٢< 9=9Q > %G٣!y- -> =bBottom track data is 0.4 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E495sxܛ?E4Y5 i5QBE+:AMr:IM*@5zD5:;5P>5OM4m\B u@}EZjFNOT Ignoring new targets: 492.00 m.Bju%Jju% ProNav: ac range: 492.000000 m, nav range: 40.886013 m, bearing: 51.239479 deg, approach rate: 0.567049 m/s, LOS rate: -0.578615 deg/s, cmd heading: 188.343491 deg, new cmd heading: 187.563306 deg. 2jƼHeadingCmd: 3.273597 target range: 492.000000 and range: 492.00 m. jQ@jjjihhhhfffrfbf@K@ɛ5B5 15ƛI1 = ɚ9i9I=AX=Ie@iaier=)eQ@)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243580Et0=H I  I %II BI &I .I 6I i<:I P FBIeɠCJIeɠCRIaZIe# =bIe# =jIeɠP4*F ?2F :F BF `0JF I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495624G=GB!OE??> w,AZJ@YZX@Zt89Z$+"=yZH+?T Ͽ]@? D??ɨZJ@Zk;Z!CybVBf<%IIn0In5٢v* v$=9vK;Q v>xx zG٣zZEGy~ ~> bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 49 [ܛ?4Y  i QB :D:a:*@ D ); Cq? R4-]B -j@-"EZjFNOT Ignoring new targets: 492.00 m.Bj )Jj ) ProNav: ac range: 492.000000 m, nav range: 41.162693 m, bearing: 50.938159 deg, approach rate: 0.546495 m/s, LOS rate: -0.591161 deg/s, cmd heading: 187.563306 deg, new cmd heading: 186.665499 deg. 2jʼHeadingCmd: 3.257928 target range: 492.000000 and range: 492.00 m. jP@jjjihhhhff!f!rf)bf-@'@ɛB! 隝⧾I ɚiI-Y=IҝAiihϳ=)P@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750682*F=?2F9:F9BFAJFAG ^=G B O > $?I E w,xA2J@Y2=X@27ַ92 =y2H@X ?Ԃ=ο`Ӈ?>??ɨ2J@2F;0yfQBf5%I m m mm uu  u u Will construct direction to contact in vehicle frame from tetrahedron phase data.ՉiՍAchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.003132uMb@Mb@Mb@qqq q)qYuA`"?{Gzy&1|yu9?uףu`u A u`A)u AIuvAqyu AIWI5٢  <=9|Q >    G٣yWڼ %>zKk3IK9KK3KJJJ1JJ:JW:J3J Nusing accuracyPremultiplier from config)49-|Aܛ?4Y-t i-QBT:*9?:;*@-D- ;-;-Z4%^B -@-%EZjiuFNOT Ignoring new targets: 492.00 m.Bju,Jju, ProNav: ac range: 492.000000 m, nav range: 41.410286 m, bearing: 50.662173 deg, approach rate: 0.544510 m/s, LOS rate: -0.603321 deg/s, cmd heading: 186.665505 deg, new cmd heading: 185.842556 deg. 2jϼHeadingCmd: 3.243565 target range: 492.000000 and range: 492.00 m. jO@jjjihhhhpBfffrfbf@ɛmBmA( imIi m+ɚqiqIuY=I}%Biyi}ۼ=)}O@)yEErA*F=?2F9:FABFE0JFA- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251688G =Gy B O >H I  I I I &I .I 6I <:I FjHK w,R/AJwYI@YJ&xW@J9&9J& =yJHL1? 0`q̿@'+ڔ?D???ɨJwYI@Jϊ;J"CyVOBV2%IIb^Ib5٢jb j_=9nںQ n>pp rG٣pyv v> zNusing accuracyPremultiplier from configx~49z+ܛ?~4Yz izQB|~f<*@zDz;z;z`4 `B @ (E%B*** querying acoustic contact ***j)j)Zj15FNOT Ignoring new targets: 492.00 m. E$?IEXhBjMEJjME] ProNav: ac range: 492.000000 m, nav range: 41.613735 m, bearing: 50.433063 deg, approach rate: 0.614975 m/s, LOS rate: -0.689153 deg/s, cmd heading: 185.842562 deg, new cmd heading: 185.158628 deg. 2jez켝eHeadingCmd: 3.231628 target range: 492.000000 and range: 492.00 m. jeN@jijijiiihihihqhqfqfqfyrfybf}.l @ɛBF= 隭YI ZɚiICZ=ILCi1i5D=)5N@)9*F2F:FBF@5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:45:39.7478 TRx dataTimestamp_ set to:1736372740.889601checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505969GXY=GBOA>E Will construct direction to contact in vehicle frame from tetrahedron phase data.3R w,yy }G٣}[EGylռ > Nusing accuracyPremultiplier from config49 ܛ?4Y| iQB;?:<*@D;;h4 l@*EZjFNOT Ignoring new targets: 492.00 m.Bj4Jj4M ProNav: ac range: 492.000000 m, nav range: 41.872932 m, bearing: 50.141250 deg, approach rate: 0.565612 m/s, LOS rate: -0.632840 deg/s, cmd heading: 185.158628 deg, new cmd heading: 184.288680 deg. 2jM'ټUHeadingCmd: 3.216444 target range: 492.000000 and range: 492.00 m. jU9M@jQjQjQiYhYhYhYherBfafafrfbfx3@ɛB7. I lӝɚiIZ=I}EDii=) 9M@)  AIA*F2F:FBFN5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.007540zKE BoHKE 9KA KE 4KE G 5(=Gy B O >sZX w,N cAFG@YFiU@F49FL=yFH[}?xt"ɿU ?`Qf?Nȣ??ɨFG@F;DyPPI^QI^T5٢fE fj=9f)fQ f?hh jG٣hyj n? zNusing accuracyPremultiplier from configt 49vۛ? 4Yv ivQB=*@vDv;vȕ;vo4%aB %@--EZjIUFNOT Ignoring new targets: 492.00 m.BjU4JjU4e ProNav: ac range: 492.000000 m, nav range: 42.070068 m, bearing: 49.916814 deg, approach rate: 0.558380 m/s, LOS rate: -0.632726 deg/s, cmd heading: 184.288681 deg, new cmd heading: 183.618559 deg. 2jeټmHeadingCmd: 3.204748 target range: 492.000000 and range: 492.00 m. jmM@jijqjqiqhqhqhyhyfyfyfrfbf`Y@ɛBTC 隵vI џɚiId[=IEii̿=)M@)Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 495.0 m (Round-trip 660.1 ms) speed -0.7 m/s ,DAT read: user:2039> %BDAT read: Tx time:21:45:40.8335 -$Ping request sent.*F5?2F1:F1BF5_0JF9=Ii Im%IImBIi&Ii.Ii6Im<:Ime F E$?IAG}=G1BAO]> Will construct direction to contact in vehicle frame from tetrahedron phase data.J J J 0J J :J mQ:J ـ3J J ~9hh jG٣hyj j> rNusing accuracyPremultiplier from configpv49r:ۛ?v4Yr ir|QBtvc>v*@rDr:r:r$v4~bB @0E addTargetRange:: Added new target pos. range: 495.000000 m, deltaT: 4.284515 s, deltaX: 3.000000 m, approachRate: 0.700196 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 492.00 m.Bj=0Jj=0 ProNav: ac range: 492.000000 m, nav range: 42.295483 m, bearing: 49.657782 deg, approach rate: 0.539208 m/s, LOS rate: -0.616320 deg/s, cmd heading: 183.618557 deg, new cmd heading: 182.845652 deg. 2j|ӼHeadingCmd: 3.191259 target range: 492.000000 and range: 495.00 m. j=L@jjjihhhhfffrf~@bf?ɛ-B-g: 15I1 5biɚ9i9I=[=I=!EiAiE?=)E=L@)A*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.GG=GBO> - $?I1 me w,a–A:bF@Y:T@:9:'=y:H%}e?H#?`#ƿ@+vO?j~??`?ɨ:bF@: ;:CyFQQ UG]Will construct direction to contact in vehicle frame from tetrahedron phase data.٣Qyehʼ m> uNusing accuracyPremultiplier from configi}49mۛ?}4Ymr imyQBI@?:=*@mDmz%;m$;m}4dB @3EZjFNOT Ignoring new targets: 492.00 m.Bj?Jj? ProNav: ac range: 492.000000 m, nav range: 42.540718 m, bearing: 49.385805 deg, approach rate: 0.608516 m/s, LOS rate: -0.670978 deg/s, cmd heading: 182.845653 deg, new cmd heading: 182.034483 deg. 2j>漝HeadingCmd: 3.177101 target range: 492.000000 and range: 495.00 m. jUK@jjjihhhh_Bfffrfbf ?ɛBcB  ̾I #ɚiI\=IFzKBoIKh9KK5Kii=)UK@)*F?2F:FBFJFGI= Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >He C>Ia  Ie %IIe BIa &Ia .Ia 6Ie y<:Ie ] F|k w,VA `Idy 5B %IIIH4٢- -L=95Q 5>19 =G٣=\EGyE E> MNusing accuracyPremultiplier from configIU49M ۛ?U4YM iMvQBQY]*@MȧDM2;M3;M4meB m@m6EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 492.00 m.Bj4Jj4 ProNav: ac range: 492.000000 m, nav range: 42.773285 m, bearing: 49.131713 deg, approach rate: 0.581103 m/s, LOS rate: -0.631432 deg/s, cmd heading: 182.034486 deg, new cmd heading: 181.276403 deg. 2jؼHeadingCmd: 3.163870 target range: 492.000000 and range: 495.00 m. j|J@jjjihhhhfffrfbf s?ɛ B M ӾI DɚiIp ]=I ۢGi i =) |J@)*F?2F:FBFo0JFmWill 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.JJJJJ;JZ:JJJ><J><J;J;GN=GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508296́r w,ʁAD@YqS@o:9y'=yH> ? Qs?ÿ_?M???ɨD@֊;y2B%IMb@Mb@Mb@ )YPn? G٣yG > Nusing accuracyPremultiplier from config49ۛ?4Yb itQB#D?:>>*@ӧD;J;x4 5@Zj!-FNOT Ignoring new targets: 492.00 m.Bj-N8Jj5N8= ProNav: ac range: 492.000000 m, nav range: 43.043816 m, bearing: 48.836047 deg, approach rate: 0.593471 m/s, LOS rate: -0.644533 deg/s, cmd heading: 181.276403 deg, new cmd heading: 180.395051 deg. 2jE+ݼMHeadingCmd: 3.148488 target range: 492.000000 and range: 495.00 m. jMҀI@jIjIjIiIhIhQhQhUPBfQfYfYrfYbf]?ɛ BG 隍پI x몼ɚiI_]=IHii=)ҀI@ $?I)*F=?2F9:FABFAJFAG5=GBOj>uWill construct direction to contact in vehicle frame from tetrahedron phase data.qiq}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757870zK BoHK 9K K 6K x w,Q䁼A2:D@Y2YR@2A92X"=y2H`Q@=?@qx?m¿A?/;?eI?@?ɨ2:D@2;2#Cy^,Bb%I)d d f=fa=IjIIj5٢%{ %i=9->Q ->)1 5G٣1y5' 5> ENusing accuracyPremultiplier from config9M49={ۛ?U4Y=~ i=sQBY]>]*@=ۧD=͎;=ё;=4ugB u@u9EZjFNOT Ignoring new targets: 492.00 m.Bj[6Jj[6 ProNav: ac range: 492.000000 m, nav range: 43.250343 m, bearing: 48.608390 deg, approach rate: 0.581311 m/s, LOS rate: -0.637721 deg/s, cmd heading: 180.395049 deg, new cmd heading: 179.715375 deg. 2jڼHeadingCmd: 3.136625 target range: 492.000000 and range: 495.00 m. jwH@jjjihhhhfffrfbf ?ɛ  B \ ZI zɚiI^=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010594IxH@iiק=) wH@)*F?2F:FBF0JFHI I%IIBI&I.I6Iְ<:I F IG q=G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261641JKm3 KS}-KK"KJ J J J J ;J _:J J J dL<J eL<J t;J u;~ w,,AZVC@YZuQ@ZjnT9Z=yZH `+?@?ࣾ@ݲ`ī?? ?@?ɨZVC@Zd;Z Cyb-Bf %II~JI~:5٢ ;  L=9 9Q > G٣]EGy8 > -Nusing accuracyPremultiplier from config!-49%bۛ?54Y% i%qQB15?5*@%D%:% :%4ehB e@e $?I L w,J A6}B@Y6GP@6Rd96f =y6HK{ G٣y > Nusing accuracyPremultiplier from config49Fۛ?4Y irQB I?:?*@DJ;;4jB @?EZjFNOT Ignoring new targets: 492.00 m.Bj>Jj> ProNav: ac range: 492.000000 m, nav range: 43.738194 m, bearing: 48.067913 deg, approach rate: 0.611647 m/s, LOS rate: -0.667774 deg/s, cmd heading: 178.933444 deg, new cmd heading: 178.103134 deg. 2j$弝HeadingCmd: 3.108486 target range: 492.000000 and range: 495.00 m. jpF@jjj!i!h!h!h!h-FBf)f)f)rf)bfk@ɛBY %I! %𯳼ɚ!i!I%(_=I-pF@iQiU=)UpF@)YzKRIK 9KK7K9T*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=3.019141G) G B Oe >H B>I  I %II BI &I .I 6I y<:I \ FBIJIRIZIbIjI 4 w,;1A $?I:>A@Y:O@:$~9:=y:H@*`>?V?]s^`\0?Lď?@&w?@?ɨ:>A@:;8y^%B^%Iib=Ibtt vG٣tyz z> ]Nusing accuracyPremultiplier from configYe49],ۛ?e4Y] i]sQBae@m*@]D]:]\:]ӧ4ukB uY@uBEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 492.00 m.Bj:Jj: ProNav: ac range: 492.000000 m, nav range: 43.973534 m, bearing: 47.805799 deg, approach rate: 0.587503 m/s, LOS rate: -0.650835 deg/s, cmd heading: 178.103139 deg, new cmd heading: 177.321058 deg. 2jT߼-HeadingCmd: 3.094836 target range: 492.000000 and range: 495.00 m. j-F@j)j)j)i)h1h1hAhAfIfIfIrfIbfM B @ɛBFkb 隽I 2ɚiI_=IF@ii=)F@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271265*F?2F:FBFl3JFJJJJJ:JmQ:JJJ:<J:<J;J;G ^=G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:45:43.9016 - TRx dataTimestamp_ set to:1736372745.176590= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528768ђ w,JKA-ԣ@@Y-N@- D9-h=y-H`@t?;?¶ BĢ?`Jh?@??ɨ-ԣ@@-Z];)yޝ!Bޝ$I $?I=Mb@Mb@Mb@999 9)9Y=K7A`? ףp= ?Mby=K?=Q8===E A =A)= AI= A9y9IUSIU75٢e' e(=9eLHQ m>ii mG٣m^EGyu u> }Nusing accuracyPremultiplier from configy49}7 ۛ?4Y}k i}wQBXK?:?*@}D}@;}L?;} 4lB @EEZjAMFNOT Ignoring new targets: 492.00 m.BjM86JjM86} ProNav: ac range: 492.000000 m, nav range: 44.265503 m, bearing: 47.495636 deg, approach rate: 0.603846 m/s, LOS rate: -0.637240 deg/s, cmd heading: 177.321055 deg, new cmd heading: 176.396788 deg. 2jڼHeadingCmd: 3.078705 target range: 492.000000 and range: 495.00 m. j E@jjjihhhh@Bfffrfbf@ @ɛBZ I vɚiIt>`=I E@ii=) E@) UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774455*F2F:FBFO5JF"G=G=zK 23MK h9K K 8K ( G 7E=G) B9 Om > w,gA2?@Y2M@2h92G =y2H ,?_? I@?`?`lR??ɨ2?@25;0y:)B:%IIFPIF5٢ 4=  a=9医Q >! %G٣!y-$ -> =Nusing accuracyPremultiplier from config9E49=ڛ?M4Y=l i=zQBQU@U*@=D=_;=x;=4a e.@aWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 497.9 m (Round-trip 663.9 ms) speed -0.7 m/s ,DAT read: user:2040> BDAT read: Tx time:21:45:44.9835 $Ping request sent.I Iz%IIBI$ =&I.I6I:Ihhhhfffrf`f@bf!r?ɛ%B%6d !%I) -ɚ)i)I-ټ`=I5;D@i1i5=)5;D@)9 $?I*F?2F:FBF_0JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.E JDAT read: TxSync time:21:45:44.9828 G= B =G9 BA Oe >am w,ʁAnr>@Yn!L@n9nU=ynHz'?=?aԭ`E M?@C???ɨnr>@n;lyv(Bv%I)x x ~a=|I3I 5٢Sݻ J=9FQ > G٣!y%# %> -Nusing accuracyPremultiplier from config)=49-7ڛ?=4Y-c i-~QBAEAE*@-D-O;-H;-4MnB MY@MHEZjq}FNOT Ignoring new targets: 492.00 m.Bj}EJj}E ProNav: ac range: 492.000000 m, nav range: 44.731316 m, bearing: 46.988864 deg, approach rate: 0.633421 m/s, LOS rate: -0.691446 deg/s, cmd heading: 175.677424 deg, new cmd heading: 174.884517 deg. 2jDHeadingCmd: 3.052311 target range: 492.000000 and range: 497.90 m. jYC@jjjihhhhfffrfbf?ɛB xu eI +ɚiI,a=IYC@ii=)YC@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.G7E= $?IGBO>U Will construct direction to contact in vehicle frame from tetrahedron phase data. w,A2!=@Y2K@2}92=y2H.S?.?(즿`T\? 4?ء? ?ɨ2!=@2z;0y>,B>%IMb@Mb@Mb@ )YHzG?&1?y=J?P=/ A A) AI Ay AI-.I-5٢=< =G=9=Q E>AA EG٣E_EGyM M>JUAAJUAAJ]J]JYJYJ];J]Z:JYJYae@ae@ae@ae@ Nusing accuracyPremultiplier from config49ڛ?4Y^ iQBJ?:B*@$D+;U;4-oB -.@-KEZjquFNOT Ignoring new targets: 492.00 m.Bj}7Jj}7 ProNav: ac range: 492.000000 m, nav range: 44.989754 m, bearing: 46.706072 deg, approach rate: 0.590689 m/s, LOS rate: -0.642635 deg/s, cmd heading: 174.884521 deg, new cmd heading: 174.041085 deg. 2jܼHeadingCmd: 3.037590 target range: 492.000000 and range: 497.90 m. jgB@jjjihhhhFBfzKN KKKK9KRK?JK>ffrfbf6?ɛ5B5a 15LI1 =üɚ9i9I=a=IegB@iaie=)egB@)i*F2F:FBF%`0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.G} =H I  I %II BI # =&I .I 6I ;<:I / FGq B O > $?I w,xA2<@Y2VK@2G˼92L=y2H ?cZ? $I?Oh? z??ɨ2<@2‹;2"Cy>3B>%IIF IF<4٢N>= RV=9RQ R>TT VG٣TyV V> ^Nusing accuracyPremultiplier from configXb49Zڛ?b4YZ iZQB`bBb*@Z-DZ ;ZP ;Zc4fpB j@jNEzB*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 492.00 m.Bj ?Jj ? ProNav: ac range: 492.000000 m, nav range: 45.205715 m, bearing: 46.466298 deg, approach rate: 0.606652 m/s, LOS rate: -0.670325 deg/s, cmd heading: 174.041088 deg, new cmd heading: 173.325241 deg. 2j漝HeadingCmd: 3.025096 target range: 492.000000 and range: 497.90 m. j-A@jjjihhhhfffrfbf8q?ɛ !B ؔn I1 5mƼɚ9i9I=] b=I=-A@iAiE+=)E-A@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.*F?2F:FBF0JFG-0=G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503137 w,oςA=#<@Y=~BJ@=ۼ9= y}AMb@Mb@Mb@ )Yw/?:v?11 5G٣1y5`Ҽ => ENusing accuracyPremultiplier from config9M49=܇ڛ?M4Y= i=QBU^G?U:UCU*@=9D=G;=qF;=[4]rB e@eQEZjFNOT Ignoring new targets: 492.00 m.Bj/9Jj/9% ProNav: ac range: 492.000000 m, nav range: 45.471706 m, bearing: 46.169572 deg, approach rate: 0.583939 m/s, LOS rate: -0.647599 deg/s, cmd heading: 173.325244 deg, new cmd heading: 172.440347 deg. 2j%8޼-HeadingCmd: 3.009652 target range: 492.000000 and range: 497.90 m. j-#@@j)j)j)i)h)h1h1h5]Bf1f9f9rf9bf=`?ɛ$B_ 隍(I ɼɚiIyvb=I#@@ii=)#@@)*FU?2FY:FYBF]0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756361JuJuJqJqJu=;JuU:JqJqzK= BHK= 59K9 K= :K= G} (==GQ Ba O} >ҹ w,&4邼AV+;@YV`JI@V ׼9V)) -G٣-`EGy-0( 5> =Nusing accuracyPremultiplier from config9E49=oڛ?M4Y=h i=QBIMDM*@=BD==;=;=4]sB ]@]TE}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007267ZjYeFNOT Ignoring new targets: 492.00 m.Bjm.Jj. ProNav: ac range: 492.000000 m, nav range: 45.685261 m, bearing: 45.927568 deg, approach rate: 0.539585 m/s, LOS rate: -0.608608 deg/s, cmd heading: 172.440352 deg, new cmd heading: 171.717775 deg. 2jмHeadingCmd: 2.997041 target range: 492.000000 and range: 497.90 m. j?@jjjihhhhfffrfbf {@ZH1RH1H=D>I9 I=%II=BI=$ =&I9.I96I=*<:I=" Fɛ &Bf  I %̼ɚiI b=I?@i!i%xe=)%?@ U$?IQ)a*F?2F:FBF0JF- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259181G% ^=G B O- > w, A>/:@Y>^NH@>׼9>/HZx/:@>|Ћ;>"Cy^EBb'%IIj?IjZ 5٢= < =G=9E09Q E>AA EG٣IyM M> UNusing accuracyPremultiplier from configQ}49U Uڛ?4YU iUQBE*@ULDU;U;U4 @ZjFNOT Ignoring new targets: 492.00 m.BjDJjD ProNav: ac range: 492.000000 m, nav range: 45.918091 m, bearing: 45.659174 deg, approach rate: 0.598001 m/s, LOS rate: -0.685847 deg/s, cmd heading: 171.717772 deg, new cmd heading: 170.916727 deg. 2jX뼝HeadingCmd: 2.983060 target range: 492.000000 and range: 497.90 m. js>@jjjih h hhfffrfbfi@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511359ɛ)B2Fb 隝I ϼɚiIDc=Is>@ii=)s>@)a*F2F!:F!BF-0JF) M$?IIG] IQ== Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763111GA B O >L w,LA6{P9@Y6*oG@6=ۼ96 G٣yu > Nusing accuracyPremultiplier from config49r9ڛ?4Y iQBNA?:iG*@VDA;?;4tB ~@WEZj)-FNOT Ignoring new targets: 492.00 m.Bj51=Jj51=E ProNav: ac range: 492.000000 m, nav range: 46.153652 m, bearing: 45.375665 deg, approach rate: 0.552543 m/s, LOS rate: -0.661614 deg/s, cmd heading: 170.916728 deg, new cmd heading: 170.070608 deg. 2jE㼝MHeadingCmd: 2.968292 target range: 492.000000 and range: 497.90 m. jM=@jIjIjIiIhQhQhQhUvBfYfYfYrfYbfe@ɛ,B}9d 隍gϾI LҼɚiISc=zKK9KK;K Fyxxunea_ZXOGB>8.,+%'()*('$$%I=@iiC=)=@)A*F?2F:FBF5JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016818H I  I %II BI # =&I .I 6I <:I i FG% (==G5 qAG1 $?I G B O >'= w,#7A2?X8@Y2vF@2<߼92nZB>A%IIJ:IJ# 5٢R. R_=9RQ R>TT VG٣VaEGyZ) Z> ^Nusing accuracyPremultiplier from config\b49^2"ڛ?b4Y^* i^QB`faHf*@^_D^ ;^\:^4jvB j@jZEvB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 492.00 m.Bj ;Jj ; ProNav: ac range: 492.000000 m, nav range: 46.349964 m, bearing: 45.135466 deg, approach rate: 0.538471 m/s, LOS rate: -0.656057 deg/s, cmd heading: 170.070604 deg, new cmd heading: 169.353099 deg. 2jἝ%HeadingCmd: 2.955769 target range: 492.000000 and range: 497.90 m. j%S+=@j!j!j)i)h)h)h1h1f1f1f1rfbf @ɛ /B c :ԾI 5Լɚ1i1I5c=I=S+=@i9iE=)ES+=@)AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274469*F2F:FBF_0JF)) )  Yy@BG4=GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:45:48.0554  TRx dataTimestamp_ set to:1736372749.216585 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532223~, w,QA  G٣y > %Nusing accuracyPremultiplier from config-49ڛ?54Y iQBE=?M:MG@U*@jD;;4ewB @]EZjAMFNOT Ignoring new targets: 492.00 m.BjM/JjM/ ProNav: ac range: 492.000000 m, nav range: 46.580788 m, bearing: 44.839096 deg, approach rate: 0.480661 m/s, LOS rate: -0.614092 deg/s, cmd heading: 169.353106 deg, new cmd heading: 168.468477 deg. 2jҼHeadingCmd: 2.940330 target range: 492.000000 and range: 497.90 m. j\.<@jjjihhhh~Bfffrfbf @ɛ2BܩS ȾI ׼ɚiISd=I%\.<@i!i%=)%\.<@))Will construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.780923*F?2F:FBFJFJJJ1JJ;JS:J3JzK= U0NK9 K9 K= <K= $(&##%!  G w=G B O >HN w,9kAMWill construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: Range 10 to 50 : 500.7 m (Round-trip 667.7 ms) speed -1.1 m/s e,DAT read: user:2041> -eX#Rx 1: Read range message, but no direction.QyUYCQmT****** received valid address query ******mR****** received valid ping request ******mQuerying Benthos address 50 with one ping in standard two-way mode.HC>I I%IIˆBI&I.I6I9<:I- FBIAJIARIAZIAbIAjIEP4y޵rB޵^%Ii=I<AI)I5٢e= e7=9eQ e>i u$?Iyi G٣y > Nusing accuracyPremultiplier from config49ٛ?4Y iQB*@uD;v;4xB c@`EU addTargetRange:: Added new target pos. range: 500.700012 m, deltaT: 4.040499 s, deltaX: 2.800018 m, approachRate: 0.692988 m/s, rangeRepo size: 4 ZjQUFNOT Ignoring new targets: 492.00 m.Bj]AJj]A ProNav: ac range: 492.000000 m, nav range: 46.812492 m, bearing: 44.546105 deg, approach rate: 0.538812 m/s, LOS rate: -0.677954 deg/s, cmd heading: 168.468474 deg, new cmd heading: 167.593922 deg. 2j輝HeadingCmd: 2.925066 target range: 492.000000 and range: 500.70 m. jG4;@jjjihhhhfffrf@3K@bf5!?ɛ6B4U !%þI! -@ڼɚ)i)I-d=I5G4;@i1i5|h=)5G4;@)1*F?2F:FBF`0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:21:45:49.1335 $Ping request sent.7 w,A65@Y6C@6[\96ʏ Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507748a w,A254@Y2 C@2'92=y2H`>??`)3? #??%?ɨ254@2Kϋ;2CyN}BNk%IMb@Mb@Mb@ )YOn?I +?yy }G٣yy > Nusing accuracyPremultiplier from config49ٛ?4Y i RB8?:D@*@D;;e 4zB @ cEZj15FNOT Ignoring new targets: 492.00 m.Bj=?Jj=?zKMMKM+9KIKM=KM ] ProNav: ac range: 492.000000 m, nav range: 47.193905 m, bearing: 44.028446 deg, approach rate: 0.486307 m/s, LOS rate: -0.670773 deg/s, cmd heading: 166.980503 deg, new cmd heading: 166.047578 deg. 2j],漝eHeadingCmd: 2.898077 target range: 492.000000 and range: 500.70 m. jez9@jajajaiihihihqhuBfqfqfqrfybf}"?ɛ{T 隭I `a߼ɚiIpGe=Iz9@iii=)z9@)*Fi2Fi:FiBFmo0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761536HI I%IIBI&I.I6Ig<:IN F u $?Iq G ?=G B O > w,˸A2K4@Y2iB@2 92d =y2H>@U?@? 5?෠?ci? ?ɨ2K4@2;2 Cy>{B>i%I)@ @ F=F=IJIJ=4٢R: Rn=9RĻQ R?TT VG٣TyZ5 Z? ^Nusing accuracyPremultiplier from configXM49Zٛ?M4YZ@ iZRBQU\C@U*@ZDZ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263406 u $?Iy | w,ӃA2@Y@@ 9>w)) -G٣-cEGy5R 5> ENusing accuracyPremultiplier from config9E49=܊ٛ?E4Y= i=&RBMT5?M:M?@M*@=D=;=;=@4U|B U@eiEZjFNOT Ignoring new targets: 492.00 m.Bj\LJj\L ProNav: ac range: 492.000000 m, nav range: 47.548923 m, bearing: 43.496617 deg, approach rate: 0.454411 m/s, LOS rate: -0.714665 deg/s, cmd heading: 165.393222 deg, new cmd heading: 164.458305 deg. 2j;HeadingCmd: 2.870339 target range: 492.000000 and range: 500.70 m. j7@jjjihhhhBfffrfbf+?ɛmCBuUtY qu6ľIy }DrɚyiyI}e=I7@ii=)7@)EEqA*F-?2F):F)BF-1JF)G5rA G5qAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515976zKm >KKm 9Ki Km >Km G} 7E=GI BQ Om > w,P샼AyB r%IWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767427I;I 5٢52< 5]=9=Q =>AA EG٣AyE E> UNusing accuracyPremultiplier from configIe49M uٛ?m4YM iM2RBqq}*@MDMq;M;M 4 @ZjFNOT Ignoring new targets: 492.00 m.Bj=Jj= ProNav: ac range: 492.000000 m, nav range: 47.709057 m, bearing: 43.247215 deg, approach rate: 0.427899 m/s, LOS rate: -0.664199 deg/s, cmd heading: 164.458306 deg, new cmd heading: 163.712654 deg. 2j㼝HeadingCmd: 2.857325 target range: 492.000000 and range: 500.70 m. ji6@jjjihhhhfffrfbfY@HB>I I%IIBI$ =&I.I6I<:Im Fɛ=FB=*f 9=þI9 =+ɚAiAIEf=IEi6@iIiM?=)Mi6@)I $?I*F 2F :F BF 5JF G:I=GBOA>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019629J J J 1J J :J S:J 3J J :<J :<J ;J ;!w,AN1@YN/?@Nd9Nݕ99 =G٣9yE E> MNusing accuracyPremultiplier from configIU49Md]ٛ?U4YMy iM>RBQU\=@]*@MDMV;M;M'4e}B e@ekEZjFNOT Ignoring new targets: 492.00 m.BjyDJjyD ProNav: ac range: 492.000000 m, nav range: 47.878559 m, bearing: 42.971749 deg, approach rate: 0.424286 m/s, LOS rate: -0.687082 deg/s, cmd heading: 163.712654 deg, new cmd heading: 162.889243 deg. 2j뼝HeadingCmd: 2.842954 target range: 492.000000 and range: 500.70 m. j5@jjjihhhhfffrfbf|@ɛIBd TǾI 9ɚiI"gf=I 5@i i /A=) 5@) *F2F:FBF_0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.274713 $?IG=GiByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523469ƿ!w, A^_90@Y^X>@^9^l G٣dEGy\ > Nusing accuracyPremultiplier from config49Dٛ?4Y iHRB5?:<@*@D;E;/4B @nEZjFNOT Ignoring new targets: 492.00 m.Bj9Jj9 ProNav: ac range: 492.000000 m, nav range: 48.052731 m, bearing: 42.686610 deg, approach rate: 0.397969 m/s, LOS rate: -0.649157 deg/s, cmd heading: 162.889247 deg, new cmd heading: 162.036997 deg. 2j޼HeadingCmd: 2.828079 target range: 492.000000 and range: 500.70 m. j@4@jjjihhhhBfff)rf1bf5@&@zKKh9KK?Kɛ NB x` ˾I  <ɚiIf=I@4@i!i%F=)-@4@))EAEE>*F2F:FBF,1JF"G%=G%=5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775499HI I%IIBI&I.I6Ik<:IP F  I G% 7=G% rAG! G B O% > !w,w:A2L_/@Y2}=@292CB>m%IIF@IF 5٢R RZ=9R4Q V>TX ZG٣XyZE Z> bNusing accuracyPremultiplier from config\b49^/ٛ?b4Y^ i^RRBdf;@f*@^D^;^;^54jB n@nqEzB*** querying acoustic contact ***jxjxZjFNOT Ignoring new targets: 492.00 m.Bj IOJj IO% ProNav: ac range: 492.000000 m, nav range: 48.207672 m, bearing: 42.429215 deg, approach rate: 0.437765 m/s, LOS rate: -0.724894 deg/s, cmd heading: 162.037004 deg, new cmd heading: 161.267347 deg. 2j%-HeadingCmd: 2.814646 target range: 492.000000 and range: 500.70 m. j-*#4@j)j)j)i)h1h1h1h1f9f9f9rf9bf=` @ɛeQBmsx imѾIi muɚqiqIu g=Iu*#4@iyi}=)}*#4@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028638JJJ0JJk:JdP:Jـ3JJ%8<J&8<J;J;*F2F:FBF_0JFGK=GQBaO}7>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279315  $?I E!w,=TAyxBe%I) eMb@Mb@Mb@aaa a)aYeQ?~jth~jthye5?eDeDa a)aIe AayaI}.I}5٢ /=9Q > G٣y > Nusing accuracyPremultiplier from config49ٛ?4Y i[RB5?::=@*@ǨD;;=4 @ZjFNOT Ignoring new targets: 492.00 m.Bj$?Jj$? ProNav: ac range: 492.000000 m, nav range: 48.407269 m, bearing: 42.116586 deg, approach rate: 0.428529 m/s, LOS rate: -0.668435 deg/s, cmd heading: 161.267351 deg, new cmd heading: 160.333421 deg. 2j^弝HeadingCmd: 2.798346 target range: 492.000000 and range: 500.70 m. j3@jjjihhhhBfffrfbfs @ɛ UB h ܾI ɚiImg=IE3@iAiEn=)M3@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:45:52.2088 TRx dataTimestamp_ set to:1736372753.502102checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534445*F?2F:FBF`0JFzK BHK 9K K @K G B=G B O > !w,HnA2+-@Y2;@2_L 92tJj59>E ProNav: ac range: 492.000000 m, nav range: 48.549919 m, bearing: 41.883883 deg, approach rate: 0.408999 m/s, LOS rate: -0.665230 deg/s, cmd heading: 160.333418 deg, new cmd heading: 159.637395 deg. 2jEE伝MHeadingCmd: 2.786198 target range: 492.000000 and range: 500.70 m. jMQ2@jIjIjIiIhIhIhQhQfQfQfYrfYbf]2@jH<bH<HIC III&I.I6IE<:I4 Fɛ%XB% !%I! -kɚ)i)I-g=I5Q2@i1i5}h=)5Q2@)9EA $?I*F?2F:FBFo0JFG GrAG7E=GiBqO:>Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 503.3 m (Round-trip 671.1 ms) speed -0.6 m/s ,DAT read: user:2042> BDAT read: Tx time:21:45:53.2836 $Ping request sent.kBBU%IIJ:IJ# 5٢b%M bJ=9fmQ f>hh jG٣hyn >  Nusing accuracyPremultiplier from config 49؛?4Y ilRB:@*@بD:~:J4B @wE addTargetRange:: Added new target pos. range: 503.299988 m, deltaT: 4.286086 s, deltaX: 2.599976 m, approachRate: 0.606608 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 492.00 m.Bja?Jja? ProNav: ac range: 492.000000 m, nav range: 48.719166 m, bearing: 41.604025 deg, approach rate: 0.406161 m/s, LOS rate: -0.669273 deg/s, cmd heading: 159.637394 deg, new cmd heading: 158.800800 deg. 2j弝]HeadingCmd: 2.771597 target range: 492.000000 and range: 503.30 m. j]a1@jqjqjqiqhyhyhyhyfffrft@bf]?ɛ[B7 I dɚiIJ&h=Ia1@iit=) a1@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:45:53.2829 *F?2F:FBF0JF $?IG=GI BQ Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data.a (!w,A6/.,@Y6L:@6496v=y6H!>Ϳ c?>?$$?Ţ? ?f?ɨ6/.,@6ޡ;6!CyRfBRO%IiV=9Q > G٣yܼ > Nusing accuracyPremultiplier from config49؛?4YK isRBR5?:;@*@DN;M;YR4B @zEZjFNOT Ignoring new targets: 492.00 m.BjBJjB ProNav: ac range: 492.000000 m, nav range: 48.899498 m, bearing: 41.321094 deg, approach rate: 0.435176 m/s, LOS rate: -0.680247 deg/s, cmd heading: 158.800805 deg, new cmd heading: 157.955206 deg. 2jl鼝HeadingCmd: 2.756838 target range: 492.000000 and range: 503.30 m. j p0@jjjihh!h!h%kBf!f)f)rf)bf-?ɛ]_Bef aeIa eɚaiaImQh=Im p0@iiiuw=)u p0@)qzKKKKAK*F?2F:FBF2JFGw=GBOA>Will construct direction to contact in vehicle frame from tetrahedron phase data.HA>I I%IIBI&I.I6I<:I FBIaJIaRIaZIe$ =bIe$ =jIeGE4 $?I6.!w,A2t+@Y29@2DB92z =y2H "ο? `?@IK?g?c+?@?ɨ2t+@25^;2 CyVaBVH%II^I^4٢v vV=9vuSQ v>xx zG٣zfEGyz ~> Nusing accuracyPremultiplier from config 49؛? 4Y i{RB :;@*@DE5;5;Y4! %7@!EB*** querying acoustic contact ***jAjAZjIMFNOT Ignoring new targets: 492.00 m.BjU >JjU >e ProNav: ac range: 492.000000 m, nav range: 49.060097 m, bearing: 41.066471 deg, approach rate: 0.420581 m/s, LOS rate: -0.664628 deg/s, cmd heading: 157.955201 deg, new cmd heading: 157.193881 deg. 2je伝mHeadingCmd: 2.743551 target range: 492.000000 and range: 503.30 m. jmV/@jijijiiqhqhqhyhyfyfyfrfbf >?ɛbB 隽I 6ɚiIuh=IV/@ii}=)V/@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FQ2FQ:FQBFU05JFQ"Ge=Ge=JyK}3 K}.-KyKy"KyJJJJJ:JJJJ4<J4<JJG:=GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256723 I #5!w,ՄA*@Y08@F 9S=yH@Ͽ@툧?  ?m??;V? ?ɨ*@-;騥Cy޽[B޽B%IMMb@Mb@Mb@III I)IYM +?kt?{GzyM6?M 0=M#I MA)MAIIIyMQAI]I]4٢ /=9:Q > G٣y˼ > Nusing accuracyPremultiplier from config49֜؛?4Y iRB"7?:<@*@D^;?;4a4 B @}EZj1=FNOT Ignoring new targets: 492.00 m.Bj=:Jj=:M ProNav: ac range: 492.000000 m, nav range: 49.266319 m, bearing: 40.759138 deg, approach rate: 0.440591 m/s, LOS rate: -0.653860 deg/s, cmd heading: 157.193880 deg, new cmd heading: 156.275824 deg. 2jU^༝UHeadingCmd: 2.727528 target range: 492.000000 and range: 503.30 m. jUЏ.@jYjYjYiYhYhYhihmLBfififqrfqbf}"?ɛeBL 隭I 'ɚiI Fi=IЏ.@ii=)Џ.@)*F!2F!:F!BF%A5JF)}Will construct direction to contact in vehicle frame from tetrahedron phase data.ՁiՁchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509749GE w=G B) zKm Km 59Ki Km BKm O >OJ;!w,ZAN)@YN:7@N9NI I%IIֆBI&I.I6Iu<:IV Fiqhhhhfffrfbfi? ]$?IYɛhB* 隝# I ɚiIi=I-@ii=)-@)*Fe?2Fi:FiBFm_0JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012662Gqe=Ga Bq O >60B!w,- A6Q(@Y66@696ZAX\ ^G٣\yb b> fNusing accuracyPremultiplier from configdn49f|q؛?4Yf ifRB!%:@-*@fDfP Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516780ZH!w, #AJ&J&J$J$J&K:J&>L:J$J$a*@a*@a*@a*@N'@YNV5@NT9NGl G٣gEGy > Nusing accuracyPremultiplier from config49V؛? 4Yw iRB .;? : <@ *@D;;u4B U@%EZjIMFNOT Ignoring new targets: 492.00 m.BjUFJjUFe ProNav: ac range: 492.000000 m, nav range: 49.787441 m, bearing: 39.981082 deg, approach rate: 0.487800 m/s, LOS rate: -0.695678 deg/s, cmd heading: 154.820007 deg, new cmd heading: 153.950098 deg. 2jemHeadingCmd: 2.686936 target range: 492.000000 and range: 503.30 m. jm+@jijijiiqhqhqhyh}HBfyfyfyrfbf@<@ɛnB 隽 I t?ɚiIj=I+@iig=)+@)zKMBHKM9KIKMCKM*Fm?2Fi:FiBFiJFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768760HyIy I}%II}ˆBIy&Iy.Iy6I}<:I}e F 5$?I=WhGq'=G B O >ńN!w,CIFXX ZG٣XyZ' Z> %Nusing accuracyPremultiplier from config%49 @؛?-4Y iRB)-;@-*@D::c|45B =@=EUB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 492.00 m.BjmX<JjmX<} ProNav: ac range: 492.000000 m, nav range: 49.957336 m, bearing: 39.733585 deg, approach rate: 0.453684 m/s, LOS rate: -0.658659 deg/s, cmd heading: 153.950101 deg, new cmd heading: 153.210180 deg. 2j⼝HeadingCmd: 2.674022 target range: 492.000000 and range: 503.30 m. j.#+@jjjihhhhfffrfbf@ɛqB I ɚiIj=I.#+@ii=).#+@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025683*FU?2FQ:FYBF]o0JFYEPExceeded connect timeout, disconnecting.GP=GiByO>- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277031 5 $?I9 oU!w,VA%@Y3@0g9 G٣hEGy > Nusing accuracyPremultiplier from config49#؛?4Y< iRB>?:<@*@$D;;c4B l@EZjFNOT Ignoring new targets: 492.00 m.Bj!;Jj!; ProNav: ac range: 492.000000 m, nav range: 50.171970 m, bearing: 39.432258 deg, approach rate: 0.468135 m/s, LOS rate: -0.654406 deg/s, cmd heading: 153.210186 deg, new cmd heading: 152.310150 deg. 2j༝HeadingCmd: 2.658314 target range: 492.000000 and range: 503.30 m. j!*@jjjihhhh:Bfffrfbf @ɛtBvI 隵I TM ɚiI1k=I-!*@i)i-=)-!*@)1E9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529226JeJeJaJaJe:JeHM:JaJa*F?2F:FBF`0JF"G=G=zK BoHK 9K K DK G FM=G B O >y[!w,JpAJD$@YJ2@J9JR?L??֜??ɨJD$@JSa;JCyVWBV=%IIbBIb5vWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.781684٢z*< ~k=9~HQ ~? G٣y 3  ? Nusing accuracyPremultiplier from configH!I! I%%II%ƆBI!&I!.I!6I%<<:I%- FE49؛?E4Y iRBAE;@E*@,D;;y4UB UN@UE $?IZj9=FNOT Ignoring new targets: 492.00 m.BjE.JjE.u ProNav: ac range: 492.000000 m, nav range: 50.333115 m, bearing: 39.201905 deg, approach rate: 0.427247 m/s, LOS rate: -0.608786 deg/s, cmd heading: 152.310145 deg, new cmd heading: 151.621333 deg. 2juм}HeadingCmd: 2.646291 target range: 492.000000 and range: 503.30 m. j}\)@jyjyjyihhhhfffrfbf1@ɛ vB  IUIQ U ɚQiQIU{k=I]\)@iYi]z=)]\)@)a*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032721G G B O% > = nManaging dock network, ignoring radio surface power off8b!w,yAB#@YBf2@B9B)mhh jG٣hyn> n> rNusing accuracyPremultiplier from configpv49riכ?v4Yr irRBtz:@z*@r6Dr:r :ro4| ~@|Zj!-FNOT Ignoring new targets: 492.00 m.Bj-uLJj-uLE ProNav: ac range: 492.000000 m, nav range: 50.514896 m, bearing: 38.937187 deg, approach rate: 0.492766 m/s, LOS rate: -0.715002 deg/s, cmd heading: 151.621334 deg, new cmd heading: 150.830090 deg. 2jEYMHeadingCmd: 2.632482 target range: 492.000000 and range: 503.30 m. jMz(@jIjIjIiIhIhIhQhQfQfYfYrfYbf] @ɛyB 隍BI [ ɚiI]l=Iz(@iiq==)z(@)*F5?2F1:F1BF5P5JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285649G 7E= $?IGBO&> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.5366012h!w,SAJJJJJ:J~o:JJ:'"@Y:1@:y 9:~?=<vA A)IAI AyAI(I)5٢T= ;=9Q > G٣y > Nusing accuracyPremultiplier from config49כ?4Y iRB@?:9@+@@D;Y; 4B y@EZj)-FNOT Ignoring new targets: 492.00 m.Bj5>Jj5>E ProNav: ac range: 492.000000 m, nav range: 50.714584 m, bearing: 38.644493 deg, approach rate: 0.456859 m/s, LOS rate: -0.667003 deg/s, cmd heading: 150.830084 deg, new cmd heading: 149.955532 deg. 2jE伝MHeadingCmd: 2.617218 target range: 492.000000 and range: 503.30 m. jM'@jYjYjYiYhYhahahmBBfififqrfybf}@@ɛ={BED[ AE IA uؒɚqiqIul=I}'@iyi}hP=)}'@)zKBoIK59KKEK*FE?2FA:FIBFM_5JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.788842H-?>I) I-%II-ˆBI)&I).I-7D6I-Y<:I-A F IGE =G! By O >n!w,+A6 "@Y6v(0@6r#96>PvB>b%IIF8IF@ 5٢N = R_=9RQ R>TT VG٣ViEGyV9 V> ^Nusing accuracyPremultiplier from configXb49ZAכ?b4YZB iZRB`b 9@b+@ZIDZ ;Zq ;Zs4fB j@jEzB*** querying acoustic contact ***jxjxZj|FNOT Ignoring new targets: 492.00 m.Bj8@Jj 8@ ProNav: ac range: 492.000000 m, nav range: 50.880165 m, bearing: 38.397929 deg, approach rate: 0.452896 m/s, LOS rate: -0.672207 deg/s, cmd heading: 149.955533 deg, new cmd heading: 149.218289 deg. 2j漝%HeadingCmd: 2.604351 target range: 492.000000 and range: 503.30 m. j%&@j!j!j!i!h!h!h)h)f)f)f1rf1bf5i@ɛ}B8 I ɚiI8m=I&@ii*Q=)&@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040874)A E&C*F?2F:F~GBF_0JF % Y!y-;BG?=GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293440 $?I ڻu!w, ؅AM!@YM@//@MF$9Mnqq uG٣qy} }> Nusing accuracyPremultiplier from config49 כ?4Y iSB8@+@TD;4;4B @EZjFNOT Ignoring new targets: 492.00 m.Bj@Jj@ ProNav: ac range: 492.000000 m, nav range: 51.086815 m, bearing: 38.084664 deg, approach rate: 0.446333 m/s, LOS rate: -0.673865 deg/s, cmd heading: 149.218296 deg, new cmd heading: 148.282391 deg. 2j;缝HeadingCmd: 2.588016 target range: 492.000000 and range: 503.30 m. j%@jjjihhhhfffrfbf @ɛ5B5y 15I1 =ɚ9i9I=*m=IE%@iAiU=)U%@)Q*F2F:FBFJFeWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.545521JJJJJ:JQN:JJG- 0=G B O5 >zK K 9K K FK @{!w,A2&4 @Y2R.@2'92 G٣y < > %Nusing accuracyPremultiplier from config%49כ?-4Yp iSB=mB?=:=|6@=+@^Du;s;4EB E@EEZjquFNOT Ignoring new targets: 492.00 m.Bj}:DJj}:D ProNav: ac range: 492.000000 m, nav range: 51.273094 m, bearing: 37.791577 deg, approach rate: 0.437738 m/s, LOS rate: -0.686219 deg/s, cmd heading: 148.282396 deg, new cmd heading: 147.406403 deg. 2jy뼝HeadingCmd: 2.572727 target range: 492.000000 and range: 503.30 m. j$@jjjihhhh[Bfffrfbf@ɛBb &I ɚiIZn=I$@ii=)$@)Ea>E>*Fy2F:FBFJFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.048706G 1=G ?G .?G B O >΂!w, A:P@Y:o-@:8*9:I?ɨ:P@:?;:"CyFBF%IIN"IN5٢V= Vw=9VQ Z?XX ZG٣ZjEGy^- ^? fNusing accuracyPremultiplier from config`f49b+{כ?j4Yb{ ib-SBhj5@j+@bfDbq:b:b4l r@pZj FNOT Ignoring new targets: 492.00 m.BjFJjF% ProNav: ac range: 492.000000 m, nav range: 51.414875 m, bearing: 37.564760 deg, approach rate: 0.435540 m/s, LOS rate: -0.694842 deg/s, cmd heading: 147.406397 deg, new cmd heading: 146.727855 deg. 2j-n-HeadingCmd: 2.560884 target range: 492.000000 and range: 503.30 m. j-#@j1j1j1i1h1h9h9h9f9fAfArfAbfE@1@ɛmBmh quIq uɚyiyI}gn=I#@iiq=)#@)*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302178 M$?IIG]=GIBYOu>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552684?!w,%AyB%IMb@Mb@Mb@ )YZd;?ʡE?I +?y>?=9< A )AIyAII+4٢= 9=9Q > G٣y >  Nusing accuracyPremultiplier from config49`כ?4Y iFSB@?:3@%+@qDc; m;p4-B 5@5EZjy}FNOT Ignoring new targets: 492.00 m.BjBJjB ProNav: ac range: 492.000000 m, nav range: 51.599545 m, bearing: 37.256869 deg, approach rate: 0.410110 m/s, LOS rate: -0.681308 deg/s, cmd heading: 146.727859 deg, new cmd heading: 145.807573 deg. 2j鼝HeadingCmd: 2.544822 target range: 492.000000 and range: 503.30 m. j^"@jjjihhhhBfffrfbf .@ɛB(S I ɚi I Bn=I ^"@iiʽ=)^"@)zK:IKh9KKGK*F?2F:FBF`0JFH>>I I&IIBI&IHD.I6Id<:IH FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.804892 U$?IQG 0=Ga B O >n"!w,z?Ay~B~%II I %4٢ڸ= %W=9!Q %>)) -G٣)y) 5> =Nusing accuracyPremultiplier from config9E49=Jכ?M4Y=< i=[SBIIM+@=zD=3;=4;= 4]B ]@]EuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 492.00 m.BjFJjF ProNav: ac range: 492.000000 m, nav range: 51.757698 m, bearing: 36.996860 deg, approach rate: 0.424189 m/s, LOS rate: -0.695244 deg/s, cmd heading: 145.807573 deg, new cmd heading: 145.029982 deg. 2jHeadingCmd: 2.531251 target range: 492.000000 and range: 503.30 m. j"@jjjihhhhfffrfbf-@ɛB 4оI ɚiIvo=I"@ii>)"@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056770J=J=J9J9J=k:J=T:J9J9J=%8 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309396 E $?II !w,_YAR@YR*@RmX19RV G٣kEGy*ƽ > }Nusing accuracyPremultiplier from configi49m/כ?4Ym imuSBX1@+@mDmCzK BoHK +9K K HK 2!w,g)sAH>?>I< I><&IRWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.813287I>'BI<&I<.I<6I>3<:I>$ F tIx~3@Y~)@~i39~BO  G٣ y   > Nusing accuracyPremultiplier from config49?כ?%4Y iSB%tC?%:%l-@%+@D;{;941 5R@1ZjQ]FNOT Ignoring new targets: 492.00 m.BjmVJjuV ProNav: ac range: 492.000000 m, nav range: 52.088791 m, bearing: 36.373001 deg, approach rate: 0.375056 m/s, LOS rate: -0.751525 deg/s, cmd heading: 144.097648 deg, new cmd heading: 143.164542 deg. 2jHeadingCmd: 2.498693 target range: 492.000000 and range: 503.30 m. j@jjjihhhhBfffrfbf@ɛBk ZI vɚiIƠo=I@ii˺=)@)*Fm?2Fq:FyBF}63JFG]b]=GB)OEs>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064711JU JU JU 1JQ JU K:JU wR:JU 3JQ JU r5<JU r5<JU Ϧ;JU Ц;!w,A6@Y6k)@6x4962] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568772G!w,릆A65&@Y6D(@6696: G٣lEGy > Nusing accuracyPremultiplier from config49֛?4Y iSB@?:)@+@De;d;4B @ EZjAEFNOT Ignoring new targets: 492.00 m.BjMrPJjUrPe ProNav: ac range: 492.000000 m, nav range: 52.353050 m, bearing: 35.806428 deg, approach rate: 0.328513 m/s, LOS rate: -0.728945 deg/s, cmd heading: 142.431956 deg, new cmd heading: 141.469302 deg. 2je"eHeadingCmd: 2.469105 target range: 492.000000 and range: 503.30 m. jm@jijijiiihihqhqhuӇBfqfyfyrfybf}@^!@ɛ-B-p )-@I1 5Rɚ1i1I5 p=I=@i9i= =)=@)A*F2F:FBF_0JFzKyK}s9KyK}IK}HYIY I]n&II]PBIY&IY.I]8D6I]<:I]s F $?IVhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822315GE q'=G! Bq O >,!w,ϺA60K@Y6i'@6C896L`` fG٣dyf f> jNusing accuracyPremultiplier from confighU49j֛?U4Yj ijSBY]$)@]+@jDj] $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324850XX!w,چAR@YRf&@R 99R, G٣y > Nusing accuracyPremultiplier from config49֛?4Y iSB Y(@ +@Dy<l<4B m@EZj1=FNOT Ignoring new targets: 492.00 m.Bj=HJjEHu ProNav: ac range: 492.000000 m, nav range: 52.613743 m, bearing: 35.210589 deg, approach rate: 0.305758 m/s, LOS rate: -0.702106 deg/s, cmd heading: 140.652187 deg, new cmd heading: 139.686400 deg. 2ju𼝊}HeadingCmd: 2.437988 target range: 492.000000 and range: 503.30 m. j}@jyjyjyihhhhfffrfbf#@ɛBj  UI  ɚ i I ip=I@ii^=)@%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577128)A*F?2F:FBFJFG  G G] I=Ga Ga zK BHK 9K K JK  l= w 1\]LtdQD8' '~w G) B1 OM >P~!wZHRH@AHI I &II sBI&I.I6I d<:I G F,fA $I(FWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.828748n6@Yn%@n/;9n G٣mEGyu > Nusing accuracyPremultiplier from config49m֛?4Y iTBH??:%@+@D;>;4B 5@EZj15FNOT Ignoring new targets: 492.00 m.Bj5bJj=bE ProNav: ac range: 492.000000 m, nav range: 52.747299 m, bearing: 34.864725 deg, approach rate: 0.307255 m/s, LOS rate: -0.793663 deg/s, cmd heading: 139.686398 deg, new cmd heading: 138.651552 deg. 2jM+HeadingCmd: 2.419926 target range: 492.000000 and range: 503.30 m. j@jjjihhh)h5χBf1f9fArfibfm#@ɛBk I  ɚi!I% p=I-@i)i-=)-@)1*F ?EWill construct direction to contact in vehicle frame from tetrahedron phase data.EIQ UG٣QyUf U> eNusing accuracyPremultiplier from configYm49]Q֛?m4Y] i]TBqut#@u+@]˩D]3;]3;]4}B }@}EZj)5FNOT Ignoring new targets: 492.00 m.Bj=$SJj=$Sm ProNav: ac range: 492.000000 m, nav range: 52.874058 m, bearing: 34.518081 deg, approach rate: 0.270654 m/s, LOS rate: -0.738373 deg/s, cmd heading: 138.651556 deg, new cmd heading: 137.614237 deg. 2jm^uHeadingCmd: 2.401822 target range: 492.000000 and range: 503.30 m. jur@jqjyjyiyhyhhhfffyrfbf X$@ɛB.f nI l!ɚiIp=Ir@ii55d=)5r@)1*F2F:FBF`0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.MÂ!w,G0A6"@Y6/#@6H@96Ҙqq uG٣qyu }>  Nusing accuracyPremultiplier from configy 49}y֛?4Y} i}0TBs;?:!@+@}ԩD}+;} ;}4H->>I) I-&II-BI)&I).I-7D6I-a<:I-D F U$?I]UhBIJIRIZI% =bI% =jIp4'mTFailed to parse incomplete device message.RKm ?JKm?q u@yWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2043> BDAT read: Tx time:21:46:04.2337 $Ping request sent.GABiO~>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u JDAT read: TxSync time:21:46:04.2330 } checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250728Ja Ja _!w,IA6bB@Y6a"@6{A96BB'&IIJIJ4٢Vm< VY=9VVKQ Z>XX ZG٣ZnEGy^ n> vNusing accuracyPremultiplier from configpv49rf֛?z4Yr< irATBxz @z+@rݩDr":r:r 4%B %u@%EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 492.00 m.Bj\Jj\E ProNav: ac range: 492.000000 m, nav range: 53.072926 m, bearing: 33.934850 deg, approach rate: 0.261034 m/s, LOS rate: -0.772630 deg/s, cmd heading: 136.716031 deg, new cmd heading: 135.867977 deg. 2jEMHeadingCmd: 2.371344 target range: 492.000000 and range: 503.30 m. jM@jIjIjIiIhIhhhfffrfbfLy&@ɛ B r I S#ɚiID q=I@ii%t=)%@)!*F?2F:FBFo0JF U$?IQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501967G=G B Om >!w,cAy~B~!&I)  = EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.754527Mb@Mb@Mb@ )YZd;O?~jtMbp?yj G٣y > Nusing accuracyPremultiplier from config49Q֛?4Y= iRTB{)=I@)AEQEUrA*F?2F:FBFJF 1I9HAIA IE&IIEBIA&IA.IA6IEG<:IE1 FzKOK59KKLKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005823G% =G B! OM >K!w,e}AJ@YJd @JwL9J/?`\??ɨJ@J`;J"CyVBV&IIbIb4٢fC9 j\=9jQ j>ll nG٣lyrn r> vNusing accuracyPremultiplier from configtz49v>֛?z4Yv ivaTBxzU@z+@vDv:v.:v4B g@EZj)-FNOT Ignoring new targets: 492.00 m.Bj5fUJj5fUE ProNav: ac range: 492.000000 m, nav range: 53.273003 m, bearing: 33.332086 deg, approach rate: 0.241477 m/s, LOS rate: -0.746270 deg/s, cmd heading: 134.892971 deg, new cmd heading: 134.063279 deg. 2jE MHeadingCmd: 2.339846 target range: 492.000000 and range: 503.30 m. jM@jIjIjIiIhIhQhQhQfQfYfYrfYbfe@(@ɛ]B] Y]›IY e)%ɚaiaIe\q=Im@iiim*=)m@)qMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.258072*Fm?2Fi:FiBFm3JFiGE;=GIGMnA*J"Jp=GB O%N> 5 $?I9  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509952U!w,8A:t@Y:!$ @:}P9:_\` bG٣boEGyb b> jNusing accuracyPremultiplier from configdj49f;+֛?n4Yf ifrTBlnz@r+@fDf;f';f 4vB v@vEZjFNOT Ignoring new targets: 492.00 m.Bj2UJj2U- ProNav: ac range: 492.000000 m, nav range: 53.367409 m, bearing: 33.032302 deg, approach rate: 0.235205 m/s, LOS rate: -0.745561 deg/s, cmd heading: 134.063281 deg, new cmd heading: 133.165599 deg. 2j-5HeadingCmd: 2.324178 target range: 492.000000 and range: 503.30 m. j5V@j1j1j1i9h9h9hAhAfAfAfIrfIbfM@(@ɛ=B=7O 9=I9 EB&ɚAiAIE q=IMV@iIiMK>)MV@)Q*F?2F:FBF?5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761880G=>J 3K 3 K /.KK"KJJJJJ :J[O:JJG! B9 O] >c!w,_A:@Y:"@:VlM9:IJ>Mb@Mb@Mb@ )Y7A`?{Gzt{Gzty6?ףף`A 3A)AI AyfAI5I54٢E5c EA=9Mm:Q M>II UG٣QyUp U> eNusing accuracyPremultiplier from configam49e4֛?m4Ye7 ieTBm6?u:u@u+@eDe;e;e!(4y }@ZjFNOT Ignoring new targets: 492.00 m.Bj/NJj/N ProNav: ac range: 492.000000 m, nav range: 53.466465 m, bearing: 32.727081 deg, approach rate: 0.234441 m/s, LOS rate: -0.721039 deg/s, cmd heading: 133.165603 deg, new cmd heading: 132.251718 deg. 2jkHeadingCmd: 2.308228 target range: 492.000000 and range: 503.30 m. j@jjjihhhhB $?IH1I1 I5&II5BI1&I1.I16I5]<:I5A Ffqfqfqrfybf}8)@zKK9KKMKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013977ɛBԁ CI l'ɚiIq=I@iiQv>)@)E5Y>E1*F?2F:FBF4JFGq>GaBiO\>m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266535J J BA !w,G9ˇA6n@Y6@6BK96${    G٣ y( > Nusing accuracyPremultiplier from config%49֛?%4Y iTB!-@-+@ DN;:/45B 5@5EUB*** querying acoustic contact ***jYjYZjamFNOT Ignoring new targets: 492.00 m.BjmMJjmM} ProNav: ac range: 492.000000 m, nav range: 53.555893 m, bearing: 32.441877 deg, approach rate: 0.225915 m/s, LOS rate: -0.719286 deg/s, cmd heading: 132.251723 deg, new cmd heading: 131.397605 deg. 2jHeadingCmd: 2.293321 target range: 492.000000 and range: 503.30 m. j@jjjihhhhfffrfbf@xr*@ɛBq I (ɚiIq=I@ii@^>)@)*FU?2FQ:FQBFU_0JFQG] G]"G]G] $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518057GBO>g!w,f凼A2@Y2u@2_J92m! %G٣%pEGy- -> ENusing accuracyPremultiplier from config9M49=՛?M4Y= i=TBUR3?}:}U@}+@=D=<=<=64 @JJJJJ+:J>L:JJZj 5FNOT Ignoring new targets: 492.00 m.BjUAJjUAe ProNav: ac range: 492.000000 m, nav range: 53.663452 m, bearing: 32.132062 deg, approach rate: 0.234884 m/s, LOS rate: -0.675204 deg/s, cmd heading: 131.397608 deg, new cmd heading: 130.470112 deg. 2je缝mHeadingCmd: 2.277133 target range: 492.000000 and range: 503.30 m. jm@jijijiiihqhqhqhuBfyfyfyrfybf}`+@ɛBXd ƾI *ɚiIV/r=I@iiH$>)@))*F2F:FBFJFGBOb> IThZHRHHI I&II}BI&I.I6I<:Iv FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022130zK% BoIK% s9K! K% NK% !w,sA> @Y>@>$I9>Hza?x??lw"?v??ɨ> @>a;>Cy^݆B^%I)` `IrIr4٢~M ~R=9u:Q >  G٣y]8 > %Nusing accuracyPremultiplier from config!-49%՛?-4Y%l i%TB15E@5+@%D%:%:%+=4=B =V@=EZjFNOT Ignoring new targets: 492.00 m.Bj-{HJj-{H] ProNav: ac range: 492.000000 m, nav range: 53.750229 m, bearing: 31.873383 deg, approach rate: 0.235573 m/s, LOS rate: -0.701102 deg/s, cmd heading: 130.470110 deg, new cmd heading: 129.695375 deg. 2je𼝊eHeadingCmd: 2.263611 target range: 492.000000 and range: 503.30 m. jm@jijijiiihihihhfffrfbf`R#,@ɛMBM䷑ QU#ӾIQ U $?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525889U"w,AyE؆BE%II]I]4٢p B=9Q > G٣y > Nusing accuracyPremultiplier from config49՛?4Y iTB+@(Di:T:D4B @EZjFNOT Ignoring new targets: 492.00 m.BjQJjQ ProNav: ac range: 492.000000 m, nav range: 53.850739 m, bearing: 31.578771 deg, approach rate: 0.249948 m/s, LOS rate: -0.731272 deg/s, cmd heading: 129.695375 deg, new cmd heading: 128.813263 deg. 2j HeadingCmd: 2.248216 target range: 492.000000 and range: 503.30 m. j @j j j i hhhhfffrf!bf%,@ɛMBM% IMپIQ U,ɚQiQIUr=I]@iYi]|c >)e@)a*Fe?2Fi:FiBFuo0JFqGBOA>=Will construct direction to contact in vehicle frame from tetrahedron phase data.=BDAT read: Rx Time:21:46:07.3125 ETRx dataTimestamp_ set to:1736372768.624795Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.779138JJJ0JJ:J[O:Jـ3J "w,2A6W @Y6@6+LG96s?ϼ@??(?ɨ6W @6k;6 CyBɆBB%I AIIMMb@Mb@Mb@III I)IYM@5^I ?v/?I +yMb0?Mxi=M94MIA MA)MAIIIyMAIeIe4٢u uL=HI I&IIdBI&I.I6IL<:I5 F9:Q > G٣qEGy > Nusing accuracyPremultiplier from config49и՛?4Y" iTB1?:G@+@1D";Y!;K4 @ZjFNOT Ignoring new targets: 492.00 m.BjBJjB ProNav: ac range: 492.000000 m, nav range: 53.951813 m, bearing: 31.301098 deg, approach rate: 0.248288 m/s, LOS rate: -0.680820 deg/s, cmd heading: 128.813270 deg, new cmd heading: 127.981873 deg. 2j鼝HeadingCmd: 2.233705 target range: 492.000000 and range: 503.30 m. j%@j!j!j!i!h!h!h)h-cBf)f)f1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029932rfbf@-@ɛBі !I <.ɚ i I !s=zK-k3IK-59K)K-OK-RK=?JK=?IE@iAiEb#=)M@)i*F 2F :FBFJF)  !Cu GGu > Y y $ BE Will construct direction to contact in vehicle frame from tetrahedron phase data.U DAT read: Range 10 to 50 : 506.0 m (Round-trip 674.7 ms) speed -0.6 m/s ] ,DAT read: user:2044> e BDAT read: Tx time:21:46:08.4337 e $Ping request sent.e @ B"w,˃LA @y~B~%Ii=I<I!I5٢EWQ EN=9EQ E>II MG٣IyU U> }Nusing accuracyPremultiplier from configy49}p՛?4Y} i}TB+@}:D}:}T:}R4B d@EB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 506.000000 m, deltaT: 15.123902 s, deltaX: 2.700012 m, approachRate: 0.178526 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 492.00 m.BjAJjA% ProNav: ac range: 492.000000 m, nav range: 54.052113 m, bearing: 31.029944 deg, approach rate: 0.250219 m/s, LOS rate: -0.675191 deg/s, cmd heading: 127.981872 deg, new cmd heading: 127.169977 deg. 2j-缝]HeadingCmd: 2.219535 target range: 492.000000 and range: 506.00 m. j] @jYjYjYiYhYhahahafafifirfm@bfm?ɛB8N I U/ɚiISys=I @ii? >) @)IEYEY =$?I9*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:46:08.4330 T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.G=GBOb> ("w,gfA2 @Y2@2'I92fBB%I~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500856%Mb@Mb@Mb@!!! !)!Y%Fx?~jt?I +y%+?%=!%A %A)%zAI!!y%GAII4٢߼ >=9 FQ 5>99 =G٣9yE E> uNusing accuracyPremultiplier from configq}49u5՛?}4Yu1| iuTB-?:$!@+@uCDu;u;u+Z4 @ZjFNOT Ignoring new targets: 492.00 m.Bj;Jj; ProNav: ac range: 492.000000 m, nav range: 54.169456 m, bearing: 30.742489 deg, approach rate: 0.268671 m/s, LOS rate: -0.656731 deg/s, cmd heading: 127.169981 deg, new cmd heading: 126.309550 deg. 2jZἝ%HeadingCmd: 2.204518 target range: 492.000000 and range: 506.00 m. j% @j!j!jIiIhQhYhahHBfffrfbf`v?ɛMBMv IMII U1ɚQiQIUs=I] @iYi]-=)] @)*F=?2F9:F9BF= 1JF9 $?IjHqbHqHyIy I}a&II}EBIy&Iy.Iy6I}C<:I}/ FBI9JI9RI9ZI9bI9jI=_4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753283zKe BoIKe 9Ka Ke PKe BK} rA:K} rAG] =G9 Ba O >a "w,8A: @Y:*@:zN9:F? w?}q٩?(??ɨ: @:;:CyVBV%II^I^4٢f fa=9f:|Q j>hh jG٣jrEGyn n> rNusing accuracyPremultiplier from configpv49r ՛?v4Yrtx irTBtzH @z+@rKDr:r:rR`4~B ~@~EZj!%FNOT Ignoring new targets: 492.00 m.Bj-g?Jj-g?U ProNav: ac range: 492.000000 m, nav range: 54.262161 m, bearing: 30.510197 deg, approach rate: 0.267591 m/s, LOS rate: -0.669358 deg/s, cmd heading: 126.309555 deg, new cmd heading: 125.613907 deg. 2jU弝eHeadingCmd: 2.192376 target range: 492.000000 and range: 506.00 m. jeO @jajajaiahihihihqfqfyfrfbf|?ɛBꭽ 隵UI  3ɚiI I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2567507&"w,A6nN@Y6m@60Q96<tt vG٣tyv z> ~Nusing accuracyPremultiplier from configxe49zo՛?e4Yzt izTBam@m+@zTDzrE%=*F?2F:FBF`0JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.)i-A5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510965GGB O >a,"w,A6E@Y6^d@6O96aa eG٣aymQ m>}Will construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760986 Nusing accuracyPremultiplier from configq49uZ՛?4Yuao iuTB ,?:!@+@u]Du;u_;uTo4B @EZjFNOT Ignoring new targets: 492.00 m.Bj<Jj< ProNav: ac range: 492.000000 m, nav range: 54.491100 m, bearing: 29.949683 deg, approach rate: 0.279352 m/s, LOS rate: -0.657716 deg/s, cmd heading: 124.810082 deg, new cmd heading: 123.936050 deg. 2jἝHeadingCmd: 2.163092 target range: 492.000000 and range: 506.00 m. jp @jIjIjQiQhQhQhQh]BfYfYfYrfYbfeβ?zKmk3IKm59KiKmQKm~ɛB1  I S6ɚiIu=Ip @ii=)p @)*F?2F:FBF_0JFG =% Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012746G B O >J J J 1J J K:J S:J 3J J r5<J r5<J ;J ;?P3"w,͈ANg(@YNG@NI9N1)) -G٣-sEGy5B 5> =Nusing accuracyPremultiplier from config9E49=;J՛?E4Y=~k i=TBIM@M+@=eD=K ;=;=u4UB U@UEuB*** querying acoustic contact ***jqjqZjyFNOT Ignoring new targets: 492.00 m.Bj:Jj: ProNav: ac range: 492.000000 m, nav range: 54.588398 m, bearing: 29.712423 deg, approach rate: 0.268012 m/s, LOS rate: -0.652377 deg/s, cmd heading: 123.936050 deg, new cmd heading: 123.225579 deg. 2j߼HeadingCmd: 2.150692 target range: 492.000000 and range: 506.00 m. j @jjjihhhhfffrfbf *@ɛBe$Ჽ imAIi m8ɚiiiImu=Iu @iqi}U=)} @)y $?ISh*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=2.264917G%O=GB O- >L}9"w,6爼A 00Rf@YR3@R F9Rݰt A)AIyAIMIM|4٢]W=JiJm@A m7=9uB:Q u>qq }G٣yy}d > Nusing accuracyPremultiplier from config49 6՛?4Yf iTB(?:4!@+@oD;r;}4 @ZjFNOT Ignoring new targets: 492.00 m.Bj 3Jj 3 ProNav: ac range: 492.000000 m, nav range: 54.711823 m, bearing: 29.431691 deg, approach rate: 0.276030 m/s, LOS rate: -0.626418 deg/s, cmd heading: 123.225574 deg, new cmd heading: 122.385341 deg. 2jּHeadingCmd: 2.136027 target range: 492.000000 and range: 506.00 m. j@jjjihhhh Bfff rf bf @ɛ5B5s 9=aI9 =:ɚAiAIEPv=IE@iIiMo=)M@)IE*FU?2FQ:FQBFU_0JFQG-m= qIqGB ZH!RH%?AH)I) I-<&II-'BI)&I).I)6I-8<:I-& FOMt>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769606zK RNK 9K K RK q[B.~uokhb_YXQMKJJDCA=97:63/20++*)*(,)**+('(''(\@"w,(A2T@Y2@2C92 BB%IIJIJ4٢f6 fj=9f:Q f?hh jG٣hyj J n? zNusing accuracyPremultiplier from configt49v&՛? 4YvXc ivUB @+@vvDva;vԖ;v4B %(@%EZjAMFNOT Ignoring new targets: 492.00 m.BjMB2JjMB2e ProNav: ac range: 492.000000 m, nav range: 54.805450 m, bearing: 29.211810 deg, approach rate: 0.265900 m/s, LOS rate: -0.623387 deg/s, cmd heading: 122.385338 deg, new cmd heading: 121.726851 deg. 2jeռeHeadingCmd: 2.124534 target range: 492.000000 and range: 506.00 m. jm_@jijijiiihihihqhqfqffrfbf.@ɛE‡BE AE II M+<ɚIiIIM yv=Iu_@iqiufT=)u_@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021129*F-?2F):F)BF-}0JF)JJJ0JJ:J[O:Jـ3JJ~9<J9<J;J ;G=G?G>GBO > m $?Iq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272947F"w,ZAb[@Yb@b!C9bp(   G٣ tEGy   > Nusing accuracyPremultiplier from config%49{՛?%4Y_ iUB!%@%+@D;;ʊ41 5n@9ZjaeFNOT Ignoring new targets: 492.00 m.Bjm35Jjm35} ProNav: ac range: 492.000000 m, nav range: 54.912296 m, bearing: 28.953074 deg, approach rate: 0.262187 m/s, LOS rate: -0.633669 deg/s, cmd heading: 121.726853 deg, new cmd heading: 120.952207 deg. 2j}pټHeadingCmd: 2.111014 target range: 492.000000 and range: 506.00 m. j@jjjihhhhfffrfbf @ɛÇB$ I #=ɚiIv=I@ii=)@)*FU?2FQ:FQBFU1JFYGY G]rAGE^=GYBO5O>Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:46:11.5048 TRx dataTimestamp_ set to:1736372772.657838checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527496 Y Ia ML"w,Nb5A2r@Y2@2xA92q}}A }zA)yI}Ayy} AII4٢"k= ?=9R::Q > G٣y_$ > Nusing accuracyPremultiplier from config49՛?4YZ iUBX&?:@+@D;;I4B @EEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.776712ZjFNOT Ignoring new targets: 492.00 m.Bj)Jj) ProNav: ac range: 492.000000 m, nav range: 55.023403 m, bearing: 28.686986 deg, approach rate: 0.248367 m/s, LOS rate: -0.593609 deg/s, cmd heading: 120.952200 deg, new cmd heading: 120.155600 deg. 2j˼HeadingCmd: 2.097111 target range: 492.000000 and range: 506.00 m. j7@jjjihhhhBfffrfbf`v@ɛećBm imEIi m?ɚiiiIumw=I7@iiI=)7@)EEzKNKKKSK'%###    *F?2F:FBFG1JFG /=G  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033637BI O >J J J J J K:J HM:J J J r5<J r5<J U;J U;vS"w,OA2@Y2@2@92gTT VG٣XyZ, Z> ^Nusing accuracyPremultiplier from config\b49^1ԛ?b4Y^V i^*UBdf@f+@^D^:^:^4h j@h~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 492.00 m.Bj ;Jj;% ProNav: ac range: 492.000000 m, nav range: 55.116116 m, bearing: 28.458378 deg, approach rate: 0.265763 m/s, LOS rate: -0.654205 deg/s, cmd heading: 120.155595 deg, new cmd heading: 119.470961 deg. 2j%|༝%HeadingCmd: 2.085162 target range: 492.000000 and range: 506.00 m. j-Js@j)j)j)i)h)h)h1h1f1f1f9rf9bf=!@ɛeŇBm> imIi mJAɚiiqIu$w=IJs@ii=)Js@) $?I *F?2F:FBF5JFGmB =GABIeWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:46:11.5048 LVL= 18720, 21905, 13938, 23155, AGC= 68, IDX= 346, 0.07, 1.673,-1.992,-3.093, 3.105, PHS=-1.344, 1.232, 0.082, RAW= 296.5, 0.3, CAL= 298.9, -0.1, ROT= 211.1, 0.1 Ygot valid direction response: 21:46:11.5048 LVL= 18720, 21905, 13938, 23155, AGC= 68, IDX= 346, 0.07, 1.673,-1.992,-3.093, 3.105, PHS=-1.344, 1.232, 0.082, RAW= 296.5, 0.3, CAL= 298.9, -0.1, ROT= 211.1, 0.1 PDAT read: Bearing 211.1, 0.1 (Local) ~Local bearing/azimuth received: Bearing 211.1, 0.1 (Local) DAT read: Range 10 to 50 : 500.1 m (Round-trip 666.9 ms) speed -0.5 m/s ,DAT read: user:2045>  BDAT read: Tx time:21:46:12.6337  $Ping request sent.aaE:publishing transmit ping time MFpublishing direction and range infoa9eXHԼ?w?'W,yaaaa a)aIaiaaaaa a)aIaiaaaeB:G'j? Bos?)aIaiaaaa9Y"w,qiAVWill construct direction to contact in vehicle frame from tetrahedron phase data. ?Y  @ ?9 aN5?Д?`W?ɨ ? ; !Cy-݆B-%IMb@Mb@Mb@ )Y?M?y&1?yf&?n>`e<A )hAIy\AI5I5_4٢U+-= U1=9]V:Q ]>aa eG٣euEGym m> uNusing accuracyPremultiplier from configq}49uԛ?}4YuYQ iu@UB}j*?:@+@uDu-;u;u̠4B @Ek}lW?k}M ky k} [ZA:k} CBk}WCZk}@Y@"}&(L@n8f@Ł}}XHԼ?w?'W,Jk}ʡ?Rk}&?*}z݇hc1]II+|}lKٿ kE5pC@"k}J*k}>Dk}^GE?k}( 2k}kyk}( k}TCk}Bk}E@ addTargetRange:: Added new target pos. range: 500.100006 m, deltaT: 4.283830 s, deltaX: -5.899994 m, approachRate: -1.377271 m/s, rangeRepo size: 4  Added new target pos. range: 500.100006 m, bearing: 194.494789 deg, lat: 36.900203 deg, lon: -122.118923 deg, deltaT: 36.051922 s, deltaX: 8.100006 m, approachRate: 0.224676 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 500.10 m.BjJj ProNav: ac range: 500.100006 m, nav range: 70.317619 m, bearing: 313.822570 deg, approach rate: 0.000000 m/s, LOS rate: -0.654205 deg/s, cmd heading: 119.470964 deg, new cmd heading: 118.512387 deg. 2jHeadingCmd: 2.068431 target range: 500.100006 and range: 500.10 m. j.a@j j j i h h h1h5/Bf9f9f9rf=A@bf=a?ɛLJBn I |Cɚ!i!I%6Sx=I%.a@iIiM=)U.a@ $?I)aEY>E>jH<bH<HI I[&II@BI&I.I6IO<:I8 F*Fa2Fi:FiBFm`5JFi"Gu=Gu=]Will construct direction to contact in vehicle frame from tetrahedron phase data.zKM ]FMKM }9KI KM TKM k?87U'GG b=GY Bi O >`"w,9A2 ?Y2$ @2qE92_ G٣yj  > Nusing accuracyPremultiplier from config49ԛ?4YL iTUB@+@D :*:ѧ4-B -@-EZjFNOT Ignoring new targets: 500.10 m.Bj Y:Jj Y:U ProNav: ac range: 500.100006 m, nav range: 70.583321 m, bearing: 313.841224 deg, approach rate: 0.678117 m/s, LOS rate: 0.047429 deg/s, cmd heading: 118.512388 deg, new cmd heading: 118.568139 deg. 2j]3;mWill construct direction to contact in vehicle frame from tetrahedron phase data.HeadingCmd: 2.069404 target range: 500.100006 and range: 500.10 m. jq@jjjihhhhfffrfbfb?ɛEȇBEܠ IMپII M}`DɚIiIIUx=IUq@iUDꂼi]Q=)]q@)Y*F?2F:FBFo4JFJJJ1JJ+:Jd:J3JJ2<J2<J ;J ; qIuRhG ^=G B  Will construct direction to contact in vehicle frame from tetrahedron phase data.O- >g"w,gA:kd?Y:P @:H9:} Vc=9ZUQ Z>X\ bG٣`ybS b> fNusing accuracyPremultiplier from configdj49fԛ?j4Yf}H iffUBln,@n+@fDf;f;f"4p v-@tZjFNOT Ignoring new targets: 500.10 m.Bj7;:Jj7;:- ProNav: ac range: 500.100006 m, nav range: 70.822746 m, bearing: 313.855388 deg, approach rate: 0.694030 m/s, LOS rate: 0.040919 deg/s, cmd heading: 118.568136 deg, new cmd heading: 118.610485 deg. 2j-:5HeadingCmd: 2.070143 target range: 500.100006 and range: 500.10 m. j5;}@j1j1j1i1h1hhhfffrfbf@?ɛ55 9=/I9 =wgEɚAiAIEy=IM;}@iMAiM=)M;}@)Q*F?2F:FBF%_0JF!Ge=GaBqWill construct direction to contact in vehicle frame from tetrahedron phase data.Od>*JC="J4= e $?Ii ,m"w,xBAH=>I I&IIiBI&I.I6IP<:IBIqJIqRIqZIqbIqjIuR64yu!Bu5&IWill construct direction to contact in vehicle frame from tetrahedron phase data. Mb@Mb@Mb@    ) Y ?q= ףp?AA MG٣MvEGyM M> ]Nusing accuracyPremultiplier from configQ]49Uԛ?e4YUB iUUBe )?e:e@e+@UDU";Ua;U4mB u@uEZjFNOT Ignoring new targets: 500.10 m.Bjq9Jjq9 ProNav: ac range: 500.100006 m, nav range: 71.121727 m, bearing: 313.862885 deg, approach rate: 0.658400 m/s, LOS rate: 0.016441 deg/s, cmd heading: 118.610483 deg, new cmd heading: 118.632881 deg. 2j4:HeadingCmd: 2.070534 target range: 500.100006 and range: 500.10 m. j@jjjihhhhsBffifqrfqbfu?ɛɇBQ OI ڣFɚiI Sy=I@ixi =)@)zK OK s9K K UK r /X6/+&$ !   RK ?JK?*F]?2FY:FYBFaJFa Will construct direction to contact in vehicle frame from tetrahedron phase data.G =G qAG pAGY Bi O >2t"w,9щA2?Y2| @2=G92>B>Y&I)@ @IJIJ4٢R#> Rg=9V&:Q V>TT ZG٣XyZƥ Z> ^Nusing accuracyPremultiplier from config\b49^ԛ?b4Y^> i^UBdf@f+@^D^v:^@:^?4h j@l~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 500.10 m.Bj7Jj7% ProNav: ac range: 500.100006 m, nav range: 71.354233 m, bearing: 313.863311 deg, approach rate: 0.656737 m/s, LOS rate: 0.001199 deg/s, cmd heading: 118.632886 deg, new cmd heading: 118.634159 deg. 2j%R8-HeadingCmd: 2.070557 target range: 500.100006 and range: 500.10 m. j-@j)j)j)i)h1h1h1h1f9f9f9rf9bfE ]?ɛeʇBmo imIi u`GɚyiyI}iy=I}@i)|}ia=)@) $?I*F?2F:FBFo0JFG=Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GYBaO}7>>Fz"w, 뉼A"Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249843z?Yz @zC9z/99 =G٣9y=8 E> Nusing accuracyPremultiplier from config49Ǎԛ?4Y.8 iUB/?:6@+@ĪD/;;W4B @EZj FNOT Ignoring new targets: 500.10 m.Bj$Jj$M ProNav: ac range: 500.100006 m, nav range: 71.670227 m, bearing: 313.846257 deg, approach rate: 0.670753 m/s, LOS rate: -0.036042 deg/s, cmd heading: 118.634157 deg, new cmd heading: 118.583218 deg. 2jMźUHeadingCmd: 2.069668 target range: 500.100006 and range: 500.10 m. jUou@jQjQjQiQhQhyhhBfffrfbf`t@ɛˇB  gI  FHɚ i I 3y=Iou@izi<=)ou@)i IHQIQ IU&IIUBIQ&IQ.IQ6IU+<:IU F*Fu?2Fq:FqBFui0JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498799zKU  NKU ]9KQ KU VKU G] =BKe pA:Ke qAG) B9 OU >q'"w,,AFB?YFM@FiA9F'dd fG٣dyfQ j> nNusing accuracyPremultiplier from confighr49j$ԛ?r4YjX3 ijUBtv\@v+@j̪Dj+;j,;jf4x zV@xZj%FNOT Ignoring new targets: 500.10 m.Bj%\LJj%\L5 ProNav: ac range: 500.100006 m, nav range: 71.906509 m, bearing: 313.831083 deg, approach rate: 0.697838 m/s, LOS rate: -0.044666 deg/s, cmd heading: 118.583217 deg, new cmd heading: 118.537846 deg. 2j5;=HeadingCmd: 2.068876 target range: 500.100006 and range: 500.10 m. j=vh@jAjAjAiAhAhAhIhIfIfIfQrfYbf]:@ɛр 隍?I HɚiIy=Ivh@ibyi =)vh@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756380*F?2F:FBF0JFGs=GaBqO[> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002838U"w,AyUBU&Ii]e>I]p=IeIe4٢u3= u?=9}Q }>y G٣wEGy > Nusing accuracyPremultiplier from config49qԛ?4Y^- iUB+@ժD3;Z4;4 @EZjFNOT Ignoring new targets: 500.10 m.BjEJjE ProNav: ac range: 500.100006 m, nav range: 72.198570 m, bearing: 313.812465 deg, approach rate: 0.681109 m/s, LOS rate: -0.043242 deg/s, cmd heading: 118.537851 deg, new cmd heading: 118.482224 deg. 2jiHeadingCmd: 2.067905 target range: 500.100006 and range: 500.10 m. jX@jjjihhhhff f rf bf @ @ɛĖBEr AE(II MKIɚIiIIM %z=IUX@iUwiUW=)]X@)Y*F?2F:FBF`5JFGJJJJJ+:J,J:JJ $?I c}"w,8AH I  I"'II"هBI &I .I 6I"s<:I"P FF7/?YFG6@FܭC9F; =yFHC|(^TƬ?\b?eYs?` ۢ??ɨF7/?F;FCyRBR&IMb@Mb@Mb@ )Y(\?Zd;O?Q?yz4?j<=<A )v@IIAyII4٢= G=Will construct direction to contact in vehicle frame from tetrahedron phase data.չiչBDAT read: Rx Time:21:46:15.7081 TRx dataTimestamp_ set to:1736372776.941187checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5084209EͺQ > G٣ye_ > Nusing accuracyPremultiplier from config49cԛ?4Y' iUB5?:J @+@ߪD>;;4B @EZj)5FNOT Ignoring new targets: 500.10 m.Bj5ȺJj5ȺE ProNav: ac range: 500.100006 m, nav range: 72.486359 m, bearing: 313.775986 deg, approach rate: 0.694966 m/s, LOS rate: -0.087742 deg/s, cmd heading: 118.482226 deg, new cmd heading: 118.373223 deg. 2jEpMHeadingCmd: 2.066003 target range: 500.100006 and range: 500.10 m. jMc9@j j j ihhhhׇBfffrfbf% @ɛ"d 隕 ʽI 4IɚiIBz=Ic9@iNvi5<)c9@)zKEm$JKE9KAKEWKE'@HD=62/+RKU ?JKU?*F}?2Fy:FBFY5JFm Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759818G 8<=G B O >b"w,eRA2 ?Y2@2F92)=y2H`]=l׮??@Lॿ?2?`d?ɨ2 ?2<;2 CyNBR&IIZIZ4٢b= b[=9bκQ b>dd fG٣dyf Ƽ j> nNusing accuracyPremultiplier from confighr49j;Wԛ?v4Yjb! ijVBtv @v+@jDjA;jA;j4x ~m@|B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 500.10 m.Bj-ҺJj-ҺE ProNav: ac range: 500.100006 m, nav range: 72.742828 m, bearing: 313.741829 deg, approach rate: 0.693576 m/s, LOS rate: -0.092046 deg/s, cmd heading: 118.373230 deg, new cmd heading: 118.271120 deg. 2jE|MHeadingCmd: 2.064220 target range: 500.100006 and range: 500.10 m. jM0@jIjIjIiIhIhQhQhQfQ e$?ImQhffrfbf>}@ɛ͇Bs] I IɚiITz=I0@iSui~v<)0@)*Fu?2Fq:FqBF}_0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 502.5 m (Round-trip 670.1 ms) speed -0.6 m/s ,DAT read: user:2046> BDAT read: Tx time:21:46:16.7838 $Ping request sent.t"w,~SlAWill construct direction to contact in vehicle frame from tetrahedron phase data."JDAT read: TxSync time:21:46:16.7831 Jـ3K3 K.KK"KJJJJJK:J5K:JJy B&I) Mb@Mb@Mb@ )YV-?I +??y|??9<<A hA)@Iy AII4٢-= -)=9-Q 5>11 5G٣5xEGy= => MNusing accuracyPremultiplier from configAM49EGԛ?U4YES iE5VBU??U:Uo@U,@EDE;E;E 4eB eR@eE addTargetRange:: Added new target pos. range: 502.500000 m, deltaT: 4.032158 s, deltaX: 2.399994 m, approachRate: 0.595213 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 500.10 m.BjJj ProNav: ac range: 500.100006 m, nav range: 73.096909 m, bearing: 313.684882 deg, approach rate: 0.731881 m/s, LOS rate: -0.117139 deg/s, cmd heading: 118.271119 deg, new cmd heading: 118.101105 deg. 2jȠHeadingCmd: 2.061253 target range: 500.100006 and range: 502.50 m. j@jjjihhhhBfffrfh@bf`|? AIIɛ]·B]KQ Y]0Ia eIɚaiaIe{`z=Im@imIsim? <)m@)qjH=<bH=4<HE>>IA IE['IIEBIA&IA.IE8D6IE<:IEi F*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.zK MK h9K K XK )%'$"  G ń<G B O >t"w,ANBw?YNM@NgN9Nc)Y=yNH߿@.?x?`߿`ө???ɨNBw?N+ ;LybɇBf'IIrIr94٢zh= zx=9zѻQ z?| G٣yo  ? Nusing accuracyPremultiplier from config 49 0<ԛ?4Y  i JVB@%,@ D  ; : ; 4) -@)ZjIUFNOT Ignoring new targets: 500.10 m.BjU Jj] m ProNav: ac range: 500.100006 m, nav range: 73.338020 m, bearing: 313.643925 deg, approach rate: 0.731400 m/s, LOS rate: -0.123832 deg/s, cmd heading: 118.101101 deg, new cmd heading: 117.978635 deg. 2jmuHeadingCmd: 2.059116 target range: 500.100006 and range: 502.50 m. ju@jqjqjqiqhqhhhff!f!rf!bf%5?ɛmχBmQM qu@)I JɚiI_z=I@iMsil<)@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.*F=?2F9:F9BF=_0JF9 9IEPhGm2<GI BY O > Will construct direction to contact in vehicle frame from tetrahedron phase data."w,A6@?Y6@6W96З=y6H߿?? ߿(?)? @?ɨ6@?6 *;4yBӇBF'IININ:4٢V\J= VO=9VJQ Z>XX ZG٣Xy^ ^> bNusing accuracyPremultiplier from config`f49bL/ԛ?f4Yb% ibeVBhj|@j,@bDb:bC:b4nB r@rEZj FNOT Ignoring new targets: 500.10 m.Bj Jj % ProNav: ac range: 500.100006 m, nav range: 73.625740 m, bearing: 313.594902 deg, approach rate: 0.726609 m/s, LOS rate: -0.123321 deg/s, cmd heading: 117.978636 deg, new cmd heading: 117.832140 deg. 2j-D-HeadingCmd: 2.056559 target range: 500.100006 and range: 502.50 m. j-@j1j1j1i1h1h9h9h9f9f9fArfAbfE?ɛquعG q};Iy }IɚyiyI}Sz=I@ibritB<)@)E*F12F1:F1BF5o0JF1"G==G==G \`i<GBOm4>eWill construct direction to contact in vehicle frame from tetrahedron phase data.JMJMJIJIJM+:JMmQ:JIJI - $?I) HA IA  IE 'IIE CBIA ɭ"w,ӹA&Iq.Iq6IuF<:Iu/ F60?Y6 @6_96*=y6H`߿,?? z߿0 ܫ?干??ɨ60?6";4yBۇBB'IiF=IF4?Mb@Mb@Mb@ )Y!rh? G٣yEGylj  > 5Nusing accuracyPremultiplier from config =49  ԛ?=4Y C i VB=G?E:EP@E,@ D '; f; 4I M@IZjFNOT Ignoring new targets: 500.10 m.BjJj ProNav: ac range: 500.100006 m, nav range: 73.962875 m, bearing: 313.532939 deg, approach rate: 0.735198 m/s, LOS rate: -0.134508 deg/s, cmd heading: 117.832142 deg, new cmd heading: 117.647101 deg. 2jHeadingCmd: 2.053329 target range: 500.100006 and range: 502.50 m. ji@jjjihhh h Bf)f)f1rf1bf5?ɛчBԵD 隥K"w,eӊA `Idn!?Yn@n2d9niK=ynH p߿`N??a߿`?[?M?ɨn!?n5;nCyuBu,'III4٢Y= Q=9SQ > G٣y > Nusing accuracyPremultiplier from config49ԛ?4YW iVBF@,@De ; ;[4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 500.10 m.BjP"JjP" ProNav: ac range: 500.100006 m, nav range: 74.258797 m, bearing: 313.478870 deg, approach rate: 0.779764 m/s, LOS rate: -0.141906 deg/s, cmd heading: 117.647099 deg, new cmd heading: 117.485539 deg. 2j»%HeadingCmd: 2.050509 target range: 500.100006 and range: 502.50 m. j%;@j!j!j!i!h)h)h)h)f1f1f1rf9bf=?ɛaey; imB=Ii mIɚiiiImz=Iu;@i}ypi}˅<)};@)y*F ?2F :F BF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.GQd<GBOF>M"w,4튼A"Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274218?Y4y@Ao9 =yHs߿ &?T?d߿t?P? ?ɨ?;騝Cy޵B޵0'IEMb@Mb@Mb@AAA A)AYE!rh?{Gzt~jtx?yAEףE;E`A EI@)AIAAyEAI]I]4٢u]< u==9uqջQ u>yy }G٣yy >  Nusing accuracyPremultiplier from config 49eԛ?4YM iVBoG?:@,@$D ;3;4 4B %@%EZjQUFNOT Ignoring new targets: 500.10 m.Bj](Jj](m ProNav: ac range: 500.100006 m, nav range: 74.597092 m, bearing: 313.412191 deg, approach rate: 0.752770 m/s, LOS rate: -0.147701 deg/s, cmd heading: 117.485537 deg, new cmd heading: 117.286408 deg. 2jmʻuHeadingCmd: 2.047034 target range: 500.100006 and range: 502.50 m. ju@jqjqjqiyhyhyhyh%Bfffrfbf@ $?IɛӇB; 8P=I ƒIɚiIy=I@ioVoi<<)@)EqAE*F?2F:FBF 1JFGqA GZHRH@AH=>I I'IIbBI&I.I6I<:I_ FBIJIRIZIbIjI)4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523868G Re<G B O >zK jIK h9K K ZK "w,xbAy~B~%'I) II4٢== =b=9EQ E>AA EG٣MzEGyM M> UNusing accuracyPremultiplier from configQ]49UZӛ?]4YU iUVBaae,@U-DU5;U;UD4i m@qZjFNOT Ignoring new targets: 500.10 m.Bj(Jj( ProNav: ac range: 500.100006 m, nav range: 74.858376 m, bearing: 313.361117 deg, approach rate: 0.756691 m/s, LOS rate: -0.147395 deg/s, cmd heading: 117.286410 deg, new cmd heading: 117.133725 deg. 2jOʻHeadingCmd: 2.044369 target range: 500.100006 and range: 502.50 m. j@jjjihhhhfffrfbf'@ɛԇB? =I {IɚiI4y=I@iiniͮ<)@) UWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.777016*F2F:FBF5JFJJJJJJdP:JJJaJaJ;aJ;a IOhG^<GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027814"w,[B!AzT?Yz_@z9zl=yzH[߿O =y? ? ߿͜q?@?@?ɨzT?z4ӊ;zCy  IIP4٢-0} -K=95#Q 5>19 =G٣9y=| => MNusing accuracyPremultiplier from configAM49Eӛ?M4YE iEVBQU@U,@E7DE:E;EM4eB e4@eEZjFNOT Ignoring new targets: 500.10 m.Bj 'Jj ' ProNav: ac range: 500.100006 m, nav range: 75.161484 m, bearing: 313.301930 deg, approach rate: 0.750913 m/s, LOS rate: -0.146038 deg/s, cmd heading: 117.133728 deg, new cmd heading: 116.956882 deg. 2jsȻHeadingCmd: 2.041283 target range: 500.100006 and range: 502.50 m. j`@jjjihhhhfffrfbf ;" @ɛMՇBUmAA Q] $?I H I  I 'II lBI &I .I 6I g<:I F F"w,0;A>/K?Y>CD@>Qo9>wk=y>H'C߿6??`x߿Fs k? ?`?ɨ>/K?>@;>CyFևBF'IMb@Mb@Mb@ )Y rh?{Gz?~jthyCK?#<DvA @)`@IyIIa4Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:46:19.8608 TRx dataTimestamp_ set to:1736372780.980761checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533026٢탽 @=9ozQ > G٣yy > Nusing accuracyPremultiplier from config 49Dӛ?4Y' iVBHK?:@%,@AD;;41 =@9ZjFNOT Ignoring new targets: 500.10 m.BjJj- ProNav: ac range: 500.100006 m, nav range: 75.491516 m, bearing: 313.242940 deg, approach rate: 0.731885 m/s, LOS rate: -0.130244 deg/s, cmd heading: 116.956881 deg, new cmd heading: 116.780687 deg. 2j-Ų5HeadingCmd: 2.038208 target range: 500.100006 and range: 502.50 m. j5q@j1j9j9i9h9h9hAheBfififirfibfmX @ɛׇBI !%ɺI! %dIɚ!i!I%\y=I-q@i-ki-x<)5q@)1zKBHK9KK[KRK5?JK5 ?*F%?2F!:F!BF%2JF!e Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783847G= <J J J J J :J ,J:J J J 6<J 6<J ;J ;G B Om >9"w,sTA I @: ?Y:$@:Jr9:=y:H&߿b`Ͽ??`&o߿w ? ?@^?ɨ: ?:q̉;:CyZчBZ 'IIfIf4٢j{߼ n\=9rwQ r>pp vG٣v{EGyv v> zNusing accuracyPremultiplier from configx~49zӛ?~4Yzw izWB@,@zKDz ;z ;z;&4  h@Zj9EFNOT Ignoring new targets: 500.10 m.BjE'JjE'U ProNav: ac range: 500.100006 m, nav range: 75.776581 m, bearing: 313.191974 deg, approach rate: 0.822700 m/s, LOS rate: -0.146535 deg/s, cmd heading: 116.780689 deg, new cmd heading: 116.628366 deg. 2jU!ɻ]HeadingCmd: 2.035549 target range: 500.100006 and range: 502.50 m. j]oF@jajajaiahahahihifififirfqbfu q@ɛ؇BM 隥fI mIɚiI/y=IoF@iji?o<)oF@)*FU?2FQ:FQBFU_0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036240G%<GiByO>,"w,/nAWill construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:46:19.8608 LVL= 23728, 24801, 16866, 32611, AGC= 67, IDX= 453, 0.16,-0.842, 1.335, 1.118, 0.751, PHS=-1.505, 0.632, 0.365, RAW= 276.6, 5.1, CAL= 280.4, 6.8, ROT= 229.6, -6.8 ]Ygot valid direction response: 21:46:19.8608 LVL= 23728, 24801, 16866, 32611, AGC= 67, IDX= 453, 0.16,-0.842, 1.335, 1.118, 0.751, PHS=-1.505, 0.632, 0.365, RAW= 276.6, 5.1, CAL= 280.4, 6.8, ROT= 229.6, -6.8 5PDAT read: Bearing 229.6, -6.8 (Local) 5~Local bearing/azimuth received: Bearing 229.6, -6.8 (Local) EDAT read: Range 10 to 50 : 504.6 m (Round-trip 672.8 ms) speed -0.4 m/s E,DAT read: user:2047> BDAT read: Tx time:21:46:20.9838 $Ping request sent.{@K= ۚ@)=I;@iL?⨇U?ͧE?).@Ib絽i?l?}:publishing transmit ping timeؑFpublishing direction and range info9xfi?DoTy )Ii )IiL?⨇U?ͧE?)IiMb@Mb@Mb@ )Y)\(?V-? G٣yc > Nusing accuracyPremultiplier from config49Gӛ?4Y i WBoA?:@,@XD ; ;04B -@-Ek3O?k k k8oA:kLCBkCZk$I@"G5R+< 5@C҉xfi?DoTJk?Rkl?*P Pǿ$=/@vKe/8;eQ׮_"k& *kȇk6g?k 2kk23ܛ?kkAkFwBkB@ addTargetRange:: Added new target pos. range: 504.600006 m, deltaT: 4.293884 s, deltaX: 2.100006 m, approachRate: 0.489069 m/s, rangeRepo size: 4  Added new target pos. range: 504.600006 m, bearing: 180.452128 deg, lat: 36.899978 deg, lon: -122.118923 deg, deltaT: 8.326042 s, deltaX: 4.500000 m, approachRate: 0.540473 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 504.60 m.Bj%Jj!] ProNav: ac range: 504.600006 m, nav range: 61.818794 m, bearing: 295.898053 deg, approach rate: 0.000000 m/s, LOS rate: -0.146535 deg/s, cmd heading: 116.628362 deg, new cmd heading: 116.369367 deg. 2jYeHeadingCmd: 2.031029 target range: 504.600006 and range: 504.60 m. je_@jajajaiahahihh݇Bfffrf@bf"?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛڇBGV [I PIɚiIx=I%_@i%iiM_<)M_@)Q*F 2F :F BF 4JF zK BoHK 9K K \K BK rA:K G ܱ<GBO>dl"w,[A>Will construct direction to contact in vehicle frame from tetrahedron phase data.F5?YF@F59F5=yFH`޿`ٷ?@r?`D߿N ??@U?ɨF5?F{;FCyfBf&III4٢Ƚ =q=9=Q =?AA EG٣AyE M? uNusing accuracyPremultiplier from configI}49Mӛ?}4YM iM1WBy}s@,@MaDM;M;M64 @EJJJJJ+:JU:JJJ2<J2<J;J;B*** querying acoustic contact ***jjZj)UFNOT Ignoring new targets: 504.60 m.BjU:JjU:e ProNav: ac range: 504.600006 m, nav range: 62.076431 m, bearing: 295.920376 deg, approach rate: 0.762551 m/s, LOS rate: 0.065797 deg/s, cmd heading: 116.369362 deg, new cmd heading: 116.436052 deg. 2je4;HeadingCmd: 2.032192 target range: 504.600006 and range: 504.60 m. jq@jjjihhhhfffrfbfP?ɛۇBf 0I IɚiIox=I%q@i%h U$?IUNhi%]u<)uq@)y*F?2F:F!BF%`0JF!-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.Ge E<G! B) OM >"w,,(AyB&I =I%I%ʴ4٢Eu? MH=9MQ U>QQ eG٣e|EGym m> Nusing accuracyPremultiplier from configy49}{ӛ?4Y} i}EWB,@}kD}IS;}7z;}@=4B b@EZjFNOT Ignoring new targets: 504.60 m.Bj+:Jj+: ProNav: ac range: 504.600006 m, nav range: 62.383450 m, bearing: 295.946736 deg, approach rate: 0.783706 m/s, LOS rate: 0.066956 deg/s, cmd heading: 116.436052 deg, new cmd heading: 116.514742 deg. 2j7; HeadingCmd: 2.033566 target range: 504.600006 and range: 504.60 m. j %@j jjihhh!h!f!f!f)rf)bf-?ɛ ܇B5j AEIAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.931234 GHJɚiIvx=I%@ihfi,<)5%@)A*F%?2F!:F!BF!JF! ]$?IYHI I'IIHBI&I.I8D6I<:Ic FG Sݮ<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=1.179623c{"w,‹Ay~B~&IMb@Mb@Mb@ )Y ףp= ?Q?~jtyQ8?u=DvA @)@IyAII4٢"ݼ C=9Q > G٣y > Nusing accuracyPremultiplier from config49fӛ?4Y iXWB8?:U @,@tD&;#;D4 @ZjFNOT Ignoring new targets: 504.60 m.Bj:Jj:zKBIKKK]KRK ?JK? ProNav: ac range: 504.600006 m, nav range: 62.680614 m, bearing: 295.984413 deg, approach rate: 0.691448 m/s, LOS rate: 0.087251 deg/s, cmd heading: 116.514735 deg, new cmd heading: 116.627230 deg. 2jo;HeadingCmd: 2.035529 target range: 504.600006 and range: 504.60 m. jF@jjjihhhhBfffrf bf H?ɛއBl 隕I JɚiIbx=IF@iei~<)F@)*FM?2FI:FIBFUo0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.434168JJJJJ:J5K:JJJ4<J4<J;J;G- 7ͤ< Y IY G B O >Ѧ"w,!ۋA2.?Y25@2929=y2HbQ޿0@׿?? =޿H&#?`d?9?ɨ2.?2;2 Cy>B>&IIFIFJ4٢N R^=9R 6Q R>TT VG٣TyVS V> Nusing accuracyPremultiplier from configX49Z.ӛ?4YZ iZjWB @%,@Z}DZ_+I 4KɚiI@?x=I_@i/ei|;)_@)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.685609*F}?2F:FBF1JFG <GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.938815 9 I9 "w,A6K?Y6P@696==y6HZ޿V ?@%?-l޿@8#?4?`ƿ?ɨ6K?6噊;6Cy^tB^&Iib8>Ib>MMb@Mb@Mb@III I)IYMQ?J +?y&1|yM(?M=M`M A M@)M@IMAIyMAImIm4٢Q 7=9rQ > G٣}EGy" >  Nusing accuracyPremultiplier from config 49@~ӛ?4Yi iWB*?:h @,@D;S;R4! %x@!ZjAMFNOT Ignoring new targets: 504.60 m.BjMQ;JjUQ;m ProNav: ac range: 504.600006 m, nav range: 63.235470 m, bearing: 296.064171 deg, approach rate: 0.671046 m/s, LOS rate: 0.113058 deg/s, cmd heading: 116.717756 deg, new cmd heading: 116.865445 deg. 2jm.;ZHqRHuAAHyIy I}t'II}%BI}% =&Iy.I}7D6I}<:I}] FHeadingCmd: 2.039687 target range: 504.600006 and range: 504.60 m. j;@jjjihhhhtBfffrfbf@ɛ߇Bʾ ZWI KɚiIDx=I;@indiU*;);@)*F2F:FBF^4JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.188049G<GYBaOZ>E}G]vA  YvAyBzKe VBJKe 9Ka Ke ^Ke #w,GA6Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.441625J?YJ9@J`A9JO=yJHݿJ sÿ?@:?޿@)##?@"̹?A?ɨJ?J;J Cy}oB}&III4٢¼ @=9౹Q > G٣yU > Nusing accuracyPremultiplier from config49pӛ?4Yd iWB @,@D90;}0;1Z4 $?IMh @EB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 504.60 m.Bj:Jj:% ProNav: ac range: 504.600006 m, nav range: 63.514503 m, bearing: 296.109524 deg, approach rate: 0.650678 m/s, LOS rate: 0.105292 deg/s, cmd heading: 116.865452 deg, new cmd heading: 117.000911 deg. 2j%;-HeadingCmd: 2.042051 target range: 504.600006 and range: 504.60 m. j-@j)j1j1i1h1h1h9h9f9f9fArfAbfM@ɛ}BO 隅cI ULɚiIw=I@i`-di|)@)*F2F:F BF _5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.691646GM 2<G! B1 OM >J #w,p)AR??YR>@R9R==yRHvݿ@ @?3N?ݿ`1?`ɹ?'?ɨR??R;PybdBb&IIrIr 4٢~v ~i=9"Q >   G٣ y kn  > %Nusing accuracyPremultiplier from config-49dӛ?-4Yi iWB)- @-,@D ;b;S`4B @EZjFNOT Ignoring new targets: 504.60 m.BjW:JjW: ProNav: ac range: 504.600006 m, nav range: 63.744617 m, bearing: 296.145532 deg, approach rate: 0.628971 m/s, LOS rate: 0.098067 deg/s, cmd heading: 117.000908 deg, new cmd heading: 117.108544 deg. 2j%;%HeadingCmd: 2.043930 target range: 504.600006 and range: 504.60 m. j-@j)j)j)i)h)h)hihififfrfbfQ@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.947305JJJ1JJ:JdP:J3Ja@a@a@a@ɛ%B-_ )-zI) 5lMɚ1i1I5w=I=@i=Zci=)=@)a I*F2F:FBFJFG2 H}<>Iy I}H'II}BIy&Iy.Iy6I}f<:I}F FBIAJIARIAZIAbIAjIEȢ;4GBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.195649#w,YMCA2?Y2-@292=y2H@6ݿ/?^?2ݿ_@N?>=?h?ɨ2?20;0yNcBL)P PeMb@Mb@Mb@aaa a)aYeףp= ?`"?y&1|ye?e=aeA e~@)e@IeAaye@IuIu=4٢ A=9ՅQ > G٣~EGy-+ > Nusing accuracyPremultiplier from config49Vӛ?4Y iWB!?:X@,@D;y;g4 @ZjFNOT Ignoring new targets: 504.60 m.BjG ;JjG ;  ProNav: ac range: 504.600006 m, nav range: 64.004585 m, bearing: 296.195783 deg, approach rate: 0.641611 m/s, LOS rate: 0.123515 deg/s, cmd heading: 117.108538 deg, new cmd heading: 117.258676 deg. 2j ;HeadingCmd: 2.046550 target range: 504.600006 and range: 504.60 m. j@jjjihhh!h%EBf!f!f)rf)bf-  @ɛB䍽 |I VJNɚiI,w=I@iciv)@)zKMBoIKIKIKM_KM*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:46:24.0634 TRx dataTimestamp_ set to:1736372785.269495checking for new query: numPingsReceived=0, elapsed TxPingTime=3.457062 $?IGg{G B O >#w,c%]A:4?Y:@:Z89:=y:H>ݿ;@a?Gl?``ݿ@Jb?d޺? ?ɨ:4?:=;:CyB]BF&IININ4٢V VZ=9VYQ V>XX ZG٣Xy^A# ^> bNusing accuracyPremultiplier from config`f49bbJӛ?f4Yb ibWBdj@j,@bDb:bC:bAn4rB r@rEZj  FNOT Ignoring new targets: 504.60 m.Bj;Jj;% ProNav: ac range: 504.600006 m, nav range: 64.235352 m, bearing: 296.239236 deg, approach rate: 0.615021 m/s, LOS rate: 0.115394 deg/s, cmd heading: 117.258680 deg, new cmd heading: 117.388572 deg. 2j%c;-HeadingCmd: 2.048817 target range: 504.600006 and range: 504.60 m. j-@j)j)j)i1h1h1h1h1f9f9f9rfAbfE @ɛwǍ 隭I @OɚiIDw=I@id!diɡ)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.700816*F ?2F :F BF JFGI6GrAGrAGBOH> Will construct direction to contact in vehicle frame from tetrahedron phase data.U DAT read: 21:46:24.0634 LVL= 20112, 24929, 16530, 31859, AGC= 66, IDX= 449,-0.48,-2.995,-0.722,-0.879,-1.309, PHS=-1.598, 0.634, 0.427, RAW= 274.8, 5.1, CAL= 278.7, 6.7, ROT= 231.3, -6.7 u Ygot valid direction response: 21:46:24.0634 LVL= 20112, 24929, 16530, 31859, AGC= 66, IDX= 449,-0.48,-2.995,-0.722,-0.879,-1.309, PHS=-1.598, 0.634, 0.427, RAW= 274.8, 5.1, CAL= 278.7, 6.7, ROT= 231.3, -6.7  PDAT read: Bearing 231.3, -6.7 (Local)  ~Local bearing/azimuth received: Bearing 231.3, -6.7 (Local) J J J J J ;J "I:J J I  DAT read: Range 10 to 50 : 506.5 m (Round-trip 675.4 ms) speed -0.4 m/s  ,DAT read: user:2048> % BDAT read: Tx time:21:46:25.1838 % $Ping request sent.% .z@ ̧@)|=I.@i|pB鿃 ?:=0?),@I_i꿉͚?z:publishing transmit ping timeQzFpublishing direction and range info9e8(̓td }y )Ii )IipB鿃 ?:=0?)IijHbH<HI I0'IIBI& =&I.I6Il<:IJ FMb@Mb@Mb@ )YtV??y?> Q@)h@Iy@I5I5a4٢== E'=9Q > G٣y3ƻ > Nusing accuracyPremultiplier from config49:ӛ?4Y iWB#?:B@,@Dj;;w4 o@kCW?kOhk k k/RqA:k@CBkCZkl<@" fcK"3e8(̓td }JkRk͚?*y~'L &@1\rxrռvg?"d"k6A*k1dk=xs?kYi 2kk=xs?kkk|Bk^{@Will construct direction to contact in vehicle frame from tetrahedron phase data.iJDAT read: TxSync time:21:46:25.1831 % addTargetRange:: Added new target pos. range: 506.500000 m, deltaT: 4.032792 s, deltaX: 1.899994 m, approachRate: 0.471136 m/s, rangeRepo size: 4 5 Added new target pos. range: 506.500000 m, bearing: 168.685873 deg, lat: 36.899208 deg, lon: -122.118923 deg, deltaT: 4.032792 s, deltaX: 1.899994 m, approachRate: 0.471136 m/s, posRepo size: 4 Zj1=FNOT Ignoring new targets: 506.50 m.Bj=Jj9] ProNav: ac range: 506.500000 m, nav range: 81.242897 m, bearing: 225.397090 deg, approach rate: 0.000000 m/s, LOS rate: 0.115394 deg/s, cmd heading: 117.388576 deg, new cmd heading: 117.573093 deg. 2jYHeadingCmd: 2.052037 target range: 506.500000 and range: 506.50 m. jT@jjjihhhh/Bfffrf@bfߦ?ɛB]w 隅NxI i6PɚiIzw=IT@idi>ɼ)T@)*FM?2FQ:FQBFQJFQzK BoHK 9K K `K  G5 Ji Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O= >x$#w,AB?YB`@B}9B=yBH ܿrFM??@ݿґê?@Ҽ??ɨB?B ;BCy^hB^&Iif=If;hjAInInb4٢r; ve=9vźQ v>xx zG٣zEGy~ ~? Nusing accuracyPremultiplier from config 49)0ӛ? 4Y iXB  @,@D ;\ ;}4 _@ u$?IqB*** querying acoustic contact ***jjZj%FNOT Ignoring new targets: 506.50 m.BjM;JjM;] ProNav: ac range: 506.500000 m, nav range: 81.265434 m, bearing: 225.537493 deg, approach rate: 0.066261 m/s, LOS rate: 0.412681 deg/s, cmd heading: 117.573087 deg, new cmd heading: 117.994172 deg. 2j] 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,؁A:)?Y:?@:S\9:: =y:H`ܿ`G?q?rEݿ;兴?a?@#?ɨ:)?:;:!CyFqBF&IININ94٢Z5= ZO=9Z Q ^>\\ bG٣`yb< b> fNusing accuracyPremultiplier from configdj49f#ӛ?j4Yf9 if XBlnT@n,@fDf ;fq ;f4rB r@vEZj FNOT Ignoring new targets: 506.50 m.Bj;Jj;- ProNav: ac range: 506.500000 m, nav range: 81.291214 m, bearing: 225.699270 deg, approach rate: 0.070166 m/s, LOS rate: 0.440174 deg/s, cmd heading: 117.994168 deg, new cmd heading: 118.479333 deg. 2j- <5HeadingCmd: 2.067854 target range: 506.500000 and range: 506.50 m. j5W@j1j1j9i9h9h9hAhAfAfAfIrfIbfMI?ɛqu*ڊ y}eIy }QɚyiIBw=IW@ii)W@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.926250*F2F:FBF0JF *Ja="Ja=JJJ0JJ :JQN:Jـ3J qIqGvżG ?G:?HYIY I])'II]BI]% =&IY.IY6I]<<:I]& FGBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.1752001#w,dƌA2?Y2@292j}=y2Hܿ??p?Jݿ昿c?+? '?ɨ2?2B;2CyNzBN&I-Mb@Mb@Mb@))) )))Y-V-?K7?-t<) -@)-~@I-A)y-@IIh4٢W)= <=9"qQ > G٣yl# > Nusing accuracyPremultiplier from config49"ӛ?4Y* iCXB?:@,@ƫD;I;4 P@ZjFNOT Ignoring new targets: 506.50 m.BjC;JjC; ProNav: ac range: 506.500000 m, nav range: 81.315247 m, bearing: 225.875902 deg, approach rate: 0.055273 m/s, LOS rate: 0.406117 deg/s, cmd heading: 118.479330 deg, new cmd heading: 119.009054 deg. 2j[<%HeadingCmd: 2.077100 target range: 506.500000 and range: 506.50 m. j%4@j!j!j!i!h)h)h)h--Bf1f1f9rf9bf=m?ɛae amSIi m;RɚiiiImw=I}4@iyi}5)}4@)zK iKK h9K K aK  "   *F2F:FBFE1JFGWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.428063GBOA> ]$?I]Lh 7#w,X:A2$?Y2%@292[=y2Hܿ/ ??si?eiݿ@ i? *?í?ɨ2$?2;2"CyBBB&I)D D F=Fp=IJIJ&4٢f= fY=9fDQ f>hh jG٣jEGyj˕; n>rWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.679228 zNusing accuracyPremultiplier from configx~49z* ӛ?4Yză izbXB@,@zͫDz;z;z'4 B <@EZjFNOT Ignoring new targets: 506.50 m.Bj;Jj;  ProNav: ac range: 506.500000 m, nav range: 81.336494 m, bearing: 226.029589 deg, approach rate: 0.053334 m/s, LOS rate: 0.385669 deg/s, cmd heading: 119.009052 deg, new cmd heading: 119.469982 deg. 2j W<HeadingCmd: 2.085145 target range: 506.500000 and range: 506.50 m. j5s@j1j1j1i1h9h9h9h9fAfAfArfAbfE`?ɛQU QU"/IQ ]ARɚYiYI]ھv=Ies@iaie0I)es@)a*FA2FA:FIBFM2JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.933294G- J J J J J 1J J :J [O:J 3J q Iy G B OE >R=#w,'A6o?Y6@6T696v=y6H ܿ2)@?m?]ݿ}/?]?`Ƥ?ɨ6o?6G);6 CyRBR&IZHpRHr@AHpIp IrB'IIrBIr& =&Ip.Ip6Ir^<:Ir? F]Mb@Mb@Mb@YYY Y)YY]-?S㥛??y]??]$>]<] A ]@)];@I]zAYy]@IuIu4٢= ?=9Q > G٣y* > Nusing accuracyPremultiplier from config49қ?4Y~ iXB?:w@,@իD;8;4 3@ZjFNOT Ignoring new targets: 506.50 m.Bjd;Jjd; ProNav: ac range: 506.500000 m, nav range: 81.366234 m, bearing: 226.205670 deg, approach rate: 0.073086 m/s, LOS rate: 0.432571 deg/s, cmd heading: 119.469981 deg, new cmd heading: 119.998015 deg. 2jo< HeadingCmd: 2.094360 target range: 506.500000 and range: 506.50 m. j  @j j j i h hhhABfffrfbf@ɛBSz {^=,I GSɚiI|nv=I  @iim) @)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.184536*F2F:FBF@5JFGo5GaBiOZ>zKe LKe 9Ka Ke bKe     PExceeded connect timeout, disconnecting. Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.436276D#w,AB?YB@Bح9B>yBHܿ$?8s? Hݿ.oh???ɨB?B;BCyRBR&IIZIZ 4٢r= vU=9vSQ v>xx zG I!٣xy} }> Nusing accuracyPremultiplier from config49қ?4Yy iXBR@,@ݫD: ;4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 506.50 m.Bj;Jj; ProNav: ac range: 506.500000 m, nav range: 81.395439 m, bearing: 226.371099 deg, approach rate: 0.073045 m/s, LOS rate: 0.413603 deg/s, cmd heading: 119.998009 deg, new cmd heading: 120.494105 deg. 2j<HeadingCmd: 2.103019 target range: 506.500000 and range: 506.50 m. jܗ@jjjihhhhfffrf bf'@ɛiuo quǽIq }4SɚyiyI}vv=Iܗ@ii͇)ܗ@)*FI2FI:FIBFM_0JFIWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.687310GmIG) B9 O] >J#w,G-A:?Y:r@:-9:>y:H<ܿ`? v?@=ݿ ϵ??`?ɨ:?:;:CyBЇBB 'IiN,>IN4 vJ=9zQ z>xx zG٣~EGy~" ~>  Nusing accuracyPremultiplier from config49қ?4Yu iXB8@%,@D&_;_;^4-”B -@-EZjQUFNOT Ignoring new targets: 506.50 m.Bj]E;Jj]E;m ProNav: ac range: 506.500000 m, nav range: 81.424698 m, bearing: 226.531005 deg, approach rate: 0.075299 m/s, LOS rate: 0.411376 deg/s, cmd heading: 120.494099 deg, new cmd heading: 120.973632 deg. 2jm)_  I SɚiI)u=I @ii▽) @)]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.939997*F?2F:FBFJF 5$?I=KhG eGBOG>HI It'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=3.191142) 5 bGI JQ#w,GA8 RhYPyRAynBn%'IMb@Mb@Mb@ )YV-?ʡE?X9v?y?=< )Q@IAy(@II(4٢= ==9Q > G٣y > Nusing accuracyPremultiplier from config49^қ?4Yo iXB?:@,@D;o;4 @EZj)-FNOT Ignoring new targets: 506.50 m.Bj5g;Jjg; ProNav: ac range: 506.500000 m, nav range: 81.468315 m, bearing: 226.715748 deg, approach rate: 0.100950 m/s, LOS rate: 0.427349 deg/s, cmd heading: 120.973633 deg, new cmd heading: 121.527547 deg. 2j<HeadingCmd: 2.121056 target range: 506.500000 and range: 506.50 m. ja@jjjihQhIhIhMBfQfQfQrfQbfU @zKMLKM]9KIKMcKM %KgodYSOOKE8,!RKu?JKu>ɛBT 隽I SɚiI(u=Ia@ii,)a@) 5nManaging dock network, ignoring radio surface power offeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.443341JK (3 K (.KK"KJJJJJJ5K:JJJaJaJaJa I!E- =E) *F ?2F :F BF _5JF G  G  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:46:28.2661  TRx dataTimestamp_ set to:1736372789.548559- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.696613G憽GBO?Y#w,hAF?YF@Fw9Fu!>yFH 5ݿ? tT?ݿ3y:Ƕ?`?Iz?ɨF?Fzm;F CyVBVO'I)\ \IeIeP4٢u > u"=9}Q }>y G٣y< > Nusing accuracyPremultiplier from config49Uқ?4Yi i5YB@,@D;;4ÔB @EZjFNOT Ignoring new targets: 506.50 m.BjL;JjL; ProNav: ac range: 506.500000 m, nav range: 81.518181 m, bearing: 226.932119 deg, approach rate: 0.098910 m/s, LOS rate: 0.428915 deg/s, cmd heading: 121.527548 deg, new cmd heading: 122.176236 deg. 2j.<HeadingCmd: 2.132378 target range: 506.500000 and range: 506.50 m. jx@jjji h h hhfffrfbfs@ɛAM/A IM`=II MzSɚIiIIU%t=IUx@iQi]é)]x@)YE<|^=Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.948478*FQ2FQ:FQBFU_0JFQG] $?IGQByO>jH <bH <H I  I 'II bBI &I .I 6I <:I Z FBIAJIARIAZIE& =bIE& =jIE.4`#w,RA>Will construct direction to contact in vehicle frame from tetrahedron phase data.ZDAT read: 21:46:28.2661 LVL= 25120, 24417, 19538, 32755, AGC= 70, IDX= 458, 0.23, 0.068, 2.288, 2.152, 1.760, PHS=-1.603, 0.576, 0.389, RAW= 274.4, 6.2, CAL= 278.9, 8.3, ROT= 231.1, -8.3 ^Ygot valid direction response: 21:46:28.2661 LVL= 25120, 24417, 19538, 32755, AGC= 70, IDX= 458, 0.23, 0.068, 2.288, 2.152, 1.760, PHS=-1.603, 0.576, 0.389, RAW= 274.4, 6.2, CAL= 278.9, 8.3, ROT= 231.1, -8.3 bPDAT read: Bearing 231.1, -8.3 (Local) b~Local bearing/azimuth received: Bearing 231.1, -8.3 (Local) jDAT read: Range 10 to 50 : 508.5 m (Round-trip 678.0 ms) speed -0.4 m/s n,DAT read: user:2049> nBDAT read: Tx time:21:46:29.3839 r$Ping request sent.ryH@Ҧݿ(?@4?@8޿Fsh??@r?ɨ? ;Cy-(B-x'I5Fpublishing direction and range info<9>J?ᚿ\nBqz Қy>@C<> b>a_ >RL)>I>Fi>/Ϳ>t?>+>>@@>k= >cě@)>V>I>@i>V<<>ˉ쿅}'&t?%Xr?)>,@I>۽i>>7?<<M:publishing transmit ping timepMFpublishing direction and range info<9>J?ᚿ\nBqz Қy<<<< <)ˉ쿅}'&t?%Xr?) *=9רQ > G٣EGy؇< > Nusing accuracyPremultiplier from config 49 қ?4Y !b i lYBE)?E:M @M,@ D ; Y; /4Q U@Qk>} |?k> k< k>TA:k>@CBk>CZk>\L@">v*ۛO(0m>J?ᚿ\nBqz ҚJk>Rk>7?*>hKS8E i>, mÿї|ug;"k>d*k>^k>O?k>T 2k>Bk>6g?k> k>k>فBk>M@m addTargetRange:: Added new target pos. range: 508.500000 m, deltaT: 4.281368 s, deltaX: 2.000000 m, approachRate: 0.467140 m/s, rangeRepo size: 4  Added new target pos. range: 508.500000 m, bearing: 182.652531 deg, lat: 36.899124 deg, lon: -122.118304 deg, deltaT: 4.281368 s, deltaX: 2.000000 m, approachRate: 0.467140 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 508.50 m.BjJj ProNav: ac range: 508.500000 m, nav range: 64.925049 m, bearing: 184.186189 deg, approach rate: 0.000000 m/s, LOS rate: 0.428915 deg/s, cmd heading: 122.176238 deg, new cmd heading: 122.842388 deg. 2jHeadingCmd: 2.144004 target range: 508.500000 and range: 508.50 m. j]7 @jjjihhhh LJBf f frf@bf@&?zK5 MK5h9K1K5dK5BKEqA:KAɛR2 隍j>I RɚiIs=I]7 @ii[)]7 @)EE*E"E5Will construct direction to contact in vehicle frame from tetrahedron phase data.EJDAT read: TxSync time:21:46:29.3832 J J J 0J J k:J >L:J ـ3J J %8<J %8<J p;J p;  I *FA 2FA :FA BFE 2JFI Will construct direction to contact in vehicle frame from tetrahedron phase data.GUGYGYG1BAO]?;i#w,A @J?YJ@JY~9J%R->yJH-޿??`޿xBa&?4w? f?ɨJ?J2;JCyVNBV'II^I^y4٢f > j.=9jʻQ j>ll nG٣pyr< r> zNusing accuracyPremultiplier from configtz49viқ?~4Yv[ ivYB|~ @~,@v Dvn:v :vU4ŔB p@ E%B*** querying acoustic contact ***j!j!ZjamFNOT Ignoring new targets: 508.50 m.Bju=<Jju=< ProNav: ac range: 508.500000 m, nav range: 64.774658 m, bearing: 184.418908 deg, approach rate: -0.343249 m/s, LOS rate: 0.532388 deg/s, cmd heading: 122.842387 deg, new cmd heading: 123.542130 deg. 2j<HeadingCmd: 2.156217 target range: 508.500000 and range: 508.50 m. ju @jjjihhhhfffrfbf`L?ɛ}B |'7=隍T>I $RɚiI#r=Iu @ii )u @)*F=?2F9:F9BFE_0JFAG0ԪGBOH>=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******MR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode. $?I Hy Iy  I} (II} BI} % =&Iy .I} 8D6I} <:I} _ Fp#w,|A:?Y:)@:)ɽ9:5>y:H ޿@K1?@ ?x߿F?`n?`f?|Y?ɨ:?:;8yRcBR'I5Mb@Mb@Mb@111 1)1Y5㥛 ?Mb?kt?y55?5@=5 0=5 A 5C@)5;@I53A1y5@IUIUݜ4٢e= eB=9mQ m>ii mG٣iyu< u> Nusing accuracyPremultiplier from config49(қ?4YT iYB<6?:i@,@Dn;;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.9957914 @ZjFNOT Ignoring new targets: 508.50 m.BjD<JjD< ProNav: ac range: 508.500000 m, nav range: 64.637672 m, bearing: 184.651060 deg, approach rate: -0.327956 m/s, LOS rate: 0.556968 deg/s, cmd heading: 123.542126 deg, new cmd heading: 124.240019 deg. 2j<}HeadingCmd: 2.168397 target range: 508.500000 and range: 508.50 m. j} @jyjyjyiyhyhyhhBfffrfbf9?ɛvl >I KQɚiIr=I  @i i ")  @)1*F?2F:FBFJFzKBoIK9KKeKRK?JK>G LM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247754G B OM >J J J J J :J c:J J J 6<J 6<J $;J %; I Gv#w,TڍA2G?Y2@2Qн92+<>y2H P߿'v?y?` p??@U?@rK?ɨ2G?2c;0yBBB'IIVIV҅4٢j'> nT=9Q > G٣EGy%0= %> 5Nusing accuracyPremultiplier from config)E49-қ?E4Y-N i-ZBAEB @E,@-D-{W;-J;-4UB U@UEZjq}FNOT Ignoring new targets: 508.50 m.Bj<Jj< ProNav: ac range: 508.500000 m, nav range: 64.507912 m, bearing: 184.866496 deg, approach rate: -0.331823 m/s, LOS rate: 0.552018 deg/s, cmd heading: 124.240021 deg, new cmd heading: 124.887600 deg. 2jl<HeadingCmd: 2.179700 target range: 508.500000 and range: 508.50 m. j4 @jjjihhhhfffrfbfT?ɛ >I 3UPɚiIq=I4 @ii)4 @)*Fu?2Fq:FqBFqJFqGMWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499905G)BIOe4>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752419 {|#w,XA21x?Y2Z@2 Խ92~D>y2Ha `s?,|? bҀ?@B?G?>>?ɨ21x?2K;0yeBe (I IJhII4٢}= 2=9Q > G٣y< > Nusing accuracyPremultiplier from config49қ? 4YG iBZB @,@'D;Q;4A M@IZjFNOT Ignoring new targets: 508.50 m.Bjf<Jjf<ZHRHH!I! I%n(II%BI!&I!.I!6I%<:I%V F} ProNav: ac range: 508.500000 m, nav range: 64.353683 m, bearing: 185.120258 deg, approach rate: -0.325257 m/s, LOS rate: 0.536448 deg/s, cmd heading: 124.887605 deg, new cmd heading: 125.650669 deg. 2j<HeadingCmd: 2.193018 target range: 508.500000 and range: 508.50 m. jhZ @jjjihhhhfffrfbf`Э?ɛBQ >I QNɚiIo=IhZ @ii`)hZ @)Will construct direction to contact in vehicle frame from tetrahedron phase data.աiաchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003955E Qf=*FM ?2FI :FI BFM !5JFI zK=BoHK= 9K9K=fK=BKMpA:KMrA]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.256635GGqAGpAJJJJJ:JT:JJJ~9<J9<J;J; $?IGB)Oe?#w,AF?YF@Fܽ9FM>yFH@ǕFf=?R&?.?@჻?@j?n,?ɨF?F;FCyVBV1(IMMb@Mb@Mb@III I)IYMZd;? rh?l?yM>?MCyy }G٣EGyW= > Nusing accuracyPremultiplier from config49oқ?4Y? iZBB??:n@,@3Da;;4B @EZjFNOT Ignoring new targets: 508.50 m.Bj#<Jj#< ProNav: ac range: 508.500000 m, nav range: 64.178085 m, bearing: 185.429313 deg, approach rate: -0.324815 m/s, LOS rate: 0.573239 deg/s, cmd heading: 125.650673 deg, new cmd heading: 126.580289 deg. 2j<HeadingCmd: 2.209243 target range: 508.500000 and range: 508.50 m. jI LɚiIdkn=I#w,2A6K?Y6Oj@696P>y6H)\F??@DȐ?B*?.?%?ɨ6K?6.(;4yR͈BRD(IIZIZb4٢f= fV=9fۻQ j>hh jG٣hyn_= n> rNusing accuracyPremultiplier from configpv49rBbқ?v4Yr8 irZBxz5 @z,@rI1 5=Kɚ1i1I5l m=I=!$@i9i=w)e!$@)aEiEi*Eq"EqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011754E *F ?2F :F BF S5JF GЭzKEJKE+9KAKEgKEM$ 'rZG7&GBO?U#w,τSA2s?Y2c" @2f92mS>y2H` 6?? W??.?`= ?ɨ2s?2;0y>B>\(IiB]>IB=DDZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263760Mb@Mb@Mb@ )YFx?~jtxX9v?yK?Ļ< @)@Iy@15BAI=I=E4٢}= =9fQ > G٣y< > Nusing accuracyPremultiplier from config49LNқ?4Y. iZBK?:$@,@KDF;;w4B @EZj)5FNOT Ignoring new targets: 508.50 m.Bj5O<Jj=OIq u@IɚqiqIuk=IZ@ii𹽽)Z@)*FU?2FQ:FQBFU_0JFQeWill construct direction to contact in vehicle frame from tetrahedron phase data.mBDAT read: Rx Time:21:46:32.4687 mTRx dataTimestamp_ set to:1736372793.580569uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.516728G 'GQ Bi O >ʚ#w,5DmA6E?Y6 @64X96U>y6H ъݱ (?jH<bHp<HI I(IIeBI& =&I.I6In<:IH F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020115#w,(Ax!I YyB?Y @9W>yH|4?R?.? '??T?ɨ?G;騍CyޥBޥ(I-Mb@Mb@Mb@))) )))Y-|?5^?~jth~jt?y-R?-D-<-/ A -@)-@I))y-Q@IMIM4٢]= ](=9]2Q e>aa eG٣aym< m> uNusing accuracyPremultiplier from configq}49u\/қ?}4Yu iu\[BS?: @,@u`Du{;u ;u4B @EZjFNOT Ignoring new targets: 508.50 m.Bj6<Jj6ߚ@4Q= )@)0 >IBY@i0 ]XΘ?MuϹ?)ƭ/@IνipN@E?=T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapseG} GI Ba O >Gݧ#w,LAe{?Yeo @e0>9e"V>yeH&6?t;?$? 9z?`'?s? ?ɨe{?e{;e!Cy}B}(I)  p=R=II4٢ڒ< j=9Q > G٣y= > Nusing accuracyPremultiplier from config=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 elapseU49!қ?]4Y i[BY] @],@iDg< h<= 4i mο@iZj1=FNOT Ignoring new targets: 508.50 m.Bj=R0<Jj=R0< ProNav: ac range: 508.500000 m, nav range: 63.415047 m, bearing: 186.783136 deg, approach rate: -0.356499 m/s, LOS rate: 0.616614 deg/s, cmd heading: 129.957545 deg, new cmd heading: 130.651553 deg. 2j<HeadingCmd: 2.280300 target range: 508.500000 and range: 508.50 m. jn@jjjihhhhfffrfbf_@ɛ!-<7 )-?I) -Cɚ)i1I5)Ng=I5n@i9i=G½)=n@)9EM 6= 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 JF I *JM R="JI JQ JU JQ JQ JQ JU wR:JQ JQ H I  I *)II BI &I .I 6I <:I c FBIyJIyRIyZI}% =bI}% =jI}I4G%NGB O%?׭#w,#ŽA:?Y:. @: 9:W>y:HKs =f??-"?>?@?p?ɨ:?:v;:CyBBF(I]Mb@Mb@Mb@YYY Y)YY]n?~jth? rh?y]VN?]D;]C<] A Y)]@IYYy]\@uWill 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 elapseI}I}4٢O< =9 Q > G٣EGyӶ< > Nusing accuracyPremultiplier from config49b қ?4Y i[BbN?:! @,@wDFk;i;R4B x@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 508.50 m.Bj~A<Jj~A< ProNav: ac range: 508.500000 m, nav range: 63.217052 m, bearing: 187.113087 deg, approach rate: -0.404777 m/s, LOS rate: 0.676656 deg/s, cmd heading: 130.651547 deg, new cmd heading: 131.644394 deg. 2j1<HeadingCmd: 2.297628 target range: 508.500000 and range: 508.50 m. jW @jj!j!i!h!h!h)h-cBf)f)f1rf9bf=B@ɛmB   ?I  lAɚiIe=IW @iiͽ)W @)!EM]=*F?2F:FBFJFzKjIK9KKiK #4?B@><7400.-,('%"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 elapseG o - $?I1 G B O >Զ#w,£܎A:?Y: @: i9:W>y:H@3 =q?? %H"?Y??J?ɨ:?:;: CynBn(IIvIv 4٢~L ~T=9GpQ >   G٣ y 0 =  > Nusing accuracyPremultiplier from config49ћ?%4Y= i[B!% @%,@D ; ; 4-B -g@5EZjQ]FNOT Ignoring new targets: 508.50 m.Bj]6<Jje6< ProNav: ac range: 508.500000 m, nav range: 63.068459 m, bearing: 187.356640 deg, approach rate: -0.389527 m/s, LOS rate: 0.639955 deg/s, cmd heading: 131.644397 deg, new cmd heading: 132.376734 deg. 2j<HeadingCmd: 2.310410 target range: 508.500000 and range: 508.50 m. j@jjjihhhhfffrfbf @ɛp 隽?I  ?ɚiICd=I@ii%˽)@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseEl>E*F5?2F1:F1BF1JF1"GAGE>= Will construct direction to contact in vehicle frame from tetrahedron phase data.E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapseGU Jʽ  I HhG1 B9 O] >F#w, AJJJJJK:JHM:JJ=l@Y=8@=9=W>y=HWccL a?`E*?`gf?̾? ??H;>IC II)IIBI&I.I6I<:I Fɨ=l@=;=CyE BE(IiM=IM=%Mb@Mb@Mb@!!! !)!Y%K7A`?:v?:v?y%K?%<%T<% A %b@)%Z@I%A!y%@I=I=K4٢M< M=9MQ U>QQ ]G٣Yy]G2= ]> eNusing accuracyPremultiplier from configam49e9ћ?m4Ye} ie/\Bu$K?u:ue@u,@eDe9;e;e&4}B @EZjFNOT Ignoring new targets: 508.50 m.Bj.<Jj.< ProNav: ac range: 508.500000 m, nav range: 62.842674 m, bearing: 187.688751 deg, approach rate: -0.412229 m/s, LOS rate: 0.608533 deg/s, cmd heading: 132.376730 deg, new cmd heading: 133.376537 deg. 2j<HeadingCmd: 2.327860 target range: 508.500000 and range: 508.50 m. j@jjjihhhhUBfffrfbf@ɛB7> 隝?I kK=ɚiIOb=I@iiR)@)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- kʽG B O5 >Z#w,CAy 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 elapseII49-Q -?11 5G٣5EGy= =? ENusing accuracyPremultiplier from configAM49Egћ?M4YE4 iEV\BIQU,@EDE;Ey;EY,4Y YYzKaMKf9KKjK BKrA:KqAZjFNOT Ignoring new targets: 508.50 m.BjM.<JjM.< ProNav: ac range: 508.500000 m, nav range: 62.707371 m, bearing: 187.890442 deg, approach rate: -0.408031 m/s, LOS rate: 0.609545 deg/s, cmd heading: 133.376533 deg, new cmd heading: 133.982888 deg. 2j)<HeadingCmd: 2.338443 target range: 508.500000 and range: 508.50 m. j @jjji $?Ihhhhfffrfbf MN@ɛB; < ?I  ;ɚ i I / a=I @ii/ֽ) @)*F?2F:FBF0JFGVGýGaBqOZ> 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,,A2,@Y2K@29t92Y>y2Hʮs?@? K@㕣?? p?`?ɨ2,@2 ;2CyBBB(IIJIJK4٢nz; r<9v9:Q v>tt zG٣xyz\= z> Nusing accuracyPremultiplier from config| 49~ћ? 4Y~z i~\B  $@ ,@~D~:~:~24B @EZjAEFNOT Ignoring new targets: 508.50 m.BjM60<JjM60< ProNav: ac range: 508.500000 m, nav range: 62.557354 m, bearing: 188.110587 deg, approach rate: -0.418921 m/s, LOS rate: 0.616226 deg/s, cmd heading: 133.982890 deg, new cmd heading: 134.644877 deg. 2jt<HeadingCmd: 2.349996 target range: 508.500000 and range: 508.50 m. jWf@jjjihhhhfffrfbf@ɛeBe} amY?Ii 9ɚiIc_=IWf@iQiU\ҽ)UWf@)YE1-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*F2F:FBF1JF $?IGA GAJJJ1JJk:J[O:J3JHI IV)IIBI&I.I6I<:IV FG% .G B) OE >7e#w,EEAJWill construct direction to contact in vehicle frame from tetrahedron phase data.JT****** received valid address query ******JR****** received valid ping request ******Jreceived new query, but waiting for acoustic response period to elapseR@YR@R~9R[>yRHM $b?p?`-ϧ?z]?? ?ɨR@R";Py^ B^(I)d dUMb@Mb@Mb@QQQ Q)QYUS㥛?y&1?Q?yUD?U`e=UuAA EG٣Iyu~d= u> }Nusing accuracyPremultiplier from configy49}ћ?4Y} i}\BlE?::@-@}D} ;};}:4B  @EB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 508.50 m.Bj5 <Jj5 zK-LK-9K)K-kK-RK= ?JK=?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 I#w,_AJ~}@YJ'@J59J[>yJH_O@,??7? A@? ?`;? ?ɨJ~}@J~;HyVBV(II~I~E4٢L< %^=9-;Q ->99 =G٣EEGyM< M> ]Nusing accuracyPremultiplier from configYe49]ћ?e4Y] i]\Bam@m-@]D]":]C:]@4uB uϾ@uEZjFNOT Ignoring new targets: 508.50 m.Bj'<Jj'< ProNav: ac range: 508.500000 m, nav range: 62.193890 m, bearing: 188.578013 deg, approach rate: -0.457621 m/s, LOS rate: 0.586213 deg/s, cmd heading: 135.421464 deg, new cmd heading: 136.051213 deg. 2j(<HeadingCmd: 2.374542 target range: 508.500000 and range: 508.50 m. j}@jjjihhhhfffrfbfx@ɛB@\ j?I W76ɚ i I \=I}@ii䩿)}@)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 elapseEd=*F2F:FBFJFm 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 VνG ?G >G B) O >S#w,|AJ"J"J"0J J"+:J"mQ:J"ـ3J jH-<bH-<HM:>II IIIIII&II.II6IM<:IM_ FMN@YMl@M9M/[>yMH@ ?5? $?`N?O?@?ɨMN@M﵊;M CyޅBލ(ImMb@Mb@Mb@iii i)iYmZd;?L7A`?Q?ym9?m+=imA m@)m@Im@iym@II4٢< =9/;Q > G٣y< > Nusing accuracyPremultiplier from config49ћ?4Y i]B:?:@-@Da#;"; J4B @ EZjFNOT Ignoring new targets: 508.50 m.Bjt<Jjt< ProNav: ac range: 508.500000 m, nav range: 61.967831 m, bearing: 188.852370 deg, approach rate: -0.434826 m/s, LOS rate: 0.529649 deg/s, cmd heading: 136.051207 deg, new cmd heading: 136.877219 deg. 2j<HeadingCmd: 2.388958 target range: 508.500000 and range: 508.50 m. j@jjjih!h!h!h%Bf)f)f)rf)bf5 @ɛ]B]( Y]?IY e&3ɚaiaIeVZ=Im@iqiu½)u@)qE=F<EAEAWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse*F2F:FBFA5JF"G =G =GYĽGBO>-#w,gA6@Y6, @696^\>y6H@'@|?ɻ? a@ۖ??4??ɨ6@6L;6CyN BR(ITVAIZIZ4٢b b=9f;Q f?dd jG٣hyr= r? vNusing accuracyPremultiplier from configtz49v:ћ?z4Yv ivA]Bxz@z-@vǬDv:Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsev7:vxO4  p@ %$?I%GhzK-BoIK)K)K-lK-ZjQUFNOT Ignoring new targets: 508.50 m.Bj]r<Jj]rĚ#w,KA2@Y2@@292X[>y2H@pR@^?|? k!E?@Ep? ?0?ɨ2@2;2 Cy>B>(IIFIF4٢Z^]= ^C=9^t;Q ^>`` bG٣bEGyb < f> jNusing accuracyPremultiplier from configdn49fnћ?n4YfU ifo]BlnT@n-@fЬDf ;f ;fV4vB vʾ@vEZj FNOT Ignoring new targets: 508.50 m.Bj<Jj<- ProNav: ac range: 508.500000 m, nav range: 61.645260 m, bearing: 189.235993 deg, approach rate: -0.451297 m/s, LOS rate: 0.534932 deg/s, cmd heading: 137.369693 deg, new cmd heading: 138.031130 deg. 2j-<5HeadingCmd: 2.409098 target range: 508.500000 and range: 508.50 m. j5.@j9j9j9i9h9h9hAhAfAfAfArfIbfM@$!@ɛB@A ?I B0ɚiIX=I.@iin޽).@)  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*F2F:FBF_0JFH9>I IO)IIBI' =&I.I7D6Iİ<:I FGE#鼽GA Ba O} >) C G ) 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 u Yq yu A~#w,wʏA6=v@Y6@6޽96K\>y6H@³Y`B? G٣y< > Nusing accuracyPremultiplier from config49Zћ?4Y> i]B2?:@-@ڬD;;u^4  j@ -B*** querying acoustic contact ***j)j)Zj9EFNOT Ignoring new targets: 508.50 m.BjE' <JjE' E*FA2FA:FABFAJFA $?IFhWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapsezK5BoHK59K1K5mK5JJJJJK:J5K:JJJr5ƫ#w,h^䏼AF;@YFdZ@Fؽ9F3\>yFH`{?`?? ? /)??ɨF;@F$;F CybBb(I f=fp=IjIj4٢r4+< r[=9v/;Q v>tx zG٣xy~= ~> Nusing accuracyPremultiplier from config 49 Jћ? 4Y i]B@-@D;E;e4B ^@%EZjAMFNOT Ignoring new targets: 508.50 m.BjM <JjM <] ProNav: ac range: 508.500000 m, nav range: 61.275738 m, bearing: 189.629126 deg, approach rate: -0.458242 m/s, LOS rate: 0.485113 deg/s, cmd heading: 138.671391 deg, new cmd heading: 139.214049 deg. 2j]v i Ii  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,H5AZH4RH6AAHB8>I@ I@I@I@&I@.I@6IB<:IBq FBIECJIECRIAZIE& =bIE& =jIE4}@Y&@ҽ9[>yH`@s??-[`ӳ?4?!?@?ɨ}@؉;騅CyeBe(I=Mb@Mb@Mb@999 9)9Y=oʡ?X9v?~jt?y=-?===<=A =@)9I=@9y=3@IUIUn4٢m< m(=9u;Q u>qq }G٣}EGy}< }> Nusing accuracyPremultiplier from config493ћ?4Y i^B/?: @-@D;(;}m4B @EZjFNOT Ignoring new targets: 508.50 m.Bj<Jj< ProNav: ac range: 508.500000 m, nav range: 61.047108 m, bearing: 189.850385 deg, approach rate: -0.470287 m/s, LOS rate: 0.456828 deg/s, cmd heading: 139.214049 deg, new cmd heading: 139.880280 deg. 2jœ<HeadingCmd: 2.441371 target range: 508.500000 and range: 508.50 m. jn?@jjjihhhhBfffrfbf$@ɛ5B5ł 15L?I1 =*ɚ9i9I=S=IEn?@iAiE")En?@)I%Will construct direction to contact in vehicle frame from tetrahedron phase data.- ] $?IY $w,W$A: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.N1@YN@Nʽ9NN[>yNH- @?m?`l?G? !? ?ɨN1@N*;N CyZ(BZ(Iib $w,1A6]] @Y6|@6Lý96\>y6H`Pgs?G? :\?!`?^,?.?ɨ6]] @6;6Cy>,B>(IDFAIJIJ\4٢R< RO=9VOTT VG٣XyZ{< Z> Nusing accuracyPremultiplier from config\49^Kћ?4Y^| i^[^B1="@=-@^D^P;^&;^z4A EN@AZjimFNOT Ignoring new targets: 508.50 m.Bju;Jju; ProNav: ac range: 508.500000 m, nav range: 60.705521 m, bearing: 190.174548 deg, approach rate: -0.465050 m/s, LOS rate: 0.440028 deg/s, cmd heading: 140.318751 deg, new cmd heading: 140.855506 deg. 2j<HeadingCmd: 2.458392 target range: 508.500000 and range: 508.50 m. jMV@jjjihhhhfffrfbfV%@ɛB; ?I c&ɚiIWQ=IMV@ii)MV@) $?I*Fu?2Fq:FqBFu4JFqWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2051> -I IV)IIBI&I.I6I<:Id FGٲG B O- >e Will construct direction to contact in vehicle frame from tetrahedron phase data.e BDAT read: Tx time:21:46:40.3340 m $Ping request sent.m $w,KAb @Yb0@bN9b![>ybHc-` ?} ?`S@hr?a? ?`#?ɨb @bH;b CyU>B](IeMb@Mb@Mb@aaa a)aYe(\?Q?y&1?ye'?e=e` G٣EGy< > Nusing accuracyPremultiplier from config49Л?4Y i^B*?:#@-@DH;;04B B@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 508.50 m.Bj)<Jj)< ProNav: ac range: 508.500000 m, nav range: 60.485237 m, bearing: 190.377615 deg, approach rate: -0.484420 m/s, LOS rate: 0.448184 deg/s, cmd heading: 140.855508 deg, new cmd heading: 141.466902 deg. 2jʙ<HeadingCmd: 2.469063 target range: 508.500000 and range: 508.50 m. j"@jjjih!h!h!h%ćBf)f)f)rf1bf5x&@ɛB%Y: AE.&?IA M#ɚIiIIMAO=IU"@iQiU])U"@)Y $?I*F 2F :F BF 65JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252529zKUKKU9KQKUoKUJJJ0JJ:J>L:Jـ3JJe1<Jf1<Jp;Jp;G% &G B O% >$w,=eAR @YRu @R9RY>yRH0Q J? 0?J^?F? 4?'?ɨR @RG;RCy^IB^(I)` `IfIf4٢an= %f=9%;Q %>)) -G٣)y-= 5> =Nusing accuracyPremultiplier from config1E495UЛ?E4Y5 i5^BAE#@E-@5D5? ;5q ;5f4UB U@UEZjyFNOT Ignoring new targets: 508.50 m.Bj;Jj; ProNav: ac range: 508.500000 m, nav range: 60.316277 m, bearing: 190.530671 deg, approach rate: -0.474812 m/s, LOS rate: 0.431323 deg/s, cmd heading: 141.466905 deg, new cmd heading: 141.927351 deg. 2j<HeadingCmd: 2.477100 target range: 508.500000 and range: 508.50 m. j͈@jjjihhhhfffrfbf/'@ɛBt=<  4+?I  \"ɚiIN=Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504421I5͈@i9i=q)=͈@)AEYEY*F 2F :F BF _0JF G GG1 IG B OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755381Hu 5>Iq  Iu h)IIu BIu ( =&Iq .Iq 6Iu <:Iu R F $w,A @Y@9sZ>yH@;@},? T{?_X̹?3̵?`?L(?ɨ @; CyޝVBޝ(I p=a=I I r4٢}j= }3=9} G٣y< > Nusing accuracyPremultiplier from config49Л?4YE i^B$@-@D:X:x4 ֺ@Zj%FNOT Ignoring new targets: 508.50 m.Bj%;JjM;] ProNav: ac range: 508.500000 m, nav range: 60.095062 m, bearing: 190.728649 deg, approach rate: -0.474804 m/s, LOS rate: 0.426492 deg/s, cmd heading: 141.927356 deg, new cmd heading: 142.523451 deg. 2j]Y<]HeadingCmd: 2.487504 target range: 508.500000 and range: 508.50 m. jeB3@jajajaiahhhhfffrfbf@!(@ɛ!%\; )-1?I) -UJɚ)i)I-[M=I5B3@i1i5맽)=B3@)9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007544*FU?2FQ:FYBFYJFYG ȨG ?G ?Gq B $?I O >t(&$w, ԙA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259429F @YF@Fd29FX>yFH '3Kڍ?`m?@@ꪺ?`$ ??-?ɨF @FT;FCy^iB^)IzK}BoHK}9KyK}pK}BKqA:KpAJJJJJ[:J5K:JJJ+<J+<J;J;Mb@Mb@Mb@ )Yp= ף?T㥛 ?V-?y%?><A S@)x@IQ@yf@II٢]= G=9w;Q > G٣EGy= > Nusing accuracyPremultiplier from config49Л?4Y i_Bg(?:_&@-@ D4;3;4B @EZjAMFNOT Ignoring new targets: 508.50 m.BjU8;JjU8;e ProNav: ac range: 508.500000 m, nav range: 59.899048 m, bearing: 190.896418 deg, approach rate: -0.481004 m/s, LOS rate: 0.413040 deg/s, cmd heading: 142.523454 deg, new cmd heading: 143.028396 deg. 2jejQ,$w,aA66 @Y6ZU@6-͝96NV>y6H`r?@??঴??k4?ɨ66 @6;6CyBxBB)IIJIJ4٢R= Rs=9RqEi]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.764897*F-?2F):F)BF-o0JF1"G==G=>GҟGBOF>H4>IC I)IIՉBI) =&I.I6I<:Is F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015296@:3$w,͐Ay~B~')I  Mb@Mb@Mb@ )YE?y&1?y&1?y&?`=`<hA =@)I$@y@IIs4٢|= 8=9Q > G٣y > Nusing accuracyPremultiplier from config49%Л?4Y ik_BA)?:%@-@0D;5;14 B @ E%B*** querying acoustic contact ***j!j!Zj9EFNOT Ignoring new targets: 508.50 m.BjE;JjE;U ProNav: ac range: 508.500000 m, nav range: 59.523083 m, bearing: 191.224964 deg, approach rate: -0.477484 m/s, LOS rate: 0.428407 deg/s, cmd heading: 143.445789 deg, new cmd heading: 144.017175 deg. 2j]<]HeadingCmd: 2.513574 target range: 508.500000 and range: 508.50 m. jee @jajajaiahahahihmBfififqrfqbfu z*@ɛ< 隥H?I ɚiII=I5e @i9i=^)=e @)9 )I-Eh*F12F9:F9BF=0JF9}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272111zKqKu+9KqKuqKuRK?JK>G- HG B O5 >c9$w,b琼AB=l@YB@B憽9BR>yBHվ?`v?@R? ٰ? #?@B?ɨB=l@B W;BCy^BbF)IIjIjn4٢vx> zZ=9z G٣y M= > %Nusing accuracyPremultiplier from config-49DЛ?-4Yk i_B15&@5-@8DN;(O;ǫ4EB Mm@M EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520375Zj9=FNOT Ignoring new targets: 508.50 m.BjE;JjE;M ProNav: ac range: 508.500000 m, nav range: 59.339706 m, bearing: 191.384285 deg, approach rate: -0.454814 m/s, LOS rate: 0.396372 deg/s, cmd heading: 144.017175 deg, new cmd heading: 144.496603 deg. 2jU $?Im Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771313J J J J J :J D:J J a @a @a @a @ZH RH @AH 3>I  I )II BI &I .I 6I <:I _ F2L@$w,?A @Y(@3w9O>yHTn B4? ;?@7`L??@?TI?ɨ @; CyޕBޥ[)II%I%4٢}i= 4=9? G٣EGy< 5>E}GYq YyB Nusing accuracyPremultiplier from configi49mavЛ?4YmB im_B^'@-@mBDm;m/;m(4 Z@Zj)5FNOT Ignoring new targets: 508.50 m.Bj5x;Jj=x;m ProNav: ac range: 508.500000 m, nav range: 59.104992 m, bearing: 191.586245 deg, approach rate: -0.500901 m/s, LOS rate: 0.432709 deg/s, cmd heading: 144.496600 deg, new cmd heading: 145.104860 deg. 2jm{ZF$w, A:з@Y:y@:j|d9:NN>y:HRx??p@U=?‹?`? M?ɨ:з@:5;:CyFBFk)I J=J=zKVKV9KTKVrKV 9>)UjX<!)BK\:K\}Mb@Mb@Mb@yyy y)yY}Fx?|?5^?V-?y}+?}=}<}`@ y)}b@I}@yy}=@IIb4٢Ѕ= I=9C@ G٣y< > Nusing accuracyPremultiplier from config49cЛ?4Y֢ i_B-?:&@-@JD;;Ǻ4B @#EZjFNOT Ignoring new targets: 508.50 m.Bj#<Jj#< ProNav: ac range: 508.500000 m, nav range: 58.916008 m, bearing: 191.752934 deg, approach rate: -0.522228 m/s, LOS rate: 0.462096 deg/s, cmd heading: 145.104855 deg, new cmd heading: 145.606513 deg. 2j<HeadingCmd: 2.541313 target range: 508.500000 and range: 508.50 m. j"@jjjih!h!h)h-ȇBf)f)f)rf1bf55,@ɛY] = Y]Cd?Ia eB\ɚaiaIe~OF=Im"@iqiu)u"@)*F2F!:F!BF- 5JF)GʴGBOUS>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:46:43.4491 TRx dataTimestamp_ set to:1736372804.682400checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532400 M$w,r6A6#\@Y6z@6hP962N>y6HY$@o?`? e5??L?P?ɨ6#\@6;6!CyB؉BB)I b$?I`IJIJK4٢% > %T=9-S)) 5G٣1y5< 5> ENusing accuracyPremultiplier from configAM49EPЛ?M4YEg iE_BIM'@M-@ERDE;:E:E4eB e@aZjFNOT Ignoring new targets: 508.50 m.Bj;Jj; ProNav: ac range: 508.500000 m, nav range: 58.721943 m, bearing: 191.922260 deg, approach rate: -0.501398 m/s, LOS rate: 0.438928 deg/s, cmd heading: 145.606519 deg, new cmd heading: 146.116164 deg. 2j<HeadingCmd: 2.550208 target range: 508.500000 and range: 508.50 m. j6#@jjjihhhhfffrfbf-@ɛQ= q?I D\ ɚiIZ?E=I6#@iip)6#@) UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779335J}J}JyJyJ}{:J}HM:JyJy*F2F:FBF_0JFHI I)IIBI&I.I6Ig<:I9 FBIĝCJIĝCRIZI) =bI( =jIĒR5GHGBOE > Will construct direction to contact in vehicle frame from tetrahedron phase data.= DAT read: 21:46:43.4491 LVL= 32752, 27169, 24306, 32755, AGC= 71, IDX= 236,-0.30, 1.037,-2.846, 2.161, 2.024, PHS=-0.900, 1.460, 0.134, RAW= 304.1, -6.8, CAL= 308.3, -9.5, ROT= 201.7, 9.5 E Ygot valid direction response: 21:46:43.4491 LVL= 32752, 27169, 24306, 32755, AGC= 71, IDX= 236,-0.30, 1.037,-2.846, 2.161, 2.024, PHS=-0.900, 1.460, 0.134, RAW= 304.1, -6.8, CAL= 308.3, -9.5, ROT= 201.7, 9.5 M PDAT read: Bearing 201.7, 9.5 (Local) U ~Local bearing/azimuth received: Bearing 201.7, 9.5 (Local) ] DAT read: Range 10 to 50 : 533.1 m (Round-trip 710.9 ms) speed -0.4 m/s e ,DAT read: user:2052> m BDAT read: Tx time:21:46:44.5340 m $Ping request sent.m kש@  /@) )I Ma@i )> '76i=p) sDI =i i? I?  :publishing transmit ping timei  Fpublishing direction and range info 9 fU96.O>y6H\H?t?` @?%ѧ??`5P?ɨ6F@6;6CynBn)I-Mb@Mb@Mb@))) )))Y-ʡE?#~j?I +?y-/?-=-9<-I@ ))-@I-@)y)y}AAIIW4٢(m= /=9 -  G٣EGyV< > %Nusing accuracyPremultiplier from config%499Л?-4Y i`Be0?e:e+&@e-@]Dp<<4 $?IB @&Ek=Be?k=7 k9 k=.KA:k=FDBk=\DZk=r:h@"=Wx`@ɴVq%o@&o7|=fU'OZ$w,h=kA @2Will construct direction to contact in vehicle frame from tetrahedron phase data.nӯ@Yn|@n`+9n(O>ynHd@|? 06?7`g?`{j? 7? Q?ɨnӯ@np;nCyzBz)IIrIJ4٢= h=9=WAI MG٣IyM(< M> }Nusing accuracyPremultiplier from configQ}49U'Л?4YU iU7`B&@-@UeDUs;U:U4 B M@)EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 533.10 m.Bj%;Jj%;5 ProNav: ac range: 533.099976 m, nav range: 70.505302 m, bearing: 190.148003 deg, approach rate: -0.567479 m/s, LOS rate: 0.398082 deg/s, cmd heading: 146.788388 deg, new cmd heading: 147.180353 deg. 2jU<}HeadingCmd: 2.568782 target range: 533.099976 and range: 533.10 m. j}f$@jyjyjyiyhyhyhhfffrfbf`?ɛ2== ?I `ɚiIC=If$@ii )f$@) *F2F:FBF_0JF E$?IAWill 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,J5 J5 J5 1J1 J5 :J5 e:J5 3J1 Gi By O >jHA bHE p<HI II  IM *IIM ?BII &II .II 6IM a<:IM 5 F/yH`K`5)??@lw?[?P ???ɨ:@ɉ;騁y B)IeMb@Mb@Mb@aaa a)aYe5^I ?Mb?Mb?ye8?e=e G٣y= > Nusing accuracyPremultiplier from config49Л?4YK iQ`B8?:&@-@oD;w;4B ů@eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.995315Zjy}FNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 70.263672 m, bearing: 190.322745 deg, approach rate: -0.536376 m/s, LOS rate: 0.389229 deg/s, cmd heading: 147.180359 deg, new cmd heading: 147.706371 deg. 2j<HeadingCmd: 2.577962 target range: 533.099976 and range: 533.10 m. jV$@jjjihhhh%Bf!f)f)rf)bf-@2?ɛq;)= 隝?I ɚiIA=IV$@ii)V$@)*FU?2FQ:FQBFU`0JFQ ! I) G $ Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248189G B O >ag$w,A2*y@Y2ӗ!@2-92W>y2H+ ?~? RE?@9??E?ɨ2*y@2;0y:B:)IzK^tLK^9K\K^tK^BK`:KbqAIj{IjZ4٢rJ= vj=9v"xx zG٣zEGyz= ~> Nusing accuracyPremultiplier from config 49ϛ? 4Y ie`B  &@ -@wDe::4 خ@*EZjAEFNOT Ignoring new targets: 533.10 m.BjMg;JjMg;] ProNav: ac range: 533.099976 m, nav range: 70.074463 m, bearing: 190.457073 deg, approach rate: -0.573301 m/s, LOS rate: 0.408112 deg/s, cmd heading: 147.706365 deg, new cmd heading: 148.110431 deg. 2j] }Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499523  $?I m$w,!θA2 f@Y2"@2 928T>y2H S[V2?X?k? S?L?@L?ɨ2 f@2Ҋ;2CyR,BV)II^I^:4٢ =  H=9 > G٣y#= > %Nusing accuracyPremultiplier from config!-49% ϛ?-4Y% i%z`B)-'@5-@%D%:%:%4= B =Э@=-EZjFNOT Ignoring new targets: 533.10 m.Bjn;Jjn; ProNav: ac range: 533.099976 m, nav range: 69.850410 m, bearing: 190.612763 deg, approach rate: -0.540361 m/s, LOS rate: 0.376691 deg/s, cmd heading: 148.110426 deg, new cmd heading: 148.578983 deg. 2jB<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751969HeadingCmd: 2.593192 target range: 533.099976 and range: 533.10 m. j%@jjjihh hhfffrfbf?JJJ0JJ{:J,J:Jـ3Jɛ!%/= !-Ӎ?I) -܃ɚqiqIu?=I}%@iyi}e)}%@)HI I=*IIhBI&I.I6Ix<:IF F*F ?2F:FBFo0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006500G% pBG B OE >st$w,mґA6 @Y6*#@62ܼ962P>y6HS?ɨ6 @6 A;4y>@BB *I Mb@Mb@Mb@    ) Y Mb? rh?~jt?y @? C = < `@ ) @I -@ y I%I%4٢5= =G=9=/FAA MG٣IyM< M> ]Nusing accuracyPremultiplier from configQ]49Uϛ?e4YUЇ iU`Be@?e:e%@e-@UDU;U;U%4i u@qZjFNOT Ignoring new targets: 533.10 m.Bj5;Jj%5;- ProNav: ac range: 533.099976 m, nav range: 69.622322 m, bearing: 190.783753 deg, approach rate: -0.542169 m/s, LOS rate: 0.407775 deg/s, cmd heading: 148.578976 deg, new cmd heading: 149.093611 deg. 2jU<HeadingCmd: 2.602174 target range: 533.099976 and range: 533.10 m. j&@jjjihhhh6Bfffrfbf@ $?IDhɛfJR= ɒ?I ɚiI>=I &@i1i5e)5&@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255889*F?2F:FBF1JFG|tGyBO^>zKBoHK9KKuKRK%?JK%?z$w,?쑼A"Will construct direction to contact in vehicle frame from tetrahedron phase data.*checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509387yޕNBޕ*III4٢̆= B=9Q > G٣EGy > Nusing accuracyPremultiplier from config49;ϛ?4Yp i`B-@D::4 B @m0EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 69.389420 m, bearing: 190.960004 deg, approach rate: -0.548014 m/s, LOS rate: 0.416106 deg/s, cmd heading: 149.093604 deg, new cmd heading: 149.624117 deg. 2jȎ<HeadingCmd: 2.611434 target range: 533.099976 and range: 533.10 m. j!'@jjjihhhhff1f1rf1bf5@S@ɛTT= G?I ɚiIr==I!'@iieI)!'@)E *F}?2Fy:FyBF}`5JFy }$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759392Ge jGm qAGi ZH RH AAH I  I i*II BI &I .I 6I y<:I G9 BQ Om >$w,7pA:@Y]Y$@S9lK>yH@e?\?i? S?@A?t]?ɨ:@g;騙yXB)*IA-only read 0 of 1 data item for altitude. Device response is::BD23.69, +1135.02, -10.94, 7.03, 0.00  @ @ @  @ II4٢-= 9=9 G٣y*= > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49ϛ?4Y~ i`B+:d:&@-@D$o;g>4% B %<@%3EMWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.011604ZjY]FNOT Ignoring new targets: 533.10 m.Bje ;Jje ;u ProNav: ac range: 533.099976 m, nav range: 69.140892 m, bearing: 191.142937 deg, approach rate: -0.584736 m/s, LOS rate: 0.431951 deg/s, cmd heading: 149.624118 deg, new cmd heading: 150.174872 deg. 2j}8<}HeadingCmd: 2.621046 target range: 533.099976 and range: 533.10 m. j}8'@jjjihhhhfffrfbfJ@ɛ`= ?I ]ݼɚaiaIe<=Im8'@iiim9c)m8'@)i*F?2F:FBFP5JFGGBO> I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263409J J J 1J J +:J wR:J 3J J 2y6H ?`s+?@׈`( ?@?? b?ɨ6@6;6CyncBn7*IzK~K|K|K~vK~BK :K pAIzIz 4٢== Ej=9E: |$?I ؍$w,@:AyvqBvI*I)x xII4٢e,= eH=9eQ e>ii mG٣mEGyu u> bBottom track data is 1.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from configy49}zϛ?4Y}mw i}`B9:-@}D}(;}?}4 B @6EWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:46:47.6416 TRx dataTimestamp_ set to:1736372808.964776checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768664ZjFNOT Ignoring new targets: 533.10 m.Bjo;Jjo; ProNav: ac range: 533.099976 m, nav range: 68.714119 m, bearing: 191.456735 deg, approach rate: -0.577054 m/s, LOS rate: 0.427401 deg/s, cmd heading: 150.608239 deg, new cmd heading: 151.119188 deg. 2j<HeadingCmd: 2.637527 target range: 533.099976 and range: 533.10 m. j@(@jjjihh h h f ffrfbf@lT@ɛ9E}= AEמ?IA EμɚIiIIM:=IU@(@iQi])]@(@)YEaEaH2>I I*I*F?2F:FBFJFG GIBI&I.I6IX<:I- FGlGyBO<>) EbG YyBu Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021097rƔ$w,OTA6B@Y6%@6" 96LC>y6H.Ga@L3?r?;@D*?G$? L?j?ɨ6B@6;6 CyZxBZQ*I ^p=^p=-Eonly read 0 of 1 data item for water mass range. Device response is::WD, +0.00, 00 +0.00, 20.00,1726.41 IIII٢]r= ]J=9eaa eG٣aym %= m> }bBottom track data is 1.6 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configq49u9dϛ?4Yus iu`B99c(@-@uDu';u?u4B ^@9EZjFNOT Ignoring new targets: 533.10 m.Bj ;Jj ; ProNav: ac range: 533.099976 m, nav range: 68.483627 m, bearing: 191.622851 deg, approach rate: -0.573157 m/s, LOS rate: 0.414466 deg/s, cmd heading: 151.119192 deg, new cmd heading: 151.619205 deg. 2j8<HeadingCmd: 2.646254 target range: 533.099976 and range: 533.10 m. j;\)@jjjihhhhfffrfbf@0@ {$?IɛBBx= W?I ;żɚiIW9=I;\)@i!i%h)%;\)@))*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.8DAT read: $Error in header *Received a bad header=checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287483JJJ0JJJC:Jـ3JJJJE;JE;zKmJKm9KiKmwKmRKu?JKu?G kG B O >$w,!mAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.523564J%O@YJm&@Jv9JLkA>yJH om )?`vv?? -n?ɨJ%O@J;;JCyfBj]*IIrIr4٢zM= zR=9zO;Q z>|y }G٣y< > bBottom track data is 2.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49Mϛ?4Yo i`B99(@-@ŭDbp;@4 B @:EZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 68.251480 m, bearing: 191.788662 deg, approach rate: -0.573227 m/s, LOS rate: 0.410818 deg/s, cmd heading: 151.619203 deg, new cmd heading: 152.118313 deg. 2j<HeadingCmd: 2.654965 target range: 533.099976 and range: 533.10 m. j)@jjjihhhhf f f rf bf ad@ɛAEj= AE?II MW罼ɚIiIIM8=IU)@iQiUk)U)@)Y*F ?2F :F BF o0JF  z$?I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.775619GU/jG B jH <bH <H 1>I  I *II ĊBI &I .I 6I <:I R FBIaJIaRIaZIabIe) =jIeɴA4O Vԡ$w,XAy޽B^*Ii%=I;I I t4٢=y,; =7=9MQ U>Ya eG٣mEGy} }> bBottom track data is 2.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49r5ϛ?4Y~k i`Bo99-@ϭD<;@7 4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 68.002472 m, bearing: 191.968231 deg, approach rate: -0.572105 m/s, LOS rate: 0.414076 deg/s, cmd heading: 152.118312 deg, new cmd heading: 152.658974 deg. 2j<HeadingCmd: 2.664402 target range: 533.099976 and range: 533.10 m. j*@jjjihhhhfffrf bf  m#@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.047682ɛ Bt= ?I شɚiI 8=I*@i!i%ao)%*@)Ee>E>*F}?2Fy:FyBF}i0JFy"G=G= IG jGy  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.300240B O >J J J 1J J [:J >:J 3J J +<J +<J ˕;J ˕;M$w,φAFk@YF'@Fߎ;9F<>yFH@#߿G?@?U ? ۑ``Gr?`u?ɨFk@F;F CyRBRh*IZAZA u u uu u}  } } }Mb@Mb@Mb@yyy y)yY}v/?~jth?y}xI?}D;}}@ y)}@I}@yy} @IIQ4٢*= U=9 G٣y= >zKBoIK9KKxK  Nusing accuracyPremultiplier from config49}ϛ?4Yg i`BT:yI?:0(@-@٭D0;;4B :@=EZj  FNOT Ignoring new targets: 533.10 m.Bj;Jj;% ProNav: ac range: 533.099976 m, nav range: 67.778336 m, bearing: 192.135470 deg, approach rate: -0.590951 m/s, LOS rate: 0.442396 deg/s, cmd heading: 152.658976 deg, new cmd heading: 153.162341 deg. 2j%Η<-HeadingCmd: 2.673187 target range: 533.099976 and range: 533.10 m. j-+@j)j)j)i)h1h1h1h=bBf9f9f9rf9bfEŦ@ɛmBm'7= im?Iq uWᬼɚqiqIu&7=I}+@iyi}Q)}+@)*F2F:FBF21JFGe|G!B)OER>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.553237 y$?I Ch&$w,y[A6tY@Y6x(@63;96j;>y6Hg޿U?@3?@uś?`_qK? w?ɨ6tY@6s;6CyNBR^*IIXIX٢bn. fY=9f;Q f>hh jG٣hyj< n> rNusing accuracyPremultiplier from configpv49r ϛ?v4Yrc ir`Btv(@v-@rDrG:r:re4~B ~Ҩ@~@EZj!%FNOT Ignoring new targets: 533.10 m.Bj-;Jj-;E ProNav: ac range: 533.099976 m, nav range: 67.556778 m, bearing: 192.299592 deg, approach rate: -0.592356 m/s, LOS rate: 0.440234 deg/s, cmd heading: 153.162334 deg, new cmd heading: 153.656301 deg. 2jEIA IE*IIEӊBIA&IA.IE6D6IE<:IE_ F*F2F:FBFP5JFG%G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.055598$w,O?ՒA2@Y2)@25;92[;>y2H`RE޿@y??`uC?z1V?v?ɨ2@2a0;2CyPP)T T5Mb@Mb@Mb@111 1)1Y5K7A`?y&1|?{Gzy5K?5`;5#1 1)1I5@1y1IMIME49];Q e>aa eG٣eEGym< m> }x$?Iy Nusing accuracyPremultiplier from configq49uΛ?4Yu_ iu`BK?:)@-@uDu8$w,A2f@Y2k)@2u <92<>y2H0`ݿR?`BG?@)?@aB@s?u?ɨ2f@2;2CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.559369yB%Z*II]I]K4٢mV m<9m;Q u> G٣y< > Nusing accuracyPremultiplier from config49Λ?4Y[ i`B9*@-@Dy;;$4B @CEZj)-FNOT Ignoring new targets: 533.10 m.Bj52<Jj52I9  I9 I9 I9 &I9 .I= 7D6I= W<:I= * FGm T[GA BI Ou >^!$w,pAF@YFV *@F/%<9FE<>yFHsP jݿ쌳?@?L?N`f?`u?ɨF@FOV;Dyf|BfV*IIIs4٢` %?=9-;Q U>ai G٣y,< > Nusing accuracyPremultiplier from config493Λ?4YW i`B  *@-@D;;,4B c@FE]B*** querying acoustic contact ***jYjYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063667ZjFNOT Ignoring new targets: 533.10 m.Bj;Jj;M ProNav: ac range: 533.099976 m, nav range: 66.783417 m, bearing: 192.856490 deg, approach rate: -0.587996 m/s, LOS rate: 0.422588 deg/s, cmd heading: 154.752675 deg, new cmd heading: 155.333374 deg. 2jM?$w,c"Ay-yB-S*IzK XKK H9K K zK  ExSs`L>1)! BK:KqA-Mb@Mb@Mb@))) )))Y-Mb?~jth?YY ]G٣]EGy] e> mNusing accuracyPremultiplier from configau49e(Λ?u4YeS ie`B}C?}:}o*@}-@e De5;eH;eu34B @IEZjFNOT Ignoring new targets: 533.10 m.Bj;<Jj;< ProNav: ac range: 533.099976 m, nav range: 66.558861 m, bearing: 193.020481 deg, approach rate: -0.616768 m/s, LOS rate: 0.451938 deg/s, cmd heading: 155.333378 deg, new cmd heading: 155.826997 deg. 2j<HeadingCmd: 2.719694 target range: 533.099976 and range: 533.10 m. jx.@jjjihhhhQBfffrfbf@H@ɛ B .= ͞?I ɚiIq3=Ix.@i!i%R)-x.@))*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567563GjGrAGG B O > a Ia /e$w,`y6HY ܿݱ?? Da?h`?x?ɨ6@6HG;6 Cy>tB>L*IIJIJ4٢R Rk=9RI I*IIΊBI* =&I.I6D6Iy<:IA F*F2F:FBF `0JF GNGBOEs> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.071394M$w,y6H`q>ܿ@ -? U?j!@}?@? x?ɨ6W@68Ӊ;6CyVdBV9*I u$?IMMb@Mb@Mb@III I)IYMZd;?~jt?MbyM>?M G٣yg< > Nusing accuracyPremultiplier from config49{Λ?4YLM i`B??:-@-@D@;?;A4B @KEZjFNOT Ignoring new targets: 533.10 m.Bju;Jju; ProNav: ac range: 533.099976 m, nav range: 66.100479 m, bearing: 193.336876 deg, approach rate: -0.610560 m/s, LOS rate: 0.411708 deg/s, cmd heading: 156.266505 deg, new cmd heading: 156.779464 deg. 2jF<HeadingCmd: 2.736318 target range: 533.099976 and range: 533.10 m. j/@jjjihhhhJK}?G҆G B O >x$w,&pAB5@YB+@B<9BL8>yBH@ ۿ@u?"?=!?l֐@ ?y?ɨB5@B.;B CyJaBN5*IRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.575557IZIZ(4٢b5{ fV=9fc;Q f>hh jG٣jEGyjt< n> rNusing accuracyPremultiplier from configpv49reΛ?v4Yr:J ir`Btv.@z-@r(Dr&:r:rG4~B ~-@~NEZj!%FNOT Ignoring new targets: 533.10 m.Bj-7;Jj-7;= ProNav: ac range: 533.099976 m, nav range: 65.874321 m, bearing: 193.487745 deg, approach rate: -0.593527 m/s, LOS rate: 0.397298 deg/s, cmd heading: 156.779466 deg, new cmd heading: 157.233616 deg. 2j=TUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.827437JJJ1JJ:JA:J3JjH<bH<HIC I*IIBI&I.I6In<:I9 F ~G Y y A`$w,'AVg=@YV\,@Vݭ<9V2:>yVH .zۿ` ?ؾ?Q?~?w?ɨVg=@V ;Ty ZB ,*IIuIuפ4٢ ==97;Q > G٣y d< > }Nusing accuracyPremultiplier from configI49MKΛ?4YMF iM`B.@-@M3DMz] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=9.331418K$w,ͣA6@Y6&,@6F9<969>y6Hۿ`?@TI? l+?ƒ@w?@Hx?ɨ6@6H;6Cy>JBB*IEMb@Mb@Mb@AAA A)AYECl?I +?qq uG٣qy}< }> Nusing accuracyPremultiplier from config495Λ?4YC i`B;?:0@-@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.584864 q$?I $w,کA2 9@Y2W-@27<92 K;>y2H@8 Aڿ@^? ?#?@ F?u?ɨ2 9@2ω;2 CyB@BB *IiF=IF<IJIJ\4٢fX fU=9f:Q f>hh jG٣jEGyn< n> rNusing accuracyPremultiplier from configpv49rΛ?v4YrCA ir`BtzC1@z-@rEDr:r:r\4B t@TEZj)5FNOT Ignoring new targets: 533.10 m.Bj5;Jj5; ProNav: ac range: 533.099976 m, nav range: 65.151543 m, bearing: 193.948383 deg, approach rate: -0.598764 m/s, LOS rate: 0.371857 deg/s, cmd heading: 158.192645 deg, new cmd heading: 158.620636 deg. 2j3<HeadingCmd: 2.768452 target range: 533.099976 and range: 533.10 m. jS.1@jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.835612h)h)f)f)f)rf1bfuͷ#@HI I*IIBI&I.I6I<:IP FBIYJIYRIYZI]* =bI]* =jI]³4JJJ0JJ[:JG:Jـ3JJ+ Will construct direction to contact in vehicle frame from tetrahedron phase data. y:H `\>ڿ3?@x?E?@1:T?+u?ɨ:@: ;8yF0BJ)IUMb@Mb@Mb@QQQ Q)QYU G٣y{< > Nusing accuracyPremultiplier from config49Λ?4Y> i`B)4?:j3@-@ND];;jd4B @WEZjFNOT Ignoring new targets: 533.10 m.Bjx;Jjx; ProNav: ac range: 533.099976 m, nav range: 64.899811 m, bearing: 194.094643 deg, approach rate: -0.588987 m/s, LOS rate: 0.343536 deg/s, cmd heading: 158.620639 deg, new cmd heading: 159.061110 deg. 2jk< HeadingCmd: 2.776140 target range: 533.099976 and range: 533.10 m. j G1@j j j ihhhhfff!rf!bf%h$@ɛM BMM= IU?IQ ɚiIW.=IG1@iiY)G1@)*F?2F:FBF_0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.-zK=2MK9KK}K;TR?% RK ?JK ?$w,A6Will construct direction to contact in vehicle frame from tetrahedron phase data.6y2H<`ٿ Ĭ? ?U? ZS?-u?ɨ23+ @2;2CyV BZ)IIfIfV4٢n rT=9r9Q r>tt vG٣tyz< z> ~Nusing accuracyPremultiplier from config|49~J͛?4Y~P< i~`B 3@ -@~WD~ ;~ ;~&k4 @Zj9=FNOT Ignoring new targets: 533.10 m.BjE;JjE;U ProNav: ac range: 533.099976 m, nav range: 64.672523 m, bearing: 194.225528 deg, approach rate: -0.589946 m/s, LOS rate: 0.340918 deg/s, cmd heading: 159.061104 deg, new cmd heading: 159.455133 deg. 2jUi<]HeadingCmd: 2.783017 target range: 533.099976 and range: 533.10 m. j]2@jYjYjYiYhahahahafififirfibfmF%@ɛ5 B5a0= 1=C?I9 = ɚYiYI]4-=Ie2@iaim|)m2@)i Ep$?IA*F?2F:FBFJF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Response Not Received -*response not received-,DAT read: user:2054> -5IC I\*IIBI&I.I6I[<:I- FJJJ1JJ:JC:J3JJ*<J*<JE;JE;G B O >%w,< A2É @Y2j.@2H8<92=>y2H&Opٿs?@??ஆ X? s?ɨ2É @2;2"CyBBB)I)D DIJIJb4٢V#c VO=9V9Q Z>XX ZG٣ZEGy^p< b> rNusing accuracyPremultiplier from confighz49j͛?}4Yj9 ij`BN4@-@j`DjU%w,%A6 !@Y60/@6J<96]f=>y6HKj 1ؿ@ ?+?@?@ 铿(? r?ɨ6 !@6 I;6Cy>BB)I F=DMMb@Mb@Mb@III I)IYMK7A`?ˡE?Mbp?yM+?M=M;M@ I)M-@IMx@IyM\@ImImW4٢u% }>=9}BQ }> G٣ye< > Nusing accuracyPremultiplier from config49͛?4Y7 i`BK,?:6@-@iD;7;y4B C@]EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 533.10 m.BjE;JjE; ProNav: ac range: 533.099976 m, nav range: 64.190880 m, bearing: 194.491121 deg, approach rate: -0.693715 m/s, LOS rate: 0.369415 deg/s, cmd heading: 159.859567 deg, new cmd heading: 160.254889 deg. 2j}< HeadingCmd: 2.796975 target range: 533.099976 and range: 533.10 m. j 3@jjjihhh)h-Bf)f1f1rf1bf=K&@ɛB= {?I Kɚ i I c,=zKLKػ9KK~KBK:KrAI%3@i)i-͞})-3@)1*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503416 5 n$?I1 GM G! B) OM >%w,>A2!@Y22/@2V<92H>y2H >Yؿ\?͞?`?ʑ ?a?ɨ2!@2;2Cy>BB)IIJIJK4٢ROK RY=9RQ R>TT VG٣TyZ< Z> ^Nusing accuracyPremultiplier from config\b49^ ͛?b4Y^6 i^`Bdf`7@f-@^qD^.:^q:^&4h jj@lZjFNOT Ignoring new targets: 533.10 m.Bj -;Jj -; ProNav: ac range: 533.099976 m, nav range: 63.971619 m, bearing: 194.606048 deg, approach rate: -0.582387 m/s, LOS rate: 0.306306 deg/s, cmd heading: 160.254884 deg, new cmd heading: 160.600841 deg. 2j7R<%HeadingCmd: 2.803014 target range: 533.099976 and range: 533.10 m. j%d3@j!j!j!i)h)h)h)h)f1f1f1rf9bf='@ɛeBe:= aey?Ia mثλɚiiiIm,=Iud3@iuiiuq)ud3@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755316H=0>I9 I=7*II=cBI9&I9.I96I=p<:I== F*FA2FA:FIBFM3JFIGGGGBO- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008519  I %w,XAy~B~)IiC=I=Mb@Mb@Mb@ )Y/$?zG? G٣EGy > Nusing accuracyPremultiplier from config49 ͛?4Y4 i`B13?:9@-@{D;;ч4B x@`EZj!%FNOT Ignoring new targets: 533.10 m.Bj--;Jj--; ProNav: ac range: 533.099976 m, nav range: 63.702950 m, bearing: 194.739621 deg, approach rate: -0.610013 m/s, LOS rate: 0.304556 deg/s, cmd heading: 160.600847 deg, new cmd heading: 161.003249 deg. 2jQ<HeadingCmd: 2.810037 target range: 533.099976 and range: 533.10 m. j3@jjjihhhhBfffrfbf0(@ɛMBqc= 隕p?I cﱻɚiI |+=I3@iki{͆)3@)ER>E>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261002*F2F:FBF1JFJJJ0JJ;:J=:Jـ3Ja@a@a@a@zKm jIKm 9Ki Km Km 3["]9btG1#}l_O6"RK} ?JK} ?G !rG B O >g%w,HrA6Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513080f"@Yfm1@fHo<9fĝD>yfHW*׿j? (j?@2 t? ]l?wh?ɨf"@fv;f Cy9=)IMAMAI}I}m4٢@; N=9Q > G٣yQ= > Nusing accuracyPremultiplier from config491͛?4YW2 tIi`Bc:@.@D<;-;Ǝ4B @cEZjFNOT Ignoring new targets: 533.10 m.Bjv;Jjv; ProNav: ac range: 533.099976 m, nav range: 63.456902 m, bearing: 194.857186 deg, approach rate: -0.621391 m/s, LOS rate: 0.298060 deg/s, cmd heading: 161.003255 deg, new cmd heading: 161.357312 deg. 2jL<HeadingCmd: 2.816216 target range: 533.099976 and range: 533.10 m. j<4@j j j i h h hhYfYfafirfibfa)@ l$?IAhɛ=B=Șy= 9=pp?I9 E 7ɚAiAIE*=IM<4@iM(liM Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763318jH1bH1H9I9 I=*II=EBI=) =&I9.I96I=,<:I= F"%w,sA>x_#@Y>~1@><9>ESC>y>Hֿ`G?@{ ?@F`a?cC?Xj?ɨ>x_#@>,_;>CyZBZ)IInInV4٢zP zT=9}:Q }> G٣y< > Nusing accuracyPremultiplier from config49i͛?4Y0 i`B:@.@Dq<x<ɕ4EB E@MfE}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017531ZjFNOT Ignoring new targets: 533.10 m.Bj5;Jj5; ProNav: ac range: 533.099976 m, nav range: 63.208191 m, bearing: 194.975243 deg, approach rate: -0.540137 m/s, LOS rate: 0.257399 deg/s, cmd heading: 161.357318 deg, new cmd heading: 161.712878 deg. 2j0<%HeadingCmd: 2.822422 target range: 533.099976 and range: 533.10 m. j-4@j)j)j)i)h)h)h1h1f1f9fArfAbfEM*@ɛBa= 隕ng?I {ɚiI|M*=I4@ Ii[ni[)4@)*Fq2Fq:FqBFu_5JFy% Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267311G ҆G ?G >J J J J J :J >:J J Gq B O >x)%w,kAN#@YN1@N+<9N=.B>yNH@lֿ?@?[@ J?`0 ?l?ɨN#@N;;NCy^B^)I)d dMb@Mb@Mb@ )Yd;O?q= ףp?I +?y4?=94< )-@Iy@II\4٢ 1=9WYQ > %G٣%EGy%Pq< %> 5Nusing accuracyPremultiplier from config)549-N͛?=4Y-. i-`B=#7?=:=;@=.@-D-;-;-4EB M@MgEeB*** querying acoustic contact ***jajaZjyFNOT Ignoring new targets: 533.10 m.BjG;JjG; ProNav: ac range: 533.099976 m, nav range: 62.923893 m, bearing: 195.105974 deg, approach rate: -0.731637 m/s, LOS rate: 0.337953 deg/s, cmd heading: 161.712884 deg, new cmd heading: 162.106841 deg. 2jg<HeadingCmd: 2.829298 target range: 533.099976 and range: 533.10 m. j85@jjjihhhhʇBfffrfbf +@zKlOKKKKwqkjf`ZVPONJEFC><874320.--,)&%%##!ɛ}B}}= y隥;f?I ]_OɚiI)=I85@ii3X^)85@)E*F2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520833GurG1B9O]v> j$?Iz]0%w,A6($@Y6|G2@6(+<96A>y6H pֿX??M? lG? 8EH?l?ɨ6($@6`;6Cy^މB^)I ba=ba=IjIjD4٢rz  r`=9vQ v>tt zG٣xyz؀< z> Nusing accuracyPremultiplier from config|49~O9͛? 4Y~- i~`B  ><@ .@~D~~:~:~4 @=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771334HU/>IQ IU)IIU0BIU* =&IQ.IQ6IU5<:IU FZjq}FNOT Ignoring new targets: 533.10 m.Bj}ʥ;Jj}ʥ; ProNav: ac range: 533.099976 m, nav range: 62.691002 m, bearing: 195.212529 deg, approach rate: -0.631245 m/s, LOS rate: 0.289889 deg/s, cmd heading: 162.106835 deg, new cmd heading: 162.427686 deg. 2jF<*JC="J=5HeadingCmd: 2.834898 target range: 533.099976 and range: 533.10 m. j5n5@j1j1j1i1h9h9h9h9fAfAfArfAbfE+@)y  C-GɛB y= !%\b? ErYAyE BIa eX=#ɚiiiIm/.)=Imn5@iuLoiu\)un5@)q*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026333G ]G G i$?I Gy B O > PExceeded connect timeout, disconnecting.`6%w,Y۔AJ$@YJ2@J)u<9J@>yJHE@hտ쪩?@?@7)??Nn?ɨJ$@JPG;JCyVBV)IEMb@Mb@Mb@AAA A)AYE^I +?v/?Mb?yEX9?Ex=Eqq uG٣qyu< > Nusing accuracyPremultiplier from config49͛? 4Y+ i`B ;? : N<@ .@D;#;4B ӳ@jEZjAMFNOT Ignoring new targets: 533.10 m.BjMx;JjUx;e ProNav: ac range: 533.099976 m, nav range: 62.405567 m, bearing: 195.344026 deg, approach rate: -0.662960 m/s, LOS rate: 0.306815 deg/s, cmd heading: 162.427690 deg, new cmd heading: 162.823978 deg. 2jeR Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:46:58.6121  TRx dataTimestamp_ set to:1736372819.820581 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528289ï<%w,6AB$@YB3@Bl<9B~@>yBH`!Pտc? ? (?8? n?ɨB$@B;BCyJ݉BN)IiR0>IR4<IVIV4٢^! bV=9b5Q b>dd fG٣dyfk< j> nNusing accuracyPremultiplier from config Ih49j͛?4Yj* ij`B<@.@jDjIA IE)IIE&BIE) =&IA.IA6IE<:IEs FBI]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779369JIRIZIbI) =jIǫ74GE ]G B O- >C%w,<Ay%B-)IMAMAIuIu4٢%]< <=9Q > G٣EGyWill construct direction to contact in vehicle frame from tetrahedron phase data.8DAT read: $Error in header *Received a bad header > =Nusing accuracyPremultiplier from config1echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.052083495̛?4Y5( i5`B.@5D5<5y<5_4"B '@pEZjIMFNOT Ignoring new targets: 533.10 m.BjU;JjU;e ProNav: ac range: 533.099976 m, nav range: 61.850178 m, bearing: 195.600263 deg, approach rate: -0.653659 m/s, LOS rate: 0.304429 deg/s, cmd heading: 163.155789 deg, new cmd heading: 163.596192 deg. 2jeP< ug$?IqHeadingCmd: 2.855292 target range: 533.099976 and range: 533.10 m. j6@jjjihhhhfffrfbfvi.@ɛUBUQd= Y]]a?IY ]dWɚY nManaging dock network, ignoring radio surface power offiIQ'=I6@i5riEz)6@)*FA2FA:FIBFIJFIe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283193J- J- J) J) J- +:J- C:J) J) G G ?G ?G B O >J%w,)AR&%@YR3@RT<9R7?>yRHCԿ`̪?@?@?ߘ@?p?ɨR&%@R;R CybBb)IMb@Mb@Mb@ )YQ? ףp= ?{Gz?y( G٣y< > Nusing accuracyPremultiplier from config49̛?4Y>' iaB=?:@;@.@ƮDQ;VP;4 @ B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 533.10 m.Bj%;Jj%;5 ProNav: ac range: 533.099976 m, nav range: 61.605366 m, bearing: 195.721218 deg, approach rate: -0.701254 m/s, LOS rate: 0.347848 deg/s, cmd heading: 163.596186 deg, new cmd heading: 163.960488 deg. 2j=n<=HeadingCmd: 2.861650 target range: 533.099976 and range: 533.10 m. j=H%7@jAjAjAiAhAhAhIhMBfIfQfQrfQbf] /@ɛBzKLK+9KKKč= 隥Rd?I 9ɚiI&=I-H%7@i)i5.`)5H%7@)1*F2F:FBF0JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.535487GlGyBO^> IYP%w,CAH61>I4 I6)II6!BI4&I4.I46I6<:I6a FF_7&@YFV4@FH<9F>>yFHU`+'Կd7? /]? ? ? r?ɨF_7&@F;;FCRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.787193yVBV)I)X XIbIb"4٢j< jZ=9jQ n>lp rG٣pyr< r> vNusing accuracyPremultiplier from configtz49v̛ܽ?z4Yv% ivaB|~;@~.@vϮDv;v;vx4#B @ sEZj)5FNOT Ignoring new targets: 533.10 m.Bj5g;Jj5g; ProNav: ac range: 533.099976 m, nav range: 61.359772 m, bearing: 195.841690 deg, approach rate: -0.658253 m/s, LOS rate: 0.324185 deg/s, cmd heading: 163.960494 deg, new cmd heading: 164.323350 deg. 2j|^<HeadingCmd: 2.867984 target range: 533.099976 and range: 533.10 m. j 7@jjjihhhhfffrfbf/@ɛuBu= y}f?Iy }RY:ɚyiyI &=I 7@i0tiCa) 7@)Ee>E>*FU?2FQ:FQBFU`5JFQeWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042827G 1|Gi B f$?I O >W%w,ޫ]A:3&@Y:4@:ݙ2<9:a<>y:H hӿ?b?` ?S i?Iu?ɨ:3&@:38;8yFBF)I J=J=%Mb@Mb@Mb@!!! !)!Y%Q? rh?:v?y%H?%C=%TQQ UG٣UEGy]a< ]> eNusing accuracyPremultiplier from configam49e̢̛?m4Ye# ieaBmI?u:u :@u.@eڮDe ;e3;e4}%B }@vEZjFNOT Ignoring new targets: 533.10 m.BjC;JjC; ProNav: ac range: 533.099976 m, nav range: 61.071987 m, bearing: 195.993275 deg, approach rate: -0.684804 m/s, LOS rate: 0.362407 deg/s, cmd heading: 164.323355 deg, new cmd heading: 164.780243 deg. 2jx<HeadingCmd: 2.875958 target range: 533.099976 and range: 533.10 m. j8@jjjihhqhqhuBfyfyfyrfybf`Y\0@ɛ Bր= d?I &c:ɚ!i!I%R%=IM8@iQiU%d)U8@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291939*F?2F:FBFB5JF JeJaJe1JaJe[:JaJe3JaGZYcGBOg>zK ؞KK 9K K K e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545118<]%w,YwA 2e$?I4Jl'@YJ45@JC(<9J^;>yJHax`Sӿ?T? ;? ]?@u?ɨJl'@JQĉ;J CyVBV)II^I^4٢r= rQ=9vźQ v>xx zG٣xy~e< ~>  Nusing accuracyPremultiplier from config 49 j̛?4Y ! i aBy}r:@}.@ D l< ti< 4&B ]@yEZjFNOT Ignoring new targets: 533.10 m.Bj;Jj ;E ProNav: ac range: 533.099976 m, nav range: 60.801922 m, bearing: 196.134887 deg, approach rate: -0.660646 m/s, LOS rate: 0.347957 deg/s, cmd heading: 164.780240 deg, new cmd heading: 165.206956 deg. 2jEn1$d%w,^A6 '@Y65@6<96:>y6H EyҿT?@?@2? :?w?ɨ6 '@6BA;6Cy>BB)IiFhh jG٣hyn< n> vNusing accuracyPremultiplier from configtz49vơ?z4Yv  iv#aBx~:@~.@vDv;v;v4'B @|EZjFNOT Ignoring new targets: 533.10 m.Bj;Jj;%Will construct direction to contact in vehicle frame from tetrahedron phase data.)i)=checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051082 ProNav: ac range: 533.099976 m, nav range: 60.525932 m, bearing: 196.278501 deg, approach rate: -0.717941 m/s, LOS rate: 0.375290 deg/s, cmd heading: 165.206963 deg, new cmd heading: 165.639759 deg. 2jǀ<HeadingCmd: 2.890959 target range: 533.099976 and range: 533.10 m. ]d$?IY jz9@jjjihhhhfffrfbf41@ɛ  Å=   j?I .|];ɚiI#=Iz9@iikg)z9@)!EQ*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299767G gG B O >Pj%w,@Ay~B)I A AMb@Mb@Mb@ )YˡE?:v?Q?yG?T=u< S@)Z@I@yIIפ4٢%}*= -5=9-Q ->19 =G٣=EGyE M> Nusing accuracyPremultiplier from config49 P̛?4Y i,aBjH?:9@.@D;w;84 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 533.10 m.BjQ;JjQ;zKKKh9KKKBK:KsA- ProNav: ac range: 533.099976 m, nav range: 60.193630 m, bearing: 196.461838 deg, approach rate: -0.678648 m/s, LOS rate: 0.376489 deg/s, cmd heading: 165.639765 deg, new cmd heading: 166.192794 deg. 2j-0<5HeadingCmd: 2.900611 target range: 533.099976 and range: 533.10 m. j59@j1j1j1i9h9h9h9h=BfAfafarfibfm1@ɛ"BKg= 隵n?I J;ɚiI"=I9@ii)9@5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552908) Mc$?II*F?2F:FBFJFGY G1 BA HY IY  I] *II] :BIY &IY .IY 6I] <:I] x FO} >4Mq%w,uŕA*Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803134: }(@Y:6@:;9:ym:>y:H`@=ѿQ?2?(^|?~,?cx?ɨ: }(@:!;:!CyFBF)IININ4٢Vq< Vb=9ZQ Z>X\ ^G٣\y^#= ^> bNusing accuracyPremultiplier from config`f49b;̛?j4Yb' ib2aBhj:@j.@bDb ;bm ;b4n)B nK@rEJK KKK"KJJJ0JJ{:JHM:Jـ3JJ.Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059568  b$?I Lpw%w,33ߕA2-(@Y27@2;92L:>y2HG ѿ?@?17`i?{6?w?ɨ2-(@2;2CyBBB)I)D DEMb@Mb@Mb@AAA A)AYEq= ףp?Mb?I +?yEK?E G٣yWs< > Nusing accuracyPremultiplier from config49 ̛?4Y i5aBK?:|7@.@ D$;;A4*B @EZjFNOT Ignoring new targets: 533.10 m.Bjo;Jjo; ProNav: ac range: 533.099976 m, nav range: 59.689701 m, bearing: 196.753271 deg, approach rate: -0.699948 m/s, LOS rate: 0.427402 deg/s, cmd heading: 166.544601 deg, new cmd heading: 167.070858 deg. 2j<HeadingCmd: 2.915936 target range: 533.099976 and range: 533.10 m. j%:@j!j!j!i!h!h!h)h-#Bf)f)f1rf1bf5`2@ɛYeڔ= ae{u?Ia e]Զ;ɚiiiImtY!=I5:@i1i5w)5:@)9EAEAuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308123*F?2F:FBFo0JFG҆zKM ^KKM 9KI KM KM RK] ?JK] ?G B O >- Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561845 I К}%w,A>p)@Y>e7@>gW;9>}:>y>Hwѿ@Q?H?J7? w.?`dx?ɨ>p)@>'p;>CyJBJ)I R=RR=IVIV?4٢^I< ^W=9b?Q b>`` bG٣bEGyf< f> jNusing accuracyPremultiplier from confighn49jq̛?n4Yj ij8aBpr8@r.@jDj ;j. ;j4v,B v@vEZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 59.433590 m, bearing: 196.907671 deg, approach rate: -0.649997 m/s, LOS rate: 0.393547 deg/s, cmd heading: 167.070853 deg, new cmd heading: 167.536037 deg. 2j <HeadingCmd: 2.924056 target range: 533.099976 and range: 533.10 m. j#;@jjjihhhhfffrfbf2@ɛ$BRX= 隵xv?I ;ɚiIq =I#;@iiPs)#;@)*F2F:FBF0JFGe tZHRHAAHI I*IIJBI&I.I6I}<:IH FG9BAOeV>}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811412J=J=J9J9J=:J=G:J9J9J=e1<J=f1<J=;J=;G1 ]$YYy]A"%w,A2`)@Y28@26N;92:>y2Hr`śп?y? ZD?s4?#x?ɨ2`)@2;0yB BB)IIJIJs4٢j rI=9vQ z>xx zG٣xy~< ~> Nusing accuracyPremultiplier from config 49˛? 4Ym i%w, ,Ay B)Ii5=I5;Mb@Mb@Mb@ )YK7A`?~jth?~jtx?yK?D;;`@ @)p@I@yz@IIK4٢op= :=9Q > G٣y > Nusing accuracyPremultiplier from config49˛?4Y  i=aBK?:-8@.@,DHz;w;4! %?@!ZjIMFNOT Ignoring new targets: 533.10 m.BjU;JjU;e ProNav: ac range: 533.099976 m, nav range: 58.863960 m, bearing: 197.253210 deg, approach rate: -0.669386 m/s, LOS rate: 0.412579 deg/s, cmd heading: 168.037188 deg, new cmd heading: 168.577641 deg. 2jeE>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568470*Fe?2Fa:FaBFm_5JFi ^$?IG Gy B O >H 2>I  I **II YBI ( =&I .I 6I <:I o FBIJIRIZI) =bIjI4P%w,ϟFA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819319>*@Y>9@>ەP;9>;>y>H~%#Ͽ uw?`?|`V?jP?v?ɨ>*@>s;>CyF"BF)INANAIRIRЬ4٢ZKN= Z`=9ZQ ^>*J|"J~p=JJJJJ[:JB:JJJ+<J+<J`;J`;99 =G٣=EGyEd4= E> MNusing accuracyPremultiplier from configIU49M˛?U4YM iM>aBQU?9@].@M6DMX;MB;MV4e.B e@eEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 58.606613 m, bearing: 197.406962 deg, approach rate: -0.669645 m/s, LOS rate: 0.401835 deg/s, cmd heading: 168.577647 deg, new cmd heading: 169.040918 deg. 2j<HeadingCmd: 2.950320 target range: 533.099976 and range: 533.10 m. j <@jjjih!h!h!h!f)f)f)rf)bf-`3@ɛ}%B}|= y隅~?I $<ɚiIG=I <@ii w) <@)*Fm?2Fi:FiBFm^0JFiGEGB O%M>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074302 I<%w,J~`A2 +@Y29@2k";92@<>y2H!ο`0??@A ?lSdn?u?ɨ2 +@2:;2CyV#BV)I5Mb@Mb@Mb@111 1)1Y5#~j?Mbpy5E?555I@ 5@)1I5@1y5(@IUIU4٢h; :=9ѺQ > G٣y)< > Nusing accuracyPremultiplier from config49V˛?4Y i=aBE?:J9@.@@D<;;4 @EZj!%FNOT Ignoring new targets: 533.10 m.Bj-;Jj-;= ProNav: ac range: 533.099976 m, nav range: 58.328018 m, bearing: 197.574990 deg, approach rate: -0.666173 m/s, LOS rate: 0.403704 deg/s, cmd heading: 169.040912 deg, new cmd heading: 169.547388 deg. 2j=:= 隍~?I .<ɚiI=Ib=@ii]~)b=@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324360*FM?2FI:FIBFM_0JFQGmڋGqGuqAGA BQ Ou >zK BHK h9K K K RK ?JK > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575215 ]$?I @hF%w,TzAJ,@YJ9:@Jι:9J>=>yJH`y0+̿`h??9? 9WL?s?ɨJ,@J݊;HyR(BR)I)T TI^I^?4٢< %U=9%5Q %>)) -G٣)y-(= -> =Nusing accuracyPremultiplier from config1E495˛?E4Y5:  i1AEL:@E.@5JD5;5O;5j4U/B Us@UEZjqFNOT Ignoring new targets: 533.10 m.Bjv;Jjv; ProNav: ac range: 533.099976 m, nav range: 58.074326 m, bearing: 197.724253 deg, approach rate: -0.664171 m/s, LOS rate: 0.392480 deg/s, cmd heading: 169.547384 deg, new cmd heading: 169.997120 deg. 2j<HeadingCmd: 2.967010 target range: 533.099976 and range: 533.10 m. j|=@jjjihhhhfffrfbf H4@ɛ&B= p?I (<ɚiI=I |=@i i _) |=@)E*F}?2Fy:FyBFJFGMIG!B)OU1>HI I=*IIhBI) =&I.I6It<:IA FmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.829256JJJJJ :JwR:JJJ 0<J 0<JϦ;JЦ;֤%w,KA2-@Y26<;@29:92=>y2HAʿ$?Wp?`?@=G`?s?ɨ2-@2Qh;2Cy\\IjIj4٢n؂: nN=9rQ r>pt vG٣vEGyz< z> ~Nusing accuracyPremultiplier from config|49~k˛?4Y~s  i~@jjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.@iui|^)gh>@)9*F?2F:FBF`0JF"G=G >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} f%w, Ary-@Yr;@r:9r`?>yrHN ʿ@Yq?~?H?u@?Xq?ɨry-@r;rCy~+B~)IMb@Mb@Mb@ )Yx&1?MbpyA?`@ @)Iyz@IIV4٢z< <=9Q > G٣y< > Nusing accuracyPremultiplier from config49P˛?4Y  i;aBA?: b;@ .@^D;;*4 O@Zj9=FNOT Ignoring new targets: 533.10 m.BjE9;JjE9;U ProNav: ac range: 533.099976 m, nav range: 57.524925 m, bearing: 198.042916 deg, approach rate: -0.662532 m/s, LOS rate: 0.385072 deg/s, cmd heading: 170.461946 deg, new cmd heading: 170.957654 deg. 2j]"<]HeadingCmd: 2.983774 target range: 533.099976 and range: 533.10 m. j]'>@jajajaiahahahihmYBfififqrfqbf}@5@ɛ(BQ= #U<隭?I *D<ɚiIh=I'>@iid)'>@)zK:IK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.H I  I I*II rBI ( =&I .I 6I <:I F%w,ǖAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2056> BDAT read: Tx time:21:47:06.4342 $Ping request sent.>yFH@\ɿ? o?`6@F?ߦA k?q?ɨF#.@F4;FCy^(B^)Iib)) -G٣)y-< 5> =Nusing accuracyPremultiplier from config1E4959˛?E4Y5 i1AE;@E.@5gD5T:5&:514U2B ]@]EuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 57.276340 m, bearing: 198.185449 deg, approach rate: -0.601418 m/s, LOS rate: 0.346335 deg/s, cmd heading: 170.957654 deg, new cmd heading: 171.387099 deg. 2jm<HeadingCmd: 2.991269 target range: 533.099976 and range: 533.10 m. jp?@jjjihhhhff!f!rfIbfU  6@ɛ=)B== 9E?IA mR<ɚiiiIm$A=Iup?@iu8wiu0_)up?@)yEE*F?2F:F!BF%o0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:47:06.4334  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255665 Z$?IG ]G B O > %w,&ᖼA6I.@Y6<@6AԹ96E?>y6Heh`GȿEh? ؂?`R?@=:?2?q?ɨ6I.@6W`;4y>$BB)IFAFAEMb@Mb@Mb@AAA A)AYEK?y&1MbP?yE^:?E`eE:Ev@ A)E@IEC@AyE@I]I]ƕ4٢m mE=9u^Q u>yy }G٣}EGy< > Nusing accuracyPremultiplier from config492 ˛?4Yf i:aBg:?:;@.@qDl;;843B @EZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 57.016014 m, bearing: 198.338575 deg, approach rate: -0.682777 m/s, LOS rate: 0.403449 deg/s, cmd heading: 171.387095 deg, new cmd heading: 171.848562 deg. 2jq<HeadingCmd: 2.999323 target range: 533.099976 and range: 533.10 m. j?@jjjihhhhfBfffrf bf h6@ɛ9== AE(}?IA E~ ^<ɚAiAIEA=IM?@iIiMLd)U?@)Q5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503495JJJJJ:J,J:JJa@a@a@a@*F2F:FBFP5JFG-cG B O5 >zKE BoHKE 9KA KE KE  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753945 Y$?I 6%w,NAy=#BAIeIe4٢uv }J=9}Q }> G٣y > Nusing accuracyPremultiplier from config49˛?4Y i.@zD ;y;?44B @EZjFNOT Ignoring new targets: 533.10 m.Bju;Jju; ProNav: ac range: 533.099976 m, nav range: 56.762257 m, bearing: 198.489425 deg, approach rate: -0.628737 m/s, LOS rate: 0.375433 deg/s, cmd heading: 171.848557 deg, new cmd heading: 172.303120 deg. 2jԀ<HeadingCmd: 3.007257 target range: 533.099976 and range: 533.10 m. jv@@jjjihhhhfffrfbf J6@ɛ+B<= t|?I Rl<ɚiI=I v@@i6xiz)v@@)H1I1 I5P*II5wBI1&I1.I16I5<:I5a FEWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.006118E<EE>*F! 2F! :F! BF% o0JF!  Will construct direction to contact in vehicle frame from tetrahedron phase data. i A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259936GM e IGBAO ?8%w,KARIm/@YR=@R+׺9R<>yRH`{@{ƿ#??`?Z?`?@2v?ɨRIm/@Rga;RCy\\)` ` f=fp=MMb@Mb@Mb@III I)IYM\(\?~jthy&1|yM:?MDM`M@ I)M@IIIyMf@ImIm4٢}? }=9NQ > G٣y}< > Nusing accuracyPremultiplier from config49ʛ?4Y i6aB:?:f=@.@D;;eI46B '@EZjFNOT Ignoring new targets: 533.10 m.Bje;Jje;u ProNav: ac range: 533.099976 m, nav range: 56.415707 m, bearing: 198.684136 deg, approach rate: -0.637272 m/s, LOS rate: 0.360254 deg/s, cmd heading: 172.303119 deg, new cmd heading: 172.890819 deg. 2ju=w<}HeadingCmd: 3.017514 target range: 533.099976 and range: 533.10 m. j}A@jyjyjyihhhhpBfffrfbf|`7@ɛ,B= !%{?I! %|b}<ɚ!i!I%k=I-A@i)i5܇t)5A@)1E=y<Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511424*F2F:FBF0JFJJJJJ :JD:JJG 1|GIBQOuz>[%w,8AzKBHK9KKKBKqA:KoA:/@Y:=@:CDž9:}K;>y:H(ſ ??a? P? H?@Yw?BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762041ɨ:/@:t;:CyJBJ)IIVIV4٢^O! ^Y= EW$?IA9M:Q M>II UG٣UEGyU < U> eNusing accuracyPremultiplier from configYe49]*ʛ?m4Y] i]4aBim=@m.@]D]:]C:]LP4u7B }@}EZjFNOT Ignoring new targets: 533.10 m.BjV;JjV; ProNav: ac range: 533.099976 m, nav range: 56.163242 m, bearing: 198.825643 deg, approach rate: -0.640803 m/s, LOS rate: 0.360787 deg/s, cmd heading: 172.890816 deg, new cmd heading: 173.317238 deg. 2jw<HeadingCmd: 3.024956 target range: 533.099976 and range: 533.10 m. jA@jjjihhhhfffrfbf`7@ɛ=-B=ظ= 9E5w?IA E<ɚAiAIE=IMA@iQi!z)A@)EE*E"EHI II*IIrBI) =&I.I6Is<:IA F*F?2F:FBF0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.015007)Q QG 9 u Yq yu @B @ BG wG qAG sAGQ BY O} >%w,TTTABR0@YBq>@Br789B ;>yBHĿ ?#? ?Z@j??w?ɨBR0@B[3;BCyNBN)IITIT٢^D ^9=9b/$;Q b>`` fG٣dyfO< f> nNusing accuracyPremultiplier from confighn49jhʛ?n4Yj. ij1aBprK>@r.@jDjX:j:jW4t z@xB*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 533.10 m.Bj-P;Jj-P;= ProNav: ac range: 533.099976 m, nav range: 55.890850 m, bearing: 198.977137 deg, approach rate: -0.639241 m/s, LOS rate: 0.357252 deg/s, cmd heading: 173.317239 deg, new cmd heading: 173.773924 deg. 2j=-u Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518302J J J J J J "I:J J %w,nA:0@Y:Q>@:D:9:n<>y:H@Ŀ"'?T?@(?`Z k? u?ɨ:0@:饉;:CyNBR)IiV0>IV%=TT5Mb@Mb@Mb@111 1)1Y5v?y58?551 5@)5@I5-@1y5@IMIMD4٢]A; ]B=9]t;Q ]>aa eG٣aymfx< m> }Nusing accuracyPremultiplier from configy49}ʛ?4Y} i}0aB8?:>@.@}D};}f;}_49B  @EZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 55.621742 m, bearing: 199.125359 deg, approach rate: -0.637982 m/s, LOS rate: 0.353094 deg/s, cmd heading: 173.773919 deg, new cmd heading: 174.220727 deg. 2jSr<HeadingCmd: 3.040725 target range: 533.099976 and range: 533.10 m. j>B@jjjihhhh^Bfffrfbf`8@ɛ0Bf= s?I <ɚiIof=I>B@ii~)>B@)*F2F:FBF4JFzKEBoHKE9KAKEKERKU?JKU?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770091 !I!GلyGi B O >jH <bH H I  I C*II mBI &I .I 6I <:I Q FBIJIRIZIbIjI˳F4%w,VAVWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.022096y B)III&4٢-U 5J=95Q 5>19 =G٣=EGy= => MNusing accuracyPremultiplier from configAM49Eʛ?U4YE iAQQU.@EDE:E:E,f4]:B e@EZjIMFNOT Ignoring new targets: 533.10 m.BjU;JjU;e ProNav: ac range: 533.099976 m, nav range: 55.364796 m, bearing: 199.268424 deg, approach rate: -0.599232 m/s, LOS rate: 0.335194 deg/s, cmd heading: 174.220722 deg, new cmd heading: 174.651900 deg. 2je f<ɚiIR=IC@iiq)C@)*F2F:FBF_0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.274023 T$?IGG?G>G By O >%w,)A6p1@Y6?@6;96>>y6HЫ¿`\?eK?|@?q?@r?ɨ6p1@6;6 CyNBN)IUMb@Mb@Mb@QQQ Q)QYU1Zd?Q?MbP?yU";?Uu G٣yA = > Nusing accuracyPremultiplier from config49jʛ?4Y i,;?:(A@.@D;U;_m4;B @EZjFNOT Ignoring new targets: 533.10 m.Bj";Jj"; ProNav: ac range: 533.099976 m, nav range: 55.095055 m, bearing: 199.407422 deg, approach rate: -0.696048 m/s, LOS rate: 0.360431 deg/s, cmd heading: 174.651899 deg, new cmd heading: 175.070926 deg. 2j\w<HeadingCmd: 3.055564 target range: 533.099976 and range: 533.10 m. j]C@jjjihhh h aBf f frfbf``j9@ɛM3BMoT= IMf?II p<ɚiIR=I5]C@i1i5u)5]C@)AE}qAEyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529511J-J-J)J)J-+:J-G:J)J)*F=?2F9:F9BFAJFAGڋGBOi>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778013zK BoJK 9K K K S$?I rF%w,߻A2[2@Y2nz@@2<;92ȡ?>y2H`M&ޓ??'@?@{w@e?p?ɨ2[2@2⾊;0yBBB)I)D D HJ=ININ4٢Vpü VY=9VU;Q V>XX ZG٣Xy^8< ^> bNusing accuracyPremultiplier from config`f49bSʛ?f4Yb i`djA@j.@bDb:b:bs4l n@lZj)5FNOT Ignoring new targets: 533.10 m.Bj}ν;Jj}ν; ProNav: ac range: 533.099976 m, nav range: 54.847839 m, bearing: 199.533175 deg, approach rate: -0.649512 m/s, LOS rate: 0.331883 deg/s, cmd heading: 175.070931 deg, new cmd heading: 175.449886 deg. 2jc<HeadingCmd: 3.062178 target range: 533.099976 and range: 533.10 m. jC@jjjihhhhfffrfbf9@ɛE5BU9|= QUb?IY ]У<ɚYiYI]P=IeC@ieZzieVp)eC@)i*F ?2F :F BF `0JF HiIi Im0*IIm^BIi&Ii.Ii6Im<:Imh FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029888*J1"J5%=GIG) B1 Oe >-%w,V՗A:2@Y:V@@:R;9:$@>y:HtƐ?!?. ? F} ?p?ɨ:2@:;:CyFBF)IININ 4٢VV VJ=9Z7;Q Z>XX ^G٣^EGy^ќ< ^> fNusing accuracyPremultiplier from config`f49b:ʛ?j4Yb  ib/aBlr?B@r.@bɯDb9n;bn;b{4v=B vV@vE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 533.10 m.Bj%;Jj%;5 ProNav: ac range: 533.099976 m, nav range: 54.581375 m, bearing: 199.667469 deg, approach rate: -0.663157 m/s, LOS rate: 0.335852 deg/s, cmd heading: 175.449883 deg, new cmd heading: 175.854725 deg. 2j5~f<=HeadingCmd: 3.069244 target range: 533.099976 and range: 533.10 m. j=~nD@j9j9j9i9hAhAhAhAfIfIfIrfIbfU2:@ɛ}7B"= 隅P`?I 8><ɚiI\^ =I~nD@ii:o)~nD@)UWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.286086 R$?I*F=?2FA:FIBFU~0JFQGb:GaBqO9> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538555\%w,eAyuBu)IMb@Mb@Mb@ )Y+?Q?MbP?y??<QA @)@IZ@y@IMIM4٢U* ]2=9]Q ]>aa eG٣aye m> uNusing accuracyPremultiplier from configq}49uʛ?}4YuB iu0aB}??}:}yC@.@uԯDu ;uY;u 4>B  @EZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 54.268463 m, bearing: 199.819297 deg, approach rate: -0.683441 m/s, LOS rate: 0.333524 deg/s, cmd heading: 175.854722 deg, new cmd heading: 176.312823 deg. 2jd<HeadingCmd: 3.077239 target range: 533.099976 and range: 533.10 m. j}D@jjj i h h hh?BfffrfbfY:@ɛM9BU= QUtZ?IQ Uy<ɚQiQI]^O =I]}D@i]=|ie膽)e}D@)aEu]>Eu>*F?2F:FBF%o0JF! eQ$?IamWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.791732zK}K}}9KyK}K}GE oG B) OE >ZHQ RHU @AHa Ia  Ie *IIe JBIa &Ia .Ia 6Ie <:Ie L FFP&w,- A>33@Y>B@>]#<9>0B>y>H "@Ȼ ? ͻ?;@? k ?@l?ɨ>33@>Ɗ;dd fG٣dyj[J= j> nNusing accuracyPremultiplier from configlr49nnʛ?r4Yn in/aBpvD@v.@nݯDn;:n:n?4z?B z@zEZj%FNOT Ignoring new targets: 533.10 m.Bj%1;Jj-1;5 ProNav: ac range: 533.099976 m, nav range: 54.025173 m, bearing: 199.933237 deg, approach rate: -0.684620 m/s, LOS rate: 0.322070 deg/s, cmd heading: 176.312823 deg, new cmd heading: 176.656176 deg. 2j=] 1I1UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.294050y&w,#A:ʋ4@Y:pB@:?<9:2B>y:HZ~?S?Bm3?t,?l?ɨ:ʋ4@:n ;8y^ۉB^)IMMb@Mb@Mb@III I)IYM r?S㥛?MbP?yMC?M/ G٣EGy8< > Nusing accuracyPremultiplier from config49ɛ?4Y4 i.aBC?:D@.@D#;3";4AB ^@EZjFNOT Ignoring new targets: 533.10 m.Bjn;Jjn; ProNav: ac range: 533.099976 m, nav range: 53.725937 m, bearing: 200.073303 deg, approach rate: -0.699993 m/s, LOS rate: 0.329476 deg/s, cmd heading: 176.656177 deg, new cmd heading: 177.078707 deg. 2jb<HeadingCmd: 3.090606 target range: 533.099976 and range: 533.10 m. jE@jjjihhhhABfffrfbf`u;@ɛE % P$?I! ] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797936zK BoHK 9K K K &w, h=Ay~ԉB~)II I 4٢ Q=9%Q %>!! -G٣)y- -> 5Nusing accuracyPremultiplier from config1495ɛ?4Y5 i5-aB.@5D5!<5<54 Ҷ@Zj9=FNOT Ignoring new targets: 533.10 m.BjE;JjE;U ProNav: ac range: 533.099976 m, nav range: 53.452034 m, bearing: 200.203019 deg, approach rate: -0.657191 m/s, LOS rate: 0.312830 deg/s, cmd heading: 177.078706 deg, new cmd heading: 177.469841 deg. 2jUV<]HeadingCmd: 3.097433 target range: 533.099976 and range: 533.10 m. j]XWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049959JJJ1JJJH:J3JJJJڝ;J۝;&w,CWA65@Y6C@6k<961A>y6HتZ? ^?O Z#?Qq? m?ɨ65@6qx;4yBʉBBz)I)D DIJIJ4٢~nH ~M=9~;Q > G٣y '=  > Nusing accuracyPremultiplier from config%49 ɛ?%4YK i+aB!-E@-.@DI;>J;45BB 5@5EUB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 533.10 m.Bje;Jje;u ProNav: ac range: 533.099976 m, nav range: 53.171051 m, bearing: 200.331712 deg, approach rate: -0.747966 m/s, LOS rate: 0.344387 deg/s, cmd heading: 177.469843 deg, new cmd heading: 177.857958 deg. 2j}Yl<HeadingCmd: 3.104207 target range: 533.099976 and range: 533.10 m. jTF@jjjihhhhfffrfbf;<@ M$?Iɛ>BD= E?I or<ɚiIM=ITF@i i LMR) TF@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302037*F?2F:FBF_0JFG]GB O% > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554480&w,qA:.6@Y:0MD@:}<9:A>y:H ^mKS@?UT&? @?l?ɨ:.6@:8;:CyFBFo)IMb@Mb@Mb@ )Yw/?Mb?yF?=hA )@IyQ@I5I54٢E#. EF=9Ey2;Q M>II MG٣MEGyU9< U> }Nusing accuracyPremultiplier from configi49m۝ɛ?4Ym im(aBG?:F@.@mDmb;mG;mͥ4DB .@EZjFNOT Ignoring new targets: 533.10 m.Bj¶;Jj¶; ProNav: ac range: 533.099976 m, nav range: 52.872463 m, bearing: 200.464330 deg, approach rate: -0.715444 m/s, LOS rate: 0.319558 deg/s, cmd heading: 177.857962 deg, new cmd heading: 178.258055 deg. 2jO[<HeadingCmd: 3.111190 target range: 533.099976 and range: 533.10 m. jG@jjjihhhh,Bfffrfbf<@ɛ@B= @?I <ɚi I=IG@i=iN)G@) I*F?2F:FBFJF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806139zKBHK9KKKG lSG rAG rAG B O% >jH <bH H I  I )II BI ( =&I .I 6I <:I N F ~G! 9 "&w,yZHJ˱1p@hH? X:?`h*#?k?ɨZ6@Z0E;ZCyvBv_)II5I5P4٢M^ MJ=9Mr;Q U>QQ UG٣Qy}E< }> Nusing accuracyPremultiplier from config49)ɛ?4Y i%aBSG@.@D:":JK3 K.-KK"KJJJJJ+:J>L:JJJ2<J2<Jo;Jp;4EB @EZj1UFNOT Ignoring new targets: 533.10 m.Bj]G;Jj]G;u ProNav: ac range: 533.099976 m, nav range: 52.578812 m, bearing: 200.593804 deg, approach rate: -0.703071 m/s, LOS rate: 0.311723 deg/s, cmd heading: 178.258061 deg, new cmd heading: 178.648647 deg. 2juU<}HeadingCmd: 3.118007 target range: 533.099976 and range: 533.10 m. j}nG@jyjjihhhhfffrfbf@?=@ɛ%AB%p= !%T9?I! %D<ɚ)i)I-/=IUnG@iUyiU}P)UnG@)YEerAEa*F?2F:FBF`0JF L$?I5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309919G W(&w,ӤA2%7@Y2UDE@2S<92g?>y2HC󈯿.{@YV?`@?`=@?Jo?ɨ2%7@2ߊ;2CyPPiV=IV<Mb@Mb@Mb@ )YK7?{Gz?Mb`yI?#=zA )@IC@yG@II4٢Xx C=9,;Q > G٣y>< > Nusing accuracyPremultiplier from config49gɛ?4Y i"aBI?:|H@.@D;3;.4FB 1@EZj9=FNOT Ignoring new targets: 533.10 m.BjMٷ;JjMٷ;e ProNav: ac range: 533.099976 m, nav range: 52.273174 m, bearing: 200.723190 deg, approach rate: -0.754957 m/s, LOS rate: 0.321464 deg/s, cmd heading: 178.648652 deg, new cmd heading: 179.039072 deg. 2je\ K$?I E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814119.&w,XAzKKh9KKK BK:KqAr8@Yr%%F@rk<9r;>yrH⨿  MR?m@k? lDQ?`u?ɨr8@r;rCyzBzM)II I 4٢ U=9;Q %>!! %G٣%EGy-= -> 5Nusing accuracyPremultiplier from config1=495&Nɛ?=4Y5 i5aBAEHE.@5#D5T ;5e ;5ۺ4MHB M1@MEZjquFNOT Ignoring new targets: 533.10 m.BjA;JjA; ProNav: ac range: 533.099976 m, nav range: 51.990936 m, bearing: 200.839219 deg, approach rate: -0.745612 m/s, LOS rate: 0.308188 deg/s, cmd heading: 179.039066 deg, new cmd heading: 179.389039 deg. 2j=SI I)IIBI&I.I6I<:IT FBIiJIiRIiZIibIijIm04*FM?2FI:FQBFUo0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065962JJJ0JJJH:Jـ3JJJJڝ;J۝;GM dLGU ?GU ?G! B1 OM >t5&w,*ؘAR^8@YRx}F@Rط<9R9>yRH@S`MWV?r *? @M?`w?ɨR^8@R0;R CyZB^F)IIfIfV4٢n; nN=9nz;Q n>pp rG٣pyv^< v> zNusing accuracyPremultiplier from configx~49z3ɛ?4Yz izaB iH .@z-Dz_N;zN;z4 @5B*** querying acoustic contact ***j1j1 EJ$?IAZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 51.697838 m, bearing: 200.959147 deg, approach rate: -0.707967 m/s, LOS rate: 0.291323 deg/s, cmd heading: 179.389045 deg, new cmd heading: 179.750863 deg. 2jG<HeadingCmd: 3.137244 target range: 533.099976 and range: 533.10 m. jH@jjjihhhhffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318159frfbfD>@ɛeDBe}= ae-?Ia m@<ɚiiiIm =IuH@iu#iuF7)uH@)yEN>E>*F5?2F1:F9BF=0JFAG]4G9BAOeU> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570648` <&w,ΈA68@Y6ZF@6<9666>y6H_Nѱ?;y?j?n|?ɨ68@6H;6CyJBJH)I)L L%Mb@Mb@Mb@!!! !)!Y%x&?ˡE?MbP?y%7I?%'=%:%hA %@)!I!!y%@II4٢.; >=9m;Q > G٣yΎ< > Nusing accuracyPremultiplier from config49Hɛ?4Y iaB}I?:G.@8D;;L4IB EZjFNOT Ignoring new targets: 533.10 m.Bj;Jj ; ProNav: ac range: 533.099976 m, nav range: 51.379566 m, bearing: 201.087718 deg, approach rate: -0.769493 m/s, LOS rate: 0.312776 deg/s, cmd heading: 179.750867 deg, new cmd heading: 180.138964 deg. 2jV<HeadingCmd: 3.144018 target range: 533.099976 and range: 533.10 m. j%7I@j!j!j!i!h)h)h)h-Bf1f1f1rf1bf=p>@ɛmEBm\= qu-?Iq u<ɚqiqIu\=I}Hi}ji04)7I@) %I$?I!*F!2F):F)BF-_5JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.822953zKmLKm9KiKmKmGE .G B! O= >H} 4>Iy  I} )II} BIy &Iy .Iy 6I} {<:I} J FcB&w,(G A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074230:(69@Y:TG@:<9:H95>y:Hx@_3˭? |?@{ &?@}?ɨ:(69@:L;:CyBD)II5I5J4٢EWe MQ=9Mp;Q M>QQ UG٣UEGy]k< ]> eNusing accuracyPremultiplier from configam49eGț?m4Ye. ieaBimGu.@eBDe :eL:e&4}KB }κ@}EJJAAZjFNOT Ignoring new targets: 533.10 m.BjQ;JjQ; ProNav: ac range: 533.099976 m, nav range: 51.089115 m, bearing: 201.204458 deg, approach rate: -0.741094 m/s, LOS rate: 0.299557 deg/s, cmd heading: 180.138958 deg, new cmd heading: 180.491163 deg. 2jM<HeadingCmd: 3.150165 target range: 533.099976 and range: 533.10 m. jNI@jjjihhhhfffrfbf?@ɛAEf+= IM(,?I &<ɚiI=IgHiliFU6) NI@)*F?2F:FBF@5JF H$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325894G^D8G B O >I&w,&Ay~B~5)IMb@Mb@Mb@ )Y r?V-?yC?<A @)I-@yG@II4٢Bf A=9Q > G٣y > Nusing accuracyPremultiplier from config %49 ț?%4Y E i  aB-C?-:-fH5.@ LD < < 4LB @EZj!-FNOT Ignoring new targets: 533.10 m.BjUD;JjUD;e ProNav: ac range: 533.099976 m, nav range: 50.784981 m, bearing: 201.333578 deg, approach rate: -0.672521 m/s, LOS rate: 0.287228 deg/s, cmd heading: 180.491164 deg, new cmd heading: 180.880837 deg. 2jeE= 隕%?I =<ɚiI=IHJJJJJK:J>L:JJa@a@a@a@i|i$O) J@)E*FY2FY:FYBFaJFa G$?I G 8% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830808G B O >AO&w,a?AzK"K"9K K"K">z:@Y> H@><9>N1>y>H꧓@O`>?% .?T@] ?@~?ɨ>z:@>܊;>CyJBJ:)Iij=Ijp=IrIr4٢v< z[=9z;Q z>|| ~G٣|y= >  Nusing accuracyPremultiplier from config 49 ț?4Y p i aBG/@ UD K ;  ; 4%MB %@%EZjIMFNOT Ignoring new targets: 533.10 m.BjU;JjU;e ProNav: ac range: 533.099976 m, nav range: 50.518387 m, bearing: 201.443849 deg, approach rate: -0.776065 m/s, LOS rate: 0.322698 deg/s, cmd heading: 180.880840 deg, new cmd heading: 181.213396 deg. 2jev]I5C I5)II5߉BI1&I1.I16I5<:I5m FGMyAG!B)OE1>}Will construct direction to contact in vehicle frame from tetrahedron phase data.}yjH3۰Y@<Â??t?>?ɨj [:@j{;jCyB4)II-I-4٢= EE=9E/Y;Q E>II MG٣MEGyMX< U> ]Nusing accuracyPremultiplier from configQe49UXț?e4YU iU`BaeAGe/@U_DU:U;UL4}OB }@}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 533.10 m.Bjd;Jjd; ProNav: ac range: 533.099976 m, nav range: 50.221096 m, bearing: 201.566184 deg, approach rate: -0.715544 m/s, LOS rate: 0.296189 deg/s, cmd heading: 181.213402 deg, new cmd heading: 181.582574 deg. 2jEK<HeadingCmd: 3.169214 target range: 533.099976 and range: 533.10 m. jfJ@jjjihhhhWill construct direction to contact in vehicle frame from tetrahedron phase data.J) J- J) J) J) J- QN:J) J) S\&w,WsA6:@Y6H@6y<96lb0>y6H-n~`!O c?@`?`. ?`?ɨ6:@6;6CyNBN.)I5Mb@Mb@Mb@111 1)1Y5S㥛?Q?{Gzt?y5D?5<5ף;5zA 5@)1I5C@1y5=@IMIM4٢eɻ eH=9e%b;Q e>ii mG٣iyu< u> }Nusing accuracyPremultiplier from configy49}הț?4Y} i}`BE?:F/@}jD};}j;}q41 52@1ZjyFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 49.924667 m, bearing: 201.687115 deg, approach rate: -0.686230 m/s, LOS rate: 0.281617 deg/s, cmd heading: 181.582574 deg, new cmd heading: 181.947516 deg. 2jEA<HeadingCmd: 3.175583 target range: 533.099976 and range: 533.10 m. j -I5 C I5 )II5 ՉBI1 &I1 .I1 6I5 <:I5 Z FGM %:GA BQ Om >9c&w,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&@DAT read: Txtime:21:47:17.3843 &$Ping request sent.&yFHoc6N5j` ?8DN ?f?ɨF%;@F;DyNBR5)I)T T Z=Z=I^I^4٢f< fU=9jma;Q j>hh jG٣lynk< n> vNusing accuracyPremultiplier from configpv49r{ț?v4YrG ir`BxzxFz/@rsDre:rq:r)4~PB @EZj!-FNOT Ignoring new targets: 533.10 m.Bj5;Jj5;E ProNav: ac range: 533.099976 m, nav range: 49.645714 m, bearing: 201.800318 deg, approach rate: -0.775793 m/s, LOS rate: 0.316595 deg/s, cmd heading: 181.947511 deg, new cmd heading: 182.289023 deg. 2jEFYhi&w,wA>};@Y>"I@>k=9>4>y>H@z@t?Р`慿i?@4r? |?ɨ>};@>;>Cy^B^1)IMb@Mb@Mb@ )Y)\(?l?~jtx?yGA?=;A )h@Iy@IIݜ4٢RH 6=98Q %>!! %G٣%EGy-< -> 5Nusing accuracyPremultiplier from config1=495q_ț?=4Y5 i5`BEA?E:EaEE/@5~D5;5;54MRB U8@UEZjq}FNOT Ignoring new targets: 533.10 m.Bj}K;JjK; ProNav: ac range: 533.099976 m, nav range: 49.324669 m, bearing: 201.925180 deg, approach rate: -0.716008 m/s, LOS rate: 0.280283 deg/s, cmd heading: 182.289020 deg, new cmd heading: 182.666036 deg. 2j[@<HeadingCmd: 3.188124 target range: 533.099976 and range: 533.10 m. j8 L@jjjihhhhBfffrfbf@@@ɛX1= MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503354"?I <ɚiI =I}Fii8)8 L@)JJJJJ+:JH:JJ*F}?2Fy:FyBF}0JFy"GG=G= f: I G! B1 OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.7552850Lp&w,?A21I<@Y2gJ@2݇=925>y2H? `||~4?Bp@| G٣y< > Nusing accuracyPremultiplier from config 49 ;Hț?4Y I i `B9=D=/@ D }; ; _4ESB Mr@MEZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 49.062244 m, bearing: 202.025026 deg, approach rate: -0.703423 m/s, LOS rate: 0.269067 deg/s, cmd heading: 182.666033 deg, new cmd heading: 182.967171 deg. 2j8<HeadingCmd: 3.193380 target range: 533.099976 and range: 533.10 m. jU`L@jjjihhhhfffrfbf N@@ɛim*= iu!?I  s=ɚiIE5>HI I)IIЉBI&I.I6Iw<:IG F)) )-G|uA*F? Y |uAyA2F:FBF33JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.007382GG B! O= >uv&w,;ۙA B$?I:<@Y:MJ@:=9:3>y:HAX/?rR /5?O@R?~?ɨ:<@:nZ;:CyDF/)IiJ=IJ7?JAJAIZIZ4٢b: bI=9f:Q f>hh jG٣hy=< => ENusing accuracyPremultiplier from configAM49E&.ț?M4YE iE`BIU9D]/@EDE.F;EF;E4eTB e@eEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 533.10 m.Bjԝ;Jjԝ; ProNav: ac range: 533.099976 m, nav range: 48.766621 m, bearing: 202.135859 deg, approach rate: -0.731666 m/s, LOS rate: 0.275972 deg/s, cmd heading: 182.967176 deg, new cmd heading: 183.301685 deg. 2je=<HeadingCmd: 3.199218 target range: 533.099976 and range: 533.10 m. jL@jjjiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259371hhhhfffrfbf :&A@ɛ܆= !?I x=ɚ i I m Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513156J J J J J :J mQ:J J /|&w,A67=@Y6VK@6N=961>y6H@a?Τ1 Bl???ɨ67=@6!;6CyRBR1)IEMb@Mb@Mb@AAA A)AYEMb?Q?~jth?yE@?Eqq }G٣yy}< }> Nusing accuracyPremultiplier from config49ț?4Y i`B@?:PD/@D;;4 e@ZjFNOT Ignoring new targets: 533.10 m.BjB;JjB; ProNav: ac range: 533.099976 m, nav range: 48.471252 m, bearing: 202.248577 deg, approach rate: -0.716178 m/s, LOS rate: 0.274973 deg/s, cmd heading: 183.301691 deg, new cmd heading: 183.641903 deg. 2j<<HeadingCmd: 3.205156 target range: 533.099976 and range: 533.10 m. jF!M@jjjihhhh2BfffrfbfZA@ɛ= 隝"?I ӧ=ɚiI ZH RH ?AH 5>I C I {)II ˉBI &I .I 6I p<:I C FBIJIRIZI( =bI( =jIɦU4&w,VAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017386^=@Y^%K@^=9^1>y^H``?"g?U@g?`?ɨ^=@^;^CyfBf6)IIrIrJ4٢vǤ< zR=9z;Q z>YY ]G٣]EGyeA< e> mNusing accuracyPremultiplier from configiu49mǛ?4Ym" im`BD/@mDm;m(;m4VB <@EJ@AJZjFNOT Ignoring new targets: 533.10 m.Bj;Jj;- ProNav: ac range: 533.099976 m, nav range: 48.184044 m, bearing: 202.357783 deg, approach rate: -0.704075 m/s, LOS rate: 0.269309 deg/s, cmd heading: 183.641903 deg, new cmd heading: 183.971471 deg. 2j-8@&w,(An=@Yn7 L@nI&"=9nL/>ynH@ ?ӧ`?@nC@??ɨn=@nꥊ;nCy B 0)IMb@Mb@Mb@ )Y~jt?)) -G٣1y5n< 5> =Nusing accuracyPremultiplier from config9E49=%Ǜ?E4Y= i=`BM;?M:UDU/@=D=:;=8;=M4]WB ]@]EZjFNOT Ignoring new targets: 533.10 m.Bj:;Jj:; ProNav: ac range: 533.099976 m, nav range: 47.884136 m, bearing: 202.477072 deg, approach rate: -0.704348 m/s, LOS rate: 0.281910 deg/s, cmd heading: 183.971473 deg, new cmd heading: 184.331576 deg. 2jxA<HeadingCmd: 3.217193 target range: 533.099976 and range: 533.10 m. j}M@jjjihhhhdBfffrfbf A@-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519302ɛq-= 隍{"?I  =ɚiIL:J9J9*FI2FI:FIBFIJFI  ?$?I G} w!G G GY Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774238&w,BAR$3>@YRQL@R)=9R.>yRH`b?E@op?e/ ۶?$?ɨR$3>@R:l;RCynBr2)IIzIzJ4zK~*MK~+9K|K~K~  /m>uL2DA*" ٢; ^=9?;Q =>9A EG٣AyE}=< E> UNusing accuracyPremultiplier from configIU49M4Ǜ?U4YM> iM`By}XD}/@MDM;M;M$4YB EZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 47.624977 m, bearing: 202.579935 deg, approach rate: -0.685929 m/s, LOS rate: 0.273732 deg/s, cmd heading: 184.331574 deg, new cmd heading: 184.641837 deg. 2j;< HeadingCmd: 3.222608 target range: 533.099976 and range: 533.10 m. j 6?N@j jjihh1h9h9f9f9fArfAbfEA@ɛ= 隍$#?I1 5 =ɚ9i9I=̹I III' =&I.I6Ic<:I; F*F?2F:FBFJF"G=G=mWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029953G !G B O >  >$?I (Ė&w,1a\A6a>@Y6L@6/=96->y6H@:`?E@|`@?`@?%?ɨ6a>@6ĉ;6Cy>B>.)IIFIF4٢N؃ NR=9R8;Q R>PT VG٣VEGyV|< V> ^Nusing accuracyPremultiplier from config\b49^Ǜ?b4Y^ i^`BdfCf/@^D^;^;^+4h jӼ@hzB*** querying acoustic contact ***jxjxZjyFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 47.356701 m, bearing: 202.685527 deg, approach rate: -0.680823 m/s, LOS rate: 0.269487 deg/s, cmd heading: 184.641843 deg, new cmd heading: 184.960411 deg. 2j8<HeadingCmd: 3.228168 target range: 533.099976 and range: 533.10 m. jON@jjjihhhhfffrfbf`B(B@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280525ɛIB%B= !%w!?I! % =ɚ!i)I-~m Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Rx Time:21:47:20.5344 u TRx dataTimestamp_ set to:1736372841.752570} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532325;&w,@Y:M@:5=9:W->y:H`IK? ٧9R-?@`?@?ɨ:>@:` ;:CyRBR6)IVAT5Mb@Mb@Mb@111 1)1Y5Cl?Mbp~jtx?y5d;?515A 5K@)5@I5@1y5\@IMIMx4٢U< ]?=9]V;Q e>aa eG٣aym9< m> uNusing accuracyPremultiplier from configq49u.Ǜ?4YuI iu`Bf;?:E/@uʰDuҨ;u;u34ZB @E =$?IZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 47.062012 m, bearing: 202.812900 deg, approach rate: -0.671459 m/s, LOS rate: 0.292041 deg/s, cmd heading: 184.960416 deg, new cmd heading: 185.344923 deg. 2jlH<HeadingCmd: 3.234879 target range: 533.099976 and range: 533.10 m. jCO@jjjihhhhnBfffrfbfaB@ɛquG= qu$?Iq }U\=ɚyiyI}֣&w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.8DAT read: $Error in header *Received a bad headerVchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.0513891?@YOM@;=9%->yH\ Ƌ?`@ˬ}`?`|v?@?ɨ1?@H;Cy5B50)IIeIe4٢u)ļ uH=9}&n;Q > G٣y<< >JJJJJ :JS:JJJ 0E/@԰D=;:%:4\B @EZjFNOT Ignoring new targets: 533.10 m.Bj;Jj%;- ProNav: ac range: 533.099976 m, nav range: 46.780277 m, bearing: 202.934439 deg, approach rate: -0.725228 m/s, LOS rate: 0.314744 deg/s, cmd heading: 185.344929 deg, new cmd heading: 185.711736 deg. 2j-X<]HeadingCmd: 3.241281 target range: 533.099976 and range: 533.10 m. j]'qO@jYjYjYiahahahahafififirfibfu B@ɛ,= !?I  Z=ɚiIe&w, Azʕ?@YznM@z8@=9z,>yzHc E? ﭿ ވ@*{`?`^`w??ɨzʕ?@z%;zCy B ()IMb@Mb@Mb@ )YV-?Q~jth?y G٣EGyr< > Nusing accuracyPremultiplier from config49EdǛ?4Y, i`BE>*F]?2FY:FaBFe`5JFa iIiG 3 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791870G B O >{&w,ÚA6?@Y6ON@6F=96,>y6HXi? Ӿ@x`?`Ԩ s?@\?ɨ6?@6;6Cy^Bb+)I)d d fp=f=IjIj4zK}KK}9KyK}K}٢A< M=9g;Q > G٣yfD< > Nusing accuracyPremultiplier from config49KǛ?4Y i`BqE/@D6;O;UH4^B X@EZj1EFNOT Ignoring new targets: 533.10 m.BjM!;JjM!;e ProNav: ac range: 533.099976 m, nav range: 46.217632 m, bearing: 203.186213 deg, approach rate: -0.715933 m/s, LOS rate: 0.321959 deg/s, cmd heading: 186.100757 deg, new cmd heading: 186.471627 deg. 2je\I III' =&I.I6I<:IT Fɛ  N= g?I Ў=ɚiIA; e :$?Ia ,&w,iݚA6S@@Y6VrN@6AJ=96٘+>y6H ? @|[v ?aXR? X?ɨ6S@@6Y;6 Cy>B>#)IIJIJT4٢R V[=9V0;Q V>XX ZG٣XyZG< Z>  Nusing accuracyPremultiplier from config 49 3Ǜ?4Y  i u`B%E%/@ D 2I; uI; O4) -@)MB*** querying acoustic contact ***jIjIZjQeFNOT Ignoring new targets: 533.10 m.Bje;Jje;u ProNav: ac range: 533.099976 m, nav range: 45.951859 m, bearing: 203.303958 deg, approach rate: -0.706456 m/s, LOS rate: 0.314787 deg/s, cmd heading: 186.471623 deg, new cmd heading: 186.826894 deg. 2j X<HeadingCmd: 3.260744 target range: 533.099976 and range: 533.10 m. j P@jjjihhhhfffrfbf*C@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.299470ɛKB|=  ?I Y=ɚiITvm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=5.551371)=&w,+A2ť@@Y2iN@2JP=92->y2H`@jI?𛰿¶@qz?@~`i??ɨ2ť@@2K݉;2CyNvBN)I]Mb@Mb@Mb@YYY Y)YY]Zd;?l{Gzty]>?]]ףY ]@)]3@IYYy]=@IuIu4٢h ==9EI;Q > G٣EGyb=< > Nusing accuracyPremultiplier from config49aǛ?4Yl i``B7??:jF/@D;';kV4`B @EZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; 9$?I ProNav: ac range: 533.099976 m, nav range: 45.657246 m, bearing: 203.445473 deg, approach rate: -0.697320 m/s, LOS rate: 0.337115 deg/s, cmd heading: 186.826888 deg, new cmd heading: 187.254167 deg. 2j[g<HeadingCmd: 3.268202 target range: 533.099976 and range: 533.10 m. j8*Q@jjj!i!h!h!h)h-Bf)f)f)rf1bf5@`C@ɛY]:= aeg?Ia eY=ɚaiaIeOp$&w,_AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.0553776?A@Y61O@6T=96->y6H`f?@.v elp?` ??ɨ6?A@6;6CyByBB)IiF=IFpJJJ1JJ:JHM:J3JJ4<J4<JU;JU; G٣y< > Nusing accuracyPremultiplier from config49ƛ?4Y iK`BE/@D:;;]4aB @EZjAMFNOT Ignoring new targets: 533.10 m.BjM;JjM;e ProNav: ac range: 533.099976 m, nav range: 45.372623 m, bearing: 203.581310 deg, approach rate: -0.684096 m/s, LOS rate: 0.328534 deg/s, cmd heading: 187.254171 deg, new cmd heading: 187.664230 deg. 2jexa<HeadingCmd: 3.275359 target range: 533.099976 and range: 533.10 m. jzQ@jjjihhhhfffrfbf`CC@ɛLB= ?I l=ɚiI>G B O >\a&w,Ɖ+A AxA@Y O@ UX=9 (}->y Hl?G+h?@h`k? s?ɨ AxA@ B; CynB% )IMb@Mb@Mb@ )Y+?J +y&1|y??H`IA @)I@I@yz@II4٢ >  4=9{:Q > G٣yp< > -Nusing accuracyPremultiplier from config)549-.ƛ?54Y-" i-3`B=)@?=:=F=/@-D-F;-;-d4EcB ED@EEZjiuFNOT Ignoring new targets: 533.10 m.Bju?;Jju?; ProNav: ac range: 533.099976 m, nav range: 45.078800 m, bearing: 203.727333 deg, approach rate: -0.710464 m/s, LOS rate: 0.355385 deg/s, cmd heading: 187.664229 deg, new cmd heading: 188.105145 deg. 2js<HeadingCmd: 3.283054 target range: 533.099976 and range: 533.10 m. jR@jjjihhhhBfffrfbfC@ɛMBX= ?I E=ɚiIT= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=6.827310C6&w,UEA66A@Y6P@6k\=96.>y6H`?@31Mb5?`?;~?ɨ66A@6[g;6 Cy>hB>)IIFIF4٢R  Rh=9V*9;Q V>TX ZG٣ZEGyZ< Z> bNusing accuracyPremultiplier from config\b49^ƛ?f4Y^s i^`Bdf!Ff/@^D^:^:^k4jdB n@nEZjFNOT Ignoring new targets: 533.10 m.Bj ;Jj ; ProNav: ac range: 533.099976 m, nav range: 44.832584 m, bearing: 203.848824 deg, approach rate: -0.697833 m/s, LOS rate: 0.346224 deg/s, cmd heading: 188.105145 deg, new cmd heading: 188.471613 deg. 2jm<%HeadingCmd: 3.289450 target range: 533.099976 and range: 533.10 m. j-ZR@j)j)j)i)h)h)h1h1f1f1zKk3IK+9KKK .BSSG8% frfbf C@ɛ5NB5= 9=E ?I9 ==ɚ9i9I=ӶI IV)IIBI&I.I6I4<:I FBI}žCJI}žCRIyZIybI}' =jI}٘4*F)2F):F)BF50JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.080853JsK{m3 K{S}-KsKs"KsJJJ0JJ:JQN:Jـ3JJ:<J:<J:;J:;GGGi Bq O > 6$?I $b&w,^A2WB@Y2vP@2^=92uk.>y2H`R@jƺ?$`~5\j?@8@Q? }?ɨ2WB@2c;2Cy:\B:(I)@ @ F=F=IJIJT4٢Rp RJ=9R0:Q V>TT VG٣TyZv< Z> ^Nusing accuracyPremultiplier from config\b49^ƛ?b4Y^ i^`BdfEf/@^ D^:^e:^%r4h j@hzB*** querying acoustic contact ***jxjxZj  FNOT Ignoring new targets: 533.10 m.Bj6;Jj6;% ProNav: ac range: 533.099976 m, nav range: 44.550018 m, bearing: 203.987157 deg, approach rate: -0.696389 m/s, LOS rate: 0.343087 deg/s, cmd heading: 188.471612 deg, new cmd heading: 188.889236 deg. 2j%uk<-HeadingCmd: 3.296739 target range: 533.099976 and range: 533.10 m. j-R@j)j)j)i1h1h1hhfffrfbf~.D@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.331449ɛEOBMbE= IM?II M!=ɚqiqIu" Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.583432*J 4="J a=&w,yxA:B@Y:P@:4la=9:/>y:HA@Lr?i>T?`)l? q{?ɨ:B@:-~;8yBPBF(IMb@Mb@Mb@ )Y r?:v:vyC?TT`A @)@I@y@I-I-4٢=hf EA=9E:Q E>II MG٣IyMw< M> aIa mNusing accuracyPremultiplier from configQu49USƛ?u4YU] iU_B}D?}:}UE}/@U*DU;U#;Uy4fB [@EZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 44.247837 m, bearing: 204.134679 deg, approach rate: -0.711889 m/s, LOS rate: 0.349910 deg/s, cmd heading: 188.889237 deg, new cmd heading: 189.334816 deg. 2j#p<HeadingCmd: 3.304516 target range: 533.099976 and range: 533.10 m. j0}S@jjjihhhhBfffrfbfdD@ɛPB9= <>I Ky#=ɚiI%i!i-X_J)-0}S@)1*F2F:FBF_5JFG G"GG%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=7.835543zKMMKM]9KIKMKMyjWc6 RK]?JKYjHbH<H7>I IC)IIBI' =&I.I6Iw<:IJ FGI BY Ou >s&w,A>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.087179y=FB=(IIuIua4٢FE E=9Q > G٣EGy >  Nusing accuracyPremultiplier from config 49 ~ƛ?4Y  i _B/@ 5D ; `; 4%gB %@-EZjQ]FNOT Ignoring new targets: 533.10 m.Bj]q;Jj]q;m ProNav: ac range: 533.099976 m, nav range: 43.942898 m, bearing: 204.285753 deg, approach rate: -0.716582 m/s, LOS rate: 0.357475 deg/s, cmd heading: 189.334811 deg, new cmd heading: 189.791168 deg. 2jmTuI 2%=ɚiI]ii;h)S@)EY>E> ]4$?IY*F2F:FBF4JFGBO<>5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=8.339303R&w, AefC@Ye Q@e2f=9e0>yeH̦? eiE@? }¬`a?`xy?ɨefC@eC;eCyu7B}(Ii=I<Mb@Mb@Mb@ )Y%C?A`"~jtyZD?YD A )AI;@y@IIm4٢5 5?=9=3;Q =>99 EG٣AyE = E> UNusing accuracyPremultiplier from configI]49MI  2&=ɚ i I M 53$?I15 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=8.843269&w,ƛAJx,D@YJKR@Jg=9Jk0>yJH'?j^¿ R>?`L? y?ɨJx,D@J{f;JCyV+BV(IIbIb4٢f jb=9jԁ:Q j>hl nG٣pyrk< r> zNusing accuracyPremultiplier from configt~49vLƛ?~4Yv  iv_B|D/@vHDv;v5;v4 jB @  EZj15FNOT Ignoring new targets: 533.10 m.Bj=>;Jj=>;M ProNav: ac range: 533.099976 m, nav range: 43.385044 m, bearing: 204.554210 deg, approach rate: -0.719760 m/s, LOS rate: 0.346639 deg/s, cmd heading: 190.225126 deg, new cmd heading: 190.601705 deg. 2jMmI '=ɚiIW I &w,9A2D@Y2DR@2[k=9290>y2H@o? w崿Bÿ7 ?>g? y?ɨ2D@2Ҋ;0y>B>(IIFIFP4٢Ntǽ NP=9R;Q R>TT VG٣VEGyZ w< Z> ^Nusing accuracyPremultiplier from config\%49^3ƛ?-4Y^ i^_B1eCe/@^QD^/<^9<^m4 *@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.348163B*** querying acoustic contact ***jjZj9EFNOT Ignoring new targets: 533.10 m.BjE²;JjM²;m ProNav: ac range: 533.099976 m, nav range: 43.101875 m, bearing: 204.689067 deg, approach rate: -0.652025 m/s, LOS rate: 0.312563 deg/s, cmd heading: 190.601702 deg, new cmd heading: 191.008925 deg. 2jmV<HeadingCmd: 3.333735 target range: 533.099976 and range: 533.10 m. j[U@jjjihhhhfffrfbf~4E@ɛ]UB]H= Y]'>IY e[7)=ɚaiaIe1&w,A b2$?I`y  B (I =a=Mb@Mb@Mb@ )Y"~j?Mb:vySC?@T A )AI$@yG@II4٢X 9=9Q > G٣y > Nusing accuracyPremultiplier from config49^ƛ?4Y if_BC?:'C/@\D$;";*4kB @EZj)-FNOT Ignoring new targets: 533.10 m.Bj5z;Jj5z;E ProNav: ac range: 533.099976 m, nav range: 42.783859 m, bearing: 204.839125 deg, approach rate: -0.792603 m/s, LOS rate: 0.376772 deg/s, cmd heading: 191.008931 deg, new cmd heading: 191.462439 deg. 2jEII ^*=ɚiI0'w,~nAz\E@YzS@zm=9z1>yzHA@sq?yĿ %H?` o?[x?ɨz\E@z;zCyB |(IImIm 4٢u }0=9}|:Q }> G 0$?I٣y= > Nusing accuracyPremultiplier from config49ś?4Y iG_B5B/@hDX::N4mB "@EZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 42.447865 m, bearing: 204.992753 deg, approach rate: -0.721014 m/s, LOS rate: 0.332282 deg/s, cmd heading: 191.462442 deg, new cmd heading: 191.926965 deg. 2j d< HeadingCmd: 3.349757 target range: 533.099976 and range: 533.10 m. j mbV@j j j i hhhhff!f!rf!bf-?E@ɛMXBUaՀ= QUO>IQ U+=ɚQiYI]YGqByO;>Will construct direction to contact in vehicle frame from tetrahedron phase data.y2Hy@/G?`ſx?t?w?ɨ2E@2Ҋ;2CyBBBr(I]Will construct direction to contact in vehicle frame from tetrahedron phase data.] G٣EGyŇ< > Nusing accuracyPremultiplier from config49ś?4Y i-_B C?:@/@qD;[;j4nB @EZjFNOT Ignoring new targets: 533.10 m.Bj%;Jj%;JuJuJqJqJu:JudP:JqJq ProNav: ac range: 533.099976 m, nav range: 42.153477 m, bearing: 205.119649 deg, approach rate: -0.721130 m/s, LOS rate: 0.313015 deg/s, cmd heading: 191.926963 deg, new cmd heading: 192.310304 deg. 2jV<HeadingCmd: 3.356448 target range: 533.099976 and range: 533.10 m. j V@jjjihhhhBff!f!rf!bf%E@ɛZB9T~= 隝>I i,=ɚiI˖  BDAT read: Tx time:21:47:28.3344  $Ping request sent. )   HE 8>IA  IE (IIE ABIA &IA 'w.Ii6Im<:Imj F,LA 25Y0y2=AzKZBoIKZ]9KXKZKZ%F@Y%%T@%~k=9%xp4>y%Hf@P?5}`!ǿ T? l`f?s?ɨ%F@%;%Cy=܈B=V(IiE=IE;IIIUIUa4٢e eO=9e̺Q e>ii mG٣iyu = u> }Nusing accuracyPremultiplier from configy49}ś?4Y} i}_B?/@}{D} ;};}Q4pB :@EZjFNOT Ignoring new targets: 533.10 m.Bjƫ;Jjƫ;5 ProNav: ac range: 533.099976 m, nav range: 41.866638 m, bearing: 205.239337 deg, approach rate: -0.714916 m/s, LOS rate: 0.300352 deg/s, cmd heading: 192.310301 deg, new cmd heading: 192.671818 deg. 2j5!N<=HeadingCmd: 3.362758 target range: 533.099976 and range: 533.10 m. j=l7W@j9jAjAiAhAhihqhyfffrfbf F@ɛ=\B=KOu= 9= >Ia e~j-=ɚaiaImˆ m.$?Iq Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502491T'w,8eA~6G@Y~8UU@~d=9~4y1>y~H]] \?68`Zȿk`&T? ? x?ɨ~6G@~;~CyɈB?(II%I%4٢5 5N=95ۋQ =>AA EG٣IyU< U> ]Nusing accuracyPremultiplier from configYe49]ś?e4Y]  i]^Bim?m/@]D]i:]:]G4uqB u@}EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 41.576862 m, bearing: 205.359076 deg, approach rate: -0.737531 m/s, LOS rate: 0.306881 deg/s, cmd heading: 192.671823 deg, new cmd heading: 193.033539 deg. 2jR<HeadingCmd: 3.369071 target range: 533.099976 and range: 533.10 m. j۞W@jjjihhhhfffrfbfD?F@ɛ ^B #uj= 15V>I1 5.=ɚ1i1I5>}8'w,0A:G@Y:U@:`=9:5>y:HVg[? J@ȿ@Ҿ?@|?@(t?ɨ:G@:cy;8yFˆBF6(IUMb@Mb@Mb@QQQ Q)QYU+?I +MbyU??U94UU/ A Up@)UAIUh@QyUp@IeIe4٢u% }E=9}`0Q }> G٣EGy31< > Nusing accuracyPremultiplier from config49ś?4Y]  i^B??:O=/@DO;=N;4 @ZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 41.278397 m, bearing: 205.468867 deg, approach rate: -0.724389 m/s, LOS rate: 0.268394 deg/s, cmd heading: 193.033536 deg, new cmd heading: 193.365286 deg. 2j28<HeadingCmd: 3.374861 target range: 533.099976 and range: 533.10 m. jW@jjjihh h h Bf ffrfbfpF@ɛM`BMTg= IM`E>II U.=ɚQiQIUqzKKͼ9KKK   } Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259548&'w,ZABcG@YBV@B\=9B5>yBH`5M ?eɿ%`?)`Ә?AA EG٣AyM < M> UNusing accuracyPremultiplier from configQ]49U{ś?]4YU  iU^BYe<e/@UDU;Uu:Ub4msB m2@mEZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 40.993462 m, bearing: 205.572605 deg, approach rate: -0.723306 m/s, LOS rate: 0.265169 deg/s, cmd heading: 193.365292 deg, new cmd heading: 193.678666 deg. 2j5<HeadingCmd: 3.380330 target range: 533.099976 and range: 533.10 m. jUWX@jjjihhhhfffrfbf0F@ɛbB4[= >I :0/=ɚiIzt)UWX@)*F2F:FBF_0JF-PExceeded connect timeout, disconnecting.Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510013Gf:GBO>B,'w,mAyB(I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.762045Mb@Mb@Mb@ )YMbX9? G٣y > Nusing accuracyPremultiplier from config49_ś?4Y i^BA?:I;/@D7;3;<4tB @"EZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 40.663082 m, bearing: 205.682163 deg, approach rate: -0.736031 m/s, LOS rate: 0.246061 deg/s, cmd heading: 193.678661 deg, new cmd heading: 194.010003 deg. 2j(<%HeadingCmd: 3.386113 target range: 533.099976 and range: 533.10 m. j%X@j!j!j!i!h!h)h)h-rBf1f1f1rf1bf=F@ɛedBeR= aed>Ia e/=ɚiii +$?II;H I  I n(II BI ' =&I .I 6I <:I ] F*3'w,I͜AFH@YFPV@Fu\`=9Fl6>yFH`8`i?,˿??`Ar?ɨFH@F;FCyRBR'IIZIZ4٢b1 bn=9jH";Q j?hl rG٣rEGyr = r? vNusing accuracyPremultiplier from configtz49v>Jś?z4YvI iv^B|~:~/@vDv;v;vE4wB @ &EzK?LK 9KKKZj9EFNOT Ignoring new targets: 533.10 m.BjE;JjM;U ProNav: ac range: 533.099976 m, nav range: 40.408463 m, bearing: 205.763320 deg, approach rate: -0.734015 m/s, LOS rate: 0.235433 deg/s, cmd heading: 194.010007 deg, new cmd heading: 194.255011 deg. 2j]!<]HeadingCmd: 3.390389 target range: 533.099976 and range: 533.10 m. je$X@jajajaiahahahihifififqrfqbfu G@ɛeBH= 隥Ԥ=I /=ɚiIʩJUJUJU0JQJUk:JU5K:JUـ3JQJU%8y6HN.`3P?+K˿`>p?`嫿?r?ɨ6 I@6{ ;6CyNBR'IiV;>IVp G٣yc^< > Nusing accuracyPremultiplier from config 49/ś?4YO i^B$:/@D`;O;4%yB %(@-)EMB*** querying acoustic contact ***jIjIZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 40.084263 m, bearing: 205.865292 deg, approach rate: -0.722755 m/s, LOS rate: 0.229169 deg/s, cmd heading: 194.255006 deg, new cmd heading: 194.563391 deg. 2jF<HeadingCmd: 3.395772 target range: 533.099976 and range: 533.10 m. jSTY@jjjihhhhfff!rfIbfUDG@ɛgB58&@= 9E@y=IA u0=ɚqiqI}@R@'w,[A6sI@Y6=W@6^=96V5>y6H " ?~ d̿ 0@ln?ګ? s?ɨ6sI@6;4yNwBN'IMb@Mb@Mb@ )YZd;?Q?{Gzt?y>?u<ף; p@)3AI@y@II4٢Ò E=9E[Q > G٣y< > Nusing accuracyPremultiplier from config49%ś?4YA i^B??:\9/@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022195D<z<4 @Zj%FNOT Ignoring new targets: 533.10 m.Bj-t;Jj-t;= ProNav: ac range: 533.099976 m, nav range: 39.786446 m, bearing: 205.954971 deg, approach rate: -0.705389 m/s, LOS rate: 0.213999 deg/s, cmd heading: 194.563389 deg, new cmd heading: 194.834440 deg. 2j=<HeadingCmd: 3.400502 target range: 533.099976 and range: 533.10 m. jաY@jjjihhhhYBfffrfbfzG@ɛiBZ7= 隵pIa Ie6(IIeˆBIa&Ia.Ia6Ie<:IeV F*F2F:FBFJFzKEk3IKE9KAKEKE-n/RKU?JKU?Gmf:GyBO>= Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273992J5 J5 J1 J1 J5 :J5 dP:J1 J1 J5 4<J5 4<J5 ;J5 ;uF'w,A *)$?I,ZI@YZW@Z\=9Z}A6>yZH@~?`fͿ z?Ț ?@r?ɨZI@ZB;ZCyfdBj'III4٢%)ƽ %W=9-bQ ->)1 5G٣5EGy5< 5> ENusing accuracyPremultiplier from config9E49=ě?M4Y= i=~^BIM8M/@=ɱD=:=e:=4]zB e_@e,EZjFNOT Ignoring new targets: 533.10 m.Bj%;Jj%; ProNav: ac range: 533.099976 m, nav range: 39.509800 m, bearing: 206.036827 deg, approach rate: -0.781366 m/s, LOS rate: 0.232813 deg/s, cmd heading: 194.834438 deg, new cmd heading: 195.081722 deg. 2j<HeadingCmd: 3.404818 target range: 533.099976 and range: 533.10 m. jY@jjjihhhhfffrfbfӥG@ɛjBv,= ii mG٣iyu u> }Nusing accuracyPremultiplier from configq49uě?4Yu~ iur^B@?:7/@uӱDu";u< ;u4|B @/EZjFNOT Ignoring new targets: 533.10 m.Bjd;Jjd; ProNav: ac range: 533.099976 m, nav range: 39.179596 m, bearing: 206.125476 deg, approach rate: -0.738850 m/s, LOS rate: 0.200028 deg/s, cmd heading: 195.081718 deg, new cmd heading: 195.349904 deg. 2jG <HeadingCmd: 3.409499 target range: 533.099976 and range: 533.10 m. j;5Z@jjjihhhhfBfffrfbf G@ %'$?I!ɛlB/'= 隥I 0=ɚiI5*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029943G +G B O >Ha Ia  Ie (IIe BIa &Ia .Ia 6Ie <:Ie Z F[S'w,$NAy~TB~'II I r4٢E* E`=9AQ M>II MG٣IyQ U> ]Nusing accuracyPremultiplier from configYe49]ě?e4Y]q i]h^Biim/@]ܱD]:]~:]4u}B u@zK} MK}ػ9KyK}K} BK:KqAu2EZjFNOT Ignoring new targets: 533.10 m.Bjg;Jjg; ProNav: ac range: 533.099976 m, nav range: 38.909271 m, bearing: 206.199187 deg, approach rate: -0.737882 m/s, LOS rate: 0.202603 deg/s, cmd heading: 195.349899 deg, new cmd heading: 195.572570 deg. 2j <HeadingCmd: 3.413385 target range: 533.099976 and range: 533.10 m. jtZ@jjjihhhhfffrfbf H@ɛ mB :I!= 8HI ]/=ɚiI% %&$?I! Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534786Y'w,hAZK@YZO"Y@Z'Z=9Z3>yZH`@+?@ %Ͽ`A? AL?v?ɨZK@Zj;XyFB 'II%I%4٢=ƌ EJ=9E+ݺQ E>II MG٣QyU36= ]> eNusing accuracyPremultiplier from configam49eě?m4Ye ie^^Bimq6u/@eDe:e:e4 u@B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 533.10 m.Bj-M;Jj-M;] ProNav: ac range: 533.099976 m, nav range: 38.608940 m, bearing: 206.274017 deg, approach rate: -0.715984 m/s, LOS rate: 0.179781 deg/s, cmd heading: 195.572563 deg, new cmd heading: 195.798797 deg. 2j];eHeadingCmd: 3.417334 target range: 533.099976 and range: 533.10 m. jeZ@jajijiiihihihhfffrfbf`DH@ɛoBO= I -x/=ɚ1i1I5`'w, A6`K@Y6Y@6uW=96<23>y6H`V_?`);п`g`H?\`#A?`w?ɨ6`K@6A;6CyRABR'IiV?=A @)IAIyABAII74٢ç %==Gy YyB9⍺Q > GH 6>I  I 'II BI &I .I 6I k<:I D F٣UEGy]-< ]> mNusing accuracyPremultiplier from configau49eě?u4Ye ieQ^Buu>?}:}5}/@eDeK(;e ;eP 4B @5EZjFNOT Ignoring new targets: 533.10 m.BjL;JjL; ProNav: ac range: 533.099976 m, nav range: 38.215595 m, bearing: 206.366082 deg, approach rate: -0.757562 m/s, LOS rate: 0.179137 deg/s, cmd heading: 195.798793 deg, new cmd heading: 196.077828 deg. 2j;HeadingCmd: 3.422204 target range: 533.099976 and range: 533.10 m. jc[@jjjihhhheBfffrfbfH@ɛ}pB= 隍I aA/=ɚiIJK>*F12F9:F9BFEA5JFAGM G - Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290827B9 OU >J5 J5 J5 0J1 J5 K:J5 5K:J5 ـ3J1 J5 r5<J5 r5<J5 ;J5 ;  $$?I f'w,bA2K@Y28Y@2V=923>y2H`4?\@rпށ?kܪQ? w?ɨ2K@2s;2CyB3BB'IIVIV[4٢n齽 n=9rFQ r$?tt zG٣xyz< z+? Nusing accuracyPremultiplier from config|49~ně? 4Y~n! i~J^B  G5 /@~D~:~ :~4B @8EZjFNOT Ignoring new targets: 533.10 m.Bj9;Jj9; ProNav: ac range: 533.099976 m, nav range: 38.024658 m, bearing: 206.409876 deg, approach rate: -0.703581 m/s, LOS rate: 0.162184 deg/s, cmd heading: 196.077833 deg, new cmd heading: 196.209873 deg. 2j;HeadingCmd: 3.424508 target range: 533.099976 and range: 533.10 m. j%+[@jjjihhhhfffrfbf کH@ɛeqBe}= e5 =eIa m,.=ɚiiiIm8{l'w,TAR!L@YRh@Z@R9U=9R2>yRH@+?`lп v[?@ί`G?y?ɨR!L@R4h;RCy^/B^'IjWill construct direction to contact in vehicle frame from tetrahedron phase data.nchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.794114Mb@Mb@Mb@ )Yv?S㥛?Mb?y8?/<<A @)AI@yAII4٢M 9=9}JQ > G٣yl< > Nusing accuracyPremultiplier from config49kě?%4Y# iC^B%9?%:%5%/@D;$;45B 5.@5;EZjY]FNOT Ignoring new targets: 533.10 m.Bje9N;Jje9N;u ProNav: ac range: 533.099976 m, nav range: 37.710373 m, bearing: 206.486633 deg, approach rate: -0.732112 m/s, LOS rate: 0.180294 deg/s, cmd heading: 196.209874 deg, new cmd heading: 196.442066 deg. 2juw;}HeadingCmd: 3.428561 target range: 533.099976 and range: 533.10 m. j}m[@jyjyjyiyhh #$?IhhrBfffrfbf0H@ɛUrBU z = QUbIQ ],.=ɚYiYI]^H 7>I  I 'II lBI &I .I 6I ̰<:I FBIJIRIZIbIjI4s'w,3НA2LuL@Y2Z@2^HV=920>y2HO@'}?N`AFѿn \? Ū ?{?ɨ2LuL@2;2Cy>5B>'I)@ BA F=Fa=IJIJ4٢~#< \=99Q >    G٣ EGy a< > Nusing accuracyPremultiplier from config%49NVě?%4Y & i<^B!-n5-/@ D0;:41 5@1ZjY]FNOT Ignoring new targets: 533.10 m.BjeE;JjeE;u ProNav: ac range: 533.099976 m, nav range: 37.445889 m, bearing: 206.550108 deg, approach rate: -0.714688 m/s, LOS rate: 0.172732 deg/s, cmd heading: 196.442060 deg, new cmd heading: 196.633827 deg. 2ju;HeadingCmd: 3.431908 target range: 533.099976 and range: 533.10 m. j`[@jjjihhhhfffrfbfPI@ɛsB= I g*.=ɚiIp<zKMLKs9KKKIT{6ini)`[@)*FU?2FY:FYBF]0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298723 IGUU'G)BYO}> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550022z'w,靼AfL@Yf8Z@fvvV=9f?->yfHVS?ꤸѿc`&? ˪??ɨfL@f;fCyv.Bv'II~I~4٢    I=9 <8Q > G٣y{< > %Nusing accuracyPremultiplier from config!-49%>ě?-4Y%n( i%5^B1555/@%D%X:%e:%$4B ]@>EB*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 533.10 m.Bj6;Jj6;% ProNav: ac range: 533.099976 m, nav range: 37.155930 m, bearing: 206.617854 deg, approach rate: -0.679099 m/s, LOS rate: 0.159903 deg/s, cmd heading: 196.633824 deg, new cmd heading: 196.838648 deg. 2j%z;-HeadingCmd: 3.435483 target range: 533.099976 and range: 533.10 m. j-[@j)j1j1i1h1h1h9h9f9f9f9rfAbfE EI@ɛ}tB}L= y}| Iy x-=ɚiI+'w,Ay1B'IMb@Mb@Mb@ )YbX9?Mb?Q?yE6?<u<AA @)vAI3@yAII4٢e<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054284 7=9Q > G٣y > Nusing accuracyPremultiplier from config49#%ě?4Y* i,^B[6?:50@D;;+4 B B@ AEZj1=FNOT Ignoring new targets: 533.10 m.BjE];JjE];] ProNav: ac range: 533.099976 m, nav range: 36.841808 m, bearing: 206.699736 deg, approach rate: -0.737203 m/s, LOS rate: 0.193805 deg/s, cmd heading: 196.838648 deg, new cmd heading: 197.086387 deg. 2j]<]HeadingCmd: 3.439806 target range: 533.099976 and range: 533.10 m. je%\@jajajaiahahihihmBfifqfqrfqbfu~|I@ɛ=uB= = 9ERIa e3-=ɚaiiIm#I) I-'II-bBI)&I).I)6I-ϰ<:I- FE =*F?2F:FBF0JFzKk3IK9KKK *4?Le|}vpgaXVSNG@?>61-+)#    Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308420G} f !$?I GQ BY Ou >P'w,A2{M@Y2p[@2fW=92+*>y2H ~?]丿AҿRWz?`:;?@?ɨ2{M@2"Ŋ;2CyV%BVu'Iif|| ~G٣EGy< >  Nusing accuracyPremultiplier from config 49 ě?4Y - i $^BS50@ (D ; -; u24-B -@-DEZjQUFNOT Ignoring new targets: 533.10 m.Bj]rI;Jj]rI;m ProNav: ac range: 533.099976 m, nav range: 36.579479 m, bearing: 206.765054 deg, approach rate: -0.702295 m/s, LOS rate: 0.176119 deg/s, cmd heading: 197.086393 deg, new cmd heading: 197.283749 deg. 2jm;uHeadingCmd: 3.443251 target range: 533.099976 and range: 533.10 m. ju9^\@jqjqjqihhhhff!f!rf!bf-ŮI@ɛvBUE< !I ',=ɚiIE%>*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809941G J @AJ @AJK(3 K(.KK"KJ J J J J :J HM:J J I G B O >0X'w,E*yRH0`?3߸ ҿ cICA?˪O ??ɨR M@R;RCyn*Bn{'IMb@Mb@Mb@ )Y333333?~jth?{Gz?y9?D;#<A ;@) AI`@yQAIIJ4٢+< )=99Q > G٣ye< > Nusing accuracyPremultiplier from config49Û?4Y/ i^B9?:60@3DSI;G;:4 @Zj  FNOT Ignoring new targets: 533.10 m.Bja;Jja;% ProNav: ac range: 533.099976 m, nav range: 36.233963 m, bearing: 206.859464 deg, approach rate: -0.713394 m/s, LOS rate: 0.196789 deg/s, cmd heading: 197.283744 deg, new cmd heading: 197.569673 deg. 2j%<-HeadingCmd: 3.448241 target range: 533.099976 and range: 533.10 m. j-\@j1j1j1i1h1h1h9h=Bf9f9fArfAbfE)I@ɛ}xB}!= y}Iy #,=ɚiI%EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=8.062776GYBaO}Y>H}5>Iy I}'II}XBIy&Iy.Iy6I}<:I}T F}='w,UAzK.-%NK.+9K,K.K. :N@Y:+4\@:TV=9:7(>y:H?a@ҿ ?? aǪv??ɨ:N@:;:Cyv&Bzv'III4٢خ U=9Q > G٣y%N< %> -Nusing accuracyPremultiplier from config)549-&Û?54Y-1 i- ^B9=5=0@-U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566587g'w,oA>iN@Y>U\@>*DS=9>=&>y>Hj} &i?\Ҹj%ӿ }5?e@Z??ɨ>iN@>L;> Cyn#Brs'I)t vAIzIz4٢^ K=9Q  >    G٣ EGyyQ< > %Nusing accuracyPremultiplier from config%49Û?-4Y44 i^B)-x5-0@ED::H45B =@=LEUB*** querying acoustic contact ***jQjQZjamFNOT Ignoring new targets: 533.10 m.BjmZ;JjmZ;} ProNav: ac range: 533.099976 m, nav range: 35.672016 m, bearing: 207.009996 deg, approach rate: -0.713535 m/s, LOS rate: 0.191202 deg/s, cmd heading: 197.793577 deg, new cmd heading: 198.024807 deg. 2j}8<HeadingCmd: 3.456185 target range: 533.099976 and range: 533.10 m. j"2]@jjjihhhhfffrfbfNJ@ɛzBȸ< 0.I +=ɚiI8] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070061^V'w,͉A68N@Y6\@6bP=96!$>y6H *r?unӿ`+F? } @I?v?ɨ68N@62;6CyB!BBp'IH4>I I'IISBI( =&I.I6D6I<:IQ FMb@Mb@Mb@ )Y7A`?ly&1|?y6?`;A h@)Iv@yGAIIy4٢ 0=9ƺQ > G٣y$< > Nusing accuracyPremultiplier from config49ŪÛ?4Yi6 i]B6?:80@PD";8;P4B @OEZj15FNOT Ignoring new targets: 533.10 m.Bj5=;Jj==;M ProNav: ac range: 533.099976 m, nav range: 35.349163 m, bearing: 207.124476 deg, approach rate: -0.695060 m/s, LOS rate: 0.248710 deg/s, cmd heading: 198.024806 deg, new cmd heading: 198.371376 deg. 2jM*y'w,mA6eO@Y6 9]@6SK=96#>y6HKc ?푸ӿ`Rav? g^b?@;?ɨ6eO@6;4yBBBd'IIJIJʴ4٢jg jr=9rnQ r?pt vG٣tyv< v? ~Nusing accuracyPremultiplier from configx49zÛ?4Yz8 iz]BG80@zWDz;zh;zV4  _@Zj1=FNOT Ignoring new targets: 533.10 m.Bj=";JjE";M ProNav: ac range: 533.099976 m, nav range: 35.112701 m, bearing: 207.207216 deg, approach rate: -0.700557 m/s, LOS rate: 0.246781 deg/s, cmd heading: 198.371370 deg, new cmd heading: 198.621259 deg. 2jU]) Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.828431 $?I J J J 1J J :J mQ:J 3J 'w,0gAy~Bi'Ii  G٣EGy > Nusing accuracyPremultiplier from config49}Û?4Y9 i]B4?:Z:0@aD;3;B^4uB u.@uREZjFNOT Ignoring new targets: 533.10 m.Bj:;Jj:; ProNav: ac range: 533.099976 m, nav range: 34.816040 m, bearing: 207.329330 deg, approach rate: -0.653819 m/s, LOS rate: 0.271423 deg/s, cmd heading: 198.621259 deg, new cmd heading: 198.990717 deg. 2jF:<HeadingCmd: 3.473043 target range: 533.099976 and range: 533.10 m. jWF^@jjji h h h1h5وBf1f1f1rf9bf=J@ɛeBe < 隍FI )=ɚiIYZ'w,cEמAzK2BHK29K0K2K2BK6rA:K6rABO@YB]@B*B=9Bh">yBHH@?@gH!sԿ `` bG٣`yft< f> jNusing accuracyPremultiplier from confighn49jhÛ?n4Yj; ij]Blr9r0@jjDj ;jm ;jd4vB v)@vUEZjFNOT Ignoring new targets: 533.10 m.Bj;Jj;- ProNav: ac range: 533.099976 m, nav range: 34.562340 m, bearing: 207.430744 deg, approach rate: -0.725397 m/s, LOS rate: 0.292100 deg/s, cmd heading: 198.990718 deg, new cmd heading: 199.297192 deg. 2j-wH<5HeadingCmd: 3.478392 target range: 533.099976 and range: 533.10 m. j5^@j1j1j1i1h9h9h9h9fAfAfArfAbfM@CK@}Will construct direction to contact in vehicle frame from tetrahedron phase data.}- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 yBH: X?@5Կ 7?@1??ɨBO#P@BP;B Cy^ B^S'IIfIf4٢n6 rH=9r1Q r>tt vG٣tyv__< z> ~Nusing accuracyPremultiplier from configx49z QÛ? 4Yzc= iz]B  Q9 0@zsDz&D;ziD;zk4 o@5B*** querying acoustic contact ***j1j1ZjAMFNOT Ignoring new targets: 533.10 m.BjM+;JjM+;] ProNav: ac range: 533.099976 m, nav range: 34.281761 m, bearing: 207.541937 deg, approach rate: -0.683450 m/s, LOS rate: 0.273065 deg/s, cmd heading: 199.297188 deg, new cmd heading: 199.633491 deg. 2j]f; BDAT read: Tx time:21:47:39.2845 $Ping request sent.= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i9 E JDAT read: TxSync time:21:47:39.2837 M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248304'w, Ay=BEC'I)I IHIC I'IINBI' =&I.I6I<:I_ FBIJIRIZIbI( =jI4Mb@Mb@Mb@ )Y|?5^?㥛 y2?XA @) AIAy AI-I-4٢=o` E6=9EQ E>II MG٣MEGyM U> ]Nusing accuracyPremultiplier from configYm49]&7Û?m4Y]D? i]]Bm3?:t:0@]}D]<]O<]s4B Q@XEZj!%FNOT Ignoring new targets: 533.10 m.BjMؤ;JjMؤ;] ProNav: ac range: 533.099976 m, nav range: 33.976288 m, bearing: 207.674863 deg, approach rate: -0.656494 m/s, LOS rate: 0.288241 deg/s, cmd heading: 199.633493 deg, new cmd heading: 200.035850 deg. 2j]EE=>*F?2F:FBF3JFzKk3IK9KKKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499135 IG% G B O% >'w,$A2P@Y2._@2u2=92p">y2H@?@@տ {a'?@L@")?`?ɨ2P@2S;2Cy>B>;'IIFIF4٢NK  Ni=9RRQ R>PT VG٣TyV= V> ^Nusing accuracyPremultiplier from configXb49Z #Û?b4YZ@ iZ]Bdf9f0@ZDZ3;Zy-;Zy4jB n@n[EZj|FNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 33.737827 m, bearing: 207.775293 deg, approach rate: -0.713550 m/s, LOS rate: 0.302643 deg/s, cmd heading: 200.035846 deg, new cmd heading: 200.339263 deg. 2jO<HeadingCmd: 3.496580 target range: 533.099976 and range: 533.10 m. j_@j!j!j!i!h!h!h)h)f)f)f)rf1bf5K@ɛB.ʜ< I %=ɚiIi Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005703 $?I 'w,B>A2t+Q@Y2J_@2'=92} >y2H`i0"?@EP`տ@D?,?@F?ɨ2t+Q@2x=;2Cy>B>)'I Mb@Mb@Mb@    ) Y X9v?ʡE~jthy 3? - D A @)  AI zA y (AI}I} 4٢i <=9^»Q > G٣y%< > Nusing accuracyPremultiplier from config49 Û?4YB i}]B5?::0@D;;p4B @^EZjFNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 33.441605 m, bearing: 207.909715 deg, approach rate: -0.682530 m/s, LOS rate: 0.312466 deg/s, cmd heading: 200.339270 deg, new cmd heading: 200.746101 deg. 2jqV<%HeadingCmd: 3.503680 target range: 533.099976 and range: 533.10 m. j%M<`@j)j9j9i9h9h9hAhEӈBfAfAfArfIbfMZK@ɛuB}S< y}ΠIy }$=ɚyiyIoI I'II>BI( =&I.I7D6IŰ<:I FG- GBO% >'w,!XA6&iQ@Y6ɇ_@6q]=96M >y6H@.a?@ݶXտ?q? ?ɨ6&iQ@6d;6CzKLKN9KLKNKNyVއBV'IiZ)>IZ7?I^I^k4٢fI fW=9j޻Q j>ll nG٣nEGyn."< r> vNusing accuracyPremultiplier from configpv49r›?z4Yr9D irl]Bxz\:z0@rDr ;rh;r4 m@Zj!-FNOT Ignoring new targets: 533.10 m.Bj-H;Jj5H;E ProNav: ac range: 533.099976 m, nav range: 33.182178 m, bearing: 208.027662 deg, approach rate: -0.684166 m/s, LOS rate: 0.313484 deg/s, cmd heading: 200.746104 deg, new cmd heading: 201.102706 deg. 2jE$W'w,frA:Q@Y:?_@:=9:!>y:H`Դ? 'Tֿʭ6?|&?ܓ?ɨ:Q@:a;;8yF͇BF 'IININʴ4٢b bK=9fFcQ f>dd fG٣hyjc< j> nNusing accuracyPremultiplier from configlv49n›?v4YnE inZ]Btz:z0@nDn}0;n0;n4~B ~@~aEB*** querying acoustic contact ***jjZj)-FNOT Ignoring new targets: 533.10 m.Bj5];Jj5];E ProNav: ac range: 533.099976 m, nav range: 32.907433 m, bearing: 208.151799 deg, approach rate: -0.680701 m/s, LOS rate: 0.310126 deg/s, cmd heading: 201.102708 deg, new cmd heading: 201.478224 deg. 2jET Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263555'w,AAJ4R@YJ?S`@JJ=9J?">yJH .#?lֿ™:? @?Œ?ɨJ4R@J;JCy-B-&IjHe<bHe<Hm4>Ii Imt'IIm%BIm' =&Ii.Im6D6Im<:Im F}Mb@Mb@Mb@yyy y)yY}I +?{GzMby}94?}ף}}A y)}\ AI}Ayy}G AII.4٢w 0=9vC9Q > G٣yq< > Nusing accuracyPremultiplier from config49›?4Y#H iD]Be5?:80@D;w;:4B @dEZjFNOT Ignoring new targets: 533.10 m.Bj p;Jj p; ProNav: ac range: 533.099976 m, nav range: 32.588120 m, bearing: 208.288042 deg, approach rate: -0.687628 m/s, LOS rate: 0.296267 deg/s, cmd heading: 201.478218 deg, new cmd heading: 201.890942 deg. 2jSK<%HeadingCmd: 3.523662 target range: 533.099976 and range: 533.10 m. j%a@j!j!j!i!h)h)h1h5ΈBf1f1f1rf9bf=@bL@ɛmBmNP< iu'оIq u =ɚqiqIuL:JqJqJue1<Juf1<Juo;Jup;GUG B O >'w,_'ANrR@YN`@N=9N#>yNH@@Ff?ŖR ׿J L?T _??ɨNrR@Nl;NCy^B^&I)` `IjIjs4٢rG vk=9~Q > G٣EGyg< > -Nusing accuracyPremultiplier from config)549-e›?54Y-I i-2]B9=8=0@-D-;--;-h4EB E @EgEZji}FNOT Ignoring new targets: 533.10 m.Bj;Jj; ProNav: ac range: 533.099976 m, nav range: 32.345062 m, bearing: 208.391315 deg, approach rate: -0.688737 m/s, LOS rate: 0.294838 deg/s, cmd heading: 201.890939 deg, new cmd heading: 202.203083 deg. 2jXJ<HeadingCmd: 3.529109 target range: 533.099976 and range: 533.10 m. ja@jjjihhhhfffrfbfMR@Y2a@2}=92Jc$>y2Hy? 򶷿 &w׿}t@OQ?3Ar?@ ?ɨ2>R@2PR;2CyrBr&IuMb@Mb@Mb@qqq q)qYu7A`?)\({Gzyu6?uGau#uA u@)u AIu3Aqyu= AIIЬ4٢a ?=9Q > G٣y>< > Nusing accuracyPremultiplier from config49"›?4Y.L i]B7?:50@D;;ʤ4 "@ZjFNOT Ignoring new targets: 533.10 m.Bj ;Jj ; ProNav: ac range: 533.099976 m, nav range: 32.049206 m, bearing: 208.495108 deg, approach rate: -0.699471 m/s, LOS rate: 0.247655 deg/s, cmd heading: 202.203079 deg, new cmd heading: 202.517328 deg. 2j)<%HeadingCmd: 3.534594 target range: 533.099976 and range: 533.10 m. j%6b@j!j)j)i)hhhhňBfffrfbfSL@ɛ5B50s; 9=I9 ==ɚ9i9IE5('w,ٟAReS@YRa@R*%=9R#>yRH@˜@Շ?q@&ؿ@R`? XJ?H?ɨReS@R;R"CyZzBZ&IIbIb4٢j jY=9nŞQ n>pp rG٣pyrm< v>zK~BoHK~ 9K|K~K~  Nusing accuracyPremultiplier from config|49~x›?4Y~`N i~]B50@~ŲD~;~ ;~g4%B % @%jE E$?IA]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.527247ZjQmFNOT Ignoring new targets: 533.10 m.Bjm;Jjm;} ProNav: ac range: 533.099976 m, nav range: 31.783560 m, bearing: 208.584257 deg, approach rate: -0.695926 m/s, LOS rate: 0.235500 deg/s, cmd heading: 202.517322 deg, new cmd heading: 202.787002 deg. 2j!<HeadingCmd: 3.539301 target range: 533.099976 and range: 533.10 m. jb@jjjihhhhfffrfbf@"M@ɛB02G I U?=ɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:47:42.4436  TRx dataTimestamp_ set to:1736372863.701345% checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780888R'w,AFT@YF56b@F =9Fyt$>yFH?F?T~ؿ-?ZE?Tt??ɨFT@FD;FCyRiBR&IiV=IV<IZIZV4٢ F=9TQ >!! %G٣%EGy-Zd< -> 5Nusing accuracyPremultiplier from config1=495g›?=4Y5P i5\B9E4E0@5βD5 ;5%;54MB UJ@UoEmB*** querying acoustic contact ***jijiZjyFNOT Ignoring new targets: 533.10 m.Bjņ;Jjņ; ProNav: ac range: 533.099976 m, nav range: 31.494764 m, bearing: 208.679766 deg, approach rate: -0.706072 m/s, LOS rate: 0.235649 deg/s, cmd heading: 202.787005 deg, new cmd heading: 203.076156 deg. 2j!<HeadingCmd: 3.544348 target range: 533.099976 and range: 533.10 m. jb@jjjihhhhfffrfbf`VM@ɛB] I D=ɚiIW =II/iZsi$ּ)b@)E Y>E >*F?2F:FBF^0JF M$?IY}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034462GռGBOF> Y y ?B% Will construct direction to contact in vehicle frame from tetrahedron phase data.M DAT read: Range 10 to 50 : 566.1 m (Round-trip 754.9 ms) speed -0.5 m/s 9(w, A,DAT read: user:2062> BDAT read: Tx time:21:47:43.5346 $Ping request sent.yfH {@F-? ؿ`- a?h렿Ù??ɨflT@fl;f"CH3>IC I'IIهBI&I.I6II<:I) Fy=\B=~&ImMb@Mb@Mb@iii i)iYml? G٣y9< > Nusing accuracyPremultiplier from config549M›?=4YS i\B=7?E:E2E0@ٲD6<|6<4MB m2@urE addTargetRange:: Added new target pos. range: 566.099976 m, deltaT: 59.020896 s, deltaX: 33.000000 m, approachRate: 0.559124 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 533.10 m.BjX;JjX;5 ProNav: ac range: 533.099976 m, nav range: 31.168329 m, bearing: 208.770435 deg, approach rate: -0.674630 m/s, LOS rate: 0.189345 deg/s, cmd heading: 203.076154 deg, new cmd heading: 203.351008 deg. 2j5G B! O= >X (w,3'A2KT@Y2b@2^<92:$>y2H@j?@Kٿ@?ꟿHn??ɨ2KT@2 ;2CyN@BN[&IIfIf 4٢v' vq=9zQ ~?|| G٣y s~<  ? Nusing accuracyPremultiplier from config-49:›?-4Y V i\B)5I250@D;^;^;4A E@AZjIMFNOT Ignoring new targets: 533.10 m.BjU6^;JjU6^;e ProNav: ac range: 533.099976 m, nav range: 30.926191 m, bearing: 208.836528 deg, approach rate: -0.706199 m/s, LOS rate: 0.194272 deg/s, cmd heading: 203.351015 deg, new cmd heading: 203.550847 deg. 2jeS<HeadingCmd: 3.552633 target range: 533.099976 and range: 566.10 m. jU^c@jjjihhhhfffrfbfu? Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ-B-̀y 15.I1 ==ɚ9i9I=#=IE_.iE気i=Ǽ)U^c@)*F2F:FBF_0JFGE ټG! BQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. I O >;(w,@A:gT@Y: c@:Q[<9:%>y:H `?``,Mٿ?:ʞ e?`[?ɨ:gT@:;:CyF*BF@&I)L L%Mb@Mb@Mb@!!! !)!Y%/$?q= ףp?`"?y%%=%`@ %I@)%rAI%A!y%@I5I54٢E'ֽ ME=9M..Q M>QQ UG٣UEGyUC; ]> mNusing accuracyPremultiplier from configam49e(›?u4Ye] ie#]Bu`?ur:u u0@eDe;e8;e4B t@uEZjFNOT Ignoring new targets: 533.10 m.BjdQJjdQ ProNav: ac range: 533.099976 m, nav range: 30.604240 m, bearing: 208.556012 deg, approach rate: -0.831667 m/s, LOS rate: -0.732253 deg/s, cmd heading: 203.550852 deg, new cmd heading: 202.700517 deg. 2jDHeadingCmd: 3.537791 target range: 533.099976 and range: 566.10 m. j-kb@jjjihQhYhYh]BfYfafarfabfe Yk?ɛ*B= (9I =ɚiI=I/iiN)-kb@)E9*F?2F:FBFJF%Will construct direction to contact in vehicle frame from tetrahedron phase data.H%2>I! I%&II%BI!&I!.I!6I%<:I%s FBIJIƝCRIZI( =bIjI4GcʼG B O >f(w,8ZA2q.U@Y2Mc@2,<92>y2HVJ? :ٿ@K@z? >Y?`?ɨ2q.U@2V?;2CyBBB)&IIJIJh4٢R,Ľ RU=9VpQ V>TT ZG٣XyZ< Z> bNusing accuracyPremultiplier from config\b49^w›?f4Y^d i^e]Bdf f0@^D^:^:^4h j@lZj FNOT Ignoring new targets: 533.10 m.Bj ^IJj ^I ProNav: ac range: 533.099976 m, nav range: 30.306881 m, bearing: 208.289069 deg, approach rate: -0.776815 m/s, LOS rate: -0.704196 deg/s, cmd heading: 202.700521 deg, new cmd heading: 201.891891 deg. 2j%񼝊%HeadingCmd: 3.523678 target range: 533.099976 and range: 566.10 m. j%a@j)j)j)i)h)h)h1h1f1f1f9rf9bf=`,?ɛe)Bm = imIi mK=ɚq $?IChWill construct direction to contact in vehicle frame from tetrahedron phase data.iqI6=IÛ0ii;)a@)zKK9KKKBKEpA:KEmA*Fu?2Fq:FqBFu~0JFqGMD&GMrAGMnAG B1O8>m Will construct direction to contact in vehicle frame from tetrahedron phase data.p(w,MtA6@U@Y6A_c@6<96>y6H~R@?lٿ?ќ _?:?ɨ6@U@6O;4y^B^!&IIfIf:4٢n rF=9rQ r>tt vG٣tyve0; z> ~Nusing accuracyPremultiplier from config|49~›?4Y~)l i~]B 0@~D~":~C:~4B @xE-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 533.10 m.BjE.NJjE.N] ProNav: ac range: 533.099976 m, nav range: 29.987629 m, bearing: 207.995431 deg, approach rate: -0.775669 m/s, LOS rate: -0.721027 deg/s, cmd heading: 201.891895 deg, new cmd heading: 201.001679 deg. 2j]jeHeadingCmd: 3.508141 target range: 533.099976 and range: 566.10 m. jeb`@jajajaiihihihihifqfqfqrfybf}?ɛ!%G= !-0DI) -8=ɚ)iIIu=I}T1iyi}|<)}b`@)*F92FA:FABFM0JFI $?IDhWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.JJJJJ:J>L:JJa@a@a@a@G% JG B O% >y#(w,A"Will construct direction to contact in vehicle frame from tetrahedron phase data. i &checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020088>pbU@Y>c@>D<9> >y>HK 7 ?lٿ`g?@眿 L? ?ɨ>pbU@>v;<Hb1>I` Ib&IIbsBIb) =&I`.I`6Ib]<:Ib7 FynBn&Iir=IrV> Mb@Mb@Mb@    ) Y V-?9A EG٣EEGyE>; E> UNusing accuracyPremultiplier from configI]49M:?]4YMo iM]B]??]:]-e0@M DM$;M/#;M4mB m@m{EZjFNOT Ignoring new targets: 533.10 m.Bj:Jj: ProNav: ac range: 533.099976 m, nav range: 29.654062 m, bearing: 208.036183 deg, approach rate: -0.745775 m/s, LOS rate: 0.092135 deg/s, cmd heading: 201.001676 deg, new cmd heading: 201.125305 deg. 2j|;HeadingCmd: 3.510299 target range: 533.099976 and range: 566.10 m. j`@jjjihhhhCBfffrfbf [@ɛ}B}E}= 隅PI =ɚiI=Iv1ii;<)`@)EEpA*F2F:FBF0JFG]?:GB!OEr> }$?IyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271728zKuBHKu9KqKuKuRK>JK?)(w,qABzU@YBc@B\<9Bt>yBH@FE:?FٿA?j ??ɨBzU@B~;BCyRBV%II=I=m4٢Uý UY=9]Q ]>aa eG٣aymȁ; m> }Nusing accuracyPremultiplier from configy49}?4Y}r i}]B-0@}D}:}G:}4B @|EZjFNOT Ignoring new targets: 533.10 m.Bj:Jj: ProNav: ac range: 533.099976 m, nav range: 29.372375 m, bearing: 208.070497 deg, approach rate: -0.745339 m/s, LOS rate: 0.091665 deg/s, cmd heading: 201.125302 deg, new cmd heading: 201.229231 deg. 2j{;HeadingCmd: 3.512113 target range: 533.099976 and range: 566.10 m. jt`@jjjihhhhfffrfbf@@ɛ)- r = 150I1 5qo=ɚ1i9I=j=I=BY1iEiiEz0<)Et`@)AUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524663*FI2FI:FIBFMP5JFIG%<G-?G->GBOL> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780474J J J 1J J J W:J 3J 0(w,` A>U@Y>c@><9>>y>H =B@%V?ҵAٿC?/b@ ??ɨ>U@>+;>Cy B%IMb@Mb@Mb@ )Y'1Z?A`"?y&1|?yB?Y=`;SA )AIAy AII4٢ A=9Q > G٣y[; > Nusing accuracyPremultiplier from config49? 4Yv i]B KC? : *0@ D&;z%;{4B m@EZjAEFNOT Ignoring new targets: 533.10 m.Bj~49Jj~49 ProNav: ac range: 533.099976 m, nav range: 29.050667 m, bearing: 208.074603 deg, approach rate: -0.764275 m/s, LOS rate: 0.009862 deg/s, cmd heading: 201.229230 deg, new cmd heading: 201.241684 deg. 2j9HeadingCmd: 3.512330 target range: 533.099976 and range: 566.10 m. j`@jjjihh h h 7Bf ffrfbf u@ɛEBE= AE YII M==ɚIiIIMʦ=IUU1iU{ӕiU?f<)U`@)*F2F:FBFJFUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.027769HI Ia&IIEBI( =&I.I6I<:I_ FG5 <G B! OE >6(w,ܠA6U@Y6*c@6<96>y6HB@g]?/ٿ@c?`T |E??ɨ6U@6vɎ;6CyBنBB%I)D DIJIJ~4٢V Va=9VQ V>XX ZG٣ZEGy^j ^> bNusing accuracyPremultiplier from config`f49b?f4Yb2z ib]Bdf*j0@b)Db:b:b4rB r@rEZj FNOT Ignoring new targets: 533.10 m.Bj(69Jj(69 %$?I!5 ProNav: ac range: 533.099976 m, nav range: 28.774494 m, bearing: 208.078185 deg, approach rate: -0.760098 m/s, LOS rate: 0.009953 deg/s, cmd heading: 201.241688 deg, new cmd heading: 201.252538 deg. 2j59EHeadingCmd: 3.512519 target range: 533.099976 and range: 566.10 m. jE`@jAjAjAiAhAhAhIhIfIfIfQrfQbfU7 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279543ɛg= I  n =ɚ i I =IR1zKk3IKh9KKK*Yk_D* i%MWi%ى<)-`@))E=e>E=>*F?2F:FBF_0JFG)ş<GBO >m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531649<(w,GA^vU@Y^%c@^l<9^ >y^HGL?qٿ3 *X?ਓ?.?ɨ^vU@^;^CynΆBn%IIzIz94٢~S D=9:Q >    G٣ yXy > Nusing accuracyPremultiplier from config%495?%4Y~ i]B!%6*%0@3Dȕ<<4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 533.10 m.Bj\9Jj\9 ProNav: ac range: 533.099976 m, nav range: 28.456268 m, bearing: 208.083349 deg, approach rate: -0.734924 m/s, LOS rate: 0.012061 deg/s, cmd heading: 201.252535 deg, new cmd heading: 201.268202 deg. 2jp:HeadingCmd: 3.512793 target range: 533.099976 and range: 566.10 m. j`@jjjihh!h!h!f)f)f1rf1bf5 @ɛY],< aeHIa e=ɚaiiIm=ImN1iu忔iup<)u`@)q*F?  $?I2F:F)BF1JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:47:46.6974 TRx dataTimestamp_ set to:1736372868.005602checking for new query: numPingsReceived=0, elapsed TxPingTime=3.792185JK3 K.-KK"KJJJ0JJ[:JH:Jـ3JG<G qAG rAG B O >3C(w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035766ZH0RH2?AH4I4 I66&II6"BI6) =&I4.I46I6<:I6Z FNwhU@YNc@N^<9Nw>yNHJlG? 6ٿ}?`ꪜ\??ɨNwhU@N;NCyZĆBZ%IMb@Mb@Mb@ )Y)\(?)\(? rh?yGA?Ga=C<A QA)I`Ay AII[4٢B <=909Q >    G٣ y* > %Nusing accuracyPremultiplier from config-49z?-4Y i]B-A?-:-,*50@>D 7;3&;4=B =j@EEZj)UFNOT Ignoring new targets: 533.10 m.Bj]tR9Jj]tR9 ProNav: ac range: 533.099976 m, nav range: 28.126715 m, bearing: 208.088389 deg, approach rate: -0.743281 m/s, LOS rate: 0.011500 deg/s, cmd heading: 201.268203 deg, new cmd heading: 201.283499 deg. 2j9HeadingCmd: 3.513060 target range: 533.099976 and range: 566.10 m. j`@jjjihhhh%Bfffrfbf{@ɛ%B%< I P=ɚiIq=II1ii}<)`@)*F2F:FBFJF  $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 568.9 m (Round-trip 758.6 ms) speed -0.6 m/s ,DAT read: user:2063> BDAT read: Tx time:21:47:47.7846 $Ping request sent.:I(w,)AVsyVH DS!?ϳ`ьٿ#@7h? C?5?ɨVs   G٣ EGy @  > Nusing accuracyPremultiplier from config%49e?%4Y i]B!%W*%0@GD::-4-B 5@5E addTargetRange:: Added new target pos. range: 568.900024 m, deltaT: 4.298772 s, deltaX: 2.800049 m, approachRate: 0.651360 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 533.10 m.Bj9Jj9- ProNav: ac range: 533.099976 m, nav range: 27.846075 m, bearing: 208.094282 deg, approach rate: -0.772574 m/s, LOS rate: 0.016385 deg/s, cmd heading: 201.283503 deg, new cmd heading: 201.301358 deg. 2j-3:UHeadingCmd: 3.513371 target range: 533.099976 and range: 568.90 m. jU`@jQjQjQiYhYhYhYhafafafarfe@3ǁ@bfm ?ɛ,< LI 1 =ɚiI=ID1i 85Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:21:47:47.7838 i  R<)`@)E*F!2F!:F!BF%`0JF!GA  I G) BQ O} > Will construct direction to contact in vehicle frame from tetrahedron phase data.Ja Je BAJ J J 1J J :J ,J:J 3J 0P(w,OCAzU@YzA7c@z<9z >yzH`Zv?Ylٿ ,ۺ?n)?8?ɨzU@zߌ;zCyɆB%IMb@Mb@Mb@ )Yx&1?X9v?{Gz?yA@?}=ף<A A)rAI AyQ AII4٢ >=9Q > G٣yQ > Nusing accuracyPremultiplier from config49qM?4Y i]B@?:)0@QD&;%;4B D@EZj%FNOT Ignoring new targets: 533.10 m.Bj-8Jj-8= ProNav: ac range: 533.099976 m, nav range: 27.521240 m, bearing: 208.096554 deg, approach rate: -0.786376 m/s, LOS rate: 0.005567 deg/s, cmd heading: 201.301357 deg, new cmd heading: 201.308255 deg. 2j=t9=HeadingCmd: 3.513492 target range: 533.099976 and range: 568.90 m. jE `@jAjAjAiAhIhIhIhM:BfQfYfYrfYbf]@,?ɛB <  HԽI  =ɚ i IV=IB1i{'i 7<) `@)9) )MtAmA YtAy>B*F?2F:FBF0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.HU.>IQ IU&IIUBIQ&IQ.IQ6IU<:IUn FGiG<G ?G >G B O >W(w,Mg]A6T@Y6+b@67<96 %=y6H k&?U`ٿ?1?替Em?@?ɨ6T@6`n;6C f $?Idyj͆Bn%IIvIv4٢~ʩ< ~Y=9Q > G٣ y \  > Nusing accuracyPremultiplier from config%49B8?%4Y i]B!%6*-0@ZD3;3;I41 5@1ZjaeFNOT Ignoring new targets: 533.10 m.Bjms9Jjms9} ProNav: ac range: 533.099976 m, nav range: 27.237545 m, bearing: 208.101532 deg, approach rate: -0.750848 m/s, LOS rate: 0.013313 deg/s, cmd heading: 201.308255 deg, new cmd heading: 201.323345 deg. 2j}.:HeadingCmd: 3.513755 target range: 533.099976 and range: 568.90 m. j^`@jjjihhhhfffrfWill construct direction to contact in vehicle frame from tetrahedron phase data.bfa#?ɛBQ< ƽI f=ɚiIx=IW>1iǒi|K;)^`@)zKuBIKqKqKuKu  *F]?2FY:FYBF]_5JFYGY=<GqByO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.,](w,-BwA:}T@Y: b@:<9:R=y:H s?k`uؿH@?O֛`0???ɨ:}T@:ҋ;:Cy^ˆBb%I)` `IjIj 4٢r rL=9rQ v>tt vG٣tyz z> ~Nusing accuracyPremultiplier from config|49~!?4Y~ i~]B  b* 0@~dD~;~;~I4B W@EZjIMFNOT Ignoring new targets: 533.10 m.BjUd9JjUd9e ProNav: ac range: 533.099976 m, nav range: 26.935490 m, bearing: 208.108698 deg, approach rate: -0.753471 m/s, LOS rate: 0.018074 deg/s, cmd heading: 201.323350 deg, new cmd heading: 201.345088 deg. 2jexF:mHeadingCmd: 3.514135 target range: 533.099976 and range: 568.90 m. jm`@jijijiiihqhqhqhqfffrfbf?ɛEBE< IMѽII M =ɚIiIIMw=I 81ibin;)`@)EErA  $?IEhWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBFO5JF9Ge &;G9 BQ Om >] Will construct direction to contact in vehicle frame from tetrahedron phase data.Hi Ii  Im &IIm BIm * =&Ii .Im 5D6Im ɰ<:Im FBI%̝CJI!RI!ZI%) =bI%) =jI%̌44d(w,Af>rT@Yfb@f<9f=yfH`zr?` @ؿ`pRـ?'ľ?$?ɨf>rT@f:;fCyrӆBr%IuMb@Mb@Mb@qqq q)qYuMb?{Gz?S㥛?yu@?u#=u/ G٣EGy   > Nusing accuracyPremultiplier from config49?4Y i]B%@?%:%u,%0@oDa;;$4-B -@-EuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 533.10 m.Bjע:Jjע: ProNav: ac range: 533.099976 m, nav range: 26.598026 m, bearing: 208.140468 deg, approach rate: -0.746640 m/s, LOS rate: 0.071184 deg/s, cmd heading: 201.345084 deg, new cmd heading: 201.441604 deg. 2jiC;HeadingCmd: 3.515819 target range: 533.099976 and range: 568.90 m. j/a@jjjihhhhNBfffrfbf?ɛB< 隕I =ɚiI{=I1iiڕ:)/a@)*Fa2Fa:FaBFe05JFa $?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.JJJ0JJ[:JB:Jـ3JJ+JK>G ;G G pAGa B O >5_j(w,A2GHT@Y2fb@2;<92v=y2HI?`F`ؿ[J9?/Y?`?ɨ2GHT@2 ;0yJBJ%IInIn4٢v= v]=9z;Q z>xx ~G٣|y~ ~>  Nusing accuracyPremultiplier from config 49?4Y i]B,0@xD":; ;*4 %@!ZjIMFNOT Ignoring new targets: 533.10 m.BjUɳ:JjUɳ:e ProNav: ac range: 533.099976 m, nav range: 26.319828 m, bearing: 208.168810 deg, approach rate: -0.763358 m/s, LOS rate: 0.078591 deg/s, cmd heading: 201.441608 deg, new cmd heading: 201.527533 deg. 2jeW;mHeadingCmd: 3.517319 target range: 533.099976 and range: 568.90 m. jua@jqjqjyiyhyhhhfffrfbft@ɛBw< 0|I =ɚiIz=I1i0̑i[)a@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265974*F?2F:FBF_0JFG:GaBiO8> m $?Iq  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516851uKq(w,;nšA^ 9T@Y^Wb@^=9^%=y^H_;?@ؿ_cٸ?c4B?@n?ɨ^ 9T@^;^CyfBj%Iin0>IlMb@Mb@Mb@ )YZd;?~jth?X9v?y>?D;<&A A)AI Ay AII4٢({< ==9;Q > G٣y > Nusing accuracyPremultiplier from config49?4Y i]B$??:/0@D ;;&24B @EZj)5FNOT Ignoring new targets: 533.10 m.Bj5.9;Jj5.9;E ProNav: ac range: 533.099976 m, nav range: 25.997992 m, bearing: 208.238224 deg, approach rate: -0.741458 m/s, LOS rate: 0.161899 deg/s, cmd heading: 201.527532 deg, new cmd heading: 201.738352 deg. 2jE8;MHeadingCmd: 3.520998 target range: 533.099976 and range: 568.90 m. jM Xa@jIjIjQiQhQhQhYh]BfYfYfYrfabfe@rD@ɛBu= 隕8jI X=ɚiIy=I0iui) Xa@)EN>E>*F%?2F!:F!BF!JF!H->I I&II BI&I.I6I<:Im FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768941GE:G! B) OM > Q IQ yvw(w,MߡA>T@Y>27b@>Z=9>=y>HX ? *Q{ؿfZ?`h^??ɨ>T@>;>CyJBJ%IIPIP٢Z= ^]=9^;;Q ^>`` bG٣bEGyb f> jNusing accuracyPremultiplier from confighn49j.?r4Yj ij]Bpr/r0@jDj0;j0;j84zB z@zEZjFNOT Ignoring new targets: 533.10 m.Bj%A;Jj%A;5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020979= ProNav: ac range: 533.099976 m, nav range: 25.723694 m, bearing: 208.299997 deg, approach rate: -0.743348 m/s, LOS rate: 0.169190 deg/s, cmd heading: 201.738352 deg, new cmd heading: 201.925647 deg. 2jE:;EHeadingCmd: 3.524267 target range: 533.099976 and range: 568.90 m. jEa@jIjIjIiIhQhQhQhQfYfYfarfabfe@ >@ɛB = 隝I B=ɚiI,w=I0i*tJJJJJ:JC:JJJX-<JY-<JE;JE;i&)a@)zK^LK 9KKKBKqA:KrA*Fe?2Fa:FaBFaJFaG=QpGB1OU2>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273033n}(w,^A2T@Y22b@2=92,=y2H J?`k{ؿ`f@? ??ɨ2T@2v;2CyBBB%IIJIJ4٢f۝ jJ=9jZ:Q j>ll nG٣lyr<8 r> vNusing accuracyPremultiplier from configtz49v?z4Yv  iv]Bxz/z0@vDv:v;v?4B =@EZjFNOT Ignoring new targets: 533.10 m.Bj?;Jj?; ProNav: ac range: 533.099976 m, nav range: 25.422493 m, bearing: 208.369590 deg, approach rate: -0.716248 m/s, LOS rate: 0.167451 deg/s, cmd heading: 201.925650 deg, new cmd heading: 202.136901 deg. 2j;HeadingCmd: 3.527955 target range: 533.099976 and range: 568.90 m. ja@jjjihhhhfffrfbf%@ @ɛB5= 隍I $?I M#=ɚQiQIUw=I]U0i][i]+EV)ea@)a]Will construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.528654*F?2F:FBF`0JFG G B O >H ,>I C I 6&II "BI &I .I 6I <:I F Will construct direction to contact in vehicle frame from tetrahedron phase data. i  BDAT read: Rx Time:21:47:50.9414  TRx dataTimestamp_ set to:1736372872.285557 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778856 (w,dAyޕBޕ&I)  =R=Mb@Mb@Mb@ )Y +?Mby&1?y6?`<A A)AIyAII\4٢d= ,=9Q > G٣y   > Nusing accuracyPremultiplier from config49?4Yƣ i7?%:%3%0@D;@;G4) -C@1UB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 533.10 m.Bjem;Jjem;} ProNav: ac range: 533.099976 m, nav range: 25.086763 m, bearing: 208.486683 deg, approach rate: -0.729351 m/s, LOS rate: 0.257781 deg/s, cmd heading: 202.136908 deg, new cmd heading: 202.492882 deg. 2j}0<HeadingCmd: 3.534168 target range: 533.099976 and range: 568.90 m. j/b@jjjihhhhBfffrfbf/E@ɛB= IMII MF=ɚIiIIUo=IU/i][i])]/b@)YEi $?I*F2F:FBFn0JFGhA]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.029123GBJJJJJJG:JJJJJ;J;O>zK BHK 9K K K RK5 ?JK5 ?i(w,,AyB&II-I-4٢=D&< Ek=9AQ E?II MG٣MEGyI M? ]Nusing accuracyPremultiplier from configQe49U}?e4YU iQaae0@UDU[;U;U N4mB u?@uEZjFNOT Ignoring new targets: 533.10 m.Bjd;Jjd; ProNav: ac range: 533.099976 m, nav range: 24.841461 m, bearing: 208.574263 deg, approach rate: -0.709949 m/s, LOS rate: 0.255974 deg/s, cmd heading: 202.492883 deg, new cmd heading: 202.758214 deg. 2j/<HeadingCmd: 3.538798 target range: 533.099976 and range: 568.90 m. j{b@jjjihhhhfffrfbf@ɛ-BWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:47:50.9414 LVL= 20416, 23393, 22242, 30579, AGC= 70, IDX= 453, 0.11,-2.141,-0.709,-3.034,-2.396, PHS= 0.343, 1.734,-0.640, RAW= 354.3, -13.8, CAL= 355.0, -19.0, ROT= 155.0, 19.0 Ygot valid direction response: 21:47:50.9414 LVL= 20416, 23393, 22242, 30579, AGC= 70, IDX= 453, 0.11,-2.141,-0.709,-3.034,-2.396, PHS= 0.343, 1.734,-0.640, RAW= 354.3, -13.8, CAL= 355.0, -19.0, ROT= 155.0, 19.0 PDAT read: Bearing 155.0, 19.0 (Local) ~Local bearing/azimuth received: Bearing 155.0, 19.0 (Local)  DAT read: Range 10 to 50 : 564.4 m (Round-trip 752.6 ms) speed -0.6 m/s ,DAT read: user:2064> BDAT read: Tx time:21:47:52.0346 %$Ping request sent.%ٵ?ٵ #ٵ@ٵϢv ڵD@)ڵɩIڵ"-@iڵɩ>ڱڱ۵WNNZ!>鿼0 ΐο)۵^ I۵+v>i۵ښ?۵=۱۱E:publishing transmit ping timeMFpublishing direction and range infoر9صK @q?r?Ѿ`Xgyرررر ٱ)ٱIٱiٱٱٱٱٱ ڱ)ڱIڱiڱڱڱ۵WNNZ!>鿼0 ΐο)۱I۱i۱۱۱۱m= 隍I =ɚiIKj=I /iFii){b@)*FU?2FQ:FQBFU0JFY $?IGm RG) B9 OM >m Will construct direction to contact in vehicle frame from tetrahedron phase data.u JDAT read: TxSync time:21:47:52.0338 (w,pFA-4T@Y-Sb@-e=9-R>y-HK(?整/ؿ[@?`?`#?ɨ-4T@-"\;-Cy}Bޅ&IEMb@Mb@Mb@AAA A)AYEtV?{Gz/$?yE2?EףEyy }G٣yy}; > Nusing accuracyPremultiplier from config49d?4Y; i]B3?:H70@DL;;U4B *@Ek7u(Ǜ?k07"KB k k3o2A:k DBk! DZkX@"Zh@NHb@CMPK @q?r?Ѿ`XgJkښ?Rk=*+pt4@P0`dj]e`-IŢ?Q\zk"k *kAk]t4Ǜ?kIYB 2koBk6g?kkk4nAkT́@ addTargetRange:: Added new target pos. range: 564.400024 m, deltaT: 4.284093 s, deltaX: -4.500000 m, approachRate: -1.050397 m/s, rangeRepo size: 4  Added new target pos. range: 564.400024 m, bearing: 272.101413 deg, lat: 36.899124 deg, lon: -122.118304 deg, deltaT: 67.603761 s, deltaX: 31.300049 m, approachRate: 0.462993 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 564.40 m.BjJju ProNav: ac range: 564.400024 m, nav range: 14.887854 m, bearing: 232.402695 deg, approach rate: 0.000000 m/s, LOS rate: 0.255974 deg/s, cmd heading: 202.758209 deg, new cmd heading: 203.103857 deg. 2jq}HeadingCmd: 3.544831 target range: 564.400024 and range: 564.40 m. j}b@jyjyjyiyhhhhBfffrf@3@bfj?ɛ% B%$b= 9E/IA E1=ɚAiAIEh=IM2A/iMiM0ͼ)Mb@)QHiIi ImO&IIm6BIi&Ii.Ii6Imð<:Im~ FWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF1JFG~FG ?G ?GBO> $?I "(w,@`A:QT@Y:pb@:{W =9:=y:H IL?`˳ 2ؿ`Y`8?*q? ?ɨ:QT@:.;:CyvBv &Iiz!! -G٣)y-; -> =Nusing accuracyPremultiplier from config1=495$P?=4Y5 i5]BAE*7E0@5D5 ;5";5\4Q ]@YZjyFNOT Ignoring new targets: 564.40 m.Bj<Jj<JJJJJ[:JB:JJJ+<J+<J`;J`; ProNav: ac range: 564.400024 m, nav range: 14.684897 m, bearing: 232.988299 deg, approach rate: -0.570635 m/s, LOS rate: 1.669222 deg/s, cmd heading: 203.103858 deg, new cmd heading: 204.884346 deg. 2j2=HeadingCmd: 3.575907 target range: 564.400024 and range: 564.40 m. jd@jjjihhhhfffrfbfP?ɛ B:= @#Will construct direction to contact in vehicle frame from tetrahedron phase data.:(w,TzA6eGT@Y6fb@6i=96ׁ>y6H+@:? aؿV? \B?`?ɨ6eGT@6c;6Cy^ Bb&IIjIjt4٢r rN=9rQ r>tt vG٣vEGyzԺ z> ~Nusing accuracyPremultiplier from config|49~9?4Y~ i~]B 67 0@~³D~ ;~:~c4B -@EZjFNOT Ignoring new targets: 564.40 m.BjV<JjV< ProNav: ac range: 564.400024 m, nav range: 14.463960 m, bearing: 233.650902 deg, approach rate: -0.531402 m/s, LOS rate: 1.618007 deg/s, cmd heading: 204.884351 deg, new cmd heading: 206.901645 deg. 2j͊=HeadingCmd: 3.611115 target range: 564.400024 and range: 564.40 m. jg@jjji h h h h fffrfbf?ɛM BM q= IUIQ ]+=ɚYiYI]Z=Ie+iaie)eg@)i }$?Iy-Will construct direction to contact in vehicle frame from tetrahedron phase data.*F12F1:F1BF=_0JF9GeoGyBOg>~G|uAA  Y |uAy BjHa bHa Hm *>Ii  Im a&IIm EBIi &Ii .Ii 6Im <:Im s F Will construct direction to contact in vehicle frame from tetrahedron phase data.Ф(w,<2A6h]T@Y6 |b@6d=96 >y6H~E?@} ؿ Ky?렿0?J?ɨ6h]T@6x);6CybBb&IUMb@Mb@Mb@QQQ Q)QYU|?5^?A`"I +?yU-?UٽU94 G٣yN; > Nusing accuracyPremultiplier from config49!?4Y i]B/?:90@̳D;f;|j4B r@EZjFNOT Ignoring new targets: 564.40 m.Bj =Jj =  ProNav: ac range: 564.400024 m, nav range: 14.239773 m, bearing: 234.406991 deg, approach rate: -0.551481 m/s, LOS rate: 1.889141 deg/s, cmd heading: 206.901648 deg, new cmd heading: 209.204317 deg. 2j =HeadingCmd: 3.651304 target range: 564.400024 and range: 564.40 m. ji@jjjih!h!h!h%Bf)f)f)rf)bf-@?ɛ]B]o = Y]`rIY e =ɚaiaIeT=Im)iiimRŽ)mi@)q*F)2F):F)BF)JF) iIi=Will construct direction to contact in vehicle frame from tetrahedron phase data.G &G! G% qAzKm BoIKm 9Ki Km Km )uU${hVG;3)" G B O5 >,(w, A27T@Y2b@2 =92>y2H"l`v?6 ?ٿ`#5? h?f?ɨ27T@2Ë;0y:B:&I)@ @InIn4٢vi vU=9v;Q z>xx zG٣xy~$k< ~> Nusing accuracyPremultiplier from config 49+ ? 4Y i]B@90@ԳD::*q4B >@%E=B*** querying acoustic contact ***jAjAZjamFNOT Ignoring new targets: 564.40 m.Bjm=Jjm= ProNav: ac range: 564.400024 m, nav range: 14.040471 m, bearing: 235.099155 deg, approach rate: -0.516664 m/s, LOS rate: 1.819774 deg/s, cmd heading: 209.204323 deg, new cmd heading: 211.309293 deg. 2j=HeadingCmd: 3.688043 target range: 564.400024 and range: 564.40 m. jl@jjjihhhhfffrfbfP?ɛB8= @$I  =ɚiIZ=I&ii)l@)EY>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?2F:FBF`0JFGu=GABIOe4> U$?IYE Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254727J J J J J J J J @:J J a @a @a @a @(w,jǢA]U@Y]I/c@]=9]W>y]H>Z@?E'cٿ`?;? ?:?ɨ]U@]y;]CyޕBޕ&I]Mb@Mb@Mb@YYY Y)YY]/$?Q{Gzty],?]]ף]hA ]A)YI]t AYy]pAIuIuݜ4٢' 3=9;Q > G٣EGy~C< > Nusing accuracyPremultiplier from config49?4Y ir]B.?::0@޳D(; ;'y4B @EZjamFNOT Ignoring new targets: 564.40 m.Bjm=Jjm=} ProNav: ac range: 564.400024 m, nav range: 13.809484 m, bearing: 235.958375 deg, approach rate: -0.490623 m/s, LOS rate: 1.855467 deg/s, cmd heading: 211.309292 deg, new cmd heading: 213.928145 deg. 2j},=HeadingCmd: 3.733751 target range: 564.400024 and range: 564.40 m. jn@jjjihhhhBfffrfbfM@ɛMBU= QU(JIQ ]=ɚiIg=I)#iinK.)n@)H )>I  I h&II JBI + =&I .I 6I <:I ] FBIĜCJIĜCRIZI* =bI* =jIMi4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507965*Fu?2Fq:FqBFqJFyGM&G BO5> = $?I9 (w,ᢼA:̓U@Y:oc@:i=9:>y:H`@??,Nٿ@'?U b??ɨ:̓U@:;;:CyZBZ%IIbIby4٢j0W jj=9n?SQ n>lp rG٣pyr< r>zWill construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758975 ~Nusing accuracyPremultiplier from configt49v/߿?4Yv  iva]B  9 1@vDv{;v |;vA4ÕB 0@EZjAMFNOT Ignoring new targets: 564.40 m.BjM =JjM =] ProNav: ac range: 564.400024 m, nav range: 13.633864 m, bearing: 236.628213 deg, approach rate: -0.525200 m/s, LOS rate: 2.028938 deg/s, cmd heading: 213.928150 deg, new cmd heading: 215.962646 deg. 2j]=eHeadingCmd: 3.769259 target range: 564.400024 and range: 564.40 m. je;q@jajijiiihihqhyhyfyfyfyrfbf`qQ@ɛuBu< q}Iy }=ɚyiyI}v=I!ii8);q@)zKUNKU]9KQKUKU2ugUG@81)'',+*Fe?2Fa:FaBFe0JFaG G?G>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013245GY Bi O >G6(w, A:jBV@Y: ad@:[=9:d&>y:H``?"zڿ`k?`ʡ`? 4?ɨ:jBV@:;:CyFBF%IiN,>IN=TVAAIVIV4٢^2 bM=9bǺQ b>`d fG٣dyf< f> nNusing accuracyPremultiplier from confighn49jȿ?r4YjԴ ijN]Bpr8r1@jDj ;j ;j<4vĕB z2@zEZj!%FNOT Ignoring new targets: 564.40 m.Bj- =Jj- == ProNav: ac range: 564.400024 m, nav range: 13.433275 m, bearing: 237.406558 deg, approach rate: -0.503978 m/s, LOS rate: 1.984721 deg/s, cmd heading: 215.962645 deg, new cmd heading: 218.331123 deg. 2j=C=EHeadingCmd: 3.810597 target range: 564.400024 and range: 564.40 m. jEs@jAjAjAiAhIhIhIhIfQfQfQrfQbfU`d~ @ɛB< 隅ӽI 7=ɚiI=I8iiHW)s@)E $?IFh*F5?2F1:F1BF5`5JF1 Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262989GTͽJJJJJ;:JF:JJG BqO>>H (>I  I U&II ;BI &I .I 6I <:I O F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5154273(w,{A2W@Y21'e@2Fp=92m1>y2Hku?sM.ۿ@G`4?>`E?`?ɨ2W@2d;2CyB̆BB%IMb@Mb@Mb@ )Y?)\( rhyf&?GόC A )AIAy\AIIפ4٢ 9=9#zQ > G٣EGy"< >  Nusing accuracyPremultiplier from config 49 Y?4Y  i 4]B(?:H7%1@ D %; $; 4) -@)ZjIFNOT Ignoring new targets: 564.40 m.Bjv =Jjv = ProNav: ac range: 564.400024 m, nav range: 13.216172 m, bearing: 238.244473 deg, approach rate: -0.490180 m/s, LOS rate: 1.922872 deg/s, cmd heading: 218.331122 deg, new cmd heading: 220.884380 deg. 2j=HeadingCmd: 3.855160 target range: 564.400024 and range: 564.40 m. jv@jjjihhhhBfff rf bf `, @ɛBf < 隽I =ɚiIM=I-i)i-ja)-v@)1 $?I*F2F:FBF,2JFGAxWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:21:47:55.1950 -TRx dataTimestamp_ set to:1736372876.569093-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768743GBO>zK MK 9K K K ,-/34469;95430--*''!   RK ?JK >H(w,T/A2jW@Y2 f@2ڂ<92~=>y2H @@?t ܿ@qY2t? ϟ``?@?p?ɨ2jW@2\Ɗ;2CybBb%IIjIj4٢rZ$ r]=9v߰Q v>x| G٣y {$= > %Nusing accuracyPremultiplier from config%49?-4Yθ i]B)-I6-1@D::45ƕB =~@=EUB*** querying acoustic contact ***jQjQZjamFNOT Ignoring new targets: 564.40 m.BjmS =JjmS = ProNav: ac range: 564.400024 m, nav range: 13.033229 m, bearing: 238.958341 deg, approach rate: -0.489023 m/s, LOS rate: 1.934963 deg/s, cmd heading: 220.884384 deg, new cmd heading: 223.054953 deg. 2j=HeadingCmd: 3.893043 target range: 564.400024 and range: 564.40 m. j'y@jjjihhhhfffrfbf @ɛB4< 6YI  =ɚiI=Iiit)'y@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018821*F2F:FBF.2JFGmz/G}rAG}rAGABIOe4> I% Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: Range 10 to 50 : 567.0 m (Round-trip 756.1 ms) speed -0.4 m/s E ,DAT read: user:2065> U BDAT read: Tx time:21:47:56.2847 ] $Ping request sent. yH{?}?ݿC?_@"?qV?ɨ Y@/;騝Cy޵B޵%I)  ==Mb@Mb@Mb@ )YMbX?x&~jty*?7ļ%A A)Iy(AI=I=4٢uM u'=9}kQ }>yy }G٣yy = > Nusing accuracyPremultiplier from config49?4Y i]B+?:01@ D;%;4ǕB `@Ee addTargetRange:: Added new target pos. range: 567.000000 m, deltaT: 4.283841 s, deltaX: 2.599976 m, approachRate: 0.606926 m/s, rangeRepo size: 4 ZjaeFNOT Ignoring new targets: 564.40 m.Bjm=Jjm=} ProNav: ac range: 564.400024 m, nav range: 12.774559 m, bearing: 239.844918 deg, approach rate: -0.520395 m/s, LOS rate: 1.819670 deg/s, cmd heading: 223.054949 deg, new cmd heading: 225.766401 deg. H&>I I)&IIBI&I.I6I<:I` F2j=HeadingCmd: 3.940367 target range: 564.400024 and range: 567.00 m. j.|@jjjih!h!h)h- Bf)f1f1rf5@}Will construct direction to contact in vehicle frame from tetrahedron phase data.bf5?ɛB !<  xI  =ɚ iIU5=I]iYi] )].|@)aEiEi*F2F:FBFO5JF $?I G 3G B O >(w,dcA6JZ@Y6ih@6Y<96/d>y6Hl:?^ ;޿@`?@Z`G? 3?:Will construct direction to contact in vehicle frame from tetrahedron phase data.ɨ6JZ@6ˋ;6CyBBFp%IININ4٢V~G V|=9Z3Q ^ ?\\ ^G٣^EGybv= b ? fNusing accuracyPremultiplier from configdj49fJs?j4Yf3 if\Blnw/n1@fDfO;f;f4p rg@pZjFNOT Ignoring new targets: 564.40 m.Bj=Jj=- ProNav: ac range: 564.400024 m, nav range: 12.603360 m, bearing: 240.432197 deg, approach rate: -0.545996 m/s, LOS rate: 1.898390 deg/s, cmd heading: 225.766398 deg, new cmd heading: 227.551558 deg. 2j-ۢ==HeadingCmd: 3.971524 target range: 564.400024 and range: 567.00 m. j=s-~@j9j9j9i9h9hAhAhAfAfIfIrfbf?ɛ B#< I .=ɚiIV=I#ii)s-~@zKMK9KKKBK:KqA)*F92F9:F9BF=_0JF9G9GB O%o>-Will construct direction to contact in vehicle frame from tetrahedron phase data.a(w,}A6q[@Y6i@6+L<96>e>y6H@M?@-쿿'߿Tl? 3铿t?i1?ɨ6q[@6:;6CyBmBBW%IIJIJF4٢VȽ VK=9ZWXQ Z>XX ZG٣Xy^7= ^> bNusing accuracyPremultiplier from config`f49b^?f4Yb ib\Bl z$?I|nN.1@bDbHQ IU C IU %IIU BIU , =&IQ .IU 4D6IU <:IU n F} Will construct direction to contact in vehicle frame from tetrahedron phase data.V(w,QܗA6\@Y6j@6 y<96z>y6H@@!?SH@%`?6+? ?ɨ6\@6Ԓ;6CyZ[BZB%IMb@Mb@Mb@ )YM?lV-yn2?,A KA)SAIAyAIIm4٢ 7=9Q > G٣yB= > Nusing accuracyPremultiplier from config49aG?4Y i\B2?:)1@#D;;4˕B @EZj)5FNOT Ignoring new targets: 564.40 m.Bj5=Jj==E ProNav: ac range: 564.400024 m, nav range: 12.128744 m, bearing: 241.978476 deg, approach rate: -0.598365 m/s, LOS rate: 1.900738 deg/s, cmd heading: 229.806550 deg, new cmd heading: 232.277867 deg. 2jM=UHeadingCmd: 4.054014 target range: 564.400024 and range: 567.00 m. jU{@jQjQjQiYhYhahihuBfqfqfqrfqbf}9?ɛ%B$; 隭ɾI " =ɚiIT=Iii){@)Ee>E> I*FA2FA:FABFE`0JFA"GMi>GM>Gk~GBOI>Will construct direction to contact in vehicle frame from tetrahedron phase data.zK KK 9K K K  $:V  ~}}zzxvutqqoifhgRK ?JK ? (w,rA2*^@Y2'Il@2P~!<92'>y2H`E?Rs¿>`5?/@=?@?ɨ2*^@2";0yJx| ~G٣~EGyj=  > -Nusing accuracyPremultiplier from config!49%94?4Y%E i%\Bm(1@%,D%Ux<%p<% 4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 564.40 m.Bj<Jj<  ProNav: ac range: 564.400024 m, nav range: 11.910541 m, bearing: 242.656535 deg, approach rate: -0.555925 m/s, LOS rate: 1.759125 deg/s, cmd heading: 232.277877 deg, new cmd heading: 234.348371 deg. 2j=HeadingCmd: 4.090151 target range: 564.400024 and range: 567.00 m. j@jjjihhh!h!f!f!f)5Will 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.rfAbfMCf?ɛu'Bu%: q}Iy }5 =ɚyiyI}np=I_ ii)@)*FA2FA:FABFE~0JFA $?IGSGqAGGY Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017529(w,TˣA)@ D%GevA YvAyByޝ&Bޝ%I @ @ @  @ I%I%y4٢5 5*=95Q 5>99 =G٣9yE M> UbBottom track data is 0.5 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]49M?]4YM iM\Be+:aev:ae1@M6DM N;M>Mʾ4u̕B ue@uEZjFNOT Ignoring new targets: 564.40 m.Bj=Jj= ProNav: ac range: 564.400024 m, nav range: 11.634984 m, bearing: 243.557341 deg, approach rate: -0.601238 m/s, LOS rate: 2.011939 deg/s, cmd heading: 234.348380 deg, new cmd heading: 237.112539 deg. 2j=HeadingCmd: 4.138394 target range: 564.400024 and range: 567.00 m. jm@jjjihhhhfH%>I I%IIBI&I.I6Ið<:Iz Fffrfbf+@ɛ+BmP: sI e1=ɚiI(=I AD i i )m@=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.269930)*F-?2F):F)BF-o0JF) $?I G k G B O >O(w,壼AZWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.525526JcKc KcKcKc"KcJrJrJpJpJr:Jr@:JpJpJr?%Dm J;mjQ?m4ΕB @EZjFNOT Ignoring new targets: 564.40 m.Bj=Jj= ProNav: ac range: 564.400024 m, nav range: 11.440041 m, bearing: 244.227051 deg, approach rate: -0.571754 m/s, LOS rate: 1.997633 deg/s, cmd heading: 237.112531 deg, new cmd heading: 239.154986 deg. 2j^=}HeadingCmd: 4.174042 target range: 564.400024 and range: 567.00 m. j}@jjjihhhhfffrfbf @ɛE-BEd IMII m=ɚiiqIu=IuWiyiy)}@)yzK TOK K K K ffdddb_][ZXVVVUUSONQQOIGHHFGFEFD??A?>@;863//./-//0..---..,-*BKpA:KrA*FM?2FQ:FQBFU2JFQUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774019G [G B O >*(w,A 8I8Vd@YVr@V nE9Vt>yVHa{-p?Dǿ@@Z` ? ?`p?NR?ɨVd@V ;VCy^B^$IIhIh٢nq rQ=9reQ r>tt vG٣vEGyv > z> bBottom track data is 1.2 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config| 49~?4Y~ i~\B9!:!1@~GD~Τ<~?~P4ϕB @EZjFNOT Ignoring new targets: 564.40 m.Bj<Jj< ProNav: ac range: 564.400024 m, nav range: 11.202681 m, bearing: 244.905836 deg, approach rate: -0.584161 m/s, LOS rate: 1.705897 deg/s, cmd heading: 239.154976 deg, new cmd heading: 241.233514 deg. 2jW=5HeadingCmd: 4.210319 target range: 564.400024 and range: 567.00 m. j5ﺆ@j1j1j1i1h1h9h9h9f9fAfArfAbfE@@ɛ0B̥! 隽I ̻=ɚiI=Iשii)eﺆ@)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026022*F?2F:FBFF5JFG% cG5 >G5 ?ZH RH H #>I  I [%II pBI &I .I 6I N<:I $ FBIɛCJIRIZI, =bI, =jI'4G B O= >] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277529n)w,AB_Gf@YBft@B9BV>yBH ?`rȿ@ v@?=?@? ??ɨB_Gf@B6f;@yzBz$I        Mb@Mb@Mb@ )Y +?{Gz?~jth?y6?#=D;"9A A)$AIAy3AII4٢ ==9ZQ > G٣y = > Nusing accuracyPremultiplier from config496供?4Y i\BT:7?:l1@PD';5;4ѕB <@EZjFNOT Ignoring new targets: 564.40 m.Bj%<Jj%< ProNav: ac range: 564.400024 m, nav range: 10.920094 m, bearing: 245.541413 deg, approach rate: -0.681256 m/s, LOS rate: 1.571856 deg/s, cmd heading: 241.233512 deg, new cmd heading: 243.188784 deg. 2j؆=HeadingCmd: 4.244445 target range: 564.400024 and range: 567.00 m. j~҇@jjjihhhh:Bff f rf bf T @ M$?IMGhɛ3Ba5 隍"I #|=ɚiI=I2ii)~҇@)E%qAE!*F2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:47:59.4484 TRx dataTimestamp_ set to:1736372880.608667checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530704JJJJJ:J=:JJJ'<J'<J;J;G BzK} kNK} +9Ky K} K} ++**)('+(&'((%%""#$#    G B O >C )w,2AN2h@YN6v@NEj9N4 >yNHZ`m? ɿ`[ @?`,??8?ɨN2h@N;LyVBV$IiZ=IZp<\\IbIbV4٢j陼 jZ=9j}Q n>ll rG٣pyr = r> vNusing accuracyPremultiplier from configtz49vӾ?z4Yv iv\B|~~1@vYDv ;vG;ve4 v@ Zj)5FNOT Ignoring new targets: 564.40 m.Bj5<Jj5 Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 569.6 m (Round-trip 759.5 ms) speed -0.5 m/s  ,DAT read: user:2066> - X#Rx 1: Read range message, but no direction. y fD  T****** received valid address query ****** R****** received valid ping request ****** Querying Benthos address 50 with one ping in standard two-way mode.J J )w,LA"i@Yw@99 >yH@A UA)USAIUAQyUAIeIe4٢}+Q }2=9}26Q }> G٣EGyTq= > Nusing accuracyPremultiplier from config497?4Y* i\B=?:1@dD;7;j4ӕB @EB*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 569.599976 m, deltaT: 4.039956 s, deltaX: 2.599976 m, approachRate: 0.643565 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 564.40 m.Bj<Jj< ProNav: ac range: 564.400024 m, nav range: 10.359167 m, bearing: 246.791829 deg, approach rate: -0.681369 m/s, LOS rate: 1.585801 deg/s, cmd heading: 244.852801 deg, new cmd heading: 247.040405 deg. 2j =H">I I#%IIBBI&I.I6I<:Im FHeadingCmd: 4.311668 target range: 564.400024 and range: 569.60 m. j0@jjjihhhhqBfffrf́@bf%?ɛU:BUL5 QU)IY ]<ɚYiYI]R=IeZiaia)m0@)i%Will construct direction to contact in vehicle frame from tetrahedron phase data.-BDAT read: Tx time:21:48:00.5347 5$Ping request sent.5%)w,^fA6#k@Y6ƾy@6y 96=>y6H*0? ȿ@O :`?? !?[?ɨ6#k@6T;4BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.250726y>څBJ$IIVIV%x4٢Z ^m=JbJbJ`J`JbK:JbA:J`J`Jb<Jb<Jbz;Jb{;9~Q ~>!! %G٣!y=)= => ENusing accuracyPremultiplier from configAM49E?M4YE+ iE\BQU/U1@ElDE0zKMMKM9KIKMKM  *FE?2FA:FABFE`0JFA5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501769G :Ga Bi O >  $?I% Hh )w,AA2[m@Y2z{@2!92y2H_ 7?@XǿȩeB@?:?9;? ~?ɨ2[m@2;2Cy>܅B>$I)@ @ F=Fa=IJIJ4٢RN< RK=9RSQ R>TT VG٣TyZj= Z> %Nusing accuracyPremultiplier from config%49?-4Y i\B)-l-1@vD::49 =~@9ZjYeFNOT Ignoring new targets: 564.40 m.Bje-<Jjm-<} ProNav: ac range: 564.400024 m, nav range: 9.834995 m, bearing: 247.932652 deg, approach rate: -0.738127 m/s, LOS rate: 1.630883 deg/s, cmd heading: 248.718880 deg, new cmd heading: 250.551984 deg. 2j=HeadingCmd: 4.372957 target range: 564.400024 and range: 569.60 m. jD@jjjihhhhfffrfbf8?ɛ@B 1I <ɚiI=I6ii)D@)*FI2FI:FIBFU0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754059GUBG)B9OU>H !>I  I %II .BI &I .I 6I <:I c F= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005889c8&)w,AF` o@YF)}@F59F >yFHT?$Tǿ@>``?+?৖?p?ɨF` o@F ;FCyB$IMb@Mb@Mb@ )Y+?Mb?S㥛?y??@=/<?A )IypAIIb4٢< 9=9%.Q %>!! -G٣-EGy-m= -> =Nusing accuracyPremultiplier from config1E495?E4Y5t i5\BE>@?E:EE1@5D5a;5{;5_4UוB ]L@]EZjFNOT Ignoring new targets: 564.40 m.Bj|<Jj|< ProNav: ac range: 564.400024 m, nav range: 9.523823 m, bearing: 248.558183 deg, approach rate: -0.705811 m/s, LOS rate: 1.465177 deg/s, cmd heading: 250.551993 deg, new cmd heading: 252.489122 deg. 2jb{=HeadingCmd: 4.406766 target range: 564.400024 and range: 569.60 m. j;@jjjihh $?IhhwBfffrfbf?.?ɛ-CB5 5<5m0I1 5ժ<ɚ9i9I=o=IM.iQiQ)];@)a*FQ2FQ:FQBFU0JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258099JJJJJ:J=:JJJ<J<J;J; nManaging dock network, ignoring radio surface power offGe SGu ?Gu ?GA BI Om >zK >LK 9K K K ';IKD3%a,)w,=AVp@YV~@Vd)>9VQ>yVH9I`/? ǿ@@!G?§??@G?ɨVp@V;TyjBn$IIvIv4٢= X=9 Q  >    G٣ y8= > Nusing accuracyPremultiplier from config%49~?%4Y i]B)--1@DX::41 5`@1ZjYeFNOT Ignoring new targets: 564.40 m.BjeS<JjeS Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761885 R3)w,ͤA+r@Ygh@@9@>yH@Zv?_ǿt@u`x?? ?ү?ɨ+r@\Ñ;騝CyB$Ii=I?>A}Mb@Mb@Mb@yyy y)yY}K? rh?X9v?y}^:?}C<}<}5A y)}AI}$Ayy}AII4٢B= 1=9Q > G٣yV= > Nusing accuracyPremultiplier from config49+l?4Y i3]B:?:1@Df;;4ٕB @EB*** querying acoustic contact ***H% >I! I!I!I%- =&I!.I!6I%<:I%m FjjZjFNOT Ignoring new targets: 564.40 m.Bj'<Jj'< ProNav: ac range: 564.400024 m, nav range: 8.946157 m, bearing: 249.747759 deg, approach rate: -0.662401 m/s, LOS rate: 1.476849 deg/s, cmd heading: 254.059323 deg, new cmd heading: 256.171674 deg. 2jc}=HeadingCmd: 4.471039 target range: 564.400024 and range: 569.60 m. j@jjjihhhh Bfffrfbf$@ɛuKB}8X y}.'Iy }|~<ɚyiyI7`u9)w,礼A2Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267900 t@Y \@ C9 v>y H]?!$ȿQ@ܗ?@ G٣yӡ= 5> =Nusing accuracyPremultiplier from config9E49=]?E4Y= i=O]BAEE1@=D=":=":=4q }@yZjFNOT Ignoring new targets: 564.40 m.Bj<Jj< ProNav: ac range: 564.400024 m, nav range: 8.680400 m, bearing: 250.302289 deg, approach rate: -0.704859 m/s, LOS rate: 1.515770 deg/s, cmd heading: 256.171682 deg, new cmd heading: 257.885665 deg. 2j=HeadingCmd: 4.500954 target range: 564.400024 and range: 569.60 m. j@jjji h)h)h)h1f1f1f1rf1bf=@ɛNB 隭2I  <ɚiIA)w,uZARWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769867yr$Br$IIzIz4٢-ѧ= --=95Q 5>11 5G٣5EGy= => ENusing accuracyPremultiplier from configAM49EfL?M4YE iEo]BQQU1@EDEz:EC:E4]ڕB ]k@eEZj FNOT Ignoring new targets: 564.40 m.Bj<JjM<~G A 1Yy*Bu ProNav: ac range: 564.400024 m, nav range: 8.361208 m, bearing: 251.017500 deg, approach rate: -0.675903 m/s, LOS rate: 1.572267 deg/s, cmd heading: 257.885677 deg, new cmd heading: 260.112042 deg. 2ju=HeadingCmd: 4.539812 target range: 564.400024 and range: 569.60 m. j#F@jjjihhhhf)f)f1rf1bf5Tb @ɛ}TB^2 隥I 8<ɚiIk/Iq Iu/%IIuLBIq&Iq.Iq6Iu9<:Iu FE*<*F=?2F9:F9BF=1JF9eWill construct direction to contact in vehicle frame from tetrahedron phase data.aiamchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.023547 $?I IhG} :GQ Ba O} >k~H)w,,#AB(zx@YBeL@BP<9Bd>yBHZKs?`yɿ66D@?? ?z?ɨB(zx@BpP;@yNABN!%I)P P R=R=-fonly read 0 of 1 data item for BIT error. Device response is::TS,25010813490956,35.0, +100,1493.1, 0  f@f f@f f@f  f@f IrIr4٢~S> ~<=9~Fr;Q ~> G٣y >  > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49f=?%4Y i]B%+:!%k:% %1@D.';4>4-ܕB 5@5EZjaeFNOT Ignoring new targets: 564.40 m.Bjm<Jjm< ProNav: ac range: 564.400024 m, nav range: 8.056998 m, bearing: 251.610788 deg, approach rate: -0.725276 m/s, LOS rate: 1.467855 deg/s, cmd heading: 260.112045 deg, new cmd heading: 261.958438 deg. 2j{=HeadingCmd: 4.572037 target range: 564.400024 and range: 569.60 m. j!N@jjjihhhhfffrfbf@ @ɛWB Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274013 隝 I _<ɚiI*FM?2FI:FIBFUL4JFQ= Will construct direction to contact in vehicle frame from tetrahedron phase data.E BDAT read: Rx Time:21:48:03.7010 E TRx dataTimestamp_ set to:1736372884.892593M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526844G q Iq Gy B O >%P)w,~T@Ay%SB-8%II=I=4٢M0= M2=9MQ U>QQ UG٣UEGy] ]> ubBottom track data is 0.9 s old, using for 20.0 s. uNusing accuracyPremultiplier from configiu49m-?}4Ym im]B} :y}?:y}1@mDm>;me?m4ߕB @EZjFNOT Ignoring new targets: 564.40 m.Bj<Jj< ProNav: ac range: 564.400024 m, nav range: 7.736762 m, bearing: 252.287879 deg, approach rate: -0.698085 m/s, LOS rate: 1.537052 deg/s, cmd heading: 261.958436 deg, new cmd heading: 264.072780 deg. 2jۃ=HeadingCmd: 4.608940 target range: 564.400024 and range: 569.60 m. jo|@jjjihhhhfffrfbf @ɛ[B~ I %i<ɚ!i!I%fG B1 OU >H >I C I g%II zBI . =&I .I 3D6I <:I T FBIJIɛCRIZI- =bI- =jI4 Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 571.6 m (Round-trip 762.2 ms) speed -0.4 m/s  ,DAT read: user:2067>  BDAT read: Tx time:21:48:04.7847  $Ping request sent. II MG٣IyQ U> mNusing accuracyPremultiplier from configa49e?4YeB# ie]BT:-?:1@eƴDe;e;e?"4 5@B*** querying acoustic contact ***jj addTargetRange:: Added new target pos. range: 571.599976 m, deltaT: 4.284131 s, deltaX: 2.000000 m, approachRate: 0.466839 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 564.40 m.Bj=Jj= ProNav: ac range: 564.400024 m, nav range: 7.443815 m, bearing: 253.194722 deg, approach rate: -0.621198 m/s, LOS rate: 1.998570 deg/s, cmd heading: 264.072790 deg, new cmd heading: 266.897973 deg. 2js=HeadingCmd: 4.658248 target range: 564.400024 and range: 571.60 m. j_@jjjihhhhBfffrf܁@bf`{?ɛ`B  I  <ɚ i I J\)w,tA2g~@Y2)C@2G)"92>y2Hq߿ ?\3̿ݿ?C?Y??ɨ2g~@2;2Cy>B>y%IiBR=IB Ny=9~K  ? Nusing accuracyPremultiplier from config49?4YG( i]B %1@δD.;>/;.(4) 5k@1ZjQ]FNOT Ignoring new targets: 564.40 m.Bjms<Jjms< ProNav: ac range: 564.400024 m, nav range: 7.224307 m, bearing: 253.742566 deg, approach rate: -0.656691 m/s, LOS rate: 1.688730 deg/s, cmd heading: 266.897975 deg, new cmd heading: 268.590927 deg. 2jސ=HeadingCmd: 4.687796 target range: 564.400024 and range: 571.60 m. jm@jjjihhhhfffrfbf?ɛ%cB%V )-۾I1mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.502614 5\<ɚiIbe*JM R="JI JQ JU JQ JQ JQ JU -.:JQ JQ :lc)w,)[AJ;+@YJ:@JN9J.Ҏ>yJH ݿ`oY?@̿dD`a-ܿ@+?R?? ?ɨJ;+@JU;JCy B%II%I% 4٢uI= }1=9D;Q > G٣EGy= > Nusing accuracyPremultiplier from config49p?4Y>/ i]B1@شD.:q:@04B @EZj)-FNOT Ignoring new targets: 564.40 m.Bj5<Jj5IQ IU%IIUBIQ&IQ.IQ6IUx<:IU= FuHeadingCmd: 4.727464 target range: 564.400024 and range: 571.60 m. jucG@jqjqjqiqhyhyhyhyfffrfbf4?ɛhB 隵ԾI B<ɚiIV i)w,(A6{@Y6&@6Ga96Q >y6HzBܿ`?`5Ϳ9Bڿ@>?`$k? ? ?ɨ6{@6l;6CrWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.257306yzBz%IMb@Mb@Mb@ )Yףp= ?(\µMb`?y?;6A KA)AIAyAIhIV84٢*= S=9;Q > G٣y :=  > Nusing accuracyPremultiplier from config49o?4Yc4 i4 ?:A 1@ߴDq<<<64B  @EZjImFNOT Ignoring new targets: 564.40 m.BjuU<JjuU< ProNav: ac range: 564.400024 m, nav range: 6.701149 m, bearing: 255.097913 deg, approach rate: -0.552235 m/s, LOS rate: 1.610993 deg/s, cmd heading: 270.863746 deg, new cmd heading: 272.812189 deg. 2j3=HeadingCmd: 4.761471 target range: 564.400024 and range: 571.60 m. j]@jjjihhhhBfffrfbf?ɛ mB h= ˾I <ɚiIr Q IY ~p)w,¥AR0"@YR1@R7 9RD>yRH`ڿ !?ο"ؿ?f? 7?ȶ?ɨR0"@R*;RCy^B^%I)` ` b=b=IfXIf4٢nL= n]=9r0;Q r>pp vG٣tyv= v> ~Nusing accuracyPremultiplier from configx~49z'?4Yz9 ix*1@zDzi:z:zB=4B @EZjFNOT Ignoring new targets: 564.40 m.Bjp<Jjp< ProNav: ac range: 564.400024 m, nav range: 6.480755 m, bearing: 255.694610 deg, approach rate: -0.615709 m/s, LOS rate: 1.723638 deg/s, cmd heading: 272.812181 deg, new cmd heading: 274.662472 deg. 2jݓ=-HeadingCmd: 4.793765 target range: 564.400024 and range: 571.60 m. j-f@j1j1j1i1h1h1h9h9f9f9fArfAbfE`F\?ɛqBdJ [I _d<ɚiI)Ia  Ie %IIe ۆBIa &Ia .Ia 6Ie i<:Ie 1 FG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012691)v)w,/ۥA2W3@Y2B@292G>y2H`lؿ~? QϿ7ֿ??`??ɨ2W3@2~;2CyRBR%IMb@Mb@Mb@ )Ygfffff?J + rhy3?ȽCQ8A zA)AISAyII 4٢\/= ;= I9    G٣ EGy= > %Nusing accuracyPremultiplier from config%49⽛?-4YV? i]B-b?-:-r-1@D;+;D49 =x@9B*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 564.40 m.BjU<JjUzKU BoHKU 59KQ KU KU |)w,NA6S@Y6b@6SѼ96?>y6H 1Uֿ@Q?*=п5տu? )?g??ɨ6S@6e;6CyR͆BR%II^I^t4٢b1= b^=9fFhh jG٣hynM= n> rNusing accuracyPremultiplier from configlv49n)ڽ?v4Yn9D in]Btv3v1@nDn*;n>+;nUK4| ~e@|Zj!%FNOT Ignoring new targets: 564.40 m.Bj-!<Jj-!<= ProNav: ac range: 564.400024 m, nav range: 6.030929 m, bearing: 256.927396 deg, approach rate: -0.595128 m/s, LOS rate: 1.637526 deg/s, cmd heading: 276.809208 deg, new cmd heading: 278.495906 deg. 2j=z=EHeadingCmd: 4.860671 target range: 564.400024 and range: 571.60 m. jE@jAjAjAiIhIhIhQhQfQfQfQrfYbf]@ɛyB` 隭BI <ɚiISGU> $?IGmSGABIOm> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769952Je Je Ja Ja Je :Je y6:Ja Ja ж)w,ARc@YRfr@R泼9R>yRH`UԿl1?@пdU@'ӿ޻?g|?1?T?ɨRc@R͐;RCyZdžB^%Iib>Ib G٣y-b= -> mNusing accuracyPremultiplier from configa49eϽ?4YedJ ie]B1@eDH>I I &IIBI&I.I6I<:I FeS4UB U@]EZjFNOT Ignoring new targets: 564.40 m.Bj<Jj< ProNav: ac range: 564.400024 m, nav range: 5.775740 m, bearing: 257.572531 deg, approach rate: -0.531634 m/s, LOS rate: 1.403355 deg/s, cmd heading: 278.495909 deg, new cmd heading: 280.515946 deg. 2jp=HeadingCmd: 4.895927 target range: 564.400024 and range: 571.60 m. jo@jjjihhhhfffrfbf-@ɛmBm -: imIi u<ɚqiqIu)w,1z)AbWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273573y=ɆB=%IMb@Mb@Mb@ )Y?#~j:vy ?㥽Լ )AIy3AII_v4٢}/< ;=9Q > G٣EGy > Nusing accuracyPremultiplier from config49ǽ?4YO i]By?:`1@Db;O;lZ4 @ZjFNOT Ignoring new targets: 564.40 m.Bj<Jj< ProNav: ac range: 564.400024 m, nav range: 5.553948 m, bearing: 258.118068 deg, approach rate: -0.577100 m/s, LOS rate: 1.476147 deg/s, cmd heading: 280.515951 deg, new cmd heading: 282.217394 deg. 2jD}=HeadingCmd: 4.925623 target range: 564.400024 and range: 571.60 m. j@jjjih h hhBfffrfbf @ɛMBMxkV IUIQ UPͽ<ɚQiQIU% I ɐ)w,MKCA2H@Y2@2a{92ϐ>y2H@Z6п`? ѿ ο%IIFIFr4٢^Y bm=9j r? zNusing accuracyPremultiplier from configtz49vx?~4YvT iv]B'1@v DvW;vX;v`4B w@EZjFNOT Ignoring new targets: 564.40 m.Bj<Jj< ProNav: ac range: 564.400024 m, nav range: 5.363362 m, bearing: 258.480649 deg, approach rate: -0.518034 m/s, LOS rate: 1.020551 deg/s, cmd heading: 282.217406 deg, new cmd heading: 283.343649 deg. 2j/=HeadingCmd: 4.945280 target range: 564.400024 and range: 571.60 m. j?@jjjihhhhfffrf bf @, @ɛ5B5 9=jȾI9 =q<ɚ9i9I=JI  I #&II BI / =&I .I 6I Ͱ<:I x FB O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028723)w,%]Ar@YrK@r9~9ry>yrH@0ȿ6?Iѿ@lƿg??`Ϸ? m?ɨr@rސ;rCy~B~%I)  p= p= iImKhMb@Mb@Mb@ )Y/$?Zd; rhy ?yC "9A )AIAyAII{4٢i :=9Y 5G٣1y=> => ENusing accuracyPremultiplier from configAM49E?M4YEZ iE]BU+ ?U:u쿑u1@EDER;E;EWh4y }@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 564.40 m.Bj<Jj< ProNav: ac range: 564.400024 m, nav range: 5.118100 m, bearing: 258.697268 deg, approach rate: -0.562354 m/s, LOS rate: 0.520478 deg/s, cmd heading: 283.343649 deg, new cmd heading: 284.024614 deg. 2j< HeadingCmd: 4.957165 target range: 564.400024 and range: 571.60 m. j @j j j)i)h1h1h1h5Bf9f9f9rf9bfE@f@ɛBH ξI t<ɚiIʁk? A ?)|oIi?i|o>R.Mn?`/,7J7Dabt)|I>is??vVT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG Ga Bi O >)w, wAzK.BHK.s9K,K.K.BK6qA:K6qAfM@Yf@fu9f">yfH K/Ŀ`^??zѿ M%ÿ@+ͩ?୎|?[?@̽?ɨfM@fc;dyrBr%II~I~K4٢  W=9 ;Q  >  G٣y.= > %Nusing accuracyPremultiplier from config-49?-4Y_ in]B)-近-1@D::n49 =@9ZjaeFNOT Ignoring new targets: 564.40 m.Bjm;Jjm;} ProNav: ac range: 564.400024 m, nav range: 4.916529 m, bearing: 258.816404 deg, approach rate: -0.562157 m/s, LOS rate: 0.345879 deg/s, cmd heading: 284.024619 deg, new cmd heading: 284.396677 deg. 2j}_m<HeadingCmd: 4.963658 target range: 564.400024 and range: 571.60 m. jJ֞@jjjihhhhfffrfbf @ɛB:9 I <ɚiIGBO> 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 elapseC)w, ݐAr@Yra@rt9r~>yrH "?ѿ ~??@it??`E?ɨr@r;rCyzB~%III_v4jH<bH4<H>I I&II BI&I.I6I<:IZ FBI]šCJI]šCRIYZI]. =bI]. =jI]… 5٢A ->=9m;Q u>qq uG٣uEGy}= }> Nusing accuracyPremultiplier from config49ɲ?4Yf iW]B俑1@#D;&<\&<,w4 -@ZjFNOT Ignoring new targets: 564.40 m.Bjt!;Jjt!;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] ProNav: ac range: 564.400024 m, nav range: 4.652010 m, bearing: 258.884528 deg, approach rate: -0.518600 m/s, LOS rate: 0.141153 deg/s, cmd heading: 284.396673 deg, new cmd heading: 284.612663 deg. 2j];HeadingCmd: 4.967428 target range: 564.400024 and range: 571.60 m. j,@jjjihhhhfffrfbfS=@ɛB׻ 隍I ᕱ<ɚiIG 3 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 elapseJKـ3 KKK"KJe Je Ja Ja Je :Je 7/:Ja Ja Je r<Je s<Je [;Je [;G B O >@)w,AyޕBޕ%Ii=Ip;AMMb@Mb@Mb@III I)IYMCl?Mbyy }G٣yy > Nusing accuracyPremultiplier from config49?4Yl iD]B?:?ῑ1@*Dn;;y~4B s@EZjFNOT Ignoring new targets: 564.40 m.Bj^>Jj^> ProNav: ac range: 564.400024 m, nav range: 4.416723 m, bearing: 258.869096 deg, approach rate: -0.602331 m/s, LOS rate: -0.041608 deg/s, cmd heading: 284.612671 deg, new cmd heading: 284.563911 deg. 2jq亝HeadingCmd: 4.966577 target range: 564.400024 and range: 571.60 m. j3@jjjihhhhBf f f rf bf @ɛEBE灼 AMII Mծ<ɚIiIIM{(±)w,bǦA6[@Y6@6!ӂ96(n>y6Hf ?ѿ@*f@?dZP?5?`?ɨ6[@6};6Cy>BB%IININ4٢Vǽ Vm=9V9 ^? fNusing accuracyPremultiplier from config`f49b?f4Ybq ib3]BhjLٿj1@b0Db:b7:b~4rB r@rEZj  FNOT Ignoring new targets: 564.40 m.BjdJjd ProNav: ac range: 564.400024 m, nav range: 4.223144 m, bearing: 258.691738 deg, approach rate: -0.563477 m/s, LOS rate: -0.539923 deg/s, cmd heading: 284.563904 deg, new cmd heading: 284.007458 deg. 2jEHeadingCmd: 4.956865 target range: 564.400024 and range: 571.60 m. j@jjjihhhhfffrfbf #@]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 elapseJJAAɛ5B5 5 ==I9 =n<ɚ9i9I=)E@)I*F2F:FBF_5JFH]>IY I]&II]BIY&IY.IY6I]<:I]g FG3GrAGG B  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 > I D)w,[?ᦼAf@Yf@f99f>yfH.?ഁѿb@?:8` ?:?ɨf@f<;fCyvBvu%IMb@Mb@Mb@ )Y`"?MbA MG٣MEGyMS= M> ]Nusing accuracyPremultiplier from configYe49]P?e4Y]y i]"]Be?e:e̿e1@]9D]D;];]t4q uU@qB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 564.40 m.BjټJjټ ProNav: ac range: 564.400024 m, nav range: 3.957002 m, bearing: 258.039743 deg, approach rate: -0.582979 m/s, LOS rate: -1.524209 deg/s, cmd heading: 284.007462 deg, new cmd heading: 281.920889 deg. 2jHeadingCmd: 4.920448 target range: 564.400024 and range: 571.60 m. jOt@jjjihhhhBfffrfbf @ɛ B 0" /I \<ɚiIzK E?OK }9K K K #"  f)w,A2Ҡ@Y2$@2p:92蕍>y2Hk?Iyѿ`n =Ln^4y?@?ɨ2Ҡ@2;2CyZxBZe%IbWill construct direction to contact in vehicle frame from tetrahedron phase data.`ibAbT****** received valid address query ******bR****** received valid ping request ******freceived new query, but waiting for acoustic response period to elapse)d d j=j=InIn4٢vy vZ=9v;Q z>xx zG٣xy~`= ~> Nusing accuracyPremultiplier from config 49Q? 4Y~ i]Bɿ1@@Dj::4! %"@!ZjAMFNOT Ignoring new targets: 564.40 m.BjMEJjUE} ProNav: ac range: 564.400024 m, nav range: 3.748197 m, bearing: 257.362044 deg, approach rate: -0.580839 m/s, LOS rate: -1.990147 deg/s, cmd heading: 281.920894 deg, new cmd heading: 279.775588 deg. 2j}HeadingCmd: 4.883005 target range: 564.400024 and range: 571.60 m. jA@jjjihhhhfffrfbfV@ɛBqü   I  Y<ɚ i I < yI}LhI9iiu)A@))*F?2F:FBF_0JFuWill 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"J=G*G B O >)w,QAZHxRHzAAH I  I %II ۆBI &I .I 6I <:I  FN@Y@?<;9>yH?`? ѿ 4@CĘ?9g?@?ɨN@#;yEkBEU%IMb@Mb@Mb@ )YK7A?Mb`QQ UG٣UEGy]y= ]> eNusing accuracyPremultiplier from configam49eN?m4Ye ie]BmO"?u:u"Ŀu1@eJDe;e;e*4y }@yZjFNOT Ignoring new targets: 564.40 m.BjPJjP ProNav: ac range: 564.400024 m, nav range: 3.454604 m, bearing: 256.067546 deg, approach rate: -0.610378 m/s, LOS rate: -2.919728 deg/s, cmd heading: 279.775586 deg, new cmd heading: 275.569979 deg. 2jyHeadingCmd: 4.809604 target range: 564.400024 and range: 571.60 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 elapse jF@jjjihhhhBfffrfbf=@ɛB #I! %<ɚ!i!I%wGu )>G] 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 elapseJ J J J J [:J \3:J J J f<J f<J ;J ;G9 BA O] >-)w,.A-|@Y-@-(;9-$>y-H?#?tѿ k]?@N?Ep?_?ɨ-|@-s;-Cy]dB]M%III4٢t i=9L;Q > G٣y= > Nusing accuracyPremultiplier from config49?4Y i\Bt1@QD:: ;_4 b@Zj!%FNOT Ignoring new targets: 564.40 m.Bj-݁Jj-݁= ProNav: ac range: 564.400024 m, nav range: 3.241175 m, bearing: 254.853033 deg, approach rate: -0.599065 m/s, LOS rate: -3.633165 deg/s, cmd heading: 275.569993 deg, new cmd heading: 271.692748 deg. 2j=EHeadingCmd: 4.741933 target range: 564.400024 and range: 571.60 m. jE꽗@jAjAjAiIhIhIhQhQfQfQfQrfYbf] @ɛB| 隍)I <*<ɚiIC YI]Mh9)w,HA2`g@Y2v@2 v;92b>y2H P?@Ԫ?{ѿv&? y5tʑ? *?ɨ2`g@2WJ;2Cy>]BBC%IiDIF=DFAIJIJK4٢R R\=9VP#;Q V>TT ZG٣XyZ,= Z> bNusing accuracyPremultiplier from config\b49^s?f4Y^ i^\Bdfȼf1@^XD^:^:^Ƨ4h j@nEZjaeFNOT Ignoring new targets: 564.40 m.BjmϜJjmϜ ProNav: ac range: 564.400024 m, nav range: 3.025253 m, bearing: 253.304336 deg, approach rate: -0.570971 m/s, LOS rate: -4.387031 deg/s, cmd heading: 271.692740 deg, new cmd heading: 266.728111 deg. 2j,<HeadingCmd: 4.655284 target range: 564.400024 and range: 571.60 m. j@jjjihhhhfffrfbf2@=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 elapseɛBa 隥/0I Я<ɚiI+4;)w,@bAyXB>%IMb@Mb@Mb@ )Y/$?{Gzy&1y1(?#`=4A )AI?AyzAII4٢K %9=9%Q %>)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E49=v?E4Y=s i=\BE](?M:MľM1@=bD=;=M;=4Q U$@Y}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 564.40 m.BjXȽJjXȽ ProNav: ac range: 564.400024 m, nav range: 2.750387 m, bearing: 251.053716 deg, approach rate: -0.622487 m/s, LOS rate: -5.604909 deg/s, cmd heading: 266.728122 deg, new cmd heading: 259.344556 deg. 2jipHeadingCmd: 4.526416 target range: 564.400024 and range: 571.60 m. jgؐ@jjjihhhhNBfffrfbfgw @ɛÇB|J ~5I .đ<ɚiI&)gؐ@) 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*F92FA:FABFIJFQzKu jIKu }9Kq Ku Ku G 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 elapseGq B O >3)w,;A (I(@YP@R;9>yH?@? }п8?ȆG }`?`?ɨ@V;Cy%YB-?%II=I=4٢EW; M:=9M;Q M>QQ UG٣UEGy]L= ]> eNusing accuracyPremultiplier from configam49e?m4YeС ie\Biuau1@ekDe;e;e/4y }@yZjFNOT Ignoring new targets: 564.40 m.BjJj ProNav: ac range: 564.400024 m, nav range: 2.501139 m, bearing: 248.180824 deg, approach rate: -0.583030 m/s, LOS rate: -7.386712 deg/s, cmd heading: 259.344550 deg, new cmd heading: 249.955903 deg. 2jkHeadingCmd: 4.362554 target range: 564.400024 and range: 571.60 m. j @jjjihhhhfffrfbf`gT!@ɛ%ɇB%: )-8I) 5W<ɚ1i1I5<)= @)A*F2F:FBF0JFG`GABIOe4>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 elapseJJJJJ :Jf4:JJa%@a%@a%@a%@ % Y!y-sBH] >I] C I] %II] BIY &IY .IY 6I] <:I] k F)w,/A@Y׿@{<9a>yHh? ? ܴϿϝ?@ʧW$?@?ɨ@^;Cy-[B5A%I)1 1 ===p=Mb@Mb@Mb@ )YZd;O?V-/$y~*?5A A)AIyAIIW4٢; @=9 ;Q > G٣yJ= >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 Nusing accuracyPremultiplier from config49k?%4Y8 i\B%*?%:%%1@tD;@;41 =@9ZjYeFNOT Ignoring new targets: 564.40 m.BjmJjm} ProNav: ac range: 564.400024 m, nav range: 2.256954 m, bearing: 244.723800 deg, approach rate: -0.569783 m/s, LOS rate: -8.933988 deg/s, cmd heading: 249.955909 deg, new cmd heading: 238.620005 deg. 2j}}HeadingCmd: 4.164705 target range: 564.400024 and range: 571.60 m. jCE@jjjihh hh`Bfffrfbf R6"@ IIIɛЇB` 隭:I S<ɚiIf)CE@)*FY2FY:FYBF]0JFYG5#eӽGBOm> 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 elapse6B)w,jA2Z@Y2i@2y<92fz>y2HY?@?|Uοc? n ,?e ?ɨ2Z@2 m;2CyRaBRI%II^I^4٢f;= f_=9j;Q j>hh jG٣lynJh= n> vNusing accuracyPremultiplier from configpz49rN?z4Yr ir\B|~~1@r|Dr Q;rQ;r4 @ Zj)5FNOT Ignoring new targets: 564.40 m.Bj5QIJj5QIE ProNav: ac range: 564.400024 m, nav range: 2.057581 m, bearing: 240.987127 deg, approach rate: -0.548316 m/s, LOS rate: -11.264375 deg/s, cmd heading: 238.620008 deg, new cmd heading: 226.515833 deg. 2jM񾝊MHeadingCmd: 3.953447 target range: 564.400024 and range: 571.60 m. jMG}@jQjQjQiQhQhQhYhYfYfafarfabfe"@ɛՇBF9 ?1=隝9I K<ɚiI|GBO )>%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 AIENh*)w,GͧA2*@Y2|@2x9<92p>y2H?`H?`b̿g@?_c`<@o??ɨ2*@2|;2CBWill 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 elapseyFeBJN%IJlJlJrJrJpJpJr[:Jr+:JpJpIRIR4٢U< ==9t;Q > G٣EGy"= > Nusing accuracyPremultiplier from config49?4Y i\Bി1@DC;m;4B o@EZjIMFNOT Ignoring new targets: 564.40 m.BjuzJjuz}ProNav REINIT: LOS rate is -14.033007 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg.HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. jX@jjjihhhhfffrfbf#@ɛ܇B M;I  {<ɚi I 65Will construct direction to contact in vehicle frame from tetrahedron phase data.5y:H0?`?`V˿`Q@H"?H@-|?W-?ɨ:T@:N;:CyBpBB[%I5Mb@Mb@Mb@111 1)1Y5MbX?&1 G٣9yE= E> MNusing accuracyPremultiplier from configIu49M`½?u4YMk utIiM\BuO+?}:}o}2@MDM;M;M4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 564.40 m.BjÛJjÛProNav REINIT: LOS rate is -17.431059 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg.HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. j j jIjIiIhQhQhQhU#BfYfYfYrfYbf]`Ԧ$@Will construct direction to contact in vehicle frame from tetrahedron phase data.zK FJK 59K K K = Will construct direction to contact in vehicle frame from tetrahedron phase data.E iq uG٣qy} > Nusing accuracyPremultiplier from config49QŽ?4Y i~\B2@DŌ;;;4 O@ZjFNOT Ignoring new targets: 564.40 m.BjJžJjJžProNav REINIT: LOS rate is -22.077999 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg.HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. jjjjihh h h f ffrfbf`%@ɛBxt t8I Vh<ɚiI3=Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.ZH RH ?AH I  I %II BI &I .I 6I <:I Fj*w,%A]@Y]@@]:<9]S2T>y]H??'ɿY=`%}?yt`P VT?O?ɨ]@]E;]CyuBup%IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2069> BDAT read: Tx time:21:48:15.7348 $Ping request sent. YY ]G٣]EGyed< e> }Nusing accuracyPremultiplier from configq}49uȽ?4Yu{ iun\B'?:&2@uD Iu;uA=u*4 @Zj%FNOT Ignoring new targets: 564.40 m.Bj%V;Jj%V;-ProNav REINIT: LOS rate is -22.978377 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg.5HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. j1j1j1j1i1h1h9h9h]BfafafarfabfmDV&@ɛB 17I ]<ɚiI*=I|_i!i!)!)!E[1=*F?2F:FBF_0JFG#>G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:48:15.7340  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250776O > *w, 4A6L@Y6@6T<96uB>y6HVR??7ƿ x@qhh nG٣lynһ r> vNusing accuracyPremultiplier from configpv49rKʽ?z4Yr ir`\Bxzz2@rDra:r :rO4B @ EZj)-FNOT Ignoring new targets: 564.40 m.Bj5Jj5=ProNav REINIT: LOS rate is -32.658135 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg.EHeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. jAjAjAjAiAhAhIhIhIfIfQfQrfYbf]&@ɛ%B%0* !-0I) -#V<ɚ)i)I-=IU>iYiY)Y)aEiEi*Ei"Ei Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501885zKeBoIKe9KaKeKe IOh*F?2F:FBFJFG >G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754418B O >p*w,OAJJJJJ0JJ:JS2:Jـ3J>E@Y>YT@>G<9>#>y>H? ?+ÿ@URi?D4 g]X?2?ɨ>E@>bȍ;dd fG٣hyjGּ j> nNusing accuracyPremultiplier from configlr49n̽?r4Yn inP\Btv v2@nDn ;n ;n4x z}@xZjFNOT Ignoring new targets: 564.40 m.Bj- Jj- 5ProNav REINIT: LOS rate is -30.674342 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg.5HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. j1j1j9j9i9h9h9hAhAfffrfbf '@ɛUBU4 QU2IQ UL<ɚYiYI]=Io.ii))H>I I%IIBI&I.I6I<:Id F*F?2F:FBF0JFG? >GBOuX>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005810 I*w,qiAV @YV^@V4 =9V>yVHH? (?)c?୿e@??ɨV @VH;TyjBj%IuMb@Mb@Mb@qqq q)qYu+?DlMbpyuv?quu%A uA)uAIuZAqyuAIvI&Q4٢q= >=9q# G٣EGyڼ > Nusing accuracyPremultiplier from config49ν?4Y iA\Br?:d2@D#;o;04Y ]@YB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 564.40 m.Bj:Jj:ProNav REINIT: LOS rate is -27.330580 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg.HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. jjjjihhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257970hhBfffrfbf@(@ɛB /I B<ɚiI=IUii))*F?2F:FBF0JFG}q4>GQBaO}z> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509858  I zK m$JK @9K K K R *w,4HA @@2`@Y21p@2k=92Xs=y2HFo?MY?@`U{@?Q4v? "?ɨ2`@2;2Cy>BB%II I 4٢-=b= -R=9511 =G٣9y=r, E> MNusing accuracyPremultiplier from configAM49EϽ?U4YE iE3\BQUU2@EDEa:E:E4Y e@aZjFNOT Ignoring new targets: 564.40 m.BjzJjzProNav REINIT: LOS rate is -28.142114 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg.HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. jjjjihhhhfffrfbfk)@ɛB|@" SU=.-I /;<ɚiIz=I;ii))ErAEqA*F2F:FBFO5JFGqA GqAGmu]>G!B1OM1>Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761721jH <bH <H I  I %II ƆBI &I .I 6I <:I Z F&*w,4A%7@Y%@%B/=9%O=y%H|?|?d3? @'?)?ɨ%7@%&Y;%C]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.014278 IyB%ImMb@Mb@Mb@iii i)iYm333333?333333~jthym?mmDmhA m A)iIm Aiym AI}I}4٢H 5=9D G٣y| > Nusing accuracyPremultiplier from configM49н?M4Y@ i#\BU?U:U&ĿU2@ȵD<6<4]B e2@mEZjFNOT Ignoring new targets: 564.40 m.BjJjProNav REINIT: LOS rate is -21.335252 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg.HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. jjjjihhhhBfffrfbfZ]*@ɛB j3I xW0<ɚiI=Iܿiib>))*F2F:FBFR5JFG&>GiBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265773Ji Jm Ji Ji Ji Jm -.:Ji Ji Jm ))*FE?2FA:FIBFM_0JFIuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519427 IPhzKk3IK9KKKRK)JK->GF>Gi By O >) 1 ] YY ye wB Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.7696614*w,ШA^ۊ@Y^-@^qQ=9^H=y^HU?q?<`s߽?C@:Z֢?`?ɨ^ۊ@^;^CyfBf%IIrIr4٢v< zJ=9z= x| ~G٣|y~n >  Nusing accuracyPremultiplier from config49н?4Y; i\Bɿ2@׵D& ;;4! -@)ZjQ]FNOT Ignoring new targets: 564.40 m.Bj]9Jje9eProNav REINIT: LOS rate is -16.475127 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg.mHeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. jijijijiiihqhqhqhqfyfyfyrfybf@+@ɛB( 隵6I fU<ɚiI=I|>˿ii =))HI I%IIBI0 =&I.I6I<:IH FE%.= IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031456*F?2F:FBF5JF"G>GG>G?|>G?G ?G B O >1:*w,꨼AF@YFB™@F{`=9FX G٣y'~ > Nusing accuracyPremultiplier from config49н?4Y i[B?:}ο2@ߵD;?;U=;q4 @B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 564.40 m.Bj-nJj-n5ProNav REINIT: LOS rate is -13.320853 deg/s. Setting heading cmd to target acoustic bearing of 272.101413 deg.5HeadingCmd: 4.749065 target range: 564.400024 and range: 571.60 m. j1j9j9j9i9h9h9hAhEBfAfAfIrfIbfM`,@ɛ}"B}! y}8I ="<ɚiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282493J5J5J1J1J5[:J5+:J1J1J5f<J5f<J5Ƅ;J5Ƅ;Im2 =Im[ſiqiu"<)q)qES=*F?2F:FBF_0JFG*S>GBO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533747zKu BoHKq Kq Ku Ku BK :K tAA*w,AB̑@YBۘ@Bl=9B»yBHv??$ƒ?[? |J Lx3?ɨB̑@BE];BCyRBb%IIlIl٢~߼ T=9 H %G٣%EGy-Ǔ 5> ENusing accuracyPremultiplier from config9E49=ν?M4Y= i=[BIMҿM2@=D=L:=:=E!4]B ]C@]EZjQUFNOT Ignoring new targets: 564.40 m.Bj]GJj]Gm ProNav: ac range: 564.400024 m, nav range: 1.943467 m, bearing: 129.212169 deg, approach rate: 0.385903 m/s, LOS rate: -11.164366 deg/s, cmd heading: 272.101404 deg, new cmd heading: 258.637179 deg. 2jmpン}HeadingCmd: 4.514071 target range: 564.400024 and range: 571.60 m. j}Ds@jjjihhhhfffrfbf-@ɛ)B؎. >I  <ɚiIҐ =I0¿ii/)Ds@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:21:48:18.9032 %TRx dataTimestamp_ set to:1736372900.272717-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786850*F-?2F):F1BF1JF1G D>ZH RH @AH I  I %II BI &I .I 6I <:I ? FBIməCJIməCRIiZIibIijImS/4G B O >GG*w,A )I1uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.037847yޭB޵%IMb@Mb@Mb@ )YM?#~jI +yn?㥽94A A)SAIE Ay AII4٢;R #=9Q > G٣y   > Nusing accuracyPremultiplier from config 49 ̽?4Y - i [B?:ҿ%2@ D ; W; )4) -@)ZjYeFNOT Ignoring new targets: 564.40 m.Bje2Jje2u ProNav: ac range: 564.400024 m, nav range: 2.159972 m, bearing: 123.963349 deg, approach rate: 0.458821 m/s, LOS rate: -9.994427 deg/s, cmd heading: 258.637189 deg, new cmd heading: 244.766376 deg. 2juX־}HeadingCmd: 4.271979 target range: 564.400024 and range: 571.60 m. j@jjjihhhhBfffrfbf`v.@ɛ0B4I0 HI ;ɚiI =Iÿio1i9)@)E*FU?2FY:FYBF]`0JFYGerA GerAG-$P>G1G5qAGBO >- Will construct direction to contact in vehicle frame from tetrahedron phase data.JM JM JI JI JM ;:JM -.:JI JI JM <JM <JM v;JM v;u DAT read: Range 10 to 50 : 573.0 m (Round-trip 764.1 ms) speed 0.0 m/s  ,DAT read: user:2070>  BDAT read: Tx time:21:48:19.9849  $Ping request sent. = Will construct direction to contact in vehicle frame from tetrahedron phase data.YT*w,W>RA2n@Y2}@2=92y2Hpc?@mґ? WMg ?ɨ2n@2;2Cy>B>%IIFIFƕ4٢N NU=9RePT ZG٣^EGyfC j> rNusing accuracyPremultiplier from configlr49nȽ?v4Yn in[Btvaܿv2@nDnhGB )I5QhOuy>Will construct direction to contact in vehicle frame from tetrahedron phase data.Z*w,S lAv@YvO@v=9v@k G٣yͽ > Nusing accuracyPremultiplier from config49Ž?4Y i[BE?:߿2@D,R; Q;=4 Q@B*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 564.40 m.Bj-Jj-= ProNav: ac range: 564.400024 m, nav range: 2.690409 m, bearing: 114.456503 deg, approach rate: 0.498116 m/s, LOS rate: -7.446579 deg/s, cmd heading: 227.802600 deg, new cmd heading: 218.495909 deg. 2jEEHeadingCmd: 3.813473 target range: 564.400024 and range: 573.00 m. jMt@jIjIjIiIhQhQhYh]BfYfYfYrfabfe~?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.JsK{m3 K{S}-KsKs"KsJJJJJ[:J,:JJJf<Jf<J;J;ɛABA\Y 隝hbI f6;ɚiIć=ImԿii"<)t@)EEnA*F]?2FY:FaBFeB5JFa"Gm>Gm=G=!{=GB On> ! I)  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244613zK MK K K K -'BK pA:K pAda*w,؅AR@YR@R'=9RT=yRH`b`?^@"@`vq&_?5?ɨR@R;RCynoBnZ%IIzIz<4٢ V=9:Q >!! %G٣!y% -> 5Nusing accuracyPremultiplier from config)549-v?=4Y-a% i-[B9=Yῑ=2@- D- ;- ;-D4I M.@QZjFNOT Ignoring new targets: 564.40 m.Bj'۽Jj'۽- ProNav: ac range: 564.400024 m, nav range: 2.878872 m, bearing: 111.839485 deg, approach rate: 0.472629 m/s, LOS rate: -6.131184 deg/s, cmd heading: 218.495907 deg, new cmd heading: 211.201043 deg. 2j-~5HeadingCmd: 3.686154 target range: 564.400024 and range: 573.00 m. j5k@j9j9j9i9h9h9hAhAfAfAfArfIbfM55?ɛGB~ kI ;ɚiIX=I޿iiih=)k@)Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496608E5`T=jHq bHq H} >Iy  I} %II} ۆBIy &Iy .Iy 6I} <:I} F F*F ?2F :F BF 0JF G =G B OU >$g*w,֟A hIlUWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.750626ymeBmN%IMb@Mb@Mb@ )YQ?y&1~jty(?`eļ?A A)AIy(AIIV4٢5$ 5,=9=Q =>AA EG٣EEGyM M> UNusing accuracyPremultiplier from configQ]49U?]4YU, iUb[B]?e:eZݿe2@UDU;U;UL4i m@iZjFNOT Ignoring new targets: 564.40 m.BjýJjý ProNav: ac range: 564.400024 m, nav range: 3.131315 m, bearing: 109.110359 deg, approach rate: 0.551797 m/s, LOS rate: -5.482421 deg/s, cmd heading: 211.201047 deg, new cmd heading: 203.719387 deg. 2j(kHeadingCmd: 3.555574 target range: 564.400024 and range: 573.00 m. jc@jjjihhhhЈBfffrfbf@?ɛMBo  tI  ;ɚ i I =IFii >)c@)Ex=*F 2F :F BF 3JF G <GBWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000630O >m*w,A2@Y2@2.=92=y2HSZ?am<ⰿ )D?@?ɨ2@2w;2CyNZBNA%IiR?>IR>TVATTIZIZ4٢b b~=9f[;Q f ?dd fG٣hyj7x j ? ENusing accuracyPremultiplier from configAM49E?M4YE92 iEJ[BQU߿U2@EDE;E ;ER4]B ]@eEZjFNOT Ignoring new targets: 564.40 m.BjJj ProNav: ac range: 564.400024 m, nav range: 3.311059 m, bearing: 107.382865 deg, approach rate: 0.534442 m/s, LOS rate: -4.856872 deg/s, cmd heading: 203.719381 deg, new cmd heading: 198.830873 deg. 2jSPHeadingCmd: 3.470253 target range: 564.400024 and range: 573.00 m. j^@jjjihhhhfffrfbf;p@ɛRBɪ {I kj;ɚiId=Iiioe?>)^@)  $?IRheWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.252484zKg%LK@9KKKEPڀ=*Fi2Fi:FiBFm_0JFi Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505306J9 J= BAJE JE JA JA JE k:JE @0:JA JA aM @aM @aM @aM @G <G qAG rAGi Bq O >pu*w,jשA>ź@Y>ʓ@>sI=9>=y>H?@`@h'ź@>;>CyJJBJ-%IIVIV\4٢^ ^2=9bcIQ b>`` fG٣dyf\b f> nNusing accuracyPremultiplier from confighn49jf?r4YjF9 ij,[Bprx࿑r2@j$Dj:j:jZ4t v@xH]>I]C I]%II]BIY&IY.IY6I]<:I] FZjFNOT Ignoring new targets: 564.40 m.BjJj ProNav: ac range: 564.400024 m, nav range: 3.553969 m, bearing: 105.331737 deg, approach rate: 0.526408 m/s, LOS rate: -4.140267 deg/s, cmd heading: 198.830878 deg, new cmd heading: 193.118303 deg. 2j1HeadingCmd: 3.370550 target range: 564.400024 and range: 573.00 m. jW@jjjihhhhfffrfbf`(@ɛUXBUm QU{IY ]*;ɚYiYI]]=Ie@iaie >)eW@)EE*E"E !I!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759829*Fa2Fa:FiBFm^0JFiGE $<G B! OE >[{*w,KA6ś@Y6@6G=96=y6H︿@ѻ?`d'T@㯿 ?@?ɨ6ś@6 ;6Cy>2B>%I%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009751Mb@Mb@Mb@ )Yp= ף?Q롿X9vy%?\$A +A)AIypAIEIEb4٢U ]A=9]Q ]>aa eG٣eEGye e> uNusing accuracyPremultiplier from configi}49m?}4YmZ@ im [B}%?}: ܿ2@m-Dm ;m@;ma4 @EB*** querying acoustic contact ***jAjAZjquFNOT Ignoring new targets: 564.40 m.Bj}Jj} ProNav: ac range: 564.400024 m, nav range: 3.804035 m, bearing: 103.678600 deg, approach rate: 0.578781 m/s, LOS rate: -3.574199 deg/s, cmd heading: 193.118299 deg, new cmd heading: 188.495603 deg. 2jOHeadingCmd: 3.289869 target range: 564.400024 and range: 573.00 m. j6R@jjjihhhhƈBfffrfbf @ɛE^BEc imIi m:ɚiiqIu$H=Ium"iyiy)}6R@)y*FM?2FQ:FQBFU`0JFYGEŠ}=GBOEs> IWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=3.261220zK JK 9K K K 0+r}IlvDi*w,a A^t@Y^;@^+p=9^֩=y^H&ವ?ZISq@@ ??ɨ^t@^;^CyzBz$I)| ~A =I I 4٢UTĽ UK= %%Y!y% B9-PQ ->11 5G٣1y=14 => ENusing accuracyPremultiplier from configAu49Eu?u4YEG iEZBquܿ}2@E6DE;E ;Emi4B n@EZjFNOT Ignoring new targets: 564.40 m.BjmJjm ProNav: ac range: 564.400024 m, nav range: 4.061657 m, bearing: 102.185887 deg, approach rate: 0.613380 m/s, LOS rate: -3.328235 deg/s, cmd heading: 188.495599 deg, new cmd heading: 184.309438 deg. 2j%-HeadingCmd: 3.216807 target range: 564.400024 and range: 573.00 m. j-)M@j1j1j1i1h1h1h9h9f9f9f9rfAbfEE @-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:21:48:23.1533 =TRx dataTimestamp_ set to:1736372904.305858=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514779JMJMJM1JIJM:JM9:JM3JIɛmdBm# im~Iq u 2:ɚqiqIu=,=I} iyiy))M@)*F?2F:FBF_0JFG=HaIa Iez%IIeBIa&Ia.Ia6Ie<:IeL FGBO>  I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767819*w, $AF(F@YFzU@F`=9FC=yFHϚ?~A9?e?ɨF(F@Fۊ;FCy%B%$IMb@Mb@Mb@ )YHzG? G٣yk > Nusing accuracyPremultiplier from config49m?4YyN iZB[*?:Կ%2@>DbU;;]p4 E@ZjFNOT Ignoring new targets: 564.40 m.Bj%.Jj-.= ProNav: ac range: 564.400024 m, nav range: 4.313451 m, bearing: 101.137809 deg, approach rate: 0.621149 m/s, LOS rate: -2.434437 deg/s, cmd heading: 184.309445 deg, new cmd heading: 181.351546 deg. 2j=нmHeadingCmd: 3.165182 target range: 564.400024 and range: 573.00 m. jmVJ@jijijiiqhqhqhqhuBfyfyfyrfybf@N@ɛ iB т -= ,I  lɚiI=I>Aiiy)}VJ@)*F?2F:FBF0JFGA#>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=DAT read: Range 10 to 50 : 573.1 m (Round-trip 764.2 ms) speed 0.0 m/s E,DAT read: user:2071> -MX#Rx 1: Read range message, but no direction.1y5FD1UT****** received valid address query ******UR****** received valid ping request ******UQuerying Benthos address 50 with one ping in standard two-way mode.G!B1OU>A*w,q>A2$@Y2v@2O=92{=y2Hf7?ī`2-1Фީ@fC??ɨ2$@2=;0yBBB$IIJIJs4٢V Vb=9Z[FQ Z>XX ZG٣^EGy^E b> fNusing accuracyPremultiplier from configdj49f\?j4YfT ifZBln$ֿn2@fFDf;f;fv4rB v@vE addTargetRange:: Added new target pos. range: 573.099976 m, deltaT: 4.030466 s, deltaX: 0.099976 m, approachRate: 0.024805 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 564.40 m. IShBj0Jj0 ProNav: ac range: 564.400024 m, nav range: 4.543920 m, bearing: 100.251818 deg, approach rate: 0.676774 m/s, LOS rate: -2.469665 deg/s, cmd heading: 181.351549 deg, new cmd heading: 178.830119 deg. 2jӽHeadingCmd: 3.121174 target range: 564.400024 and range: 573.10 m. jRG@jjjihhhhfffrf%@bf%@N?Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:21:48:24.2349 $Ping request sent.JK}>*Fa2Fa:FaBFeH2JFaG==>GB!O=r>U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252274Jm Jm Ji Ji Jm :Jm o5:Ji Ji lʕ*w,IXA @@6y@Y6E@6a>=96Ő=y6H?`T]ɧ@? ?ɨ6y@6;6CyRBR$II^I^<4٢vν vG=9v"Q v>xx zG٣xyz ~>HI IB%II\BI. =&I.I6Iհ<:I FBICJICRIZIbIjI~4 =Nusing accuracyPremultiplier from config1E495?E4Y5\ i5ZBAEؿE2@5OD5;5;5}4I U~AQZjFNOT Ignoring new targets: 564.40 m.BjJj  ProNav: ac range: 564.400024 m, nav range: 4.809374 m, bearing: 99.289553 deg, approach rate: 0.612739 m/s, LOS rate: -2.098466 deg/s, cmd heading: 178.830117 deg, new cmd heading: 176.104843 deg. 2j 5HeadingCmd: 3.073609 target range: 564.400024 and range: 573.10 m. j5D@j1j9j9i9h9h9hAhAfAfAfArfIbfM8?ɛsBP 隽I ɚiIw =Ir|ii)D@) I*F?2F:FBF*5JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505691G G rAG G B O >*w,u?rA2G@Y2@27r,=92&I=y2H Eÿ?$C Cÿ e}??ɨ2G@2Ř;2Cy>܅BB$IzWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754671]Mb@Mb@Mb@YYY Y)YY]M?~jtx?~jty]n2?];]ļ]A Y)]AI]+AYy]AIuIu4٢? @=9/(Q > G٣yE. > Nusing accuracyPremultiplier from config49-?4Yc iZB2?:ۿ2@XD ;;S4 AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 564.40 m.Bj#Jj#  ProNav: ac range: 564.400024 m, nav range: 5.088664 m, bearing: 98.308672 deg, approach rate: 0.690577 m/s, LOS rate: -2.292120 deg/s, cmd heading: 176.104844 deg, new cmd heading: 173.326025 deg. 2j ĽHeadingCmd: 3.025110 target range: 564.400024 and range: 573.10 m. jfA@jjjihhh!h%Bf!f!f)rf)bf-?ɛxBb ꦿI Z}UɚiIO"=I%!i)i))-fA@)) IEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006758*F= ?2F9 :FA BFE 1JFA G uR>G B O >zK =NK 9K K K &4BOYbtzvU>1*$" "! "  BK- qA:K- nAܢ*w,zAr0@Y?@=9QI=yHƿW~?;;ƿ` @y5?`'?ɨr0@e;Cy-ͅB-$IIeIeW4٢u3 uM=9u;Q }>yy G٣EGylb > Nusing accuracyPremultiplier from config49^?4Yj i~ZBݿ2@aD;_;M4 GAZjFNOT Ignoring new targets: 564.40 m.BjJj ProNav: ac range: 564.400024 m, nav range: 5.353999 m, bearing: 97.405923 deg, approach rate: 0.665769 m/s, LOS rate: -2.152796 deg/s, cmd heading: 173.326022 deg, new cmd heading: 170.753825 deg. 2jHeadingCmd: 2.980217 target range: 564.400024 and range: 573.10 m. j޻>@jjjihhhhfff rf bf`#?ɛU}BU,ͽ QUثIY ]WɚYiYI] $=Ie%&iaia)e޻>@)iEU=Will construct direction to contact in vehicle frame from tetrahedron phase data.JEJEJE0JAJE+:JE,:JEـ3JAechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.268267*F?2F:FBF`0JFGlp>GaBiO\>H >I  I %II 3BI &I .I 6I <:I R F I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513399b *w,祪AyޕBޝ{$I)  p=p=Mb@Mb@Mb@ )Y-?I +?/$y?5?94<$A +A)IZAyAII4٢ 7=9Q > 5G٣1y5 5> ENusing accuracyPremultiplier from config9M49=?M4Y=Qs i=gZBUY5?U:] ݿ]2@=kD=e;=6c;=Y4eB eAmEZjFNOT Ignoring new targets: 564.40 m.BjJj ProNav: ac range: 564.400024 m, nav range: 5.666969 m, bearing: 96.477555 deg, approach rate: 0.676526 m/s, LOS rate: -1.895879 deg/s, cmd heading: 170.753828 deg, new cmd heading: 168.124500 deg. 2jHeadingCmd: 2.934326 target range: 564.400024 and range: 573.10 m. j;@jjjihhhhSBfffrfbf`k?ɛBŽ GaBiO>*w,lĪAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014009:@Y:׮@:7=9:;y:H4̿5? )2`0>̿U丠Qw? ?ɨ:@:t;;8yFBF$IIRIR4٢Zy< ZG=9Z1BQ ^>\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj49f>?j4Yfz ifVZBln㿑n2@ftDf ;f ;fF4p rApZjFNOT Ignoring new targets: 564.40 m.Bj Jj  ProNav: ac range: 564.400024 m, nav range: 5.933711 m, bearing: 95.627141 deg, approach rate: 0.642627 m/s, LOS rate: -1.956617 deg/s, cmd heading: 168.124505 deg, new cmd heading: 165.689509 deg. 2j٧HeadingCmd: 2.891828 target range: 564.400024 and range: 573.10 m. j9@jjjihhhhfffrf)bf-@zK@NK9KKK RK ?JK?ɛmBm0ɽ imʲIi u4ɚqiqIu(=I}p2iyiy)}9@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271202JJJJJ:J@0:*F2F:F BF 4JF JJH I  I $II BI &I .I 6I <:I g FG F>G B O>s*w,᪼A $?I:@Y:MŽ@:H<9:%'y:HyϿ(?sd?l@Ͽ@퇞`?ɨ:@:qU;:CyFBFw$IININ=4٢V Z2=9jɻQ n>lp rG٣rEGyr~ r> zNusing accuracyPremultiplier from configt~49vǑ?~4Yv ivAZB|~B翑~2@vDv-;v;vb4  A Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525695Zj%FNOT Ignoring new targets: 564.40 m.BjU JjU E ProNav: ac range: 564.400024 m, nav range: 6.244610 m, bearing: 94.639779 deg, approach rate: 0.658444 m/s, LOS rate: -1.986896 deg/s, cmd heading: 165.689516 deg, new cmd heading: 162.877300 deg. 2jermHeadingCmd: 2.842745 target range: 564.400024 and range: 573.10 m. jm5@jijijqiqhqhqhyhyfyffrfbf@ɛeBeΝɽ imٵIi utɚqiqIu*=I 9ii)5@)*FQ2FQ:FQBF]_0JFYe Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773897G] 2>G1 BA Ou >h6*w,Ay~B~p$Ii!>Ip=  AMb@Mb@Mb@ )Y`"?Mb?Qy7?<uA nA)SAI+AypAII4٢ļ :=9Q > G٣y > Nusing accuracyPremultiplier from config49Ջ?4Y i1ZB7?:b濑2@D;;4B GAEB*** querying acoustic contact ***jjZj!-FNOT Ignoring new targets: 564.40 m.Bj- Jj-  ProNav: ac range: 564.400024 m, nav range: 6.541282 m, bearing: 93.809105 deg, approach rate: 0.731660 m/s, LOS rate: -1.955647 deg/s, cmd heading: 162.877294 deg, new cmd heading: 160.499745 deg. 2jħHeadingCmd: 2.801249 target range: 564.400024 and range: 573.10 m. jG3@jjjih h  Ih1h5EBf1f1f1rf9bf= @ɛB 隅HI ɚiI+=I'>ii)G3@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027262*Fa2Fa:FaBFaJFizKZMKKKK  5A $U*~a7  G 2>G B O > *w,RAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277901*JC="Jp=^g@Y^Ό@^kK<9^y^H`Hӿ G٣y $  > Nusing accuracyPremultiplier from config49E?4YǑ i%ZB!%B%2@Dc;;4-B -aA-EZjFNOT Ignoring new targets: 564.40 m.Bjt Jjt  ProNav: ac range: 564.400024 m, nav range: 6.796444 m, bearing: 93.008603 deg, approach rate: 0.655346 m/s, LOS rate: -1.978717 deg/s, cmd heading: 160.499747 deg, new cmd heading: 158.189729 deg. 2jHeadingCmd: 2.760932 target range: 564.400024 and range: 573.10 m. j0@jjjihhhhff!f!rf!bf%@ @ZHRHAAHI I$IIBI/ =&I.I6Ix<:I; FɛB ¹I &*ɚiI -=I/Cii)0@)*F?2F:FBFo0JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:48:27.4033 TRx dataTimestamp_ set to:1736372908.596421 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536318G :>Ga Bq O >fH*w,R/A6@Y6̋@6 S<96 y6Hտ? `?`m տ`)A@?ɨ6@6E ;6Cy^Bby$IMb@Mb@Mb@ )Y-? G٣EGy9 > Nusing accuracyPremultiplier from config49}?4YL iZBD5?:t2@D;;4 AZj1=FNOT Ignoring new targets: 564.40 m.BjEJjEU ProNav: ac range: 564.400024 m, nav range: 7.077142 m, bearing: 92.094033 deg, approach rate: 0.669414 m/s, LOS rate: -2.094492 deg/s, cmd heading: 158.189736 deg, new cmd heading: 155.556816 deg. 2jU]HeadingCmd: 2.714979 target range: 564.400024 and range: 573.10 m. j]6-@jYjYjaiahahahihmaBfififrfbf+ @5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782034JEJEJAJAJE{:JE7/:JAJAJEɚiI`/=IHii)6-@)*F?2F:FBF~0JF IUhG 2>G  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 573.1 m (Round-trip 764.2 ms) speed -0.2 m/s  ,DAT read: user:2072>  BDAT read: Tx time:21:48:28.4849  $Ping request sent. 0*w,-IA =@Y Ċ@ <9 [y H@}׿@J?ˍ?@`v׿@\qJ`?ɨ =@ {; y%B%$I -=-=zKe,NKe9KaKeKeI1I1٢< L=9~ٻQ > G٣y餽 > Nusing accuracyPremultiplier from config49t?4YG iZB2@D) C%/<uF<4]}Gy A  YyB addTargetRange:: Added new target pos. range: 573.099976 m, deltaT: 4.288154 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 Zj5FNOT Ignoring new targets: 564.40 m.Bj5 Jj5 U ProNav: ac range: 564.400024 m, nav range: 7.339202 m, bearing: 91.231951 deg, approach rate: 0.604221 m/s, LOS rate: -1.916619 deg/s, cmd heading: 155.556821 deg, new cmd heading: 153.064588 deg. 2jUkeHeadingCmd: 2.671481 target range: 564.400024 and range: 573.10 m. je*@jijijihhhhfffrfbf?ɛeBef aecI FVSɚiI11=IeC@ii)*@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.MJDAT read: TxSync time:21:48:28.4841 JIJM@A*FU?2FQ:FQBF]0JFYHI III. =&I.I6I<:Iq FG :>G ?G ?GY Bi O > $?I ?Z*w,tcA>@Y>X@>y<9>wy>H"fٿE_?@>;>Cy~΅B$II=I=.4٢UP=Will construct direction to contact in vehicle frame from tetrahedron phase data. N=9Q >)) 5G٣Iye/ e>  Nusing accuracyPremultiplier from configE49:j?M4Y i ZB2@D7<<4B uAEZjQUFNOT Ignoring new targets: 564.40 m.Bj]Jj] ProNav: ac range: 564.400024 m, nav range: 7.629881 m, bearing: 90.268549 deg, approach rate: 0.653590 m/s, LOS rate: -2.083575 deg/s, cmd heading: 153.064594 deg, new cmd heading: 150.286806 deg. 2jHeadingCmd: 2.623000 target range: 564.400024 and range: 573.10 m. j:'@jjjihhhhfffrfbfn?ɛB, wI (gɚiI2=IEZ=@iAiA)E:'@)I*F?2F:FBFL2JFM Will construct direction to contact in vehicle frame from tetrahedron phase data.J] J] J] /JY J] :J] @0:J] (N3JY J] <J] <J] @;J] @;G 2>G B O >|*w,t|Ayb؅Bb$IuMb@Mb@Mb@qqq q)qYu rh?{Gzyu,?u#uq uSA)uAIuAqyqII4٢9= E=9Q > G٣EGy > Nusing accuracyPremultiplier from config49a?4Yݭ iZB,?:42@D/;o;/4 (AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 564.40 m.Bj iJj i yIy ProNav: ac range: 564.400024 m, nav range: 7.853353 m, bearing: 89.527573 deg, approach rate: 0.679209 m/s, LOS rate: -2.187945 deg/s, cmd heading: 150.286811 deg, new cmd heading: 148.128219 deg. 2jHeadingCmd: 2.585325 target range: 564.400024 and range: 573.10 m. ju%@jjjihhhhBfffrfbfx?ɛmBus quIq uwɚqiyI}̂4=I}9@ii)u%@)Will construct direction to contact in vehicle frame from tetrahedron phase data.խAiխAT****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*FE?2FA:FABFE4JFAzKBoIK9KKKGe :>GA BQ Om >U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255589 u*w,㖫A2g@Y2v@29D<92fE4B>$IiBa=IBi>FAFAIRIR4٢fB= mX=9mQ&Q m>qq uG٣qyuI6 }> Nusing accuracyPremultiplier from configy49}W?4Y} i}ZB$2@}D} ;} ;}%4B AEZj FNOT Ignoring new targets: 564.40 m.Bj Jj ProNav: ac range: 564.400024 m, nav range: 8.091721 m, bearing: 88.640161 deg, approach rate: 0.586832 m/s, LOS rate: -2.120251 deg/s, cmd heading: 148.128225 deg, new cmd heading: 145.546268 deg. 2j㵽jHAbHE<HIII IM$IIMBII&II.II6IMA<:IM FBIJIRIZI. =bI. =jI4uHeadingCmd: 2.540262 target range: 564.400024 and range: 573.10 m. ju"@jyjyjyiyhyhyhhfffrfbf?ɛB I  ɚiI%6=I%3@i!i))-"@))*F?2F:FBF_0JF YIYWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.528455G G) G- nAG B O% >x*w,FA6~@Y6"\@6k'<96~g G٣y > Nusing accuracyPremultiplier from config49K?4Y i&?:E2@ǶDU;;c4B A EZj!-FNOT Ignoring new targets: 564.40 m.Bj-!Jj-!= ProNav: ac range: 564.400024 m, nav range: 8.324148 m, bearing: 87.697151 deg, approach rate: 0.573097 m/s, LOS rate: -2.260156 deg/s, cmd heading: 145.546263 deg, new cmd heading: 142.798457 deg. 2jEMHeadingCmd: 2.492303 target range: 564.400024 and range: 573.10 m. jM@jIjIjIiQhQhYhYh]BfYfafarfabfe@U?ɛB+m 隥ֱI mɚiI7=I~.@ii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759606J!J%J%0J!J!J%9:J%ـ3J!J!J!J%P;J%P;*F)2F):F)BF-`0JF)G U$?I]VhGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011518h~*w,uʫAJz@YJO@Jme<9JQ/!! -G٣-EGy-+ -> 5Nusing accuracyPremultiplier from config1=495>?E4Y5e i5ZBAE^ E2@5϶D5S;5;54I UAQZjq}FNOT Ignoring new targets: 564.40 m.Bj4'Jj4' ProNav: ac range: 564.400024 m, nav range: 8.532089 m, bearing: 86.782543 deg, approach rate: 0.545075 m/s, LOS rate: -2.338928 deg/s, cmd heading: 142.798451 deg, new cmd heading: 140.123556 deg. 2jȽHeadingCmd: 2.445617 target range: 564.400024 and range: 573.10 m. j@jjjihhhhfffrfbf~@zKBHK}9KKKRK ?JK?ɛB\ ӬI 핼ɚiI_9=Ip)@ii) @) *F?2F:FBFm0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264592G-B>He>Ia Ie$IIe$BIa&Ia.Ia6Iek<:Ie3 FG B O5 > A IA *w,T䫼ANlx@YNE@Nw<9NNll rG٣pyr r> vNusing accuracyPremultiplier from configtz49v1?z4Yv ivYBr2@v׶Dvf;vKf;v4 @Zj9=FNOT Ignoring new targets: 564.40 m.BjE&JjE&M ProNav: ac range: 564.400024 m, nav range: 8.744855 m, bearing: 85.836643 deg, approach rate: 0.536982 m/s, LOS rate: -2.329090 deg/s, cmd heading: 140.123557 deg, new cmd heading: 137.357177 deg. 2jUǽ]HeadingCmd: 2.397335 target range: 564.400024 and range: 573.10 m. jem@jajajiiiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517056hqhhhfffrfbf2@ɛBN /I lɚiI =;=I%#@iQiY)]m@)E*Fm?2Fi:FiBFma0JFi"Gu!>Gu)>J5 J5 J1 J1 J5 :J5 J1:J1 J1 J5 r<J5 s<J5 %;J5 &;M Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771453G :>G ?G ?G B O >*w,{/A:gv@Y:EC@:<9:±;y:He&?N`m'P]7v?`y?ɨ:gv@:5k;:CyB BB$IMb@Mb@Mb@ )Y?v/Mb?y ?xi<A A)SAInAy\AI5I5s4٢E< EC=9E;Q M>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYm49]"?m4Y] i]YBm ?u:ulu2@]D] 7;]55;]D4}B }]@ EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 564.40 m.Bj+Jj+ $?IWh] ProNav: ac range: 564.400024 m, nav range: 8.953714 m, bearing: 84.806445 deg, approach rate: 0.499041 m/s, LOS rate: -2.403965 deg/s, cmd heading: 137.357181 deg, new cmd heading: 134.341632 deg. 2je:νmHeadingCmd: 2.344704 target range: 564.400024 and range: 573.10 m. jm@jjjihhhh݈Bfffrfbf@ɛ%B%* !%૿I! -&ɚ)iIIM<=IUx@iQiQ)U@)YWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024616*F%?2F!:F!BF%0JF!zK5jIK1K1K5K5BKEpA:KEqAGA G! BI Om >] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275937+w,LA:~`t@Y:?@:=<9:;y:H ?Tp`:g`}y?@ ?ɨ:~`t@:;: Cyr Br$II I 4٢=z= =I=9EW;Q M>QY ]G٣Yyep e> mNusing accuracyPremultiplier from configiu49m?u4Ym imYBqus}2@mDm;m5;mm4 @ZjFNOT Ignoring new targets: 564.40 m.Bj+Jj+ ProNav: ac range: 564.400024 m, nav range: 9.155993 m, bearing: 83.802808 deg, approach rate: 0.494629 m/s, LOS rate: -2.399846 deg/s, cmd heading: 134.341638 deg, new cmd heading: 131.399982 deg. 2jͽHeadingCmd: 2.293362 target range: 564.400024 and range: 573.10 m. js@jZHRH?AHI I)%IIGBI&I.I6I:Ijjihhhhfffrfbf @ɛB:b ǧI OɚiIL>=I.@ii)s@)*F?2F:FBF4JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527539G1 G! B) OM > +w,1APExceeded connect timeout, disconnecting.:6ir@Y:C@:c*<9:. G٣EGy > Nusing accuracyPremultiplier from config49?4Y! iYB?:2@D;;4B @EZj  FNOT Ignoring new targets: 564.40 m.Bj]0Jj]0- ProNav: ac range: 564.400024 m, nav range: 9.342178 m, bearing: 82.765783 deg, approach rate: 0.451957 m/s, LOS rate: -2.467022 deg/s, cmd heading: 131.399985 deg, new cmd heading: 128.353953 deg. 2j-ӽ5HeadingCmd: 2.240199 target range: 564.400024 and range: 573.10 m. j5l_@j1j1j1i1h9h9h9h=BfAfAfArfAbfE`@ɛuˆBuD u٬=uIy }jjɚyiyI}w@=I@ii)l_@ Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:48:31.6547 TRx dataTimestamp_ set to:1736372912.880710checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780674))E9E=rA*F?2F:FBFO5JFG G $?IGB>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ս Aiս A checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031774+w, KA6lp@Y6~@6w<96oJXX ZG٣Xy  > Nusing accuracyPremultiplier from config 49  ?4Y  i YB%%2@ D |; ; H4) -?@)ZjQ]FNOT Ignoring new targets: 564.40 m.Bj]0Jj]0m ProNav: ac range: 564.400024 m, nav range: 9.512007 m, bearing: 81.811859 deg, approach rate: 0.446544 m/s, LOS rate: -2.463338 deg/s, cmd heading: 128.353953 deg, new cmd heading: 125.545656 deg. 2jmRӽ}HeadingCmd: 2.191185 target range: 564.400024 and range: 573.10 m. j}`< @jyjyjyiyhyhhhfffrfbfL@ɛƈBf  BDAT read: Tx time:21:48:32.7850 $Ping request sent.\b?Ŀ g>= x >)PwH I  I H%II aBI &I .I 6I <:I _ FGBO> I +w,eA6n@Y6b|@6<96)) -G٣)y- 5> =Nusing accuracyPremultiplier from config9E49=伛?E4Y= i=YBAMM2@=D=;=;=m 4UB Ub@UE}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:48:32.7842 kU8]:?kUŅ2 kQ kUXA:kUDBkUDZkUx@"U>J#@e3d%@mf e@Uée3?{Ͻӓ?Ty?JkU?RkU/*UHDhw@(Nx07Kf@UO$d?r忢?"kUp*kUCkU=;?kU>x{2 2kUsCkU=xs?kUV kUBkUCkU@] addTargetRange:: Added new target pos. range: 574.200012 m, deltaT: 4.287417 s, deltaX: 1.100037 m, approachRate: 0.256573 m/s, rangeRepo size: 4  Added new target pos. range: 574.200012 m, bearing: 314.626489 deg, lat: 36.899208 deg, lon: -122.120104 deg, deltaT: 40.595917 s, deltaX: 9.799988 m, approachRate: 0.241403 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 574.20 m.BjJj ProNav: ac range: 574.200012 m, nav range: 150.849304 m, bearing: 274.109917 deg, approach rate: 0.000000 m/s, LOS rate: -2.463338 deg/s, cmd heading: 125.545652 deg, new cmd heading: 121.888683 deg. 2jHeadingCmd: 2.127359 target range: 574.200012 and range: 574.20 m. j&@jjjihhhhfffrf@bf҉?ɛMʈBUֽ QU}IQ U̼ɚQiYI]D=I @ii)&@) EnManaging dock network, ignoring radio surface power off*F5?2F1:F1BF=4JF9- Will construct direction to contact in vehicle frame from tetrahedron phase data.G] 7>Ge ?Ge >G1 BA O] >%+w,A6xvl@Y6z@6(<96 -BB %IMb@Mb@Mb@ )Yl?V-~jtxy?Ļ )AI?AyA =$?I9I-I-4٢C @=9;Q > G٣EGy > Nusing accuracyPremultiplier from config49oҼ?4Y iYBq?:#2@D;;4 @B*** querying acoustic contact ***jjZj!%FNOT Ignoring new targets: 574.20 m.Bj-;Jj-;= ProNav: ac range: 574.200012 m, nav range: 150.724457 m, bearing: 274.195159 deg, approach rate: -0.367502 m/s, LOS rate: 0.251127 deg/s, cmd heading: 121.888687 deg, new cmd heading: 122.144624 deg. 2j=X,Gi Bq O >ݬ&+w,~AjH,bH.<H4I4 I6a%II6uBI4&I4.I46I6<:I6Y Frrj@Yrx@r| =9rq[=9E;Q E>ii uG٣qyu u> }Nusing accuracyPremultiplier from configy49}?4Y}U i}YB%2@}D}\&<}~&<}n4B @EZj%FNOT Ignoring new targets: 574.20 m.Bj-d;Jj-d;= ProNav: ac range: 574.200012 m, nav range: 150.604492 m, bearing: 274.283163 deg, approach rate: -0.272267 m/s, LOS rate: 0.199890 deg/s, cmd heading: 122.144628 deg, new cmd heading: 122.408850 deg. 2j=. Gq By O >,+w,cAy %IMb@Mb@Mb@ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499920)YQ?!rh~jty?l罹 A)AInAyII4٢: ?=9Q  >    G٣ y %> -Nusing accuracyPremultiplier from config)549-?54Y- i-YB=?=:=%=3@-D-L$;-!;-#4E B E@MEZjq}FNOT Ignoring new targets: 574.20 m.Bj}i;Jj}i; ProNav: ac range: 574.200012 m, nav range: 150.488098 m, bearing: 274.368306 deg, approach rate: -0.279161 m/s, LOS rate: 0.204366 deg/s, cmd heading: 122.408847 deg, new cmd heading: 122.664472 deg. 2jA <HeadingCmd: 2.140899 target range: 574.200012 and range: 574.20 m. j} @jjjihhhhBfffrfbf?ɛӈB I ɚiInJ=IQ@ii)} @)EE*E"E IE*F12F9:F9BF9JF9GA GA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752120G9 G B! OE >-4+w,ѬA64g@Y6rSu@6'(=96b(`` bG٣bEGyb3 f> jNusing accuracyPremultiplier from confighn49j?n4Yj ijYBln(n3@jDjC:je:j*4t v@tZjFNOT Ignoring new targets: 574.20 m.Bjm;Jjm; ProNav: ac range: 574.200012 m, nav range: 150.392639 m, bearing: 274.448814 deg, approach rate: -0.245544 m/s, LOS rate: 0.207218 deg/s, cmd heading: 122.664474 deg, new cmd heading: 122.906149 deg. 2j6<HeadingCmd: 2.145117 target range: 574.200012 and range: 574.20 m. jI @jjjihhhhfffrfbf ??ɛ׈B! >=隝I zɚiInL=II @ii)I @)JJJJJ/JJ+:J\3:J(N3JWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005743H}>Iy I}g%II}zBIy&Iy.Iy6I}i<:I}1 FBIIJIIRIIZIIbIIjIMŢ3*F2F:FBF`0JF $?IG A>G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256839R:+w,4M물Ay%B%$IMb@Mb@Mb@ )Y ףp= ?+η   G٣ y   > Nusing accuracyPremultiplier from config49c?%4Y iYB%q?%:%&%3@)DF;>;34- B 5 @5EZjaeFNOT Ignoring new targets: 574.20 m.BjmTj;JjmTj;} ProNav: ac range: 574.200012 m, nav range: 150.257126 m, bearing: 274.553362 deg, approach rate: -0.265306 m/s, LOS rate: 0.204866 deg/s, cmd heading: 122.906153 deg, new cmd heading: 123.220075 deg. 2j} <HeadingCmd: 2.150596 target range: 574.200012 and range: 574.20 m. j] @jjjihhhh Bfffrfbf@ɛڈB t  I (ɚiI0O=I] @ii)] @)*F2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509176 I G <>G B O >AA+w,DA6:c@Y6q@6>=96N?ɨ6:c@6c;6CyBBB$IININ&4٢V  V=9Z ^? fNusing accuracyPremultiplier from config`f49by?j4Yb ib{YBhj8*j3@b/Db&:b:b84l r-Ap~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 574.20 m.Bjp;Jjp;= ProNav: ac range: 574.200012 m, nav range: 150.187454 m, bearing: 274.615882 deg, approach rate: -0.234658 m/s, LOS rate: 0.210671 deg/s, cmd heading: 123.220069 deg, new cmd heading: 123.407717 deg. 2j=G%>zKNLK9KKKG]A>Ge ?Ge?GQ Ba O} >J J J 1J J :J S2:J 3J  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012036ZHi RHi Hq Iq  Iu [%IIu pBIq &Iq .Iq 6Iu t<:Iu 9 FcG+w,AF3a@YFo@FyG=9F?[A`G@m ߨ@Z?1?ɨF3a@F p;FCyjBn$I)p pIvIv4٢~w ~F=9Ԥ;Q >    G٣ EGy  > Nusing accuracyPremultiplier from config%49Qf?%4Y i^YB)-,-3@7D::?4 }$?I}XhB dA!EZjFNOT Ignoring new targets: 574.20 m.Bj%f;Jj%f;U ProNav: ac range: 574.200012 m, nav range: 150.097336 m, bearing: 274.703959 deg, approach rate: -0.206371 m/s, LOS rate: 0.201816 deg/s, cmd heading: 123.407721 deg, new cmd heading: 123.672108 deg. 2jU <]HeadingCmd: 2.158485 target range: 574.200012 and range: 574.20 m. j]$ @jYjYjYiYhahahahafififrfbf@ @ɛB !%I! %ɚ!iIIM'S=IM$ @iQiQ)U$ @)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264720E}=*F% ?2F) :F) BF- 0JF) 5 Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517506GM F>G B1OU>N+w,q=AyUBU$IMb@Mb@Mb@ )YV-?~jtZd;Oy|?Dj<A A)9AIAyzAII4٢ 1 "=9Q > G٣y %> -Nusing accuracyPremultiplier from config)549-O?54Y- i-6YB5d ?5:5&=3@-AD-;-#;-H4EB EAE$E m$?IiZjFNOT Ignoring new targets: 574.20 m.Bj;Jj; ProNav: ac range: 574.200012 m, nav range: 149.961395 m, bearing: 274.811627 deg, approach rate: -0.281904 m/s, LOS rate: 0.223476 deg/s, cmd heading: 123.672104 deg, new cmd heading: 123.995397 deg. 2j^<HeadingCmd: 2.164128 target range: 574.200012 and range: 574.20 m. j @jjjihhhhBfffrfbfC @ɛB 隥aI ;t ɚiI~gV=I @ii) @)EO=*F2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:48:35.9576 TRx dataTimestamp_ set to:1736372917.173533checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773958G G zK K K9K K K      RK ?JK ?B O >XlU+w,#VA2^@Y2l@2U=92?9?ɨ2^@2);2CyBBB$IIJIJ4٢RX Vf=9V3#XX ZG٣XyZ, ^> bNusing accuracyPremultiplier from config`f49b>?f4Yb ibYBdf*f3@bHDb:b:bN4l nAlZjFNOT Ignoring new targets: 574.20 m.Bj7o;Jj7o; ProNav: ac range: 574.200012 m, nav range: 149.877731 m, bearing: 274.889905 deg, approach rate: -0.223404 m/s, LOS rate: 0.209140 deg/s, cmd heading: 123.995391 deg, new cmd heading: 124.230355 deg. 2j<HeadingCmd: 2.168229 target range: 574.200012 and range: 574.20 m. jB @jjjihhhhfffrfbf &@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024080ɛMBM QUPIq }0ɚyiI X=IB @ii)B @)HIII IM<%IIMWBII&II.II6IM;<:IM F iIiEL=El>E>*F?2F:FBFP1JFG G Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 576.3 m (Round-trip 768.4 ms) speed -0.5 m/s  ,DAT read: user:2074>  BDAT read: Tx time:21:48:37.0350  $Ping request sent. GBO >\+w,?RvAF4\@YF#j@FjY=9FAA EG٣EEGyM[ M> UNusing accuracyPremultiplier from configQ]49U$?]4YU iUXBe"?:?'3@UTDU;U;UY4B %A'E addTargetRange:: Added new target pos. range: 576.299988 m, deltaT: 4.292710 s, deltaX: 2.099976 m, approachRate: 0.489196 m/s, rangeRepo size: 4 Zj FNOT Ignoring new targets: 574.20 m.Bj };Jj };E ProNav: ac range: 574.200012 m, nav range: 149.722687 m, bearing: 275.015245 deg, approach rate: -0.274290 m/s, LOS rate: 0.221969 deg/s, cmd heading: 124.230349 deg, new cmd heading: 124.606753 deg. 2jEUGB!zK=}LK=}9K9K=K= "##$%!"BKEqA:KAOU?xZe+w,*tA6W@Y6f@6"S=96MBBu$IIJIJ4٢R7 RB=9RnQ V>TT VG٣TyZ Z> ^Nusing accuracyPremultiplier from config\b49^?b4Y^ i^XBdf]+f3@^\D^;^y;^``4h jAhzB*** querying acoustic contact ***jxjxZj|FNOT Ignoring new targets: 574.20 m.Bj;Jj; ProNav: ac range: 574.200012 m, nav range: 149.626678 m, bearing: 275.108447 deg, approach rate: -0.235210 m/s, LOS rate: 0.228481 deg/s, cmd heading: 124.606747 deg, new cmd heading: 124.886530 deg. 2j<HeadingCmd: 2.179681 target range: 574.200012 and range: 576.30 m. j @j!j!j!i!h!h!h)h)f)f)f1rf1bf5@?ɛB*JR="Jp= 9=ͿI9 =aɚAiAIE^=IE @iIiI)M @)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.HI I %II.BI- =&I.I6I<:IL F*F?2F:FBFO5JF! IGUA>G1 BA Om >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004090{k+w,R'A]U@Y]Oc@]$P=9]= G٣EGyT > Nusing accuracyPremultiplier from config49J?4Y iXB#?:v'3@eD;;h4B -A*EZjFNOT Ignoring new targets: 574.20 m.Bj e|;Jj e|; ProNav: ac range: 574.200012 m, nav range: 149.501907 m, bearing: 275.211325 deg, approach rate: -0.267396 m/s, LOS rate: 0.220661 deg/s, cmd heading: 124.886526 deg, new cmd heading: 125.195415 deg. 2jp<%HeadingCmd: 2.185072 target range: 574.200012 and range: 576.30 m. j-9 @j)j)j)i)h)h)h1h5Bf1f1f9rf9bf=*?ɛeBmN imпIi m"ɚiiqIua=Iu9 @iyiy)}9 @)*F2F:FBF4JF"G>G=JEJAJAJAJE+:JAJAJAJE&<JE&<JAJAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256361 $?IG% F>G- ?G- ?G B O- >_r+w,ɭA:JS@Y:a@:F=9:4PoWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759390GI BQ H I  I $II BI &I .I 6I <:I R FO > $?I Lx+w,㭼A6zQ@Y6_@6F=96'hh jG٣hyj n> rNusing accuracyPremultiplier from configpv49r׻?v4YrK ireXBtv+z3@ruDr:r:ru4| ~A|ZjaeFNOT Ignoring new targets: 574.20 m.Bjm ;Jjm ; ProNav: ac range: 574.200012 m, nav range: 149.324799 m, bearing: 275.379822 deg, approach rate: -0.226867 m/s, LOS rate: 0.225779 deg/s, cmd heading: 125.423679 deg, new cmd heading: 125.701209 deg. 2j<HeadingCmd: 2.193900 target range: 574.200012 and range: 576.30 m. jh @jjjihhhhfffrfbf?ɛ-B- 15,տIQ ]N-ɚYiYI]g=Ieh @iaia)eh @)a Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011233*F?2F:FBFJFGIG1 BQ Ou >Ja Je Ja Ja Ja Je y6:Ja Ja Je %<Ja Je ;Je ; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263010$~+w,%AFLO@YF]@FhA=9F/n G٣EGy   > Nusing accuracyPremultiplier from config49kû?%4Y iFXB-!?-:-2(-3@}DR;%c;V}4=B =A=0E ]$?IYZjiuFNOT Ignoring new targets: 574.20 m.Bju'~;Jj}'~; ProNav: ac range: 574.200012 m, nav range: 149.211899 m, bearing: 275.477180 deg, approach rate: -0.257475 m/s, LOS rate: 0.222198 deg/s, cmd heading: 125.701203 deg, new cmd heading: 125.993495 deg. 2j~<HeadingCmd: 2.199001 target range: 574.200012 and range: 576.30 m. jp @jjjihhhhsBfffrfbf@ɛBL! V׿I .3ɚiIi=Ip @ii)p @)EE*F2F:FBF`0JFGqA GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515299GiGI BQ Oq +w,AzK~MKŷ9KKK*%!   :gM@Y: [@:9=9:dpIJ\\ bG٣`ybd b> fNusing accuracyPremultiplier from configdj49f~?n4Yf if.XBlnC*n3@fDf;fB;f4rB rAv2EB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 574.20 m.Bjd;Jjd;- ProNav: ac range: 574.200012 m, nav range: 149.126801 m, bearing: 275.557850 deg, approach rate: -0.236687 m/s, LOS rate: 0.224498 deg/s, cmd heading: 125.993494 deg, new cmd heading: 126.235641 deg. 2j-<5HeadingCmd: 2.203228 target range: 574.200012 and range: 576.30 m. j5 @j1j1j1ihhhhfffrfbfZ@uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767195ɛB( m=隽nؿI ӗ8ɚiIl=I @ii) @)H5>I1 I5$II5BI5. =&I1.I16I5_<:I5- FBIJIRIZIbIjIQ4*Fm?2Fi:FiBFuo0JFq IIIGIG! B1 O] >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019823ɋ+w,q1AvK@YY@q1=9VQw G٣y >  Nusing accuracyPremultiplier from config 49 ?%4Y  i XB%?-:-+-3@ D r; ڦ; 4=B EAM5EZjFNOT Ignoring new targets: 574.20 m.Bj v;Jj v; ProNav: ac range: 574.200012 m, nav range: 149.023560 m, bearing: 275.662157 deg, approach rate: -0.212770 m/s, LOS rate: 0.215117 deg/s, cmd heading: 126.235638 deg, new cmd heading: 126.548774 deg. 2j<HeadingCmd: 2.208693 target range: 574.200012 and range: 576.30 m. j9[ @jjjihhhhlBfffrfbfн @ɛB  ׿I G B O >1+w,9KABI@YBW@B@a&=9Bb_E>*F12F1:F1BF5\5JF1"G9G==zK}NMK}@9KyK}K}   GuA>GyG} ?GQBYWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:48:40.2189 TRx dataTimestamp_ set to:1736372921.459322checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779374O>H5 >I5 C I5 $II5 ؅BI5 - =&I1 .I1 6I5 U<:I5 & F ! I) Vט+w,eA2G@Y2U@2=92WB>Y$I)@ BAIFIF4٢rx{ rH=9vϻQ v>tt vG٣xyz z> ~Nusing accuracyPremultiplier from config|49~y?4Y~ i~WB  / 3@~D~i:~:~4 AZjAMFNOT Ignoring new targets: 574.20 m.BjM5;JjU5;e ProNav: ac range: 574.200012 m, nav range: 148.885529 m, bearing: 275.826669 deg, approach rate: -0.178416 m/s, LOS rate: 0.224176 deg/s, cmd heading: 126.768065 deg, new cmd heading: 127.042534 deg. 2je Ygot valid direction response: 21:48:40.2189 LVL= 17648, 23665, 14450, 22003, AGC= 73, IDX= 29, 0.22, 2.869,-1.702, 2.177, 2.778, PHS= 0.179, 1.851,-0.604, RAW= 348.2, -13.1, CAL= 349.5, -17.8, ROT= 160.5, 17.8  8DAT read: $Error in header  *Received a bad header X#Rx 1: Read direction message, but no range. ^direction in FSK: [0.346616,0.911353,-0.222019]ء 9إ -\.?A(l`)?"k̿ء إ Dإ q\ ٥ r8)٥ UI٥ Ii٥ K7>٥ ?٥ ٥ x@GQ Ba O >U+w,dA٥ j ڥ2@)ڥIڥG3@iڥ>ڡۥAk؝M@m;gyD̿)ۥQ;Iۥi>iۥŊ?ۥBe>T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse J$?IHyBe$IMb@Mb@Mb@ )Y ףp= ?V-?~jtyQ?=A A)hAIAyAII4٢= =9Q > G٣y% %> -Nusing accuracyPremultiplier from config)549-a?54Y- i-WB5C?=:=0=3@-D-;-S;-4EB EAE;EZjquFNOT Ignoring new targets: 574.20 m.Bj;Jj; ProNav: ac range: 574.200012 m, nav range: 148.797302 m, bearing: 275.941429 deg, approach rate: -0.171942 m/s, LOS rate: 0.223786 deg/s, cmd heading: 127.042529 deg, new cmd heading: 127.387010 deg. 2j<HeadingCmd: 2.223323 target range: 574.200012 and range: 576.30 m. jJ@jjjihhhhBf f f rf bf @ɛB0 տI =zPɚiI x=Will construct direction to contact in vehicle frame from tetrahedron phase data.i4?T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseI J@ii)J@)EU =EY zK ^LK }9K K K  BK :K *F ?2F :F BF `0JF *J% 4="J% %=J- J- J) J) J- :J- A:J) J) a5 @a5 @a5 @a5 @ 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 elapseH >I III, =&I.I4D6I.<:I F IGA>GBO?Ҩ+w,A 00RC@YR;Q@RMJ=9R)\)1 5G٣5EGy=& => MNusing accuracyPremultiplier from configAe49EI?}4YEt iEWBy}4}3@EDEn;E;E4B GA>EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.Bjd;Jjd; ProNav: ac range: 574.200012 m, nav range: 148.731201 m, bearing: 276.053739 deg, approach rate: -0.132070 m/s, LOS rate: 0.224495 deg/s, cmd heading: 127.387017 deg, new cmd heading: 127.724092 deg. 2j<HeadingCmd: 2.229206 target range: 574.200012 and range: 576.30 m. jO@jjjihhhhfffrfbf @ɛ=B= # AEҿIA MVɚIiIIM{=I]O@iYi)O@)EE*E"E5Will 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 elapse*FE?2FI: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 elapseG% F>G B O% >R"+w,A^I?@Y^M@^Ѡ<9^} G٣y > Nusing accuracyPremultiplier from config493?4Y iWB?:J<3@DM;5L;V4 AZjFNOT Ignoring new targets: 574.20 m.Bj =;Jj =; ProNav: ac range: 574.200012 m, nav range: 148.706223 m, bearing: 276.156942 deg, approach rate: -0.056802 m/s, LOS rate: 0.234726 deg/s, cmd heading: 127.724087 deg, new cmd heading: 128.033745 deg. 2j!<%HeadingCmd: 2.234610 target range: 574.200012 and range: 576.30 m. j%@j!j!j!i)h)h)h1h5Bf1f1f1rf9bf=J@ɛBF$ пI m.\ɚiiiIm_}=I}@ii)@)*F}?2Fy:FyBF}Q1JFyuWill 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 K>G B O >K+w, hڮAzKYKK9KKKRK" ?JK">Je=@YJ K@JO&<9J ?M?ɨJe=@J;HyRхBR$II^I^+4٢f= fY=9f1Q f>hl nG٣lyrb r> vNusing accuracyPremultiplier from configtz49v ?z4Yv ivWBxz1>~3@vDv: ;v~ ;v4 B ~AAEZj)-FNOT Ignoring new targets: 574.20 m.Bj57;Jj57;E ProNav: ac range: 574.200012 m, nav range: 148.692215 m, bearing: 276.244477 deg, approach rate: -0.037271 m/s, LOS rate: 0.232931 deg/s, cmd heading: 128.033740 deg, new cmd heading: 128.296367 deg. 2jEIA IE$IIEBIA&IA.IA6IEӰ<:IE Fɛ B +  ̿I ^bɚiI=IN@ii)N@)! $?I*F%?2F!:F!BF%P5JF!GE A> Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG B! OE >u+w,BBA;@Y7I@n<9[ G٣EGy > Nusing accuracyPremultiplier from config 49 ? 4YH! iWB b?:gE3@ɷD0Q;O;.4%"B %fA%DEZjIMFNOT Ignoring new targets: 574.20 m.BjUB~;JjUB~;e ProNav: ac range: 574.200012 m, nav range: 148.706650 m, bearing: 276.349795 deg, approach rate: 0.030470 m/s, LOS rate: 0.222292 deg/s, cmd heading: 128.296361 deg, new cmd heading: 128.612282 deg. 2jeX+w, A&Will construct direction to contact in vehicle frame from tetrahedron phase data.*T****** received valid address query *******R****** received valid ping request *******received new query, but waiting for acoustic response period to elapseZ}GrvA 5Y5vAy5A #9@Y G@ 28<9  G٣y > Nusing accuracyPremultiplier from config49?4Ys! iWBHG3@зD;2;4  AZjFNOT Ignoring new targets: 574.20 m.Bj&;Jj&; ProNav: ac range: 574.200012 m, nav range: 148.725601 m, bearing: 276.436791 deg, approach rate: 0.048600 m/s, LOS rate: 0.223070 deg/s, cmd heading: 128.612284 deg, new cmd heading: 128.873237 deg. 2j< HeadingCmd: 2.249262 target range: 574.200012 and range: 576.30 m. j @jijijiiqhqhqhqhqfyfyfrfbf{@ɛB* SɿI ^lɚiI8=I%@i!i!)%@)*F]?2FY:FYBF]j0JFazK:IK59KKK     BK:KrA*JR="Ja=JK|3 KKK"KJJJ0JJ:J>:Jـ3JWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseZH1RH1H=#>I9 I=$II=BI=+ =&I9.I96I=<:I=a F I G F>G B O >+w,'AB7@YBE@B_;9B#tt vG٣xy~ִ ~>  Nusing accuracyPremultiplier from config49W庛?4Yn! iWB%H@%3@ַDr;2`;-4=$B =A=GEmB*** querying acoustic contact ***jijiZjFNOT Ignoring new targets: 574.20 m.Bjwx;Jjwx; ProNav: ac range: 574.200012 m, nav range: 148.749329 m, bearing: 276.514988 deg, approach rate: 0.065924 m/s, LOS rate: 0.217226 deg/s, cmd heading: 128.873239 deg, new cmd heading: 129.107790 deg. 2j<HeadingCmd: 2.253356 target range: 574.200012 and range: 576.30 m. j6@jjjihhhhfffrfIbfM`D@ɛB?r1 隝ƿI ɘqɚiI.=I6@ii)6@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.UT****** received valid address query ******]R****** received valid ping request ******]received new query, but waiting for acoustic response period to elapse*F%?2F!:F!BF%_0JF!GEA>GIGMrAG B) OE > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse#k+w,]AA 6$?I4F5@YFYD@F;9F Dii mG٣mEGyuH u> }Nusing accuracyPremultiplier from configy49}}к?4Y} i}WB[?:C@3@}޷D}];};}y4 WAZjFNOT Ignoring new targets: 574.20 m.BjI;JjI; ProNav: ac range: 574.200012 m, nav range: 148.800827 m, bearing: 276.608624 deg, approach rate: 0.125337 m/s, LOS rate: 0.227810 deg/s, cmd heading: 129.107787 deg, new cmd heading: 129.388594 deg. 2jX<HeadingCmd: 2.258257 target range: 574.200012 and range: 576.30 m. jH@jjjihhhhڈBfffyrfybf}@ɛBP* 隭ÿI vɚiIRÄ=IH@ii)H@)*F?2F:FBF`0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.eAieAeT****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapseGF>G B O >8+w,R[A>(4@Y>GB@>79>H _m??u ?}f?8? ?ɨ>(4@>M;dh jG٣hyjP j> rNusing accuracyPremultiplier from configlv49nb?v4Yn inWBtv6A@v3@nDnH;nj;n.4z%B ~ AzK~LK~9K|K~K~       [p=7U( JEZj15FNOT Ignoring new targets: 574.20 m.Bj=};Jj=};M ProNav: ac range: 574.200012 m, nav range: 148.854858 m, bearing: 276.694080 deg, approach rate: 0.140206 m/s, LOS rate: 0.221670 deg/s, cmd heading: 129.388590 deg, new cmd heading: 129.644863 deg. 2jM!I I%II)BI&I.I6Iΰ<:I FBICJICRIZI, =bI, =jIoV5 ]$?Ia*F)2F):F)BF-w0JF)GIG) B9 m Will construct direction to contact in vehicle frame from tetrahedron phase data.u T****** received valid address query ******u R****** received valid ping request ******u received new query, but waiting for acoustic response period to elapseOu >c+w,uAyuBu$I Mb@Mb@Mb@    ) Y RQ?J + rhy "? H C SA A) SAI A y zAI%I%4٢5+= =)=9=Q =>AA EG٣AyE E> UNusing accuracyPremultiplier from configQ]49Uϣ?]4YU iUWB]#?]:]]=@]3@UDU;U#;U4'B AMEZjFNOT Ignoring new targets: 574.20 m.Bj%;Jj5;= ProNav: ac range: 574.200012 m, nav range: 148.946228 m, bearing: 276.807506 deg, approach rate: 0.182763 m/s, LOS rate: 0.226742 deg/s, cmd heading: 129.644859 deg, new cmd heading: 129.984925 deg. 2jE<HeadingCmd: 2.268665 target range: 574.200012 and range: 576.30 m. j1@jjjihhhhBfffrfWill 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 elapsebfڞ @ɛ B  隍쾿I BрɚiI=I1@ii)1@) E$?IA*Fq2Fq:FqBFu`0JFqG A>G ?G >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 elapseGy B O >+w,.A20@Y2)>@2JJ92NG B O >+w,AR.@YR=<@R򧋼9R $xx ~G٣|y~ ~> Nusing accuracyPremultiplier from config 49}? 4Yq iWB7@3@D;p;4(B yA%PE=B*** querying acoustic contact ***j9j9ZjIMFNOT Ignoring new targets: 574.20 m.BjUj;JjUj;e ProNav: ac range: 574.200012 m, nav range: 149.120377 m, bearing: 276.977344 deg, approach rate: 0.256423 m/s, LOS rate: 0.240274 deg/s, cmd heading: 130.215453 deg, new cmd heading: 130.494130 deg. 2jm$J% J% J! J! J% :J% @:J! J! J% *ii mG٣iym u> }Nusing accuracyPremultiplier from configy49}9g?4Y}B i}WB&?:D5@3@}D};}#;}4*B |ASEZjFNOT Ignoring new targets: 574.20 m.Bj;Jj; ProNav: ac range: 574.200012 m, nav range: 149.234421 m, bearing: 277.072374 deg, approach rate: 0.272749 m/s, LOS rate: 0.227101 deg/s, cmd heading: 130.494125 deg, new cmd heading: 130.778995 deg. 2j<HeadingCmd: 2.282524 target range: 574.200012 and range: 576.30 m. j@jjjihhhhBfqfqfyrfybf} n"@ɛ BP( qI ɚiI=I@ii)@)*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 elapseGGGG B O >+w,6ݯA6f+@Y6 19@6lxּ96 >"B>$IiBXX ZG٣ZEGyZ ^>zK^ǙNK^K9K\K^K^ jNusing accuracyPremultiplier from confighn49jcS?r4Yj ijWBprk3@r3@jDj2;j2;j4t z=AxZjFNOT Ignoring new targets: 574.20 m.Bj%;Jj%;5 ProNav: ac range: 574.200012 m, nav range: 149.345703 m, bearing: 277.158074 deg, approach rate: 0.291020 m/s, LOS rate: 0.223951 deg/s, cmd heading: 130.778998 deg, new cmd heading: 131.035904 deg. 2j5<=Will construct direction to contact in vehicle frame from tetrahedron phase data.ET****** received valid address query ******ER****** received valid ping request ******Ereceived new query, but waiting for acoustic response period to elapseHM&>IMC IM[%IIMpBIM+ =&II.II6IMѰ<:IM FHeadingCmd: 2.287008 target range: 574.200012 and range: 576.30 m. jW^@jjjihhhhfff rf bf #@ }$?Iyɛ B. 隅I ɚiIފ=IW^@ii)W^@)*F2F:FBF_0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.=+w,vAK)@Yj7@9O G٣yn > Nusing accuracyPremultiplier from config49 ;?4Y iWBt'?:0@3@D'<<4,B dAVEZjFNOT Ignoring new targets: 574.20 m.Bjlr;Jjlr;JJJJJ[:JH:JJJ+<J+<Jڝ;J۝;- ProNav: ac range: 574.200012 m, nav range: 149.495193 m, bearing: 277.262503 deg, approach rate: 0.303698 m/s, LOS rate: 0.211941 deg/s, cmd heading: 131.035909 deg, new cmd heading: 131.348880 deg. 2j-t<5HeadingCmd: 2.292470 target range: 574.200012 and range: 576.30 m. j5ַ@j1j1j1i1h1h9h9h=Bf9fAfAMWill construct direction to contact in vehicle frame from tetrahedron phase data.M Will construct direction to contact in vehicle frame from tetrahedron phase data. IA IEz%IIEBIA&IA.IE5D6IEx<:IEF F]Will construct direction to contact in vehicle frame from tetrahedron phase data.]G B O >LO ,w,>+AVx%@YV3@V=9V* xx zG٣zEGyzM ~> Nusing accuracyPremultiplier from config 49? 4Y izWB  >-@3@)D:~:4},B }~A}WEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.Bjp;Jjp; ProNav: ac range: 574.200012 m, nav range: 149.749084 m, bearing: 277.421227 deg, approach rate: 0.346637 m/s, LOS rate: 0.209842 deg/s, cmd heading: 131.562325 deg, new cmd heading: 131.824639 deg. 2j< HeadingCmd: 2.300774 target range: 574.200012 and range: 576.30 m. j ?@j j j i hh9h9hAfIfyfyrfybf`>)&@Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2076> BDAT read: Tx time:21:48:47.9851 $Ping request sent.J J J J J :J D:J J J e1<J e1<J *;J +;e Will construct direction to contact in vehicle frame from tetrahedron phase data.u JDAT read: TxSync time:21:48:47.9843 } checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247693G B O > e $?Ie Xho6,w,EA2#@Y2$1@2*.92ֿ`q^?N?< >rإ?@O?v?ɨ2#@2V+;2Cy>B>$IEMb@Mb@Mb@AAA A)AYEˡE?~jt rhyE'?EļEC A EA)E?AIEAAyEAIUIUh4٢es mC=9mQ m>qq uG٣qyu }> Nusing accuracyPremultiplier from config49:?4Y iwWBF(?:/@3@2D;8;J4-B AZEZjFNOT Ignoring new targets: 574.20 m.Bj;Jj; ProNav: ac range: 574.200012 m, nav range: 149.888489 m, bearing: 277.512360 deg, approach rate: 0.344452 m/s, LOS rate: 0.224970 deg/s, cmd heading: 131.824645 deg, new cmd heading: 132.097788 deg. 2je<HeadingCmd: 2.305541 target range: 574.200012 and range: 576.30 m. j@jjjihhhhۈBfffrfbf &@ɛ9=G9 9=fI9 E⾓ɚAiAIE=w=IM@iIiI)M@)I) bG5tA5A eYe5tAymAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498600E=*F?2F:FBFJFGrA GsAG F>H9 I9  I= %II= BI= * =&I9 .I9 6I= <:I= T Fu Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750513G B zKBoHK9KKKO>n?,w,bA I V!@YV/@VB9VP_yVH;ؿĥ??长N?k?ɨV!@V6;VCynBn$IIvIv4٢* 5=9%.Q %>!) -G٣)y- -> mNusing accuracyPremultiplier from configa49e7鹛?4Ye ievWBv-@3@e;Dee` Gy B O >i,w,2q|A @Y-@O9_]yH`, jڿ`_?a?%8Ö?Wn?ɨ @O;Cy-B5$Ii==I=:?AAMb@Mb@Mb@ )Y"~j?{Gzt? rhyS#?ף;A JJJJJ:JA:JJJ'<J'<Jz;J{;)AISAy=AI5I5ݜ4٢M&Y< M9=9MMQ U>QQ UG٣UEGy] ]> eNusing accuracyPremultiplier from configauWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.254092}49eӹ?}4Ye ieuWB}#?}:T.@3@eDDe;eH;e+4 AZjFNOT Ignoring new targets: 574.20 m.Bjx;Jjx; ProNav: ac range: 574.200012 m, nav range: 150.195038 m, bearing: 277.700128 deg, approach rate: 0.350606 m/s, LOS rate: 0.217424 deg/s, cmd heading: 132.388778 deg, new cmd heading: 132.660503 deg. 2j7<HeadingCmd: 2.315362 target range: 574.200012 and range: 576.30 m. j.@jjjihhhhBfffrfbfQ(@ɛ%Y5 ! 5$?I1%I1 5<ɚ1i9I=hI=I.@ii).@)EE*E"E*F?2F:FBF`0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505619G G B O > &,w,`A6@Y6`+@6'\96nAy6Ht ?ܿ`?3?@?$H ?ɨ6@6P!;6CyBBB$IIJ IJ4٢V VM=9VQ Z>\\ ^G٣\y^ b> fNusing accuracyPremultiplier from config`j49bZ?j4Yb i`hjN,@n3@bLDb;bd;b24r0B rAr`EZj  FNOT Ignoring new targets: 574.20 m.BjTi;JjTi;- ProNav: ac range: 574.200012 m, nav range: 150.335907 m, bearing: 277.781340 deg, approach rate: 0.354173 m/s, LOS rate: 0.203992 deg/s, cmd heading: 132.660497 deg, new cmd heading: 132.903903 deg. 2j- <5HeadingCmd: 2.319611 target range: 574.200012 and range: 576.30 m. j5t@j1j1j1i9h9h9h9h9fAfAfArfAbfMʅ)@ɛIM6 QUsIQ UʛɚQiQIU#=I]t@iYia)et@)ajH<bHp<HI III&I.I6I<:I| FBIuÜCJIuÜCRIqZIu+ =bIu+ =jIu}B5*F2F:FWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757822BF`5JF zKYK]9KYK]K]  IG!G5 ?G5$?G B O- > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009789D3,,w,+Ay!I5I54٢Eq: EB=9EQ E>II MG٣IyM U> Nusing accuracyPremultiplier from config49?4Y ivWB3@UDtl;l;[:42B  AcEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.Bjif;Jjif; ProNav: ac range: 574.200012 m, nav range: 150.486908 m, bearing: 277.868021 deg, approach rate: 0.351270 m/s, LOS rate: 0.201442 deg/s, cmd heading: 132.903897 deg, new cmd heading: 133.163678 deg. 2j? <HeadingCmd: 2.324145 target range: 574.200012 and range: 576.30 m. jɾ@jjjihhh h f f frfbfa*@ɛAE<9 AE_II MOMɚIiIIM=IUɾ@iQiQ)Uɾ@)Y*F?2F:FBF5JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263194J}J} $?IJyJyJ}+:J}@:JyJyJ}2<J}2<J};J};GGBO >3,w,ͰAy~B~$I)  a= %=Mb@Mb@Mb@ )YX9v?{Gz?L7A`堿y?#=+nA nA)AIAyAIIT4٢^< A=9Q > G٣EGy > Nusing accuracyPremultiplier from config49k?4Y i ? : /@ 3@]D;;A4 AZjAEFNOT Ignoring new targets: 574.20 m.BjMi;JjMi;] ProNav: ac range: 574.200012 m, nav range: 150.618210 m, bearing: 277.953212 deg, approach rate: 0.315024 m/s, LOS rate: 0.204214 deg/s, cmd heading: 133.163677 deg, new cmd heading: 133.419024 deg. 2j]& H I  I I I &I .I 6I J<:I $ FJ J - Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766121Ga Bi I O >zK KK K K K   RK >JK >D9,w,氼Ay5B5$IIUIU[4٢mv mR=9qQ u>qy }G٣yy > Nusing accuracyPremultiplier from config49?4Y i3@eDȕ;;H44B AfEZj!-FNOT Ignoring new targets: 574.20 m.Bj5Cb;Jj5Cb;E ProNav: ac range: 574.200012 m, nav range: 150.740814 m, bearing: 278.032421 deg, approach rate: 0.306434 m/s, LOS rate: 0.197813 deg/s, cmd heading: 133.419030 deg, new cmd heading: 133.656464 deg. 2jEG= qAG= qAG) BY O >,@,w,ZA6O@Y6Rn#@6c96* G٣yG > Nusing accuracyPremultiplier from config49r?4Y i"?:)@3@mD=;$k;O4 AZjFNOT Ignoring new targets: 574.20 m.BjQ;JjQ; ProNav: ac range: 574.200012 m, nav range: 150.881683 m, bearing: 278.105227 deg, approach rate: 0.354820 m/s, LOS rate: 0.183212 deg/s, cmd heading: 133.656461 deg, new cmd heading: 133.874674 deg. 2jy; HeadingCmd: 2.336554 target range: 574.200012 and range: 576.30 m. j @j j jihhhhBfffrfbf,@ɛ- B5d: 15I1 =tۥɚ9i9IE=IE@iM*iM >)M@)*FA2FI:FIBFIJFIWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:48:51.1780 TRx dataTimestamp_ set to:1736372932.292878checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523071Gq Ga Bi O >)YF,w,jA:b@Y:f!@:6c9:e~`` bG٣bEGyb f> jNusing accuracyPremultiplier from configdn49fb?n4Yf ifwWBln'@n3@ftDf ;fK ;f1V4v5B vAviEZjFNOT Ignoring new targets: 574.20 m.Bj%LH;Jj%LH;5 ProNav: ac range: 574.200012 m, nav range: 151.018478 m, bearing: 278.171428 deg, approach rate: 0.362174 m/s, LOS rate: 0.175113 deg/s, cmd heading: 133.874672 deg, new cmd heading: 134.073094 deg. 2j5[;=HeadingCmd: 2.340017 target range: 574.200012 and range: 576.30 m. j=@j9j9j9i9hAhAhAhAfIfIfIrfIbfM@=-@ɛy};E y}ϽIy ɚiI`=I@iji=>)@)HU)>IQ IU%IIUBIQ&IQ.IQ6IU<:IUR F*Fm?2Fi:FiBFmo0JFiJJJJJJmQ:JJJJJ;J;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774749 $?IGe>zK-LKж9KKKG!B)OE0> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.025716L,w,p4Aj@Yj@j2a9jHf?%? ?ɨj@jL;hy=B=$IIMIM4٢< >=9:Q > G٣y > Nusing accuracyPremultiplier from config49P? 4Y8 i15%@=3@|Dw<8q<]4A EAAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.Bj;;Jj;; ProNav: ac range: 574.200012 m, nav range: 151.181625 m, bearing: 278.245544 deg, approach rate: 0.361411 m/s, LOS rate: 0.164009 deg/s, cmd heading: 134.073089 deg, new cmd heading: 134.295197 deg. 2j;HeadingCmd: 2.343893 target range: 574.200012 and range: 576.30 m. jY@jjjihhh h f fQfQrfQbfU .@ɛ B0 I "2ɚiIeg=IY@idi=)Y@)E IWill construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: Range 10 to 50 : 591.5 m (Round-trip 788.7 ms) speed -0.7 m/s =,DAT read: user:2077> EBDAT read: Tx time:21:48:52.2851 M$Ping request sent.MG] ?G]>G) B9 OU >iS,w,nQNA6@Y6@6r]96ԞII UG٣QyUG ]> eNusing accuracyPremultiplier from configam49eT??m4uWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:21:48:52.2843 Ye iezWBr?:)&@3@eDe%;eB;e6e4 AjE addTargetRange:: Added new target pos. range: 591.500000 m, deltaT: 15.375258 s, deltaX: 15.200012 m, approachRate: 0.988602 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 574.20 m.Bj@jjjihhhhrBfffrf|@bfF?ɛ\|G 隵 I BɚiI2=I>@i{ipە=)>@)*Fe?2Fa:FaBFe0JFiG=a)>GBO%o>HQ IQ  IU %IIU BIQ &IQ .IQ 6IU <:IU y FJ J J 1J J [:J ,J:J 3J J +<J +<J ;J ; $?I % Will construct direction to contact in vehicle frame from tetrahedron phase data.zK] BoHK] 9KY K] K] ѓY,w,+hA2k @Y2@2[928G %G٣!y%+ -> Nusing accuracyPremultiplier from config490?4Y i}WBs$@3@D:G:k4 GAZjQeFNOT Ignoring new targets: 574.20 m.Bjmz*;Jjz*; ProNav: ac range: 574.200012 m, nav range: 151.467941 m, bearing: 278.373548 deg, approach rate: 0.344119 m/s, LOS rate: 0.149045 deg/s, cmd heading: 134.503869 deg, new cmd heading: 134.678839 deg. 2j;HeadingCmd: 2.350589 target range: 574.200012 and range: 591.50 m. jp@jjjihhhhfffrfbfai?ɛu Bu@M? quIq }YɚyiyI}}=Ip@iiRJ=)p@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF0JFG>>GBO>{`,w, A:\ @ @IBWhY:^{@:\9:( G٣EGy l > Nusing accuracyPremultiplier from config49[!?4Y iWB;?:#@4@D;;r47B @mEZjFNOT Ignoring new targets: 574.20 m.Bj+;Jj+; ProNav: ac range: 574.200012 m, nav range: 151.617355 m, bearing: 278.435351 deg, approach rate: 0.363874 m/s, LOS rate: 0.150363 deg/s, cmd heading: 134.678845 deg, new cmd heading: 134.864071 deg. 2jb; HeadingCmd: 2.353822 target range: 574.200012 and range: 591.50 m. j @j jIjIiIhQhQhQhUpBfYfYfYrfYbfeo?ɛM BML; IMĴII UɚQiQIU>=I]@i]i]b%<)]@)a*F?2F:FBF[5JF!|uAA i Y|uAyBWill construct direction to contact in vehicle frame from tetrahedron phase data.GE >GM rAGM rAG! B1 Om >6f,w,eߛAybBBb#%II~I~4٢ 0c=  S=9Q > G٣y > %Nusing accuracyPremultiplier from config!-49%?-4Y% i%WB1154@%D%G:%:%y4A EL@AZjamFNOT Ignoring new targets: 574.20 m.BjmQ1;JjuQ1;5 ProNav: ac range: 574.200012 m, nav range: 151.755219 m, bearing: 278.492205 deg, approach rate: 0.376253 m/s, LOS rate: 0.155023 deg/s, cmd heading: 134.864066 deg, new cmd heading: 135.034472 deg. 2j=;=HeadingCmd: 2.356796 target range: 574.200012 and range: 591.50 m. jE@jAjAjAiAhAhAhIhIfIfIfQrfQbfUqZ?ɛ BB 隍ұI 4ɚiI'Ù=I@iDyi!u<)@)jH<bH<HI I%IIBI&I.I6I<:I F }$?IyJJJ/JJ{:J"I:J(N3JJ.<J.<J;J;Will construct direction to contact in vehicle frame from tetrahedron phase data.*F?2F:FBF^0JFG >zK!K%9K!K%K%GBOB> Will construct direction to contact in vehicle frame from tetrahedron phase data.l,w,0Ab@Yb9@bU9b_=ybHd( lG?@+?tĤP?G?@eի??ɨb@b$);`yrQBr5%IivG>Iv>tvAIzIz 4٢= K=9 ;Q  >   G٣y) > %Nusing accuracyPremultiplier from config!-49%?-4Y%T i%WB15@54@%D%:%;:%4=9B =y@=pEZjimFNOT Ignoring new targets: 574.20 m.BjuI;JjuI; ProNav: ac range: 574.200012 m, nav range: 151.909332 m, bearing: 278.547819 deg, approach rate: 0.381443 m/s, LOS rate: 0.137511 deg/s, cmd heading: 135.034465 deg, new cmd heading: 135.201140 deg. 2j;HeadingCmd: 2.359705 target range: 574.200012 and range: 591.50 m. jh@jjjihhhhfffrfbf@pq?ɛ> 歿I  1ɚiI=Ih@ii?)h@)*F?2F:FBF`0JF!G5= iIiGBOb>Will construct direction to contact in vehicle frame from tetrahedron phase data.s,w,ϱAF@YFb @FKV9Fxw=yFH @4e?45? l? Uƪ?`Ӯ??ɨF@F L;FCyRaBRI%I=Mb@Mb@Mb@999 9)9Y="~j?Q?~jty=S?9==nA =A)= AI=nA9y=AIUIUD4٢e= eD=9e6ԹQ m>ii mG٣mEGyu6 u> Nusing accuracyPremultiplier from config491?4Y iWB?:@ 4@D;;E4 5y@1UWill construct direction to contact in vehicle frame from tetrahedron phase data.}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 574.20 m.Bj8;Jj8; ProNav: ac range: 574.200012 m, nav range: 152.073502 m, bearing: 278.604991 deg, approach rate: 0.372507 m/s, LOS rate: 0.129586 deg/s, cmd heading: 135.201136 deg, new cmd heading: 135.372466 deg. 2jݱ;HeadingCmd: 2.362695 target range: 574.200012 and range: 591.50 m. jf6@jj)j1i1h1h1h1h={Bf9f9f9rfAbfEIc@ɛUBU.4 QUIY ] ɚYiYI][=Ief6@iej+im<)mf6@)i*F2F:FBF_0JFGq8=G?G ?GBO>H I  I %II BI &I .I 6I ư<:I FBIJIRIZI* =bI* =jIT4 U $?IQ JKـ3 K .KK"KJ J J 0J J J C:J ـ3J J J J E;J 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.zK K 59K K K 8y,w,鱼Af@YfA@fWZ9f0=yfH`/`Tqӵ? ?&y? G?}?`?ɨf@f> ;fCyvqBz]%III~4٢%= -N=95^"Q 5>9A EG٣AyM U> mNusing accuracyPremultiplier from configau49e/鸛?u4YeJ ieWBy}@}4@eDe.;e;e4:B @sEZjFNOT Ignoring new targets: 574.20 m.Bj;;Jj;; ProNav: ac range: 574.200012 m, nav range: 152.222717 m, bearing: 278.655262 deg, approach rate: 0.390245 m/s, LOS rate: 0.131344 deg/s, cmd heading: 135.372464 deg, new cmd heading: 135.523128 deg. 2jG;HeadingCmd: 2.365325 target range: 574.200012 and range: 591.50 m. j{a@jjjihhhhfffrfbfM@ɛB< =I @ɚiIY=I{a@i+ӆiurv){a@)]Will construct direction to contact in vehicle frame from tetrahedron phase data.Yi]Aechecking for new query: numPingsReceived=0, elapsed TxPingTime=2.767044*Fu?2Fq:FqBFqJFqG <Gy B O > I II SЀ,w,iAR>@YR\@RuCd9R=ZWill construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018463yRHY࿨@V? ?`kz}?঄??@?ɨR>@R+;RCyfBfs%I)h h n=n=Mb@Mb@Mb@ )YQ?V-?y&1y?m=`e?A  A)I?AyII4٢ = <=9IQ > G٣yм %> -Nusing accuracyPremultiplier from config)549-ڸ?54Y-< i-WB5 ?5:5a@=4@-D-;-;-4A Ei@AZjimFNOT Ignoring new targets: 574.20 m.Bju;Jj}; ProNav: ac range: 574.200012 m, nav range: 152.400848 m, bearing: 278.710547 deg, approach rate: 0.420130 m/s, LOS rate: 0.130241 deg/s, cmd heading: 135.523125 deg, new cmd heading: 135.688786 deg. 2jIJ;HeadingCmd: 2.368216 target range: 574.200012 and range: 591.50 m. jڐ@jjjihhhhBfffrfbf`д@ɛmBu 5 qu^Iq R伽ɚiIH3=Iڐ@iiL␽)ڐ@)*F ?2F :FBF`0JFGژ<GBO>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.270238,w,%A:I@Y:@:r9:2K=y:H@# !,?@?:9#?X? ???ɨ:I@:;:CyFBF%IIRIR 4٢V= Ze=9Z<$Q Z>\\ ^G٣^EGybü b> fNusing accuracyPremultiplier from configdj49fθ?j4Yf ifWBhj@j4@fDf:fL:fÜ4r y隅I XɚiIm=I·@ii̢)·@)H*>I I%IIˆBI&I.I6I<:Is F $?I*F12F1:F1BF5:5JF1*JuC="JqWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:48:55.4718 TRx dataTimestamp_ set to:1736372936.583426checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526599G KGBO%>zKK@9KKKBKrA:K Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777913o,w,7AyrBr%II~I~ 4٢UZ= U@=9]Q ]>aa eG٣aym m> uNusing accuracyPremultiplier from configq}49un?}4Yu iuWByy4@uDu ;u? ;u34:B @uEZjFNOT Ignoring new targets: 574.20 m.BjC;JjC; ProNav: ac range: 574.200012 m, nav range: 152.728134 m, bearing: 278.809960 deg, approach rate: 0.419134 m/s, LOS rate: 0.126998 deg/s, cmd heading: 135.824841 deg, new cmd heading: 135.986693 deg. 2jP;HeadingCmd: 2.373415 target range: 574.200012 and range: 591.50 m. j @jjjihhhhfffrfbf@ɛB1 !%I! %ɚ!i!I%=I- @i-i52)5 @)q*F!2F!:F)BF-^5JF1G^ IJJJJJ :J[O:JJa@a@a@a@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026778GBOn>,w,PA >D@Y>"c@>9>3=y>H $?`?@X`?ޱ?@2??ɨ>D@>U;>Cy^Bb%Iif=IfC=UMb@Mb@Mb@QQQ Q)QYUQ?~jt? G٣y@ > Nusing accuracyPremultiplier from config49?4Y iWB?:@4@ȸD8; 7;Y4 @ZjFNOT Ignoring new targets: 574.20 m.Bj;Jj;5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i1EDAT read: Range 10 to 50 : 586.8 m (Round-trip 782.5 ms) speed -0.3 m/s M,DAT read: user:2078> UBDAT read: Tx time:21:48:56.5868 U$Ping request sent.UIC I%IIBI) =&I.I6I<:IZ F $?I G q Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:48:56.5860 Ga Bi O >zK= k3IK= }9K9 K= K= [1,w,njABq@YB@B ȝ9B=yBH4/?m?`*m6?@?y??ɨBq@B\;BCyJˆBN%IIVIVn4٢^zp= ^W=9^Q b>`` bG٣bEGyfY; f> jNusing accuracyPremultiplier from confighn49j?n4Yj ijWBpr@r4@jϸDjq ;j ;j4v  I% Vh ,w,/AJ.J.J,J,J.[:J.C:J,J,NWill construct direction to contact in vehicle frame from tetrahedron phase data.Nchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.752767Uk@YU@U9U=yUH++'? T?@X@t?`u? l??ɨUk@Ulj;UCyޕBޕ%I-Mb@Mb@Mb@))) )))Y-`"??~jthy-?-<-D-A -t A)- AI-nA)y-zAIEIEb4٢U= U3=9]Q ]>aa eG٣ayk< > Nusing accuracyPremultiplier from config49+?4Ye iWB?:@4@ظD;{;@4  @ Zj15FNOT Ignoring new targets: 574.20 m.Bj=B;Jj=B;M ProNav: ac range: 574.200012 m, nav range: 153.309387 m, bearing: 278.970482 deg, approach rate: 0.483841 m/s, LOS rate: 0.126996 deg/s, cmd heading: 136.287122 deg, new cmd heading: 136.467637 deg. 2jMO;UHeadingCmd: 2.381809 target range: 574.200012 and range: 586.80 m. jUo@jQjQjQiYhYhYhYhafafifirfibfu '?ɛB* 隝I [?ƽɚiIE=Io@iMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.004739#A,w,emA2Ƅ@Y2i@2Q92 =y2H@Dc R?)?C3-? ,?@Cc? ?ɨ2Ƅ@24T;2CyRBR&I)T VAIZIZ4٢f= fh=9fͼQ j>hh jG٣hyn< n? rNusing accuracyPremultiplier from configpv49rm?v4Yr irWBtz]@z4@r߸Dr:rL:r4~>B ~d@{EZj!-FNOT Ignoring new targets: 574.20 m.Bj-;Jj-; ProNav: ac range: 574.200012 m, nav range: 153.470673 m, bearing: 279.013654 deg, approach rate: 0.480560 m/s, LOS rate: 0.128496 deg/s, cmd heading: 136.467630 deg, new cmd heading: 136.597008 deg. 2j_;HeadingCmd: 2.384068 target range: 574.200012 and range: 586.80 m. j@jjjihhhhfffrfbf A?jH9bH=p<HE.>IA IE<&IIE'BIA&IA.IE6D6IE<:IEo FɛBw/ 隥?I `ǽɚiI%= $?II@i?-ie)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258486*FM?2FI:FIBFIJFIzKK9KKKG&GqAGnAGi Bq O >m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510352k,w,IA6@Y6J'@6ӽ962>y6H@: @=?j?%?`V? ??ɨ6@6;6CyB BB&IIJIJt4٢^#= ^K=9bQ f>hh nG٣nEGyr< r> ~Nusing accuracyPremultiplier from configx49z {? 4Yz7 iz XB@4@zDz*;z;z64) 5@1Zj  FNOT Ignoring new targets: 574.20 m.Bj ;Jj ;E ProNav: ac range: 574.200012 m, nav range: 153.664474 m, bearing: 279.066261 deg, approach rate: 0.447312 m/s, LOS rate: 0.121269 deg/s, cmd heading: 136.597008 deg, new cmd heading: 136.754630 deg. 2jEs;MHeadingCmd: 2.386819 target range: 574.200012 and range: 586.80 m. jM@jIjIjIiIhIhQhhfffrfbf/?ɛuBu8( quwIy }*tɽɚyiyI}W=I@iI1iHA)@)*F2F:FBF`0JF IGqA GrAJuJuJqJqJu :JuH:JqJqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761755GGBO>) CI m vAy Y vAy BT,w,A+ҲAyzBz/&IMb@Mb@Mb@ )YCl? G٣y > Nusing accuracyPremultiplier from config49k?4Y i&XB@?:@4@D;:;4?B ,@~EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012905Zj)-FNOT Ignoring new targets: 574.20 m.Bj5;Jj5;E ProNav: ac range: 574.200012 m, nav range: 153.885284 m, bearing: 279.122600 deg, approach rate: 0.540775 m/s, LOS rate: 0.137779 deg/s, cmd heading: 136.754635 deg, new cmd heading: 136.923409 deg. 2jE;MHeadingCmd: 2.389764 target range: 574.200012 and range: 586.80 m. jM@jIjIjIiIhQhQhQhU,BfYfYfYrfYbf]@^3@ɛmBm' qunIq uʽɚqiqIub=I}@i}.i}8t)@)*FE?2FA:FABFEo0JFAH1I1 I5&II5_BI1&I1.I16I5y<:I5J F $?IUhG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265301Gi Bq O >},w,벼AzK"BoHK K K"K":H @Y:+@:9: %>y:H`v@i?`?4—? ƾ?x?@XZ?ɨ:H @:m;:CyF,BFB&IiJ!>IJ4\\ ^G٣\yb/= b> fNusing accuracyPremultiplier from configdj49f^?j4Yf˯ ifBXBhj$@n4@fDfn:f ;f>4r>B r@r|EB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 574.20 m.Bj;Jj; ProNav: ac range: 574.200012 m, nav range: 154.072159 m, bearing: 279.171777 deg, approach rate: 0.508529 m/s, LOS rate: 0.133660 deg/s, cmd heading: 136.923409 deg, new cmd heading: 137.070761 deg. 2ju;HeadingCmd: 2.392336 target range: 574.200012 and range: 586.80 m. j @jjjihhhhfffrfbf E@ɛB( W=隥eI _̽ɚiI+=I @isiiY) @)*F?2F:FBF0JF-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517787GG B O > I i,w,>AJ<J>J>1J<RWill construct direction to contact in vehicle frame from tetrahedron phase data.J<J>,J:J>3J<nchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.775375 @Y@9?.>yHR/?`?l??@{~?E?ɨ @{;騵CyBB]&IeMb@Mb@Mb@aaa a)aYeJ +?:vMbPye(?eTeeA eA)e1AIeAayeAII4٢S= -=9Q > G٣EGy< > Nusing accuracyPremultiplier from config49cL?4Yש ijXB(?:z@4@D|;;}4?B @EZjFNOT Ignoring new targets: 574.20 m.Bj%;Jj%;5 ProNav: ac range: 574.200012 m, nav range: 154.328918 m, bearing: 279.235457 deg, approach rate: 0.544027 m/s, LOS rate: 0.134702 deg/s, cmd heading: 137.070763 deg, new cmd heading: 137.261485 deg. 2j5;=HeadingCmd: 2.395665 target range: 574.200012 and range: 586.80 m. j=R@j9j9j9i9h9hAhAhEBBfIfQfQrfQbfU9@ɛBE 隅YI FͽɚiI^=IR@iiQ)R@)*F?2F:FBFD3JF!"G!G%=GGBOe>MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.024690,w,A6;@Y6Z@66963>y6H@@ 1??l??`^!?4?ɨ6;@6;6CyBWBBx&IIJIJ4٢zq= zm=9~Q ~?| G٣yW< ?  Nusing accuracyPremultiplier from config 49 U??4Y  i XB@4@ D  ;  ; 4! -}@)ZjQ]FNOT Ignoring new targets: 574.20 m.Bjeq;Jjeq;u ProNav: ac range: 574.200012 m, nav range: 154.514999 m, bearing: 279.282444 deg, approach rate: 0.538845 m/s, LOS rate: 0.135900 deg/s, cmd heading: 137.261490 deg, new cmd heading: 137.402282 deg. 2ju;}HeadingCmd: 2.398122 target range: 574.200012 and range: 586.80 m. j}z@jyjjihhhhfffrfbf @ɛB% ^NI =ϽɚiI=ZHRH?AHI I&IIBI( =&I.I6Iz<:IBICJICRIZI) =bI) =jIF5Iz@iNid)z@)  ]$?IY*Fq2Fy:FyBF}3JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277308zKYK]9KYK]K]/G憽GqBO>] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528725ݸ,w,9A:@Y:m@:9:E7>y:Hbi@K?@X?`0b?@?`|?4$?ɨ:@:s;:CyvdBv&I)x zA ~=|II4٢~= H=9Q >!! %G٣!y%< -> 5Nusing accuracyPremultiplier from config)549-/?=4Y-} i-XB9=@E4@-D- ;-%;-4MAB M@MEZjquFNOT Ignoring new targets: 574.20 m.Bj}y;Jj}y; ProNav: ac range: 574.200012 m, nav range: 154.734024 m, bearing: 279.338570 deg, approach rate: 0.538021 m/s, LOS rate: 0.137673 deg/s, cmd heading: 137.402287 deg, new cmd heading: 137.570424 deg. 2j;HeadingCmd: 2.401057 target range: 574.200012 and range: 586.80 m. j@jjjihhhhfffrfbf` @ɛBg ,GI [нɚiI=I@ii U)@) iIiEeZ=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:48:59.7762 TRx dataTimestamp_ set to:1736372941.121341checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782530*FY2Fa:FiBFm_5JFGU #fG1 B9 O] >$,w,KUABX @YBw@B 9B8>yBHҔEbX&? ?0? ???ɨBX @B ܈;BCyJpBN&IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032945EMb@Mb@Mb@AAA A)AYEn? rhMb`yEV.?ECEEA EA)EIAIEAAyEAI]I]4٢mO= m6=9u礼Q u>qy }G٣}EGy}< }> Nusing accuracyPremultiplier from config49?4YȚ iXBd.?:@4@D-;O+;|4  @ZjFNOT Ignoring new targets: 574.20 m.Bj,";Jj,"; ProNav: ac range: 574.200012 m, nav range: 154.982132 m, bearing: 279.402460 deg, approach rate: 0.551473 m/s, LOS rate: 0.141782 deg/s, cmd heading: 137.570419 deg, new cmd heading: 137.761781 deg. 2j;HeadingCmd: 2.404397 target range: 574.200012 and range: 586.80 m. j@jjjihhhh zBf f f rf bfug@ɛ]B] ]Yܜ=]@Iy ѽɚiIL~=I@i)|iB)@)E2=*F?2F:FBF3JFHI I'IIԇBI) =&IGlS.I6I<:IN F U$?IQGBO->JAJEAAJMJMJM0JIJM:JMD:JMـ3JIJMX- BDAT read: Tx time:21:49:00.8852 $Ping request sent.H,w,SoA2 @Y2[@2)92a:>y2HٷH(s ?@i?jQ?`#?? ?ɨ2 @2;2CyBBB&IIJIJ4٢fz= fV=9jQ j>hh nG٣lyn< r> vNusing accuracyPremultiplier from configpv49r?z4Yr ir YBxzf@z4@r"Dr:r:r*4CB @EB*** querying acoustic contact ***jj5 addTargetRange:: Added new target pos. range: 588.900024 m, deltaT: 4.291856 s, deltaX: 2.100037 m, approachRate: 0.489307 m/s, rangeRepo size: 4 Zj15FNOT Ignoring new targets: 574.20 m.Bj$;Jj$; ProNav: ac range: 574.200012 m, nav range: 155.192123 m, bearing: 279.457224 deg, approach rate: 0.550716 m/s, LOS rate: 0.143428 deg/s, cmd heading: 137.761787 deg, new cmd heading: 137.925857 deg. 2j;HeadingCmd: 2.407260 target range: 574.200012 and range: 588.90 m. j@jjjih h h hf1f1f1rf=@3g@bf=[?ɛB6S 隅6I -ҽɚiIl=I@iy⓼i?3)@)MWill construct direction to contact in vehicle frame from tetrahedron phase data.UJDAT read: TxSync time:21:49:00.8844 UT****** received valid address query ******]R****** received valid ping request ******]Querying Benthos address 50 with one ping in standard two-way mode.E S=*F?2F:FBF4JF I II  Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504225Gi GQ BY Ou >),w,A2X @Y2v@2w 3929>y2H@@a?`ı?@j?@hD?i? ?ɨ2X @2K;2Cy>BB&IUMb@Mb@Mb@QQQ Q)QYUi|?5?Zd;OyU1?UjUUA UA)UzAIUhAQyUAIm|Im[4٢}3= }0=9}Q }> G٣yċ< > Nusing accuracyPremultiplier from config49?4Y i@YB1?:Y@4@,D<; ;;A4 X@ZjFNOT Ignoring new targets: 574.20 m.Bj%;Jj%; ProNav: ac range: 574.200012 m, nav range: 155.451492 m, bearing: 279.524488 deg, approach rate: 0.559157 m/s, LOS rate: 0.144768 deg/s, cmd heading: 137.925862 deg, new cmd heading: 138.127317 deg. 2j;HeadingCmd: 2.410776 target range: 574.200012 and range: 588.90 m. j)J@jjjihhh h sBf ffrfbf@S?ɛEBEi AE0II -ԽɚiI?=I)J@iNiZ%))J@)E`=*F?2F:FBF_0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.753809GUf:G)B9O]v>jH <bH <H ,>I C I U'II BI &I .I 6I y<:I G F  $?I Th@,w,sdA2 @Y2@2Ϟ:92v(>y2HsO?@?K4j 2?? ?ɨ2 @2;0y>B>&IIJ~IJT_4٢R= RY=9VҠQ V>TX ZG٣ZEGJ~J~J|J|J~[:J~B:J|J|J~+<J~+<J~`;J~`;y5F< 5> =Nusing accuracyPremultiplier from config9E49=췛?E4Y= i=qYBIM@M4@=4D=:=:=4Y ]b@]EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004996ZjFNOT Ignoring new targets: 574.20 m.Bj$;Jj$; ProNav: ac range: 574.200012 m, nav range: 155.670532 m, bearing: 279.581609 deg, approach rate: 0.550648 m/s, LOS rate: 0.143395 deg/s, cmd heading: 138.127312 deg, new cmd heading: 138.298433 deg. 2j;%HeadingCmd: 2.413763 target range: 574.200012 and range: 588.90 m. j-{@j)j)j)iQhQhQhYhYfafafarfibfL?ɛB2t (I  TսɚiI =I%{@i%i%!)M{@)IzKlMK9KKKE!=*F% ?2F! :F! BF! JF) U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259080G P<3GaBiO>q,w,óA yrHioJ?Si?PyA??`?ɨr @rJt;py-B-&II}I}{4٢=  =9/eQ >uWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510889 G٣yr< > Nusing accuracyPremultiplier from config 49rַ? 4YH iYB  @ 4@@D;;`4 @ZjFNOT Ignoring new targets: 574.20 m.Bjj#;Jjj#; ProNav: ac range: 574.200012 m, nav range: 155.964920 m, bearing: 279.658910 deg, approach rate: 0.545118 m/s, LOS rate: 0.142869 deg/s, cmd heading: 138.298435 deg, new cmd heading: 138.529900 deg. 2j;HeadingCmd: 2.417803 target range: 574.200012 and range: 588.90 m. jH@jjj i h h h hfffrfbf` ?ɛB%T %=%$I! %ֽɚ)i)I-?=I-H@i5 i5$r)5H@)1EAEA*EA"EAE- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762143*F ?2F :F BF 4JF G  G qAGO!H*>I I'II>BI* =&I.I5D6Iװ<:I FGB $?IO?<,w,N 峼A:2 @Y:JQ@:^J9:q)>y:H@% |A? K?@q!?]?`?ɨ:2 @:Ȍ;:CyFBF&IJeJeJaJaJe:JeD:JaJaJeX-<JeY-<Je*;Je+;Mb@Mb@Mb@ )YM?QMbPyn2?uA hA)AIAyII4٢= =94Q > G٣y]; > Nusing accuracyPremultiplier from configWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013930493·?4Y-~ iYB%y2?%:%@%4@KD;h;4=DB =@=EZjFNOT Ignoring new targets: 574.20 m.Bj%x%;Jj%x%;5 ProNav: ac range: 574.200012 m, nav range: 156.233856 m, bearing: 279.731520 deg, approach rate: 0.536744 m/s, LOS rate: 0.144666 deg/s, cmd heading: 138.529897 deg, new cmd heading: 138.747351 deg. 2jU;]HeadingCmd: 2.421598 target range: 574.200012 and range: 588.90 m. j]w@jYjYjYiYhahahaheBfififirfibf`@ɛBR I {׽ɚiI(-=Iw@ii ' )w@)zKBHK9KKK*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266790G U PExceeded connect timeout, disconnecting.G B O >,w,AyɇB'II5I54٢E= EV=9MQ M>IQ UG٣UEGyU U> eNusing accuracyPremultiplier from configYe49][?m4Y]fy i]-ZBiim4@]SD]L:]7:] 4q }@yB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.Bj7;Jj7; ProNav: ac range: 574.200012 m, nav range: 156.444443 m, bearing: 279.788158 deg, approach rate: 0.597326 m/s, LOS rate: 0.160436 deg/s, cmd heading: 138.747356 deg, new cmd heading: 138.917040 deg. 2j6;HeadingCmd: 2.424560 target range: 574.200012 and range: 588.90 m. j+@jjjihhhhfQfYfYrfYbf] m@ɛB 隭 $?II ؽɚiI^=I+@i 9㕼i J+) +@)Q5Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.520331*F]?2FY:FYBFaJFaeH~G k!Yy.BGM G! B1 OM >-w,ٖA6! @Y6@6ZQ96x$>BWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.769901y6H7`'p``d?> ?`,?? ?ɨ6! @6;6CyNׇBR'I=Mb@Mb@Mb@999 9)9Y=gfffff?~jtx?MbP?y=33?=;=:=A =@)=3@I=KA9y= AIUIU4٢e= eH=9mQ m>ii uG٣qyu3< u> Nusing accuracyPremultiplier from configy49}?4Y}~t i}iZB43?:{@4@}\D}49;}7;}'4FB @EZjFNOT Ignoring new targets: 574.20 m.Bj1;Jj1; ProNav: ac range: 574.200012 m, nav range: 156.663651 m, bearing: 279.851926 deg, approach rate: 0.535502 m/s, LOS rate: 0.155560 deg/s, cmd heading: 138.917046 deg, new cmd heading: 139.108080 deg. 2j;HeadingCmd: 2.427894 target range: 574.200012 and range: 588.90 m. jb@jjjihhhqhupBfqfqfyrfybf}@s@ɛB%  I wٽɚiIz=Ib@i.i)b@)*F?2F:FBFo0JF"G=G=G;+ IZHRH@AH+>I I'IIlBI&I.I6I<:IR FGBOa>JJJJJ[:JH:JJJ+<J+<Jڝ;J۝;-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021334zK k3IK K K K 9 -w,f2A2& @Y2D@23S92]">y2H!P@Szi? T? !7WK???ɨ2& @2ʊ;2CyBBB%'IIJIJ4٢j.= jT=9n?ѻQ n>pp rG٣pyrtW< v> zNusing accuracyPremultiplier from configtz49v?~4Yvo ivZB@4@vdDv^7;v7;vq.4 DB @EZjFNOT Ignoring new targets: 574.20 m.Bj);Jj );= ProNav: ac range: 574.200012 m, nav range: 156.869370 m, bearing: 279.912183 deg, approach rate: 0.507929 m/s, LOS rate: 0.148583 deg/s, cmd heading: 139.108086 deg, new cmd heading: 139.288620 deg. 2j=;EHeadingCmd: 2.431045 target range: 574.200012 and range: 588.90 m. jE>@jAjIjIiIhIhIhQhQfYfYfYrfabfe @ɛZ II UڄڽɚQiQIU =I]>@i]wi]Z )]>@)aWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՑchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.273400  nManaging dock network, ignoring radio surface power offEu= $?ISh*F ?2F :F BF `0JF M Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528000G1 G5 rAG5 rAG)B1OU>-w,lPAy B ;'IMb@Mb@Mb@ )Y/$?/$?y&1?<A `@)@IAyQ AII:4٢̎= $=9Q > G٣EGy > Nusing accuracyPremultiplier from config49Iz?4Y(j iZB;1?::@4@oD;;,74FB @EZj!%FNOT Ignoring new targets: 574.20 m.Bj-<;Jj-<;= ProNav: ac range: 574.200012 m, nav range: 157.128815 m, bearing: 279.991388 deg, approach rate: 0.541454 m/s, LOS rate: 0.165025 deg/s, cmd heading: 139.288621 deg, new cmd heading: 139.525843 deg. 2j=;EHeadingCmd: 2.435185 target range: 574.200012 and range: 588.90 m. jE@jAjAjAiIhIhIhQhUgBfQfQfQrfYbfe? @ɛ-B-b )-)I) -qh۽ɚ1i1I5\=I5@i=זi=`P)=@)9E%i=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:49:04.0777 TRx dataTimestamp_ set to:1736372945.409521checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779230*F?2F:FBFy0JFGuoGIBYO}z> I H *>I  I 'II BI &I .I 6I <:I s FBIɜCJIɜCRIZI* =bIjI}55U Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029636E-w,cjA] @Y]@]X9]e >y]H@ԇ @ˏ??wu>? z?L?ɨ] @].;Yy}B}N'I)  p=R=IIݜ4٢= K=9zGQ > G٣y< > Nusing accuracyPremultiplier from config49h?4Ye i*[B@4@xD::5>4HB %)@%EZjFNOT Ignoring new targets: 574.20 m.Bjh-;Jjh-; ProNav: ac range: 574.200012 m, nav range: 157.335693 m, bearing: 280.055798 deg, approach rate: 0.487586 m/s, LOS rate: 0.151606 deg/s, cmd heading: 139.525848 deg, new cmd heading: 139.718822 deg. 2j;HeadingCmd: 2.438554 target range: 574.200012 and range: 588.90 m. jC@jjjih!h!h!h!f)f)f)rf)bf-@ɛLf I 7ܽɚiI=IC@ii;L)C@)zKK9KKKE1E1*E1"E1Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: Range 10 to 50 : 591.2 m (Round-trip 788.3 ms) speed -0.6 m/s ,DAT read: user:2080> BDAT read: Tx time:21:49:05.1852 $Ping request sent. G٣EGyF< > Nusing accuracyPremultiplier from config49O?4Y_ i[B/?:@4@D;f;H4IB  @EB*** querying acoustic contact ***jj  addTargetRange:: Added new target pos. range: 591.200012 m, deltaT: 4.286429 s, deltaX: 2.299988 m, approachRate: 0.536574 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 574.20 m.BjA;JjA;- ProNav: ac range: 574.200012 m, nav range: 157.613220 m, bearing: 280.147214 deg, approach rate: 0.514490 m/s, LOS rate: 0.169173 deg/s, cmd heading: 139.718828 deg, new cmd heading: 139.992593 deg. 2j-4;5HeadingCmd: 2.443332 target range: 574.200012 and range: 591.20 m. j5_@j1j9j9i9h9h9hAhE6BfAfAfArfMy@bfM`o?ɛB7  %i=隥-ѾI 7ݽɚiInH=I_@iRi-)_@)*F2F: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.GE dG B) OE > $?I jH bH <H )>I  I 0(II BI &I .I 6I <:I X F)-w,ץA6 @Y6>@6]96Y >y6H@?E?`}C`k?`?@?ɨ6 @6;6CyB(BBx'IIJIJb4٢V= Vs=9ZлQ Z?XX ZG٣Xy^< ^? fNusing accuracyPremultiplier from config`j49b@?j4Yb[ ib[BlnY@n4@bDbR2;bRp;bM4t v@tZjFNOT Ignoring new targets: 574.20 m.Bj:;Jj:;- ProNav: ac range: 574.200012 m, nav range: 157.778488 m, bearing: 280.202207 deg, approach rate: 0.491549 m/s, LOS rate: 0.163391 deg/s, cmd heading: 139.992595 deg, new cmd heading: 140.157400 deg. 2j-D;5HeadingCmd: 2.446208 target range: 574.200012 and range: 591.20 m. j5@j1j1j1i1h9hhhf f f rfbf?eWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=0.751553ɛ 隽I ݽɚiI͝=I@iriռ)@)*F%?2F!:F)BF-1JF)zKk3IK+9KKKGm v Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005941GA BQ Om >_0/-w,A:N@Y:'m@:f^9:>y:HY??T?@? ?ɨ:N@:h;:CyR@BV'I\^AIb{IbZ4٢j= jH=9jMQ j>ll nG٣lyr< r> vNusing accuracyPremultiplier from configtz49v:.?z4YvW iv[Bx~@~4@vDv ;v ;vU4KB @EZj15FNOT Ignoring new targets: 574.20 m.Bj=<;Jj=<;M ProNav: ac range: 574.200012 m, nav range: 157.978394 m, bearing: 280.269625 deg, approach rate: 0.490212 m/s, LOS rate: 0.165115 deg/s, cmd heading: 140.157394 deg, new cmd heading: 140.359392 deg. 2jM;UHeadingCmd: 2.449733 target range: 574.200012 and range: 591.20 m. jUo@jQjQjQiQhYhYhYhafafafarfabfm$?ɛ 隕HI )޽ɚiII=Io@i6i)o@) I*FQ2FQ:FQBFU4JFQG-޼JKm3G B1 KS}-KK"KJJJmWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256780JJ :J"I:JJOD>@6-w,"ٴA2@Y2@2q_92Pb>y2H  9O?\?4h`?V?`%?ɨ2@2Š;0y>WB>'I^Will construct direction to contact in vehicle frame from tetrahedron phase data.^checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506577%Mb@Mb@Mb@!!! !)!Y%K7?S㥫?Mb`?y%)?%/]=%;%A %@)%@I%A!y% AIEqIEJH4٢UL= UB=9UKQ U>YY ]G٣]FGy]P< e> mNusing accuracyPremultiplier from configau49e\?u4YeS ie3\BuJ*?}:}-"@}4@eDe;e;e`\4 A@)ZjiuFNOT Ignoring new targets: 574.20 m.Bju2;Jj}2; ProNav: ac range: 574.200012 m, nav range: 158.171585 m, bearing: 280.339370 deg, approach rate: 0.432886 m/s, LOS rate: 0.156088 deg/s, cmd heading: 140.359390 deg, new cmd heading: 140.568369 deg. 2j>;HeadingCmd: 2.453381 target range: 574.200012 and range: 591.20 m. j1@jjjihhhhBfffrfbfW?ɛimH im?Ii uF޽ɚqiqIu,=I}1@i}҈i})}1@) ]$?IaHI Ib(IIBI+ =&I.I6IV<:I) FER=mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.759566*F ?2F :F BF 0JF zK BoHK 9K K K G ټGBO>*=-w,sA%Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012269y}nB}'I) AII4٢S= !=9Q > G٣y > Nusing accuracyPremultiplier from config 49? 4YN i\B   4@Di:;Le4 %@%EZjFNOT Ignoring new targets: 574.20 m.Bj:=;Jj:=;= ProNav: ac range: 574.200012 m, nav range: 158.406052 m, bearing: 280.423672 deg, approach rate: 0.460806 m/s, LOS rate: 0.165436 deg/s, cmd heading: 140.568367 deg, new cmd heading: 140.820896 deg. 2jE;}HeadingCmd: 2.457788 target range: 574.200012 and range: 591.20 m. j}gL@jjjihhhhfffrfbf@@ɛp 隵uI 3߽ɚiI̛=IgL@iiS)gL@) $?IEh=*F?2F:FBF2JFJ=J=J9J9J=:J=A:J9J9Guv¤Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266171Gi B O= >[rD-w,A6x@Y6b@6\96>y6H9R??Bj c?@?`?ɨ6x@6E;6CyRBR'I5Mb@Mb@Mb@111 1)1Y5L7A`?T㥛 ?Mb`?y5+'?5=15\ A 5Q@)5@I5A1y5QAIUIU̍4٢e > eS=9eS;Q e>ii mG٣iyu< u> }Nusing accuracyPremultiplier from configy49}J?4Y}K i}\B'?:#@4@}D};}r;}k4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.BjJ;JjJ; ProNav: ac range: 574.200012 m, nav range: 158.575211 m, bearing: 280.487444 deg, approach rate: 0.470362 m/s, LOS rate: 0.177135 deg/s, cmd heading: 140.820892 deg, new cmd heading: 141.012004 deg. 2j";HeadingCmd: 2.461124 target range: 574.200012 and range: 591.20 m. j @jjjihhhhBfffrfbf@ɛh 8I w߽ɚiI@=I @i`i[) @)EE*E "E MWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.514588*F5?2F1:F1BF5_5JF1 IRhZH ?ARH H I  I (II BI * =&I .I 6I s<:I = F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767197G `6G B O >pUK-w,/A6@Y6@6v[96>y6Hg~k?`?U`9? w|??ɨ6@6;;6CyBBB(IIJIJ4٢R> R?=9VpK;Q V>TT VG٣VFGyZ< Z> bNusing accuracyPremultiplier from config\f49^ඛ?f4Y^#G i^]Bhj$@j4@^D^L;^;^ps4nMB n@@nEZj FNOT Ignoring new targets: 574.20 m.Bj T>;Jj T>; ProNav: ac range: 574.200012 m, nav range: 158.763214 m, bearing: 280.558633 deg, approach rate: 0.439965 m/s, LOS rate: 0.166399 deg/s, cmd heading: 141.012001 deg, new cmd heading: 141.225314 deg. 2je;%HeadingCmd: 2.464847 target range: 574.200012 and range: 591.20 m. j- @j)j)j)i)h)h)h1h1f1f1f9rf9bf=b@ɛmBuBh quIq u߽ɚyiyI}H=I @i% i%P)% @)!zKm$JKh9KK K*F?2F:FBF^0JFGm7G)B9OU2>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018467 = $?IA ;0R-w,-IAJfJfJdJdJf:JfmQ:JdJdmWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273152yƈB;(Ii =I p<I]I]4٢ = .=9)! %CQ >~~G G٣y Yy B ->u@u B uNusing accuracyPremultiplier from configq}49uȶ?}4YuYB iuP]B4@u¹Du;uZ;u|4NB @EZjFNOT Ignoring new targets: 574.20 m.Bj:;Jj%:;5 ProNav: ac range: 574.200012 m, nav range: 158.993179 m, bearing: 280.645359 deg, approach rate: 0.433805 m/s, LOS rate: 0.163363 deg/s, cmd heading: 141.225308 deg, new cmd heading: 141.485108 deg. 2j5:;=HeadingCmd: 2.469381 target range: 574.200012 and range: 591.20 m. j=W @j9j9j9i9h9hahahafififirfibfm @ @ɛ? 隽싽I ߽ɚiIJ=IW @ili)W @)*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522472G} ,G G GQ Ba O} >oX-w, ccAF@YF:9@F]W9F:>yFH+?@j?nSJ׾?uD?@h?ɨF@F2;FCyRBRs(I \I\H=(>I9 I=(II=LBI=+ =&I9.I96I=<:I=Z F]Mb@Mb@Mb@YYY Y)YY]uV?Q? \=91) G٣yI< ? Nusing accuracyPremultiplier from config49?4Yw? i]Bj)?:$@4@ɹDj!;;4 @ZjamFNOT Ignoring new targets: 574.20 m.Bju<>;Jju<>; ProNav: ac range: 574.200012 m, nav range: 159.132874 m, bearing: 280.699403 deg, approach rate: 0.430282 m/s, LOS rate: 0.166316 deg/s, cmd heading: 141.485115 deg, new cmd heading: 141.647102 deg. 2jH;HeadingCmd: 2.472208 target range: 574.200012 and range: 591.20 m. j8@jjjihhhh"Bfffrfbf @ɛܽ `zK} a3JK} 9Ky K}  K}  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026555^-w,%}AFG@YF`f@FbU9F>yFH@T?[?@z߉{?g'?@?ɨFG@Fij;FCyB (III4٢50> 5Q=9E;Q E>QQ UG٣UFGy]; ]> mNusing accuracyPremultiplier from configau49eާ?u4Ye; ie]By},%@}4@eѹDeA;eA;e4PB @EZjFNOT Ignoring new targets: 574.20 m.BjI;JjI; ProNav: ac range: 574.200012 m, nav range: 159.305496 m, bearing: 280.766337 deg, approach rate: 0.455112 m/s, LOS rate: 0.176278 deg/s, cmd heading: 141.647099 deg, new cmd heading: 141.847684 deg. 2j;HeadingCmd: 2.475709 target range: 574.200012 and range: 591.20 m. jr@jjjihhhhfffrfbf@6i@ɛ5B5Dӽ 15̰=I9 =Ϩ߽ɚ9i9I=z=IEr@iEiE<)Er@)I $?I*F?2F:FBF`0JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.m8DAT read: $Error in header m*Received a bad headerchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.294620Gm VGi Bq O >{e-w,Ayr-Bv(IuMb@Mb@Mb@qqq q)qYuQ? G٣y > Nusing accuracyPremultiplier from config49ɔ?4Y-8 i^B*?:I%@4@ٹDT;:;?4 (@B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.Bj A;Jj A; ProNav: ac range: 574.200012 m, nav range: 159.487076 m, bearing: 280.836750 deg, approach rate: 0.437542 m/s, LOS rate: 0.169479 deg/s, cmd heading: 141.847688 deg, new cmd heading: 142.058688 deg. 2j;%HeadingCmd: 2.479392 target range: 574.200012 and range: 591.20 m. j%[@j!j)j)i)h)h)h1h5Bf1f1f9rf9bf=?@ɛimI̽ mX@=u>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.530414Iq t߽ɚiI4˗=I[@iGiaK)[@)!*F%?2F!:F)BF-~0JF) $?IjHAbHAHIII IM6)IIMBII&II.II6IM<:IIBIJIRIZI+ =bI+ =jIn4Gm `6Gu ?Gu ?J J J J J [:J ~:J J J a J a J n;a J n;a GA BQ  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790329O >֧k-w,㰵A6@Y6c@6.P96V>y6H S S@@P?Z3?Eυ? ǻ??ɨ6@6*;6Cy>]B>(IIJIJ]4٢V> V[=9V^XX ZG٣Xy^ϝ< b> fNusing accuracyPremultiplier from config`f49bw?j4Yb4 ibB^Bhj%@j4@bDbe:b~ ;bȖ4rQB r?@rEZj FNOT Ignoring new targets: 574.20 m.Bj &D;Jj &D;- ProNav: ac range: 574.200012 m, nav range: 159.650070 m, bearing: 280.900653 deg, approach rate: 0.437856 m/s, LOS rate: 0.171488 deg/s, cmd heading: 142.058687 deg, new cmd heading: 142.250198 deg. 2j-a;-HeadingCmd: 2.482734 target range: 574.200012 and range: 591.20 m. j5@j1j1j1i1hhhhfffrfbf`@ɛB d>I ߽ɚiI=I@i%񹗼i%C)-@))zKLK]9KK K*F?2F:FBF1JFGNWill construct direction to contact in vehicle frame from tetrahedron phase data.iAchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.037650GqBOj> I r-w,ʵAN@YN-@N/2M9N >yNH™? ?@#&jz? ? ?ɨN@Nȫ;LyVyBV)IIbIbm4٢j> jH=9n];Q n>ll nG٣rFGyr{< r> vNusing accuracyPremultiplier from configtz49vxp?~4Yv81 iv^B %@ 4@vD%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289712v˚;v@<I ޽ɚiIA=I!!@i\i )!!@)!*F?2F:FBFO5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.538393G% 6G1 G1 G B O% >Wx-w,䵼A $?I>BA@Y>_@>J?J9>>y>H`ŀ? ?7w???ɨ>BA@>ψ;>CyFBJI)IHtIt Iv)IIv߉BIv* =&It.It6Iv<:IvH FMb@Mb@Mb@ )Y rh?S㥫?:v?y,?/]=T<IA C@)@I\ Ay=@IIq4٢:> <=9`;Q > G٣yO< > Nusing accuracyPremultiplier from config494\?4Y"- i^B -?:d$@4@D&;z%;4  @EZj!-FNOT Ignoring new targets: 574.20 m.Bj-zW;Jj5zW;M ProNav: ac range: 574.200012 m, nav range: 160.026138 m, bearing: 281.044644 deg, approach rate: 0.505482 m/s, LOS rate: 0.188387 deg/s, cmd heading: 142.460056 deg, new cmd heading: 142.681651 deg. 2jMI<]HeadingCmd: 2.490265 target range: 574.200012 and range: 591.20 m. j]`@jajajaiahihihqhu+Bfyfyfrfbf@JJJJJ:J<:JJJ*<J*<J;J;ɛB R>I ݽɚiI=I`@i|i)`@)5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791207EMh=EQEQ*F ?2F :F BF 0JF zK k3IK h9K K  K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044597G `6GBO>܀-w,A LIPj6@Yj؝@jF9j&>yjH Fjg? ?xd`?`]?|?ɨj6@j9;jCy~ԉB~)II I a4٢]> %0=9%;Q %>)) -G٣)y-< -> =Nusing accuracyPremultiplier from config9E49=F?E4Y=( i=_BAE$@E4@=D=":=e:=4USB U@UEZjFNOT Ignoring new targets: 574.20 m.BjB;JjB; ProNav: ac range: 574.200012 m, nav range: 160.237427 m, bearing: 281.123758 deg, approach rate: 0.455489 m/s, LOS rate: 0.170328 deg/s, cmd heading: 142.681655 deg, new cmd heading: 142.918684 deg. 2j;HeadingCmd: 2.494402 target range: 574.200012 and range: 591.20 m. jG@jjjihhhhfffrfbf@ɛB{ >I 5ݽɚiII=IG@iݼi)G@)Em2D=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298266*F?2F:FBF@5JFG% ݗG B O5 >-w,wAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546966F@YF@FC9F(>yFH#kO@ !?@,?#?W? ??ɨF@F<Ή;FCyRBR)IMb@Mb@Mb@ )YCl?L7A`?Q?y/?+=u<A -@)@I Ayf@II4٢> ==9;Q >    G٣ FGy (< > Nusing accuracyPremultiplier from config%49@2?%4Y{$ iP_B%0?%:-"@-4@Dr;,3;/49 =@9]B*** querying acoustic contact ***jYjYZjiuFNOT Ignoring new targets: 574.20 m.Bju?;Jju?; ProNav: ac range: 574.200012 m, nav range: 160.444366 m, bearing: 281.196676 deg, approach rate: 0.476583 m/s, LOS rate: 0.167713 deg/s, cmd heading: 142.918689 deg, new cmd heading: 143.137158 deg. 2j3;HeadingCmd: 2.498215 target range: 574.200012 and range: 591.20 m. j@jjjihhhh?Bfffrfbf @ɛmBuח qu?Iq uGܽɚqiyI}vՓ=I}@iiEi $?IQh)@)ZHe@ARHaHm&>Ii Im*IIm:BIm+ =&Ii.Ii6Im<:Imo FJ=J=J=1J9J=:J=?:J=3J9J=2!<J=3!<J=;J=;E&t@=Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.800088*F 2F :F BF 1JF G rA G rAGM 圼G] ?G] ?zK VBJK 9K K  K G!B)OM>A+-w,m;A2@Y2B' @2|I@92>y2H; 8 ? ?T4h?`?@??ɨ2@2i;2Cy:"B>)IIF}IF]4٢zk_> z==9z|| ~G٣|y< >  Nusing accuracyPremultiplier from config 49 ?4Y 1 i _B#@4@ D  ; q ; 4%UB %,@%EEWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.052898ZjFNOT Ignoring new targets: 574.20 m.Bjq=;Jjq=; ProNav: ac range: 574.200012 m, nav range: 160.651138 m, bearing: 281.269829 deg, approach rate: 0.468751 m/s, LOS rate: 0.165624 deg/s, cmd heading: 143.137160 deg, new cmd heading: 143.356335 deg. 2jU;HeadingCmd: 2.502040 target range: 574.200012 and range: 591.20 m. jm! @jjjihhhhfffrfbfN@ɛBp  ?I }:۽ɚ!i!I%b=I%m! @i-iA)Em! @)YE E *E"E IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304062*FA 2FI :FI BFU j1JFQ GM PG!B)OI -w,|dYAN@YN @Nm89N%>yNH m@??`6g??? *?ɨN@N;;NCyZ?B^ *I}Mb@Mb@Mb@yyy y)yY}-?:v?Mb?y}?5?}T<}<}A }@)}b@I}Ayy}@IvI&Q4٢s= &=9 G٣y< > Nusing accuracyPremultiplier from config49p?4Y i_BS5?:!@5@D ;;Z4WB s@EZj FNOT Ignoring new targets: 574.20 m.Bj F;JjF; ProNav: ac range: 574.200012 m, nav range: 160.898895 m, bearing: 281.353410 deg, approach rate: 0.513978 m/s, LOS rate: 0.173124 deg/s, cmd heading: 143.356341 deg, new cmd heading: 143.606696 deg. 2j%;5HeadingCmd: 2.506410 target range: 574.200012 and range: 591.20 m. j5i @j1j1j1i1h9h9h9h=OBfAfAfArfAUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=7.554889bf]+<@ɛB 隅'?I ٽɚ i I m=Ii @i槗i]m)i @)*F?2F:FBFW0JF $?IH}#>I}C I}o*II}BI}, =&Iy.Iy6I}Ͱ<:I}x FG KJa Je @AJm Jm Jm 0Ji Jm :Jm f4:Jm ـ3Ji Jm <Jm <Jm Ռ;Jm ֌; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.806419G B O- >d3-w,s,sAR@YR) !@R49R>yRH`@?q?%ō?d?g?.?ɨR@R ;PyZpB^G*IIffIf44٢n> nY=9r8pp vG٣vFGyvk< v> zNusing accuracyPremultiplier from configx~49zg?~4Yz iz`B"@5@z"Dzm ;z;z4 f@Zj9=FNOT Ignoring new targets: 574.20 m.BjEvB;JjEvB;U ProNav: ac range: 574.200012 m, nav range: 161.087830 m, bearing: 281.417577 deg, approach rate: 0.501173 m/s, LOS rate: 0.170012 deg/s, cmd heading: 143.606694 deg, new cmd heading: 143.798969 deg. 2jU[;]HeadingCmd: 2.509765 target range: 574.200012 and range: 591.20 m. j] @jYjYjaiahahahahifififirfibfuP@ɛBT 隥>?I gؽɚiIO=I @iAi/ZU) @)*FM?2FI:FQBFU_0JFQzKBoHK 9KK KRK?JK?G-k}GBO (>eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.058480 qIuPh>-w,}A2#@Y2B!@2"/92>y2H@ @B?^?1Z?@ ?%)?]4?ɨ2#@2v;0^Will construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.310363yfBfo*IInqInJH4٢v> zI=9zrB|| ~G٣y< >  Nusing accuracyPremultiplier from config 49 ൛?4Y  i J`B;"@5@ ,D ; B;  4%XB -~@-EmG -WY1y5@AZj FNOT Ignoring new targets: 574.20 m.Bj ;Jj ;M ProNav: ac range: 574.200012 m, nav range: 161.291962 m, bearing: 281.487131 deg, approach rate: 0.411090 m/s, LOS rate: 0.139893 deg/s, cmd heading: 143.798964 deg, new cmd heading: 144.007361 deg. 2jM;UHeadingCmd: 2.513403 target range: 574.200012 and range: 591.20 m. jU @jQjQjQiQhQhYhYhYfYfafarfabf@ @ɛB` 隵 N?I #׽ɚiID-w,ߦAjH<bH<H!>I I*IIBI&I.I6I<:Ij FJ@YJ!@J*9JP>yJH`@ï=? =?H3?`9??;?ɨJ@JP;JCyVBV*I-Eonly read 0 of 1 data item for BIT error. Device response is::TS,25010813501961,35.0, +10.9, 0.0,149  E@E E@M M@M  M@M I]I]Ho4٢u> uB=9} - G٣y.]< > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config49h̵?4Yp i`B+:r:"@5@5Dť;>4 @E B*** querying acoustic contact ***j j Zj!-FNOT Ignoring new targets: 574.20 m.Bj5r;Jj5r;E ProNav: ac range: 574.200012 m, nav range: 161.503174 m, bearing: 281.559641 deg, approach rate: 0.618795 m/s, LOS rate: 0.212158 deg/s, cmd heading: 144.007367 deg, new cmd heading: 144.224613 deg. 2jE} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.066503<-w,Ab5@Yb!@bC&9b9>ybH`@ٓ0?`?f\7???~B?ɨb5@b;bCynĊBn*IIvlIvm?4٢~= ~P=98 G٣ FGy !O<  > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%49t?-4Yk i`B5 :1=D:="@E5@>D;Q?4Q ]F@Y $?IZj!%FNOT Ignoring new targets: 574.20 m.Bj-<;Jj-<;] ProNav: ac range: 574.200012 m, nav range: 161.697815 m, bearing: 281.626885 deg, approach rate: 0.478234 m/s, LOS rate: 0.165019 deg/s, cmd heading: 144.224608 deg, new cmd heading: 144.426095 deg. 2j];eHeadingCmd: 2.520711 target range: 574.200012 and range: 591.20 m. jeTS!@jajajaiahihihihifqfqfyrfybf} N]"@ɛBd% 隅hf?I XԽɚiIBˎ=ITS!@i?ik-)TS!@)*F2F:FBFi0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.318621Gm hAG ?G >Gi By O >f-w,ڶA2@Y25"@2!!92>>y2H`,8}?w?AlE?`??I?ɨ2@2'{;2CyRBR*I 5 5 55 55  5 5 5Mb@Mb@Mb@111 1)1Y5Cl?y&1|{Gzt?y5d;?5`廹5ף;5I@ 5@)5@I5QA1y5G@IvI&Q4٢D> @=99 G٣y!< > Nusing accuracyPremultiplier from config49Q?4Y i`BT:g;?:!@5@GD7 ;;4ZB @EZj FNOT Ignoring new targets: 574.20 m.Bj hS;JjhS;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.5706665 ProNav: ac range: 574.200012 m, nav range: 161.923004 m, bearing: 281.701108 deg, approach rate: 0.561533 m/s, LOS rate: 0.184826 deg/s, cmd heading: 144.426099 deg, new cmd heading: 144.648457 deg. 2j5;=HeadingCmd: 2.524592 target range: 574.200012 and range: 591.20 m. j=!@j9j9jAiAhAhAhAhM\BfIfIfIrfIbfU<)#@ɛB 隅)t?I 5ҽɚiI =I!@i!i,)!@)*FI2FI:FIBFM0JFI $?IH  >I  I =+II 8BI - =&I .I 6I <:I e FBIśCJIśCRIZI, =bI, =jI5GI6G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.822621O >f-w,TAj T@Yjr"@j9jݮ>yjH` !g:? ? zm?`x? ?$N?ɨj T@j;jCyvBv*II|I|٢ f=  T=9, G٣y < %> -Nusing accuracyPremultiplier from config!-49% ?54Y% i%aB9=!@=5@%PD%x1;%1;%4A E]@AZjquFNOT Ignoring new targets: 574.20 m.Bj}nG;Jj}nG; ProNav: ac range: 574.200012 m, nav range: 162.126495 m, bearing: 281.768427 deg, approach rate: 0.527708 m/s, LOS rate: 0.174357 deg/s, cmd heading: 144.648462 deg, new cmd heading: 144.850165 deg. 2jQ;HeadingCmd: 2.528112 target range: 574.200012 and range: 591.20 m. j!@jjjihhhhfffrfbf`#@ɛ]B]C Ye|?Ia eGѽɚaiaIeNA=I!@iip()!@)zK%BoIK%9K!K% K%RK->JK-?*F12F1:F9BF=`5JF9%Will construct direction to contact in vehicle frame from tetrahedron phase data.%J1 J5 J1 J1 J1 J5 -.:J1 J1 aE @aE @aE @aE @y-w,dA6@Y6A"@6a96>y6H5R]?J?@@?(??(S?ɨ6@6ވ;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data.B bP=9b:dd fG٣fFGyjq< j> nNusing accuracyPremultiplier from configlr49n{}?r4Yn3 inHaBpv!@v5@nYDnq:n:n4z\B z@zEZjFNOT Ignoring new targets: 574.20 m.Bj%QH;Jj%QH;5 ProNav: ac range: 574.200012 m, nav range: 162.333771 m, bearing: 281.837230 deg, approach rate: 0.528276 m/s, LOS rate: 0.175132 deg/s, cmd heading: 144.850171 deg, new cmd heading: 145.056316 deg. 2j=b;EHeadingCmd: 2.531710 target range: 574.200012 and range: 591.20 m. jE"@jAjAjAiAhAhIhIhIfIfQfQrfQbf$@ɛ}B( 隵 ?I {ϽɚiIo=I="@i=ؖi=<))E"@)I*F2F:FBF_5JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.5ZH RH H >I C I +II BI &I .I 6I x<:I 3 F-w,i(A>Q@Y>"@>B9>3>y>H1 @Z?w? P@_/?w??W?ɨ>Q@>9];>CyR"BR"+IMb@Mb@Mb@ )YQ?Mb`Mbpy()) -G٣)y5; 5> =Nusing accuracyPremultiplier from config9E49=f?E4Y=Y i=waBM) BDAT read: Tx time:21:49:16.1353 $Ping request sent.P-w,PBA=@Y=#@=9=~>y=H`?`*6? ?.??R?\?ɨ=@=L[;=CyM:BM?+I YIYImIm%x4٢&= O=91 G٣y; > Nusing accuracyPremultiplier from config49R?4Y iaB"@5@mD ;. ;I4 :@Zj)5FNOT Ignoring new targets: 574.20 m.Bj5K;Jj5K;] ProNav: ac range: 574.200012 m, nav range: 162.776703 m, bearing: 281.987214 deg, approach rate: 0.526077 m/s, LOS rate: 0.177945 deg/s, cmd heading: 145.295568 deg, new cmd heading: 145.505652 deg. 2je>;uHeadingCmd: 2.539553 target range: 574.200012 and range: 591.20 m. ju"@jqjqjqiqhqhyhyhyfffrfbf@$i&@ɛBۏ =o?I ˽ɚiI0ߊ=I"@ioivkM)"@)*F?2F:FBF_0JFJJJ1JJ:J7:J3JWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504785GG B O >{-w,q\A64@Y6.S#@6 96n>y6H7X }??oD?@?? ?oa?ɨ64@6:;6CyBLBBV+I=Mb@Mb@Mb@999 9)9Y=Q?y&1|?{Gzty9=`;=ף=@ =@)=@I=@9y=@IU7IU3٢mº= mR=9mL;Q u>qq uG٣uFGy}VI< }> Nusing accuracyPremultiplier from config49>?4Y iaB,I I+IIBI. =&I.I6I<:I FG5KG= ?G= ?G B OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008975?-w,uvA6a@Y66#@6 96I>y6H "h+ ??L@Ϧ??)?e?ɨ6a@6y;6CyBZBFf+IINBIN3٢n= nT=9r"pt vG٣tyvd; v> ~Nusing accuracyPremultiplier from configx~49z*?4Yz izaB+$@5@zDzh;z:z4 _B ]@EZj9EFNOT Ignoring new targets: 574.20 m.BjEN;JjMN;] ProNav: ac range: 574.200012 m, nav range: 163.177872 m, bearing: 282.127450 deg, approach rate: 0.516736 m/s, LOS rate: 0.180576 deg/s, cmd heading: 145.716895 deg, new cmd heading: 145.925843 deg. 2j];eHeadingCmd: 2.546886 target range: 574.200012 and range: 591.20 m. je0#@jajajaiahahihihififqfqrfqbfu`='@ɛB8k 隥W?I ?ȽɚiIZ=I0#@ililbH)0#@)*FM?2FQ:FQBFUn0JFQzKeBoHKeh9KaKe Ke )0;?ACLRUX^bcffighf^[XWWYVQNMLJFC@<%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261198 M$?IQGf AGBO>JKـ3 K.KK"KJ J J 0J J [:J \3:J ـ3J -w,ՏABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.513063^̛@Y^m#@^&9^>y^H`z? y? #Y??@? i?ɨ^̛@^R܈;^CyfoBf+IIr$Ir<3٢z= zI=9z;Q z>|| ~G٣|yV< >  Nusing accuracyPremultiplier from config 49 ?4Y  i bBe$@5@ D ; -/; 4) -@)ZjQUFNOT Ignoring new targets: 574.20 m.Bj];N;Jj];N;m ProNav: ac range: 574.200012 m, nav range: 163.387253 m, bearing: 282.200959 deg, approach rate: 0.514228 m/s, LOS rate: 0.180303 deg/s, cmd heading: 145.925844 deg, new cmd heading: 146.146088 deg. 2jmz;uHeadingCmd: 2.550730 target range: 574.200012 and range: 591.20 m. ju+?#@jqjqjqiqhyhyhyhyfffrfbf(@ɛ]B]X\ am"?Ii :ƽɚiIO=I+?#@iMQi J)+?#@)AE5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765244*Fm ?2Fi :Fi BFm _0JFi Q IQ jH <bH <H >I  I ,II BI &I .I 4D6I y<:I 1 FG |HG qAG pAGiBqO>-w,`AF@YF#@F9Ft>yFH@\`k2??x?@???@]n?ɨF@F ;FCyR|BV+I=Mb@Mb@Mb@999 9)9Y=S??Mby=/=?=<==$@ ==@)=j@I=@9]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017661y=z@ImImm4٢}-R= }%=9}# G٣ FGyҦ: > Nusing accuracyPremultiplier from config49?4Y i>bBM=?:&@5@DL;;4MaB UQ@UEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.BjI;JjI; ProNav: ac range: 574.200012 m, nav range: 163.638062 m, bearing: 282.293203 deg, approach rate: 0.479770 m/s, LOS rate: 0.176182 deg/s, cmd heading: 146.146090 deg, new cmd heading: 146.422396 deg. 2j;HeadingCmd: 2.555553 target range: 574.200012 and range: 591.20 m. j.#@jjjihhh h *Bf ffrfbfS)@ɛe B8 隅?I ýɚiI=I.#@i;Ciփ).#@)Ee=*F2F:FBFJFzK-NKKK K::8673,-,)$"!"!#"    Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270056G IG B O >  $?I -w,(ȷA2C@Y2#@2{92{K>y2H@?mw?`"Q?`?@R?&s?ɨ2C@2;2Cy:B:+IiF!>IF<IVIVt4٢Z= bX=9bFdd fG٣dyjګ: j> 5Nusing accuracyPremultiplier from configl549n紛?=4Yn in_bBAE&@E5@nDnO/;n.;n8%4McB M@MEZjquFNOT Ignoring new targets: 574.20 m.Bj}^;Jj}^; ProNav: ac range: 574.200012 m, nav range: 163.830170 m, bearing: 282.363628 deg, approach rate: 0.531474 m/s, LOS rate: 0.194606 deg/s, cmd heading: 146.422399 deg, new cmd heading: 146.633427 deg. 2j<HeadingCmd: 2.559236 target range: 574.200012 and range: 591.20 m. j#@jjjihhhhfffrfbf`*@ɛ B%\ܺ !%?I! %ڵɚ)i)I-=I-#@i5Bi5)5#@)9EAEA*EA"EAJJJJJJ+:JJ)]= ]CmWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.521119G -5Y)y5B*F]?2Fa:FaBFm`0JFiG ^ Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773022G B O >O-w,ⷼAyB+I =$?I9Mb@Mb@Mb@ )YQ?L7A`?Mbpy5?+=@ @)S@I@yG@InIB4٢9= 2=9Q > G٣y > Nusing accuracyPremultiplier from config 49 =д?4Y  i bB5?:&@5@ D ; ; 3-4) -#@)ZjYeFNOT Ignoring new targets: 574.20 m.Bje&R;Jje&R;u ProNav: ac range: 574.200012 m, nav range: 164.050217 m, bearing: 282.445917 deg, approach rate: 0.491960 m/s, LOS rate: 0.183727 deg/s, cmd heading: 146.633424 deg, new cmd heading: 146.879958 deg. 2j}.;}HeadingCmd: 2.563539 target range: 574.200012 and range: 591.20 m. j}$@jjjihhhhBfffrfbfm+@H>I I=,II BI&I.I6I<:IJ FɛBj ?I faɚiI_ =I$@i>Ri)$@)*F2F:FBF1JFJQJUAAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025095GՒG B O >t-w,jA6@Y6'#@6P96]>y6Hte?f?'? ^ڼ??(|?ɨ6@6;6CyBBB+IIJyIJxV4٢V= Vc=9ZXX ^G٣^ FGy^K < b> fNusing accuracyPremultiplier from config`f49b?j4Yb3 ibbBhj'@j5@bDb.:bP:b34rdB r@rEZj FNOT Ignoring new targets: 574.20 m.BjN;JjN;- ProNav: ac range: 574.200012 m, nav range: 164.223785 m, bearing: 282.510974 deg, approach rate: 0.482328 m/s, LOS rate: 0.180595 deg/s, cmd heading: 146.879953 deg, new cmd heading: 147.074917 deg. 2j-;5HeadingCmd: 2.566941 target range: 574.200012 and range: 591.20 m. j5H$@j1j1j1i1h9hAhAhAfIfIfIrfIbfM&,@ɛBb; '?I ]ɚ!i!I%j=I-H$@i5u`zKU>MKU9KQKU KURKe ?JKe?i5~ )mH$@)iuWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277099*F ?2F :F BF B5JF  E$?IIGNGBO>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529078a.w,ޒAy-B-+IMb@Mb@Mb@ )YS?X9v?Mb`y:?<@ @)/@I-@y@IvI&Q4٢< )=9Q >!! -G٣)y- -> 5Nusing accuracyPremultiplier from config1=495K?=4Y5x i5bBE:?E:E&@E5@5D5t;5;5;4MfB M@UEZjq}FNOT Ignoring new targets: 574.20 m.BjkR;JjkR; ProNav: ac range: 574.200012 m, nav range: 164.464722 m, bearing: 282.600147 deg, approach rate: 0.497778 m/s, LOS rate: 0.183962 deg/s, cmd heading: 147.074914 deg, new cmd heading: 147.342038 deg. 2j;HeadingCmd: 2.571604 target range: 574.200012 and range: 591.20 m. j($@jjjihhhhBfffrfbf`-@ɛB /?I SкɚiI=I($@iiּ)($@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781696*F?2F:FBF@5JF 5$?I1ZHRHHI Ii,II,BI/ =&I.I6IX<:I FBIuȚCJIuȚCRIqZIu. =bIu. =jIu8(5G G B O > .w,y0AJJJ J J{:J7/:J J JyJH૳?KQ?@@"??t?? ?ɨJ@Jg;JCnWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.034382yrыBv+II~oI~D4٢ >  r=9:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285667zKKK9KK Ki1LV#RpJxZ:}oaXND7*BK :K  I Nhn.w,4JA6]G@Y6e$@6ͽ96>y6H`@Q_?@B? S????ɨ6]G@6R.;6CyvBv,II~zI~=X4٢ =  K=9# G٣ FGy; > %Nusing accuracyPremultiplier from config!-49%R}?-4Y%O i% cB15!'@55@%̺D%:%:%H4=fB =.@EE]B*** querying acoustic contact ***jYjYZjimFNOT Ignoring new targets: 574.20 m.BjmS;JjuS; ProNav: ac range: 574.200012 m, nav range: 164.831314 m, bearing: 282.736427 deg, approach rate: 0.498381 m/s, LOS rate: 0.185170 deg/s, cmd heading: 147.528152 deg, new cmd heading: 147.750427 deg. 2j);HeadingCmd: 2.578731 target range: 574.200012 and range: 591.20 m. j %@jjjihhhhfffrfbf,.@ɛ=B=A< AEA?II M2ɚiI-4=I %@iaiټ) %@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537277*F?2F:FBF_0JFGm ӼGA BI Ou > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.789028d.w,MdABd@YBr$@BĽ9B>yBH?7?B? my?(??ɨBd@B;BCyJBJ,I b$?I`EMb@Mb@Mb@AAA A)AYEl?&1?~jth?yE7?EP=ED;EC@ E@)E@IE@AyE3@I]I$4٢O= ==9. G٣y; > Nusing accuracyPremultiplier from config49f?4Yi i,cB8?: )@ 5@ֺD;#;nP4hB @EZjIMFNOT Ignoring new targets: 574.20 m.H]>I]C I],II]KBIY&IY.IY6I]<:I]= FBj}S;JjS; ProNav: ac range: 574.200012 m, nav range: 165.035416 m, bearing: 282.816633 deg, approach rate: 0.471133 m/s, LOS rate: 0.184913 deg/s, cmd heading: 147.750420 deg, new cmd heading: 147.990740 deg. 2j;HeadingCmd: 2.582926 target range: 574.200012 and range: 591.20 m. jN%@jjjihhhhBfffrfbf@-{/@ɛB%; 隽?I oɚiIt=I N%@i5햼i=-t)=N%@)A*F2F:FBFJFJMJMJIJIJM:JMS2:JIJIJM<JM<JM ;JM ;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041186G% ~>ԼG B O% >{.w,}A6ݡ@Y6}$@6qʻ96>y6H@??0?@p?@??ɨ6ݡ@6;4yN BR@,IIZdIZ?14٢b!> b^=9bv4dd fG٣dyj%< j> nNusing accuracyPremultiplier from configlr49nS?r4Yn inHcBpv<)@v5@n޺Dn:n&:nV4x ~֥@Zj)-FNOT Ignoring new targets: 574.20 m.Bj5 U;Jj U; ProNav: ac range: 574.200012 m, nav range: 165.209229 m, bearing: 282.885181 deg, approach rate: 0.472803 m/s, LOS rate: 0.186266 deg/s, cmd heading: 147.990733 deg, new cmd heading: 148.196159 deg. 2j;HeadingCmd: 2.586511 target range: 574.200012 and range: 591.20 m. je%@jjjihhhhfffrfbf0@UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.293240ɛ-B]n< Y]"?Ia eȱɚaiaIeɁ=Ie%@iiI_)e%@)zKOK9KK K#}|zxxsomjklheb`__^][WWVUQSTPQPPRK?JK> $?I*F2F:FBFo0JFGM^G! B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545009%.w,ŗAf&@Yf$@f9f43>yfH 4؟/??r? i?`+D?_?ɨf&@fĉ;dyBO,IImsImK4٢M[= M4=9u-yy }G٣} FGy; > Nusing accuracyPremultiplier from config49:?4Y ijcB^)@5@D!;S;^4jB +@EZjAEFNOT Ignoring new targets: 574.20 m.BjMqN;JjuqN; ProNav: ac range: 574.200012 m, nav range: 165.425461 m, bearing: 282.970483 deg, approach rate: 0.458116 m/s, LOS rate: 0.180488 deg/s, cmd heading: 148.196158 deg, new cmd heading: 148.451728 deg. 2j;HeadingCmd: 2.590971 target range: 574.200012 and range: 591.20 m. jz%@jjjihhhhfffrfbf-ڗ0@ɛB(< 隵?I ѮɚiI8=Iz%@iMi#)z%@)eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.797136 $?I*F2F:FBFg0JFjHU<bHUp<H >I  I ,II BI 0 =&I .I 6I }<:I . FG +G B O >J] J] JY JY J] :J] J1:JY JY J] #<J] #<J] %;J] &;+.w,2籸ARWill construct direction to contact in vehicle frame from tetrahedron phase data.Vchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.049878Zw@YZ%%@Z89Z>yZH@ ?u?@?z?[^? ?ɨZw@Z,G;ZCyf3Bfr,I)h jA]Mb@Mb@Mb@YYY Y)YY]v?kt?Mb`?y]8?] 0=];]-@ ]@)]@I]@Yy]@IuTIu4٢:> U=9% G٣y/< > Nusing accuracyPremultiplier from config49&?4Y icB)9?:(@5@DZS;Q;{e4kB @EZjFNOT Ignoring new targets: 574.20 m.Bj\;Jju\; ProNav: ac range: 574.200012 m, nav range: 165.607086 m, bearing: 283.040814 deg, approach rate: 0.499122 m/s, LOS rate: 0.193064 deg/s, cmd heading: 148.451730 deg, new cmd heading: 148.662492 deg. 2j<HeadingCmd: 2.594650 target range: 574.200012 and range: 591.20 m. j&@jjjihhhh3Bfffrfbf`g0@ɛ BDJ< c?I ɚ!i!I-[=IU&@iUxiU)U&@)Y*F2F:FBF/1JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.303738G UzKE NKE +9KA KE  KE KJJHC< I G B OM >i2.w,}˸ABB@YBya%@Bꤽ9B>yBH onp?1?Ϣ??@s??ɨBB@B#;@yN@BN,IIV~IVT_4٢^X= bZ=9b`d fG٣dyf!< f> nNusing accuracyPremultiplier from confighn49j?r4Yj& ijcBpr#)@r5@jDj. ;j ;jl4x z@|B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.Bj6J;Jj6J; ProNav: ac range: 574.200012 m, nav range: 165.786072 m, bearing: 283.110392 deg, approach rate: 0.455268 m/s, LOS rate: 0.176787 deg/s, cmd heading: 148.662496 deg, new cmd heading: 148.871003 deg. 2j;HeadingCmd: 2.598289 target range: 574.200012 and range: 591.20 m. j_J&@jjjih h hYhafafafirfibfmX1@ɛB< ?I ɚiIP=I_J&@iЦi)_J&@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554185*F2F:FBFS5JFGnGrAGrAG B O >} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.8050158.w,帼A $?IVs@YV%@V[9V>yVH`]S?`?!^|? ? ?l?ɨVs@Vc;VCybLBb,I]Mb@Mb@Mb@YYY Y)YY]V-?l?Mb?y]|??]=]<]@ ]d@)]@I]b@Yy]\@IiI:4٢%cZ= %4=9-99 =G٣9yEa; E> ]Nusing accuracyPremultiplier from configYe49]?u4Y]Ǵ i]cB}??}:}(@}5@]D];];]t4mB @EZjHI I-IIBI&I.I6Is<:I& FFNOT Ignoring new targets: 574.20 m.Bjm^;Jjm^;} ProNav: ac range: 574.200012 m, nav range: 166.015656 m, bearing: 283.197823 deg, approach rate: 0.512645 m/s, LOS rate: 0.194956 deg/s, cmd heading: 148.871008 deg, new cmd heading: 149.132935 deg. 2j}<HeadingCmd: 2.602861 target range: 574.200012 and range: 591.20 m. jE&@jjjihhhh(Bfffrfbf1@ɛ!BT< 隕?I ɚiI}=IE&@iC嗼iއ)E&@)JJJJJ{:J\3:JJJ<J<J;J;*F?2F:FBF_5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058435G a&G B O >?.w,i5A:@Y:?%@:\9:5>y:H6=@|?\?, f?1?@ҡ?`$?ɨ:@:_#;8yFVBF,IiJ|| G٣ FGySc< >  Nusing accuracyPremultiplier from config 49 峛?4Y h i cB(@5@ D  ; X; Bz4%oB %@-EZjIUFNOT Ignoring new targets: 574.20 m.BjU}`;Jj]}`;m ProNav: ac range: 574.200012 m, nav range: 166.193680 m, bearing: 283.266028 deg, approach rate: 0.512820 m/s, LOS rate: 0.196263 deg/s, cmd heading: 149.132932 deg, new cmd heading: 149.337328 deg. 2jm% ~GY q Y y A Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560989F.w,LmAF@YFf&@FV9F1#>yFH AF*Y?Q?|8ͫ?1?`D??ɨF@F;DyjZBn,II%[I%K!4٢UG< ]B=9eN;Q >) -G٣)y=!; => Nusing accuracyPremultiplier from configY49]̳?4Y]& i]cB#)@5@]D];]<;]+4 H@EZj  FNOT Ignoring new targets: 574.20 m.BjT;JjT;] ProNav: ac range: 574.200012 m, nav range: 166.419220 m, bearing: 283.352669 deg, approach rate: 0.483412 m/s, LOS rate: 0.185451 deg/s, cmd heading: 149.337332 deg, new cmd heading: 149.596902 deg. 2j];HeadingCmd: 2.610959 target range: 574.200012 and range: 591.20 m. j'@jjjihhhhfffrfbf2@ɛ%BX< 隥l?I ۡɚiIc{=I'@i Lif)'@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813163 $?I*F?2F:FBFJFZHRHAAH>I I>-IIٌBI&I.I6Iq<:I$ FG rG B O >:2L.w,'3ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.065077yzkBz,IMb@Mb@Mb@ )YMb?Mb?MbP?y@?=:@ 7@)@I@y@I PI  4٢-= 5>=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y7 idB@?:(@5@"Db;;]4 E@ZjFNOT Ignoring new targets: 574.20 m.Bj'a;Jj'a;  ProNav: ac range: 574.200012 m, nav range: 166.627136 m, bearing: 283.431328 deg, approach rate: 0.520960 m/s, LOS rate: 0.196843 deg/s, cmd heading: 149.596907 deg, new cmd heading: 149.832587 deg. 2j <HeadingCmd: 2.615072 target range: 574.200012 and range: 591.20 m. jW]'@jjji!h!h!h!h%#Bf)f)f)rf1bf5`N2@ɛ]&B]A!= ae?Ia eNɚaiaIey=IuW]'@iuևiuc)uW]'@)y*F2F :F BF JF 5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317333 IMhG5 ~zK k3IK ]9K K  K G B O- >S.w,MA2@Y2&@2م92>y2HnY߿@?X? AX`?)??@?ɨ2@20W;2CyBuBB,I)H HIZSIZ4٢bh= be=9f zE Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821078 $?I VEY.w,~fAy-|B5,IH1I1 I5W-II5BI1&I1.I16I5<:I5A FBIU™CJIU™CRIQZIU0 =bIU0 =jIU 4eMb@Mb@Mb@aaa a)aYex&1?~jt?Mb`yeA@?e=ee@ e @)e@Ie@aye@I}PI} 4٢< 1=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y i#-`.w,QA6!@Y6@'@6yx96`>y6H@B g߿2? ?y???U?ɨ6!@6>f;6CyBBB,IIJ[IJK!4٢Ro= Rp=9VeDb|;b(;bu4 Þ@ Zj)5FNOT Ignoring new targets: 574.20 m.BjU[;JjU[; ProNav: ac range: 574.200012 m, nav range: 167.198120 m, bearing: 283.653402 deg, approach rate: 0.486566 m/s, LOS rate: 0.191755 deg/s, cmd heading: 150.298914 deg, new cmd heading: 150.498025 deg. 2j<HeadingCmd: 2.626686 target range: 574.200012 and range: 591.20 m. j(@jWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325345jjihh h h f ffrf9bf=o+4@ }$?Iyɛ*B?= 隭?I 3ɚiIu=I(@i%iy)(@)zKmJKm9KiKm KmN)`;$ ''% +.+RK}?JK}?*F?2F:FBF1JFGW JJJJJJ-.:JJG B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577168O >IWf.w,Af^@Yf'@fd9f (>yfH޿0? 9?@?6?$ ??ɨf^@f;fCyBޝ,IIcIy/4٢uV< }1=9' G٣FGyԜ< > Nusing accuracyPremultiplier from config49Z?4YT iddB+@5@ID::ȥ4UtB U{@UEZjFNOT Ignoring new targets: 574.20 m.Bj|[;Jj|[; ProNav: ac range: 574.200012 m, nav range: 167.430557 m, bearing: 283.746427 deg, approach rate: 0.480131 m/s, LOS rate: 0.191889 deg/s, cmd heading: 150.498027 deg, new cmd heading: 150.776712 deg. 2j<HeadingCmd: 2.631550 target range: 574.200012 and range: 591.20 m. jQk(@jjjihhhhff f rf bf 64@ɛ=+B=e= AEl.w,2rA: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.Z@YZZ(@Z"[9Z>yZH@޿?ཁ?@,@г?``?('??ɨZ@Z݈;ZCybBb,IUMb@Mb@Mb@QQQ Q)QYUjt?A`"?{GztyU@?UY=UףU@ U@)U@IU@QyU@Im\Im#4٢e< eK=9e;Q e>ii mG٣iyu< u> Nusing accuracyPremultiplier from config49D?4Y iudB?A?:,@5@SD*;);4vB 0@EZjFNOT Ignoring new targets: 574.20 m.Bjk;Jjk; ProNav: ac range: 574.200012 m, nav range: 167.616013 m, bearing: 283.823978 deg, approach rate: 0.493081 m/s, LOS rate: 0.205961 deg/s, cmd heading: 150.776713 deg, new cmd heading: 151.009107 deg. 2jY <HeadingCmd: 2.635606 target range: 574.200012 and range: 591.20 m. jŭ(@jjjihhhhBfffrfbf5@ɛ,B[J= ?I RɚiIr=IEŭ(@iMfiM[ؼ)Mŭ(@)IE]V>E]>*F?2F:FBFO5JFG  G Will construct direction to contact in vehicle frame from tetrahedron phase data.gns.w,IdιABJ@YBi(@BTT9B>yBH`Wow޿&?5?P`?`B?Y$?Ƙ?ɨBJ@B遈;BCyNBN,IIV_IVb(4٢^ڼ ^i=9bĠ;Q b>`` fG٣dyfz< f> nNusing accuracyPremultiplier from confighv49j0?z4Yj ijdB|~,@5@j[DjL;j;j4 }@5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 574.20 m.BjEa;JjEa;U ProNav: ac range: 574.200012 m, nav range: 167.782486 m, bearing: 283.894106 deg, approach rate: 0.468595 m/s, LOS rate: 0.197203 deg/s, cmd heading: 151.009103 deg, new cmd heading: 151.219277 deg. 2j]V<]HeadingCmd: 2.639274 target range: 574.200012 and range: 591.20 m. j](@jajajaiahahahihifififqrfqbfu`[5@ɛ-Bd0u= 隽)?I `ɚiIq=I(@i|i˼)(@)JJJJJ:Jy6:JJmWill construct direction to contact in vehicle frame from tetrahedron phase data.m Will construct direction to contact in vehicle frame from tetrahedron phase data. yRH@@UO޿ͽ? ?@t?? N??ɨR{@Rl;RCyB,I) H>I Iv-IIBI&I.I6Iư<:Ia FMb@Mb@Mb@ )Y?~jt?~jthy@?=Dx@ @)z@Iy@IRIW4٢-G'= -6=95;Q 5>19 =G٣EFGyE; E> MNusing accuracyPremultiplier from configI49MD?4YM iMdB@?: /@5@MfDM BDAT read: Tx time:21:49:27.0854 $Ping request sent.z.w,A:@Y:t(@:^lE9:>y:H/@޿ [?-?.??Y?@9?ɨ:@:5N;:CyFBF,IIR[IRK!4٢Z4< Zf=9Z{;Q Z>\\ ^G٣\ybD< b> fNusing accuracyPremultiplier from configdj49f?j4Yf ifdBhjO/@n5@foDf:f_;f4rxB r@vEZj  FNOT Ignoring new targets: 574.20 m.Bj,u;Jj,u;- ProNav: ac range: 574.200012 m, nav range: 168.148483 m, bearing: 284.058789 deg, approach rate: 0.475556 m/s, LOS rate: 0.214346 deg/s, cmd heading: 151.495276 deg, new cmd heading: 151.712784 deg. 2j-<5HeadingCmd: 2.647888 target range: 574.200012 and range: 591.20 m. j5v)@j1j1j1i1 $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:49:27.0846 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250060hhhhfffrfbf .6@ɛ]/B]d|= Y]?IY e@ɚaiaIe|o=Imv)@imim"ռ)mv)@)qzKqKK+9KK KRK?JK?*Fm?2Fi:FiBFiJFiGEڼGB!OUT>JJJJJJ8:JJ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499806 .w, A2 @Y2@*)@2E92>y2Hݿ$??@G?`%?;?R?ɨ2 @2;2CyJBJ,II^SI^4٢zI zF=9~TQ ~> G٣y 5<  > -Nusing accuracyPremultiplier from config!E49%L鲛?M4Y% i%dBQ]/@]5@%yD%<%X;%4yB *@EZj%FNOT Ignoring new targets: 574.20 m.Bj=];Jj=];5 ProNav: ac range: 574.200012 m, nav range: 168.336090 m, bearing: 284.143912 deg, approach rate: 0.427999 m/s, LOS rate: 0.193982 deg/s, cmd heading: 151.712790 deg, new cmd heading: 151.967876 deg. 2j5 <=HeadingCmd: 2.652340 target range: 574.200012 and range: 591.20 m. j=)@j9j9j9i9h9hAhAhAfAfIfIrfibfm6@ɛ0BЎ== 隽?I ɚiISm=I)@irᙼi>ռ))@) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753272*F?2F:FBF`0JFZH9RH=@AHI I|-II BI0 =&I.I6I˰<:Ie FG FټG B O >Ќ.w,5A"Will construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003819> 6@Y>T)@>xA9> e>y>Hݿ?@i?`[?,?@ T?Ҙ?ɨ> 6@>;>CyJBJ,IiN%=IN;-Mb@Mb@Mb@))) )))Y-Zd;?ʡE?y&1|y-9?--=-`-K@ )))I-S@)y-f@I=/I=3٢M4= MD=9U(;Q U>Ya eG٣eFGye; e> uNusing accuracyPremultiplier from configi}49mѲ?}4Ym imdB}1;?}:}0@5@mDm ;m;mC4 @ZjFNOT Ignoring new targets: 574.20 m.Bjqc;Jjqc; ProNav: ac range: 574.200012 m, nav range: 168.512695 m, bearing: 284.227386 deg, approach rate: 0.421143 m/s, LOS rate: 0.198847 deg/s, cmd heading: 151.967870 deg, new cmd heading: 152.218026 deg. 2jw<HeadingCmd: 2.656706 target range: 574.200012 and range: 591.20 m. jx*@jjjihhhhBfffrfbf@7@ɛu1BuHh= q}?Iy }WOɚyiyI}GBl=Ix*@i1iܓ)x*@)*FE?2FA:FABFEu0JFA $?ILhWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256444GE ؼG! B) zKE KE ͼ9KA KE  KE BKU qA:KU pAO] >̹.w,OAJ`q@YJ)@J?9J{>yJH+`~ݿ@ٽ?5?`@3?~? W?@ט?ɨJ`q@JJ$;JCyRBV,II^+I^n3٢f< fS=9f5:Q f>hh jG٣hyn< n> rNusing accuracyPremultiplier from configpv49rv?v4Yr irdBtz61@z5@rDr7;rY;r4)E= C{B -\@=EGGtA YtAyxAB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.Bj`f;Jj`f; ProNav: ac range: 574.200012 m, nav range: 168.677017 m, bearing: 284.305331 deg, approach rate: 0.425022 m/s, LOS rate: 0.201410 deg/s, cmd heading: 152.218033 deg, new cmd heading: 152.451639 deg. 2j9 <HeadingCmd: 2.660783 target range: 574.200012 and range: 591.20 m. jEJ*@jjjihhhhfffrfbf`m7@UWill construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509707ɛ ȃc= ?I KZɚiI-j=IMEJ*@iU6.iUz)]EJ*@)*F?2F:FBF0JFG= ټG] ?G] > I  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760658G9 BA O] >.w,KriA `b@52@Y5ҡ)@5a495>y5H@0@tݿ?`'? (@?R?b?y?ɨ52@5>^;1yMBM -IHYIY I]-II]BI]1 =&IY.IY6I]<:I]= FEMb@Mb@Mb@AAA A)AYE +?|?5^?qq uG٣qy}); }> Nusing accuracyPremultiplier from config49g?4Y idB8?:2@5@D'!;;4}B ǜ@EZjFNOT Ignoring new targets: 574.20 m.Bju;Jju; ProNav: ac range: 574.200012 m, nav range: 168.862106 m, bearing: 284.397606 deg, approach rate: 0.431467 m/s, LOS rate: 0.214870 deg/s, cmd heading: 152.451639 deg, new cmd heading: 152.728159 deg. 2jv<HeadingCmd: 2.665609 target range: 574.200012 and range: 591.20 m. jW*@jjjihhhhBfffrfbf7@ɛ52B5 = 15?I1 =@{ɚ9i9I=i=IEW*@iE]iE)EW*@)I*FA2FA:FABFE`5JFAJK KKK"KJJJJJ :Jo5:JJJryɠ.w, MA6@Y6)@6i,96>y6H7`ݿ@;??I? *?\j?ؙ?ɨ6@6%ԉ;6CyBBB-I)D D J=Jp=IJoIJD4٢V< Vl=9V;Q V?XX ZG٣ZFGyZ!; ^? %Nusing accuracyPremultiplier from config!-49%挲?-4Y% i%dB)-2@-5@%D%:%G:%C4=B =@=E e$?IaZjiuFNOT Ignoring new targets: 574.20 m.Bjuf;Jj}f; ProNav: ac range: 574.200012 m, nav range: 169.007660 m, bearing: 284.470117 deg, approach rate: 0.405036 m/s, LOS rate: 0.201605 deg/s, cmd heading: 152.728152 deg, new cmd heading: 152.945498 deg. 2j\ <HeadingCmd: 2.669403 target range: 574.200012 and range: 591.20 m. j~*@jjjihhhhfffrfbf18@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263911ɛv= ?I a vɚiIa0h=I~*@i`i)~*@)*Fu?2Fq:FqBFu_0JFqGMzKyK}9KyK} K}GBO-,>} Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518436F.w,&A6a@Y6)@6[%966>y6H>Lݿc0? ? v??1^??ɨ6a@6E^;6CybBb-II~`I~(*4٢= %C=9-;Q ->11 5G٣1y=_; E> UNusing accuracyPremultiplier from configQe49Uvu?m4YU} iU eBy 3@5@UDU$;U;Um4 /@ZjFNOT Ignoring new targets: 574.20 m.Bj5LP;Jj5LP; ProNav: ac range: 574.200012 m, nav range: 169.173813 m, bearing: 284.552893 deg, approach rate: 0.365901 m/s, LOS rate: 0.182109 deg/s, cmd heading: 152.945503 deg, new cmd heading: 153.193585 deg. 2j;HeadingCmd: 2.673733 target range: 574.200012 and range: 591.20 m. jo+@jjjihhhhfffrfbf@8@ɛ53B5b= 15>?I1 =-oɚ9i9I=f=IEo+@iE+ᚼiE)Eo+@ QIQ)iWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767954*F?2F:FBF3JFjHbH4<HI I-II BI&I.I6I<:I. FBIJIRIZI1 =bI1 =jI-4G% G- qAG) G B) OE >J J J 1J J J J 3J J J J J .w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019714nT@Yn*@nl!9n >ynHL.ݿ?`?@(`?u7? k??ɨnT@nֈ;nCyzɌBz+-IMb@Mb@Mb@ )Y-?S㥻?~jth?y?5?/=D;5@ V@)Iy(@IiI:4٢W= ?=9;Q > G٣yi< > Nusing accuracyPremultiplier from config49^]?4Ynz i eBX7?:3@5@Dl;;4B n@ EZj)5FNOT Ignoring new targets: 574.20 m.Bj=;Jj=;M ProNav: ac range: 574.200012 m, nav range: 169.342163 m, bearing: 284.638073 deg, approach rate: 0.444863 m/s, LOS rate: 0.224863 deg/s, cmd heading: 153.193589 deg, new cmd heading: 153.448873 deg. 2jUR<]HeadingCmd: 2.678188 target range: 574.200012 and range: 591.20 m. j]og+@jYjYjYiYhYhahaheBfafifirfibfm'9@ɛ= <隝?I  iɚiI [e=Iog+@izi)og+@)*F-?2F):F)BF5_0JF1G  GBOI> =$?IAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271665zK BHK 9K K  K =.w,кAV@YV7*@VG9V/>yVH`U@AܿUǺ?l?@*?h?}??ɨV@V;VCyjڌBj?-Iir)>Ir<IvpIvF4٢~c= ~Y=9d';Q > G٣ FGy ;  > Nusing accuracyPremultiplier from config}49G?}4Yx i2eB3@5@Dj<j<h4B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.Bj ^;Jj ^; ProNav: ac range: 574.200012 m, nav range: 169.491608 m, bearing: 284.713748 deg, approach rate: 0.383848 m/s, LOS rate: 0.194197 deg/s, cmd heading: 153.448874 deg, new cmd heading: 153.675695 deg. 2jF<HeadingCmd: 2.682147 target range: 574.200012 and range: 591.20 m. jK+@jjjihhhhf f f rf bf  j9@ɛ9=p= 9=?I9 EOdɚAiAIEc=IMK+@iMqhiMH)MK+@)Q5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524536*F?2F:FBFJFGW G B9 Om > - $?I)  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777967A1.w,꺼AHDID IF-IIF4BID&ID.ID6IF<:IF= FyuߌB}E-IMb@Mb@Mb@ )YzG?S㥻?{Gzt?y 7?ף;@ l@)I@y@I%_I%b(4٢uc< }4=9}Q }> G٣y > Nusing accuracyPremultiplier from config49-?4YHu iIeB9?:3@5@ĻD];;X4B S@EZjFNOT Ignoring new targets: 574.20 m.Bjm;Jjm; ProNav: ac range: 574.200012 m, nav range: 169.674515 m, bearing: 284.805619 deg, approach rate: 0.414559 m/s, LOS rate: 0.208002 deg/s, cmd heading: 153.675691 deg, new cmd heading: 153.951006 deg. 2j<HeadingCmd: 2.686952 target range: 574.200012 and range: 591.20 m. j+@jjjihhh h ߈Bfffrfbf9@ɛAE= AE?IA M]ɚIiIIM`b=IU+@iƯiUƞ))U+@)Y*F?2F:FBFa0JFJJ@AJJJ0JJ+:Jf4:Jـ3JJ%<J&<JՌ;J֌;=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.027860G G B O >.w,͔A6z@Y6W*@6896s7>y6HWlܿኺ?@%N?`8//?`e? ? ?ɨ6z@6J;6CyBBBj-IIJOIJ 4٢Rr.> Rn=9V p;Q V?TX ZG٣XyZv< Z? `IbKh fNusing accuracyPremultiplier from configdj49f?j4Yf+s ifZeBln4@n5@f̻Df-;f ;f_4t vs@xWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279859ZjFNOT Ignoring new targets: 574.20 m.Bj\;Jj\; ProNav: ac range: 574.200012 m, nav range: 169.812469 m, bearing: 284.875522 deg, approach rate: 0.381522 m/s, LOS rate: 0.193165 deg/s, cmd heading: 153.951002 deg, new cmd heading: 154.160541 deg. 2j<HeadingCmd: 2.690609 target range: 574.200012 and range: 591.20 m. j2,@jjjihhhhfffrfbf9:@ɛaee= im[?Ii mWɚiI`=I2,@ihiq])2,@)zKBoHK9KK KRK>JK>E{0=*F2F:FBF_0JFU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533150G ,&G rAG G B O >.w,B!AE@YEy*@E(9EЎ>yEHE}cܿki?A ?T? ???+?ɨE@E2;AyB r-I E$?IAMb@Mb@Mb@ )Y333333?I +?y&1|?y9?9=`;@ V@)M@I@y=@IeI34Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783806٢< =97j9Q >  G٣ FGy< > %Nusing accuracyPremultiplier from config!549%~?=4Y%ko i%veB=:?=:=q2@E5@%ڻD%;%Ƅ;%;4Q U@UEZjFNOT Ignoring new targets: 574.20 m.Bj:f;Jj:f;ZHRHAAHI I-IIXBI&IID.I6I<:IH F ProNav: ac range: 574.200012 m, nav range: 170.049408 m, bearing: 284.988856 deg, approach rate: 0.421390 m/s, LOS rate: 0.201281 deg/s, cmd heading: 154.160539 deg, new cmd heading: 154.500063 deg. 2j# <HeadingCmd: 2.696535 target range: 574.200012 and range: 591.20 m. j,@jjji!h!h!hIhmBfififirfqbfu@E:@ɛi = 隝$?I NɚiI'_=I,@iriZ%),@)J J J J J :J 9:J J J <J <J P;J P;E- q<E1 E1  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036785*F ?2F :F BF JF "G =G >GOGBO ?:.w,J'EAB@YB!+@B9B7!>yBH@U@)ܿ3v??cK0? ?"??ɨB@B!;BC R$?IPyJB^-IIf[IfK!4٢n?= n5=9n9Q r>pp rG٣pyv < v> zNusing accuracyPremultiplier from configx~49z߱?~4Yzvl ~tIizeB2@6@zDz;z;z4 B @ EZj9EFNOT Ignoring new targets: 574.20 m.BjEl;JjEl;] ProNav: ac range: 574.200012 m, nav range: 170.237686 m, bearing: 285.079180 deg, approach rate: 0.431992 m/s, LOS rate: 0.207012 deg/s, cmd heading: 154.500067 deg, new cmd heading: 154.770736 deg. 2j]<]HeadingCmd: 2.701259 target range: 574.200012 and range: 591.20 m. jem,@jajajaiahahahihififqfqrfqbf}6;@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287913ɛO= 隽?I HɚiI_]=Im,@i*i()m,@)EE*E"EzKBHK9KK KBK!:K%qA*F?2F:FBF`0JFE Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540577Gu ,&GQ BY O} >v.w,+N_A27C@Y2a+@2<92\">y2H`@ۿ k\??W? ?q??Y?ɨ27C@2È;0yF2BF-IINRINW4٢= K=9:Q > G٣y%< %> -Nusing accuracyPremultiplier from config)549-DZ?54Y-i i-eB1=2@=6@-D-0:;--J;-Y 4eB e]@m EB*** querying acoustic contact ***jjZj-FNOT Ignoring new targets: 574.20 m.Bj=1Z;JjE1Z; ProNav: ac range: 574.200012 m, nav range: 170.411087 m, bearing: 285.162692 deg, approach rate: 0.396486 m/s, LOS rate: 0.190760 deg/s, cmd heading: 154.770734 deg, new cmd heading: 155.021016 deg. 2j<]HeadingCmd: 2.705627 target range: 574.200012 and range: 591.20 m. m$?Iq j](-@jjjihhhhfffrfbf ;@ɛ2B= ?I B@ɚ i I K[=I (-@iiiƧ))(-@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.791918*F?2F:FBFi0JFHE>IA IE.IIEBIA&IA.IA6IEY<:IE FG G ?G >G B O >5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044722.w,yAy5HB=-IiU!! %G٣%FGy- -> Nusing accuracyPremultiplier from config49E?4Y{f ieB>?:0@6@D!;/;=(4B @ EZjFNOT Ignoring new targets: 574.20 m.Bjio;Jjio;  ProNav: ac range: 574.200012 m, nav range: 170.612900 m, bearing: 285.252815 deg, approach rate: 0.469266 m/s, LOS rate: 0.209310 deg/s, cmd heading: 155.021020 deg, new cmd heading: 155.291066 deg. 2j <HeadingCmd: 2.710340 target range: 574.200012 and range: 591.20 m. j8v-@jjjihhhhCBf!f!f!rf!bf-<@ɛY]Y= Y]@IY e9ɚaiaIeY=Im8v-@imҝim;)m8v-@)qE}Y>E}>*F2F:FBF0JF e$?IaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295672G5 3,)G B) OE >zKU jIKU h9KQ KU  KU RKe ?JKe ?.w,꒻AbG"vA, VGYZvAyZ BygB-II MI {4٢> K=9Q >!! %G٣!y! ->J9J=J9J9J9J=\3:J9J9a]@a]@a]@a]@ eNusing accuracyPremultiplier from config)u49-?u4Y-c i-eByy}6@-D- <- <-/4 )@ZjFNOT Ignoring new targets: 574.20 m.Bj`;Jj`; ProNav: ac range: 574.200012 m, nav range: 170.786865 m, bearing: 285.330179 deg, approach rate: 0.440939 m/s, LOS rate: 0.195890 deg/s, cmd heading: 155.291072 deg, new cmd heading: 155.522926 deg. 2jo<HeadingCmd: 2.714387 target range: 574.200012 and range: 591.20 m. j-@jjjihhhhfffrfbfy<@UWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.559699ɛ8= rm<@I W2ɚiIW=I-@iRiH)-@)*F?2F:FBF1JF m $?Iq G %:G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.813074O- >jH= <bH= <HA IA  IE Q.IIE BIA &IA .IA 6IE <:IE R F.w,ǬAr@Yr ,@ro9r|(>yrH %ڿd?3_? ՚@/?@K?s? ?ɨr@r;py~yB.IMb@Mb@Mb@ )Yjt?I +?~jth?y@?9<D;@ @)M@I@y@ISI4٢c= N=9R G٣yq^= > Nusing accuracyPremultiplier from config49?4Y~` ieB@? : .@ 6@ DL;;54B @EZjAEFNOT Ignoring new targets: 574.20 m.BjMc;JjMc;] ProNav: ac range: 574.200012 m, nav range: 170.975433 m, bearing: 285.408012 deg, approach rate: 0.482561 m/s, LOS rate: 0.198961 deg/s, cmd heading: 155.522929 deg, new cmd heading: 155.756169 deg. 2j]e PExceeded connect timeout, disconnecting. Y IY .w,ûƻAyvBz!.I)| |IbI-4٢i= X=9Q > G٣FGy% %> -Nusing accuracyPremultiplier from config)549-i?54Y-x] i-eB99=6@-D-;-:-<4EB E@EEZjquFNOT Ignoring new targets: 574.20 m.Bj}8_;Jj}8_; ProNav: ac range: 574.200012 m, nav range: 171.155472 m, bearing: 285.482042 deg, approach rate: 0.475106 m/s, LOS rate: 0.195153 deg/s, cmd heading: 155.756167 deg, new cmd heading: 155.978022 deg. 2j<HeadingCmd: 2.722330 target range: 574.200012 and range: 591.20 m. j:.@jjjihhhhfWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.315862ffrfbf@?=@ɛZ=  @I e[%ɚiIMT=I:.@i՞iӛ):.@)E *F?2F:FBF^0JF"GG=G(zK]k3IK]9KYK] K]XL GaBiO9>JMJMJIJIJMK:JMf4:JIJIm Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=7.569687<.w,z໼ARw@YR-@R*$9R4+>yRHPjٿ`ħ?/?? R?@J?`?ɨRw@R;RCyB/.II=^I=&4٢^= D=9;Q > G٣y< > Nusing accuracyPremultiplier from config49Q?4Y9Z ieBc/@6@D;E;C4  @ $?IUB*** querying acoustic contact ***jQjQZjFNOT Ignoring new targets: 574.20 m.BjE;JjE; ProNav: ac range: 574.200012 m, nav range: 171.351974 m, bearing: 285.564671 deg, approach rate: 0.411096 m/s, LOS rate: 0.172666 deg/s, cmd heading: 155.978025 deg, new cmd heading: 156.225625 deg. 2j;HeadingCmd: 2.726651 target range: 574.200012 and range: 591.20 m. ju.@jjjihhhhf!f!farfibfm ļ=@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.820679ɛ`= N @I %Fɚ!i!I-n*R=I5u.@i5i=M)=u.@)9HI I.IIBI&I.I6I}<:I) FBIJIRIZIbIjI4E% <*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=8.072541GG?G> }nManaging dock network, ignoring radio surface power offGBO ?z/w,A6@Y6-@6x96=e,>y6H(ٿc2?kO?`5? -?fp?@?ɨ6@6;6CyBBB<.IiF=IF4 G٣y < > Nusing accuracyPremultiplier from config490?4YcU ieBlE?:,@6@,DC`;3=;M4B m@EZjAEFNOT Ignoring new targets: 574.20 m.BjM/s;JjM/s;u ProNav: ac range: 574.200012 m, nav range: 171.632263 m, bearing: 285.671889 deg, approach rate: 0.556712 m/s, LOS rate: 0.212610 deg/s, cmd heading: 156.225619 deg, new cmd heading: 156.546745 deg. 2ju<}HeadingCmd: 2.732256 target range: 574.200012 and range: 591.20 m. jI.@jjjihhhhBffUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.324867frfYbf]`A>@ɛ3BA5= @I &ɚiIO=II.@ifQi)I.@)Em<*Fq2Fq:FqBFuZ5JFqzK qLK h9K K  K -4/(! J J J J J +:J 7:J J G] L Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.576661G9 BQ O >/w,FAJzD @YJc.@J)9JN0+>yJH?Hٿs?E?\`?Q?J?Ċ?ɨJzD @J;JCyVBVU.IIvCIv3٢~r= ~U=9~A;Q > G٣FGy V<  > Nusing accuracyPremultiplier from config%49 ?%4YR ifB!%-@-6@6D@>;r>;HT45B 5I@5EZjY]FNOT Ignoring new targets: 574.20 m.Bje9d;Jje9d;u ProNav: ac range: 574.200012 m, nav range: 171.825806 m, bearing: 285.746634 deg, approach rate: 0.517232 m/s, LOS rate: 0.199527 deg/s, cmd heading: 156.546747 deg, new cmd heading: 156.770729 deg. 2ju<}HeadingCmd: 2.736165 target range: 574.200012 and range: 591.20 m. j}U/@jyjyjyiyhhhhfffrfbf >@ɛ > <@I ɛ ɚiI"N=IU/@i(qi9)U/@)EE*E"E $?IJh]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=8.828797*F?2F:FBF 5JFZHQRHQHYIY I].II]BIY&IY.IY6I]u<:I]" FG rG B O >E /w,7A2 @Y2.@2Rμ92B+>y2HO gٿ]?`?Y :?ə??G?`a?ɨ2 @2;0yBÍBB^.IMb@Mb@Mb@ )Y%C?II MG٣IyU8< U> ]Nusing accuracyPremultiplier from configYe49]?e4Y]bN i]fBeD?m:m+@m6@]@D];];][4y }Ҍ@}EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079898Zj9eFNOT Ignoring new targets: 574.20 m.BjeO;JjmO;} ProNav: ac range: 574.200012 m, nav range: 172.038589 m, bearing: 285.825634 deg, approach rate: 0.489393 m/s, LOS rate: 0.181471 deg/s, cmd heading: 156.770723 deg, new cmd heading: 157.007428 deg. 2j;HeadingCmd: 2.740297 target range: 574.200012 and range: 591.20 m. ja/@jjjihhhhBfffrfbfh ?@ɛIM1>= IM@II M"ɚQiQIUL=I]a/@ii)a/@)*F?2F:FBF_0JF m$?IiG5 fG9 G9 e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=9.333393G B! O= >&/w,ofQAN!@YNT/@N9Ne)>yNHMfؿ`?}:? `W9?ٕ?@??ɨN!@Nj;NCyV΍BZl.I)\ \IbEIb3٢jf= jS=9j;Q n>lp rG٣pyvc< v>zK~LK~+9K|K~ K~  Nusing accuracyPremultiplier from configx49zU받?4YzJ ixP,@6@zIDz;zW;zUb4%B %;@%EZjIMFNOT Ignoring new targets: 574.20 m.BjU e;JjU e;e ProNav: ac range: 574.200012 m, nav range: 172.237061 m, bearing: 285.900041 deg, approach rate: 0.534725 m/s, LOS rate: 0.200239 deg/s, cmd heading: 157.007430 deg, new cmd heading: 157.230393 deg. 2jel 隭R@I  ɚiIJ=IǠ/@iiм)Ǡ/@)*F=?2F9:FABFE`0JFAJJJJJK:J?:JJWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583965G^GyBO> y I 6O/w,=kAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836282BQ!@YBp/@BrW9B|E(>yBHveiؿR ?7?/H?ʔ?a??ɨBQ!@B;BCHI I.II(BI&I.I6IY<:I Fy}ԍBޅs.IMb@Mb@Mb@ )YNbX9?MbQyE?@u @)7@Iz@y @I-QI-4٢Eֿ< E5=9E{;Q E>Q G٣FGyY0< > Nusing accuracyPremultiplier from config49fа?4YF ieB F?:+@6@UD;;aj4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.BjZ;JjZ; ProNav: ac range: 574.200012 m, nav range: 172.476044 m, bearing: 285.987848 deg, approach rate: 0.520712 m/s, LOS rate: 0.191054 deg/s, cmd heading: 157.230395 deg, new cmd heading: 157.493449 deg. 2j<HeadingCmd: 2.748779 target range: 574.200012 and range: 591.20 m. j/@jjj!i!h!h!h!h-Bf)f)f1rf1bf5?@ɛae= ae@Ia mɚqiqIuMG=Iu/@i}Οiy)}/@)y*F%?2F!:F!BF)JF)Will construct direction to contact in vehicle frame from tetrahedron phase data.6!/w,LA:5!@Y:/@:y9:&>y:H @ؿ ??2`N? 1 ?=?U?ɨ:5!@:^;:CyFՍBFt.IINMIN{4٢Ze; Zh=9Z;Q Z>\\ ^G٣\ybh< b? fNusing accuracyPremultiplier from configdj49fY?j4YfC ifeBhn9,@n6@f]Df ;f ;fYp4rB r@r EZj FNOT Ignoring new targets: 574.20 m.Bjf[;Jjf[; %$?I)= ProNav: ac range: 574.200012 m, nav range: 172.652344 m, bearing: 286.053235 deg, approach rate: 0.517709 m/s, LOS rate: 0.191814 deg/s, cmd heading: 157.493453 deg, new cmd heading: 157.689413 deg. 2j= 隅@I fܼɚiI?F=I $0@iI۟i) $0@)=Will construct direction to contact in vehicle frame from tetrahedron phase data.='/w,AB"@YB<0@Bw9B&&>yBH@׿@9?X4? Bx?`?@?ޒ?ɨB"@BՉ;BCyNэBNo.IiR=9b;Q b>`d fG٣dyji^< j> nNusing accuracyPremultiplier from configlr49n?r4Yn@ ineBtv,@v6@nhDn :n:nw4zB zL@~#EZj!%FNOT Ignoring new targets: 574.20 m.Bj-[;Jj-[;= ProNav: ac range: 574.200012 m, nav range: 172.873581 m, bearing: 286.135947 deg, approach rate: 0.512838 m/s, LOS rate: 0.191483 deg/s, cmd heading: 157.689411 deg, new cmd heading: 157.937225 deg. 2j=i 隍_@I Xk̼ɚiI>D=Ij0@iy埼i)j0@)E h%< QIQ*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2084> BDAT read: Tx time:21:49:38.0355 $Ping request sent.I9 I=.II=2BI9&I9.I96I=~<:I=) FGG B O >*J R="J p=.-/w,siAjWill construct direction to contact in vehicle frame from tetrahedron phase data.nJDAT read: TxSync time:21:49:38.0347 rchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.246776y̍Bi.IMb@Mb@Mb@ )Y#~j?X9vI +yE?9@ @)M@Id@y@I=tI=M4٢M M3=9UQ U>QY ]G٣]FGy] ]> mNusing accuracyPremultiplier from configau49e􇰛?u4Ye5< ieeBu F?u:u.@u6@esDej;e;e4B @&EZjFNOT Ignoring new targets: 574.20 m.Bj^;Jj^; ProNav: ac range: 574.200012 m, nav range: 173.101639 m, bearing: 286.224679 deg, approach rate: 0.501534 m/s, LOS rate: 0.194879 deg/s, cmd heading: 157.937224 deg, new cmd heading: 158.203068 deg. 2j<HeadingCmd: 2.761164 target range: 574.200012 and range: 591.20 m. j0@jjjihhhhBfffrfbf@@ɛ7Bl> @I %Qɚ!i!I%A=I0@ii6Լ)0@)EE*E"E =$?I9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499610*FA 2FA :FA BFE m0JFA )m ſ= i tA A % Y% tAy% AzKe BoHKe s9Ka Ke  Ke BKy :Ky G VG G qAGaBiO>6/w,3ټAR"@YR81@RR_9R %>yRH׿@|S? x?fd?`֫?`?q?ɨR"@R;;RCy^BbX.IIv7Iv3٢~5| ~;=9N  G٣ y 4<  > Nusing accuracyPremultiplier from config49m?4Y8 ieB!%.@%6@~DC:] ;{4-B 5@5)EZjQ]FNOT Ignoring new targets: 574.20 m.Bj]`;Jj]`;Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749975 ProNav: ac range: 574.200012 m, nav range: 173.318573 m, bearing: 286.310844 deg, approach rate: 0.495862 m/s, LOS rate: 0.196706 deg/s, cmd heading: 158.203068 deg, new cmd heading: 158.461237 deg. 2j<HeadingCmd: 2.765670 target range: 574.200012 and range: 591.20 m. j1@jjjAiAhAhAhIhIfIfIfQrfQbfU@ @@ɛ8B^ = @I @ɚiI?=I1@iuiE)%1@)!*F?2F:FBF 3JFGvżGBO`> $?I= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i= AE checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002179H >I  I .II (BI &I .I 6I Z<:I  F"y6HHֿ QR?o?Uo?r |?` ??ɨ6f#@6A;6CyBBFN.I)H HUMb@Mb@Mb@QQQ Q)QYUNbX9?:v~jtyUE?UTUļU@ U@)QIU @QyQIm.Im3٢}M }D=9e;Q > G٣y< > Nusing accuracyPremultiplier from config49T?4Y5 ieBE?:0@6@D ;;ǎ4 1@B*** querying acoustic contact ***jjZj  FNOT Ignoring new targets: 574.20 m.Bja;Jja;% ProNav: ac range: 574.200012 m, nav range: 173.517410 m, bearing: 286.394704 deg, approach rate: 0.468219 m/s, LOS rate: 0.197246 deg/s, cmd heading: 158.461236 deg, new cmd heading: 158.712525 deg. 2j%^<-HeadingCmd: 2.770056 target range: 574.200012 and range: 591.20 m. j-H1@j)j)j)i)h9h9h9h=BfAfAfArfAbfM@C@@ɛ 9B5X > 15@I1 =ǚɚ9i9I===IEH1@iEiM)MH1@JJJJJ+:Jy6:JJJ%] Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506584LC/w,[ A2#@Y22@2ё92+>y2Hu@0ֿ`q?]? -? ::r? _??ɨ2#@2Q;2CyBBB@.IIJ-IJ3٢R(h RX=9=%;Q =>99 EG٣EFGyE < E> UNusing accuracyPremultiplier from configIU49Mg !%#@I! -ɚ)i)I-V<=I5O1@i5,ޟi5&YZ)5O1@)9*F?2F:FBF:2JFzKK9KK KRK?JK?GGiBqO]>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.75786016I/w,&A 0I4:X$@Y:Iw2@:LŶ9:!'>y:H @Mտެ?#!?ӟ?>,?[?ɨ:X$@:f;:CyNBN).IIVTIV4٢ p  E=9+/)) 5G٣1y< > =Nusing accuracyPremultiplier from config u49 "?}4Y y/ i eB1@6@ D < < -4 .@.E%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014138ZHRH?AH>I I.IIBI&I.I6IK<:I FBIQJIQRIQZIQbIQjIU4ZjFNOT Ignoring new targets: 574.20 m.Bj_P;Jj _P; ProNav: ac range: 574.200012 m, nav range: 173.905212 m, bearing: 286.561040 deg, approach rate: 0.423140 m/s, LOS rate: 0.182173 deg/s, cmd heading: 158.952804 deg, new cmd heading: 159.210976 deg. 2j ;HeadingCmd: 2.778756 target range: 574.200012 and range: 591.20 m. j"1@j!j!j!i!hAhAhIhIfIfIfQrfQbfUTjA@ɛ;By= 隭 @I wɚiII&:=I"1@i|i<9)"1@)*F92F9:FABFEW0JFAJKm3 KS}-KK"KJ J J J J :J =:J J J #<J #<J ;J ;G G pAG rA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263360Gy B O > P/w,y@A:$@Y:2@:;9:#>y:HY|տc?u?A`&g?@sg?`#?ɨ:$@:U_;:CyFBF .IiJ>IJC=EMb@Mb@Mb@AAA A)AYEK7A?y&1?I +yE B?E`yy G٣yb< > Nusing accuracyPremultiplier from config49 ?4Y%- ieBCB?:5@6@Ds6;3;4B Đ@1EZjI]FNOT Ignoring new targets: 574.20 m.Bj];Jj];m ProNav: ac range: 574.200012 m, nav range: 174.069916 m, bearing: 286.641198 deg, approach rate: 0.467104 m/s, LOS rate: 0.227116 deg/s, cmd heading: 159.210972 deg, new cmd heading: 159.451218 deg. 2jm<HeadingCmd: 2.782949 target range: 574.200012 and range: 591.20 m. j2@jjjihhhhIBfffrfbfA@ U$?I]Ihɛ 隝 @I E^ɚiI|8=I2@i菟iA)2@)*Fq2Fq:FqBFu_0JFq%Will construct direction to contact in vehicle frame from tetrahedron phase data.!i!-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515042G]hAG1BAO]v>zK9 K= 9K9 K= K= BKI :KI ~SV/w,ZA6%@Y6q&3@6*"<962!>y6H+$`fPտ;?@2|? qR?,E`?`O?ɨ6%@6;6Cy>B> .IIZiIZ:4٢r vR=9zS|| ~G٣~FGy < >  Nusing accuracyPremultiplier from config 49  ?4Y * i eB5@6@ D : ; Ū45B =@9eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.766141Zjy}FNOT Ignoring new targets: 574.20 m.BjMUs;JjMUs; ProNav: ac range: 574.200012 m, nav range: 174.235352 m, bearing: 286.722051 deg, approach rate: 0.435704 m/s, LOS rate: 0.212737 deg/s, cmd heading: 159.451217 deg, new cmd heading: 159.693543 deg. 2j<HeadingCmd: 2.787178 target range: 574.200012 and range: 591.20 m. j a2@jjjihhhhfffrfbfA@ɛ%>B%' > !-3@I) 5 Bɚ1iI6=I a2@ifiVw!) a2@)*F?2F:FBFJF )I)% Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020387H >I  I .II BI &I .I 6I <:I 1 FG f AG ?G >G B OM >+q\/w,/tAVj%@YV63@V<9V4>yVH`3 տ?`i?` @A/?`,ܒ@c??ɨVj%@V!Z;VCybmBb-IUMb@Mb@Mb@QQQ Q)QYUx&1?333333?Zd;OyUA@?U=UjU@ UΫ@)UM@IU @QyQImbIm-4٢}1 }B=9 G٣y'l< > Nusing accuracyPremultiplier from config49*ٯ?4Y( ieBMA?:!:@6@Dz;;4B &@4EB*** querying acoustic contact ***jjZjyFNOT Ignoring new targets: 574.20 m.Bjk;Jjk; ProNav: ac range: 574.200012 m, nav range: 174.393768 m, bearing: 286.811764 deg, approach rate: 0.364575 m/s, LOS rate: 0.206275 deg/s, cmd heading: 159.693538 deg, new cmd heading: 159.962431 deg. 2j <HeadingCmd: 2.791871 target range: 574.200012 and range: 591.20 m. j2@jjjihhhh&Bfffrfbf@IB@ɛm?BJuJuJqJqJu:Ju7:JqJqJu<Ju<Ju;Ju;m >  @I  %ɚiI@5=I2@i*8i~ )2@)!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270151*F?2F:FBF`0JF 5 $?I1 G .-G B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521934Yc/w, AJ=%@YJ۳3@J]]<9J6>yJH :Կ ?@?`" 1? , R??ɨJ=%@Ja;JCyV^BV-I)X X Z=Z=IEIEHo4٢M UM=9U'YY ]G٣Yye; e> mNusing accuracyPremultiplier from configiu49my?}4Ym' imeBy}L:@6@müDmE;mE;m 4B =@7EZjFNOT Ignoring new targets: 574.20 m.BjO;JjO; ProNav: ac range: 574.200012 m, nav range: 174.544586 m, bearing: 286.897299 deg, approach rate: 0.399011 m/s, LOS rate: 0.226100 deg/s, cmd heading: 159.962429 deg, new cmd heading: 160.218811 deg. 2j+<HeadingCmd: 2.796346 target range: 574.200012 and range: 591.20 m. jT2@jjjihhhhfffrfbf@/B@ɛ@B> @I! % ɚ!i!I%3=I-T2@i-Ci-,)-T2@)1*F?2F:FBFO1JFzKERIKE9KAKE! KEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775554G-׹G B O- > - ~$?II كi/w,觽A>%@Y>'3@><9>B>y>H`:DԿ4?@? &?K?z?ɨ>%@>_;>CyJQBJ-IIZIZd4٢f fS=9jP;ll nG٣rFGyrEZ: v> ~Nusing accuracyPremultiplier from configx49zd?4YzT% izeB  Q:@ 6@zͼDz3@j9jAjAiAhIhqhhfffWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029395rf!bf% gB@HQIQ IUJ.IIUBIQ&IQ.IQ6IU<:IU/ Fɛ%ABE|= M3@iU{i]b)]>3@)Y*F?2F:FBF0JFJ J J 1J J :J y6:J 3J J <J <J ;J ;G {#G rAG  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.279611Gy B O >kp/w,A:%@Y:3@:@<9:[>y:H>Կ٤? ? )?`ȦJ?#?ɨ:%@:;:CyFEBF-IMb@Mb@Mb@ )YZd;?S㥛?Qy>?$>u@ )d@IƷ@y(@I5vI5&Q4٢Ebh MC=9MxQQ UG٣QyU; ]> eNusing accuracyPremultiplier from configam49e ?m4Ye$ ieeBmA?m:u ?@u6@e׼De7;e;e&4}B } @=EZjFNOT Ignoring new targets: 574.20 m.Bj?;Jj?; ProNav: ac range: 574.200012 m, nav range: 174.830658 m, bearing: 287.073846 deg, approach rate: 0.338953 m/s, LOS rate: 0.227746 deg/s, cmd heading: 160.468492 deg, new cmd heading: 160.748014 deg. 2jL<HeadingCmd: 2.805582 target range: 574.200012 and range: 591.20 m. j3@jjjqiqhyhyhyh}Bfffrfbf@B@ }$?IɛBB&> T@I  ɚiIH1=I 3@i m랼i )-3@)1*F?2F:FBFP5JF G݌j Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.531700GBOf>zK BoHK 9K K " K \v/w,۽A2u%@Y23@2A=92>y2H`@ Կ0ώ?м?6-?@Iǡ|?`?ɨ2u%@2]q;2CyN2BR-IiV%=IV=IZ{IZZ4٢bgĽ bS=9b!dd fG٣dyj I; j> nNusing accuracyPremultiplier from configlr49nu?r4Yn" ineBtv?@v6@nDnQ;n:n4x z<@xZj1=FNOT Ignoring new targets: 574.20 m.BjE};JjE};eWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.784079 ProNav: ac range: 574.200012 m, nav range: 174.959045 m, bearing: 287.160029 deg, approach rate: 0.330855 m/s, LOS rate: 0.221932 deg/s, cmd heading: 160.748010 deg, new cmd heading: 161.006368 deg. 2jO<HeadingCmd: 2.810091 target range: 574.200012 and range: 591.20 m. j 3@j j j i h h hhf1f9f9rf9bf=B@ɛCBF > 隍?I ztɚiI,/=I3@i!瞼iIř)3@)*F-?2F):F1BF5_0JF1 {$?IG=^ Will construct direction to contact in vehicle frame from tetrahedron phase data.HQ IQ  IU .IIU BIQ &IQ .IQ 6IU <:IU T F checking for new query: numPingsReceived=0, elapsed TxPingTime=5.051117G B O >|/w,xA2%@Y23@2D=92>y2H?`bԿl̆?j?^W?S磿?l?ɨ2%@2;2CyR'BR-IUMb@Mb@Mb@QQQ Q)QYUGz?/$?~jtxyUp=?U>UĻUj@ Q)Uz@IUݸ@QyUz@IumIu3A4٢E >=9 G٣FGy8 > Nusing accuracyPremultiplier from config49Z?4Y! i~eBsA?:@@6@D;;i4B @@EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.Bj';Jj';  ProNav: ac range: 574.200012 m, nav range: 175.093674 m, bearing: 287.256733 deg, approach rate: 0.314637 m/s, LOS rate: 0.225831 deg/s, cmd heading: 161.006369 deg, new cmd heading: 161.296255 deg. 2j <HeadingCmd: 2.815151 target range: 574.200012 and range: 591.20 m. jn+4@jjjihhhh%ՈBf!f!f!rf!bf-B@ɛUDBՋ > ?I TjɚiIw.=In+4@i i =.) n+4@JQJUBA)imWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.286245EUK'< z$?I*F?2F:FBFS5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=5.537912G `6G ?G ?G BYm~G}vAA YvAyBO>[/w,A2%@Y2 4@2#.=92 >y2HfC`Կ}?i?Pi?¥??ɨ2%@2;2Cy@B-IIJIJq4٢R  R3=9RTT VG٣TyZ9; Z> ^Nusing accuracyPremultiplier from config\b49^=?b4Y^ i^weBdfA@f6@^D^:^:^^4jB j%@nCEZjFNOT Ignoring new targets: 574.20 m.Bj"x;Jj"x; ProNav: ac range: 574.200012 m, nav range: 175.236313 m, bearing: 287.359133 deg, approach rate: 0.302428 m/s, LOS rate: 0.216936 deg/s, cmd heading: 161.296256 deg, new cmd heading: 161.603204 deg. 2j<HeadingCmd: 2.820508 target range: 574.200012 and range: 591.20 m. j44@jjjihhhhfffrfbf@ ) I) /w,}Y.A6Will construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.045824HV>IT IV-IIVlBIT&IT.IT6IV<:IV FL%@Y4@b>=9>yH@ Կڙm??@ؕ?ΧE:E@ E@)E@IEƷ@AyE½@I]I]m4٢mJ; u%=9uyy }G٣yy}* > Nusing accuracyPremultiplier from config49.?4Y iteBfB?:hC@6@Dr;;4B /@FEZjFNOT Ignoring new targets: 574.20 m.Bj;Jj; ProNav: ac range: 574.200012 m, nav range: 175.380249 m, bearing: 287.472833 deg, approach rate: 0.300580 m/s, LOS rate: 0.237243 deg/s, cmd heading: 161.603205 deg, new cmd heading: 161.944021 deg. 2j"<HeadingCmd: 2.826456 target range: 574.200012 and range: 591.20 m. j4@jjjihhhhBfffrfbf@zC@ɛFB 4> ?I D:ɚiIi+=I%4@i%Hi%)%4@))E1E1*E1"E1%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296306*F] ?2FY :Fa BFe `5JFa  y$?I GGaBqO?ʖ/w, OAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.546067:l%@Y: 4@:x|K=9:V>y:H~CԿ@*? ? ?`l ? ?ɨ:l%@:";:CyF-BF-IIRIRq4٢Z< ZB=9Z;Q Z>\\ ^G٣^FGybn; b> fNusing accuracyPremultiplier from configdj49fZ?j4Yf ifpeBhjC@n6@f Df:f7:fb4rB r@rHEZjFNOT Ignoring new targets: 574.20 m.Bj;Jj;- ProNav: ac range: 574.200012 m, nav range: 175.502502 m, bearing: 287.569268 deg, approach rate: 0.290000 m/s, LOS rate: 0.228596 deg/s, cmd heading: 161.944017 deg, new cmd heading: 162.233118 deg. 2j-<5HeadingCmd: 2.831502 target range: 574.200012 and range: 591.20 m. j5T75@j1j1j1i1h1h9h9h9fAfAfArfAbfE_C@ɛ > 1=?I9 =?S;ɚ9i9I=*=IET75@iEiEE )ET75@)I*F2F:FBF_0JFGp6ϼGBO>>zKyK}9KyK}$ K}BK:KpAJJJ0JJ{:J7/:Jـ3JWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.797887 x$?/w,ҨhAI!M&@YM~4@M-X=9M^>yMHB Կe܉?`?`s??ɨM&@M͉;Iy޵/B޵-III٢ x,< 8=9;Q 5>99 =G٣9yEҮ9 E> Nusing accuracyPremultiplier from configy49}P殛?4Y}9 i}jeBC@6@}D}T<}<}X4Hu>Iq Iu-IIu]BIu0 =&IuHD.Iq6Iu<:Iu3 FBIJIRIZIbIjI+4Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.069527uB u@uKEZjFNOT Ignoring new targets: 574.20 m.Bj_c;Jj_c;5 ProNav: ac range: 574.200012 m, nav range: 175.635345 m, bearing: 287.673492 deg, approach rate: 0.253559 m/s, LOS rate: 0.198784 deg/s, cmd heading: 162.233112 deg, new cmd heading: 162.545545 deg. 2j5l<5HeadingCmd: 2.836955 target range: 574.200012 and range: 591.20 m. j=5@j9j9j9i9h9h9hhfffrfbf@C@ɛ=GB== AE?IA EN;ɚAiAIMJ)=IM5@iU韼iU )U5@)QE*FQ2FQ:FQBFU3JFQ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.317914G Gq B O >;@ Ϋ@)@I@yz@IrIJ4٢M= 8=9Q > G٣ w$?Iy > -Nusing accuracyPremultiplier from config!549%ʮ?54Y% i%geB5A?5:5 D@=6@%!D%;%/;%4EB E`@ENE]B*** querying acoustic contact ***jYjYZjiuFNOT Ignoring new targets: 574.20 m.Bju ;Jju ; ProNav: ac range: 574.200012 m, nav range: 175.759430 m, bearing: 287.772935 deg, approach rate: 0.338523 m/s, LOS rate: 0.271105 deg/s, cmd heading: 162.545539 deg, new cmd heading: 162.843654 deg. 2j:<HeadingCmd: 2.842158 target range: 574.200012 and range: 591.20 m. j5@jjjihhhhBfffrfbf@w D@ɛ> 隝?I ;ɚiIT(=I5@i >iV-)5@)*Fu?2Fy:FyBF}_0JFyWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.571426GU3G)B9OUu>J J J 1J J :J \3:J 3J zK K 9K K % K '`/w,|A2uA&@Y2`4@2m=92X>y2H@J@Կ}@KK?OR?`@?@?ɨ2uA&@2";2CyBMBB-IIJlIJm?4٢Vv= Zc=9ZeRKb?JKb?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.821843\ G٣FGy5&< > Nusing accuracyPremultiplier from config49?4Y iceB_D@6@+D::4 9@Zj9=FNOT Ignoring new targets: 574.20 m.BjEV;JjEV;U ProNav: ac range: 574.200012 m, nav range: 175.869705 m, bearing: 287.861827 deg, approach rate: 0.278556 m/s, LOS rate: 0.224400 deg/s, cmd heading: 162.843649 deg, new cmd heading: 163.110155 deg. 2j}<HeadingCmd: 2.846809 target range: 574.200012 and range: 591.20 m. j26@jjjihhhhfffrfbf UD@ɛHB> 隵@I d<ɚiIb$'=I26@iڝi-)26@) v$?I*F?2F:FBFJFjH!bH!H9I9 I=-II=gBI9&I=ID.I9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.0768646I=<:I=; FG G B O >/w,̸A2h&@Y24@2tv=92\>y2HO CԿg`&?`c,? ɮ0?@q?ɨ2h&@28;2Cy>YB>-IUMb@Mb@Mb@QQQ Q)QYU~jt?oʡ?Mb?yQU->U=9Ԥ;Q > G٣y; > Nusing accuracyPremultiplier from config49?4Y6 i_eB@?:B@6@4D;; 4B @QEZjFNOT Ignoring new targets: 574.20 m.Bj;Jj; ProNav: ac range: 574.200012 m, nav range: 175.989929 m, bearing: 287.951647 deg, approach rate: 0.306717 m/s, LOS rate: 0.228994 deg/s, cmd heading: 163.110149 deg, new cmd heading: 163.379425 deg. 2j(<HeadingCmd: 2.851509 target range: 574.200012 and range: 591.20 m. j6@jj j i h h hh BfffrfbfYD@ɛy}> y}@Iy R!<ɚiI%=I6@iiK6)6@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.327182*F?2F:FBFo0JF"G=G=Gj-GYBiO\> u$?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.577984=s/w,PҾA6ՠ&@Y6s4@6l}=96>y6H@WPԿȄ?`T@?eB?v?ɨ6ՠ&@6@lj;6CyniBn-I)p pIziIz:4٢%<= %P=9%;Q %>)) -G٣)y5< 5> ]Nusing accuracyPremultiplier from configYe49]?e4Y]w i]ZeBamB@m6@]>D]:]:]4uB u@TEZjFNOT Ignoring new targets: 574.20 m.Bj{;Jj{;% ProNav: ac range: 574.200012 m, nav range: 176.108490 m, bearing: 288.040600 deg, approach rate: 0.293267 m/s, LOS rate: 0.219880 deg/s, cmd heading: 163.379423 deg, new cmd heading: 163.646098 deg. 2j-<-HeadingCmd: 2.856163 target range: 574.200012 and range: 591.20 m. j-a6@j1jQjQiQhYhYhYhYfafafarfabfe`OD@ɛ15w> 15 @I1 =B=<ɚ9i9I=3$=IEa6@iEniE9)Ea6@)I*F?2F:FBF0JFJJJ0JJ+:JS2:Jـ3JzKK9KK& KPtK) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.829964Ge @-GA BI Oe > t$?I /w,쾼A6&@Y674@63Q=96 >y6H@_$Կ i`?́? VG??ɨ6&@6<3;6CyBBB .IIJsIJK4٢RA= RS=9RՔ;Q V>XX ZG٣Z FGy^J< ^> bNusing accuracyPremultiplier from config`f49brg?j4Yb ibUeBln)C@r6@bGDb;b;b[4B i@HI I .IIBI&IHD.I6I<:IF F5WEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.085342ZjFNOT Ignoring new targets: 574.20 m.BjV;JjV; ProNav: ac range: 574.200012 m, nav range: 176.223129 m, bearing: 288.126914 deg, approach rate: 0.249462 m/s, LOS rate: 0.187702 deg/s, cmd heading: 163.646101 deg, new cmd heading: 163.904872 deg. 2j<HeadingCmd: 2.860680 target range: 574.200012 and range: 591.20 m. j`7@jjjihhhhfffrfbfBD@ɛiu> qu@Iq u\<ɚqiyI}d#=I}`7@i롼iL>)`7@)*F92FA:FABFE1JFA- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334771Ge $9G9 BI Oe >\/w,\AyB'.I IMb@Mb@Mb@ )YV-?q= ףp?Mb?y)) -G٣)y5 5> =Nusing accuracyPremultiplier from config9E49=aK?E4Y=Q i=KeBE8??M:M>@M6@=RD=&;=;=B 4UB U@]ZEuB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 574.20 m.Bj;Jj; ProNav: ac range: 574.200012 m, nav range: 176.379150 m, bearing: 288.224198 deg, approach rate: 0.422559 m/s, LOS rate: 0.263247 deg/s, cmd heading: 163.904869 deg, new cmd heading: 164.196461 deg. 2j4<HeadingCmd: 2.865769 target range: 574.200012 and range: 591.20 m. jh7@jjjihhhhhBfffrfbf,#E@ɛh1>  @I v<ɚiI"=Ih7@iY]iR)h7@)Ea>E*F2F:FBF"5JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586117G/f>G B O >zK5 LK5 9K1 K5 ' K5 /w,8 A2u'@Y25@2B=92%>y2H Xv ӿ1n`#? QH)?6尿?{?ɨ2u'@2R;2Cy:B>6.IiBII MG٣Iy}R< > Nusing accuracyPremultiplier from config49[3?4Y( iCeB IMG @II m2ۉ<ɚiiiIu =IuB7@iuPѢi}o :)}B7@)y q$?I*Fe?2Fi:FiBFm3JFiH>I I>.IIBI1 =&IID.I6I<:I/ FWill construct direction to contact in vehicle frame from tetrahedron phase data./w,:A6y'@Y65@6=96'>y6H:+<ӿ?]? ,%??ɨ6y'@6Y";6CyBBBP.IeMb@Mb@Mb@aaa a)aYeV-?Q?Mb`ye|??eu=ee@ e?@)e/@IeƷ@aye@IuPIu 4٢s= <=9-;Q > G٣!FGyl< > Nusing accuracyPremultiplier from config49?4Yo i1eB@?: ;@6@eD/;j;.4B "@]EZjFNOT Ignoring new targets: 574.20 m.Bjx;Jjx; ProNav: ac range: 574.200012 m, nav range: 176.665009 m, bearing: 288.391469 deg, approach rate: 0.401031 m/s, LOS rate: 0.217302 deg/s, cmd heading: 164.446503 deg, new cmd heading: 164.697868 deg. 2j!< HeadingCmd: 2.874520 target range: 574.200012 and range: 591.20 m. j #7@j j j i hhhhBfffrfbf%@E@ɛMIBMҪ7> M3 yIy Will construct direction to contact in vehicle frame from tetrahedron phase data. yH0 eҿ푿{?&&`?@ x?`8x?ɨo(@H;CyōBa.II-qI-JH4٢eH= eM=9e>;Q e>ii mG٣iyuK< u> Nusing accuracyPremultiplier from config49?4Y ieB;@6@oD;;54B f@`EZj%FNOT Ignoring new targets: 574.20 m.Bj%k;Jj%k;] ProNav: ac range: 574.200012 m, nav range: 176.817505 m, bearing: 288.475980 deg, approach rate: 0.371194 m/s, LOS rate: 0.205533 deg/s, cmd heading: 164.697868 deg, new cmd heading: 164.951182 deg. 2j] @I ;<ɚiIG=I5@8@i5i5)5@8@)AE*FA2FA:FABFIJFI"GU=GU=zK=BoHK=h9K9K=( K=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2085> - ?/w,NmAJ,)@YJ$7@J =9Jѧ/>yJH 6`&ҿ?`2#h? e?zt?ɨJ,)@JQc;JCyVӍBVq.I)X X \^=IbgIb64٢j= jT=9jz:Q j>ll nG٣lyr< r> vNusing accuracyPremultiplier from configtz49v꭛?z4YvK iveBx~:<@~6@vxDv;v!;v;4B @cEZjQH>I Iv.II׍BI0 =&I.I6I:IeWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Tx time:21:49:48.9856 $Ping request sent. am"@Ii mu<ɚiiiImCe=IuZ8@iuۣiu)uZ8@)y*F?2F:FBFJFGGBO>JqJuJu/JqJqJu@0:Ju(N3JqJqJqJu@;Ju@; Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246653,/w,Absv)@Yb7@b4=9b01>ybH` ѿ[\8?@X@? @n?}r?ɨbsv)@bI;` zo$?Ixy~B~.IMb@Mb@Mb@ )Yy&1?MbMby`E? V@)@Iݸ@y@I0I(3٢Yo= <=9}Q > G٣"FGyM< > Nusing accuracyPremultiplier from config49ϭ?4Y idBmE?:b6@6@DL;;WC4B @fE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 574.20 m.Bj%i;Jj%i;5 ProNav: ac range: 574.200012 m, nav range: 177.153580 m, bearing: 288.644370 deg, approach rate: 0.448154 m/s, LOS rate: 0.204446 deg/s, cmd heading: 165.191704 deg, new cmd heading: 165.455871 deg. 2j5O <=HeadingCmd: 2.887750 target range: 574.200012 and range: 591.20 m. j=8@j9j9j9iAhAhAhhBff f rf bf 5'F@ɛ5JB5C> 9=@I9 =<ɚaiaIe=Im8@imim)m8@)q]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498958Eԅ<*F= ?2F9 :F9 BF9 JFA zKM 2KKM 9KI KM ) KM G  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751419G G G B O>/w,ZA^s*@Y^.8@^$=9^"7>y^H@# ,ѿ@`٥?Lj:??xj?ɨ^s*@^,(;^CyjBj.II nI B4٢%[= %8=9-Q ->)) -G٣)y5R< 5> =Nusing accuracyPremultiplier from config9E49=?E4Y=B i=dBIM6@M6@=D=:=~:=K4UB U@]eEZjyFNOT Ignoring new targets: 574.20 m.Bji;Jji; ProNav: ac range: 574.200012 m, nav range: 177.348663 m, bearing: 288.734864 deg, approach rate: 0.440940 m/s, LOS rate: 0.204315 deg/s, cmd heading: 165.455868 deg, new cmd heading: 165.727049 deg. 2j8 <HeadingCmd: 2.892483 target range: 574.200012 and range: 591.20 m. jp9@jjjihhhhfffrfbfp]F@ %n$?I!ɛ=KB=:> AE#@IA M<ɚIiIIM?P=I]p9@ieKieH.)ep9@))E *:<*F?2F:FBFn0JFH>I I.IIBI/ =&IHD.I5D6I<:IC FBIQJIQRIQZIU0 =bIU0 =jIU f5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008422G G B O >/w,P4AJ:J:J:0J8J:K:J:J1:J:ـ3J8J:<J:<J:%;J:&;FQ*@YF8@FՋ=9Fq5>yFH#@&пW@ ?e?&w`t?l?ɨFQ*@F';FCyRBR.IiV=IV@?XZAMb@Mb@Mb@ )Y'1Z?)\(I +yB?Ga9x@ l@)j@I @yp@I0I(3٢04 @=9Q > G٣y< > Nusing accuracyPremultiplier from config49?4Y idBgC?:4@6@DL;;R4 B `@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258897%hEZjAMFNOT Ignoring new targets: 574.20 m.BjMi];JjUi];e ProNav: ac range: 574.200012 m, nav range: 177.543671 m, bearing: 288.818157 deg, approach rate: 0.453692 m/s, LOS rate: 0.193572 deg/s, cmd heading: 165.727054 deg, new cmd heading: 165.976658 deg. 2je> 隽@I M<ɚiIF=Ie9@iiiּ)e9@)EyEy*E"E m$?I*F?2F:FBF_0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510868G rG B O >I/w,vܿABC4+@YBR9@B=9B2>yBH@Gп񾘿`?@fx?@ұs3?`o?ɨBC4+@BU;@yNBN.IIV|IV[4٢b"= bA=9fW;Q f>dd fG٣j#FGyj < j> rNusing accuracyPremultiplier from configlr49n?v4Yn indBtv5@v6@nDn;n;nY4~B ~ @~kEZj!%FNOT Ignoring new targets: 574.20 m.Bj-a;Jj-a;E ProNav: ac range: 574.200012 m, nav range: 177.735611 m, bearing: 288.901049 deg, approach rate: 0.457575 m/s, LOS rate: 0.197397 deg/s, cmd heading: 165.976657 deg, new cmd heading: 166.225064 deg. 2jEx 隝@I D<ɚiIg=Iج9@i }iż)ج9@)*JC="J=zKK9KK* K; .{; dH1! sfeg]UB& {zyvrmh`ZUK@'BKpA:K*Fe?2Fa:FaBFm`5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764771GEGGB!O=.> el$?IeHhHq Iq  Iu .IIu BIq &Iu ID.Iq 6Iu <:Iu 9 Fe Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022472/w,FAyB.IMb@Mb@Mb@ )Yw/?+η~jtyF?v@ )@I7@y @IetIeM4٢u< u&=9uQ u>yy }G٣yy} > Nusing accuracyPremultiplier from config49a?4Y} iVdBH?:M2@6@D;;b4ÖB nj@nEZjFNOT Ignoring new targets: 574.20 m.Bja\;Jja\; ProNav: ac range: 574.200012 m, nav range: 177.976990 m, bearing: 288.995976 deg, approach rate: 0.490585 m/s, LOS rate: 0.192671 deg/s, cmd heading: 166.225057 deg, new cmd heading: 166.509450 deg. 2j:<HeadingCmd: 2.906138 target range: 574.200012 and range: 591.20 m. j+9@jjjihhhhNBf f f rf bf `|G@ɛEMBE7> IM'@II M >=ɚIiIIUJ=IU+9@iU&i]CO)]+9@)YJsKs K{g.KsKs"KsJJJ1JJ:J7:J3JJ2!<J3!<J;J;*F?2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271577 M k$?IQ G FټG qAG G B O >^0w,YA6+@Y6=:@6?ޔ=96.>y6H` @ο잿8?@#@ G?@?s?ɨ6+@6U;4yBBB.I)D DINrINJ4٢VԽ V=9Vc uU:u@Iy } =ɚyiI=IS2:@ii㥼)S2:@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523157*F?2F:FBF_0JFGqA GG~>ԼGBO >zK OK 9K K + K +$&q030,' 7s  S%3 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774784 A II K 0w, )ARM,@YRl:@R;=9Rs->yRH'ο䱠?a[ ?㲿?t?ɨRM,@Rph;RCyٍBy.IImI3A4٢-Bs 5B=9=#3;Q E>II UG٣U$FGy]R< ]> mNusing accuracyPremultiplier from configiu49mW4?}4Ymq imdBy}_3@}7@mDm;m;mho4 @ZjFNOT Ignoring new targets: 574.20 m.Bj._;Jj._; ProNav: ac range: 574.200012 m, nav range: 178.334335 m, bearing: 289.139870 deg, approach rate: 0.483594 m/s, LOS rate: 0.195121 deg/s, cmd heading: 166.691846 deg, new cmd heading: 166.940689 deg. 2j<HeadingCmd: 2.913665 target range: 574.200012 and range: 591.20 m. j{y:@jjjihhhhfffrfbffG@ɛOBb\B> ?@I =ɚiI7=I%{y:@i%鯤i%ɨ)%{y:@)1H>I III&I.I6I<:ID F*F-?2F1:F1BF1JF1%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027047G uѼGBO >0w,CABWill construct direction to contact in vehicle frame from tetrahedron phase data.Bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.278853y}ӍB}q.I Mb@Mb@Mb@    ) Y E?J +I +y F? Ƚ 94 @ @) @I  y @I-sI-K4٢ 6=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Ye icBH?: 3@7@˽D;;&w4ǖB B@tE h$?IZjFNOT Ignoring new targets: 574.20 m.Bj[;Jj[;  ProNav: ac range: 574.200012 m, nav range: 178.549820 m, bearing: 289.225624 deg, approach rate: 0.483756 m/s, LOS rate: 0.192282 deg/s, cmd heading: 166.940683 deg, new cmd heading: 167.197633 deg. 2j <HeadingCmd: 2.918149 target range: 574.200012 and range: 591.20 m. j:@jjjihhhh%CBf!f!f!rf!bf-͟G@ɛ]PB]?> Y]C@Ia e:=ɚaiaIe܏=Im:@imäim.n˼)u:@)q*F?2F:FBFJFG GBOf>5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530689F0w,֨]A2 -@Y2x);@2e=92v)>y2Ha(̿`N ? ׻t? {x` ?`ex?ɨ2 -@2fy;2CyVBVK.II^|I^[4٢f[2 fk=9j;Q j?hh jG٣hyn= n? rNusing accuracyPremultiplier from configpv49r?v4Yr ircBxz3@z7@rԽDr7:rX:r9}4~ɖB ~O@wEZjFNOT Ignoring new targets: 574.20 m.BjV;JjV;JJJ0JJ:JW:Jـ3Ja@a@a@a@ ProNav: ac range: 574.200012 m, nav range: 178.716751 m, bearing: 289.293341 deg, approach rate: 0.463011 m/s, LOS rate: 0.187647 deg/s, cmd heading: 167.197635 deg, new cmd heading: 167.400594 deg. 2j<HeadingCmd: 2.921691 target range: 574.200012 and range: 591.20 m. j:@jjjihhhhfffrfbf G@ɛmRBmJ> q隕? @I } =ɚiI=I:@i i 0):@)Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:49:52.2392 TRx dataTimestamp_ set to:1736372993.581017checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784212zKHPK9KK, K IE7F<EqAE*FU?2FQ:FQBFQJFQ"G]=G]=H >I  I .II BI . =&I HD.I 6I <:I V FM Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037419G Gq B O >U0w,^/zAf}N-@Yfm;@fv9=9f3(>yfH.`H̿ T #?>?%³)?@x?ɨf}N-@f;dyrBr3.IuMb@Mb@Mb@qqq q)qYuuV?Q뱿:vyurH?u\uTq u@)u@Iud@qyu@IIq4٢ʧ -=9};Q > G٣%FGy1< > Nusing accuracyPremultiplier from config49欛?4YM ihcBI?:q6@7@D@;;y4ʖB @zEZjFNOT Ignoring new targets: 574.20 m.Bjb;Jjb; ProNav: ac range: 574.200012 m, nav range: 178.932739 m, bearing: 289.388566 deg, approach rate: 0.450267 m/s, LOS rate: 0.198275 deg/s, cmd heading: 167.400587 deg, new cmd heading: 167.685916 deg. 2j<HeadingCmd: 2.926671 target range: 574.200012 and range: 591.20 m. jN;@jjjihhhh BffAfArfAbfM` H@ɛ=SB=R[6> 9= @IA Eu)=ɚAiAIE9x =IMN;@iM7iM)MN;@)QE5q:eWill construct direction to contact in vehicle frame from tetrahedron phase data.uDAT read: Range 10 to 50 : 637.0 m (Round-trip 849.4 ms) speed -0.8 m/s },DAT read: user:2086> }BDAT read: Tx time:21:49:53.3357 $Ping request sent.%0w,A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&JDAT read: TxSync time:21:49:53.3349 BD-@YB;@B&Р=9B%>yBH7@˿ĥrJ???` ~?{?ɨBD-@B@;BCyJBJ .IIRzIR=X4٢^ ^Q=9bT;Q b>`` fG٣dyfh< f> jNusing accuracyPremultiplier from confighe49jzͬ?e4Yj  ij7cBae6@m7@jDj͚ @I A0=ɚiI =I#;@i iꍼ)#;@)EE*E"EJ%J%J!J!J%+:J%o5:J!J!Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.*F ?2F :FBFJFzK%BoHK%59K!K%- K%  f$?I! G G B O >`}+0w,1AN-@YN<@N5=9N$>yNH>A˿ i`?T?^!#[? ~?ɨN-@N;LyZ`B^-I bp=bp=IfpIfF4٢n n?=9n}9Q r>pp rG٣pyv< v>HU>IUC IU].IIUÍBIU/ =&IQ.IQ6IU<:IU] F Nusing accuracyPremultiplier from config491?4Y} ibB7@7@Di::$4 ɖ@ZjFNOT Ignoring new targets: 574.20 m.Bj{n;Jj{n;e ProNav: ac range: 574.200012 m, nav range: 179.314026 m, bearing: 289.558165 deg, approach rate: 0.468413 m/s, LOS rate: 0.208495 deg/s, cmd heading: 167.922154 deg, new cmd heading: 168.194165 deg. 2je -x&<隝%@I Q<8=ɚiI =I;@i;iQ);@)*Fm?2Fi:FiBFiJFi] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003361G ͍ u e$?Iq Gq B O >m20w,jA2Lt.@Y2<@2=926&>y2H@Jʿ`R@?L ZB?Ue?9z?ɨ2Lt.@2No;2Cy>=B>-IMb@Mb@Mb@ )YJ +?X9v)\(yH?Ga@ Ը@)K@I\@y@I%BI%3٢5  5?=9=|;Q =>99 EG٣E&FGyE|< E> UNusing accuracyPremultiplier from configIU49M ?]4YM iMbB]ZI?]:]:@]7@MDM/;M;ME4͖B @ EZj)5FNOT Ignoring new targets: 574.20 m.Bj5h;Jj=h; ProNav: ac range: 574.200012 m, nav range: 179.483887 m, bearing: 289.643706 deg, approach rate: 0.404037 m/s, LOS rate: 0.203278 deg/s, cmd heading: 168.194160 deg, new cmd heading: 168.450538 deg. 2j <HeadingCmd: 2.940017 target range: 574.200012 and range: 637.00 m. j;)<@jjjihhhhBfffrfbf ?ɛ-XB5A> 15U?I1 5>=ɚ9i9I=B9=Ie;)<@ieieo)e;)<@)i]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256227*F?2F:FBF0JFG ՒG B O >J5 J5 J1 J1 J5 :J5 y6:J1 J1 080w,yAF}.@YF<@F$=9FV#>yFH`TbOɿ@C?.`?@޴@;?j}?ɨF}.@F;FCyRBR-IIZSIZ4bWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.507403٢jT jR=9jQ;Q j>ll rG٣pyv< v> zNusing accuracyPremultiplier from configx~49z+~?4Yz izbB1;@7@z Dz;z;z4 ΖB @EZj1zK=k3IK=9K9K=. K=MFNOT Ignoring new targets: 574.20 m.BjM:};JjU:};e ProNav: ac range: 574.200012 m, nav range: 179.645035 m, bearing: 289.725675 deg, approach rate: 0.435630 m/s, LOS rate: 0.221388 deg/s, cmd heading: 168.450538 deg, new cmd heading: 168.696223 deg. 2je 隭R?I C=ɚiI=I|o<@i(ri;R)|o<@) d$?I*F12F9:F9BF=P5JFAG mGBO%>HI I.II|BI. =&I.I6Iz<:I- FBIJIƚCRIZI/ =bI/ =jIư4uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759431.>0w,quA6?'/@Y6E=@6J=96 >y6HZXqȿA\??@?%~?ɨ6?'/@64&;4yNBNg-IiRG>IRi>TVA-Mb@Mb@Mb@))) )))Y-(\?y&1?~jty-G?-`<-D-@ -@))I-r@)y-(@II4٢( <=9q;Q > G٣y"< >  Nusing accuracyPremultiplier from config49a?4Y iibB/H?:.@@7@Dz%;#;4%ЖB %Y@%EZjQ]FNOT Ignoring new targets: 574.20 m.Bj]0w;Jj]0w;m ProNav: ac range: 574.200012 m, nav range: 179.802353 m, bearing: 289.821103 deg, approach rate: 0.356580 m/s, LOS rate: 0.216109 deg/s, cmd heading: 168.696220 deg, new cmd heading: 168.982250 deg. 2jmP 隽?I J=ɚiI=IG<@ifTi_)G<@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012236 c$?IE9E*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=2.263359G  ~G B O->̹F0w,5Afz/@Yf=@f=9f,>yfH$[Nȿ`(z??pm«?@{?ɨfz/@f;fCyrیBr@-II~I~t4٢I  9=9 bw G٣'FGy=< > %Nusing accuracyPremultiplier from config-49E?-4Y i6bB)-@@57@DV;;a4=іB =\@=E]B*** querying acoustic contact ***jYjYZjiuFNOT Ignoring new targets: 574.20 m.Bju|{;Jju|{; ProNav: ac range: 574.200012 m, nav range: 179.959030 m, bearing: 289.916839 deg, approach rate: 0.360137 m/s, LOS rate: 0.219867 deg/s, cmd heading: 168.982254 deg, new cmd heading: 169.269211 deg. 2j<HeadingCmd: 2.954305 target range: 574.200012 and range: 637.00 m. jU=@jjjihhhhfffrfbfyD@ɛm]Bm,> imf?Ii u;P=ɚqiqIuA=I}U=@i}5i}\)}U=@)J5J5J1J1J5:J5o5:J1J1Em;<*F?2F:FBFP5JF%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520829zKBoHK9KK/ KRK ?JK> b$?IG= _G B! OE >H) I)  I- -II- BI) &I) .I) 6I- <:I- 7 FL0w,5ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.771443yMBU-IIeIe4٢+ ?=9Q > G٣y > %Nusing accuracyPremultiplier from config=49)?E4YQ ibBIae7@)D<<4eҖB mġ@EZjFNOT Ignoring new targets: 574.20 m.Bj`;Jj`; ProNav: ac range: 574.200012 m, nav range: 180.115204 m, bearing: 290.011799 deg, approach rate: 0.323754 m/s, LOS rate: 0.196683 deg/s, cmd heading: 169.269204 deg, new cmd heading: 169.553833 deg. 2j<HeadingCmd: 2.959273 target range: 574.200012 and range: 637.00 m. jd=@jjjih!h!h!hIfQfQfQrfQbf]2@ɛ`BJC!> !%?I! %W=ɚ)i)I-=I-d=@i5'i5z/)5d=@)1E9E9*Ea"Ea5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023288E5 rAE1 I *F 2F :F BF 0JF Gm]GBO?fU0w,WA Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275248n/@YnC=@nP=9n+>ynH`3] ǿ`EA)? c?ɸ)?x?ɨn/@n ?;nCyzBz,I)| | ~=~=Mb@Mb@Mb@ )Yw/?(\µ?~jtyF?=@ ݸ@)Iz@yIIF4٢--˽ -=95$99 =G٣Aym7< m> uNusing accuracyPremultiplier from configq}49u?}4Yu iuaB}UH?:KE@7@u6Du;u ;u94ՖB @EZjFNOT Ignoring new targets: 574.20 m.Bj%͋;Jj%͋;5 ProNav: ac range: 574.200012 m, nav range: 180.278412 m, bearing: 290.131470 deg, approach rate: 0.333688 m/s, LOS rate: 0.244452 deg/s, cmd heading: 169.553832 deg, new cmd heading: 169.912514 deg. 2j5'<]HeadingCmd: 2.965533 target range: 574.200012 and range: 637.00 m. jeJ=@jajajaiahahahihmDBfififqrfqbfu @ɛ%bB%&h> !%W?I) -]=ɚ)i)I-=I5J=@i5"i5%)5J=@)*Fi2Fi:FqBFu_5JFqGD&Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532658zKaKe9KaKe0 KeGiByO> - a$?I) [0w,rpA2/@Y2&>@2^=925>y2H ^ǿ@?@?b? W !n?Zx?ɨ2/@2l ;0yfsBf,IInInݜ4٢vy] vb=9zg;Q z>x| ~G٣~(FGy~; >  Nusing accuracyPremultiplier from config 49﫛?4YE iaBqE@7@?DX::p4%זB %:@%EZjAMFNOT Ignoring new targets: 574.20 m.BjM;JjU;He>Ia Ie1-IIeόBIa&Ia.Ia6Ie<:Iea F ProNav: ac range: 574.200012 m, nav range: 180.388107 m, bearing: 290.211960 deg, approach rate: 0.316367 m/s, LOS rate: 0.231998 deg/s, cmd heading: 169.912512 deg, new cmd heading: 170.153836 deg. 2j7<HeadingCmd: 2.969745 target range: 574.200012 and range: 637.00 m. jL>@jjjihhhhfffrfbf @ɛcB.> ?I 3a=ɚiIV=I%L>@i-$i-S)-L>@)15Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780453*F!2F!:F)BF-^0JF1GJJJJJ:J8:JJJ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031419 % `$?I! 8b0w,A:A/@Y:>@:L=9:!>y:H@i^Eǿ@ν?@@ L? G޹L?w?ɨ:A/@:P;8yFcBJ,IEMb@Mb@Mb@AAA A)AYE~jt?S?{GzyED?E>EףE@ E@)E@IEM@AyE@I]I]Q4٢m[ mC=9u;Q u>qq }G٣yy}; > Nusing accuracyPremultiplier from config49!ԫ?4Y| iaBpH?:tG7@ID8;6;4 >@ZjFNOT Ignoring new targets: 574.20 m.Bj;Jj; ProNav: ac range: 574.200012 m, nav range: 180.494003 m, bearing: 290.310610 deg, approach rate: 0.251100 m/s, LOS rate: 0.233780 deg/s, cmd heading: 170.153837 deg, new cmd heading: 170.449609 deg. 2jp <HeadingCmd: 2.974907 target range: 574.200012 and range: 637.00 m. jd>@jjjihhhhBf f frfbf`c@ɛEeBEܩ#> AE?IA Mf=ɚIiIIM=IUd>@iU5iUpȼ)Ud>@)Y*F ?2F :F BF _0JFG|GrAGGBOE>EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.283644Ph0w,1A2 0@Y2Y+>@2o=92Ë>y2H@^ hh jG٣hyjj; n> vNusing accuracyPremultiplier from configtz49v?z4Yv ivjaBx~]G~7@vSDv>;v;v4ٖB @E%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 574.20 m.Bj5х;Jj=х;M ProNav: ac range: 574.200012 m, nav range: 180.590439 m, bearing: 290.400317 deg, approach rate: 0.251668 m/s, LOS rate: 0.233985 deg/s, cmd heading: 170.449611 deg, new cmd heading: 170.718588 deg. 2jM @jQjQjQiQhYhYhYhYfafafirfibfm F!@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535584ɛfB>$> 隭(?I ]k=ɚiIvY=Iʱ>@iPiݼ)ʱ>@) ^$?IzKK9KK1 K*F5?2F1:F1BF1JF1GU jHYbH]<He>Ia Ie,IIeBIa&Ia.Ia6Ie<:Ie FGIBYO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787349n0w,wAf0@Yf>7>@fƪ=9f>yfH]Xǿ rx?zW?@躿D?@t?ɨf0@fꚉ;fCyAB,IMb@Mb@Mb@ )Yx&1?bX9?MbyA@?E6>C@  @)@Iy@II4٢ <=9R;Q > G٣)FGyT: > Nusing accuracyPremultiplier from config49͞?4Y? iOaBE?: E7@^D@;;4ۖB @EZj%FNOT Ignoring new targets: 574.20 m.Bj%;Jj%;5 ProNav: ac range: 574.200012 m, nav range: 180.687531 m, bearing: 290.501985 deg, approach rate: 0.223302 m/s, LOS rate: 0.233700 deg/s, cmd heading: 170.718584 deg, new cmd heading: 171.023419 deg. 2j5b <=HeadingCmd: 2.984922 target range: 574.200012 and range: 637.00 m. j=?@j9jAjAiAhAhAhQhUBfQfQfYrfYbf]f@JJJ1JJ:J::J3JJ*<J*<J5;J6;ɛhB%n> %Q!<%?I! %p=ɚQiQIUM Y y AU Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291263u0w,RcA6/0@Y6N>@6=96]>y6H5^ 1ǿ F4I?`@7?!f@?t?ɨ6/0@6$;4yB5BBt,IIIݜ4٢q U=9%;Q %>!! -G٣)y-r; 5> =Nusing accuracyPremultiplier from config1=495?E4Y5 i57aBAEDE7@5gD5.:5q:54UݖB Uy@]EZjyFNOT Ignoring new targets: 574.20 m.Bj4;Jj4; ProNav: ac range: 574.200012 m, nav range: 180.773209 m, bearing: 290.591613 deg, approach rate: 0.222751 m/s, LOS rate: 0.232911 deg/s, cmd heading: 171.023415 deg, new cmd heading: 171.292171 deg. 2j<HeadingCmd: 2.989612 target range: 574.200012 and range: 637.00 m. jU?@jjjihhhhfffrfbfeh@ɛiB8&> ܲ?I t=ɚiI(Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543684 \$?IzKK+9KK2 K{0w,9+AB@0@YBb_>@Bl=9B>yBH]`ǿʹ'?V?2?q?ɨB@0@B;BCy^(B^e,I)l nA v=vR=H >I  I ,II UBI &I .I 6I C<:I  FIEIE̍4٢]x eF=9my;Q u>yy }G٣yyO"; > UNusing accuracyPremultiplier from config!U49%i?]4Y%R i%aBY]D]7@%rD%;%;%b4eޖB md@mEZjFNOT Ignoring new targets: 574.20 m.Bj;Jj; ProNav: ac range: 574.200012 m, nav range: 180.870132 m, bearing: 290.692718 deg, approach rate: 0.219177 m/s, LOS rate: 0.228509 deg/s, cmd heading: 171.292170 deg, new cmd heading: 171.595319 deg. 2j<HeadingCmd: 2.994903 target range: 574.200012 and range: 637.00 m. j?@jjjihhhhfffrfbf0@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796182ɛmkBu!> quI?Iq uy=ɚyiyI} [$?I ܂0w, ¼Ayv'Bvd,I}Mb@Mb@Mb@yyy y)yY}x&1?RQ?Mbp?yy}B>};y }7@)}@I}z@yy}Q@II4٢!w F=9Q > G٣*FGy > Nusing accuracyPremultiplier from config49P?4Y iaBPF?:D7@|D ;{;44 p@Zj FNOT Ignoring new targets: 574.20 m.Bj [;Jj [; ProNav: ac range: 574.200012 m, nav range: 180.954788 m, bearing: 290.784433 deg, approach rate: 0.221794 m/s, LOS rate: 0.240175 deg/s, cmd heading: 171.595321 deg, new cmd heading: 171.870333 deg. 2j%$<%HeadingCmd: 2.999703 target range: 574.200012 and range: 637.00 m. j%#?@j!j)j)i)h)h)h1h=Bf9f9f9rfAbfE@ɛlB$> ˮ?I p~=ɚiI{r 0w, *¼A IzKtKv9KtKv3 Kv%$0@Y%>@%Ԏ=9%|>y%H`]`9ƿ @? P?G¼@dc?@m?ɨ%$0@%"z;%Cy=&B=b,IIMIM4٢]a޻ ]1=9e;Q e>ai mG٣iym< m> }Nusing accuracyPremultiplier from configq}49u2?}4Yu iu`BC7@uDu* ;u ;uB4B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.Bjx;Jjx; ProNav: ac range: 574.200012 m, nav range: 181.053940 m, bearing: 290.892762 deg, approach rate: 0.215327 m/s, LOS rate: 0.235129 deg/s, cmd heading: 171.870331 deg, new cmd heading: 172.195137 deg. 2j]!<HeadingCmd: 3.005372 target range: 574.200012 and range: 637.00 m. jX@@jjjihhhhfffrfbfi@ɛmB > ?I =ɚ!i!I%HKI Iv,II6BI- =&I.I6Iv<:I1 FBIĚCJIRIZI. =bI. =jIĢ4Gw!GGGQBqO_>%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=6.8033670w,yC¼A20@Y2M>@2=92>y2H eb`djƿ`R?` ??j?ɨ20@2%;2CyB3BBr,IiF=IF4<JRJRJR1JPJR:JR?:JR3JPJR&<JR&<JR;JR;Mb@Mb@Mb@ )Yjt? r?Mb?y@?C><Z@ z@)-@I@y@II\4٢y= D=9B;Q > G٣y; > Nusing accuracyPremultiplier from config49z?4Yk i`BF?:C7@D;};4 B @ EZj15FNOT Ignoring new targets: 574.20 m.Bj=Ά;Jj=Ά;U ProNav: ac range: 574.200012 m, nav range: 181.143890 m, bearing: 290.991084 deg, approach rate: 0.215750 m/s, LOS rate: 0.235712 deg/s, cmd heading: 172.195134 deg, new cmd heading: 172.489952 deg. 2jU!<]HeadingCmd: 3.010518 target range: 574.200012 and range: 637.00 m. j]R@@jYjYjYiahahahahmCBfififirfibfu6@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055613ɛoB#> 隭.?I Y$?I -=ɚ1i1I5 җ0w,`¼AB0@YBK?@B=9BԳ>yBHe ƿ@.?`#?aྠ? Sh?ɨB0@B;BCyJ8BNx,IIZIZ4٢b`< bC=9b=;Q b>dd fG٣f+FGyf < j> nNusing accuracyPremultiplier from configlr49nF?r4Yn) in`BtvzCv7@nDn:n":n 4zB zѪ@zEZjFNOT Ignoring new targets: 574.20 m.Bj%;Jj%;= ProNav: ac range: 574.200012 m, nav range: 181.233429 m, bearing: 291.089563 deg, approach rate: 0.214270 m/s, LOS rate: 0.235549 deg/s, cmd heading: 172.489952 deg, new cmd heading: 172.785242 deg. 2j=! 隭,?I W=ɚiIzKBHK+9KK4 KBKqA:KqAH ">I C I I I , =&I .I 6I <:I T F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815413#0w,z¼AJL 1@YJ+?@Jf=9JJ!>yJH hſ@? "` ?՛h?`c?ɨJL 1@J);JCyVDBV,II^I^{4٢f$k= fH=9f;Q j>hh jG٣hyn; n> rNusing accuracyPremultiplier from configpz49r᪛?4Yr ir`B)5TC57@rDr? ?I $=ɚiIA~L:Jـ3JJ*<J*<Jo;Jp;*F?2F:FBF4JFGrA G=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067485 ]W$?IYG 3G G ?G B O >0w,t¼AyEB,I)) -AMb@Mb@Mb@ )YRQ?#<@ @)@I@y@IIq4٢0; <=9Q > G٣y > eNusing accuracyPremultiplier from configam49eĪ?m4Ye+ ie`Bm F?}:}8G}7@eDe^q;en;e4B D@EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319409ZjFNOT Ignoring new targets: 574.20 m.Bj;Jj; ProNav: ac range: 574.200012 m, nav range: 181.436813 m, bearing: 291.288771 deg, approach rate: 0.299061 m/s, LOS rate: 0.265290 deg/s, cmd heading: 173.073456 deg, new cmd heading: 173.382514 deg. 2j6<HeadingCmd: 3.026096 target range: 574.200012 and range: 637.00 m. jA@jjjihhhhBfffrfbfm @ɛ-rB--> )-Դ?I1 5CS=ɚ1i1I5( i Ii  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.576201zKU BoHKU 9KQ KU 5 KU 20w,g¼Ay TB,II%I%4٢5}= 5U=91Q =>99 =G٣=,FGyA E> UNusing accuracyPremultiplier from configIU49M?]4YMb iM`BYY]7@MDM-;Md.;MH4eB er@mE=B*** querying acoustic contact ***j9j9ZjA}FNOT Ignoring new targets: 574.20 m.Bjx;Jjx; ProNav: ac range: 574.200012 m, nav range: 181.532822 m, bearing: 291.373498 deg, approach rate: 0.246379 m/s, LOS rate: 0.217313 deg/s, cmd heading: 173.382508 deg, new cmd heading: 173.636552 deg. 2j#<HeadingCmd: 3.030529 target range: 574.200012 and range: 637.00 m. j2A@jjjihhh h fffrfbfz!@H-#>I) I-,II-FBI)&I).I)6I-<:I-A FɛusB}[,> N?I č=ɚiI0w,'¼Abf2@Yb;@@b-L=9b'>ybHീ 2ÿa ?@5q??`[?ɨbf2@b[;bCyjeBj,I U$?IEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=9.079805Mb@Mb@Mb@ )YK7A?MbX9?y B?ʡ=@ @)@I/@y@II4٢= C=9Q > G٣yM= > Nusing accuracyPremultiplier from config49?4Y! ia`BC?:G@7@ľD%;L$;&4 _@Zj FNOT Ignoring new targets: 574.20 m.Bj5w;Jj5w;E ProNav: ac range: 574.200012 m, nav range: 181.658005 m, bearing: 291.465797 deg, approach rate: 0.293093 m/s, LOS rate: 0.215952 deg/s, cmd heading: 173.636550 deg, new cmd heading: 173.913254 deg. 2jE4 P?I +C=ɚiIv9"0w,6 ¼AJ2@YJK@@JG=9J*>yJH$@%f¿rq@k?@W9[?@xK!?cX?ɨJ2@Jv;JCyVjBV,IiZll nG٣lyr< r> vNusing accuracyPremultiplier from configtz49vy?z4Yv ivE`BxzG@~7@v;Dvq ;v ;v0-4B 2@EZj)5FNOT Ignoring new targets: 574.20 m.Bj5;Jj=;E ProNav: ac range: 574.200012 m, nav range: 181.768936 m, bearing: 291.548683 deg, approach rate: 0.321023 m/s, LOS rate: 0.239716 deg/s, cmd heading: 173.913255 deg, new cmd heading: 174.161759 deg. 2jM$ 9=6?I9 =AG=ɚ9iAIEdzK5BHK5+9K1K56 K5H% $>I!  I% ,II% _BI! &I! .I% 6D6I% 1<:I%  F Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=9.836321I0w,¼AVG3@YVfA@V(G=9VC.>yVH6 5j_?<>?8`M?T?ɨVG3@V ;Ty~tB~,II I 4٢xM= F=9%Q %>!! %G٣%-FGy-< -> 5Nusing accuracyPremultiplier from config1=495M_?=4Y5 i5&`BAEG@E7@5׾D5z:5:5g44MB M@MEZjFNOT Ignoring new targets: 574.20 m.Bjt;Jjt;- ProNav: ac range: 574.200012 m, nav range: 181.889145 m, bearing: 291.639849 deg, approach rate: 0.282610 m/s, LOS rate: 0.214190 deg/s, cmd heading: 174.161764 deg, new cmd heading: 174.435080 deg. 2j- %x?I! %;=ɚ!i!I% ~G  50w,üA Yy"Ay5wB5,IMb@Mb@Mb@ )Y}?5^I?{Gz?I +yMB?#<94$@ @)@I=@y3@II{4٢1< ==9Q > G٣y >  Nusing accuracyPremultiplier from config 49D?4Y i_BWB?:eB@7@D";;;4 %@%EZjAMFNOT Ignoring new targets: 574.20 m.BjUYw;JjUYw;m ProNav: ac range: 574.200012 m, nav range: 182.039948 m, bearing: 291.730469 deg, approach rate: 0.360162 m/s, LOS rate: 0.216248 deg/s, cmd heading: 174.435081 deg, new cmd heading: 174.706714 deg. 2jmh qu?Iq u;=ɚqiyI}SX0w,x/üAzK.KK.h9K,K.7 K.B*#4@YBAB@Bi=9BJ0>yBH@ @. ?H@G?μ?S?ɨB*#4@B^F;BCyNBN,I)P PIVIVݜ4٢~h= ~\=9zQ > G٣ y =  > Nusing accuracyPremultiplier from config=49,?=4Y@ i_BAEAC@E7@D;;oB4MB M@MEZjFNOT Ignoring new targets: 574.20 m.Bjl;Jjl; ProNav: ac range: 574.200012 m, nav range: 182.166855 m, bearing: 291.808942 deg, approach rate: 0.334787 m/s, LOS rate: 0.206871 deg/s, cmd heading: 174.706718 deg, new cmd heading: 174.941972 deg. 2j <HeadingCmd: 3.053313 target range: 574.200012 and range: 637.00 m. j}iC@jjjihhhhfffrfbf @r%@ZHRHH%>I I,IIxBI&I.I6I<:Ig Fɛ}yB}029> 隅?I =ɚiIi0 )}iC@)*F?2F:FBFN5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2087> BDAT read: Tx time:21:50:04.2858 $Ping request sent.n@0w,qIüA 2Q$?I4FO4@YFB@Fl=9Fau/>yFH@`[?>P@?@? NU?ɨFO4@F;FCyrBr,I%Will construct direction to contact in vehicle frame from tetrahedron phase data.-JDAT read: TxSync time:21:50:04.2850 -checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246313Mb@Mb@Mb@ )YE? G٣.FGyi< > Nusing accuracyPremultiplier from config49U?4Y i_BF?: @@7@Dw;;hJ4B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.Bjp;Jjp;5 ProNav: ac range: 574.200012 m, nav range: 182.341782 m, bearing: 291.904461 deg, approach rate: 0.386025 m/s, LOS rate: 0.210585 deg/s, cmd heading: 174.941977 deg, new cmd heading: 175.228254 deg. 2j5<=HeadingCmd: 3.058310 target range: 574.200012 and range: 637.00 m. j=ZC@j9jAjAiAhAhAhIhM[BfIfIfQrfQbfUYW&@ɛ}{B}:> 隅G?I A=ɚiIl0w,UcüA2f4@Y2C@2Q =92>y2H@[`շ?o S?2f?n?ɨ2f4@2;0yBBB,IIJIJ4٢R)ɼ Rj=9R|Q R>TT VG٣TyZ< Z? ^Nusing accuracyPremultiplier from config\b49^o?b4Y^ i^z_Bdfc@@f7@^D^;:^:^^P4h j4@lZjFNOT Ignoring new targets: 574.20 m.Bj r;Jj r; ProNav: ac range: 574.200012 m, nav range: 182.471741 m, bearing: 291.976011 deg, approach rate: 0.385789 m/s, LOS rate: 0.212248 deg/s, cmd heading: 175.228257 deg, new cmd heading: 175.442753 deg. 2j<%HeadingCmd: 3.062054 target range: 574.200012 and range: 637.00 m. j%C@j!j)j)i)h)h)h1h1f1f1f9rf9bf=@X'@ɛe|BmE> mH;m?Ii m=ɚqiqIuzKBoHK9KK8 KH&>I I,IIBI&I.I6I<:IZ FBIțCJIțCRIZI, =bI, =jI?4 Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000741Ę0w,"9}üA6K5@Y6iC@6o=96k'>y6Hn?q?@? l?ɨ6K5@6u;6CyBrBB,IiF=IFR=I~xI~T4٢]Fv e?=9eкQ e>ii mG٣iyu1S< u> }Nusing accuracyPremultiplier from configy49}ݩ?4Y} i}H_B@@7@} D}\:}:}W4B %@EZjFNOT Ignoring new targets: 574.20 m.Bjh;Jjh;U ProNav: ac range: 574.200012 m, nav range: 182.633896 m, bearing: 292.066094 deg, approach rate: 0.366684 m/s, LOS rate: 0.203525 deg/s, cmd heading: 175.442753 deg, new cmd heading: 175.712760 deg. 2jU <HeadingCmd: 3.066766 target range: 574.200012 and range: 637.00 m. jED@jjjihhhhfffrfbf@'@ɛ%~B%Os0> )-?I) -=ɚ)i)I5 `q0w,=ԖüA6e5@Y6C@6 =968">y6HOό ? p`A?ӻ@V ?`i?ɨ6e5@6p;6Cy>qB>,IMb@Mb@Mb@ )YL7A`?AA EG٣E/FGyME< M> Nusing accuracyPremultiplier from config49Ué?4Yz i_B>H?:8>@7@D7;Q;_4B `@EZj15FNOT Ignoring new targets: 574.20 m.Bj=r;Jj=r;M ProNav: ac range: 574.200012 m, nav range: 182.802460 m, bearing: 292.151295 deg, approach rate: 0.420006 m/s, LOS rate: 0.212098 deg/s, cmd heading: 175.712764 deg, new cmd heading: 175.968131 deg. 2jM 隥*?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504948I ͣ=ɚiIJ-J-J)J)J-+:J-S:J)J) U N$?IQ m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=1.7600350w,ˠüAy~\B,II I  4٢Eɽ EJ=9MQ M>II MG٣IyU U>zKURIKU9KQKU9 KU mNusing accuracyPremultiplier from configiu49m?}4Ym' im^Byy}7@mDm~ ;mG;me4B ĩ@EZjFNOT Ignoring new targets: 574.20 m.Bjj;Jjj; ProNav: ac range: 574.200012 m, nav range: 182.960052 m, bearing: 292.230624 deg, approach rate: 0.408370 m/s, LOS rate: 0.205386 deg/s, cmd heading: 175.968131 deg, new cmd heading: 176.205909 deg. 2j <HeadingCmd: 3.075373 target range: 574.200012 and range: 637.00 m. jD@jjjihhhhfffrfbf x)@ɛBjO9> jHbHp<H(>IC I,IIBI+ =&I.I6I]<:I$ F隍?I ^$=ɚiIX G٣y >  Nusing accuracyPremultiplier from config 49A?4Y7 i^B%G?:L=@7@)D!*;'; o4%B -+@-EEB*** querying acoustic contact ***jAjAZjQUFNOT Ignoring new targets: 574.20 m.Bj]:e;Jj]:e;m ProNav: ac range: 574.200012 m, nav range: 183.177887 m, bearing: 292.336359 deg, approach rate: 0.413364 m/s, LOS rate: 0.200405 deg/s, cmd heading: 176.205903 deg, new cmd heading: 176.522728 deg. 2jm 隽а?I 5 =ɚiI*J- 4="J- a=  M$?I Gh10w,üAJZ6@YJ0yD@J@s=9JI$>yJH ͺ]2e:?`w@k`?j`S?`#g?ɨJZ6@J+;HyR0BVn,II^I^Ь4٢f: f`=9fMQ f>hh jG٣j0FGyn:= n> rNusing accuracyPremultiplier from configpv49rr?v4Yr irZ^Btz#>@z7@r2Dr:rC:rmu4 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778768ZjFNOT Ignoring new targets: 574.20 m.Bj%U;Jj%U;U ProNav: ac range: 574.200012 m, nav range: 183.326462 m, bearing: 292.410262 deg, approach rate: 0.375983 m/s, LOS rate: 0.186868 deg/s, cmd heading: 176.522728 deg, new cmd heading: 176.744258 deg. 2jU?<]HeadingCmd: 3.084769 target range: 574.200012 and range: 637.00 m. j]lE@jYjYjaiahahahahifififqrfqbfu >S+@ɛBZ44> p?I C=ɚ i I -OI I,IIdBI* =&I.I6I<:IY F*F2F:FBF_0JF5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030079G Gq B O >g1w,XļA>6@Y>D@>=9>1">y>HC`ʹ2˸? <# ?һ?i?ɨ>6@>M;>CyJ BJ[,IJVJVJTJTJV:JVC:JTJTJVX- G٣yhi< > Nusing accuracyPremultiplier from config49T?4Yz i^BC?:>@7@>D ?;=;}4B @EZjFNOT Ignoring new targets: 574.20 m.Bj$s;Jj$s; ProNav: ac range: 574.200012 m, nav range: 183.510956 m, bearing: 292.503457 deg, approach rate: 0.421241 m/s, LOS rate: 0.212570 deg/s, cmd heading: 176.744259 deg, new cmd heading: 177.023558 deg. 2j<HeadingCmd: 3.089644 target range: 574.200012 and range: 637.00 m. jE@jjjiqhyhyhyh}cBfffrfbf49,@ɛB.> ?I O=ɚiI> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.5329541w, ļA6I7@Y63hE@67=96N >y6H8 Nò p' ?@O?@0ѻ?k?ɨ6I7@6;6CyBBB0,IiF>IF=IJIJ4٢V; VZ=9VޏQ V>XX ZG٣Xy^%< ^> bNusing accuracyPremultiplier from config`f49b=?f4YbX ib]Bhj2?@j7@bGDb:b:b*4nB n @nEZjFNOT Ignoring new targets: 574.20 m.Bj od;Jj od; ProNav: ac range: 574.200012 m, nav range: 183.657013 m, bearing: 292.578210 deg, approach rate: 0.390521 m/s, LOS rate: 0.199713 deg/s, cmd heading: 177.023559 deg, new cmd heading: 177.247639 deg. 2j <HeadingCmd: 3.093555 target range: 574.200012 and range: 637.00 m. jE@jjjihhhhfffrfbfo,@ɛ B HC2>  ?I =ɚ1i1I=zKM uJKM 9KI KM ; KM ZHA RHE ?AHU .>IQ  IU v,IIU 6BIQ &IQ .IU 7D6IU x<:IU = Fu1w,:ļA27@Y2%E@2=92s>y2H X`F? ?㻿 ?l?ɨ27@2̌;2CyRBR,IIbIb4٢j jH=9jT5:Q j>ll nG٣n1FGyrN< r> vNusing accuracyPremultiplier from configtz49v$?z4Yv( iv]Bx~?@~7@vPDv+ 隅ĕ?I =ɚiIH) M GV1w,ѲTļA8D ^Y\y^BO@ QA38@YfRF@EF=9q>yHwQR깿Sȥ? al?r -?jl?ɨ38@;Cy5B5+IMb@Mb@Mb@ )Yp= ף? ףp= A`"yE?Q8YI@ @)@IK@y@IIV4٢% %6=9-,M:Q ->)1 5G٣1y5Ɗ< => ENusing accuracyPremultiplier from config9M49=|?M4Y=Y i=c]BME?M:MDC@M7@=[D=3;=;="4eB e@eE}B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.Bj{;Jj{; ProNav: ac range: 574.200012 m, nav range: 183.974075 m, bearing: 292.753612 deg, approach rate: 0.374169 m/s, LOS rate: 0.220043 deg/s, cmd heading: 177.492643 deg, new cmd heading: 177.773393 deg. 2j<HeadingCmd: 3.102731 target range: 574.200012 and range: 637.00 m. j%F@jjjihhhh"Bfffrfbf.@ɛBw)>  U H$?IQ <1w,2nļAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.792829yB+I)! !I5I54٢e[5 eW=9mQ m>ii uG٣qyu u> Nusing accuracyPremultiplier from configy49}H福?4Y} i}+]B7@}eD}:}:}ę4B T@EZjFNOT Ignoring new targets: 574.20 m.Bj1o;Jj1o; ProNav: ac range: 574.200012 m, nav range: 184.109390 m, bearing: 292.832906 deg, approach rate: 0.357122 m/s, LOS rate: 0.209118 deg/s, cmd heading: 177.773391 deg, new cmd heading: 178.011096 deg. 2j<HeadingCmd: 3.106880 target range: 574.200012 and range: 637.00 m. jF@jjjihhhhfffrfbfj/@ɛ-B-%> )- ?I) 5b=ɚ1i1I5IC I,IIBI( =&I.I6II<:I F*F?2F:FBF^0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.ichecking for new query: numPingsReceived=0, elapsed TxPingTime=5.046656GvżG B O >"1w,|ļAJNJNJN0JLJN{:JNF:JNـ3JLJN.<JN.<JN;JN;^I8@Y^G@^*=9^B >y^Hy@G|? _?]V@?&j?ɨ^I8@^Q;\yfBf+I nG$?IlmMb@Mb@Mb@iii i)iYmy&1?y&1|J +ym`E?m`廹mHm@ i)m@Im5@iym@II4٢ G=9`;Q > G٣2FGyE< > Nusing accuracyPremultiplier from config49Ԩ?4Yj i\BE?:$G@7@oDj;;4 @ZjFNOT Ignoring new targets: 574.20 m.Bjh;Jjh; ProNav: ac range: 574.200012 m, nav range: 184.239807 m, bearing: 292.921546 deg, approach rate: 0.299546 m/s, LOS rate: 0.203447 deg/s, cmd heading: 178.011095 deg, new cmd heading: 178.276824 deg. 2j <HeadingCmd: 3.111518 target range: 574.200012 and range: 637.00 m. j#G@jjjihhhhBff-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=5.297034f1rf1bf5&0@ɛB\>  x?I PǶ=ɚiIO Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548733h+(1w,CļAFS9@YF-rG@F-=9F!>yFH@@`? V)=?`vZ?`Pj?ɨFS9@Fx;DyN^BRl+IIVIVV4٢^P bZ=9b:Q b>dd fG٣dyfx< f> nNusing accuracyPremultiplier from confighr49j缨?r4Yj; ij\BprG@r7@jxDj;j;j4zB zu@zEZj%FNOT Ignoring new targets: 574.20 m.Bj%\;Jj%\;5 ProNav: ac range: 574.200012 m, nav range: 184.357224 m, bearing: 293.002173 deg, approach rate: 0.334710 m/s, LOS rate: 0.229691 deg/s, cmd heading: 178.276830 deg, new cmd heading: 178.518556 deg. 2j5<=HeadingCmd: 3.115736 target range: 574.200012 and range: 637.00 m. jE:hG@jAjAjAiAhAhAhIhIfIfIfQrfQbfU -~0@ɛB > %dc?I! %` =ɚ!i!I%GjH <bH H I  I +II BI &I .I 6I <:I L FBIɜCJIɜCRIZI* =bI) =jIF5zKE BIKE h9KA KE = KE oW.1w,'ļA29@Y2PG@2=92d>y2H `Gâ@?;?@¨?j?ɨ29@2g;2Cy>HB>P+IiBdh jG٣hyje< j> ]Nusing accuracyPremultiplier from configQ]49U?e4YU iU\BaeG@e7@UDU0;U0;Uۮ4mB u@uEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=6.052942ZjFNOT Ignoring new targets: 574.20 m.Bju;Jju; ProNav: ac range: 574.200012 m, nav range: 184.488052 m, bearing: 293.092958 deg, approach rate: 0.309857 m/s, LOS rate: 0.214864 deg/s, cmd heading: 178.518551 deg, new cmd heading: 178.790711 deg. 2ju<HeadingCmd: 3.120486 target range: 574.200012 and range: 637.00 m. j G@jjjihhhhfffrfbf@0@ɛ5B5> 53<5V?I1 =7w=ɚ9i9I=[NM Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304762=51w,ļAy#B#+IMb@Mb@Mb@ )Yx&1?Q?lyA?\=QA 5@)I@Ix@y3@II4٢v* <=9Q > G٣3FGy > Nusing accuracyPremultiplier from config49m?4Y[ iR\BA?:F8@D;;34 B k@E B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 574.20 m.Bj|i;Jj|i;  ProNav: ac range: 574.200012 m, nav range: 184.601715 m, bearing: 293.184064 deg, approach rate: 0.254826 m/s, LOS rate: 0.204128 deg/s, cmd heading: 178.790706 deg, new cmd heading: 179.063852 deg. 2j  <5HeadingCmd: 3.125254 target range: 574.200012 and range: 637.00 m. j5(H@j1j9j9i9h9h9hAhEBfAfIfrfbf _1@ɛ=B=d> 9=B?I9 E)=ɚAiAIEp] Will construct direction to contact in vehicle frame from tetrahedron phase data.] checking for new query: numPingsReceived=0, elapsed TxPingTime=6.8088028n;1w,sļA6>:@Y6/]H@6`~=96>y6HT@ @V90?O }? ?h?ɨ6>:@6e;6CyjBj*IIrIr-4٢z  zV=9~;Q ~>| G٣yź< > Nusing accuracyPremultiplier from config49qo?%4Y i%\B!%PF%8@DP::ڼ45 B 5s@5EZjQ]FNOT Ignoring new targets: 574.20 m.Bj];Jje;u ProNav: ac range: 574.200012 m, nav range: 184.702713 m, bearing: 293.266721 deg, approach rate: 0.286187 m/s, LOS rate: 0.234088 deg/s, cmd heading: 179.063846 deg, new cmd heading: 179.311679 deg. 2ju <}HeadingCmd: 3.129579 target range: 574.200012 and range: 637.00 m. j}KH@jyjyjyiyhhhhfffrfbf 1@ɛBq^> M2?I  ۻ=ɚiII I\+IIRBI&I.I6Io<:I; F*F?2F:FBFP5JFGrA GrAzKyJK9KK> KGfGQBaO}7>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.060926UB1w,K żA >D$?IyrH`୘`oz?]?N?`i?ɨrH:@r鿊;rCy~B~*I) Mb@Mb@Mb@ )YS㥛?#~j?S㥛yD?=/ݼzA )QAIyp@IIa4٢ֽ ?=9:Q > G٣y$%< > Nusing accuracyPremultiplier from config49S?4Y i[BF?:qB8@D3;o;T4 @ZjFNOT Ignoring new targets: 574.20 m. Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=7.312965Bj%r;Jj%r;5 ProNav: ac range: 574.200012 m, nav range: 184.800842 m, bearing: 293.363870 deg, approach rate: 0.214644 m/s, LOS rate: 0.212389 deg/s, cmd heading: 179.311686 deg, new cmd heading: 179.602978 deg. 2j5<=HeadingCmd: 3.134663 target range: 574.200012 and range: 637.00 m. j=SH@j9j9j9iYhahahahmBfififirfibfu@.2@ɛBL > [%?I =ɚiID+yjHM F r`l'? n?'ͽ@L?j?ɨjM:@j;jCyv̊Bv*III4٢  (=9;Q E>II MG٣M4FGyM[U< U> ]Nusing accuracyPremultiplier from configYe49]Y4?e4Y] i][BamBm8@]D]q:]:]4u B @EZj9=FNOT Ignoring new targets: 574.20 m.BjE>;JjM>;} ProNav: ac range: 574.200012 m, nav range: 184.911865 m, bearing: 293.475540 deg, approach rate: 0.230034 m/s, LOS rate: 0.231235 deg/s, cmd heading: 179.602980 deg, new cmd heading: 179.937783 deg. 2j}<HeadingCmd: 3.140507 target range: 574.200012 and range: 637.00 m. jH@jjjihhhhfffrfbfө2@ɛBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.817077>  o?I  :=ɚiIyP1w,5CżAZ;@YZ2I@Z=9Z>yZH p½@ab?` G?`Vi?ɨZ;@Z;XyjBj*IIrIr4٢z zN=9z;Q ~>|| ~G٣yܾ; >  Nusing accuracyPremultiplier from config 49 X?4Y  i [BA8@ D \ ;  ; 4%B %@%EZjFNOT Ignoring new targets: 574.20 m.Bjہ;Jjہ;% ProNav: ac range: 574.200012 m, nav range: 184.999649 m, bearing: 293.563944 deg, approach rate: 0.225571 m/s, LOS rate: 0.227057 deg/s, cmd heading: 179.937782 deg, new cmd heading: 180.202866 deg. 2j%< mA$?IiHeadingCmd: 3.145133 target range: 574.200012 and range: 637.00 m. jII@jj jihhhQhQfYfYfYrfYbf] 3@ɛB2>  ?I ==ɚiIk*FE ?2FA :FA BFE o0JFA "GM =GM = Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.575737G~FGyBO?X1w,dżA6CG;@Y6eI@6+;=96 >y6H@lZu Z?V5@sK?@~h?ɨ6CG;@6E;4y>BB*IiDIF< Mb@Mb@Mb@    ) Y '1Z?q= ףp?Mby B? =   b@) I @ y @IIT4٢즽 =9:Q > G٣y; > Nusing accuracyPremultiplier from config49%?4Y= ij[BE?:>8@¿D;;4B @EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.Bj ;Jj ;% ProNav: ac range: 574.200012 m, nav range: 185.103180 m, bearing: 293.687074 deg, approach rate: 0.199418 m/s, LOS rate: 0.237036 deg/s, cmd heading: 180.202862 deg, new cmd heading: 180.572039 deg. 2j%"<5HeadingCmd: 3.151577 target range: 574.200012 and range: 637.00 m. j5nI@j9j9j9i9h9hAhAhMnBfIfQfQrfYbf]!3@ɛBJr> 隭m>I @$?I 5%=ɚ1i1I5.^1w,~żA>z;@Y>ZI@>+=9>F>y>H `L`b`J^?/S[?mg?ɨ>z;@>\Z;>Cy^B^x*IIfIf4٢nW nW=9r,:Q r>pp vG٣v5FGyvu< v> ~Nusing accuracyPremultiplier from configx~49z৛?4Yzw izG[B>8@z̿Dz ;z ;z4 B @EWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076919ZjamFNOT Ignoring new targets: 574.20 m.Bjmi;Jjmi; ProNav: ac range: 574.200012 m, nav range: 185.176041 m, bearing: 293.774149 deg, approach rate: 0.189417 m/s, LOS rate: 0.226283 deg/s, cmd heading: 180.572033 deg, new cmd heading: 180.833156 deg. 2jK<HeadingCmd: 3.156134 target range: 574.200012 and range: 637.00 m. jI@jjjihhh1h9f9f9f9rf9bfE`3@ɛB]> >I =ɚiIe1w,6żAyBm*IMb@Mb@Mb@ )Y r?X9v?~jtxyC?=ĻA @)AI@y=@IIx4٢, <=9Q > G٣y > Nusing accuracyPremultiplier from config49$ŧ?m4Y i$[BuE?u:u>u8@ֿD<W<\4}B }e@EZjFNOT Ignoring new targets: 574.20 m.Bj;Jj; ProNav: ac range: 574.200012 m, nav range: 185.259735 m, bearing: 293.874400 deg, approach rate: 0.187979 m/s, LOS rate: 0.225064 deg/s, cmd heading: 180.833151 deg, new cmd heading: 181.133766 deg. 2ju<HeadingCmd: 3.161381 target range: 574.200012 and range: 637.00 m. jTJ@jjjih hhhBff!f)rf1bf5 g4@-Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581035ɛmBm5Z= im>Ii uu=ɚqiqIun$?IHhJK KKK"KJ J J 0J J :J D:J ـ3J G FټG ?G >GY Ba O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.832860l1w,gżA2;@Y2%J@2?=92(>y2Hkdl`Kξ@p V?2m?@e?ɨ2;@2׉;2Cy>B>j*I)@ @IJIJk4٢RX@ R`=9R$6;Q R>TT VG٣TyZ< Z> =Nusing accuracyPremultiplier from config\E49^ӭ?E4Y^% i^[BAM3>M8@^߿D^<^;^4]B ]@]EZjFNOT Ignoring new targets: 574.20 m.Bj;Jj; ProNav: ac range: 574.200012 m, nav range: 185.328568 m, bearing: 293.958549 deg, approach rate: 0.185374 m/s, LOS rate: 0.226539 deg/s, cmd heading: 181.133762 deg, new cmd heading: 181.386114 deg. 2jx<HeadingCmd: 3.165785 target range: 574.200012 and range: 637.00 m. j8J@jjjihhhh!f!f!f!rf!bf-4@jHbH<H1>I I*IIBI&I.I6II<:I" Fɛ%B%W> !% >I! -`=ɚ)i)Imɰ=Will construct direction to contact in vehicle frame from tetrahedron phase data.=yUH l8 U`՟m?#¾?`c?ɨU<@U蝊;UCymBm`*IMb@Mb@Mb@ )Y"~j?`"?Mb`?ySC?=;3A @)I@yz@II=4٢%  %3=9%:Q %>)) -G٣-6FGy5u; 5> =Nusing accuracyPremultiplier from config9E49=?M4Y= i=ZBME?M:M=M8@=D=p3;=1;=4Q ]#@YWill construct direction to contact in vehicle frame from tetrahedron phase data.I =ɚiIy1w,qżAnO<@YnnJ@n;2=9njJ>ynHkje?.K•@`?Ӿ`r?mc?ɨnO<@nm;nCy~B X*II%I%4٢=~  =\=9Eo7:Q E>AA MG٣IyM/< M> UNusing accuracyPremultiplier from configQ]49Ux?e4YU iUZBae=e8@UDUe ;U ;U34mB u@uEB*** querying acoustic contact ***jjZj9EFNOT Ignoring new targets: 574.20 m.BjMy;JjMy;m ProNav: ac range: 574.200012 m, nav range: 185.482986 m, bearing: 294.149443 deg, approach rate: 0.175738 m/s, LOS rate: 0.218295 deg/s, cmd heading: 181.701077 deg, new cmd heading: 181.958546 deg. 2jm< <$?IHeadingCmd: 3.175776 target range: 574.200012 and range: 637.00 m. j?K@jjjihhhhfffrfbfV5@ɛ-B-W=JUJUJQJQJU+:JU<:JQJQ ae/>Ia e=ɚiiiIm -I Ii*IIBI' =&I.I6IP<:I) FBI}ȝCJI}ȝCRIyZI}( =bI}( =jI}4G G B O >zK BHK +9K K B K ?1w,4żAWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:21:50:15.2359  $Ping request sent.  G٣y > Nusing accuracyPremultiplier from config49^?4Y iZB8@D:e:4B @EZjFNOT Ignoring new targets: 574.20 m.Bj%;Jj%;U ProNav: ac range: 574.200012 m, nav range: 185.561752 m, bearing: 294.246617 deg, approach rate: 0.182228 m/s, LOS rate: 0.224721 deg/s, cmd heading: 181.958548 deg, new cmd heading: 182.249945 deg. 2jU9<]HeadingCmd: 3.180862 target range: 574.200012 and range: 637.00 m. j]=K@jYjYjYiYhahahhfffrfbf* 6@ɛEBu= y}W>I g=ɚiIփ(1w,ƼA><@Y>gJ@>q=9>j>y>H@O?B`@ N?m쾿9?b?ɨ><@>?;>CyRvBRN*I5Mb@Mb@Mb@111 1)1Y5p= ף?Mb?y5E?5=55IA 5@)53AI5C@1y5@IMIMh4٢]i ]O=9e:Q e>ai mG٣m7FGym!< u> Nusing accuracyPremultiplier from configy49}D?4Y} i}ZBF?:}?8@}D};}U;}j4B k@EZjFNOT Ignoring new targets: 574.20 m.Bj;Jj; ProNav: ac range: 574.200012 m, nav range: 185.643661 m, bearing: 294.336434 deg, approach rate: 0.227522 m/s, LOS rate: 0.249378 deg/s, cmd heading: 182.249951 deg, new cmd heading: 182.519282 deg. 2j%+<HeadingCmd: 3.185562 target range: 574.200012 and range: 637.00 m. jAK@jjjihhhhȉBffqfyrfybf}+f6@ɛB"= 隭i>I =ɚiIs I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755408R1w,3ƼABz&=@YBEK@Bk=9Bc>yBH6 `?g@2?̧?s?ɨBz&=@Be;BCyz{BzT*IIIN4٢< O=97/Q >!! %G٣!y%g< -> 5Nusing accuracyPremultiplier from config)=49-+?=4Y- i-lZB9=?=8@-D- ;-~ ;-M4MB M6@MEZjyFNOT Ignoring new targets: 574.20 m.Bj;Jj; ProNav: ac range: 574.200012 m, nav range: 185.724838 m, bearing: 294.426879 deg, approach rate: 0.205723 m/s, LOS rate: 0.229109 deg/s, cmd heading: 182.519279 deg, new cmd heading: 182.790491 deg. 2j<<HeadingCmd: 3.190296 target range: 574.200012 and range: 637.00 m. j-L@jjjihhhhfffrfbf6@ZHYRH]AAHe4>Ia IeV*IIe|BIe( =&Ia.Ia6Ie%<:Ie FɛB4G= 隝>I /=ɚiI;^ :$?I d=1w,MƼAJJJ1JJ :JD:J3JJ 0yH] &?`|`vz@@? zp?@o?ɨD=@ލ;CyyBS*I) AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264513Mb@Mb@Mb@ )Y!rh? G٣y7; > Nusing accuracyPremultiplier from config 49j ? 4Y7 iCZB FH? : @8@D;;i4"B @EZjIMFNOT Ignoring new targets: 574.20 m.BjU;JjU;e ProNav: ac range: 574.200012 m, nav range: 185.830994 m, bearing: 294.533246 deg, approach rate: 0.228578 m/s, LOS rate: 0.228904 deg/s, cmd heading: 182.790492 deg, new cmd heading: 183.109410 deg. 2jeI ;=ɚiIN d1w,RcgƼA6g=@Y6kK@6p=96>y6H,? 8 @p?`ء]?h?ɨ6g=@6`;4yBzB@ININ4٢; b=9':Q > G٣8FGy; > Nusing accuracyPremultiplier from config %8$?I!%49?-4Y2 i#ZB)-@-8@&D><O<#49 =y@AmB*** querying acoustic contact ***jijiZjq}FNOT Ignoring new targets: 574.20 m.Bj};Jj}; ProNav: ac range: 574.200012 m, nav range: 185.914978 m, bearing: 294.617474 deg, approach rate: 0.223188 m/s, LOS rate: 0.223734 deg/s, cmd heading: 183.109408 deg, new cmd heading: 183.361975 deg. 2j<HeadingCmd: 3.200270 target range: 574.200012 and range: 637.00 m. j:L@jjjihhhhfffrfbf@=7@ɛ}B}~= y}`>I =ɚiI9IeC IaIaIe' =&Ia.Ia6Ie"<:IaGm _GA BQ Om >zK9 K= 9K9 K= D K= K1w,=ƼA2x=@Y2SK@28=92J>y2H@ ڔ?   М6?޾@?` b?ɨ2x=@2;2CyBwBBP*I Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021641IZIZ4٢-v -R=9-;Q 5>11 5G٣1y=!.; => ENusing accuracyPremultiplier from configAM49Eܦ?M4YE: iEZBQU@U8@E0DE:E":E*4]$B ]@e EZjFNOT Ignoring new targets: 574.20 m.Bj];Jj]; ProNav: ac range: 574.200012 m, nav range: 186.002579 m, bearing: 294.705137 deg, approach rate: 0.234888 m/s, LOS rate: 0.234943 deg/s, cmd heading: 183.361974 deg, new cmd heading: 183.624836 deg. 2j=!<HeadingCmd: 3.204858 target range: 574.200012 and range: 637.00 m. jeM@jjjihhhhfffrfbf7@ɛB|= >I Z=ɚiI% v1w,ƼA6[=@Y6K@6 =96}">y6H M?-`{E? 쾿!?I]?ɨ6[=@678;6CyNsBRK*IiVa>IVa=5Mb@Mb@Mb@111 1)1Y5w/?~jt?{Gzy5F?5=5#5/ A 5@)5`AI5@1y5p@IMIM4٢]` ]G=9e!:Q e>ai mG٣iym%; m> Nusing accuracyPremultiplier from configq49u¦?4Yu iuYB*G?:C8@u:DuI! -=ɚ)i)I-' Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775377'1w,ƼA6 =@Y6L@65 =96%>y6HX?I`(@q? y? @Y?ɨ6 =@62;6CyBnBBE*IIJIJ4٢V?ɼ VV=9V:Q V>X\ ^G٣^9FGybgX< b> fNusing accuracyPremultiplier from configdj49fZ?j4Yf ifYBhjBj8@fCDfII IP*IIwBI& =&I.I6I\<:I5 FBj5~;Jj5~;M ProNav: ac range: 574.200012 m, nav range: 186.204941 m, bearing: 294.882848 deg, approach rate: 0.252528 m/s, LOS rate: 0.222879 deg/s, cmd heading: 183.900644 deg, new cmd heading: 184.157679 deg. 2jMI =ɚiI,G B O > 5$?I Ju Jq Ju 1Jq Ju :Jq Ju 3Jq Ju X-<Ju Y-<Jq Jq bʳ1w,ƼA`>@YL@J=9''>yHη ?ifF?`k ?mW?ɨ`>@;騍CyޥiBޥ?*IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279570)%ſ= ! 5 Y1y5BuMb@Mb@Mb@qqq q)qYuˡE?I +? rhyuG?u94 G٣y B< > Nusing accuracyPremultiplier from config%495?-4Y iwYB-H?-:-D-8@PD;K;A4=)B =@=EZjFNOT Ignoring new targets: 574.20 m.Bj;Jj; ProNav: ac range: 574.200012 m, nav range: 186.349579 m, bearing: 294.999621 deg, approach rate: 0.281823 m/s, LOS rate: 0.227352 deg/s, cmd heading: 184.157678 deg, new cmd heading: 184.507720 deg. 2j<HeadingCmd: 3.220267 target range: 574.200012 and range: 637.00 m. jN@jjjihhhhZBfffrfbfuT9@ɛmʼnBm'= m>Iq u]2=ɚqiqIuD1w,ƼA r4$?IpE7>@YEL@E{\=9EF(>yEH`ϴ?`a$?;?U?ɨE7>@Ea;ECyU]BU0*I)a eAIuIur4٢ u=9 :Q ? G٣yW< ? Nusing accuracyPremultiplier from config49q?4Y  iRYBD8@XDP:P:NG4 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 574.20 m.BjT;JjT;% ProNav: ac range: 574.200012 m, nav range: 186.439255 m, bearing: 295.072953 deg, approach rate: 0.283088 m/s, LOS rate: 0.231382 deg/s, cmd heading: 184.507725 deg, new cmd heading: 184.727614 deg. 2j%<-HeadingCmd: 3.224105 target range: 574.200012 and range: 637.00 m. j-WN@j)j1j1i1h1h1h9h9f9f9fArfAbfE9@ɛ}ljB}h= y}>Iy M=ɚiID-%epFailed to parse device response: 69.75,10.0907,3.035.99 zK BoHK +9K K F K 1w,ǼA6Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037278J??@YJ]M@J,=9J7*>yJHE?`x`$?`?`R?ɨJ??@J[;JCyII4٢-: -R=9-vQ ->11 5G٣5:FGy< > Nusing accuracyPremultiplier from config49W?4Y i%YBC8@bD<<^N4%+B %@-EZjyFNOT Ignoring new targets: 574.20 m.Bj{u;Jj{u; ProNav: ac range: 574.200012 m, nav range: 186.547455 m, bearing: 295.163053 deg, approach rate: 0.257880 m/s, LOS rate: 0.214618 deg/s, cmd heading: 184.727616 deg, new cmd heading: 184.997759 deg. 2jJ<HeadingCmd: 3.228820 target range: 574.200012 and range: 637.00 m. jN@jjji 3$?I h)h)h1h1f1f1f9rf9bf=`:@*Ja="JJJJ0JJ:J>L:Jـ3Ja @a@a@a@ɛ]ʉB]= Y]">IY e74=ɚaiaIew -BDAT read: Tx time:21:50:19.6359 5$Ping request sent.51w,y6H@ޭ(v?w@>S?W? P?ɨ6˞?@6W;6CyBRBB"*I Mb@Mb@Mb@    ) Y %C?:vZd;Oy ZD? T j A @) E AI ;@ y =A!%AAI-I-=4٢=h =I=9E7Q E>II MG٣IyUs< U> eNusing accuracyPremultiplier from configYe49]>?m4Y]9 i]XBmwD?m:m#Em8@]lD];];]8U4-B @EM addTargetRange:: Added new target pos. range: 656.299988 m, deltaT: 26.234431 s, deltaX: 19.299988 m, approachRate: 0.735674 m/s, rangeRepo size: 4 ZjQuFNOT Ignoring new targets: 574.20 m.Bj}t;Jj}t; ProNav: ac range: 574.200012 m, nav range: 186.657379 m, bearing: 295.247896 deg, approach rate: 0.277160 m/s, LOS rate: 0.213795 deg/s, cmd heading: 184.997764 deg, new cmd heading: 185.252141 deg. 2j<HeadingCmd: 3.233260 target range: 574.200012 and range: 656.30 m. jN@jjjihhhhBfffrf`f@bf@(?ɛ=̉B=Dt= 9E>IA E~=ɚAiAIE`}<uWill construct direction to contact in vehicle frame from tetrahedron phase data.}JDAT read: TxSync time:21:50:19.6351 I1Cii ,)N@) 2$?IE-]<*F ?2F :F BF 0JF G B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.,1w,FB7ǼA6@@Y66N@6x=96m->y6Hu5*?{Yn ~ G?@j?`oO?ɨ6@@6;6CyBBBB*IiF=IF4=IJIJ4٢V ZT=9Z1 Q Z>\\ ^G٣\yb< b> fNusing accuracyPremultiplier from configdj49f%?j4Yf ifXBhjDn8@fuDf7:f7:f[4r/B r@rEL~ ~Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseL Entering Midcourse tracking update period 60.000000 s sec at 656.299988 m (mode 1.000000 count ).L 1M Hm;>ImC Im7*IImcBIm% =&Ii.Im8D6Im><:Im" FZjFNOT Ignoring new targets: 574.20 m.Bjv;Jjv; ProNav: ac range: 574.200012 m, nav range: 186.763672 m, bearing: 295.331320 deg, approach rate: 0.274302 m/s, LOS rate: 0.215163 deg/s, cmd heading: 185.252147 deg, new cmd heading: 185.502274 deg. 2j<HeadingCmd: 3.237625 target range: 574.200012 and range: 656.30 m. jA5O@jjjihhhh1C Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeqCTransitioning to midcourse guidance. Received last range of 656.299988 m 0.003927 min ago.qCCfffrf!bf%?ɛuΉB7= 隕g>I .=ɚiIVJ AAJ 1w,2QǼAJRJRJPJPJRK:JR[O:JPJPJRr5 G٣;FGy > %Nusing accuracyPremultiplier from config!-49%?-4Y%7 i%XB5(F?5:5F58@%D%;%;%^d4=1B =F@=E2lUN@1MUqMUZjamFNOT Ignoring new targets: 574.20 m.Bjm;Jju;} ProNav: ac range: 574.200012 m, nav range: 186.905518 m, bearing: 295.435569 deg, approach rate: 0.308496 m/s, LOS rate: 0.226556 deg/s, cmd heading: 185.502269 deg, new cmd heading: 185.814775 deg. 2j{< HeadingCmd: 3.243080 target range: 574.200012 and range: 656.30 m. j O@j j j i hhhhoBrh@CCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange1C =Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangefAfYfarfabfe Dy?ɛ҉B= 隕F6>I 5=ɚiI)GyBO?1w,0qǼA6eA@Y6O@6͆=96I]->y6H`ֲ? un? +)k?`@S?ɨ6eA@6‹;6CyBBB)IInInЬ4٢r v9=9vQ v>xx zG٣xy~ = ~> Nusing accuracyPremultiplier from config 49꥛? 4Y iRXB  E 8@DP ; ;l43B H@!E:l9qM=M=I==Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_TerminalqBMMAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceBM MAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideCMMAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl1DM MUninitialize.DM1EMqEMUZTransitioning guidance mode to: UNINITIALIZED*jUq=UzUAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance=U {UAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide>U}UInitialize.1?] ~]Initialize.=]gYg]HBgY{eNavigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg )=mq?m~m:Initialize WaypointComponent.~uZNavigating to waypoint: 36.903300,-122.119000fqfqfyrfybf}Q#?Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛB<= 隽89I 5=ɚiI xI  I *II EBI &I .I 6I ~<:I R FBImCJImCRIiZIm& =bIm& =jIm>5*F?2F:FBF"5JFG VzK%BoHK%9K!K%H K%GBO>E Will construct direction to contact in vehicle frame from tetrahedron phase data.j1w,ܼǼA /$?INXA@YNswO@NL=9N)->yNH&?`ye s `?7Pd?R?ɨNXA@Nu;NCyZ BZ)I)\ \IbIb4٢jի jL=9n ;Q n>lp rG٣pyreZ< r> zNusing accuracyPremultiplier from configtz49vХ?z4YvO iv XBy}D8@vDv(kpHeading = 0.400000):(kiHeading = 0.001000i$)p頽p)# PauseEEEE"Gua=Gu=] Will construct direction to contact in vehicle frame from tetrahedron phase data.G Gq By O >1w,W@ǼAyUBU)I .$?IMb@Mb@Mb@ )YMbX9?S㥛y&1yA?/ݼ`AA ;@)AI~@yAI5I5N4٢E< M&=9MQ M>QQ UG٣U eNusing accuracyPremultiplier from configYm49]ٱ?m4Y] i]WBm B?u:uDu8@]D]/#;] ;]{4}5B }@}$Ehh"h*hgggfffrfbf!-@ɛ]= I =ɚiI=<Q=>ɠ3;IL:JJa@a@a@a@uWill construct direction to contact in vehicle frame from tetrahedron phase data.GMw!G!B1Oe>jH<bH4<H=>I I)IIBI&I.I6I><:I$ Fg{1w,ǼA6B@Y65P@6u=96!,>y6Hٕ Z*?3&V Rke?}@U?%U?ɨ6B@6NJ;4y>B>)IIFIF>5٢R۽ Vj=9V鯻Q V>TX ZG٣XyZ= Z> Nusing accuracyPremultiplier from config|49~a? 4Y~ i~WB  C 8@~D~:~:~47B =H@='EzK}BoIK} 9KyK}I K}hh"h*hgggfffrfbf`7%@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ=  8I  o=ɚ i I m<=dc==>>ɠ=k -$?I Will construct direction to contact in vehicle frame from tetrahedron phase data.1w,ǼA2oB@Y2 P@2t=92!+>y2H@ ?,jg z?^`62?X?ɨ2oB@2;2CyNʉBR{)IiV%>IV=-Mb@Mb@Mb@))) )))Y- r?:vMby-C?-T--nA -h@)-AI-@)y-fAIEIEC5٢U; U@=9aQ >   G٣y%p< %> 5Nusing accuracyPremultiplier from config)=49-`?=4Y- i-WBEC?E:M BM8@-D-T;-_;-4e9B e@m*Ehh"h*hgggfffrfbf& @ɛeBe!= ae &Ia m/=ɚiiiI6<=>ɠYJ- J- J) J) J- :J- wR:J) J) 1w,9ǼA"Will construct direction to contact in vehicle frame from tetrahedron phase data.y=B=[)IIMIMB5٢e" eI=9mQ m>ii uG٣u=FGyu u> Nusing accuracyPremultiplier from configy49}>g?4Y}Y i}QWB8@}D}q:}:}Y4;B @-Ehh"h*hgggfffrfbf7 @H}?>Iy I})II}BIy&Iy.Iy6I}m<:I}H FɛM= XI 4=ɚiI#<S= >ɠԈzKBoHK9KKJ K &Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:50:22.9112 TRx dataTimestamp_ set to:1736373024.100632 +$?I Ӷ2w, ȼA2vzC@Y2Q@2=923>y2H࡟? @`jP7?@/i"?0Q?ɨ2vzC@2 ˊ;2CyFBJ@)I*JrR="JpII٢ҽ A=9 (Q  >! %G٣)ye)=}G >A]Will construct direction to contact in vehicle frame from tetrahedron phase data.a Yy+ B Nusing accuracyPremultiplier from config49(I?4Y iWB#A8@Di:i:4=B (@0Eh1h1"h1*h1g1g1g9f9f9f9rf9bfE?@ɛB#ا= 隭ԁI F=ɚiI< ؎=z>ɠ Will construct direction to contact in vehicle frame from tetrahedron phase data. 8DAT read: $Error in header  *Received a bad header: 2w,)ȼA D@Y 8R@ =9 9>y H`N|?@%¿L>N?̻?&J?ɨ D@ n; Cy-zB-)I =*$?I9IMIMv35٢e' eT=9e̻Q e>ii mG٣iyu< u> }Nusing accuracyPremultiplier from configy49}-4?4Y}g i}VB@8@}D}:}7:}z4 .@hh"h*hgggfffrfbf @ɛBՖ= I O=ɚiI<=)>ɠZHm@ARHm?AHu@>Iq Iu\)IIuBIu$ =&Iq.Iq6Iu<:Iug F2w,RCȼA2D@Y2R@2KP=92E>y2Hep!?ÿ"d#?X?@;?ɨ2D@2<;0y:eB:(IIJIJ>5٢R?ս RX=9RQ R>TT VG٣V>FGyZ< Z> ^Nusing accuracyPremultiplier from config\b49^G?b4Y^ i^VBdf?f8@^D^G:^:^4j>B j@j3Ehh"h*hg g g f f frfbf@)@ɛ9E{= AE,IA E=ɚAiIIMv=;8:74.,*'#!GGBO> 5)$?I9JJAAu Will construct direction to contact in vehicle frame from tetrahedron phase data.>2w,&]ȼAyJB(I E@E E@E E@M  M@M IMIMdK5٢] e1=9eQ m>ii uG٣qy} }> bBottom track data is 0.5 s old, using for 20.0 s. Nusing accuracyPremultiplier from config490?4Y iVB+:`:8@D:;>4@B e@6Ehh"h*hgggfffrfbf @ɛBܑ= {=ϾI =ɚ i I <É=*?ɠ=Irii )pp)G-y1Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO*> ($?I!JK3 K.KK"KJ J J 0J J ;J J ـ3J n2w,wȼAWill construct direction to contact in vehicle frame from tetrahedron phase data.:oF@Y: T@:r=9:Mb>y:HM??B`nǿ a?u4 ??ɨ:oF@:v;:CyR6BR(IIZIZQ5٢v vf=9v_Q v>xx zG٣xy~ĭ= ~>  bBottom track data is 0.8 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config49褛?4Y ieVB :6:=8@D=7;Q?4%BB %@%9EhIhI"hI*hIgQgQgQfQfQfYrfYbfeV@HI I)IItBI&I.I6Ix<:IR FɛeBe0|= aeIi mL=ɚiiiIm$X<ԏ=??ɠ=Ixii)t頝t)G GrAG]NG?G>GiBqO>Will construct direction to contact in vehicle frame from tetrahedron phase data.zKMNKMs9KIKML KM##$"    I $2w,?ȼA: H@Y:C*V@:=9:Ms>y:He1@Â?ɿ`2/?  ??ɨ: H@:%;:CyNBN(IIVIVA5*J^C="J^R=٢b  bL=9f7Q f>dh jG٣j?FGyjJ= j>  bBottom track data is 1.2 s old, using for 20.0 s.  Nusing accuracyPremultiplier from configt49vϤ?%4Yv iv9VB-9)-:-c<58@vDv Will construct direction to contact in vehicle frame from tetrahedron phase data.0*2w,ȼAFfSI@YFrW@F=9F~>yFH ~?%i̿2U?? @U1??ɨFfSI@Fg;FC R'$?IPyV BV(I m m mm mm  m m mMb@Mb@Mb@iii i)iYmT㥛 ? G٣y== > Nusing accuracyPremultiplier from config49?4Y iVBT:NA?:L78@Di ;;4 @hh"h*hgggfffrf bf @ɛ=B=f'l= 9=hI9 E=ɚAiAIE!12w,!ȼA60J@Y6X@6b=96R>y6H`Y?2g¿ 3Ͽ@ ?`FB??ɨ60J@6{;4yNBNr(IIVIVJ5٢b bZ=9bEvQ f>dd fG٣dyj+t= j> nNusing accuracyPremultiplier from configlr49nޞ?v4Yn2 inUBtv5z8@n Dn2;n2;n4~FB ~5@~?Eh!h!"h!*h!g!g!g)f)f)f)rf)bf5 )@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ%B%f= !%RI! -6=ɚ)i)I-<zK5LK59K1K5M K5U=U?ɠU]_=IUiYiY)] ƻ] ƻ)YEmNw ="Gu>Gu> %$?IGMa{GYG]rAGYBiO8>JJJ1JJu;JZ:J3JJBy6H >@@ ?@p¿ ѿ߽1[? %9? m?ɨ6 G٣@FGy]= > Nusing accuracyPremultiplier from config49`?4Y iUB@?:38@DY<$<4%HB %m@-BEhihi"hi*higiggfffrfbfi@ɛB_a= rI ~=ɚ i IZF<<=?ɠz|=IMlii)J:J:)!Will construct direction to contact in vehicle frame from tetrahedron phase data. $$?IEuڍ=G R] Will construct direction to contact in vehicle frame from tetrahedron phase data.Gq B O >6=2w,ȼAJM@YJ\@J=9J8>yJH+?gÿҿ g?y@'?@v?ɨJM@J;JCyrӈBrK(IIzIzK5٢~ M=9 Q  > G٣y`= > %Nusing accuracyPremultiplier from config%49m?-4Y iUB)-!2-8@DS;;4=JB =v@=EEhYha"ha*haHuA>Iq Iu(IIu BIq&Iq.Iq6Iu<:Iuo Fgggfffrfbf{@ɛBfcL=  I =ɚ!i)I-<5=5?ɠ5I=I5 i1i1)5p<5p<)9EaEa*Ea"EamWill construct direction to contact in vehicle frame from tetrahedron phase data.zKek3IKe+9KaKeN Kej& q % #$?I% IhGY G) B9 O] >NrD2w,eɼAJ4J6J4J4J4J6Y:J4J4J4J4J6;J6;R>O@YRش]@Ŕ=9RW>yRH I?@ÿb?ԿK \?@6?Z?ɨR>O@Rտ;RCyZňBZ:(IAEAIIGL5٢| >=9ˆQ >   G٣y%9u= -> MNusing accuracyPremultiplier from configA49ET?4YE Will construct direction to contact in vehicle frame from tetrahedron phase data.iEUBw08@E*DE Will construct direction to contact in vehicle frame from tetrahedron phase data. % "$?I! {J2w,,ɼAy~B~-(IMb@Mb@Mb@ )Yףp= ?Mb?MbP?y>?=:,A h@)AIIAyAII95٢J K=9Q > G٣AFGy > Nusing accuracyPremultiplier from config49G=?4Y iUBl??::/8@3Dl;;4MB )@ JEh)h)"h)*h1g9g9g9f9fAfArfAbfE5 @ɛmBu+3= qu*Iq }t=ɚyiyI}{<q=?ɠ=I ;ٿii)<頍<)Will construct direction to contact in vehicle frame from tetrahedron phase data.GRZHyRH}AAHI I\(IIBI&I.I6I<:I FGBO>\Q2w,\FɼA:S@Y:;/a@:EEE=9:[>y:H@ RM?Ŀ4׿`H*?8f?/?ɨ:S@:;8yFBF$(IIRIRs75٢Z& Z_=9Z=*Q Z>\\ ^G٣\yb> b> fNusing accuracyPremultiplier from configdj49f(?j4Yf0 ifUBln+n8@fWill construct direction to contact in vehicle frame from tetrahedron phase data.IW2w,d;`ɼA2}T@Y2b@2f7'=92W>y2Hme N?@v@ſ@&ٿ?@p夿@=?`(?ɨ2}T@2B;2CyNBN(I TV=]Mb@Mb@Mb@YYY Y)YY]Mb?~jt?y&1|?y]@?]D=]`;]1A Y)]AI] AYy] AI}I}B5٢.. ==90Q > G٣y= > Nusing accuracyPremultiplier from config49?4Y iUB@?:+8@GD ;D;s4 X@hh"h*hgggfffrfbf5~"@ɛ% B%:= !%a1I! %7=ɚ)i)I-<5=5H@ɠ5:=I5'ÿi1i9)=.==.=)9MWill construct direction to contact in vehicle frame from tetrahedron phase data. IGyGyGyGaBiO|> Will construct direction to contact in vehicle frame from tetrahedron phase data.[]2w,LzɼA6gV@Y6d@6=96q>y6Hg 6?@6ſऺڿ`\E?@@Q?`4?ɨ6gV@6H;6Cy>BB(IIJIJm?5٢R RZ=9RQ V>TT VG٣TyZ= Z> ^Nusing accuracyPremultiplier from config\b49^?b4Y^} i^UBdf)f8@^PD^;^;^4nQB n@nPEhh"h*hggg f f f rf bf@{>#@H%B>I! I%C(II%͈BI%% =&I!.I!6I%ǰ<:I% Fɛ B+= s3I  =ɚiIrJ< =  @ɠ =I$ii)0R=0R=)1G]Will construct direction to contact in vehicle frame from tetrahedron phase data.GqByO~>  $?IzKNK9KKP Kd2w,ɼA*J"4="J"=J&J&J&1J$J&;J&[:J&3J$J&E<J&E<J&߮;J&߮;RZX@YR]yf@RC<9R >yRH 'b? )ſ`ܿ B ?y?bE?ɨRZX@Rq;RCybBb(IIjIjS<5٢rAY< rF=9r7Q r>tt vG٣vBFGyz= z> ~Nusing accuracyPremultiplier from config|49~G䣛?4Y~" i~UB ' 8@~YD~u:~i:~04SB @SEh1h1"h1*h9gIgIgQfYfafirfibfm@=$@ɛ= BE5= IU1Ia m=Will construct direction to contact in vehicle frame from tetrahedron phase data.ɚqiI<5==@ɠ==IE-tiIiq)uz=}z=)E=e Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I G G >G >Gi By O >ҋk2w,mɼAyB  (IMb@Mb@Mb@ )YRQ?~jt?{Gz?yB?=#<l3A )?AIt Ay3AIIY45٢d -=9Q > G٣y > Nusing accuracyPremultiplier from config49ɣ?4Y' iUBB?:(8@eDp;K;w4UB X@VEh!h!"h!*h!g)g)g)f1f1f1rf1bf5 %@ɛeBm6K;= im3Ii uϛ=ɚqiqIu.<}=}i%@ɠ} T>I}iyiy)}R=項R=)E <Will construct direction to contact in vehicle frame from tetrahedron phase data.jHbHHC>IC I<(IIȈBI$ =&I.I6I<:Io FGMGBO>5 Will construct direction to contact in vehicle frame from tetrahedron phase data.1 i5 A= BDAT read: Response Not Received = *response not received= ,DAT read: user:2092> -E yVH_?Ŀ f&@/?{@+?`?ɨV]@V;TyfBf(I pIpIvIvF5٢z, ~X=9~bOQ ~> G٣yrf>  > Nusing accuracyPremultiplier from config 49 ?4Y M+ i UB%j#%9@ nD ; E;  4) -@)zKBHK9KKQ Khh"h*hgggfffrfbf`%@ɛ-B-(&(= U/~IeGiiii)mը=mը=)iJ!J%AAE׿<Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Tx time:21:50:30.5860 $Ping request sent.Ɲx2w,#ɼA6_@Y6m@6:96e1>y6HG ?,Ŀ@M[@ab?@[`þ??ɨ6_@6;6CyRBR(I-Mb@Mb@Mb@))) )))Y-rh|?~jtx?~jth?y-;?-;-D;-X/A ))-AI- A)y-=AIEIE=5٢UY UD=9]EQ ]>YY eG٣eCFGyeV= e> uNusing accuracyPremultiplier from configiu49m?}4Ym/ imUB};?}:}#}9@mxDm;m;mX4WB @YEhh"h*hgggfffrfbf-&@ɛB2%=  5I  M=ɚiI3G<8=L>@ɠT=>IDiWill construct direction to contact in vehicle frame from tetrahedron phase data.i)= =)  $?IJhE2<GJ=J=J=0J9J=u;J=\:J=ـ3J9aE@aE@aE@aM@GBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.H I  I C(II ͈BI &I .I 6I <:I ] FBIJIRIZIbIjI4~2w,9ɼA2ka@Y2o@2&[y923>y2H@`c@ dd fG٣dyf = j> UNusing accuracyPremultiplier from configh]49jt?]4Yj3 ijUBae*"e9@jDj:j:j4mZB m@m^Ehh"h*hgggfffrfbf Fg'@ɛ5B= W&= 9=3I9 =T#=ɚAiAIEIMFiIiI)m>=u>=)q Will construct direction to contact in vehicle frame from tetrahedron phase data.EΒ{< IzK K 9K K R K G RG B O >2w,2ʼAF:c@YFYq@FV9FϿ>yFH}?Hƿu ? zw}?׆? ,y?ɨF:c@FJ;FCyNBN(IIZgIZ5٢r = vH=9~jQ > %G٣!y-J= 5>mWill construct direction to contact in vehicle frame from tetrahedron phase data. =Nusing accuracyPremultiplier from config u49 hv?}4Y  9 i UB[ 9@ D < s< 4 @hYhY"hY*hYgYgYgafafafarfabfmSS(@ɛB4= V.I vݵ=ɚiȈ<Y=X@ɠ ->I'ji i ) ^= ^=) EE*E"E Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I G G B O >2w,2ʼA6Ie@Y6gs@6q-966>y6H ,?'?ƿ`Ĩ @!??@b9? 7?ɨ6Ie@6ߏ;6CyBBB(IMMb@Mb@Mb@III I)IYMS?~jtMbpyM:?MMM,A M @)M+AIIIyMAIeaIek5J}JyJ}1JyJ};JyJ}3Jy٢< 9=9yQ > G٣DFGy= > Nusing accuracyPremultiplier from config49Jb?4Y= iUB:?:4 9@D'8;6;%4\B y@aEhh"h*hgggfffrfbf)@ɛ%B%("= )-s+I) -Pٴ=ɚ)i1I5W<===!f@ɠ=8>I=OWi9i9)=1<>=1<>)AWill construct direction to contact in vehicle frame from tetrahedron phase data.ZHRHHI IU(II܈BI&I.I6I<:Iv FG5MG BO5q> Will construct direction to contact in vehicle frame from tetrahedron phase data.  I 22w,LʼABnjg@YBu@BOF9Bٙ>yBH?@ǿ|g{ ?Ɉ??`\?ɨBnjg@B91;BCyNBN(IiR>IRl>I^I^75٢f< fX=9jSQ j>hh jG٣lyn3= n> vNusing accuracyPremultiplier from configpv49rP?v4Yr>B ipxzz9@rDr:r:r,4 B@h!h!"h!*h!g)g)g)f)f1f9rfAbfE !)@zK]KK]59KYK]S K] 2P% nɛB-&= (I %+ҳ=ɚ!i!I%4<-A=-r@ɠ-EB>I-Ai)i1)5a. >5a. >)1G]RWill construct direction to contact in vehicle frame from tetrahedron phase data.G9BaO>m%2w,\fʼA:ܳi@Y:vw@:zH9:1>y:H?@!ǿ@kZt?@&???ɨ:ܳi@:;:CyBBB(I%Mb@Mb@Mb@!!! !)!Y%333333?J +:vy%9?%H%T%-A %@)%ZAI!!y%pAI=I=<5٢Mϐ< MC=9MaQ M>QQ ]G٣yt= > Nusing accuracyPremultiplier from config49;?4YZG iUB :?:]Will construct direction to contact in vehicle frame from tetrahedron phase data.9@D< < 44}^B %@dE $?Ihh"h*hgggfffrfbf@<*@ɛuBups9= y}<%Iy }͗=ɚyiyI}G<d=@ɠM>I)ii)ٕ>ٕ>)JJJ0JJ=;J^:Jـ3JGGBO > Will construct direction to contact in vehicle frame from tetrahedron phase data.H B>I C I b(II BI &I .I 6I <:I c F 2w,T9ʼA2| l@Y2(z@25@92t->y2H@5 `?`|&ȿK5  ? ?$?S?ɨ2| l@2;2CybBb(IIjIj:5٢r< rQ=9vɩ:Q v>tx zG٣zEFGy~= ~> Nusing accuracyPremultiplier from config 49)? 4YL iUB 9@D:::4`B ,@%gEhAhA"hA*hIgIgIgIfIfIfQrfQbfU`t+@ɛBs= 隍Q#I =ɚiI#<蓣=6@ɠVX>I|ii)#>頥#>)eWill construct direction to contact in vehicle frame from tetrahedron phase data. $?IGMGBOb>zKNKKKT KT7&  "  m G 6Y y iB72w,EʼABKn@YB$j|@B%9B͐>yBH=@F(?gȿ`JG???(?ɨBKn@B;BCyNBN(I)T T Za=jWill construct direction to contact in vehicle frame from tetrahedron phase data.Zp=II75٢. :=9 Sn;Q 5>AI MG٣Iy= > Nusing accuracyPremultiplier from config49p?4Y6R iUB9@D:q:B4-bB -j@-hEhh"h*hgggfffrfbf|i,@ɛBp:= "I n=ɚiI_<%Х=%@ɠ%e>I%i!iI)]1w2>]1w2>)a}Will construct direction to contact in vehicle frame from tetrahedron phase data. IGRG B O >a2w,ʼA:qp@Y:^~@:g9:R>y:H`7t?&bɿ ҽ oL?̀?Ï?E?ɨ:qp@:2;:CyBBB (IMb@Mb@Mb@ )Y`"?Mb rhy7?C,A )AIAyI-I-,5٢E< EW=9MN;Q M>II MG٣IyU½= U>JeJaJaJaJe;JaJaJa uNusing accuracyPremultiplier from configq}49u?}4YuV iuUB8?:9@uDu;u;uI4dB <@kEhh"h*hgqgqgyfyfyfyrfybfg%-@ɛB)$= :I c=ɚiIE5<=@ɠo>I>aӾii)ae=>ae=>) Will construct direction to contact in vehicle frame from tetrahedron phase data.jH<bHHI In(IIBI% =&I.I6I}<:IX FGG ?GGBO> $?I Kh Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:50:33.8628  TRx dataTimestamp_ set to:1736373035.190333sI2w,KʼA6nr@Y6F@6,96~X>y6HѴY?F'ʿe N?v?q? ?ɨ6nr@6O;6Cy>B>#(II-I-35٢e[< eI=9e;Q e>ii mG٣mFFGym,= u> }Nusing accuracyPremultiplier from configq49u?4Yu:\ iuUB9@uDu:u:u)P4 @hh"h*hgggfffrfbf-@zK_MKKKU KɛB a(=  ~I  >=ɚiIh<Ċ=M@ɠk{>I󃩾ii)頝)G GWill construct direction to contact in vehicle frame from tetrahedron phase data.GMGBO=>u2w,ʼAyvBv%(Ii~a=I~C=AMb@Mb@Mb@ )YQ? ףp= rhy5?Q8)A )I AyQAIIp;5٢; A=9Q  > I %G٣!y% %>5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i5AmDAT read: 21:50:33.8628 LVL= 21312, 17809, 21666, 32115, AGC= 65, IDX= 437,-0.35,-0.364, 0.318,-2.033,-0.880, PHS= 0.605, 1.246,-1.156, RAW= 15.1, -6.5, CAL= 14.9, -10.4, ROT= 135.1, 10.4 Ygot valid direction response: 21:50:33.8628 LVL= 21312, 17809, 21666, 32115, AGC= 65, IDX= 437,-0.35,-0.364, 0.318,-2.033,-0.880, PHS= 0.605, 1.246,-1.156, RAW= 15.1, -6.5, CAL= 14.9, -10.4, ROT= 135.1, 10.4 8DAT read: $Error in header *Received a bad header  Nusing accuracyPremultiplier from config)49-ᢛ?4Y- b i-UB-6?: 9@-D-<-<-W4%fB %@%nEMX#Rx 2: Read direction message, but no range.U\direction in FSK: [0.182647,0.958651,0.218237]99=Z{`?cE?bJ1?9=@S=E =T)=s}I=Ai=H?=|?==V>=V =%>)=9I=}@i=9>9=IcbпrYy"_ )=lI=O=i=?=Iahh"h*hgggfffrfbf@.@ɛ]B] == I ^]=ɚiI@i<=/@ɠB&>I&kii)UX>UX>)GA  Will construct direction to contact in vehicle frame from tetrahedron phase data.G! B) OM >H A>I  I u(II BI &I .I 6I <:I a F[2w,}˼A6/yv@Y6K@6996 >y6HT ?`˿`khc? b: h??ɨ6/yv@6;4yBBB$(IIJIJV85٢RRԻ Rb=9V3TT VG٣XyZ5> Z> ^Nusing accuracyPremultiplier from config\b49^UԢ?b4Y^+g i^xUBdff9@^D^~ ;^q:^]4l n+@phh"h*hgg g f f f rfbfy/@ɛ=B== AE}IA Em=ɚAiAIElIU.iQiQ)U=c>U=c>) %$?I!MWill construct direction to contact in vehicle frame from tetrahedron phase data.GGGGBOe>zKMKM@9KIKMV KM*J "J 4=J J J J J ;J [:J J J >yjHP:?̿=?`Np o? ?ɨjzx@jt;jCyrBv((II~I~s75٢5< =A=9M ai mG٣uGFGy= > Nusing accuracyPremultiplier from confige49OĢ?e4Ym ikUBq}}9@D<b<re4hB @ qEhyhy"h*hgggfffrfbf`:0@ɛB%r@= !%I) -p=ɚ)i)I-cQ<5=5@ɠ5io>I5OGi9i9)=r>=r>)9 5$?I1uWill construct direction to contact in vehicle frame from tetrahedron phase data.GRG B O >2w, 65˼A6ez@Y6A@6 ;96弎>y6H@ׄε?Ϳ &!?}??ɨ6ez@6eϋ;6CybBb&(I)h heMb@Mb@Mb@aaa a)aYe/$?L7A`尿ye&1?e+e̼ep-A e@)eAIe AayeAIuIu*5٢ E=9;Q > G٣y= > Nusing accuracyPremultiplier from config49ϵ?4Ygs iWUB2?:9@Da#;@#;l4iB E@sEhh"h*hgggfffrfbf/0@ɛ%߉B%N1 = )-PI) -X=ɚ)i)I-<y=H@ɠ3>I;ii)(>頽(>)Will construct direction to contact in vehicle frame from tetrahedron phase data.ZHIRHM?AHQIQ IU{(IIUBIQ&IQ.IQ6IUy<:IUU FBIJIRIZI% =bIjI 4GGBO> ! I! } Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՅ AM2w,O˼A2b|@Y2@@2:0<92KL>y2H`H@2?@ο`O+L?@=??ɨ2b|@2 i;2CyNBR'(IIZIZ95٢bȨ; bX=9bdd fG٣dyj= j> nNusing accuracyPremultiplier from configlr49nǨ?r4Ynx inDUBtv v9@nDnL:n:ns4zkB zT@zvEhh"h*hgggfffrfbf m0@ɛ܉Bf.= 0I %=ɚ!i!I%<-=-@ɠ-s>I-\v=i)i))->5>zKUk3IKU9KQKUW KU5(  ePExceeded connect timeout, disconnecting.)iJIJMBAJK(3 K(.KK"KJmJmJiJiJm;JmX:JiJiJmA<JmA<Jm/;Jm/;G}MWill construct direction to contact in vehicle frame from tetrahedron phase data.GqBO>2w,ph˼AFV~@YFU:@Fѫ^<9FO9>yFH`b߿`U?;Ͽ`W޿ ?BՋ4?@?ɨFV~@F;FCyVBV&(IMb@Mb@Mb@ )Ym? ףp= ~jty.?Q8ļC+A @)+AIE AyAI ILhI35٢/ ;=9;Q > G٣HFGy0= > Nusing accuracyPremultiplier from config49!?4Y i0UB/?: 9@D;_;z4 ]@ h)h)"h)*h)g)g1g1=Will construct direction to contact in vehicle frame from tetrahedron phase data.f9fAfArfAbfEd1@ɛىBX2= 隍I .=ɚiI<շ=T@ɠpv>I5>ii)O>頥O>)GGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.HI II  IM u(IIM BII &II .II 6IM W<:IM < F2w,ǂ˼A:&@Y:5@:ڏ<9:>y:Hݿ`?$пcF@ ݿ`C?` ?`u?ɨ:&@:;:CyRBR/(IiV=IV%=IZIZ<55٢fV= f\=9fhh jG٣hyn= n> rNusing accuracyPremultiplier from configpv49r.?v4YrT irUBtz"z9@r Dr:r :r?4| ~@h!h!"h!*h!g!g!g)f)f)f)rf)bf51@ɛe։Be+= ae Ia mߧ=ɚiiiImUIu|q>iyiy)}۔>}۔>)y $?IUWill construct direction to contact in vehicle frame from tetrahedron phase data.GGBO%n> UnManaging dock network, ignoring radio surface power offzK.ELK9KKX K$ Jq Ju Jq Jq Jq Ju [:Jq Jq Jq Jq Ju ߮;Ju ߮;c2w,v˼A6w(@Y67@6v<96>y6HZ'ܿS?wп\ۿ@?`דp?@?ɨ6w(@6;6CyJBJ*(IRWill construct direction to contact in vehicle frame from tetrahedron phase data.ItIt٢=^ EC=9E;Q E>QY ]G٣aymW= u> Nusing accuracyPremultiplier from config492?4Y i UB9@D <<4mB S@yEhYha"ha*hgggfffrfbf>2@ɛщBH>=  I <Ǧ=ɚiI-x< ý= i@ɠ T>I r3>i i)>>) IMhUWill construct direction to contact in vehicle frame from tetrahedron phase data.GiGa Bq O >2w,V˼A2@Y2N-@2<92>y2Hjڿ t?пc# Yٿ:?eb`??ɨ2@2a;2CyBBB#(I Mb@Mb@Mb@    ) Y oʡ?~jt:vy -? D Լ Z,A @) AAI  A y GAI-I-*5٢Ǽ D=9,;Q > G٣IFGy= > Nusing accuracyPremultiplier from config49by?4Y| iTB-?:r9@DU;;ۏ4nB @zEhh"h*hggg f f f rfbfk2@ɛ=ΉB=NL"= AE IA E=ɚAiAIEIU\>iQiQ)U\>U\>)YWill construct direction to contact in vehicle frame from tetrahedron phase data.jHbH<HB>I Ih(IIBI$ =&I.I6Ia<:ID FG9GB!O=r> $?I ] Will construct direction to contact in vehicle frame from tetrahedron phase data.2w,f˼AyB% (I)) )IEIE65٢eP mL=9mQ u> G٣y > Nusing accuracyPremultiplier from config49mn?4Y iTB9@'D;;4pB @ }Eh)h)"h)*h)g)g)g1f1)E= ECfAfQrfibfu3@zK< LKs9KKY K MGYIyMAɛʉBfE6=  I =ɚiIb<=@ɠ:>I⓮>ii)Љ>Љ>)J J J 1J J :J J 3J J =<J =<J J Will construct direction to contact in vehicle frame from tetrahedron phase data.GaGI B O >L2w,)>˼AVz@YV$@VBz<9Vc>yVH@*ֿ{?~VѿSֿk? tNy?`%?ɨVz@VWu;Ty~B~(I I!Mb@Mb@Mb@ )YK7A`? rh~jty+?C ļ,A @)AIE AypAII45٢k G=9@ G٣y_> > Nusing accuracyPremultiplier from config49e?4Yr iTBV+?:9@/D;; 4 @Will construct direction to contact in vehicle frame from tetrahedron phase data.hh"h*hgggfffrfbf@p3@ɛMƉBM.'= QU IQ U=ɚQiQIU<]6=]L@ɠ]}=>IeԲ>iaia)eԲ>eԲ>)GGBO>H A>I  I b(II BI % =&I .I 6I r<:I P FE Will construct direction to contact in vehicle frame from tetrahedron phase data.3w,w̼AyvBv(II~I~S<5٢E0 MR=9MQ M>QQ UG٣UJFGyU ]> eNusing accuracyPremultiplier from configam49e]?m4Ye ieTBiim9@e8De*:e7:eӤ4y }@yhh"h*hgggfffrfbf@3@ɛÉB= VI >G=ɚiI<=I@ɠc>I>ii)>>) $?IWill construct direction to contact in vehicle frame from tetrahedron phase data.GGBOj>zK- BoHK- 9K) K- Z K- !3w,̼A~Will construct direction to contact in vehicle frame from tetrahedron phase data.y B (Ii-=I-a=I}I}35٢; F=9Q > G٣y > Nusing accuracyPremultiplier from config49S?4Y{ iTB  9@ADn$<;%< 4A E@Ihh"h*hgggfffrfbf@E4@ɛ%B%v5= !%~ I! ML6=ɚaiyI}00<h=AɠG>IL>ii)L>頍L>) INhWill construct direction to contact in vehicle frame from tetrahedron phase data.GRG B O >5N 3w,7̼A6@Y6@6D=96,>y6H`Z<ѿ@? iѿn!ѿ?E`?`?ɨ6@6Q;4y>B>(IJJJ0JJ;JU:Jـ3Ja @a @a @a @-Mb@Mb@Mb@))) )))Y-Zd;O?Zd;O~jty-~*?-j)-.A -M@)-AI-t A)y-=AIEIE%.5٢MѼ UN=9U`wYY ]G٣Yyel> m> uNusing accuracyPremultiplier from configi}49mvM?}4Ym imTB}*?:9@mIDm#;m";m4tB @EhIhI"hI*higqgqgqfqfqfyrfybf} 4@ɛBAQ= I I g=ɚiIn <,=Aɠ>I2>ii)2>2>)ZHRHAAHI IU(II܈BI&I.I6Ia<:ID F Will construct direction to contact in vehicle frame from tetrahedron phase data.GqGIBQOu> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.33w,Q̼A6@Y6> @6p& =96q؎>y6H`dο@d?lѿ 2ο?ca??ɨ6@6%;6CyBBB (IIJIJ75٢r2 rR=9v\\;Q v>tx zG٣zKFGyzP= z> %Nusing accuracyPremultiplier from config%49G?-4Y itTB)-뿑-9@QDz::۹45B =@Yhh"h*hgggfffrfbf`5@ɛB = !% I! %폠=ɚ!i!I%<-P5=-4 Aɠ5 >I5L>iQiQ)UL>]L>)Y"Gm>Gm>zKK9KK[ KG}MWill construct direction to contact in vehicle frame from tetrahedron phase data.GYBaO{>I_3w,k̼A2@Y27@2=92+̏>y2Hʿ%?5ѿC@˿ G٣y= > Nusing accuracyPremultiplier from config495C?4Y idTB*?:ῑ9@ZD6;5;14 @hh"h*hgggfffrfbfl5@ɛB7'=  I X=ɚiIl<%?=%Aɠ%P>I-̵>i)i1)5̵>5̵>)9uWill construct direction to contact in vehicle frame from tetrahedron phase data.qiuAGRJJJJJ;JY:JJGBO>H I  I C(II ͈BI $ =&I .I 6I V<:I ; FBIQJIQRIQZIQbIU% =jIUf3% Will construct direction to contact in vehicle frame from tetrahedron phase data.F!3w,)Z̼A2@Y2"@2=920>y2H`)&ǿ0,?@ѿ`Gsǿiԏ?`բ???ɨ2@2ޏ;2CyNBN(IIVIVY45٢bc bW=9b-;Q f>dd fG٣dyj= j> nNusing accuracyPremultiplier from configlr49n??r4Yns inUTBpvݿv9@nbDnL:n:n4x z@xh!h!"h!*h!g)g)g)f)f)f)rf1bf5k5@ɛ5B5S!= 9=M I9 =lÞ=ɚ9i9I=DIM>iIiI)M>M>)Q qIqWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2094> BDAT read: Tx time:21:50:41.5361 $Ping request sent.GaBO>zKm Km 9Ki Km \ Km p'3w,2̼A6܊@Y63@6C=96^>y6H@gÿKT?ѿZÿy?2g`?ն?ɨ6܊@6[;6CyJBJ(IIZIZp;5٢bC< bJ=9fT4;Q f>dd fG٣fLFGyjn= j>rWill construct direction to contact in vehicle frame from tetrahedron phase data.rJDAT read: TxSync time:21:50:41.5353 vNusing accuracyPremultiplier from configlz49nI0>ii)0>頽0>)G GG iIqGBOc>Will construct direction to contact in vehicle frame from tetrahedron phase data.u-3w,|̼AJJJJJ=;J\:JJyB'Ii=IC=Mb@Mb@Mb@ )Ysh|??S㥛y/ݼ̼-A )?AIyILI5٢te :=9Q > G٣y > Nusing accuracyPremultiplier from configu49f8?u4Y i,TB}>*?}:}9࿑}9@tD1<<4×B U@Ehh"h*hgggfffrfbf`46@jH=<bH=<HE@>IA IE6(IIEˆBIE% =&IA.IA6IE<:IEZ FɛB)=  I ݜ=ɚiI<Will construct direction to contact in vehicle frame from tetrahedron phase data. J= Aɠ >I >i i )>>)GMMG) B1 B= W'J U $?IU OhOe > Will construct direction to contact in vehicle frame from tetrahedron phase data.43w,\̼A6ס@Y6$@6=96$ʎ>y6HoǸ#?@ѿ`#N|?@ǽ?ɨ6ס@6;6CyRBR'II^NI^5٢[ X=99Q %>!! %G٣!y-> -> ENusing accuracyPremultiplier from config9E49=5?M4Y= i=TBIM*ٿM9@=|D=":=L:=54Q ]@Yhh"h*hgggfffrfbf7@ɛBv= -< I w=ɚiIţ<׽= AɠԄ?I >ii) > >)zKK@9KK] KG=RGEqAGEnAWill construct direction to contact in vehicle frame from tetrahedron phase data.GBAO]v> 9 IA [:3w,T̼A2@Y2O@2=92͒>y2H ^E?Qxѿ`>Y^`@V?`?ɨ2@2h;2CyNBR'I]Mb@Mb@Mb@YYY Y)YY]L7A`?X9vQy]+'?]]].A Y)]AIYYy] AIuBIu5٢Se C=9Q > G٣MFGy= > Nusing accuracyPremultiplier from config49i3?4Y iSB'?:ֿ9@DS;;4 @hh"h*hgggfffrfbfq7@ɛ%B-r= )- I) -B/=ɚ)i)I5<=%==%Aɠ=?I=>i9i9)=>E>)AUWill construct direction to contact in vehicle frame from tetrahedron phase data."Ge>Ge>G}MJ-J)J-1J)J-;J)J-3J)GQBaO>H= A>I9  I= *(II= BI9 &I9 .I9 6I= r<:I= P F Will construct direction to contact in vehicle frame from tetrahedron phase data.A3w,UͼA2@Y2@2`=92@P>y2Hz L?.fѿ&-śꣿN?T?ɨ2@2[G;2CyNBN'I)P PIZIZ%.5٢b%K bX=9b@6;Q f>dd fG٣dyj= j> nNusing accuracyPremultiplier from configlr49n1?r4Yn/ inSBtv4ҿv9@nDn;n*;n4~ėB ~@|hh!"h!*h!g!g!g!f)f)f)rf)bf-f7@ɛ]B]H= Y]2Ia e\=ɚaiaIeӨ Yy@AzK K 9K K ^ K NG3w,cz ͼA6@Y6琖@6$=96Ќ>y6H`^x}E?eѿ(@H5Ң@Ә]??ɨ6@6;6CyNyBR'IIZIZ75bWill construct direction to contact in vehicle frame from tetrahedron phase data.٢fE fJ=9fV;Q j>hh jG٣hyn$= n> zNusing accuracyPremultiplier from configx 49z1? 4Yz( izSB?ο9@zDzU;z;z:4%ŗB %@%EhAhA"hA*hAgIgIgIfIfIfQrfQbfU`;8@ɛ}B}= 隅 I  q=ɚiI5<=(-Aɠ ?I ?ii) ?頕 ?) IE}U<uWill construct direction to contact in vehicle frame from tetrahedron phase data.G RG B O >FM3w,T:ͼAyrBv'IJJJJJ:JV:JJMb@Mb@Mb@ )YuV?V-Qyr(?m-A )AI AyIIy/5٢:= 7=9Q >)9 EG٣ENFGyM M> UNusing accuracyPremultiplier from configQ]49U /?]4YU iUSB]F)?]:eFӿe9@UDUx;Uw;U4mǗB m8@mEhh"hZHRH?AHI I(IIBI&I.I6I{<:IV FWill construct direction to contact in vehicle frame from tetrahedron phase data.*hg g g fffrfbf8@ɛeBm+= imIi ub=ɚqiqIuѱ<}q=}1Aɠ}L?I}% ?iyiy)% ?項% ?) IPhED%< Will construct direction to contact in vehicle frame from tetrahedron phase data.G MG B O >AU3w,@WͼAN[@YNFk@NT,=9N>yNH M?e?`[ѿ`G0?@@㈥@:?`?ɨN[@N;NCyV}BZ'Ii^>I^=IbIb.5٢j  jD=9n;Q n>ll rG٣pyru]> r> zNusing accuracyPremultiplier from configt~49vD/?~4Yv ivSBǿ9@vDv90;v[0;vF4  @h1h1"h1*h1g1g9g9f9f9f9rfAbfE 9@zK)K)K)K-_ K-  ɛMBMJ= QUIQ UU=ɚQiQIU<]=]*6Aɠ]?Ie ?iaia)m ?m ?)EE*E"E5Will construct direction to contact in vehicle frame from tetrahedron phase data. I GU RG) B9 OU > [3w,rqͼANWill construct direction to contact in vehicle frame from tetrahedron phase data.y5B5'IEMb@Mb@Mb@AAA A)AYEMbX9?K{GzyE!?E^E#A A)AIEt AAyEAI]I]"25٢un< u3=9uQ }>yy }G٣yy > Nusing accuracyPremultiplier from config49P.?4Y i_SB#?:ο9@D;';A 4ȗB y@hh"h*hgggfffrfbfซ9@ɛ B A!= bI N=ɚiI<t >:Aɠk?I`?i!i!)%`?%`?))H9I9 I=(II=BI9&I9.I96I=<:I=y FGmMMWill construct direction to contact in vehicle frame from tetrahedron phase data.MBDAT read: Rx Time:21:50:44.8169 UTRx dataTimestamp_ set to:1736373046.044512GYBiO>y6H@? *?ѿT h?y7Υ ʖ? Ҽ?ɨ68@6J;6C PIPynBn'IIvIv65٢~ f=9:Q >    G٣ OFGy '>  > Nusing accuracyPremultiplier from config49.?%4Y i>SB!%ƿ%9@D& ;z ;u4) 5@1hYha"ha*hagagagafafifirfibfm9@ɛ~B2= 隭I )=ɚiI <X8>T>AɠC?I ?ii) ? ?)Will construct direction to contact in vehicle frame from tetrahedron phase data.GRGBOf>J}J}J}0JyJ};J}X:J}ـ3JyJ}A  BDAT read: Tx time:21:50:45.9361  $Ping request sent. ٕR^ٕϢv?ٕ` ڕً?)ڕܸIڕ@?iڕܸ>ڑڑەfhq?{a\A-[ÿ)ەĐIەm>iە|֬?ە`ۑۑj:publishing transmit ping timejFpublishing direction and range infoؑ9ؕ}yk?e;p?ʟ?yؑؑؑؑr@Yrc,@rc.=9rϏ>yrH%c?F`? ѿN.?@0ʥ? շ?ɨr@rqP;rCyUuB}'I ّ)  ==)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑەfhq?{a\A-[ÿ)ۑIۑiۑۑۑۑ IeMb@Mb@Mb@aaa a)aYe-?MbXktye5?eʽe 0e(0A e@)aIeE AayeAII*5٢e  e=9mjQ m>iq uG٣qyuHP= u> Nusing accuracyPremultiplier from config49/?4Y i SB ?:Ŀ9@D;; 4ɗB ?@EkuH?kM k kͼA:k`$DBk@#DZk@"bDDV@F`_қy@ 3@}yk?e;p?ʟ?Jk|֬?Rk`*8p@>OR2@|I?:?Z儼|kl?"k~*kCk(?kΡ# 2k%Dk]t4Ǜ?kkoBkACk_@haha"ha*hagigigifififirfu@bfu5 ?Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:50:45.9353 ɛwB0= I =ɚiI<>CAɠK?I?ii)??)G G ?G ?G B O >qo3w,,ͼA6"@Y6o@6H-=96M>y6H`?/@?@п`\3t?﷿@]?`?ɨ6"@6SO;6Cy>yBZ'IIfFIft5٢j= n=jHpbHr<HtIt Iv (IIvBIv$ =&It.It6Iv<:Iv` FBIJIRIZIbIjIgg49hQ  +? G٣y= +? %Nusing accuracyPremultiplier from config!-49%w0?-4Y% i%RB)5F59@%D%:%:%4=ǗB =@=Ehaha"ha*hagagagafififirfibfu?ɛtB < 隭I H=ɚiIA<K >>FAɠ_?IP]?ii)P]?頽P]?)Will construct direction to contact in vehicle frame from tetrahedron phase data.G! IQhGB!O=r> Will construct direction to contact in vehicle frame from tetrahedron phase data.u3w,ͼA6vі@Y6@6*=96>y6H2? ?oпE1 ?e;Z"?@_?ɨ6vі@6+;4yBrBB'IIJyIJ'5٢R RN=9VlQ V>TT ZG٣XyZi= Z> bNusing accuracyPremultiplier from config\b49^:2?b4Y^)! i^RBdff9@^D^L:^L:^p$4h jQ@hhYhY"hY*hYgYgYgafafafarfabfm@T?ɛnB[= iI r=ɚiI[< >JAɠ!?I%7#?i!i!)%7#?%7#?))J=J9J9J9J=;J9J9J9J=E<J=E<J9J9zKҔMK9KKa K -Will construct direction to contact in vehicle frame from tetrahedron phase data.GMGBO> I |3w,¦ͼA6Z@Y6˞@6=\'=96Y>y6HA?p?@)п J?庿 ꤿ O?@?ɨ6Z@6C;6Cy>uBBWill construct direction to contact in vehicle frame from tetrahedron phase data.F'IHJAMb@Mb@Mb@ )Y\(\?"~jZd;Oy?S㽹j<.A M@)AI Ay\AI5ZI5Q5٢'g< 8=97Q > G٣PFGyj= > Nusing accuracyPremultiplier from config49^4?4Y=( iRB?:%%9@D ;J;/,4) -@)hihi"hq*hqgggfffrfbfC?ɛhB "= GI ٘=ɚiIc<9>%>NAɠ%$?I%('?i!i!)%('?%('?))"Ge>Ge>HI I(IIBI% =&I.I6I<:IGRGG5Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO>3w,Ί μA I:B@Y:@:(=9:>y:H?}? ϿA?@'ʼ@F? ?ɨ:B@:e;:CyFmBF'IIN:IN# 5٢Z2 Z_=9ZP:Q ^>\` bG٣`yb/= b> jNusing accuracyPremultiplier from configdj49f6?n4Yf. ifwRBlnYn9@fDf ;f~ ;f24p v@th h "h *h g g gfffrfbf%?ɛMcBUy= QUIQ ]@=ɚYiYI]NeQAɠe'?Ie&?iaia)mс'?mс'?)iWill construct direction to contact in vehicle frame from tetrahedron phase data.GMGBOa>JK3 K.KK"KJUJUJQJQJU:JUZ:JQJQJU2<<JU2<<JU;JU;zKE KKE 9KA KE b KE = Will construct direction to contact in vehicle frame from tetrahedron phase data.q%3w,\&μAV@YV@Vt.=9VE>yVH@Qw?x?)Ͽt@T?`U꾿!`-??ɨV@V;VCypB%'II5vI5%5٢Mm< MA=9]_>;Q e>iq G٣y̒= > Nusing accuracyPremultiplier from config49:?4Y4  1I=RhiKRBAEnM9@DW=V=2:4mȗB @Ehh"h*hgggfffrfbfBm@ɛ5]B5o+= 15I1 =x=ɚ9i9I=EUAɠE+?Ieс'?iiii)ii)iWill construct direction to contact in vehicle frame from tetrahedron phase data.GG B O > 3w,9@μA2}@Y2ˢ@2J0=92⋋>y2H=??0?aοX'@V?s Q6?M?ɨ2}@2U;2CZH@RHB@AHFB>ID IF'IIFBID&ID.ID6IF<:IFq FyRrBR'IMb@Mb@Mb@ )Y\(\?`" ףp= yQ80A @)IE AyAIrI#5٢< C=9D:Q > G٣QFGy4= > Nusing accuracyPremultiplier from config49=?4Yp; i RB]?:9@D<;Will construct direction to contact in vehicle frame from tetrahedron phase data.~ ;SA4  b@ h9h9"h9*h9gAgAgAfAfAfIrfIbfMH>@ɛXB,= _I pS=ɚiI< &> YAɠ .?Iii)) -$?I)GQG1BAO]> Will construct direction to contact in vehicle frame from tetrahedron phase data.թ iթ )U E= U C H~G  M @ YQ yU BC83w,nZμA2@Y2Ԕ@2d2=92@>y2H?`E?%ο`w@~? 0cJ`3-?@c?ɨ2@2|;2CyNoBN'IiI^I^\05٢f p j[=9jH:Q n>ll rG٣pyr֡= r> zNusing accuracyPremultiplier from configt49vMA? 4YvRA ivQB 򯿑9@vDvݱ;v0;vG41 5@JJJJJ;J\:JJJ>@<J?@<Jį;Jů;zK-BoHK-59K)K-c K-7i# hAhA"hA*hAgAgAgIfIffrfbf@ɛQBk(= I =ɚiIoM]AɠM0?IIiQiQ)QQ)QWill construct direction to contact in vehicle frame from tetrahedron phase data.G ) I1 G B) OE >a3w,sμA2Will construct direction to contact in vehicle frame from tetrahedron phase data.y'IMb@Mb@Mb@ )Y7A`?v/Zd;Oy?x齹j< M@)$AI AyAII*5٢?j M;=9MQ M>QQ UG٣Qy] ]> eNusing accuracyPremultiplier from configam49eE?m4Ye8H ieQBm?m:uu9@eDe;eW;eO4y }@yhh"h*hgggfffrfbf @ɛLB= ݾI Fێ=ɚiIS<D>aAɠ 4?Iii))HI III&I.I6I<:Ie FG1GWill construct direction to contact in vehicle frame from tetrahedron phase data.B!O=> ! I! ]J3w,!͍μAyeB'II-}I-(5٢=K =T=9AQ E>AI MG٣MRFGyI M> ]Nusing accuracyPremultiplier from configQ]49UI?e4YUM iUQBaae9@UDU ;U:U2V4i m8@qhh"h*hgggfffrfbf @ɛFB*= gI e0=ɚiI <>`dAɠͳ6?Iii))uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:21:50:49.2170 }TRx dataTimestamp_ set to:1736373050.329462GGBOi>zK F'MK K K d K % Will construct direction to contact in vehicle frame from tetrahedron phase data.~u3w,yμA2H@Y2W@24=92>y2H`??̿Sa?Ŀ`7?@?ɨ2H@2T;2Cy:cB:'IIVuIVH%5٢bU bR=9f:Q f>hh jG٣lyrb> r> zNusing accuracyPremultiplier from configt~49v!O?4YvS  tIiv}QB:@vDvMgAɠUh9?IQiQiQ)QQ)Y}Will construct direction to contact in vehicle frame from tetrahedron phase data.GG B O >J J J 1J J u;J [:J 3J a @a @a @a @9\3w,ςμAjHbH<HI I'IIBI$ =&I.I6In<:IN Fr*@Yr:@r4=9r>yrH_?}w?":̿R?`Ŀď{U??ɨr*@rv;rCy~`B~'IMb@Mb@Mb@ )YI +?"~jˡEy9?S㽹'(0A 3@)AIyAIzI'5٢c] <=9=Q > G٣yǂ= > Nusing accuracyPremultiplier from config49U?4YZ iSQB%Will construct direction to contact in vehicle frame from tetrahedron phase data.]DAT read: 21:50:49.2170 LVL= 15440, 26625, 15458, 23219, AGC= 70, IDX= 446,-0.05, 0.766,-0.822,-0.977,-0.463, PHS= 1.317,-0.312,-0.517, RAW= 84.1, -5.7, CAL= 92.9, -13.5, ROT= 57.1, 13.5 eYgot valid direction response: 21:50:49.2170 LVL= 15440, 26625, 15458, 23219, AGC= 70, IDX= 446,-0.05, 0.766,-0.822,-0.977,-0.463, PHS= 1.317,-0.312,-0.517, RAW= 84.1, -5.7, CAL= 92.9, -13.5, ROT= 57.1, 13.5 mPDAT read: Bearing 57.1, 13.5 (Local) u~Local bearing/azimuth received: Bearing 57.1, 13.5 (Local) }DAT read: Range 10 to 50 : 657.5 m (Round-trip 876.7 ms) speed -0.2 m/s ,DAT read: user:2096> BDAT read: Tx time:21:50:50.3362 $Ping request sent.!!%N%ªP?Z"ۦ(H@)%2 I%X=i%G?%֮!!:publishing transmit ping time؉Fpublishing direction and range info!9%#䋠?̎?w$°T?y!!!! !)!I!i!!!!! !)!I!i!!!%N%ªP?Z"ۦ(H@)!I!i!!!!I?:q:@D==d4ȗB t@Ek%i,3?k%" k! k%μA:k!Bk%A#DZk%@"%?5@P +`@@%#䋠?̎?w$°T?Jk%G?Rk%֮*%b2~/qPqw,n@%N9Yړع?"k%Ä*k% k%,c(?k%. 2k%4Dk!k!k%sCk%?Ck%)ɪ@hh"h*hgggfffrfbfǪ?ɛ9Bt#= 隵+ؾI ޝ=ɚiI;<T&>ckAɠOK3w,]μA6@Y6@694=96ȍ>y6HO:?^ ?P˿`d?ſz?8?ɨ6@6C-;6CyLN'I)P PIZHIZW5٢zFJ ~W=9~9Q ~> G٣SFGy =  > Nusing accuracyPremultiplier from config49\?4Y_ i-QB%М%:@D;[;8k4) -~@)hYhY"hY*hYgYgagafafafarfibfmL?ɛ4B!= 隝ԾI =ɚiIi<(>nAɠ>?Iii)頩)zKmBoHKm9KiKme Km%Will construct direction to contact in vehicle frame from tetrahedron phase data.GMGB!OMt> I3w,5μA2۠@Y2F@2C2=92o>y2H;M?ฯ?'˿`O=? SƿF4[??ɨ2۠@2;0BWill construct direction to contact in vehicle frame from tetrahedron phase data.yFUBF'IMb@Mb@Mb@ )YzG?1ZdˡEy ?"۽ )AIyAI5EI55٢ET EF=9MQ M>II MG٣QyUu= U> Nusing accuracyPremultiplier from config49!d?4Ye iQB?: u :@&D;;r4 -.@)hihi"hi*higggfffrfbfT?ɛ-BE$=  ؾI qT=ɚiI{<Q#,>#rAɠ%A?I!i)i)))))1JJJ0JJJ^:Jـ3JHAIA IE'IIEBIA&IA.IA6IE<:IE FBIJIRIZIbIjI`4GQ5Will construct direction to contact in vehicle frame from tetrahedron phase data.G9BIOe> $?I J3w,ϼA>@Y>˨@>O-=9>#L>y>H` ?=? ̹ʿ` ?ǿJXl??ɨ>@>;>CyJRBJ'IIR<IR 5٢ZoG ZT=9ZMQ Z>\\ bG٣`yby= b> fNusing accuracyPremultiplier from configdj49fak?j4Yfk ifPBln픿n:@f-Df;f;f0y4p vT@th h "h*hgggfffrf!bf%Q?ɛM'BM4= IMԾIQ Uf=ɚQiQIUѤ<]U.>]uAɠ]D?Iaiaia)aa)aWill construct direction to contact in vehicle frame from tetrahedron phase data.G}HGGGYBaOY>zK K s9K K f K  = Will construct direction to contact in vehicle frame from tetrahedron phase data.R3w,(ϼAB#@YBq@B ,=9B=>yBHk? ?`ɿ`??hǿ@bK?`?ɨB#@Bc];BCyln'Iiv=Iv%=IKI5٢-6 -C=95{4Q =>99 =G٣=TFGyEP= E> ]Nusing accuracyPremultiplier from configIm49M?t?}4YM q iMPBy}z}:@M5DM;M5;M4ǗB Q@Ehh"h*hgggfffrfbf8? qI}Thɛ B*= ;I a=ɚiIMxAɠMF?IIiIiI)II)QWill construct direction to contact in vehicle frame from tetrahedron phase data.GMGa Bi O >J J J J J J _:J J H I  I 'II {BI &I .I 6I j<:I L F3w,GBϼA6 @Y6W@63.=96lW>y6H@?@R?ȿ `I?`8ȿ ĥ 0?`[?ɨ6 @6;6CyBJBB'IMb@Mb@Mb@ )Y ףp= ?I +~jtyQ?9 )IAyGAI-tI-$5٢5  J=9w:Q > G٣yM= > Nusing accuracyPremultiplier from config49#~?4Yv iPBH?:뉿:@{Aɠ_I?I i i )  )1 iIiGQG1B9O]> Will construct direction to contact in vehicle frame from tetrahedron phase data.<3w,o\ϼA:j@Y:y@:w-=9:W>y:H@@?`F?;ȿ@AH?ȿM9 ??ɨ:j@:U;:CyF=BF'IININ_,5٢Z ZS=9Z0Q Z>\\ ^G٣\yb== b> fNusing accuracyPremultiplier from configdj49f?j4Yf{ ifsPBhjhn:@fDDf:fn:fZ4p r@ph h "h *h g g gfffrfbfk@ɛEBMh*= IM־II M.=ɚQiQIU<]8>]~Aɠ]إK?IYiaia)aa)azK KK 9K K g K (d7buV?." Will construct direction to contact in vehicle frame from tetrahedron phase data.G%RG- ?G->GBOEQ> ]$?IY3w,~vϼA2Will construct direction to contact in vehicle frame from tetrahedron phase data.0i06rK@Y6Z@6,=96AG>y6H9?P?fǿK?`ɿ@99.??ɨ6rK@6綎;6Cyv?Bv'I)x x}Mb@Mb@Mb@yyy y)yY}S?Dl/$y}/?}O},y y)}SAI}Ayy}AI}I(5٢< <=9ʹQ > G٣UFGy= > Nusing accuracyPremultiplier from config49ꓢ?4Yȁ iNPB?:|:@LD;;4ŗB c@Ehh"h*hggg f f f rfbf ř@ɛ B<#= e;I t=ɚiI%<\<>AɠS;N?Iii))JiJmJm1JiJiJmY:Jm3JiHC>I I'IIlBI&I.I6I?<:I- FG5MGBWill construct direction to contact in vehicle frame from tetrahedron phase data.O-> A IA 3w,WϼAyv5Bv'III,5٢-E -S=9-Q ->11 5G٣1y5 => ENusing accuracyPremultiplier from configAM49E?M4YE iE,PBIIM:@ETDE:E:E4Y ]@Yhh"h*hgggfffrfbfγ @ɛB` = оI zX=ɚiI "<k?>TAɠP?Iii))%G9QuWill construct direction to contact in vehicle frame from tetrahedron phase data. Yy BGGqBO>zKe 3NKe 9Ka Ke h Ke % Will construct direction to contact in vehicle frame from tetrahedron phase data.V3w,BϼA^<@Y^@^*=9^>y^H@?`-B?Xfƿ q6?>ʿcVB? ?ɨ^<@^;\yf%Bfu'IInxIn&5٢v vN=9z?Q z>|| ~G٣|y~ > >  Nusing accuracyPremultiplier from config490?4Y, i PBo:@\D_;;4! %@!hAhA"hA*hAgIgIgI $?Ifffrfbf  @ɛB f= 隝zپI =ɚiI=@< hC>AɠR?IAiIiI)II)Q"GG>uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Rx Time:21:50:53.6159 TRx dataTimestamp_ set to:1736373054.872657GGrAGrAGa Bq O >jH bH p<H I C I 'II ]BI &I .I 6I P<:I 9 F3w,9ϼAb@YbF@b+=9b8>ybH? ?֮ſ J?? y˿@xrJK??ɨb@bh;bCyv$Bzt'Ii=I4=Will construct direction to contact in vehicle frame from tetrahedron phase data.MMb@Mb@Mb@III I)IYMGz?~jtlyMp?MMM0A Mv@)MAIIIyMAIesIee$5٢u) u4=9}9Q }>y G٣VFGy!y= > Nusing accuracyPremultiplier from config49p?4Y iOB?:?k:@dD;p;4ėB @Ehh"h*hgggfffrfbf"B@ɛBȮ= &ӾI E=ɚiIJd<% F>%PAɠ%5NU?I!i)i)))1)9 IGGqByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:50:53.6159 LVL= 17584, 32753, 29362, 32755, AGC= 69, IDX= 418, 0.07,-1.929, 2.691, 3.089,-2.736, PHS= 0.896,-0.809,-0.461, RAW= 101.1, 4.8, CAL= 111.3, 3.0, ROT= 38.7, -3.0  Ygot valid direction response: 21:50:53.6159 LVL= 17584, 32753, 29362, 32755, AGC= 69, IDX= 418, 0.07,-1.929, 2.691, 3.089,-2.736, PHS= 0.896,-0.809,-0.461, RAW= 101.1, 4.8, CAL= 111.3, 3.0, ROT= 38.7, -3.0  PDAT read: Bearing 38.7, -3.0 (Local)  ~Local bearing/azimuth received: Bearing 38.7, -3.0 (Local)  DAT read: Range 10 to 50 : 656.6 m (Round-trip 875.5 ms) speed 0.4 m/s  ,DAT read: user:2097>  BDAT read: Tx time:21:50:54.7362  $Ping request sent. y6H{?(?Ŀ@ 7j?F˿@LD>??ɨ6챨@6&p;6Cy=B=c'IIUIU*5٢6 Y=9FQ > G٣y%= > Nusing accuracyPremultiplier from config49Ţ?4Yږ iOB!%d%:@lD<<L4)J=J=J=0J9J=];J=3g:J=ـ3J9J=IAɠcW?Iii)頩)zKeBoIKe9KaKei Keg^wfCd1RKu?JKu>Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:50:54.7354 IUhG)G B1 Ou >y:H? i?ÿ"?`?4̿G@??ɨ:@: ;8y^B^]'IMb@Mb@Mb@ )YX9v? rhly?C @)AIZAyAI@I 5٢) H=9gʸQ > G٣y/= > Nusing accuracyPremultiplier from config49Ӣ?4Yɛ iOB0?:Z:@tDV5;3;S4—B @Eh)h)"h)*h)g1g1g1f9f9f9rf9bf=`2?ɛeBm = im׾Iq ui=ɚqiyI}E<}rM>Aɠb~Y?Iii)頁)G GqAHiImC Im'IImNBIm% =&Ii.Ii6Im<:Im| FGG ?G>GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data. $?I 34w,мA:C@Y:R@:r'=9:>y:Ho? ,?V@ӝ?˿ ??ɨ:C@:!r;:CyFBF\'I)H HIRIR*5٢V V^=9ZкQ Z>X\ ^G٣^WFGy^u~= b> jNusing accuracyPremultiplier from configdj49f࢛?j4Yf: ifOBlngUn:@f{Dfw;f;fǿ4t v@th h "h *hgggfffrfbf?ɛEBM = IUҾIQ U$=ɚQiQIU#eAɠe`[?Iaiaia)aa)i]Will construct direction to contact in vehicle frame from tetrahedron phase data.GGyBO_>JUJUJQJQJU=;JU]:JQJQJUKD<JUKD<JU;JU;zK DOK 9K K j K  Will construct direction to contact in vehicle frame from tetrahedron phase data.a_ 4w,w+мAZ@YZ-@Zd'=9ZYs>yZH`'$?@? T``J*?˿錄`??ɨZ@ZR;ZCyjBjM'IIv7Iv 5٢z l ~F=9~YQ ~> G٣yf=  > Nusing accuracyPremultiplier from config 49 [?4Y  i dOBN:@ D X ; z ; 4) -@) E$?IAhYhY"hY*hYgYgYgafafafarfibfmi?ɛ܈B= 隕I׾I 0=ɚiIC <TT>bAɠj]?Iii)頩)GR]Will construct direction to contact in vehicle frame from tetrahedron phase data.GBOn>ZHY RH] AAHa Ie C Ie 'IIe >BIe $ =&Ia .Ia 6Ie <:Ie n FBI)JI)RI)ZI-$ =bI-$ =jI-1 4G4w,N_EмAyBK'IMb@Mb@Mb@ )YV-?V-ly?h )AIAyAWill construct direction to contact in vehicle frame from tetrahedron phase data.IqI#5٢ >=9Q > G٣y > Nusing accuracyPremultiplier from config49?4Y! iAOBB?:O:@D;};4B @|EhIhI"hI*hIgQgQgQfQfQfYrfYbf]?ɛԈB= 隍оI -v=ɚ)i)I-W-<5fX>5Aɠ5p_?I9i9i9)99)A 9I9GMGqAGpAGiBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data.Kp4w,/3_мA2@Y2^@24(=92R>y2HG?0?@O >:?@ZͿ@? ?ɨ2@2nœ;2CyBBBI'IiF>IF>IJIJ)5٢R V_=9V9Q V>TX ZG٣ZXFGyZL> Z> bNusing accuracyPremultiplier from config\b49^w ?f4Y^. i^$OBdfUAf:@^D^:^H:^4h n@lhh "h *h g g g fffrfbf,@ɛE͈BEe = AE;˾IA M=ɚIiIIMVUČAɠUC:a?IQiQiQ)YY)YJAJEJE1JAJAJE*f:JE3JAaM@aM@aU@aU@zKK}9KKk KWill construct direction to contact in vehicle frame from tetrahedron phase data.GGBO l> )I)54w,o yмAWill construct direction to contact in vehicle frame from tetrahedron phase data.y=B=F'IMb@Mb@Mb@ )YS?ʡE rhy?C (0A v@)SAIAyAII?15٢ G  6=9 Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=495?=4Y5- i5OBE?E:EwDE:@5D5;5;54I M @MzEhqhq"hy*hygygygyfyffrfbf\@ɛĈB#= 隵žI )=ɚiIq<t_>AɠMc?Iii))HI I'II/BI&I.I6I<:Ic FGWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO> $?I u$4w,мA6 @Y6X@67&=967>y6H`|J?@?X`72{-?{οŤ??ɨ6 @6|;6CyBBB8'IIJIJ +5٢ny r`=9rQ r>tt vG٣tyv> v> ~Nusing accuracyPremultiplier from configx49z+?4Yz izNB6:@zDz[;z;z*4 @h9h9"h9*h9gAgAgAfAfAfIrfIbfM(@ɛuBuZp = y}ʾIy }=ɚyiyId<b>Aɠd?Iii)頉)=Will construct direction to contact in vehicle frame from tetrahedron phase data.GG  ?G 5?GBOm>J]J] J]0JYJ];J]Yk:J]ـ3JY Will construct direction to contact in vehicle frame from tetrahedron phase data.zKY KY KY K] l K] *4w,+ìмA2xy@Y2ƈ@2Ͳ&=92#'>y2H(?*?_~@?`YNϿԤ ? ?ɨ2xy@2Z;2C XIXy^Bb;'I)h h np=na=Iv|Ivb(5٢]oE< eB=9e9Q e>ii mG٣mYFGym= m> }Nusing accuracyPremultiplier from configq49u;?4Yu7 iuNB/:@uDu;u:u4B y@wEhh"h*hgggfffrfbf @ɛB = I F=ɚiI"<f>Aɠf?Iii)) EWill construct direction to contact in vehicle frame from tetrahedron phase data.GGqBO>H I  I n'II BI % =&I .I 6I U<:I = F14w,MмAy||Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:50:58.0215 TRx dataTimestamp_ set to:1736373059.156684Mb@Mb@Mb@ )YbX9?K~jtyE?^.A  A)$AIZAy=AII(*59Q > G٣y > Nusing accuracyPremultiplier from config49aK?4Yw iNB`?:6:@D0;F-;4   h9hA"hA*hAgAgAgAfAfIfIrfIbfMDl@ɛ}B}= 隅VI T~=ɚiI<Oj>0AɠMh?I $?IVhii)頙))  GG)A u YqyuBGBO >M Will construct direction to contact in vehicle frame from tetrahedron phase data.¾74w,J|мA:@Y:@:K'=9:4>y:H ?n?@๿@%o?@ п`@? ?ɨ:@:Y';:CyFBF8'IINnIN."5٢V- V<9Z:Q Z>X\ ^G٣\y^ > b> fNusing accuracyPremultiplier from config`j49bY?j4Yb ib}NBlnO)n:@bDb>;b?;b>4rB v{@vtEh h "h *h gggfffrfbf@ɛEBEk= IMjII Mĕ}=ɚIiIIM<]'n>]Aɠ]]i?IYiaia)aa)a"Gu>Gu>Will construct direction to contact in vehicle frame from tetrahedron phase data.zKMBoHKM9KIKMm KMGGrAGrA IGBOj>] Will construct direction to contact in vehicle frame from tetrahedron phase data.Y i] A DAT read: 21:50:58.0215 LVL= 25104, 29425, 29042, 32755, AGC= 69, IDX= 490,-0.01,-1.387,-2.943,-1.968,-2.009, PHS= 0.711,-0.886, 0.038, RAW= 125.2, 2.0, CAL= 132.5, -5.0, ROT= 17.5, 5.0  Ygot valid direction response: 21:50:58.0215 LVL= 25104, 29425, 29042, 32755, AGC= 69, IDX= 490,-0.01,-1.387,-2.943,-1.968,-2.009, PHS= 0.711,-0.886, 0.038, RAW= 125.2, 2.0, CAL= 132.5, -5.0, ROT= 17.5, 5.0  PDAT read: Bearing 17.5, 5.0 (Local)  ~Local bearing/azimuth received: Bearing 17.5, 5.0 (Local)  DAT read: Range 10 to 50 : 660.8 m (Round-trip 881.1 ms) speed 0.4 m/s  ,DAT read: user:2098>  BDAT read: Tx time:21:50:59.1363  $Ping request sent. 4w,ڪмAfر@YfO@f'=9f+>yfH`? s?%,`S޿?@'п A ?`?ɨfر@f[;fCj`direction in FSK: [-0.162154,-0.495604,0.853278]n:publishing transmit ping timeinFpublishing direction and range info9,nwĿe ߿(Q N?y3%Dbr rq)Ii6?b= @5= @)¸Ia>i¸=??B ?-ء?)T=IiR؂z:publishing transmit ping timeizFpublishing direction and range info9,nwĿe ߿(Q N?y )Ii )Ii??B ?-ء?)Iiy]B]>'Iie G٣ZFGyw?= > Nusing accuracyPremultiplier from config49n?4Y iTNB?:}":@D;;v4H D>I  I h'II BI $ =&I .I 6I C<:I 1 Fa e1@aJ#K# K#K#K#"K#JJJJJ=;J_:JJJaJaJt;aJu;akxr@?k0 k k_мA:k3%DBk$DZkƣ@"p)۱Zgwtz\RĞ@,nwĿe ߿(Q N?JkRRk؂*—FBrJWkv2I-,|@RݿDOΐѢXH?"k*kbkQ7Aɠkk?Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data. $?IG RG B O >{E4w,xѼA6@Y6e@6_'=96l@>y6H[?@*?@:ݿ@0?Nп??ɨ6@6;6CyRBR9'IIZcIZN5٢z+¼ z=9z Q z?  G٣ y =   ? Nusing accuracyPremultiplier from config49/z?%4YI i;NB!%+%:@D!;u;4mB mM@mqEhh"h*hgggfffrfbf X?ɛB+= I |_{=ɚiI<%\+v>%ݓAɠ%:l?I)i)i)))))1uWill construct direction to contact in vehicle frame from tetrahedron phase data.GYG1BAOew>- Will construct direction to contact in vehicle frame from tetrahedron phase data.zK K s9K K n K   I WhKK4w,_/ѼAbQc@Ybr@bϱ!=9b*>ybH ?N?D o3ܿ ?XϿ4%r?`O?ɨbQc@bJ;bCynBn>'II zI '5٢ٛ< %G=9%gQ %>)) -G٣)y-l= 5> Nusing accuracyPremultiplier from config49?4Y iNB\:@D :C:M4  @hh"h*hg!g!g!f!f!f)rf)bf-`?ɛUBUT(= Y]OIY ](dz=ɚYiYI]eAɠmm?Iiiiiq)qq)G G}Will construct direction to contact in vehicle frame from tetrahedron phase data.GMMG] ?G]K?G)B1OU>H I  I I I &I .I 6I <:I c FJ J J J J ;J d:J J J F<J F<J ;J ;1R4w,3IѼA6@@Y6O@6"=96ꑆ>y6H ?W?в@ڿ@?"п^B@?y?ɨ6@@6-A;4yBBBA'I)D DnWill construct direction to contact in vehicle frame from tetrahedron phase data.EMb@Mb@Mb@AAA A)AYEw/?kt:vyE?E EԼA Ev@)AIAAyE AI]4I]{5٢m< mF=9m9Q m>q }$?Iyq G٣yEv= > Nusing accuracyPremultiplier from config49\?4Y iMB?::@D'<z'<4 @pEh9h9"h9*h9g9g9gAfAfIfrfbf ?ɛB 0= 隽&I gy=ɚiI<d~>Aɠ#5o?Iii))G-RWill construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՑG B O- >eZX4w, cѼAV@YVj @V&=9V"p>yVH`$?D?nr׿?п֤? ?ɨV@Viו;VCy~B~M'III%.5٢%N= %O=9-(<;Q ->)1 5G٣5[FGy5> 5> ENusing accuracyPremultiplier from config9E49=G?M4Y= i=MBIMM:@=D=:=:=(4QJaJa e?@ahh"h*hgggfffrfbf?ɛ}B& 0= oI bx=ɚiI<;ր>Aɠ-!p?Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.zK5LK559K1K5o K5 m$?IiRK]?JK]>GYGYBqO|> Will construct direction to contact in vehicle frame from tetrahedron phase data.Ą^4w,?|ѼAFֶ@YF\@F4-=9F>yFHp ??Xտ?ѿݤ |%??ɨFֶ@F?Δ;FCyNBRE'IMb@Mb@Mb@ )YRQ? rh~jty?C=4A A)AIAyzAII+5٢X >=9tp;Q > G٣y|= > Nusing accuracyPremultiplier from config 49ƹ?4Y. iMB?:Cム:@DcQ;O;#4%B %@%mEhAhA"hA*hAgIgIgIfIfIfQrfbf @ɛsBz9= !%kI! %w=ɚ!i!I%zUAɠUBq?IQiQiQ)QQ)YHI In'II BI&I.I6IK<:I7 FBIuàCJIuàCRIqZIqbIqjIu4JiJmJm1JiJiJm=h:Jm3JiJiJiJm;Jm; Will construct direction to contact in vehicle frame from tetrahedron phase data.GMGpAG YIYGiByO>le4w,ѼA2#@Y2q@2.=92>y2H N?T?Rw_Կ?Hѿ`ХU?@?ɨ2#@2;0y>B>G'IiB;>IB=IJIJ|+5٢R0< Ra=9Rs:Q V>TT VG٣TyZm= Z> ^Nusing accuracyPremultiplier from config\b49^ǣ?b4Y^E i^MBdf⾑f:@^D^S;^;^)4h jw@hhh"h*hg g g f f f rfbf@ɛlB8= >XI Fw=ɚi I *< <Ą>AɠKq?I1i1i1)19)9mWill construct direction to contact in vehicle frame from tetrahedron phase data.G}RGQBaO~> Will construct direction to contact in vehicle frame from tetrahedron phase data. E $?IA zKM KKM 9KI KM p KM k4w,ѼA2t@Y2僿@21=92>y2HƎ?@y?^5ҿT?K]ѿ1TT??ɨ2t@2hh;0yLPIZ{IZ'59fu:Q f>hl nG٣n\FGyrq= r> ~Nusing accuracyPremultiplier from config| 49~!أ?4Y~ i~MB%@վ%:@~D~ן;~ϝ;~-14-B -R@-jEhaha"hi*higigigififqfqrfqbfuz(@ɛ}cB}q?= 隅FI v=ɚiI~<Xφ>Aɠr?Iii)頙)eWill construct direction to contact in vehicle frame from tetrahedron phase data.G>GBO>H I  I t'II %BI &I .I 6I Ѱ<:I FJ J J J J J ]:J J J J J ;J ;Y~r4w,muѼA:L5@Y:D@:1=9:L>y:H3?`jp?P6`Yѿ? wѿ`k0a?`-?ɨ:L5@:쫑;8yFBFK'IbWill construct direction to contact in vehicle frame from tetrahedron phase data.-Mb@Mb@Mb@))) )))Y-X9v?:v~jty->-T-D-5A )))I-A)y-AIEtIE$5٢U; U<9UķQ ]>Ya eG٣aye e= e> uNusing accuracyPremultiplier from configiu49m{裛?4Ym imMBj>::@mDm$5Aɠ+s?Iii))GuMG} ?G}0?GQBYuWill construct direction to contact in vehicle frame from tetrahedron phase data.O}>Yx4w,\ѼAy~B~C'I)  II*5٢% %M=9%Q ->)) -G٣)y5 => ENusing accuracyPremultiplier from configAM49E?M4YEa iEtMBIIM:@EDEz:E :Ex?4eB ek@egEhh"h*hgggfffrfbf ή @ɛRBC= +I `u=ɚiIA=<>ZAɠs?Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.  $?IzKeKe9KaKeq KeGQG1BYO{> Will construct direction to contact in vehicle frame from tetrahedron phase data.!~4w,)ѼAy B F'IMb@Mb@Mb@ )Y+?t5A A)AIyAII(*5٢2< >=9Q > G٣]FGy > Nusing accuracyPremultiplier from config 49  ?4Y A i bMB)>:0:@ D ; ; F4! -E@)hIhI"hI*hIgIgQgQfQfQfYrfYbf]@@ɛIBL= 隍VI u=ɚiI <̌>AɠUt?Iii!)!!)!H]E>IY IYIYIY&IY.IY6I]<:I]~ FJuJuJu0JqJu;Ju^:Juـ3JqJudL<JueL<Ju;Ju;Will construct direction to contact in vehicle frame from tetrahedron phase data. IGGBO> }G! A 4w,ҼA *!Y(y*B> @Y>[@>s2=9>޷>y>HU? ?+势t\ɿR? ѿ`L y? ?ɨ> @>;>CyDJE'IIRIR|+5٢Z8T Za=9Z:Q Z>\` bG٣`yfjS> f> jNusing accuracyPremultiplier from confighn49j?r4Yj ijTMBprr:@j DjS;j;jVM4vB z.@zdEhh"h*hgggff!f!rf!bf% @ɛUAB:sM= I Nt=ɚiIz<%쟎>%Aɠ%t?I)i)i)))))1=Will construct direction to contact in vehicle frame from tetrahedron phase data."Ge>Ge>GyGrAGqAGYBiO|> Will construct direction to contact in vehicle frame from tetrahedron phase data. !$?I zK BHK }9K K r K  ( 4w,1ҼA>c@Y>@s@>k$1=9>ˍ>y>Hz??a{`Oƿ>?DZѿ"k{? }?ɨ>c@>L;>Cy^Bb@'Iiftt vG٣tyzOs= z> ~Nusing accuracyPremultiplier from config|49~U(?4Y~ i~CMB  |v :@~D~:~U:~zT4 q@haha"hi*higigqgqfffrfbf@ɛ7BbS= 隽I [/t=ɚiI<,>Aɠt?Iii))EWill construct direction to contact in vehicle frame from tetrahedron phase data.G1GBOE>HQ IQ  IQ IQ IQ &IQ .IQ 6IU }<:IU \ Fp̒4w,KҼA602@Y6~A@6 v0=96Rڌ>y6HC?? 6?j"ÿ@d?(ѿ` ^?`?ɨ602@6T;6Cy>B>4'IRWill construct direction to contact in vehicle frame from tetrahedron phase data. AIAMb@Mb@Mb@ )Yoʡ?I +Mb`?y ?9;6A )AIAyAII*5٢ q1  9=9EŹQ >! %G٣%^FGy-Dh= -> Nusing accuracyPremultiplier from config49V=?4Y i6MB+ ?:.B:@D;;\4B @aEh)h1"h1*h1g1g1g1f9f9f9rf9bf=`*@ɛ-BR= 隭HI Es=ɚiIh<|֒>3Aɠuu?Iii))G1]Will construct direction to contact in vehicle frame from tetrahedron phase data.G) B9 OU >4w,9eҼA2@Y27@2y`/=92 >y2H? H ?|?@' ?@qѿ@X꥿`;??ɨ2@2;2CyBBB0'IIJtIJ$5٢R" Rd=9RAQ R>TT VG٣TyZo= Z> ^Nusing accuracyPremultiplier from config\b49^L?b4Y^ i^-MBdf*f:@^ D^(;^l;^sb4h j@hJ%J%J!J!J%];J%s:J!J!a-@a-@a-@a-@h9h9"hA*hAgAgAgIfIfIfQrfbf @ɛ $B S= IUݽIQ Ugks=ɚQiQIU.<]”>]@Aɠ]3u?IYiaia)aa)aWill construct direction to contact in vehicle frame from tetrahedron phase data.G GrA 5"$?IIzK.LK59KKs KG1G= ?G=?G B O} >m Will construct direction to contact in vehicle frame from tetrahedron phase data.q iu A+4w,ҼABּ@YB$@B-=9B;>yBH`?3??  U? lѿ`J@;?`?ɨBּ@B`;@yN߇BN'I)P P-Mb@Mb@Mb@))) )))Y-w/?{Gz=9]QQ ]>YY ]G٣YymIj= u> }Nusing accuracyPremultiplier from configq}49u_?4Yu iuMB?::@u'Dus5?Aɠ=2u?I9i9i9)99)IWill construct direction to contact in vehicle frame from tetrahedron phase data. -#$?I)GyGQ Bi O >4w,nOҼA:@Y:@:Ð-=9:W5>y:H???Aٴ?7Vѿn ,? ?ɨ:@:Ū;:CyF܇BF'IININ-5٢V| ZW=9ZMQ Z>\\ ^G٣^_FGyb= b> fNusing accuracyPremultiplier from configdj49f~p?j4Yf+ ifMBhnԽn:@f.Df#;f#;fp4rB v@v[Eh h "h *h g g gfffrfbf`L@ɛMBMeqP= IM\۽IQ Ur=ɚQiQIU}e4Aɠe u?Iaiaii)ii)iWill construct direction to contact in vehicle frame from tetrahedron phase data.GGyBO^>J=J=J9J9J==;J=`:J9J9 Will construct direction to contact in vehicle frame from tetrahedron phase data. ) I) zK5 uJK5 ŷ9K1 K5 t K5 24w,*ҼA2P@Y2_@2o+=92W>y2Hl?@;?3?@ ?@2ѿx r??ɨ2P@2Š;2CyNʇBR'IIVIVB-5٢~۩ E=9)Q >    G٣ y k=  > Nusing accuracyPremultiplier from config49Â?%4Y iLB!%U%:@5D ; ;w4) 5@1hQhQ"hQ*hQgQgYgYfYfYfarfabfe@ɛ BZO= I 3Pr=ɚiI7<Av>Aɠt?Iii))"G>G>=Will construct direction to contact in vehicle frame from tetrahedron phase data.GG!G%rAGBO5q>jHbH<HF>I IU'II BI$ =&I.I6I<:I FBIJIRIZIbIjI44w,BҼA6@Y6/@6,=96>y6H`? (I?w?h?uѿ?2?ɨ6@6O֊;6CBWill construct direction to contact in vehicle frame from tetrahedron phase data. b$$?I`yfBf&Iij=Ij=Mb@Mb@Mb@ )YMbX?Q롿:vy ?\Լ5A A)AIyAI}I(5٢, <=9:Q > G٣ym= > Nusing accuracyPremultiplier from config 49 ?4Y  i LB3 ?:ɝ:@ Aɠ t?Iii)頩)Gq5Will construct direction to contact in vehicle frame from tetrahedron phase data.1i1GIBYO>E4w,;ҼA61@Y6@6l*=96>y6H?/?s? So?ѿ zN}??ɨ61@6f;6CyBBB&IIJxIJ&5٢V0 Vb=9VZǺQ V>XX ZG٣Z`FGy^Ʌ= ^> bNusing accuracyPremultiplier from config`f49b?j4Yba ibLBhj[n:@bBDb+?;bY@;bƅ4p r@pJ~@AJ~?AJJJ1JJ;J]:J3Jh)h)"h1*h1g1g1g9f9fAfArfAbfM@ɛB N=  TI =q=ɚ9i9I= EAɠE[t?IAiAiA)II)IWill construct direction to contact in vehicle frame from tetrahedron phase data. %$?IzK]BoHK]9KYK]u K]RKm ?JKm?GGBO>M Will construct direction to contact in vehicle frame from tetrahedron phase data.,4w,ӼAJd@YJج<J(=9J>yJH4?d-%:? ╕?@?@п@g@? ?ɨJd@J7;JCyRBR&IEMb@Mb@Mb@AAA A)AYE(\?I +L7A`堿yE?E94E+E5A EzA)EAIEnAAyAIUIUy/5٢eD( e?=9m`Q m>ii uG٣qyun= u> Nusing accuracyPremultiplier from config49?4Y iLB?:":@JDN;;J4B h@UEhh"h*hgggfffrfbfR @ɛB}P=HG>I I6'IIBI&I.I6I:I F 隵I q=ɚiI<L>Aɠ"Zt?Iii)) IWill construct direction to contact in vehicle frame from tetrahedron phase data.G5RG9G=>GBO5>V4w,ӼA6q@Y68=6C'=96UG>y6H ?ɚ`PW?_ ?`? ѿx.?@*?ɨ6q@6 ;6CyBBB&I)D DININ-5٢VA VW=9Vi{Q Z>XX ZG٣Xy^1=~PExceeded connect timeout, disconnecting. > MNusing accuracyPremultiplier from configAM49E|ͤ?U4YE iELBQU}U:@EQDE:E:E.4a m@ihh"h*hgggfffrfbf!@ɛB:iN= 0I cp=ɚiID<^>Aɠt?Iii))%Will construct direction to contact in vehicle frame from tetrahedron phase data.GeM*J-R="J-=J=J9J9J9J=];J9J9J9GQBiO|> '$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data.&4w,r4ӼAzK"&(KK"ŷ9K K"v K"  BK$:K&qA:^<@Y:=:%=9:ى>y:Hk?*̬@z?$ױ?@[?!ѿ@]U??ɨ:^<@:͡;:CyFBF&IININY45٢V VJ=9Z=ƺQ Z>XX ^G٣^aFGy^_z= ^> fNusing accuracyPremultiplier from config`f49bߤ?f4Yb ibtLBhj<j:@bXDb:b:b4nB r'ArREhh"h*hggg f f f rfbf >!@ɛهB'P=  I  ^p=ɚ1i1I=$@MGAɠMs?IQiuviuL)qq)y5Will construct direction to contact in vehicle frame from tetrahedron phase data.GGBO>HH>I I'IIهBI# =&IGD.I9D6I<:I Fh4w,fLNӼA IBWill construct direction to contact in vehicle frame from tetrahedron phase data.J@YJ=Jb $=9J>yJH ?5zf? g,?`8?Yѿ@`e?@?ɨJ@Jq;JCyVBV&I=Mb@Mb@Mb@999 9)9Y=(\?/$+y9===5A 9)9I=A9y=AIMIM45٢e e?=9eQ m>ii mG٣iyuKn= u> Nusing accuracyPremultiplier from config%49?%4Y iNLB- ?-:--:@`D ;;Ǣ4UB ]A]OEhh"h*hgggfffrfbf`4"@ɛ%·B%N= !%I! -o=ɚ)i)I- UAɠU7Ts?IQiUyi]Kx)YY)YG G"GG)= C}~G 6YyAM@M* B  nManaging dock network, ignoring radio surface power offG9G9GB5Will construct direction to contact in vehicle frame from tetrahedron phase data.OE>ڔ4w,0hӼA>[@Y>3=>!=9>ɣ>y>H?Qw?N?`Ÿ?@п=X? ?ɨ>[@>u;>Cy^B^&Iif   G٣ y{= > %Nusing accuracyPremultiplier from config!-49% ?-4Y% i%.LB9=O=;@%gD%X_;%_;%J4A MAIhh"h*hgggfffrfbf`#@ɛ}ŇB}8L= y}TIy o=ɚiIZ<^>Aɠs?Iip"iNn)頱) ($?IGBWill construct direction to contact in vehicle frame from tetrahedron phase data.O>zKLK}9KKw K Will construct direction to contact in vehicle frame from tetrahedron phase data.5~4w,ZӼAFҖ@YF>Fϗ!=9F>yFH@?@A?bE??`п1`E?`f?ɨFҖ@FX ;FCyn}Bn&IeMb@Mb@Mb@aaa a)aYeMbX?MbZd;Oye ?eej G٣bFGyUm= > Nusing accuracyPremultiplier from config49w?4Y iLBP ?: ;@nDs;;:4B ALEhh"h*hgggfffrfbf`_$@HqIq Iu&IIuBIq&Iq.Iq6Iu<:Iu~ FɛBGM= I ]*o=ɚiIh<"h>AɠXr?Ii1䷼iBQe)))))JJJ0JJJ e:Jـ3JJI )$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.b4w,ۛӼA2tV@Y2*>2* =92>y2H0?ÿM?':?q?`̡пLB??ɨ2tV@2i;2CyVwBV&II^I^35٢f" fX=9fj7Q f>hh jG٣hyn~= n> rNusing accuracyPremultiplier from configpv49r*?v4Yr irKBtvӺ<z;@rtDr<:r<:rA4| =NA9hh"h*hgggfffrfbf`'&%@ɛBM=  @I  n=ɚ i I <=Will construct direction to contact in vehicle frame from tetrahedron phase data.Z6>=bAɠE7r?IAiENaiE[)AA)IGyG}>GIBYO}= *$?I Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:2099>  BDAT read: Tx time:21:51:10.0879  $Ping request sent. 6 =96N>y6Hc?@!ƿ?@=[?M?ಒпGU?C?ɨ6#"@6;6Cy>rBB&I)D D F=F=IJIJ95٢Vڧ VL=9ZQ Z>XX ^G٣\zK^K^9K\K^x K^yf|= f> nNusing accuracyPremultiplier from confighn49j(=?r4Yj ijKBprC=r;@j{Dj;j ;jJ4vB z`AzIEhIhI"hI*hQgQgQgYfYfafarfibfm@%@ɛ]B] R= Y]νIY etn=ɚaiaIe<8>Aɠ÷q?IiiQ)頩)UWill construct direction to contact in vehicle frame from tetrahedron phase data.eJDAT read: TxSync time:21:51:10.0871 G5j>~G BO5>HuI>Iq Iu&IIuBIq&Iq.Iq6Iu<:Iu FJcKk(3 Kk(.KcKc"KcJ J J J J ;J b:J J J M<J M<J ?;J ?; I 4w,KӼARWill construct direction to contact in vehicle frame from tetrahedron phase data.ylB&IMb@Mb@Mb@ )YuV?A`"+yr?ٽ5A )InAyAI=Iw 5٢ټ :=9Q >I MG٣McFGyM U> ]Nusing accuracyPremultiplier from configYe49]Q?e4Y]c i]KBez ?m:m<m;@]D]';]i:]74uB uAuFEhh"h*hgggfffrfbf&@ɛBT= I x#n=ɚiI!o<l?>ǖAɠ>q?Ii"i))G uvGBO%>UWill construct direction to contact in vehicle frame from tetrahedron phase data.x4w,\qӼAy=oB=&IIMIM-5٢e%U< eQ=9aQ e>ii mG٣iyq u> }Nusing accuracyPremultiplier from configy49}b?4Y}G i}uKB;@}D}:}v:}4 kAhh"h*hgggfffrfbf@'@ɛBY=  DI  m=ɚ i I <B>Aɠp?Iii)!)! }+$?IyG"YGGqAWill construct direction to contact in vehicle frame from tetrahedron phase data.GIBQOm>zKK9KKy K   u Will construct direction to contact in vehicle frame from tetrahedron phase data.5w,_ԼAj C=YjhV>j=9jS>yjH?`SrϿ ?@N??@3Ͽ 0?`%?ɨj C=j;jCyreBv&Ii=IA?!%AMb@Mb@Mb@ )YS㥛?J + rhy?ȽC 6A KA)AIAyAITI5٢9 B=9Q > G٣y9> > Nusing accuracyPremultiplier from configHJ>IC I&IIBI&I.I6I<:I FBIJIRIZI# =bI# =jI4549}Aɠ}1p?Iyi}fiK,)頡)GrA GsAJJJJJ=;J]:JJJKD<JLD<J;J; e,$?IaWill construct direction to contact in vehicle frame from tetrahedron phase data.GUGBO>5w,f0ԼA:`G=Y:F>:.=9:1>y:H ?#6ѿ`Ѽ?? ӗ?ةϿ=:??ɨ:`G=:;:Cy^jB^&IIfIf75٢rH< r]=9v:Q v>xx zG٣zdFGy~V= ~> Nusing accuracyPremultiplier from config 49v? 4Y i5KB  >;@D':j:4 Ah9hA"hA*hAgAgAgAfIfIfIrfIbfM4,)@ɛ}B˲b=  I  –m=ɚ i Will construct direction to contact in vehicle frame from tetrahedron phase data.I ,<5>=Aɠ=o?I9i=xi9)99)AGMNG!B1OM> QIQ Will construct direction to contact in vehicle frame from tetrahedron phase data.d 5w,7ԼA:v:=Y:â>:v=9:ӊ>y:H_?ѣҿ@茾?F?c?Ͽ@x ? ?ɨ:v:=:;:CyFhBF&IININ75٢VA VN=9Z];Q Z>XX ZG٣\y^|= b> nNusing accuracyPremultiplier from confighn49jʖ?r4Yj* ijKBpr>r;@jDj;j;j4vB zAz@Ehh"h*hggzKLK@9KKz K  5/\c\VPE80% tjaZRJWwvmdg)f)f)f1rf1bf5)@ɛ]rB]Qg= ae@Ia e҅m=ɚaiaIe#m@Aɠmn?Iqiu?iu)qq)yG}2GyG}?GIBaO=MWill construct direction to contact in vehicle frame from tetrahedron phase data.HK>I I&IIBI&I.I6I<:I FJ J J J J J Y:J J J J J ;J ; E -$?IA @5w,PԼABWill construct direction to contact in vehicle frame from tetrahedron phase data.y~mB~&I) Mb@Mb@Mb@ )Y+?sh|?S㥛yv>/ݼ zA)AInAyfAI I s75٢o< 5=9Q >!! %G٣!y- 5> =Nusing accuracyPremultiplier from config9E49=w?E4Y=& i=JBM-?M:M 0>M;@=D= ;=3;=q4Q ]\AYhh"h*hgggfffrfbfq*@ɛUfB]q= Y]ZmAɠmm?Iii¼i)頉)"G=GV>GU-G1=Will construct direction to contact in vehicle frame from tetrahedron phase data.BIOm>25w,jԼAF>YF¹>FI(=9F>yFH3?Lտ K?ܱ?`?-Ϳ !?@?ɨF>F吊;FCJNAAJN@AyRnBV&IITI^I^55٢f < fb=9f;Q j>hh jG٣lyn:= n> rNusing accuracyPremultiplier from configpv49rQ?v4Yr" irJBtz]>z;@rDrp;r%;r4B ?A=Eh)h)"h)*h)g)g) Ig1f1f1f1rf1bf5+@ɛ}\Bax= 隕`=I m=ɚiI<˻>9Aɠ(m?Iiüi )頡)Gd (Will construct direction to contact in vehicle frame from tetrahedron phase data.ձiյAGABIOm>zKMNKM}9KIKM{ KM\VPMGF>=<855120.,+*(('$$    RK] ?JK]>e Will construct direction to contact in vehicle frame from tetrahedron phase data.!5w,ԼA=%>Y=>=D.=9=Tg>y=H? vyֿJ?? ? ,̿ XΥ";? ~?ɨ=%>=7;=CyMhBM&IHL>I III" =&I.I6I<:I FUMb@Mb@Mb@QQQ Q)QYUCl?&1:vyUd>UPUTQ UKA)QIQQyUAImIm995٢}׼ }2=9C;Q > G٣eFGy1= > Nusing accuracyPremultiplier from config49ʥ?4Yo iJB>:>;@D ;;4 qAhh"h*hgggfffrfbfJ,@ɛPBz= 8>=I m=ɚiIE <%Ƚ>%|Aɠ-k?I)i-ļi)))))1 .$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.GP!GqAGrAGBO>= -GQ i Y y fB8A'5w,mԼA6:>Y60h>6 4=96>y6H@g?֥׿?J??@s˿ ?.?ɨ6:>6};6Cy>sB>&IiB=IB=IJIJ65٢-k= -d=95ߎ;Q ]>ii mG٣qy}c= > Nusing accuracyPremultiplier from config49٥?4Y iJB %Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:51:13.3630 LVL= 25120, 23761, 13122, 32755, AGC= 72, IDX= 307,-0.11, 0.751,-0.085, 2.042, 1.067, PHS=-0.228,-1.105, 0.972, RAW= 185.1, 4.0, CAL= 185.2, -4.5, ROT= 324.8, 4.5 Ygot valid direction response: 21:51:13.3630 LVL= 25120, 23761, 13122, 32755, AGC= 72, IDX= 307,-0.11, 0.751,-0.085, 2.042, 1.067, PHS=-0.228,-1.105, 0.972, RAW= 185.1, 4.0, CAL= 185.2, -4.5, ROT= 324.8, 4.5 S>;@D==h4B  A:EBDAT read: Rx Time:21:51:13.3630 TRx dataTimestamp_ set to:1736373074.576245@DAT read: $Low SNR acquisition %2Received low SNR in chirph9h9"h9*h9g9g9g9fAfAfArfAbfM`JW-@X#Rx 7: Read direction message, but no range.bdirection in FSK: [-0.155299,-0.986618,-0.049678]9:ÿ5^W0yso b\ B3)IHixipx?:N@5= N@)|٠I g@i|٠=%-?&U ?m  ?)ʀ?IVi ݿK=ɛEBZ= P=I )n=ɚiI<-п>-ڒAɠ-rj?I)i5ażi5,w)11)AG GrAGm1nGABIOmW>JJJJJ;J^:JJa@a@a@a@ I Will construct direction to contact in vehicle frame from tetrahedron phase data.m-5w,RԼA2N>Y2D8>2^;=92a>y2H}(?`3ؿ@X?@-4?@Eg? ˿im?`?ɨ2N>2;2Cy>wB>&IIFIF+5٢b< bQ=9f;Q f>dd jG٣hyjL= j> rNusing accuracyPremultiplier from configlr59n"襛?v5Ync inJBtv >v;@nDnv:n:nu5| ~A|hh"h*hg!g!g!f)f)f1rf1zK5bMK1K1K5| K5BKA:KAbfM.@ɛu3Aɠui?Ii9&Ƽi)頉)-Will construct direction to contact in vehicle frame from tetrahedron phase data.G GqByO~>HM>I I&IIBI! =&I.I6I<:I F /$?I S45w,1#ԼA:߭b>Y:K>:@=9:iW>y:H?ٿ ??X?'?-ʿ@t? 5?ɨ:߭b>:;:CBWill construct direction to contact in vehicle frame from tetrahedron phase data.yHH-~only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.0 +0.00, 20.00,1992.31  @ @ @  @ I I 35٢z %E=9%1M;Q %>)) -G٣-fFGy-AB= 5> ]bBottom track data is 0.4 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from config1e595E?e5Y5 i5JBe+:ae:m6>m;@5D5;5>5d5uB uAu7Ehh"h*hgggfffrfbf E.@ɛ0BΊ=  >I n=ɚiIu<}X>}sAɠ}h?IyiƼiڽ)頁)GG ?G ?GBO>5Will construct direction to contact in vehicle frame from tetrahedron phase data.}:5w,ԼA2?t>Y2>2cG=92w>y2H@?@;ڿ@'?T??Aʿ ݨ? ?ɨ2?t>2J;2CJBJBJ@J@JB;JBW:J@J@y>BJ&IIRIR85٢Z= ZQ=9Zu;Q ^>|| G٣yF0= > bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 59 ?5Y  i yJB :%:%>%;@ D -; P? 5) -hA) E1$?IAhyhy"hy*hgggfffrfbf/@ɛ%B= 4@>I o=ɚiIh< &> Aɠ  g?I ijǼi)11)9"GM%>GM=Will construct direction to contact in vehicle frame from tetrahedron phase data.G}GQBaO{>zKoKKKK} K)&/eK6( M Will construct direction to contact in vehicle frame from tetrahedron phase data.vlA5w,ռAHUO>IQ IU&IIUBIQ&IQ.IQ6IU<:IU FuWӂ>Yu@>u%N=9u#>yuHg?lۿ`EY?L? ?`ɿ@"?`?ɨuWӂ>uK;uCyލBލ&I m m mu uu  u u uMb@Mb@Mb@qqq q)qYuMb?y&1|?{Gzt?yu?u`;uף;ul3A uA)uAIuAqyuAII65٢2 /=9St;Q > G٣y= > Nusing accuracyPremultiplier from config592?5Y ipJBT:?:K>;@D<< 5MB MmAU4Ehh"h*hgggfffrfbfM0@ɛBz= !I! 9=U>I9 =ap=ɚ9iAIE?MAɠMe?IIiUb:ȼiU=)QQ)yGU޽GBO5P>Will construct direction to contact in vehicle frame from tetrahedron phase data.ɐG5w,wռA6ۊ>Y6>6U=96>y6H/+?[ܿ ? .?? Nɿ`;?=?ɨ6ۊ>6;4yRBR&IIfIf<5٢r< vl=9zY;Q z?| G٣gFGy 7= > %Nusing accuracyPremultiplier from config-59u&?55Y iiJB9=?E;@D';a;5Q ]BAYhh"h*hg%Will construct direction to contact in vehicle frame from tetrahedron phase data.ggQfQfQfYrfYbf]0@ɛB= 隍t>I q=ɚiIq<E>ÎAɠZld?Iieȼi))JJJJJ:JwR:JJGݽGrAG -2$?I)GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data._M5w,%9ռA6+>Y6 ?6J[=96?>y6H@=?`=Tݿ P?@Q?@L?ȿe@z??ɨ6+>6;6Cy>B>&II^I^35٢f= fL=9j0[;Q j>hl nG٣lyn= r> vNusing accuracyPremultiplier from configpv59rR5?z5Yr iraJBxz~?z;@rDr@:r:r95B @1Eh)h)"h)*h)g1g1g1f1f1f9rf9bf=` 1@ɛeBm== im>Ii mdq=ɚiiqIu<}r>}ȍAɠ}b?Iyi}["ɼi}W)y頁)G GzKONKKK~ KG\ ѽGqByO=eWill construct direction to contact in vehicle frame from tetrahedron phase data.HeQ>Ia Ie&IIeBIa&Ia.Ie:D6Ie<:Ie FBI%ǡCJI%ǡCRI!ZI%! =bI%! =jI%K5 I T5w,lSռA2?>Y2H?2Da=92桀>y2H`?`$޿N?`??@?`+-ȿ@=< ? ?ɨ2?>2;2CRWill construct direction to contact in vehicle frame from tetrahedron phase data.yVBV&IMb@Mb@Mb@ )Y rh?{Gz?{Gz?yC ?ף<#< )9AIyAII85٢ .=9'e;Q > G٣yu= > Nusing accuracyPremultiplier from config59G?5Y^ iYJBa ?: ?;@Dj;;P5B &A0Eh!h!"h!*h!g!g!g!f)f)f)rf1bf5~1@ɛ]B]P= Y]!>Ia er=ɚaiaIe5au~Aɠu`?Iqiu]ɼiq)qy)GNG?G?UWill construct direction to contact in vehicle frame from tetrahedron phase data.GB O% >Z5w,gDmռAJ6J6J4J4J6K:J6"I:J4J4 PITyrBv&II~I~75٢f= %j=95Q 5>9 G٣hFGy > Nusing accuracyPremultiplier from config59U?5Y iTJB;@D ; ;y5B @-Ehh"h*hgggfffrf!bf%R1@ɛMBMd= MhII UXs=ɚQiQIU*eAɠe"3_?Iaie ʼia)ii)iG5ٲWill construct direction to contact in vehicle frame from tetrahedron phase data.G)B1OU>zKMKM59KIKM KMe Will construct direction to contact in vehicle frame from tetrahedron phase data.a5w,TsռAH~U>I~C I~&II~BI~ =&I|.I|6I~԰<:I~ FMM]>YM?M>t=9M \x>yMHF ?$???@ƿӯ?@?ɨMM]>M;MCyeBe&IMb@Mb@Mb@ )YS?)) 5G٣1y5= 5> =Nusing accuracyPremultiplier from config9 m3$?IiE59=g?5Y= i=MJBn?:R?;@=D=<=l<=5 @hh"h*hgAgAgAfAfAfIrfIbfM;X2@ɛ݆B= 隭>I Ku=ɚiIy<q>Aɠ\?Iiiʼi@ul))"G>G=Will construct direction to contact in vehicle frame from tetrahedron phase data.՝Ai՝AG 맽G B O >jg5w,ռAy||II3A5٢%; -t=9-Q -?)1 5G٣1y5 5? ENusing accuracyPremultiplier from configAE59Ebt?M5YE iEIJBIIM;@EDE:E:Eq 5UB ]@]*Ehyhy"hy*hgggfffrfbfU2@ɛԆB˵= 9>I 0v=ɚiIo<>Aɠ%N[?IiSʼi))%Will construct direction to contact in vehicle frame from tetrahedron phase data.GoGBO= 4$?IVh Will construct direction to contact in vehicle frame from tetrahedron phase data.n5w,fںռANPd>YN?NQ~=9N>p>yNH@?@X??`5?`Ŀٯ@?&?ɨNPd>Ne;LyZBZ&IIbIbs75٢j jP=9nx;Q n>pp rG٣riFGyr-t= v> zNusing accuracyPremultiplier from configt]59vD?]5YvW ivCJBY]i$?e;@vDvZnI %kw=ɚ!i!I% Ͷ<->-ՇAɠ-OUY?I)i-ʼi1zK5>BKK1K1K5 K5,QWF& r`QIFA?=874/-0.-(#  )1I)I%Will construct direction to contact in vehicle frame from tetrahedron phase data.E<jH<bHH%[>I%C I!I!I% =&I!.I%;D6I%k<:I%c F i Iq J J J 1J J +:J J1:J 3J J &t5w,ռA>Will construct direction to contact in vehicle frame from tetrahedron phase data.Bp>YB2?B=9BB6l>yBH t?P? ??{ÿ@U4??ɨBp>BRm;BCyNBN&IiR5٢}y< 2=9Ed;Q > G٣y3< > ҿYywA Nusing accuracyPremultiplier from config59?5Y i;JB?:-?;@ D; ;'5B @-'Ehihi"hi*higqgqgqfqfqfqrfybf}3@ɛB= >I Yx=ɚiI<>8AɠV?Ii(˼i,C))Evт<-Will construct direction to contact in vehicle frame from tetrahedron phase data.G qG B O > U 5$?IY {5w,ռAJJ?ABq>YBE?Bv=9BCg>yBH`F?V?`$??@¿`( ??ɨBq>B ;BCyNqBN&IIZIZ75٢b@  bk=9fL};Q f?hh jG٣hyn< n? rNusing accuracyPremultiplier from configpv59r?v5Yrc ir4JBtzH0?z;@rDr ;r~ ;r*5| ~A|B*** querying acoustic contact ***jjh!h!"h!*h!g!g!g)f1f1f1rf1bf=K3@ɛeBe|= ae>Ia my=ɚiiiImu AɠuT?Iyi}>˼iy)yy)yEE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data. 2Acoustic response timeoutQuerying Benthos address 50 with one ping in standard two-way mode.G_NGBOh>zK} NK}9KyK} K}RK ?JK5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=9.3340315w,[xּAHn^>InC In&IInBIn =&Il.Il6Ine<:Ina Fm>YmU ?m/=9mpc>ymH@_?m@?ma?`U?G?¿_ 6"?$?ɨm>m;mCyޅnBޅ&I I@ Mb@Mb@Mb@ )Yx?:v?{Gzt?yK?T=ף;2A `A)AIAiI5I5B5JMJMJIJIJM:JM%:JIJIJM <JM<JML;JML;٢e+ e(=9mk;Q m>qq uG٣ujFGyu6< u> Nusing accuracyPremultiplier from configy59}B?5Y}| i}(JB?:~2?;@}D};}O;}5/5B A$Ehaha"ha*hagagigifififirfqbfu ]4@ɛBz= >I {=ɚiIt</>WAɠ?&R?Iiaj˼i))"G5=G5>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.585929Ge AGA BI Oe >,5w,F"ּA2%>Y2> ?2J"=92 _>y2H?@c` ? Q?.?ɀ?+?ɨ2%>2m;0y>gBB&I)D DIJIJp;5٢Rr: V=9VL;Q V?TX ZG٣XyZ< Z? bNusing accuracyPremultiplier from config`f59b/?f5YbP ib!JBdf4?j;@b!Db:b:b15l nAlhh"h*hgggfffrfbf4@ɛB= >I |=ɚiIZf<s>=Aɠ0bP?Iiw˼Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838954iK))G- G-"G-G- 6$?IUhGBOb> Will construct direction to contact in vehicle frame from tetrahedron phase data. Y6!?63Ώ=969[>y6H?v???@@ ?B1?ɨ6F>6;6CyRSBRr&IIZIZm?5٢bZĽ bI=9b(;Q f>dd fG٣dyj)< j> rNusing accuracyPremultiplier from configpv59rЦ?v5Yr& irJBtv6?v;@r(Dr :r :r55~B vAEh!h!"h!*h!g)g)g)f)f)f1rf1bf5@5@ɛB2= >I ;}=ɚiI< ("> ˀAɠ oN?I i˼i)1)9zKKK59KK KBK:KsAGQBaO=Will construct direction to contact in vehicle frame from tetrahedron phase data.I I&IIBI =&I.IYBD"?BM=9B4W>yBHĮ?2v? ?u?AC2?t6?ɨB>B ;BCyRFBRb&I Mb@Mb@Mb@ )Y$C?&1?Mb`y?P=X/A  A) AInAy\ADAII=5٢j 8=9 ;Q >    G٣ kFGy x< > uNusing accuracyPremultiplier from configq}59uA㦛?}5Yu iuJB}?}:}8?;@u2Du/;u8;u95 Ah h "h *hgggfffrfbf͐5@ɛ|Bѱ= W>I Ջ=ɚiIb<)> ~AɠU=K?Ii˼i))GM ?GM>GB O-N>Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2101> -%Y6$?6h=96V>y6H@?Tel+?%?T?ԫ@y?8?ɨ6=w>6J;6CyR0BRH&IiTIVa=IZIZ0E5٢5 \=9 S?;Q  >    G٣ y\< > %Nusing accuracyPremultiplier from config-59鍊?-5Y iIB)-:?5;@8D;:<59 =A9haha"ha*hagagagifififirfibfu`5@ɛsBΫ= 隝y>I ==ɚiI<[>{Aɠ4SI?IiY˼i)頹)GBO=uWill construct direction to contact in vehicle frame from tetrahedron phase data.}BDAT read: Tx time:21:51:21.0365 }$Ping request sent.}d>I>C I>&II>nBI> =&I<.I<6I><:I> FBI=CJI=CRI=CZI= =bI= =jI=C6 QIQ?>Y]&?=9T>yH2i? s.?@O?7? |`W?:?ɨ?>;騉yޝ#Bޝ8&IJK KKK"KJ-J-J)J)J-:J-&:J)J)J-;J-;J-\;J-\;Mb@Mb@Mb@ )YZd;?~jt?Mbpy?= )IAy3AIrI#5٢dV &=9>8Q > G٣yV< > Nusing accuracyPremultiplier from config59?5Yy iIB*?:6?;@BD;;@5B AEh h "h *h g g gfffrfbf@_6@ɛEcBE8T= AM>II M =ɚIiIIMKUxAɠU}F?IQi˼iHԼ))uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.503270GHG B O >{5w,%ּA23>Y2G(?2В=92V>y2HJD?T?? +?V`~?9?ɨ23>25;0y> B>&IIFIFF5٢N N=9RQ R?PP VG٣VlFGyV< V? ZNusing accuracyPremultiplier from configX^59Z?b5YZQ iZIB`bz8?b;@ZGDZ;Z;ZC5d fAhh|h|"h|*h|g|ggfffrf bf  j6@ɛ5ZB59= 9=>I9 =Cn=ɚ9i9I=$!EuAɠM3D?IIiM ˼iI)II)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755617GUt?G)B9Oe= E8$?IA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.0078175w,hּA2/>Y2F*?2=92 jS>y2H!?@?F?Z?*},?`M>?ɨ2/>2;0yRBR &I)T TIZIZ|+5٢j_ jG=9jtQ n>ll rG٣pyr< r> vNusing accuracyPremultiplier from configtz59v?z5Yv ivIB|~F:?~;@vODv;v;v-G5 }B A Eh)h)"h)*h)g)g1g1f1f1f1rf9bf=`7@ɛmMBm5= qu>Iq u=ɚqiqI}<}>rAɠYB?Iii˼i)頁)GrA GrAGUN޼G1B9zKIKM59KIKM KMOaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261081Hf>I Ia&IIEBI =&I.I6I<:I F AIAi5w,pAּA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515128:7>Y:+?:=9:P>y:H ?@?`?2?@߲`+?`)B?ɨ:7>:uV;:CyVBV%IMb@Mb@Mb@ )Y"~?S㥛?{Gzy?/<#  A)x!AIAy\AII:5٢f <=99:Q > G٣y7< > Nusing accuracyPremultiplier from config59-?5Y iIB&?:7?;@WD;;J5 Ahh"h*h!g!g!g!f!f)f1rf1bf57@ɛe?BeN= ae>Ia m =ɚiiiImy6oAɠ[??Ii˼i))GܼG?G ?GBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767325O%> % :$?I) Je Je Ja Ja Je ,:Je :Ja Ja am @am @am @am @û5w,XּA2X>Y2|,?2=92-L>y2H?5 ???Dn{[?@G?ɨ2X>2;0y>؆B>%IIJIJA5٢N R]=9R;Q R>TT VG٣VmFGyVr< Z> ^Nusing accuracyPremultiplier from configXb59Z;?b5YZ iZIBdf9?f;@Z^DZ ;Zj!;Z4N5j{B jAjEhh"h*hgg g f f f rfbf@7@ɛ3B= >I "=ɚiIְ< |D> ZmAɠ =?I i ˼i ) )GE GE"GAGAUWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019489GBOf>zKI KM s9KI KM KM  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271203)5w, ׼AH.h>I, I.)&II.BI. =&I,.I.=D6I.<:I. F ITh>Y^]-?7=9/G>yH N?@R@Ѡ??? , ?.P?ɨ>;Cy†B%Ii%4>I%<Mb@Mb@Mb@ )Y@5^I ?{Gzt?{Gzyb?ף;,A  A)IyAII)M5٢Q !=9@:Q > G٣y; >  Nusing accuracyPremultiplier from config59M?5Y# iIBi?:z0?;@gDJ;;R5%zB %A%EhAhA"hA*hAgIgIgIfIfIfQrfQbfUf8@ɛ#B= 隍>I =ɚiI{<>jAɠ4;?IiWu˼i)頙)GBOE>mGWill construct direction to contact in vehicle frame from tetrahedron phase data.եAiաchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.527667 YyqB5w,$׼AyB%IIIH5٢-@ -=9-Q -?11 5G٣1y= =? ENusing accuracyPremultiplier from configAU59EY?U5YE. iEyIBQQU;@EmDE4X;EZ;EdU5exB eAmEhh"h*hgggfffrfbf`28@ɛBЯ= >IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775624 =ɚiIE7<A>gAɠ9?Ii#f˼i))GBO]= ;$?I*J"JR=J%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=3.02728005w,2>׼A2{>Y2/?2u=92 >>y2H?{`/?9? ? 5Ѳ$?@Q\?ɨ2{>2;2CyBBB%IIJIJO5٢fkT fQ=9f:Q f>hh jG٣jnFGynp< n> rNusing accuracyPremultiplier from configpv59rFg?v5Yrt ireIBxz2?z;@rtDr:r:rX5| ~A|h!h!"h!*h!g!g!g!f)f1f1rf1bf5C9@ɛ By= >I X=ɚiI<@>XeAɠy7?IiJ˼i))GBO=zKmKiKiKm KmBKy:K}rAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279215ZH!RH%@AH=i>I=C I=%II=BI9&I9.I96I=<:I= F <$?I5w,~X׼A"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531386yB|%IMb@Mb@Mb@ )Ysh|??Mby&1y ?`e.A t A)IyAI%I%DP5٢5l| 55=9=Q =>99 =G٣AyE E> MNusing accuracyPremultiplier from configIU59MRw?U5YM iMKIB] ?]:]t)?];@M|DM;M;M\5evB eXAeEhh"h*hgggfffrfbf9@ɛBfX= >I o=ɚiI<Q>bAɠ\F5?Ii-˼i))GMGG6?GWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:51:24.3055 TRx dataTimestamp_ set to:1736373085.646523checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786692B)OU> I J= @AJ= AAJE JE JE 0JA JE \:JE 9JE ـ3JA \5w,0gr׼AFҲ>YF1?F=9F:>yFH ?  ? bm?`s? )ɷ@-?a?ɨFҲ>F4*;DybzBbg%IIjIjS5٢rW rb=9v:Q z>xx zG٣xy~S< ~> Nusing accuracyPremultiplier from config 59(? 5Y]~ i6IB+?;@D::_5 %A!hAhA"hA*hAgAgIgIfIfIfIrfQbfU9@ɛB֢= 隍F>I s=ɚiIh<>\`Aɠ}3?Ii$˼i))頙)Gu~>ԼGIBYO=Will construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՕAchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.043493zK K 9K K K   RK ?JK >= Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: 21:51:24.3055 LVL= 23024, 27233, 11746, 28067, AGC= 70, IDX= 389,-0.34,-0.428,-0.896, 1.113, 0.113, PHS=-0.453,-0.961, 0.997, RAW= 195.5, 4.8, CAL= 195.8, -3.4, ROT= 314.2, 3.4 } Ygot valid direction response: 21:51:24.3055 LVL= 23024, 27233, 11746, 28067, AGC= 70, IDX= 389,-0.34,-0.428,-0.896, 1.113, 0.113, PHS=-0.453,-0.961, 0.997, RAW= 195.5, 4.8, CAL= 195.8, -3.4, ROT= 314.2, 3.4  PDAT read: Bearing 314.2, 3.4 (Local)  ~Local bearing/azimuth received: Bearing 314.2, 3.4 (Local)  DAT read: Range 10 to 50 : 648.6 m (Round-trip 864.9 ms) speed 0.3 m/s  ,DAT read: user:2102>  BDAT read: Tx time:21:51:25.3865  $Ping request sent. YB>3?By9=9BR;:>yBH,k??@n?[?`d@A?`b?ɨB)>BPƉ;@~bdirection in FSK: [-0.150088,-0.962856,-0.224458]:publishing transmit ping time Fpublishing direction and range infoiypB\%I yIy9mPK6ÿ1!̿ym&"DimYmaj m-)mmImFII^S5im羉mvmd;?m'`Z@m= mZ@)msIm~{@ims=٢M@'iim0l?Q};L7?km _?)m?Im[+imܿmg>ii 6=9:Q >:publishing transmit ping timeFpublishing direction and range infoi9mPK6ÿ1!̿yiiii G٣oFGyE&< > 5Nusing accuracyPremultiplier from config1=595󔧛?=5Y5*z i5IB9=,?E;@5D5:5:5d5 i)iIiiiiiii i)iIiiiiim0l?Q};L7?km _?)iIiiiiiitB A EkmG?km@ ki kmr׼A:km&"DBkm!DZkm@"mP6VXDT٪2bmPK6ÿ1!̿JkmܿRkmg>*mV.r@udА|ZomG`?ml|}ؿ"km%*kmѐCkm?kmu@ 2km4kikikikm̺Bkm*@hyhy"h*hgggfffrfD@bf?ɛeBeLa= imD>Ii m =ɚiiiImuj]Aɠu!1?Iyiʼi)頹)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:51:25.3857 G %uG! G! G B O >5w,;׼A6h*>Y64?6S=96z!8>y6H@V?r ??@I?S඿첿r?e?ɨ6h*>67M;6CyB\BBB%IUMb@Mb@Mb@QQQ Q)QYUL7A`? rh:vyU+?UC UTU,A Q)UI"AIUAQyQImIm_,5٢ٽ X=9vuQ > G٣y#5< > Nusing accuracyPremultiplier from config59w?5Y9w iIB}?:$?;@Dފ;;'g5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.M%%Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal1N-MEntering Terminal tracking update period 2.000000 s sec at 648.599976 m (mode 0.000000 count ).1NMqNMhihi"hi*hqgqgygy1>} |Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeq>|rTransitioning to terminal guidance at range 648.599976 m q>>fffrfbf?ɛԅB߮= 隵k>I o=ɚiIKۮ< V> U[Aɠ w/?I iʼi)) u=$?IqGhAGBOF>JJJJJ:Jb9JJ Will construct direction to contact in vehicle frame from tetrahedron phase data. @5w,׼A:)>Y:U5?:;=9:O"2>y:H@y:9;:CybYBb?%IIjIjC5٢rVz rU=9v3Q v>tt vG٣xyzT< z> ~Nusing accuracyPremultiplier from config|59~?5Y~t i~HB   &? ;@~D~:~v:~}j5! %A!Zl5@qN=N==B*** querying acoustic contact ***j9j9hIhI"hI*hIgIgIgIgU@>U|UCompleted lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange1>U |UAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangefQfYfYrfYbf]@j?ɛɅB= 隍Ï>I ҆=ɚiIՎ<>YAɠ-?Ii5ʼi)頩)zKeKK9KK KIsaSD70(" BK:KnAWill construct direction to contact in vehicle frame from tetrahedron phase data.%T****** received valid address query ******%R****** received valid ping request ******%Querying Benthos address 50 with one ping in standard two-way mode.GJHI I%IIBI&I.I6I^<:Ii FBIŦCJIŦCRIœCZI =bI =jID5GBI >$?IO> (5w,g׼A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246840:%>Y:B 7?:=9:@0>y:H? ]@-^??? Ͳ?&q?ɨ:%>:̉;:Cy^MB^1%IMb@Mb@Mb@ )YS㥛?J +y&1|y$?H`X/A  A)#AInAyAII85٢1N <=9GQ > G٣pFGy|< > Nusing accuracyPremultiplier from config59?5Yp iHB?: ?;@D!.;,;In5 rB # A Ebl!N%N%I%%~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalqB55Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceB5 5Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideC55Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl1D5=Initialize.qD==Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlD= =Initialize.D=1E=B=hEh7hEh7qDEEAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlDEMDReached init depth of 67.152122 m.hIhMBM$Terminal guidance.BMqEUUInitialize.UdInitializing internal variables to default values.UZTransitioning guidance mode to: UNINITIALIZED*jQ]DRollout timeout set to 300.00 sec.]VIIR filter is initialized with decay: 0.00.]bTransitioning guidance mode to: TERMINAL_GUIDANCE*je?q=ezeAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance=e {eAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide>e}eUninitialize.1?eq?e~e>Uninitialize WaypointComponent.fififirfibfm@:?ɛUMBU= U]`IY ]҆=ɚYi]G%Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500802B9Oe> I S5w,l׼AJNJNJN1JLJNݒ:JNO9JN3JLy99)A AIUIUV5٢ N=9Q > G٣y > Nusing accuracyPremultiplier from config59̧?5YQm iHB;@D ;? ;q5pB  AEjlNrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalMAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal addTargetRange:: Added new target pos. range: 648.599976 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 Bj sJj s Added new target pos. range: 648.599976 m, bearing: 298.904136 deg, lat: 36.898216 deg, lon: -122.119346 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 Zj!%FNOT Ignoring new targets: 648.60 m.Bj-Jj-= ProNav pure pursuit: ac range: 648.599976 m, nav range: 94.099533 m, bearing: 247.923640 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 40.969121 deg, new cmd heading: 247.923640 deg. =HeadingCmd: 4.327084 target range: 648.599976 and range: 648.60 m. jExw@jEjAjAiAhAhAhIhIfIfIfQrfYbf] ?ɛNB= s<隍&I G҆=ɚiIczK= QMK= 59K9 K= K= RKM ?JKM ? Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002758H k>I  I [%II pBI &I .I 6I I<:I Z F>6w,| ؼAN=>YNZ7?N`}=9N'>yNH@ ?@su? ?~?`̊?{?ɨN=>NV҈;NCyjCBj$%I 1I=ShI}I}_,5٢G D=9 ;Q =>mu uG٣qyơ; > Nusing accuracyPremultiplier from config59ܧ?5Yi iHB{ ?%;@DX<]<u5]nB ]] AeEZjFNOT Ignoring new targets: 648.60 m.Bj7Jj7  ProNav pure pursuit: ac range: 648.599976 m, nav range: 94.296371 m, bearing: 247.848919 deg, approach rate: 0.424287 m/s, LOS rate: -0.160726 deg/s, cmd heading: 247.923627 deg, new cmd heading: 247.848919 deg. HeadingCmd: 4.325780 target range: 648.599976 and range: 648.60 m. j l@j j j i h hhhfffrfbf]L@]}?]}?]}@]}S{ ?ɛ)-h= )-I) 5;dž=ɚ1i1I5"uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254860d 6w,kc'ؼA6%>Y67?6(=96s(>y6Hf? 'z ?w??er?y?ɨ6%>6uc;6CyRJBR,%IMb@Mb@Mb@ )Y!rh? ףp= ~jth?yl?Q8D;,A  A)I"AIyQAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507918I)I5٢.= J=9 mQ  >   G٣y5S; > -Nusing accuracyPremultiplier from config!-59%+꧛?-5Y%f i%HB5?5:5,"?5;@%D% ;%x;%x5A E& AAZjamFNOT Ignoring new targets: 648.60 m.BjuKJjuK  ProNav pure pursuit: ac range: 648.599976 m, nav range: 94.467621 m, bearing: 247.785162 deg, approach rate: 0.479354 m/s, LOS rate: -0.178141 deg/s, cmd heading: 247.848932 deg, new cmd heading: 247.785162 deg. HeadingCmd: 4.324667 target range: 648.599976 and range: 648.60 m. jc@jjjihhhhBfffrfbf`^@]?]?]X@],"?ɛJB†= I 2dž=ɚiI=[)c@) 5?$?I9E<# Start #4Initializing EZServoServo. Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759913 # 8Initializing DockingStepper.B O >"V6w,DiAؼA6?Y6f8?6 ߜ=96^}->y6H@,?@|? ??`鮳@? s?ɨ6?6f;4yFGBF)%IiJp>IJ4=IN@IN 5٢ZcS Za=9Z:Q Z>\\ ^G٣\y^; b> fNusing accuracyPremultiplier from configdj59f(?j5Yfc ifHBhj"?n;@fDf3:f:f|5vlB v* AvE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 648.60 m.Bj=Jj=-  ProNav pure pursuit: ac range: 648.599976 m, nav range: 94.631264 m, bearing: 247.724829 deg, approach rate: 0.450157 m/s, LOS rate: -0.165682 deg/s, cmd heading: 247.785166 deg, new cmd heading: 247.724829 deg. 5HeadingCmd: 4.323614 target range: 648.599976 and range: 648.60 m. j5 [@j1j1j9i9h9h9h9hAfAfAfIrfIbfM`C@]i]i]i]m"?ɛy}= @I Hņ=ɚiIi ih O>) [@)E~M<#StartingzKUuJKU+9KQKU KUWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010841HUl>IQ IUH%IIUaBIU =&IQ.IQ6IU8<:IUP FGhAB %@$?I)O>JJJ0JJ :J[9Jـ3JJS;aJT;aJ;aJ;a)  }G1 I u Yy y} Av6w,[ؼA"Will construct direction to contact in vehicle frame from tetrahedron phase data.&checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262748:T?Y:8?:a=9:t0>y:H? ? *??@#̳?m?ɨ:T?:4ވ;:CyFOBF3%IMb@Mb@Mb@ )YJ +?Mb~jt?y?@D<.A A)$AIAy=AI1I1٢E= EB=9M;Q M>II MG٣IyU$; U> Nusing accuracyPremultiplier from config59 ?5Y_ ivHBD ?:!?<@D;;5%B AZj9EFNOT Ignoring new targets: 648.60 m.BjE?JjM?}  ProNav pure pursuit: ac range: 648.599976 m, nav range: 94.830467 m, bearing: 247.650955 deg, approach rate: 0.453282 m/s, LOS rate: -0.167744 deg/s, cmd heading: 247.724841 deg, new cmd heading: 247.650955 deg. }HeadingCmd: 4.322325 target range: 648.599976 and range: 648.60 m. j}|P@jjjihhhhBfffrfbf@ @]D ?]D ?]@@]Ǡ!?ɛ =  ii >)|P@)Ee<Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516481# StartingG=< 1 I1 Bi O >!6w,tؼA6?Y6R9?6=96 4>y6H?[0?D!? ?T?i?ɨ6?6c;6CyRQBR6%IIZCIZ 5٢f#V< fR=9j::Q j>hh nG٣lyn; n> vNusing accuracyPremultiplier from configpv59r?z5Yr\ irgHBxz""?z<@rDr:r:r,5#B AEZj)-FNOT Ignoring new targets: 648.60 m.Bj5AJj5AE  ProNav pure pursuit: ac range: 648.599976 m, nav range: 95.000504 m, bearing: 247.588471 deg, approach rate: 0.461813 m/s, LOS rate: -0.169402 deg/s, cmd heading: 247.650966 deg, new cmd heading: 247.588471 deg. MHeadingCmd: 4.321234 target range: 648.599976 and range: 648.60 m. jMG@jIjIjIiQhQhQhQhYfYfYfarfabfe@ϻ @]]]]""?ɛQ= 隝bii)G@)EE*E"EUWill construct direction to contact in vehicle frame from tetrahedron phase data.]BDAT read: Rx Time:21:51:28.6537 ]TRx dataTimestamp_ set to:1736373089.937003echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.768228#eStarting#BInit string: /1z16353aE13561N3m50Gl=G AB O >zK k3IK 9K K K     Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018782H p>I C I I I  =&I .I 6I V<:I i F#6w,юؼA hIh~?Y~9?~=9~3b5>y~H??: :h? &?`?`I:{?f?ɨ~?~3?;~Cy YB@%I) !%BAI%/I%C5٢U= UB=9e-;Q m>L?L? G٣y; > Nusing accuracyPremultiplier from config59N$?5Y?Y iVHB`"?<@D@;,;5JJJJJ]:J9JJJ:;J;;J' ;J' ;1 LAZjFNOT Ignoring new targets: 648.60 m.Bj8 Jj8   ProNav pure pursuit: ac range: 648.599976 m, nav range: 95.198730 m, bearing: 247.516114 deg, approach rate: 0.384554 m/s, LOS rate: -0.140077 deg/s, cmd heading: 247.588483 deg, new cmd heading: 247.516114 deg. HeadingCmd: 4.319971 target range: 648.599976 and range: 648.60 m. j4=@jjjihhhhfffrfbf @ɛMKBMHo= IMiYiY)]4=@)#StartingeWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:51:28.6537 LVL= 24800, 23473, 13394, 30195, AGC= 65, IDX= 418,-0.00, 2.174, 1.828,-2.524, 2.740, PHS=-0.478,-0.864, 1.016, RAW= 198.8, 3.8, CAL= 199.0, -4.0, ROT= 311.0, 4.0 Ygot valid direction response: 21:51:28.6537 LVL= 24800, 23473, 13394, 30195, AGC= 65, IDX= 418,-0.00, 2.174, 1.828,-2.524, 2.740, PHS=-0.478,-0.864, 1.016, RAW= 198.8, 3.8, CAL= 199.0, -4.0, ROT= 311.0, 4.0 PDAT read: Bearing 311.0, 4.0 (Local) ~Local bearing/azimuth received: Bearing 311.0, 4.0 (Local) DAT read: Range 10 to 50 : 647.2 m (Round-trip 863.0 ms) speed 0.2 m/s ,DAT read: user:2103> BDAT read: Tx time:21:51:29.7365 $Ping request sent.aa:publishing transmit ping timeFpublishing direction and range infoa9e`#b |6xwҵѿyaG=GrAGrAaaa a)aIaiaaaaa a)aIaiaaaeܒ?CasQ?eJ?)aIaiaaaaGBO>)6w,ؼA>+?Y>;9?>=9>q2>y>H@?܈@3?s?@?? pXg?gj?ɨ>+?>;>CyR_BRF%IWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:51:29.7357 Mb@Mb@Mb@ )Y~jt?Q{Gz?y?uף<0A )^&AIAy\AI3I 5٢ <  ?=9 C:Q  > G٣qFGy^K > %Nusing accuracyPremultiplier from config!-59%M2?-5Y%U i%LHB-?-:570?5<@%D%;%;%5=!B =A=EkUw ?kD= k k,+ؼA:k!DBk DZkY>@"JxfTfDTcf`#b |6xwҵѿJkٿRk3>*5:r@'&Irsb>q%yH ? 8pHۿ"kH*kΗCkr2z# ?k O= 2kPkk|GrX0 kDkCk@u addTargetRange:: Added new target pos. range: 647.200012 m, deltaT: 4.284285 s, deltaX: -1.399963 m, approachRate: -0.326767 m/s, rangeRepo size: 2  Added new target pos. range: 647.200012 m, bearing: 301.238898 deg, lat: 36.898216 deg, lon: -122.122509 deg, deltaT: 4.284285 s, deltaX: -1.399963 m, approachRate: -0.326767 m/s, posRepo size: 2 A$?IZjFNOT Ignoring new targets: 647.20 m.BjJj ProNav: ac range: 647.200012 m, nav range: 371.186768 m, bearing: 264.346753 deg, approach rate: 0.000000 m/s, LOS rate: -0.140077 deg/s, cmd heading: 247.516111 deg, new cmd heading: 247.365567 deg. 2jDHeadingCmd: 4.317344 target range: 647.200012 and range: 647.20 m. j'@jjji)h)h)h1h51Bf1f1f1rf=9@bf=Y?ɛ2q= 隭0=I =ɚiI!*J"Jp=GaBiOZ>m Will construct direction to contact in vehicle frame from tetrahedron phase data.P06w,<ؼA6 ?Y68?63=96*)>y6H?5@?$ ??@`Nw?u?ɨ6 ?6p`;6CyBhBBR%IIJIJ|4٢S= ]=9C;Q  >    G٣ y > Nusing accuracyPremultiplier from config%59>?%5YsR iCHB)-/?-<@D::ҍ51 5A1UB*** querying acoustic contact ***jQjQZjiuFNOT Ignoring new targets: 647.20 m.BjuJj} ProNav: ac range: 647.200012 m, nav range: 371.322266 m, bearing: 264.325812 deg, approach rate: 0.390355 m/s, LOS rate: -0.060308 deg/s, cmd heading: 247.365573 deg, new cmd heading: 247.302772 deg. 2j%HeadingCmd: 4.316247 target range: 647.200012 and range: 647.20 m. j@jjjihhhhfffrfbf ?ɛLB= e=I =ɚiIGBO>zKDRLK59KK K 2zWill 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.jHE<bHE4=HMu>IMC IMN%IIMfBIM =&II.IM>D6IMz<:IM F B$?IJJ~J1JJ:Jf9J3JJ;J;J:J:]66w,bؼAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994979:>Y:a6?:=9:9$>y:HF#? ?UP$?j?,?`Ӿ Ҫw?{?ɨ:>:);8yNnBRY%IMb@Mb@Mb@ )Yp= ף?Mbp:v?y?< ZA)/'AIAy AII4٢< >=9%l:Q > G٣y4 > Nusing accuracyPremultiplier from config59KM?5YN i;HBJ?:c2?<@D;;5 B A EZj)-FNOT Ignoring new targets: 647.20 m.Bj5Jj5M ProNav: ac range: 647.200012 m, nav range: 371.482422 m, bearing: 264.301627 deg, approach rate: 0.373779 m/s, LOS rate: -0.056420 deg/s, cmd heading: 247.302763 deg, new cmd heading: 247.230239 deg. 2jM]HeadingCmd: 4.314981 target range: 647.200012 and range: 647.20 m. j]T@jYjYjYiYhYhahaheUBfafifirfibfm 7Q?ɛQU= Y]=IY ]3=ɚYiYI]zdG=G=G B I O ><6w,-?ؼA6">Y6 3?6=96CA>y6H Mg???{?`@*&??ɨ6">69(;6Cy>sB>_%IIJIJk4٢R.< R`=9Vh;Q V>TT VG٣XyZ) Z> bNusing accuracyPremultiplier from config\b59^Y?f5Y^}K i^4HBdfM/?f<@^D^:^:^ǔ5jB nTAnEZjFNOT Ignoring new targets: 647.20 m.Bj ӁJj Ӂ ProNav: ac range: 647.200012 m, nav range: 371.616852 m, bearing: 264.280859 deg, approach rate: 0.367496 m/s, LOS rate: -0.056752 deg/s, cmd heading: 247.230226 deg, new cmd heading: 247.167947 deg. 2j-HeadingCmd: 4.313894 target range: 647.200012 and range: 647.20 m. j-l @j)j)j)i)h)h1h1h1f1ffrfbf>l?ɛMB`=  0=I  ;=ɚ i I ɩG!B)OM1> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755393zK= MK= s9K9 K= K= |oaQE8)  HU w>IQ  IU a%IIU uBIU  =&IQ .IQ 6IU <:IU FBI ˧CJI ˧CRI ˔CZI  =bI  =jI U46RKu ?JKu ? C6w,ټA $I&Rh5m{>Y5,.?5[Y=95P=y5Ho? ???'2@Z]?_?ɨ5m{>5;5CymwBmd%II};I} 5٢%c< =5=9M;Q U>aa mGJJJ0JJ=:J[9Jـ3JJԥ;Jե;J;J;٣urFGy=N E> Nusing accuracyPremultiplier from config59k?5Y5G i*HBJ+?<@D* ;";-5 5AZjyFNOT Ignoring new targets: 647.20 m.BjJj ProNav: ac range: 647.200012 m, nav range: 371.799103 m, bearing: 264.251841 deg, approach rate: 0.351776 m/s, LOS rate: -0.055983 deg/s, cmd heading: 247.167935 deg, new cmd heading: 247.080922 deg. 2jHeadingCmd: 4.312376 target range: 647.200012 and range: 647.20 m. j@jjjihhhhfffrfbf?ɛ=NBM|= IM(=II MBf=ɚIiIIU*GqAGqAGqByO>J6w,)ټAyErBE^%I)I IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258922Mb@Mb@Mb@ )Y/$?+?{Gz?y1?=ף<,A A)(AIyAI*I 5٢  K=9Q > G٣y% %> -Nusing accuracyPremultiplier from config)559-v?55Y-C i-#HB5?=:=8@?=<@-D-5;-;-?5EB EMAEEZjquFNOT Ignoring new targets: 647.20 m.Bj}Jj} ProNav: ac range: 647.200012 m, nav range: 371.939911 m, bearing: 264.232833 deg, approach rate: 0.417025 m/s, LOS rate: -0.056274 deg/s, cmd heading: 247.080918 deg, new cmd heading: 247.023916 deg. 2jzHeadingCmd: 4.311381 target range: 647.200012 and range: 647.20 m. j@jjjihhhhSBff 5D$?I1frfbf@ɛOB$= =I =ɚiIӃG B O= >rP6w,CټA2P>Y2"$?2u=92=y2H 9?<y? ?q?(|?Ae ί??ɨ2P>2;0y>wB>d%IIF2IF5٢R< Re=9RTT VG٣TyV! Z> bNusing accuracyPremultiplier from config\b59^?f5Y^@ i^HBdf>6?f<@^D^;^H;^^5l n%Al~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 647.20 m.Bj Jj 񀺝 ProNav: ac range: 647.200012 m, nav range: 372.078217 m, bearing: 264.212667 deg, approach rate: 0.386714 m/s, LOS rate: -0.056365 deg/s, cmd heading: 247.023927 deg, new cmd heading: 246.963452 deg. 2j%%HeadingCmd: 4.310325 target range: 647.200012 and range: 647.20 m. j%/@j)j)j)i)h)h)h1h9f9f9fArfAbfE@J@ɛuPBuvғ= qu=Iy }]=ɚyiyI}I Iz%IIBI =&IFD.I?D6IK<:Ij FzKFMK@9KK KBK pA:K qA I!G-0P>G) BY O >lW6w,v]ټAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015362y]kB]U%IMb@Mb@Mb@ )Y rh? ףp= ?ai mG٣msFGym m> }Nusing accuracyPremultiplier from configq}59u?5Yu; iu HB~?:)M?<@uDuf;u;uc5B yAEZjFNOT Ignoring new targets: 647.20 m.BjqrJjqr ProNav: ac range: 647.200012 m, nav range: 372.279083 m, bearing: 264.188263 deg, approach rate: 0.436392 m/s, LOS rate: -0.052990 deg/s, cmd heading: 246.963439 deg, new cmd heading: 246.890267 deg. 2jwHeadingCmd: 4.309048 target range: 647.200012 and range: 647.20 m. j@jjjihhhhGBfffrfbf@ɛ%QB%yo= )-0N=I) -=ɚ1i1I5ZʳG >G ?GA BY Ou >JK KKK"KJ J J J J }:J 9J J a @a @a @a @=]6w,+wټAF>YF}?F=9F4ͷFڋ;FCyNgBRP%IiV0>IV%=IZ/IZC5٢b* bi=9bdd fG٣dyj: j> rNusing accuracyPremultiplier from configlr59n?r5Yn/8 inGBtvA?v<@n Dnn:n:nv5zB zA|Zj!-FNOT Ignoring new targets: 647.20 m.Bj-Jj-E ProNav: ac range: 647.200012 m, nav range: 372.427094 m, bearing: 264.168631 deg, approach rate: 0.421559 m/s, LOS rate: -0.055893 deg/s, cmd heading: 246.890274 deg, new cmd heading: 246.831402 deg. 2jEoEHeadingCmd: 4.308021 target range: 647.200012 and range: 647.20 m. jMNۉ@jIjIjIiIhIhIhQhQfQfYfYrfYbf]x @ɛ RB ~= 8$=I  ‡=ɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:51:32.9936  TRx dataTimestamp_ set to:1736373094.224581 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771890H z>I C I %II BI =&I .I 6I <:I ; FzK} JK} ŷ9Ky K} K} RK >JK ? I $d6w,aټAb_>Yb$C?b=9b;ybH?@qHf_?5?*??L~??ɨb_>b*֊;bCy~]BD%II%I5٢1 <=9;Q > G٣yf > Nusing accuracyPremultiplier from config59?5Y3 iGB;?<@D+;;@5 AZjFNOT Ignoring new targets: 647.20 m.~G1 }YyRBBjvJjv ProNav: ac range: 647.200012 m, nav range: 372.605652 m, bearing: 264.143809 deg, approach rate: 0.388484 m/s, LOS rate: -0.053979 deg/s, cmd heading: 246.831398 deg, new cmd heading: 246.756966 deg. 2j.HeadingCmd: 4.306722 target range: 647.200012 and range: 647.20 m. jЉ@jjjihhhhfffrfbf@@ɛTB= 隍@dj6w, ټAV>YVR?VC=9V95yVH`?,?? ?@P?`朆M?ɨV>VD;VC^Will construct direction to contact in vehicle frame from tetrahedron phase data.~DAT read: 21:51:32.9936 LVL= 22960, 29489, 15266, 31859, AGC= 72, IDX= 330,-0.18,-0.251,-0.879, 1.195, 0.236, PHS=-0.398,-1.068, 0.956, RAW= 191.1, 5.8, CAL= 191.2, -2.8, ROT= 318.8, 2.8 Ygot valid direction response: 21:51:32.9936 LVL= 22960, 29489, 15266, 31859, AGC= 72, IDX= 330,-0.18,-0.251,-0.879, 1.195, 0.236, PHS=-0.398,-1.068, 0.956, RAW= 191.1, 5.8, CAL= 191.2, -2.8, ROT= 318.8, 2.8  PDAT read: Bearing 318.8, 2.8 (Local)  ~Local bearing/azimuth received: Bearing 318.8, 2.8 (Local) DAT read: Range 10 to 50 : 639.6 m (Round-trip 852.9 ms) speed 0.4 m/s %,DAT read: user:2104> %BDAT read: Tx time:21:51:34.0866 -$Ping request sent.-\\}:publishing transmit ping time)}Fpublishing direction and range info\9^v dƿ)}-2 [ÿy\\\\ \)\I\i\\\\\ \)\I\i\\\^@?{k`?٫_?)\I\i\\\\yޕOBޝ2%I F$?I-- G٣tFGyUܵ ]> bBottom track data is 0.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5Y. iGB+::/?<@D;!?/5B ;AEk^f?k^fG k\ k^ᕮټA:k^DBk^DZk^Y@"^%=\I>őp` .X^v dƿ)}-2 [ÿJk^.Rk^q>*^TMֲi@/ Dłk|BS^ \?2A`վ"k^/*k^MCk^@dm?k^?eH 2k^+k^@dm?k^ O= k^+k^Dk^2<@ addTargetRange:: Added new target pos. range: 639.599976 m, deltaT: 4.287763 s, deltaX: -7.600037 m, approachRate: -1.772495 m/s, rangeRepo size: 3  Added new target pos. range: 639.599976 m, bearing: 288.892325 deg, lat: 36.900409 deg, lon: -122.123984 deg, deltaT: 4.287763 s, deltaX: -7.600037 m, approachRate: -1.772495 m/s, posRepo size: 3 ZjFNOT Ignoring new targets: 639.60 m.BjJj ProNav: ac range: 639.599976 m, nav range: 542.497803 m, bearing: 292.271397 deg, approach rate: 0.000000 m/s, LOS rate: -0.053979 deg/s, cmd heading: 246.756976 deg, new cmd heading: 246.667573 deg. 2j HeadingCmd: 4.305161 target range: 639.599976 and range: 639.60 m. j É@j jQjQiQhQhQhYhYfYfYfarfe@bfeP?ɛUBH= n =YI ć=ɚiI\:GB!bCommunications Fault in component: RDI_PathfinderO>r6w,ټA>>Y>>>=9>:y>H?޿ &ڷ?`}?;?<>?.9}?ɨ>>>ŏ;11 5G٣1y5 5>HM~>II IMt%IIMBII&II.II6IMa<:IM} FmWill construct direction to contact in vehicle frame from tetrahedron phase data. bBottom track data is 0.9 s old, using for 20.0 s. Nusing accuracyPremultiplier from config959=qͨ?5Y=+ i=GB :z:)?<@="D=Ӝ<=j?=$5 AzKBoHK+9KK K    EG$?IIMB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 639.60 m.Bj~Jj~ ProNav: ac range: 639.599976 m, nav range: 542.549194 m, bearing: 292.252138 deg, approach rate: 0.148543 m/s, LOS rate: -0.055664 deg/s, cmd heading: 246.667583 deg, new cmd heading: 246.609809 deg. 2jHeadingCmd: 4.304153 target range: 639.599976 and range: 639.60 m. j@jjjihhh!h!f!f!f!rf)bf-?ɛuWBup= 隕8SI <=ɚiING B O >x6w,VټAN1>YN >N=9NH;yNHH?6ݿ%.?L?x?@;}?v`b)x?`?ɨN1>N];NCy^%B^$IIfIfY4٢v zO=9z';Q z>| G٣y% %> -bBottom track data is 1.3 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)559-mܨ?55Y-?( i-GB]9Y]J:]+#?]<@-*D-";-Ʀ?-5eB m{AmEZj FNOT Ignoring new targets: 639.60 m.Bj]=Jje= ProNav: ac range: 639.599976 m, nav range: 542.603760 m, bearing: 292.229497 deg, approach rate: 0.139332 m/s, LOS rate: -0.057806 deg/s, cmd heading: 246.609799 deg, new cmd heading: 246.541886 deg. 2jHeadingCmd: 4.302968 target range: 639.599976 and range: 639.60 m. j鱉@jjjihhhhfffrfbf[?ɛXBr= LͽI =ɚiI= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247017!6w,xټA:Th>Y:`>:܉=9:r:aŒ;:Cy~B~$II I 4٢̽ %G=9%%;Q %>!) -G٣-uFGy-/ -> =bBottom track data is 1.7 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E595먛?E5Y5$ i5GBE9IM$:M"?M<@51D5T;5K?55Y ]#AaZjFNOT Ignoring new targets: 639.60 m.BjJj ProNav: ac range: 639.599976 m, nav range: 542.653320 m, bearing: 292.206315 deg, approach rate: 0.128062 m/s, LOS rate: -0.059897 deg/s, cmd heading: 246.541880 deg, new cmd heading: 246.472338 deg. 2jm$HeadingCmd: 4.301754 target range: 639.599976 and range: 639.60 m. j@jjjihhhhfffrfbf ?ɛYBb= fI R=ɚiIIeC IeN%IIefBIe =&Ia.Ie@D6Ief<:Ie FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500723*F?2F:FBF0JF 1I9zKBMK9KK KG G B ! dClearing failed state for component RDI_Pathfinder O% >q6w,cڼABL>YBb>Bt=9BUB{;BCyvBv$Ii==I=>=E:Expecting PD13 message formatIM<IM 5٢] ]:=9];Q ]>ai mG٣iym\z m> }bBottom track data is 2.1 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configq59u?5YuQ! iuGB9:5?<@u9Du8;u/ @u۴5B  AEZj%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750970-FNOT Ignoring new targets: 639.60 m.Bj5׃Jj5׃m ProNav: ac range: 639.599976 m, nav range: 542.700623 m, bearing: 292.181093 deg, approach rate: 0.108098 m/s, LOS rate: -0.057633 deg/s, cmd heading: 246.472349 deg, new cmd heading: 246.396691 deg. 2jm5uHeadingCmd: 4.300434 target range: 639.599976 and range: 639.60 m. ju'@jqjqjqiqhqhyhhfffrfbf r?ɛ][B]U= ae|XIa e=ɚaiaIm 6w,g4ڼAf2>Yf.>ff=9f&f';fCyvօBv$II~=I~w 5٢   Q=9 " G٣y< > -bBottom track data is 2.5 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!559% ?55Y%M i%{GB5o91595?=<@%?D%5;%1"@%ҵ5A E AAZjiuFNOT Ignoring new targets: 639.60 m.J~JJJJ{m:J9JJBju؃Jj؃ ProNav: ac range: 639.599976 m, nav range: 542.737244 m, bearing: 292.158540 deg, approach rate: 0.093587 m/s, LOS rate: -0.057634 deg/s, cmd heading: 246.396697 deg, new cmd heading: 246.329040 deg. 2j6HeadingCmd: 4.299253 target range: 639.599976 and range: 639.60 m. j{@jjjihhhhfffrfbf7@ɛ]B/;>= b.=I =ɚiIuپE >*FU?2FQ:FQBFU0JFYG} 0P>Gq B H >I  I %II .BI =&I .I 6I b<:I BI]̩CJI]̩CRI]̓CZI] =bI] =jI]̤5O >6w,|OڼAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506912>>Y>4>>&<>9>H?Sֿ??`f?@R?`?`?ɨ>>>Mw;< HIHyNBNx$IIZZIZQ5٢^ bH=9bzKJK@9KK K BK:K G٣vFGyf > bBottom track data is 3.0 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59,?5Y ifGBB99?<@GD$; >@5%B % A%EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 639.60 m.Bj}Jj} ProNav: ac range: 639.599976 m, nav range: 542.771606 m, bearing: 292.133314 deg, approach rate: 0.075497 m/s, LOS rate: -0.055419 deg/s, cmd heading: 246.329051 deg, new cmd heading: 246.253379 deg. 2j"HeadingCmd: 4.297932 target range: 639.599976 and range: 639.60 m. j@jjjihhhhf9f9f9rfAbfE7@ɛ _B 5=  >I  =ɚiIuiaG B O >љ6w,o/iڼAV`=YV@+>V>9Vx G٣y% %> 5bBottom track data is 3.4 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config)559--?E5Y-a i-RGBM9IM9M?M<@-ND-h;-V@-P5Q ] AYZjFNOT Ignoring new targets: 639.60 m.BjJj ProNav: ac range: 639.599976 m, nav range: 542.796448 m, bearing: 292.110916 deg, approach rate: 0.067671 m/s, LOS rate: -0.061012 deg/s, cmd heading: 246.253373 deg, new cmd heading: 246.186182 deg. 2j}'HeadingCmd: 4.296760 target range: 639.599976 and range: 639.60 m. j@jjjihhhhffqfyrfybf}@@ɛaB\= ˾I]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011767 I$?I E=ɚiIާ Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262839J6w,) ڼA6ҽ=Y6i>6>96`hh jG٣hyj j> =bBottom track data is 3.8 s old, using for 20.0 s. =Nusing accuracyPremultiplier from config1E595>?E5Y5 i5M<@5UD5:;5p@5ط5UB U AUEZjyFNOT Ignoring new targets: 639.60 m.BjJj ProNav: ac range: 639.599976 m, nav range: 542.816650 m, bearing: 292.087312 deg, approach rate: 0.050036 m/s, LOS rate: -0.058457 deg/s, cmd heading: 246.186191 deg, new cmd heading: 246.115382 deg. 2jy HeadingCmd: 4.295524 target range: 639.599976 and range: 639.60 m. jt@jjjihhhhfffrfbf @ɛcB֣= I I=ɚiIkGJ>H>I I$IIBI&I.I6I|<:I F]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.515019 J$?IPhGG ?G?zKXKK9KK K$+58<JUY\_^[[YY_bb_\XSMLGCA>:842/-,-'$%"GBO>JM JM ~JM 1JI JM s:JM f9JM 3JI JM ;au JM ;au JM :a} JM :a} 6w,&ڼA24V=Y2x >2ۉ >92199 EG٣EwFGyM U> ebBottom track data is 4.2 s old, using for 20.0 s. eNusing accuracyPremultiplier from configYm59] P?m5Y] i]$GBu8qu99uM>u<@]\D]K;]~@]H5 B  AEWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:51:37.3416 TRx dataTimestamp_ set to:1736373098.508687checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768023Zj9=FNOT Ignoring new targets: 639.60 m.BjE@JjE@u ProNav: ac range: 639.599976 m, nav range: 542.830872 m, bearing: 292.063349 deg, approach rate: 0.033111 m/s, LOS rate: -0.055789 deg/s, cmd heading: 246.115376 deg, new cmd heading: 246.043490 deg. 2ju&}HeadingCmd: 4.294269 target range: 639.599976 and range: 639.60 m. jj@jjjihhhhfffrfbf`@ɛ-eB56< 5xT=5I1 5K=ɚ1i9I=5X6w,#jڼA6?<=Y6o>6K>96mll rG٣pyr= r> zbBottom track data is 4.6 s old, using for 20.0 s. zNusing accuracyPremultiplier from configt~59vc?~5Yvm iv GB~89><@vdDv8<;v@v5  A ZjAEFNOT Ignoring new targets: 639.60 m.BjM늺JjM늺] ProNav: ac range: 639.599976 m, nav range: 542.839539 m, bearing: 292.037347 deg, approach rate: 0.020242 m/s, LOS rate: -0.060726 deg/s, cmd heading: 246.043495 deg, new cmd heading: 245.965490 deg. 2j]&eHeadingCmd: 4.292908 target range: 639.599976 and range: 639.60 m. je_@jajajaiihihihqhqfyfyfyrfybf$@ɛgB,< 隵I ֗=ɚiIkGy B O >jH! bH% <H- >I- C I- H$II- BI-  =&I) .I) 6I- 0<:I- e F K$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:51:37.3416 LVL= 31520, 32753, 16578, 32755, AGC= 72, IDX= 502,-0.10,-2.619, 2.903,-1.687,-2.475, PHS=-0.056,-0.858, 0.785, RAW= 180.8, 1.8, CAL= 181.0, -6.4, ROT= 329.0, 6.4  Ygot valid direction response: 21:51:37.3416 LVL= 31520, 32753, 16578, 32755, AGC= 72, IDX= 502,-0.10,-2.619, 2.903,-1.687,-2.475, PHS=-0.056,-0.858, 0.785, RAW= 180.8, 1.8, CAL= 181.0, -6.4, ROT= 329.0, 6.4  8DAT read: $Error in header  *Received a bad headeru X#Rx 1: Read direction message, but no range.} `direction in FSK: [-0.121149,-0.992246,0.027748]ع 9ؽ i36n{hi?ع ؽ {ؽ  ٽ @)ٽ Iٹ iٽ B`eٽ [ٽ H?ٽ I@ٽ = ڽ -J@)ڽ Iڽ @iڽ =ڹ ۽ eDݰ8?4;E?&f?)۽ ˇ?I۽ ;i۽ ؿ۽ W T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseд6w,Q3ڼAzKN=NKN@9KLKN KN %YprS2iJ0v;Yv}7i>ṿ>9vL G٣y >) Ju~JuwJu0JqJu{m:Ju9Juـ3JqJu<;Ju=;Ju:Ju:GG @YyB 5bBottom track data is 5.1 s old, using for 20.0 s. 5Nusing accuracyPremultiplier from config1=595w?=5Y5 i5FBE8AE8E>E<@5mD5%;5@55m B uAuEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 639.60 m.BjJj ProNav: ac range: 639.599976 m, nav range: 542.841248 m, bearing: 292.009476 deg, approach rate: 0.003487 m/s, LOS rate: -0.056865 deg/s, cmd heading: 245.965494 deg, new cmd heading: 245.881880 deg. 2j}HeadingCmd: 4.291449 target range: 639.599976 and range: 639.60 m. jS@jjjihhhhfffrfbfx@ɛmjBu2g< y隍)I -=ɚiI̋G=rAG=rAGB!O=?p6w,^ڼA @Vk@YVc->V>9V)itt zG٣zxFGyz޽ z> bBottom track data is 5.6 s old, using for 20.0 s. Nusing accuracyPremultiplier from config| 59~Q? 5Y~n i~FB [8 8!><@~vD~6;~IJ@~F5 A!ZjQUFNOT Ignoring new targets: 639.60 m.Bj]Jj]m ProNav: ac range: 639.599976 m, nav range: 542.827148 m, bearing: 291.980728 deg, approach rate: -0.029392 m/s, LOS rate: -0.059932 deg/s, cmd heading: 245.881892 deg, new cmd heading: 245.795647 deg. 2jm$uHeadingCmd: 4.289943 target range: 639.599976 and range: 639.60 m. ju7G@jqjqjqiqhyhyhyhyfffrfbfB@ɛmBpi< :I V=ɚiI^HE >IA  IE #IIE :BIE  =&IA .IE AD6IE A<:IE v F M$?I  Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapseG) B9 O] >^6w,QۼA2y@Y2@$>2>92EaTX ZG٣XyZL Z> bbBottom track data is 6.0 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\M59^?U5Y^ i^FBU18QU8U >U<@^}D^<^@^u5]B eAeEZjFNOT Ignoring new targets: 639.60 m.BjDJjDzKOKж9KK Kq[6|}ule[VUOLIFEBA><98871241013=PRK?JK> ProNav: ac range: 639.599976 m, nav range: 542.809448 m, bearing: 291.957621 deg, approach rate: -0.042736 m/s, LOS rate: -0.055793 deg/s, cmd heading: 245.795641 deg, new cmd heading: 245.726316 deg. 2j)HeadingCmd: 4.288733 target range: 639.599976 and range: 639.60 m. jN=@jjjihhhhfff rf bf @ɛUpBU; UY=ULIY ]|=ɚYiyI} nManaging dock network, ignoring radio surface power offGq B O >|}6w,+ۼA>x@Y>;=>>9>3eHo?X?l??G?ÿ@_;?L?ɨ>x@>^;>Cy^„B^K#IIfIf|+5٢ný nH=9r;Q r>pt vG٣vyFGyz{ ~> bBottom track data is 6.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 59a? 5Y iFB88~><@D-;@5%B %A%EZjAMFNOT Ignoring new targets: 639.60 m.BjMJjUe ProNav: ac range: 639.599976 m, nav range: 542.784424 m, bearing: 291.933843 deg, approach rate: -0.063957 m/s, LOS rate: -0.060774 deg/s, cmd heading: 245.726328 deg, new cmd heading: 245.654992 deg. 2je&mHeadingCmd: 4.287488 target range: 639.599976 and range: 639.60 m. jm3@jijijiiihqhyhhfffrfbf @ɛrB:  =N$?I9WIq }Az=ɚyiyI}ATG(K>G B O >e Will construct direction to contact in vehicle frame from tetrahedron phase data.u T****** received valid address query ******u R****** received valid ping request ******} received new query, but waiting for acoustic response period to elapsee6w,EۼA6'@Y6=6h>96~cll nG٣lyr r> vbBottom track data is 6.8 s old, using for 20.0 s. zNusing accuracyPremultiplier from configtz59vé?~5Yv iv~FB~7|Q8x><@vDvC;vo@v5  qA Zj15FNOT Ignoring new targets: 639.60 m.Bj=+Jj=+M ProNav: ac range: 639.599976 m, nav range: 542.753540 m, bearing: 291.910667 deg, approach rate: -0.076986 m/s, LOS rate: -0.057776 deg/s, cmd heading: 245.654994 deg, new cmd heading: 245.585462 deg. 2jMHeadingCmd: 4.286275 target range: 639.599976 and range: 639.60 m. j%*)@j!j!j!i!h!h!h)h)f)f)f1rfQbf]@ɛuB; ^I  w=ɚiIkIC I#IIBI&I.I6I<:IX F 1I1Will 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 elapsezKM NKMŷ9KIKM KMoxpmg_ZURMKIHEB<:842/,(*)'"# ";kBK]qA:KYG >G B J J J J J v:J 9J J J U;J W;J ;J ;O] >6w,b_ۼA>{@Y>wJ=>>9>H?? ??`|ÿ@ ?Ԝ?ɨ>{@>;>CyFBF##IININ+5٢Vp׽ VL=9Z:;Q Z>XX ^G٣\y^ b> fbBottom track data is 7.2 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j59bթ?j5Ybx ibcFBj7%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 elapseY])8eY>e<@bDbG B O >U6w,- }ۼA2w@Y2<2>92ae`ÿS??ɨ2w@2;0y<@IJuIJH%5٢R(; R3=9R{:Q R>TT VG٣VzFGyZ Z> bbBottom track data is 7.6 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\b59^꩛?f5Y^D i^DFBf7df 8f]:>j<@^D^5;^@^5l n AlZj FNOT Ignoring new targets: 639.60 m.Bj9Jj9% ProNav: ac range: 639.599976 m, nav range: 542.666138 m, bearing: 291.861577 deg, approach rate: -0.119243 m/s, LOS rate: -0.062172 deg/s, cmd heading: 245.516450 deg, new cmd heading: 245.438165 deg. 2j%*-HeadingCmd: 4.283704 target range: 639.599976 and range: 639.60 m. j-@j)j1j1i1h1h1h9h9f9f9f9rfAbfE@ɛ{BM -lI p=ɚiIoHE >IA  IE ;#I e P$?Ii IE BIE  =&IA .IE BD6IE &<:IE h FBI ɫCJI ɫCRI ɔCZI  =bI  =jI |5G B O >5 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 elapsek6w,ۼA @:@Y:@:C>9:W=<:533/,)*&&!  RKV ?JKV?ININ%.5٢^A bJ=9bR:Q b>`d fG٣dyf阽 f> nbBottom track data is 8.1 s old, using for 20.0 s. nNusing accuracyPremultiplier from confighr59jE?r5Yj` ij)FBrw7tv7vm>v<@jDj(4;jAj5zB zJAzEZjFNOT Ignoring new targets: 639.60 m.Bj%Jj%5 ProNav: ac range: 639.599976 m, nav range: 542.615173 m, bearing: 291.838558 deg, approach rate: -0.126381 m/s, LOS rate: -0.057088 deg/s, cmd heading: 245.438176 deg, new cmd heading: 245.369112 deg. 2j5HeadingCmd: 4.282499 target range: 639.599976 and range: 639.60 m. j; @jjjihhhhfffrfbf@@ɛ~B5 9=rI9 =m=ɚ9i9I= a Ia G B O >6w, ۼA"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>@Y>@>h>9>J3?H?@_?`6?`@?n~ÿ?ۜ?ɨ>@>;>CyJBJ#IIRIR,5٢Z4 Z?=9^l Q ^>`` bG٣`yf3 f> jbBottom track data is 8.5 s old, using for 20.0 s. jNusing accuracyPremultiplier from confighn59j?r5Yj ij FBrH7pr7r3=r<@jDj5;jAj 5vB zOAzEZjFNOT Ignoring new targets: 639.60 m.BjuJju ProNav: ac range: 639.599976 m, nav range: 542.554749 m, bearing: 291.814448 deg, approach rate: -0.134613 m/s, LOS rate: -0.053718 deg/s, cmd heading: 245.369109 deg, new cmd heading: 245.296770 deg. 2jvHeadingCmd: 4.281236 target range: 639.599976 and range: 639.60 m. j@jjj1i9h9h9h9hAfAfAfArfAbfMcB @ɛB@˻ duI ,%j=ɚiILHm6w,_ۼAF@YFb@Fo>9Fkpp rG٣v{FGyv熽 v> ~bBottom track data is 8.9 s old, using for 20.0 s. ~Nusing accuracyPremultiplier from configx59z%?5Yz izEB"77Խ= <@zDz"&;zAz5 Q$?IjH!bH%<H->I-C I-#II-BI- =&I).I)6I-<:I-] FA EEAAZjyFNOT Ignoring new targets: 639.60 m.BjヺJjヺ ProNav: ac range: 639.599976 m, nav range: 542.484802 m, bearing: 291.789483 deg, approach rate: -0.161514 m/s, LOS rate: -0.057653 deg/s, cmd heading: 245.296764 deg, new cmd heading: 245.221861 deg. 2jDHeadingCmd: 4.279929 target range: 639.599976 and range: 639.60 m. j-@jjjihhhhfffrfbf!@ɛBg" ^vI-Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******5R****** received valid ping request ******5received new query, but waiting for acoustic response period to elapse =f=ɚiIVGa Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapse6w,'ۼA:Ծ@Y:R@:z`>9:   G٣ yِ > -bBottom track data is 9.3 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!559%8?55Y% i%EB=7AEl7Et=E<@%D%;%mA%5UB UAUEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 639.60 m.Bj}Jj}E ProNav: ac range: 639.599976 m, nav range: 542.414551 m, bearing: 291.766819 deg, approach rate: -0.172030 m/s, LOS rate: -0.055508 deg/s, cmd heading: 245.221850 deg, new cmd heading: 245.153847 deg. 2jE`MHeadingCmd: 4.278742 target range: 639.599976 and range: 639.60 m. jMt@jIjIjQiQhqhhhfffrfbf !@ɛ B [ 15rI1 5wc=ɚ1i1I5E]> R$?I*F2F:FBF`5JFG GEWill 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 >JA JE wJA JA JA JE 9JA JA G B O >|7w, ܼA6@Y63@6>96>_?@??@? 0lÿ?Ÿ?ɨ6@6s;6Cy@B"#IRWill construct direction to contact in vehicle frame from tetrahedron phase data.RAiPVT****** received valid address query ******VR****** received valid ping request ******Vreceived new query, but waiting for acoustic response period to elapseIZIZy/5٢b bM=9b]Q f>dd fG٣dyj j> rbBottom track data is 9.7 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlr59nK?v5Yno inEBv6tv?7vA=v<@nDn@#;nAn%5| ~A|Zj!-FNOT Ignoring new targets: 639.60 m.Bj-[Jj-[= ProNav: ac range: 639.599976 m, nav range: 542.340637 m, bearing: 291.745068 deg, approach rate: -0.190649 m/s, LOS rate: -0.056109 deg/s, cmd heading: 245.153849 deg, new cmd heading: 245.088589 deg. 2jEEHeadingCmd: 4.277603 target range: 639.599976 and range: 639.60 m. jE@jIjIjIiIhIhIhQhQfafafarfibfm`#"@ɛmBu u=umtIq u`=ɚqiyI}HI I#IIBI =&I.I6I4<:Ix FG  >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 elapseGBO >- GA Q zKu <LKq Kq Ku Ku RK ?JK > FY y A7w,eܼA2@Y2 @2>92;0yBBB+#IIJIJ+5٢V= VL=9ZeQ Z>X\ ^G٣^|FGy^ϓ b> fdBottom track data is 10.1 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j59b]?j5Ybf ibEBj6ln7n?;=<@bDbx S$?I e Will construct direction to contact in vehicle frame from tetrahedron phase data.e 9Fc` G٣yv > udBottom track data is 10.6 s old, using for 20.0 s. uNusing accuracyPremultiplier from configi59mq?5Ym imEB66O<@mDm;m)Am/5B NAEZjFNOT Ignoring new targets: 639.60 m.BjJj- ProNav: ac range: 639.599976 m, nav range: 542.167175 m, bearing: 291.700155 deg, approach rate: -0.224445 m/s, LOS rate: -0.055962 deg/s, cmd heading: 245.023119 deg, new cmd heading: 244.953815 deg. 2j-UHeadingCmd: 4.275250 target range: 639.599976 and range: 639.60 m. jUΈ@jYjYjYiYhYhYhahafafafarfibfmsc$@J#K+3 K+A.K#K#"K#JzJvJ/JJ`:Jϣ9J(N3JɛB/5 epI  Z=ɚ!i!I%B=I-i)i))-Έ@)E*FE?2FA:FABFEo5JFA"GMY>GMV>Will construct direction to contact in vehicle frame from tetrahedron phase data.̶7w,OܼA64@Y6C@6.>96oqX\ ^G٣\ZH`RHbAAHf>IfC If#IIfBId&Id.IfCD6If<:Ifc Fyvď v> zdBottom track data is 10.9 s old, using for 20.0 s. zNusing accuracyPremultiplier from configx~59z?5Yz izlEBb66J<@zDz5;z)/Az35  AZjWill construct direction to contact in vehicle frame from tetrahedron phase data.nI W=ɚiI+_=Iii)ƈ@)zKJK9KK KBK:KqAEuX=*F ?2F :F BF 0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. G} ?G} 6?GQBO> 7w,TnܼABX@YBVg@B>9B T`` bG٣b}FGyfyg f> ndBottom track data is 11.4 s old, using for 20.0 s. rNusing accuracyPremultiplier from confighr59jՙ?v5YjW ijNEBv76tv6vjv<@jDjyg;j6Aj75~B ~A~E %T$?I!%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 639.60 m.Bj=}Jj=}u ProNav: ac range: 639.599976 m, nav range: 541.963257 m, bearing: 291.654690 deg, approach rate: -0.256242 m/s, LOS rate: -0.055440 deg/s, cmd heading: 244.892499 deg, new cmd heading: 244.817386 deg. 2ju1}HeadingCmd: 4.272870 target range: 639.599976 and range: 639.60 m. j}Y@jyjyjyiyhhhhfffrfbf&@ɛ5B5x 9=hkI9 =_S=ɚ9i9I==IEiAiA)MY@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Response Not Received *response not received,DAT read: user:2106> BDAT read: Tx time:21:51:45.0367 $Ping request sent.G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:51:45.0359  checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249491!7w,'ܼA6\@Y6@6C>96MIZ 5٢bq bJ=9fJQ f>dd fG٣hyj+ j> rdBottom track data is 11.8 s old, using for 20.0 s. rNusing accuracyPremultiplier from configlv59n?v5Yn in5EBv6tv6v^ҽz<@nDn3&;nB=An95| AZjIUFNOT Ignoring new targets: 639.60 m.BjUlJjUlm ProNav: ac range: 639.599976 m, nav range: 541.859680 m, bearing: 291.633674 deg, approach rate: -0.254272 m/s, LOS rate: -0.051604 deg/s, cmd heading: 244.817394 deg, new cmd heading: 244.754332 deg. 2jm uHeadingCmd: 4.271769 target range: 639.599976 and range: 639.60 m. juU@jqjqjqiqhqhhhfffrfbf`%&@ɛUBu44J y}mIy }yP=ɚyiyI} =I ii)U@) U$?IHu>Iq Iu.#IIuBIu =&Iq.Iq6Iu<:IqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499491E5<=*F?2F:FBF0JFzK KK ŷ9K K K    RK ?JK ?G >G G qA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751979G B O >(7w,TܼA:ַ@Y:@: >9:VHX\ ^G٣\yb b> fdBottom track data is 12.3 s old, using for 20.0 s. jNusing accuracyPremultiplier from configdn59f?r5Yf ifEBr5tvX6v|z<@fDfE;fDAf;5B AEZjFNOT Ignoring new targets: 639.60 m.Bj[Jj%[] ProNav: ac range: 639.599976 m, nav range: 541.732300 m, bearing: 291.610793 deg, approach rate: -0.267137 m/s, LOS rate: -0.047996 deg/s, cmd heading: 244.754337 deg, new cmd heading: 244.685679 deg. 2j]mHeadingCmd: 4.270571 target range: 639.599976 and range: 639.60 m. jm@jqjjihhhhfffrfbf'@ɛMBU\ Q]lpIY eL=ɚiI5 =Iii)@) EE*EA"EA mW$?Ii]Will construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003537*F ?2F :F BF 0JF G> Will construct direction to contact in vehicle frame from tetrahedron phase data. i Achecking for new query: numPingsReceived=0, elapsed TxPingTime=1.256064GBO-?17w, 8ܼA6R@Y6-@6rr >96?o\\ ^G٣^~FGy^*. b> fdBottom track data is 12.8 s old, using for 20.0 s. fNusing accuracyPremultiplier from config`j59b٪?j5YbT ibDBn5ln/6n5n<@bDb5;bLAb=5rB rAvEZj FNOT Ignoring new targets: 639.60 m.Bj@qJj@q ProNav: ac range: 639.599976 m, nav range: 541.577942 m, bearing: 291.584424 deg, approach rate: -0.308578 m/s, LOS rate: -0.052730 deg/s, cmd heading: 244.685680 deg, new cmd heading: 244.606551 deg. 2jHeadingCmd: 4.269190 target range: 639.599976 and range: 639.60 m. j4@jjjihhhhf f)f)rf1bf5@(@ɛB\F 隥vI H=ɚaiaIeD=ImMiiii)u4@)q IjH <bH <H>I IH#IIBI&I.I6Iů<:I+ FBIĮCJIĮCRIēCZI =bI =jIğ}5*F5?2F1:F1BF1JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507553GY G9 BI Om >zKu )LKu 9Kq Ku Ku BK pA:K oAJ zJ rJ 1J J `:J 9J 3J J p;a J q;a J :a J :a $77w,ܼAf8f@Yfu@f>9f{   G٣ y (_  > dBottom track data is 13.2 s old, using for 20.0 s. Nusing accuracyPremultiplier from config%59쪛?%5Y iDB%5)-6-L-<@D6;SA?51 5#A1ZjY]FNOT Ignoring new targets: 639.60 m.Bje`Jje`u ProNav: ac range: 639.599976 m, nav range: 541.453369 m, bearing: 291.564151 deg, approach rate: -0.301833 m/s, LOS rate: -0.049131 deg/s, cmd heading: 244.606559 deg, new cmd heading: 244.545728 deg. 2ju}HeadingCmd: 4.268128 target range: 639.599976 and range: 639.60 m. j}@jyjyjihhhhfffrfbf 3)@ɛB(? |I bE=ɚiIu=Iii)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759664*F}?2Fy:FyBF}0JF X$?IG>G?G>GqByO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011542>7w,ܼAynBr##IIvZIvQ5٢% -H=9-Q ->11 5G٣1y5 5> MdBottom track data is 13.6 s old, using for 20.0 s. MNusing accuracyPremultiplier from configAU59E?U5YE iEDBU5Q]5Y]<@EDE9;E&ZAE@5eB eAeEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 639.60 m.Bj`Jj` ProNav: ac range: 639.599976 m, nav range: 541.329468 m, bearing: 291.543973 deg, approach rate: -0.301415 m/s, LOS rate: -0.049099 deg/s, cmd heading: 244.545716 deg, new cmd heading: 244.485167 deg. 2jHeadingCmd: 4.267071 target range: 639.599976 and range: 639.60 m. jً@jjjihhhhfffrfbf *@ɛBx I @B=ɚiI"=I i i ) ً@)*F?2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264456G >GBO> i Ii H >I C I I I =&I .I 6I )<:I v FD7w,ݼA2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515595V@YV@V>9V@vAA EG٣EFGyM M> ]dBottom track data is 14.0 s old, using for 20.0 s. ]Nusing accuracyPremultiplier from configQe59U?e5YU* iUDBeO5am5m{}m<@U DU^R;U`AUA5uB uA}EZjFNOT Ignoring new targets: 639.60 m.BjYJjY ProNav: ac range: 639.599976 m, nav range: 541.198242 m, bearing: 291.524654 deg, approach rate: -0.323503 m/s, LOS rate: -0.047638 deg/s, cmd heading: 244.485173 deg, new cmd heading: 244.427202 deg. 2jHeadingCmd: 4.266059 target range: 639.599976 and range: 639.60 m. j@jjjihhhhfffrfbfZO+@ɛEBE`ۼ AEeII M>=ɚIiIIM=IUiQiQ)]@)Y*F ?2F :F BF 0JF JQJUvJQJQJQJUϣ9JQJQJQJUr;JU:JU:zKBoHK9KK KRK ?JK>Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769717GM>GA BY Ou >K7w,M.ݼA Y$?I@Y8)@Z>9 u G٣yqh >  dBottom track data is 14.5 s old, using for 20.0 s.  Nusing accuracyPremultiplier from config9%?Y iDB(55/<@D*;{gA! %A!ZjQUFNOT Ignoring new targets: 639.60 m.Bj]KVJj]KVe ProNav: ac range: 639.599976 m, nav range: 541.055298 m, bearing: 291.504626 deg, approach rate: -0.334212 m/s, LOS rate: -0.046837 deg/s, cmd heading: 244.427199 deg, new cmd heading: 244.367101 deg. 2jmuHeadingCmd: 4.265010 target range: 639.599976 and range: 639.60 m. juz@jqjqjqiqhqhyhyhyfyffrfbfW*,@ɛB, 隵׏I :=ɚiI:=I)ii)z@)mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020370*FA2FI:FIBFIJFIG>GqAGrAGa Bi O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271460rR7w,iHݼA6$Q@Y6s`@6|=96N[⚿_F?@?ɨ6$Q@6;6CyR_BR"II=I=)5٢M MV=9UkڻQ U>QQ UG٣Yy] e> mdBottom track data is 14.8 s old, using for 20.0 s. mNusing accuracyPremultiplier from configau59e:6?u5Yez ieDB}5y}t5}}<@eDe9;emAeB5B AEZjFNOT Ignoring new targets: 639.60 m.BjtRJjtR ProNav: ac range: 639.599976 m, nav range: 540.923157 m, bearing: 291.487020 deg, approach rate: -0.345155 m/s, LOS rate: -0.045998 deg/s, cmd heading: 244.367093 deg, new cmd heading: 244.314262 deg. 2jHeadingCmd: 4.264088 target range: 639.599976 and range: 639.60 m. jis@jjjihhhhfffrfbf@,@ɛB" I %7=ɚ!i!I%=I-8i)i))5is@)1*F?2F:FBF0JF Z$?IZHRH?AH>I I.#IIBI =&I.I6I<:IP F}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523581G)= ޏCU}G #YyuBGBO >Jm {Jm qJi Ji Jm d:Jm q9Ji Ji Jm #;Jm %;Jm :Jm :zK= k3IK= 9K9 K= K= z+X7w,JDbݼA2J@Y2@2Q=92AA EG٣EFGyE| M> UdBottom track data is 15.2 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI9MH?YMS iMDBe4aeF5ece<@M!DMlK;MtAIq uRAqZjFNOT Ignoring new targets: 639.60 m.BjNJjN ProNav: ac range: 639.599976 m, nav range: 540.780640 m, bearing: 291.468944 deg, approach rate: -0.356046 m/s, LOS rate: -0.045172 deg/s, cmd heading: 244.314255 deg, new cmd heading: 244.260011 deg. 2jHeadingCmd: 4.263142 target range: 639.599976 and range: 639.60 m. jk@jjjihhhhfffrfbf^-@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775717ɛBvC/ I  Z3=ɚ i I  =IeHii!)%k@)1*F?2F:FBFJF !I!GM>G) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027516U^7w,|ݼA6@Y6Ÿ@6 =96T=C ===0A =.A)= >AI=#A9y=Q0AIU}IU(5٢u 1 u@=9uQ u> G٣ys >  Nusing accuracyPremultiplier from config 59V?5Yu i[DBT:>:ݾ<@'DA;@;59 =|A=E}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 639.60 m.BjJj ProNav: ac range: 639.599976 m, nav range: 540.641052 m, bearing: 291.454792 deg, approach rate: -0.321285 m/s, LOS rate: -0.032582 deg/s, cmd heading: 244.260023 deg, new cmd heading: 244.217556 deg. 2jⲺHeadingCmd: 4.262401 target range: 639.599976 and range: 639.60 m. je@jjjihhhhBfffrfbf U.@ɛMĆBM8 qu$Iq u,.=ɚqiqI}i=I}Tii)e@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280571*Fe?2Fa:FaBFe0JFaGI GU ?GU ?  [$?I G! B1 OM >H >I  I "II ~BI =&I .I DD6I <:I Z F=e7w,ݼA&Will construct direction to contact in vehicle frame from tetrahedron phase data..checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533604U.@YU}@U¨=9UQ G٣ý > Nusing accuracyPremultiplier from config59)d?5Y i;DB_꾑<@-D ; ;k5 AZjFNOT Ignoring new targets: 639.60 m.Bj5Jj5  ProNav: ac range: 639.599976 m, nav range: 540.510193 m, bearing: 291.442159 deg, approach rate: -0.340000 m/s, LOS rate: -0.032830 deg/s, cmd heading: 244.217567 deg, new cmd heading: 244.179659 deg. 2j ? HeadingCmd: 4.261739 target range: 639.599976 and range: 639.60 m. j+`@jjjihhh!h!f!f!f!rf)bf-(_/@ɛȆBlo $=GI )=ɚiI =I__ii)+`@)J=|J=rJ=0J9J=;g:J=9J=ـ3J9J=׊;J=؊;J=:J=:*F?2F:FBF0JFzK%BHK%@9K!K% K%$c5  ")6=662/.,("Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.783469G >G B OU >kk7w,ݼA \I`yM߃BM3"IiUt94 -0A);=AIy0AIIv35٢   4=9 Q  > G٣FGy > -Nusing accuracyPremultiplier from config!-59%r?55Y% i% DB5[>5:5Y5<@%3D%+;%;%a5=B EvAEEMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=5.035698Zjq}FNOT Ignoring new targets: 639.60 m.Bj}Jj}  ProNav: ac range: 639.599976 m, nav range: 540.340515 m, bearing: 291.429183 deg, approach rate: -0.372882 m/s, LOS rate: -0.028525 deg/s, cmd heading: 244.179673 deg, new cmd heading: 244.140732 deg. 2j HeadingCmd: 4.261060 target range: 639.599976 and range: 639.60 m. jZ@jjjihhhAhEىBfAfAfArfIbfM )0@ɛΆB#^ ػI $=ɚiI7#=Ijii)Z@)*F2F:FBF0JF*J5a="J5= Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=5.287670G G B O >Qr7w,(ݼA2q?@Y2N@28,=92h"!IIFIFs75٢N͕ R|=9R@Q R ?TT VG٣TyV$ V ? ^Nusing accuracyPremultiplier from configXb59Z;}?b5YZ iZCB`bf<@Z8DZ.:Z:Z65h jAhZjyFNOT Ignoring new targets: 639.60 m.BjJj蹝 ProNav: ac range: 639.599976 m, nav range: 540.214722 m, bearing: 291.420568 deg, approach rate: -0.371389 m/s, LOS rate: -0.025441 deg/s, cmd heading: 244.140741 deg, new cmd heading: 244.114889 deg. 2jHeadingCmd: 4.260609 target range: 639.599976 and range: 639.60 m. jV@jjjihhhhfffrfbf5{0@ɛ-҆B- )5ȿI1 5=ɚ1i9I=7%=IUqiQiQ)UV@)Y \$?IQh*F2F:FBF0JFjHYbHYHu>Iq Iu"IIuJ xJ sJ 1J J Z:J 9J 3J J ;J ;J =:J >:zK aMK ŷ9K K K yx7w,ݼA2c@Y2r@26=92bphh jG٣hyni n> eNusing accuracyPremultiplier from configam59ei?u5Ye ieCBw&<@e>DeeHeadingCmd: 4.260041 target range: 639.599976 and range: 639.60 m. jeAR@jajajiiihihihihqfffrfbf 0@ɛ}׆B}/ 隅ѿI 5=ɚiI'=I2{ii)AR@) IEd=u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044642*F ?2F :F BF }0JF J] AAJY G >GBO>7w,޼A62@Y6@6f=96u]mB>!I)@ @ Mb@Mb@Mb@    ) Y T㥛 ?ˡES㥫y ? 什 /]  -A) I $A y (0AIIV85٢F =9ZƻQ > G٣FGyP > Nusing accuracyPremultiplier from config59T?5Y iCBs?:3M<@FD;;[5B AE%B*** querying acoustic contact ***j!j!-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=6.295627ZjAEFNOT Ignoring new targets: 639.60 m.BjMJjM] ProNav: ac range: 639.599976 m, nav range: 539.812012 m, bearing: 291.399318 deg, approach rate: -0.469858 m/s, LOS rate: -0.020837 deg/s, cmd heading: 244.082356 deg, new cmd heading: 244.051109 deg. 2j]deHeadingCmd: 4.259495 target range: 639.599976 and range: 639.60 m. jeM@jajajiiihihihqhuYBfqfqfyrfybf}e1@ɛ݆BC 隭ۿI {=ɚiIz*=I#ii)M@)E_=*F?2F:FBF0JF ]$?IH>I IA"IIBI =&I.I6I<:Id FBIuǯCJIuǯCRIqZIu =bIu =jIuǼ5G% > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548069G B O% >ӆ7w,Ӣ޼A:~@Y:ͷ@:w=9:BFm!IININS<5٢V Z`=9Z4Q Z>\\ ^G٣\yb b> fNusing accuracyPremultiplier from configdj59fͣ?j5YfT# ifgCBhj0Tr<@fLDf";f;f5  jA Zj1=FNOT Ignoring new targets: 639.60 m.BjEîJjEîU ProNav: ac range: 639.599976 m, nav range: 539.640442 m, bearing: 291.392284 deg, approach rate: -0.465698 m/s, LOS rate: -0.019099 deg/s, cmd heading: 244.051101 deg, new cmd heading: 244.029992 deg. 2jUQ]HeadingCmd: 4.259127 target range: 639.599976 and range: 639.60 m. j]J@jYjYjYiahahahahafififirfibfu 1@ɛB7Ƚ 隭I ` =ɚiI,=I,ii)J@)EE*E"EzKBHK59KK KRKJK?eWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=6.803593E*F12F9:F9BF=}0JF9 ! I) G >G ?G ?Gq B O >V"7w,7޼A6Will construct direction to contact in vehicle frame from tetrahedron phase data.:checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054573@Y@м=9d5٢Խ 5=9.`Q > G٣y > Nusing accuracyPremultiplier from config59ï?5Y( i7CBc?:w<@TD;#;5 *AZjFNOT Ignoring new targets: 639.60 m.BjiJji ProNav: ac range: 639.599976 m, nav range: 539.396667 m, bearing: 291.386231 deg, approach rate: -0.514439 m/s, LOS rate: -0.012780 deg/s, cmd heading: 244.029982 deg, new cmd heading: 244.011814 deg. 2jU HeadingCmd: 4.258810 target range: 639.599976 and range: 639.60 m. j +H@j j j i h hhh!BfffJEwJEtJE0JAJEW:JE9JEـ3JAa]@a]@a]@a]@rfbf]F2@ɛBGު 隭^I p=ɚiI/=I_ii)+H@)*FY2FY:FaBFaJFa Will construct direction to contact in vehicle frame from tetrahedron phase data. Ai Achecking for new query: numPingsReceived=0, elapsed TxPingTime=7.303855Gu >GQ BY O >w7w,P޼A DIDN$@YNs@No1=9NEtt vG٣vFGyv; z> ~Nusing accuracyPremultiplier from configx59z/?5YzM- izCB~ <@z[Dz ;z ;z5B AEHe>IeC Ie!IIeBIa&Ia.Ia6Ie%<:Ie| FZjFNOT Ignoring new targets: 639.60 m.Bj_]Jj_] ProNav: ac range: 639.599976 m, nav range: 539.195435 m, bearing: 291.381850 deg, approach rate: -0.555430 m/s, LOS rate: -0.012096 deg/s, cmd heading: 244.011814 deg, new cmd heading: 243.998666 deg. 2jHeadingCmd: 4.258580 target range: 639.599976 and range: 639.60 m. jJF@jjjihh!h!h!f!f)f1rfQbf]2@ɛB& 9=隥I ^=ɚiIy2=I ii)JF@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558945*F2F:FBF0JFG- >zK- N KK- ŷ9K) K- K-  I%FRONNI>0"{qg_WPJD?=BKE qA:KE qAG B O- >E Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811507\07w,Aj޼AzY@Yz(@z=9zFAA EG٣AyE M> UNusing accuracyPremultiplier from configI]59MKë?]5YM2 iMBBY]e<@MbDM ;M. ;M]5mB mAmEZjFNOT Ignoring new targets: 639.60 m.BjADJjAD ProNav: ac range: 639.599976 m, nav range: 538.968079 m, bearing: 291.377611 deg, approach rate: -0.574914 m/s, LOS rate: -0.010724 deg/s, cmd heading: 243.998673 deg, new cmd heading: 243.985950 deg. 2j빝HeadingCmd: 4.258358 target range: 639.599976 and range: 639.60 m. jxD@jjjihhhhfffrfbfa2@ɛBq6ܽ I D><ɚiI4=I Ŗi iY)exD@ ^$?IRh)*F2F:FBF0JFG GWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064863G G G J} xJ} ~Jy Jy J} Z:J} f9Jy Jy G B O >A7w,G޼A2X/@Y2>@2q{=92ċ G٣yK > Nusing accuracyPremultiplier from config59ͫ?5Y8 iBB?:<@kD;{;5 5 AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316001 B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 639.60 m.Bj%Jj%踝5 ProNav: ac range: 639.599976 m, nav range: 538.712891 m, bearing: 291.374933 deg, approach rate: -0.605678 m/s, LOS rate: -0.006359 deg/s, cmd heading: 243.985941 deg, new cmd heading: 243.977904 deg. 2j5=HeadingCmd: 4.258218 target range: 639.599976 and range: 639.60 m. j=RC@j9j9j9iAhAhAhAhMˈBfIfIfIrfIbfU>k3@ɛB 隅CI <ɚiIe27=Iii)RC@)*FM?2FI:FIBFM0JFI IH]>IY I]!II]RBIY&IY.IY6I]B<:I] FG>Gi Bq O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=8.5677195 GI a %Y y KA$A7w,jm޼A:L@Y:.\@:=9:XX ZG٣ZFGy^엽 ^> jNusing accuracyPremultiplier from config`j59bhի?j5Yb= ibBBln=n<@brDb+;bt;bD5rB tvEZj FNOT Ignoring new targets: 639.60 m.Bj&Jj&- ProNav: ac range: 639.599976 m, nav range: 538.484131 m, bearing: 291.373205 deg, approach rate: -0.618582 m/s, LOS rate: -0.004676 deg/s, cmd heading: 243.977909 deg, new cmd heading: 243.972721 deg. 2j-`M5HeadingCmd: 4.258127 target range: 639.599976 and range: 639.60 m. j5B@j1j9j9i9h9h9hAhAfAfAfIrfQbfU@V3@ɛ}BƊ 隅I <ɚiI9=Iii)B@)zKoNKK9KK K:2*%"%1:950*"!  RK?JK?Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823760E=*Fy2Fy:FyBF}0JFy I Ga GY Bq O >7w,޼A Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073085y%ՂB% IMb@Mb@Mb@ )Yx&1?$C˿~jtyA ?Zļ2A \/A)9AI(Ay1AIIm?5٢l 4=9Q > G٣y > Nusing accuracyPremultiplier from config59]߫?5Y0E iyBBc)? :  <@{D;-;<5  AZj  FNOT Ignoring new targets: 639.60 m.Bj%Jj%% ProNav: ac range: 639.599976 m, nav range: 538.185852 m, bearing: 291.372123 deg, approach rate: -0.621181 m/s, LOS rate: -0.002254 deg/s, cmd heading: 243.972718 deg, new cmd heading: 243.969470 deg. 2j- Ƹ-HeadingCmd: 4.258070 target range: 639.599976 and range: 639.60 m. j5B@j1j1j1i1h9h9hAhE߈BfAfAfArfIbfM E4@ɛ}B}޽ y}Iy E8<ɚiI8<=Izii)B@)J{JxJ1JJd:J9J3JE}}=*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=9.323471G >G ?G +?G B O > - `$?I) q7w,޼A:ځ@Y:)@:=9:SE<ٕ?R?ɨ:ځ@:;:CyDF IILIL٢V; Vb=9VQ Z>XX ZG٣Xy^ ^>jHb<bHb<Hf>Id IfA!IIfBId&Id.Id6If<:IfT F zNusing accuracyPremultiplier from configx59z`櫛?5Yz*K iz^BB<@zDz=IMiIiI)MZB@)Q5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575719E= =*F2F:FBFJFzK- MK- 9K) K- K- %} 3 >}Lf Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=9.828631G >G B O >7w,}޼A2@Y2Ь@2]=92    G٣ FGy% %> -Nusing accuracyPremultiplier from config)559-?55Y-:R i-?BB1==<@-D-X:-X:-35EB E AEEZjquFNOT Ignoring new targets: 639.60 m.Bj18Jj18 ProNav: ac range: 639.599976 m, nav range: 537.661865 m, bearing: 291.374162 deg, approach rate: -0.686542 m/s, LOS rate: 0.003612 deg/s, cmd heading: 243.971133 deg, new cmd heading: 243.975590 deg. 2j9HeadingCmd: 4.258177 target range: 639.599976 and range: 639.60 m. jB@jjjihhhhfffrf bf `_ 5@ QIUShɛm Bu +I !%<ɚ iI5A=IMiyi)B@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.GaGaG1B9Om?{Y7w, ߼A2@Y2H˪@20=92픶AI MG٣IyM\ M> ]Nusing accuracyPremultiplier from configQe59U?e5YUZ iU!BBe4+?e:ekm<@UDUf;U3;U5uB uY AuEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 639.60 m.Bj d"8Jj d"8 I= ProNav: ac range: 639.599976 m, nav range: 537.321472 m, bearing: 291.375326 deg, approach rate: -0.648657 m/s, LOS rate: 0.002218 deg/s, cmd heading: 243.975587 deg, new cmd heading: 243.979079 deg. 2jE8EHeadingCmd: 4.258238 target range: 639.599976 and range: 639.60 m. jM}C@jIjIjIiIhIhIhyh}Bfyffrfbf@5@ɛB*j I <ɚiID=H>I I(!IIBI =&I.I6I<:Ig FI5i1i1)5}C@)9*F2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.G B O >zK OK @9K K K $sO&iK3!Q|vrjb[ROLKFEDDB=520+)('%$" ! @s7w,'߼A2O֢@Y2@2*v=92|B>!IIFIF95٢Nр= NX=9R"Q R>PP VG٣TyVw V> ZNusing accuracyPremultiplier from configXf59Z?j5YZa iZ BBhjn<@ZDZ;Zm;Z5t vAt%Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Response Not Received 5*response not received=,DAT read: user:2107> EBDAT read: Tx time:21:51:55.9868 E$Ping request sent.EWill construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:51:55.9860 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251610Gi By O >[7w,ρA߼A6@Y6@6Sh=96 G٣FGy3~ > Nusing accuracyPremultiplier from config59?5Y;h iBB)?:꠿<@D;;5 AZjFNOT Ignoring new targets: 639.60 m.Bj8Jj8 ProNav: ac range: 639.599976 m, nav range: 536.781860 m, bearing: 291.378767 deg, approach rate: -0.705082 m/s, LOS rate: 0.004478 deg/s, cmd heading: 243.983947 deg, new cmd heading: 243.989420 deg. 2jD9HeadingCmd: 4.258419 target range: 639.599976 and range: 639.60 m. jD@jjj!i!h!h!h)h-*Bf)f)f)rf1bf5]6@ɛ] Be  im$Ii m<ɚiiiIm}{I=IuǕiyiy)}D@)y*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=0.505220 =a$?I9GiGqGu#?ZHA RHA HM >II  IM .!IIM BII &II .II 6IM <:IM q FBIȰCJIȰCRIZI =bI =jI 5Gi Bq O  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755513t7w,[߼AJ@YJ@JT=9J8ll rG٣pyrF r> vNusing accuracyPremultiplier from configtz59v ?z5Yvn ivAB|~~<@vDv ;v ;v#5 1A Zj15FNOT Ignoring new targets: 639.60 m.Bj=R8Jj=R8M ProNav: ac range: 639.599976 m, nav range: 536.529724 m, bearing: 291.381129 deg, approach rate: -0.659628 m/s, LOS rate: 0.006183 deg/s, cmd heading: 243.989411 deg, new cmd heading: 243.996501 deg. 2jMˇ9UHeadingCmd: 4.258543 target range: 639.599976 and range: 639.60 m. jUE@jQjYjYiYhYhYhahafafafarfibfm6@ɛ&BA `I %qri<ɚ!i!I%K=I-i)i1)5E@)QJ=wJ=rJ9J9J=W:J=9J9J9J=z;aUJ=z;aUJ=:a]J=:a]*F2F:FBF0JFzKOKŷ9KK K   BK:KpAEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.009511G >GBO >  I 7w,7u߼A8@Y'H@C=9 h G٣yf > Nusing accuracyPremultiplier from config59c?5Yu iAB; ?:ߟ<@D;<;85 AEZjFNOT Ignoring new targets: 639.60 m.Bjk8Jjk8U ProNav: ac range: 639.599976 m, nav range: 536.237732 m, bearing: 291.382731 deg, approach rate: -0.584950 m/s, LOS rate: 0.003211 deg/s, cmd heading: 243.996514 deg, new cmd heading: 244.001323 deg. 2jU 9UHeadingCmd: 4.258626 target range: 639.599976 and range: 639.60 m. j]F@jYjYjYiYhyhhhABfffrfbfB7@ɛ}.B=x 隅I vEF<ɚiI;N=I_ii)F@)*Fi2Fi:FiBFmw0JFq= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511653G >G G pAG B O >7w,߼Abc@Yblr@b4=9bzIzyIz'5٢(> `= ITh9W-Q > G٣FGy% %> -Nusing accuracyPremultiplier from config)559-?55Y-{ i-AB9=6=<@-D-L:-:-m5A EAImB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 639.60 m.Bj8Jj8 ProNav: ac range: 639.599976 m, nav range: 536.008667 m, bearing: 291.384632 deg, approach rate: -0.681003 m/s, LOS rate: 0.005652 deg/s, cmd heading: 244.001323 deg, new cmd heading: 244.007026 deg. 2j?x9HeadingCmd: 4.258726 target range: 639.599976 and range: 639.60 m. j|G@jjjihhhhfffrfbfཕ7@ɛ2B I X2<ɚiI͎P=Iii)|G@)H=>I9 I=T!II=*BI9&I9.I=ED6I=E<:I= F*Fy2Fy:FyBF}0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763741GaG9BIOe>JvJJJJ{T:JJJJIu;JKu;JJzK S*MK K K K 1:CHGHHDDFAAA>=:88650'7w,;߼ABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.016149R@YRP@R>.=9R&tt vG٣tyv} z> ~Nusing accuracyPremultiplier from configx59z?5Yz izABW <@zDz:zq:z 5 AZj  FNOT Ignoring new targets: 639.60 m.Bj5r8Jj5r8E ProNav: ac range: 639.599976 m, nav range: 535.762634 m, bearing: 291.387323 deg, approach rate: -0.585258 m/s, LOS rate: 0.006405 deg/s, cmd heading: 244.007033 deg, new cmd heading: 244.015111 deg. 2jE9MHeadingCmd: 4.258867 target range: 639.599976 and range: 639.60 m. jMH@jIjIjIiIhqhqhyhyfyfyfrfbf8@ɛ9B |I <ɚ iIR=I5mi1i1)5H@)9 1I1*F2F:FBF0JF=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.270100G >G B O >*J R="J 4=x7w,'߼A6Dϝ@Y6ޤ@6Z'=96j?B>n!I Mb@Mb@Mb@    ) Y i|?5?MbI +?y ?  9<  0A) :AI ,A y \3AI-I- +5٢:= ?=9Q > G٣ym > Nusing accuracyPremultiplier from config59M$?5YJ iAB?:ʥ<@Dr;; 5 KAZjFNOT Ignoring new targets: 639.60 m.Bj  8Jj  8 ProNav: ac range: 639.599976 m, nav range: 535.515869 m, bearing: 291.389910 deg, approach rate: -0.612434 m/s, LOS rate: 0.006424 deg/s, cmd heading: 244.015120 deg, new cmd heading: 244.022885 deg. 2j9%HeadingCmd: 4.259003 target range: 639.599976 and range: 639.60 m. j%I@j)j)j)i)h1h1h9h=Bf9f9fArfAbfE@h8@ɛm?Bm! quIq uqj;ɚqiyI}0U=I}6ii)I@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520655*F2F:FBF0JF IjH9bH9HE>IEC IE!IIERBIE =&IA.IA6IE(<:IE FG]>G) B1 O >)5 E= 5 ُC ~G  #Y y B= Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771689$7w,߼AF @YF]@F>.=9F!! %G٣%FGy- -> 5Nusing accuracyPremultiplier from config1=595(?=5Y5 i1AE.E<@5D5;5:55I MAIZjq}FNOT Ignoring new targets: 639.60 m.Bj} 9Jj} 9 ProNav: ac range: 639.599976 m, nav range: 535.294739 m, bearing: 291.392865 deg, approach rate: -0.572512 m/s, LOS rate: 0.007653 deg/s, cmd heading: 244.022879 deg, new cmd heading: 244.031747 deg. 2j9HeadingCmd: 4.259158 target range: 639.599976 and range: 639.60 m. jK@jjjihhhhfff)rf1bf58@ɛ}FB} y}nI F;ɚiIlxW=JtJnJ1JJ;N:J99J3JJ}j;Jj;JS:JT:Iii)K@)*Fa2Fa:FaBFe0JFazKMKж9KK K# Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023600GU >G! B1 O] >  b$?I MP7w,s߼A]'"@Y]w1@]5=9]Ķ G٣y}j > Nusing accuracyPremultiplier from config59;.?5YD iAB5 ?:<@D; ;5B AEZjFNOT Ignoring new targets: 639.60 m.Bj8Jj8 ProNav: ac range: 639.599976 m, nav range: 535.049500 m, bearing: 291.395916 deg, approach rate: -0.540024 m/s, LOS rate: 0.006722 deg/s, cmd heading: 244.031758 deg, new cmd heading: 244.040916 deg. 2j9%HeadingCmd: 4.259317 target range: 639.599976 and range: 639.60 m. j%TL@j!j!j!i!h!h)h)h-͉Bf)f1f1rf1bf52H9@ɛMBqx 隭I ׅ;ɚiI4Y=I ii)TL@)JJ*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527684G >G B O >48w,A:#H@Y:sW@: =9:{RI I!II{BI&I.I6ID<:I F*F?2F:FBFp5JFWill construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:51:59.2454 TRx dataTimestamp_ set to:1736373120.440819checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780868G>GBJuJmJJJ[Q:J&9JJJo;Jo;J:J:O>|_ 8w,+AzK GLK@9KK K  |{iZR2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031508Bm@YBP|@B6=9B̗`` bG٣bFGyb b> jNusing accuracyPremultiplier from configdj59f5?U5Yf ifABY]뮿]<@fDf۔ e BDAT read: Tx time:21:52:00.3368 e $Ping request sent. -r(-έ?-Pwֽ -?)-|oI-0?i-|o>))-99 =G٣9y=q E> Nusing accuracyPremultiplier from configA59EH9?5YE iEAB?:<@EDEk){?@Anh@t*h @]#^q싩?vc?ln?Jk]N?Rk]נ*]$Ì g@ @1G/.#@],5?Dب<?ǚ?"k]^@*k]&p8w,2_Ay=KB=|!IIM[IM5٢]76 eY=9eQ e>ii mG٣iym u> Nusing accuracyPremultiplier from configy59}ezK]^MK]ŷ9KYK] K]MHD?971-+((& }Will construct direction to contact in vehicle frame from tetrahedron phase data. q Iq G G ?G ?Ga B O >8w,qyAu@Yu @us<9ud;yuH1~?@,?@Rc@[z?em M i?@?ɨu@ur;uCyDBWill construct direction to contact in vehicle frame from tetrahedron phase data.u!I) Mb@Mb@Mb@ )YK7A?kt{Gzy ? 0ף 0A):AI0AyIIB-5٢%ݼ -0=9-AQ ->11 5G٣5FGy5 => ENusing accuracyPremultiplier from config9M59=??U5Y=߯ i=AB]?]:]]=@=D=k;=9j;=&5a e AiZjFNOT Ignoring new targets: 640.80 m.BjV9JjV9 ProNav: ac range: 640.799988 m, nav range: 533.998413 m, bearing: 291.416286 deg, approach rate: -0.514399 m/s, LOS rate: 0.011724 deg/s, cmd heading: 244.085799 deg, new cmd heading: 244.101544 deg. 2j:HeadingCmd: 4.260375 target range: 640.799988 and range: 640.80 m. jT@jjjihhhhӉBfffrfbf@8?ɛoBI ZI `{ɚiI`Pe=Iui i ) T@) JzJpJ0JJ`:J^9Jـ3Ja@a@a@a@*F2F:FBFk5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.Ձ iՅ AG G B O > Q IQ $8w,Ay 8Be!IAI%\I%45٢=L =o=9=Q =?AA EG٣AyM M? UNusing accuracyPremultiplier from configQ]59U B?]5YUe iUABYae=@UDH>I I!IIBI&I.I6I<:IQ FBI5CJI5CRI1ZI5 =bI5 =jI54U%-;U=PG B O > *8w,]ìA2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.725151>@Y>@> <9>dlHخ?@e? m@Ed? Cߏ?5?ɨ>@>I;>CyF'BJP!IzKN MKN9KLKN KNRKV>JKV?IZIZ>5٢b bS=9f&Q f>dd fG٣hyjV j> rNusing accuracyPremultiplier from configlr59nC?r5Yn inABtvv=@nDn:n:n%-5x zAxZjFNOT Ignoring new targets: 640.80 m.Bj~9Jj~9M ProNav: ac range: 640.799988 m, nav range: 533.638000 m, bearing: 291.425682 deg, approach rate: -0.480063 m/s, LOS rate: 0.013919 deg/s, cmd heading: 244.113174 deg, new cmd heading: 244.129727 deg. 2jU:HeadingCmd: 4.260868 target range: 640.799988 and range: 640.80 m. jY@jjjihh IVhhhfffrfbf?ɛ}BL 隕 I #ɚiIi=Imii)Y@)*Fa2Fa:FaBFe_5JFa%Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980513G >G qAG G B O >J tJ mJ 1J J ;N:J &9J 3J 318w,VAF(@YF8@Fֱ<9F,T=9Q > G٣yRj > Nusing accuracyPremultiplier from config59D?5Y iAB?:=@D;;05 AZjFNOT Ignoring new targets: 640.80 m.Bjuʫ9Jjuʫ9 ProNav: ac range: 640.799988 m, nav range: 533.420654 m, bearing: 291.433382 deg, approach rate: -0.529666 m/s, LOS rate: 0.018774 deg/s, cmd heading: 244.129730 deg, new cmd heading: 244.152842 deg. 2j&N:HeadingCmd: 4.261271 target range: 640.799988 and range: 640.80 m. jU\@jjjihhhhfffrfbf @ɛ5B5z ) 9= I9 =9Qɚ9i9IEjl=IE giAiI)MU\@)QWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231965*F2F:FBF4JF IjHu<bHqH}>Iy I}!II}BIy&Iy.Iy6I}¯<:I}; FGG B O >% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481769*78w,yA6X@Y6g@6`.<96PBB'!I F=Fa=IJIJ>5٢fS fX=9f`Q j>l) -G٣-FGy-ㅽ -> =Nusing accuracyPremultiplier from config1E595sE?E5Y5 i5ABAE>ſE=@5D5 ;5C ;5N45I U"AQZjFNOT Ignoring new targets: 640.80 m.Bj9Jj9 ProNav: ac range: 640.799988 m, nav range: 533.226013 m, bearing: 291.440879 deg, approach rate: -0.499290 m/s, LOS rate: 0.019237 deg/s, cmd heading: 244.152844 deg, new cmd heading: 244.175341 deg. 2j;S:HeadingCmd: 4.261663 target range: 640.799988 and range: 640.80 m. j_@jjjihhhhfffrfbf@ɛB4 I T1ɚiI?n=I`ii)_@)E C=}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733374zKBoHKKK KBKpA:KqA*F?2F:FBFo5JF IG >G BA O >)>8w,ARWill construct direction to contact in vehicle frame from tetrahedron phase data.Zchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.988546yEBM!I Mb@Mb@Mb@ )Y|?5^?x&/$y?7, )V8AIyp5AII>5٢M3 =9 Q  >    G٣y > Nusing accuracyPremultiplier from config%59(F?%5Y ilAB-T?-:-hſ-=@%D;B;851 5A9ZjFNOT Ignoring new targets: 640.80 m.J!J%{J%0J!J!J%-9J%ـ3J!Bj5L9Jj5L9E ProNav: ac range: 640.799988 m, nav range: 532.950439 m, bearing: 291.451546 deg, approach rate: -0.520041 m/s, LOS rate: 0.020141 deg/s, cmd heading: 244.175329 deg, new cmd heading: 244.207347 deg. 2jE(]:MHeadingCmd: 4.262222 target range: 640.799988 and range: 640.80 m. jM d@jIjIjIiIhQhQhQhUBfYfYfYrfYbfe1 @ɛB 隕LI }YɚiIq=IvWii) d@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.237246E == I Wh*F 2F :F BF 0JF "G ]>G ]>H1 I1  I5 !II5 vBI1 &I1 .I1 6I5 <:I5 X F-GAQ YYGyBGYBaO}?}G8w,A:Will construct direction to contact in vehicle frame from tetrahedron phase data.>checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489303ynقBn IIvIvI5٢]c ]4=9YQ e>aa eG٣eFGyi > Nusing accuracyPremultiplier from config59F?5Y iRAB=@.D:P:<5B  AE B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 640.80 m.Bj%9Jj%9U ProNav: ac range: 640.799988 m, nav range: 532.702026 m, bearing: 291.461173 deg, approach rate: -0.560616 m/s, LOS rate: 0.021737 deg/s, cmd heading: 244.207349 deg, new cmd heading: 244.236244 deg. 2jUn:]HeadingCmd: 4.262727 target range: 640.799988 and range: 640.80 m. j]Bh@jYjYjYiYhahahhfffrfbf @ɛB/ sI }ɚiIAt=I1Oii)Bh@)E E *E "E 5Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.743999zKBoIKŷ9KK K*FM ?2FI :FI BFM 0JFI A IA Ge >G9BIOe>AN8w,;A:ɐ@Y:ؗ@:\<9:x G٣y=U => MNusing accuracyPremultiplier from configI59MD?5YM iM5ABӿ=@M8DM 8U8w,uUA2ۏ@Y2 @2?l<929YIT IVy!IIVHBIV =&IVED.IT6IV<:IVR FybBb IMMb@Mb@Mb@III I)IYMx&1?ʡEMbyMA ?MM@M6A Mp3A)M6AIIIyM4AIIB5٢ X=9ʠQ > G٣y > Nusing accuracyPremultiplier from config59}B?5Y i AB !? : ׿ =@?DNN;WL;|D5 "AZj9EFNOT Ignoring new targets: 640.80 m.BjE:JjM:] ProNav: ac range: 640.799988 m, nav range: 532.229614 m, bearing: 291.487070 deg, approach rate: -0.567180 m/s, LOS rate: 0.032698 deg/s, cmd heading: 244.279694 deg, new cmd heading: 244.313969 deg. 2j]:eHeadingCmd: 4.264083 target range: 640.799988 and range: 640.80 m. je_s@jajajiiihihihihu&Bfqfqfyrfybf}E@ɛBH4W =隵D I ɚiI\z=I8ii)_s@)*FM?2FI:FIBFU4JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:52:03.5872 LVL= 13968, 23153, 20258, 27571, AGC= 68, IDX= 435,-0.04, 1.778, 1.026,-0.243, 0.744, PHS= 1.122, 0.330,-0.989, RAW= 51.8, -5.1, CAL= 55.8, -9.9, ROT= 94.2, 9.9 Ygot valid direction response: 21:52:03.5872 LVL= 13968, 23153, 20258, 27571, AGC= 68, IDX= 435,-0.04, 1.778, 1.026,-0.243, 0.744, PHS= 1.122, 0.330,-0.989, RAW= 51.8, -5.1, CAL= 55.8, -9.9, ROT= 94.2, 9.9 UPDAT read: Bearing 94.2, 9.9 (Local) ]~Local bearing/azimuth received: Bearing 94.2, 9.9 (Local) mDAT read: Range 10 to 50 : 634.5 m (Round-trip 846.1 ms) speed 0.0 m/s m,DAT read: user:2109> uBDAT read: Tx time:21:52:04.6869 u$Ping request sent.uٕ/}ٕqg?ٕK ڕQy?)ڕ;0Iڕq?iڕ;0>ڑڑەtuI?L،zdGNf)ە3]Iە=iە,?ە=SۑۑM:publishing transmit ping timeqMFpublishing direction and range infoؑ9ؕA?62o?Q?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑەtuI?L،zdGNf)ۑIۑiۑۑۑۑGU>G B O= >= Will construct direction to contact in vehicle frame from tetrahedron phase data.H[8w,ToAzKBBHKB9K@KB KBZ@YZ@ZK<9ZA|| ~G٣~FGy` >  Nusing accuracyPremultiplier from config 59 ??5Y  i  ABۿ=@ FD  ; . ; G5! %"A!k6=3?kQ0 k k _A:kDBkDZk@"%dI@ Ćz@?"}@A?62o?Q?Jk,?Rk=S*\y@~km}=#Q[}@U.?!n?j?"k*keCkVB!4?k͛ 2kDk?kkk Dk @u addTargetRange:: Added new target pos. range: 634.500000 m, deltaT: 4.538074 s, deltaX: -6.299988 m, approachRate: -1.388251 m/s, rangeRepo size: 4  Added new target pos. range: 634.500000 m, bearing: 350.571262 deg, lat: 36.901133 deg, lon: -122.123984 deg, deltaT: 4.538074 s, deltaX: -6.299988 m, approachRate: -1.388251 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 634.50 m.BjJj ProNav: ac range: 634.500000 m, nav range: 566.491638 m, bearing: 299.096432 deg, approach rate: 0.000000 m/s, LOS rate: 0.032698 deg/s, cmd heading: 244.313981 deg, new cmd heading: 244.350985 deg. 2jHeadingCmd: 4.264729 target range: 634.500000 and range: 634.50 m. jx@jjjihhhhfffrfԃ@bf? IɛB}:R y隅#I sɚiIt}=Id.ii)x@)*F2F:FBF`5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.GqGI BQ Om >r3b8w,C;AyޕBޕ I =%Mb@Mb@Mb@!!! !)!Y%Gz?~jtˡEy%0?%%'%V8A %2A)!I!!y%4AI=I=E5٢UP U6=9UQ ]>YY ]G٣Yye e> Nusing accuracyPremultiplier from configi59mG9 BI Om > Will construct direction to contact in vehicle frame from tetrahedron phase data.wZh8w,_ A6,Ԍ@Y6|@6_;96pll nG٣lyr: r> vNusing accuracyPremultiplier from configtz59v7?z5Yv7 iv@Bxz⿑z=@vXDv:v:vN5B #AE-B*** querying acoustic contact ***j)j)Zj15FNOT Ignoring new targets: 634.50 m.Bj=Y:Jj=Y:M ProNav: ac range: 634.500000 m, nav range: 566.055359 m, bearing: 299.131492 deg, approach rate: -0.549282 m/s, LOS rate: 0.047586 deg/s, cmd heading: 244.407692 deg, new cmd heading: 244.456185 deg. 2jM;UHeadingCmd: 4.266565 target range: 634.500000 and range: 634.50 m. jU@jQjYjYiYhYhahahafafifirfibfm L?ɛÇBh 隝t)I MӼɚiIb=ILiVƼik<>)@)JvJrJ0JJ{T:J9Jـ3JJIu;aJLu;aJ:aJ:aEz=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.zKBoIK@9KK K  *F2F:FBF1JF IGE >G B9 Om >n8w,)AVˋ@YVNے@Vp{;9V| G٣FGyN > Nusing accuracyPremultiplier from configa59e1?5YeZ ie@B濑=@ebDe!)@)Ee]=*F2F:FBFh5JFG4>GBO>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734417 I {u8w,AH>I I !IIBI =&I.I6I<:I~ FBIqJIqRIqZIqbIqjIu4jي@Yj@j;=;9j2A G٣yg > Nusing accuracyPremultiplier from config59-,?5Y{ i@B;?:近=@kD=;Y[;V5B #AEZj FNOT Ignoring new targets: 634.50 m.Bj ;x:Jj;x: ProNav: ac range: 634.500000 m, nav range: 565.617493 m, bearing: 299.172430 deg, approach rate: -0.573188 m/s, LOS rate: 0.054255 deg/s, cmd heading: 244.521209 deg, new cmd heading: 244.579046 deg. 2j;HeadingCmd: 4.268710 target range: 634.500000 and range: 634.50 m. jE@jjjihhhhӈBfffrfbfOj?ɛ ӇB _k -5,I1 5lɚ1i1I5c=I=*i=佼i=R>)=E@)AEIEI*Ei"EiMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986568JK KKK"KJtJlJ1JJ;N:J9J3JJ}j;Jj;J):J*:*F?2F:FBFO1JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238798G >>G G rA I G B O >f|8w,AzKLKK9KK KJ*@YJz@J:9J$pp rG٣pyv v> Nusing accuracyPremultiplier from config59%?%5Yz i@B!%쿑%=@uD;::Y5Q ]I$AYZjFNOT Ignoring new targets: 634.50 m.BjZi:JjZi: ProNav: ac range: 634.500000 m, nav range: 565.393860 m, bearing: 299.194946 deg, approach rate: -0.506371 m/s, LOS rate: 0.051003 deg/s, cmd heading: 244.579047 deg, new cmd heading: 244.646622 deg. 2j ;%HeadingCmd: 4.269889 target range: 634.500000 and range: 634.50 m. j%@j!j!j!i!h!h!hIhIfIfQfQrfQbfUf:@ɛۇBx[ .I ɚiIS=Iiih9>)@)EqAEqA*F2F:FBF85JFGqA GGPX}>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494240GBOj>lI8w,. ABs@YB@B̢9Bx&=9Q > G٣FGyŎ > Nusing accuracyPremultiplier from config59-?5Y i@B)A?:=@D;S;]5B 3$AEZj  FNOT Ignoring new targets: 634.50 m.BjF:JjF:- ProNav: ac range: 634.500000 m, nav range: 565.170959 m, bearing: 299.218378 deg, approach rate: -0.537361 m/s, LOS rate: 0.056511 deg/s, cmd heading: 244.646612 deg, new cmd heading: 244.716934 deg. 2j-!; a$?IYhHeadingCmd: 4.271116 target range: 634.500000 and range: 634.50 m. j@jjjihhhhBfffrfbfn@ɛ5B5d 9=/I9 =bɚ9i9I=u=IEiEiEF >)M@)iH>I I II΂BI&I.I6I*<:I F*F?2F:FBF5JFGp[>GBOc>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994433v8w,'AJ"vJ"nJ"0J J"{T:J"99J"ـ3J J"Iu;J"Lu;J"S:J"T:^@Y^@^W9^= G٣yț > Nusing accuracyPremultiplier from config59?5Y i@B=@DH[;fs;a5 #AB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 634.50 m.Bj m:Jj m: ProNav: ac range: 634.500000 m, nav range: 564.968323 m, bearing: 299.241041 deg, approach rate: -0.501798 m/s, LOS rate: 0.056141 deg/s, cmd heading: 244.716935 deg, new cmd heading: 244.784948 deg. 2j;HeadingCmd: 4.272303 target range: 634.500000 and range: 634.50 m. j@jjjihhhhfffrfbf`a @EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.246669ɛB|a 隕Y.I ɚiI=IKi#iM~>)@) IzKBHK9KK KRK?JK?*Fu?2Fq:FyBF}P5JFyG NT>Gy B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501615`8w,AAyލqBލq IMb@Mb@Mb@ )Y/$?~jtx?y5٢UǼ U0=9]Q e>ii mG٣iym u> }Nusing accuracyPremultiplier from configq}59u8 ?5Yu% iu@B=?:=@uDu;u;u'e5B $AEZjFNOT Ignoring new targets: 634.50 m.BjR}:JjR}: ProNav: ac range: 634.500000 m, nav range: 564.734802 m, bearing: 299.266525 deg, approach rate: -0.507140 m/s, LOS rate: 0.055368 deg/s, cmd heading: 244.784937 deg, new cmd heading: 244.861422 deg. 2j;HeadingCmd: 4.273638 target range: 634.500000 and range: 634.50 m. j@jjjihhhhBfffrfbfyZ @ɛBk 隥/I "ɚiI=IliֈiR >)@)*Fq2Fy:FyBF} 5JFy"G>G>UWill construct direction to contact in vehicle frame from tetrahedron phase data.UBDAT read: Rx Time:21:52:07.9293 ]TRx dataTimestamp_ set to:1736373129.264784]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.751669Ge^*J>G)B1OM> iIqZH RH AAH >I  I II ɂBI =&I .I 6I <:I e F) ſ= }G) ܅8w,[[A @5 YyB @cB٢}^= o=9Q ? G٣FGy ? Nusing accuracyPremultiplier from config59?5Y,, i@B=@D;1;3h5  e#A ZjFNOT Ignoring new targets: 634.50 m.Bjn:Jjn:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.002560 ProNav: ac range: 634.500000 m, nav range: 564.559448 m, bearing: 299.285680 deg, approach rate: -0.477853 m/s, LOS rate: 0.052215 deg/s, cmd heading: 244.861435 deg, new cmd heading: 244.918918 deg. 2jV;HeadingCmd: 4.274642 target range: 634.500000 and range: 634.50 m. jɈ@jjjihhhh!f!f)f1rf9bf=`0@ɛB03p >U.I +ɚiI=I%i%iE >)MɈ@)Q*F2F :F BF o0JF JqJuqJu1JqJqJuq9Ju3JqJqJqJu:Ju:GX >GBO>m Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:52:07.9293 LVL= 14288, 19041, 16626, 27091, AGC= 69, IDX= 434,-0.09,-1.406,-2.217, 2.641,-2.632, PHS= 1.314, 0.461,-1.013, RAW= 51.2, -7.5, CAL= 56.8, -13.5, ROT= 93.2, 13.5  Ygot valid direction response: 21:52:07.9293 LVL= 14288, 19041, 16626, 27091, AGC= 69, IDX= 434,-0.09,-1.406,-2.217, 2.641,-2.632, PHS= 1.314, 0.461,-1.013, RAW= 51.2, -7.5, CAL= 56.8, -13.5, ROT= 93.2, 13.5  PDAT read: Bearing 93.2, 13.5 (Local)  ~Local bearing/azimuth received: Bearing 93.2, 13.5 (Local) E DAT read: Range 10 to 50 : 628.7 m (Round-trip 838.3 ms) speed -0.4 m/s M ,DAT read: user:2110> M BDAT read: Tx time:21:52:09.0369 U $Ping request sent.U m m d?m  m }?)m :FqIm 5?im :Fq>i i m |x?(B ϖ3)m Im >im ?m -Pi i  :publishing transmit ping timeQ  Fpublishing direction and range infoi 9m ge?8FK?HcH?yi i i i i )i Ii ii i i i i i )i Ii ii i i zK K ŷ9K K K  '?a~~ysmgc_\WSMIFDA><74BK qA:K sAm |x?(B ϖ3)i Ii ii i i i 8w,?uAJq@YJ怋@J9J\=yJHֿ?B1ֿם?_??i? f?ɨJq@J؊;JCy^B^ I`bAIfIf?5٢u":= }J=9} Q }> G٣y > Nusing accuracyPremultiplier from config59?5Y53 i@B15==@D<ѹ<k5uB u%#AuEk8 ?kh k kf2qA:k,DBk$DZkX(@"zk"T@*{z@5|@ge?8FK?HcH?Jk?Rk-P*OOÿPv@T!~ js y}@+?]5տJ\?"kWP*kCkrH!?kѣ 2kDkr2z# ?kѣ kDkfCk<@  addTargetRange:: Added new target pos. range: 628.700012 m, deltaT: 4.283531 s, deltaX: -5.799988 m, approachRate: -1.354020 m/s, rangeRepo size: 4  Added new target pos. range: 628.700012 m, bearing: 329.732913 deg, lat: 36.901276 deg, lon: -122.120792 deg, deltaT: 4.283531 s, deltaX: -5.799988 m, approachRate: -1.354020 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 628.70 m.Bj%Jj!u ProNav: ac range: 628.700012 m, nav range: 358.797424 m, bearing: 324.504314 deg, approach rate: 0.000000 m/s, LOS rate: 0.052215 deg/s, cmd heading: 244.918918 deg, new cmd heading: 244.984206 deg. 2jy}HeadingCmd: 4.275781 target range: 628.700012 and range: 628.70 m. j3ӈ@jjjihhhhfffrf@bf×?ɛMBM;k QU .IQ U34ɚQiQIUt=I]Pyi]ie-X=)3ӈ@)Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:52:09.0361 *Fm?2Fi:FqBFqJFyGR>GrAGGiBqO>r8w,AF@YFꭊ@FjY9FiU=yFH#׿?`u#׿ۤ? ?`ݶ??ɨF@F͋;FCy^B^ Iib4=Ibp=Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Y1Zd?J +I +?y";?H94<7A )2AIy\3AInI."5 `$?I٢=s= =>=9E/JQ E>AA EG٣AyMu M> ]Nusing accuracyPremultiplier from configYe59] ?e5Y]: i]@Be;?e:em=@]D]Q;];]jo5q u"AqZjFNOT Ignoring new targets: 628.70 m.Bj;Jj; ProNav: ac range: 628.700012 m, nav range: 358.743317 m, bearing: 324.553819 deg, approach rate: -0.136688 m/s, LOS rate: 0.125082 deg/s, cmd heading: 244.984214 deg, new cmd heading: 245.132754 deg. 2j;-HeadingCmd: 4.278374 target range: 628.700012 and range: 628.70 m. j-p@j)j)j1i1h1h1h1h=Bf9f9f9rf9bfEX?ɛBcu -I 4o=ɚiIю=INi@i0<)p@) E)H]>IY I] II]؂BI] =&IY.IY6I]<:I] F*F?2F:FBFJFGrA GqAWill construct direction to contact in vehicle frame from tetrahedron phase data.G y>G B O >©8w,Ar?@Yr@r*@9rav=yrH ^ؿ`Yr?`צwؿ?`? ˮ??ɨr?@rf;rCyB IIE}IE(5٢e= eY=9mNQ m>ii mG٣iyuc u> Nusing accuracyPremultiplier from configy59}嫛?5Y}(A i}@Bp=@}D}":}e:}r5B "AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 628.70 m.Bj;Jj;PExceeded connect timeout, disconnecting. ProNav: ac range: 628.700012 m, nav range: 358.701965 m, bearing: 324.597265 deg, approach rate: -0.111427 m/s, LOS rate: 0.117084 deg/s, cmd heading: 245.132757 deg, new cmd heading: 245.263110 deg. 2j;HeadingCmd: 4.280649 target range: 628.700012 and range: 628.70 m. j@jjjihhhhfffrfbf `?ɛ Bv ++I rEɚiI&"=I)i۬ib:)@)-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. IZhzK4NK9KK K530++'(%"! RK-?JK->E5e=*F2F:FBFa4JFG =G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.2338828w,AyލÂBލ I =%=J-uJ-pJ)J)J-[Q:J-^9J)J)a5@a5@a5@a=@%Mb@Mb@Mb@!!! !)!Y%I +?A`"~jt?y%94?%Y%<%&9A !)%A4AI%5A!y%5AIm`Im5٢u= }-=9}Q }> G٣FGy > Nusing accuracyPremultiplier from config59ث?5YH i@B4?:=@D;;v5 !AZjFNOT Ignoring new targets: 628.70 m.Bj:Jj: ProNav: ac range: 628.700012 m, nav range: 358.655029 m, bearing: 324.650006 deg, approach rate: -0.099176 m/s, LOS rate: 0.111456 deg/s, cmd heading: 245.263105 deg, new cmd heading: 245.421348 deg. 2j;HeadingCmd: 4.283411 target range: 628.700012 and range: 628.70 m. j@jjjihhhhMBf f f rf bf @!?ɛB}d *I 1OɚiI=IiKhiQ;)@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482451 ^$?IEE >jHE <bHE <HM >II  IM !IIM BIM =&IM FD.II 6IM <:IM z F*F 2F :F BF P5JF G ꤁=G ?G '?G B O > 8w,sAB@YB@Bh9B迆=yBH.ڿ?@ڿ {?@+?@Ѱ??ɨB@B;BCyNтBN IIVIV65٢b[= by=9bQ f?dd jG٣hyj\ν j? rNusing accuracyPremultiplier from configlr59n7ϫ?r5YnHN in@Btv#v=@nDn;n;ny5~B ~2!A~EZj%FNOT Ignoring new targets: 628.70 m.Bj%T;Jj-T;= ProNav: ac range: 628.700012 m, nav range: 358.630310 m, bearing: 324.686729 deg, approach rate: -0.075516 m/s, LOS rate: 0.112193 deg/s, cmd heading: 245.421346 deg, new cmd heading: 245.531522 deg. 2jE;EHeadingCmd: 4.285334 target range: 628.700012 and range: 628.70 m. jMt!@jIjIjIiIhQhQhQhQfYfYfYrfYbf]=?ɛB 隍 )I xVɚiIgŒ=Iivi)t!@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734601EE*EI"EI mnManaging dock network, ignoring radio surface power off*F2F:FBFp0JF"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=1.988706 i Ii ,8w,xBAzK"@MK"9K K" K":v@Y:O@:݊09:b=y:Hۿ?Wicۿ`^??`{?L?ɨ:v@:;:CyZBZ!IIbIb\05٢jA= jJ=9ndQ n>pp rG٣pyrd v> zNusing accuracyPremultiplier from configtz59v8ë?~5YvT ivAB|~~=@vDv. ;v ;v;}5 B | A EZj)5FNOT Ignoring new targets: 628.70 m.Bj1Jj1M ProNav: ac range: 628.700012 m, nav range: 358.603790 m, bearing: 324.732088 deg, approach rate: -0.065591 m/s, LOS rate: 0.112193 deg/s, cmd heading: 245.531531 deg, new cmd heading: 245.667618 deg. 2jIMHeadingCmd: 4.287709 target range: 628.700012 and range: 628.70 m. jU4@jQjQjQiQhQhQhYhYfYfafarfabfe`@ɛ B&q 隕&I 3_ɚiI =Ikii0$)4@)*F5?2F1:F1BF50JF1G <GBMWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240376Ou6>JxJoJJJZ:JK9JJ8w,$+A>&@Y>36@>iJ9>1=y>H`"ܿ k?ZYۿ`Ӳ?Y?`??ɨ>&@>Z;>CNWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.490465y^B^!Idd IMb@Mb@Mb@ )Yq= ףp?X9vI +?y+?}9<;A .A)p3AI6AyII+5٢A= 9=9nQ > G٣FGy  > Nusing accuracyPremultiplier from config59#?5Yt[ iAB%X,?%:%%=@DQ;j;5) AZjFNOT Ignoring new targets: 628.70 m.Bj:Jj: ProNav: ac range: 628.700012 m, nav range: 358.584564 m, bearing: 324.779423 deg, approach rate: -0.041892 m/s, LOS rate: 0.103144 deg/s, cmd heading: 245.667616 deg, new cmd heading: 245.809628 deg. 2j;HeadingCmd: 4.290187 target range: 628.700012 and range: 628.70 m. j7I@jjjih!h!hAhMBfIfIfIrfQbfU@HIC IM!II%BI =&I.I6I#<:I FBIYJIYRIYZI] =bI] =jI]dX5ɛ(BKd E=%I WWiɚiIg=IiFi6=?8w,*AB@YB@Bk9B=yBH@ܿ`?rǒ#Sܿ&?`jm? ?Z?ɨB@B;BCyJ BJ.!IIVIV%.5٢Z= ^a=9^Q ^>`` bG٣`yfO f> jNusing accuracyPremultiplier from configdn59fL?M5Yf` if-ABQUCU=@fDfzK=>`JK=59K9K= K=e Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248384:,8w,>DA@YPć@b9=yH$ܿ?=xQܿg?4?p? ?ɨ@ѐ;CyUBU;!IJuJJ0JJ[Q:JJـ3JMb@Mb@Mb@ )YMbX9?X9vQ?y!?u<j11 =G٣9y=H => MNusing accuracyPremultiplier from configAU59ES?U5YEg iEGAB]"?]:]]=@EDE ;E;E5a m(AiZjFNOT Ignoring new targets: 628.70 m.Bj:Jj:% ProNav: ac range: 628.700012 m, nav range: 358.557312 m, bearing: 324.867264 deg, approach rate: -0.029001 m/s, LOS rate: 0.104411 deg/s, cmd heading: 245.925824 deg, new cmd heading: 246.073159 deg. 2j%P;-HeadingCmd: 4.294787 target range: 628.700012 and range: 628.70 m. j-n@j)j)j)i1h1h1h1h=Bf9f9fArfAbfE @ɛ7B/d 隕<$I 7zɚiIė=Iփiir)n@)*FQ2FQ:FQBFU0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498557 IG-oGBO >ZH RH H >I  I !II WBI &I .I 6I 7<:I FQ8w,%^A2@Y2 @2縛92X=y2Haݿ1}?@=yg@Wܿ ?Pr?#8?%?ɨ2@2Q;2CyB#BBL!I F=Fp=IJIJ\05٢b.= f|=9fQ f ?hh jG٣jFGyj2( n ? =Nusing accuracyPremultiplier from config9E59=?E5Y=il i=[ABIM. M=@=D=.:=:=p5Q UAYZjyFNOT Ignoring new targets: 628.70 m.Bj:Jj: ProNav: ac range: 628.700012 m, nav range: 358.548767 m, bearing: 324.901200 deg, approach rate: -0.025484 m/s, LOS rate: 0.101214 deg/s, cmd heading: 246.073165 deg, new cmd heading: 246.174977 deg. 2j;HeadingCmd: 4.296564 target range: 628.700012 and range: 628.70 m. jt}@jjjihhhhfffrfbf#@ɛ=B 9#I 3ɚiI=IIi)0i)t}@)-Will construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:21:52:12.2965 =TRx dataTimestamp_ set to:1736373133.551694=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754611E}>>*F 2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.002519 \$?I \hG PIG ?G ?zK BoHK 9K K K G B O >c8w,yAyz0Bz[!III,5٢g= <=9Q >!! %G٣!y% %> 5Nusing accuracyPremultiplier from config)E59-f?M5Y-Vr i-uABYYe=@-D-_;-;-"5B oAEZjEFNOT Ignoring new targets: 628.70 m.BjM:JjM:] ProNav: ac range: 628.700012 m, nav range: 358.538177 m, bearing: 324.943925 deg, approach rate: -0.022171 m/s, LOS rate: 0.089455 deg/s, cmd heading: 246.174989 deg, new cmd heading: 246.303168 deg. 2j]u;HeadingCmd: 4.298801 target range: 628.700012 and range: 628.70 m. jȏ@jjjihhhhfffrfbf`,@Will construct direction to contact in vehicle frame from tetrahedron phase data.-DAT read: 21:52:12.2965 LVL= 12480, 14897, 14146, 16211, AGC= 71, IDX= 85,-0.12, 2.810, 2.440, 0.537, 1.622, PHS= 1.276, 0.865,-1.088, RAW= 39.4, -9.7, CAL= 43.0, -16.2, ROT= 107.0, 16.2 MYgot valid direction response: 21:52:12.2965 LVL= 12480, 14897, 14146, 16211, AGC= 71, IDX= 85,-0.12, 2.810, 2.440, 0.537, 1.622, PHS= 1.276, 0.865,-1.088, RAW= 39.4, -9.7, CAL= 43.0, -16.2, ROT= 107.0, 16.2 PDAT read: Bearing 107.0, 16.2 (Local) ~Local bearing/azimuth received: Bearing 107.0, 16.2 (Local) ɛuFB86e "I UɚYiYIe=}DAT read: Range 10 to 50 : 641.6 m (Round-trip 855.5 ms) speed -0.4 m/s ,DAT read: user:2111> ILiQLiEӍ)ȏ@)BDAT read: Tx time:21:52:13.3869  $Ping request sent.]ڑڑەǥiە?ەۑۑ:publishing transmit ping time Fpublishing direction and range infoؑ9ؕDzt? 7T?ɚB ?yؑؑؑؑ ّ)ّIّiّّّّّ ڑ)ڑIڑiڑڑڑەǥG %>G 憽GBO>8w,̘AH>I I!IIBI&I.I6I)<:I FbG-|uAEA-T@Y-@ u&Yu|uAy}B-ƽ9-B=y-Hܿ?$``iܿ@h? Ƹ?·??ɨ-T@-J;-Cyލ5Bލb!IMb@Mb@Mb@ )Y+?Q뱿I +?y?\94<;=A -A)-0AI:Ayp5AI=I=*5٢m< u=9uQ u>yy }G٣}FGyP; > Nusing accuracyPremultiplier from config59v?5Yz iAB ?: =@ D;8;5 GAk](?k]x( kY k]R}A:k]f DBk]XDZk]@"]#d^@a@[Fw@]Dzt? 7T?ɚB ?Jk]?Rk]*]^w@ipqȥz@]7b?D^9ܿ\]SmY?"k]8*k]JCk]ϱf)?k]( 2k]Ck]rH!?kYkYk]Ck]Gf@] addTargetRange:: Added new target pos. range: 641.599976 m, deltaT: 4.285823 s, deltaX: 12.899963 m, approachRate: 3.009915 m/s, rangeRepo size: 4  Added new target pos. range: 641.599976 m, bearing: 323.177861 deg, lat: 36.901859 deg, lon: -122.120792 deg, deltaT: 4.285823 s, deltaX: 12.899963 m, approachRate: 3.009915 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 641.60 m.BjJj ProNav: ac range: 641.599976 m, nav range: 413.358459 m, bearing: 330.166077 deg, approach rate: 0.000000 m/s, LOS rate: 0.089455 deg/s, cmd heading: 246.303178 deg, new cmd heading: 246.443417 deg. 2jHeadingCmd: 4.301249 target range: 641.599976 and range: 641.60 m. jգ@jjjihhhhɉBfffrf @bf D?EWill construct direction to contact in vehicle frame from tetrahedron phase data.ɛ]PB],f ]7=]`#Ii meɚiiiIm =Ii1i\)գ@)EE*E"E*F 2F :F BF JF I  Will construct direction to contact in vehicle frame from tetrahedron phase data.GGBO?<8w,&AzKKh9KK KRK?JK>:@Y:й@:69:k=y:Hܿ ?錄Wx@ܿ@Ca?k'?`ٹ?.?ɨ:@:,6;:CyF=BFl!IIRbIR5٢V= Z>=9ZQ Z>\\ ^G٣\ybT!: b> fNusing accuracyPremultiplier from configdj59fj?j5Yf ifABhn n=@fDf ;f* ;f˗5rB rArEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 641.60 m.Bj:Jj: ProNav: ac range: 641.599976 m, nav range: 413.375549 m, bearing: 330.202881 deg, approach rate: 0.039361 m/s, LOS rate: 0.084763 deg/s, cmd heading: 246.443416 deg, new cmd heading: 246.553823 deg. 2jh;HeadingCmd: 4.303176 target range: 641.599976 and range: 641.60 m. j@jjjihh h1h1f1f1f1rf9bf=`?ɛXBPx 隝P#I 叽ɚiIh=Ipi 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.GJE uJE kJA JA JE [Q:JE 9JA JA Gy B O >  [$?I 8w,_AWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=1.184693F @YFZ·@F9FY6=yFH{ܿA? P-W`$ۿ?%???ɨF @FBk;DyR?BVo!IMb@Mb@Mb@ )Y~jt?&1I +?y?P?A ,A),AI?Ay6AI2I5٢}< 7=9ؼQ  >    G٣ yI; > %Nusing accuracyPremultiplier from config%59^?-5Y iAB-8?-:--=@D;;5Q ]AYjH<bHH>I I"IIBI =&I.IDD6I<:IL FZjFNOT Ignoring new targets: 641.60 m.Bj:Jj: ProNav: ac range: 641.599976 m, nav range: 413.384918 m, bearing: 330.240289 deg, approach rate: 0.021337 m/s, LOS rate: 0.085193 deg/s, cmd heading: 246.553819 deg, new cmd heading: 246.666042 deg. 2ji;HeadingCmd: 4.305135 target range: 641.599976 and range: 641.60 m. jÉ@jj j i h h h1h5Bf1f9f9rf9bf=`-?ɛ`Bz 隵$I  vɚiI%ۜ=I0iQﲼiw)MÉ@)IErAEoA*F?2F!:F!BF%p0JF!G-rA G-nAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.437457Ge ^GA BI O >8w,A6ـ@Y6:@6Մ 96>y6HAsܿC?@)װ@W@$Zۿo6?`c#?`?f?ɨ6ـ@6T;4yfEBfv!I n=n=IrvIr%5٢z= z]=9zQ ~>|| ~G٣FGyw< >  Nusing accuracyPremultiplier from config 59 T?5Y  i AB!%%=@ "D U; U; 5) -A1ZjQ]FNOT Ignoring new targets: 641.60 m.Bje:Jje:u ProNav: ac range: 641.599976 m, nav range: 413.392120 m, bearing: 330.271178 deg, approach rate: 0.020177 m/s, LOS rate: 0.086534 deg/s, cmd heading: 246.666053 deg, new cmd heading: 246.758718 deg. 2jm;HeadingCmd: 4.306752 target range: 641.599976 and range: 641.60 m. jЉ@jjjihhhhfffrfbf lx?ɛgBk 0$I !ɚiIǜ=Iii)Љ@) IUWill construct direction to contact in vehicle frame from tetrahedron phase data.YiYechecking for new query: numPingsReceived=0, elapsed TxPingTime=1.690869*F2F:FBF0JFzK}BoHK}59KyK} K}GGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.9414689w,hAJJyލLBލ~!IMb@Mb@Mb@ )YV-? ףp= {Gzty?Qף1FA (A)v*AIBAy 7AI5XI5n5٢=< E*=9EQ E>II MG٣IyU U> ]Nusing accuracyPremultiplier from configYe59]F?e5Y]` i]BBe?: =@],D]g<]<]5B AEZj9=FNOT Ignoring new targets: 641.60 m.Bje:Jje:u ProNav: ac range: 641.599976 m, nav range: 413.418884 m, bearing: 330.312014 deg, approach rate: 0.053554 m/s, LOS rate: 0.081706 deg/s, cmd heading: 246.758725 deg, new cmd heading: 246.881224 deg. 2juK`;}HeadingCmd: 4.308890 target range: 641.599976 and range: 641.60 m. j}n@jyjyjihhhhBfffrfbf @ Z$?I]hɛqBr $I  vɚ i Iv=I%i%i%͞)%n@))]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.193673H>I I("IIփBI =&I.I6I6<:I FE] =Ee a>Ee >*F 2F :F BF p4JF "G G > Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.445585GrGB!OE?&v 9w,+AJrJoJJJG:JK9JJJ_;a"J_;a"J:a"J:a&Fe@YF@Fp)9F.>yFH ۿ@ ?rXeٿ@?`g?`s? ?ɨFe@Fˉ;DyNGBNy!IIZnIZ."5٢^I b)=9bQ b>dd fG٣dyj>= j> nNusing accuracyPremultiplier from configlr59n8?r5Yn inFBBpv v=@n5Dn ;n;nV5x zAxZj!%FNOT Ignoring new targets: 641.60 m.Bj5:Jj5:E ProNav: ac range: 641.599976 m, nav range: 413.439178 m, bearing: 330.353103 deg, approach rate: 0.043726 m/s, LOS rate: 0.088525 deg/s, cmd heading: 246.881231 deg, new cmd heading: 247.004492 deg. 2jEs;MHeadingCmd: 4.311042 target range: 641.599976 and range: 641.60 m. jM@jIjQjQiQhQhQhYhYfYfYfYrfabfe 0h@ɛ zBB} Hf=T&I uɚiI=I2oi%9JiEvY)e@)aE=w= IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698778*F2F:FBFo0JFzKBHK9KK KGG B O- >- Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=2.949449U9w,EARс@YR@R4949R7n1>yRH ڿ`B? Zl@|ؿQ?@li?#??ɨRс@R};RCyfDBfu!II`I5٢-Lv -E=9-ϼQ 5>11 5G٣5FGy=< E> MNusing accuracyPremultiplier from configAM59E,?U5YE iEkBBYe e=@E=DE;Eס;E5B AEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 641.60 m.Bj=:Jj=:*Ja"Jea= ProNav: ac range: 641.599976 m, nav range: 413.454834 m, bearing: 330.388380 deg, approach rate: 0.033871 m/s, LOS rate: 0.076318 deg/s, cmd heading: 247.004502 deg, new cmd heading: 247.110328 deg. 2jQ;HeadingCmd: 4.312889 target range: 641.599976 and range: 641.60 m. j/@jjjihhhhfffrfbf G @lJTimed out from 2025-01-08T21:42:16.8Zq6lfCompleted lineCaptureHoming:MicromodemComms:CheckIn16 lAggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckInkVCompleted lineCaptureHoming:MicromodemCommsɛuBuLZ qu'Iy }ɚyiI=I2iڵi-L)/@) IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.201488E a5=ZH RH ?AH >I  I G"II BI &I .I 6I <:I L FBIuɰCJIuɰCRIqZIu =bIu =jIuɶ5*F 2F :F BF `5JF G ^G B O >9w,Y`A6 @Y6Q@6>96)2>y6H`ڿ?Y#@Fؿc?`?? ?ɨ6 @6G;6Cy>;BBi!IEMb@Mb@Mb@AAA A)AYEp= ף?sh|?y G٣y< > Nusing accuracyPremultiplier from config59 ?5Y iBB&?:=@FD;;5 LAZjFNOT Ignoring new targets: 641.60 m.Bj4:Jj4: ProNav: ac range: 641.599976 m, nav range: 413.464783 m, bearing: 330.426456 deg, approach rate: 0.026179 m/s, LOS rate: 0.100192 deg/s, cmd heading: 247.110316 deg, new cmd heading: 247.224541 deg. 2j;HeadingCmd: 4.314882 target range: 641.599976 and range: 641.60 m. j@jjjihhhh ,Bf f f rf bf <% @5knAggregate::initialize lineCaptureHoming:MicromodemComms16 l~Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckInq6ɛ=BE3 AE)II MbɚIiIIM9=IU\iU0iU;)U@)Y Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.470775E%+=*F?2F:FBFo0JFJuJqJJJ[Q:Jq9JJJo;Jo;J:J:GT[ % Y$?I! G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:52:16.6405  TRx dataTimestamp_ set to:1736373137.856752 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.722620zK K h9K K K   O ? 9w,zÃA>/F@Y>U@>xG9>;3>y>H>ٿ3?ߴ@`׿tq?,?? ?ɨ>/F@> ;>CyJ`` fG٣dyfW< f> jNusing accuracyPremultiplier from confighn59j?n5YjW ijBBprvr=@jQDj ;jm ;jT5t vFAxZjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.973486FNOT Ignoring new targets: 641.60 m.Bj^:Jj^: ProNav: ac range: 641.599976 m, nav range: 413.475006 m, bearing: 330.473531 deg, approach rate: 0.019307 m/s, LOS rate: 0.088900 deg/s, cmd heading: 247.224544 deg, new cmd heading: 247.365766 deg. 2j t; HeadingCmd: 4.317347 target range: 641.599976 and range: 641.60 m. j '@j jjihhhQhyfffrfbfq`@ɛB#r 隝v+I lMɚiI=Iiji-)'@) IE == Will construct direction to contact in vehicle frame from tetrahedron phase data.u DAT read: 21:52:16.6405 LVL= 14064, 21361, 13506, 20387, AGC= 72, IDX= 359, 0.04,-1.380,-1.838, 2.606,-2.311, PHS= 1.019, 0.520,-1.369, RAW= 41.4, -1.6, CAL= 41.8, -4.2, ROT= 108.2, 4.2 } Ygot valid direction response: 21:52:16.6405 LVL= 14064, 21361, 13506, 20387, AGC= 72, IDX= 359, 0.04,-1.380,-1.838, 2.606,-2.311, PHS= 1.019, 0.520,-1.369, RAW= 41.4, -1.6, CAL= 41.8, -4.2, ROT= 108.2, 4.2  PDAT read: Bearing 108.2, 4.2 (Local)  ~Local bearing/azimuth received: Bearing 108.2, 4.2 (Local)  DAT read: Range 10 to 50 : 637.1 m (Round-trip 849.5 ms) speed -0.3 m/s  ,DAT read: user:2112>  BDAT read: Tx time:21:52:17.7369  $Ping request sent. I C I T"II BI &I .I 6I <:I V F*F ?2F :F BF 0JF Gf:G ?G>GBO ?(9w,*tAZ@YZW@Z vX9Z3>yZH`ؿJ\?@0೿ uֿ?`H? :??ɨZ@Z5N;ZCyb7Bbd!IjWill construct direction to contact in vehicle frame from tetrahedron phase data.nJDAT read: TxSync time:21:52:17.7361 -Mb@Mb@Mb@))) )))Y-Q?+~jthy-\/?--D) -$A)-$AI-MA)y-z8AI]@I] 5٢uȃ u =9} Q }> G٣FGy:< > Nusing accuracyPremultiplier from config595?5Yc iCB~0?:=@^D;"{;q5B AEk'KK5?k:B k k!A:kFDBk:DZk:l@"pt8@#s>$@jo0x@<V?c?e0p?Jk?Rk#'*y&z@ Y|@l&oN?{P[Ŀ#;N?"kx*kCk%Ph6?kgcS 2kfDkϱf)?kgcS kkCke@= addTargetRange:: Added new target pos. range: 637.099976 m, deltaT: 4.306926 s, deltaX: -4.500000 m, approachRate: -1.044829 m/s, rangeRepo size: 4 M Added new target pos. range: 637.099976 m, bearing: 346.322117 deg, lat: 36.902075 deg, lon: -122.119665 deg, deltaT: 4.306926 s, deltaX: -4.500000 m, approachRate: -1.044829 m/s, posRepo size: 4 ZjIUFNOT Ignoring new targets: 637.10 m.BjUJjQm ProNav: ac range: 637.099976 m, nav range: 397.618164 m, bearing: 344.952437 deg, approach rate: 0.000000 m/s, LOS rate: 0.088900 deg/s, cmd heading: 247.365765 deg, new cmd heading: 247.524489 deg. 2jiuHeadingCmd: 4.320117 target range: 637.099976 and range: 637.10 m. jug>@jqjqjqiqhqhqhyJ3Kw3 K.-KK"KJwJJJJW:J9JJJz;Jz;J;J;h}-Bfff!rf%@bf% ?ɛmBm\ iu`-Iq uɚqiqIu=IEi i1)g>@)EE*E"E X$?I^hWill construct direction to contact in vehicle frame from tetrahedron phase data.*F 2F :F BF 0JF zK- KK) K) K- K- G .GBO>l:19w,&AJJ@YJ@J$a9JPc4>yJHؿc?GL qֿ .??@\??ɨJJ@J}߉;HyV5BVb!II^DI^5٢fb f9=9jQ j>hh nG٣lyn]; n> rNusing accuracyPremultiplier from configpz59r?z5Yr) irUCB|=@rgDrُ;rZ;rF5Will construct direction to contact in vehicle frame from tetrahedron phase data.! %A!ZjQ]FNOT Ignoring new targets: 637.10 m.Bje:Jje:u ProNav: ac range: 637.099976 m, nav range: 397.694489 m, bearing: 344.993760 deg, approach rate: 0.175671 m/s, LOS rate: 0.095092 deg/s, cmd heading: 247.524498 deg, new cmd heading: 247.648443 deg. 2ju;}HeadingCmd: 4.322281 target range: 637.099976 and range: 637.10 m. j} P@jyjyjyiyhyhhhfffrfbf@͞?ɛ=BEO* im.Ii uSɚqiqIuq=IiLi ;) P@)*F2F:FBF1JFGoGQBaO}Y> IWill construct direction to contact in vehicle frame from tetrahedron phase data.)) ) AHm >Ii  Im `"I Y y BIm BIm  =&Ii .Ii 6Im <:Im a F`79w,A6Â@Y6҉@6\h961>y6H@ؿt?9 ֿwc? ? ?@=?ɨ6Â@6Ԋ;4yr7Bre!I)t tuMb@Mb@Mb@qqq q)qYu+?MbI +?yuv>?uu94=9 Q > G٣FGy< > Nusing accuracyPremultiplier from config590誛?5Yn iCB0??:1=@qD;; 5 B AEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 637.10 m.Bj g:Jj g:% ProNav: ac range: 637.099976 m, nav range: 397.766907 m, bearing: 345.037688 deg, approach rate: 0.170391 m/s, LOS rate: 0.103339 deg/s, cmd heading: 247.648453 deg, new cmd heading: 247.780214 deg. 2j%׍;-HeadingCmd: 4.324581 target range: 637.099976 and range: 637.10 m. j-b@j)j)j)i)h1h1h9h=Bf9f9fArfAbfE R!?ɛBnύ  o/I ɚiIΡ=I%i%;i%S)%b@))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.*F2F:FBF`5JFJ%vJ%mJ%0J!J%{T:J%&9J%ـ3J!J%Hu;J%Ku;J%:J%:GGGnAG B I O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495921+=9w,[AB:ۂ@YB@B>o9B .>yBH@!cؿ ?`밿ۣRfֿղ?{???ɨB:ۂ@B;BCyJ=BNk!IIV(IV)5٢^Y< bZ=9b)Q b>dd fG٣dyj; j> nNusing accuracyPremultiplier from confighr59jXݪ?r5Yj ijCBprv=@jzDj ;j;jO5x ~hA|Zj!%FNOT Ignoring new targets: 637.10 m.Bj-:Jj-:= ProNav: ac range: 637.099976 m, nav range: 397.829315 m, bearing: 345.075872 deg, approach rate: 0.166223 m/s, LOS rate: 0.101684 deg/s, cmd heading: 247.780221 deg, new cmd heading: 247.894752 deg. 2j=;EHeadingCmd: 4.326580 target range: 637.099976 and range: 637.10 m. jEWs@jAjAjAiAhIhIhIhIfQfQfQrfQbf0`?ɛ%B%T )-/I) -Žɚ)i)I-.=IUriU,i]j)]Ws@)YzKM>`JKIKIKM KM BKa:KepA*F?2F:FBFP5JFEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.749202G  G! BY O >OrD9w,jA6'@Y6w @6t96E+>y6Hؿ_? 8@'ֿ`C?`gK?  G٣y< > Nusing accuracyPremultiplier from config59FЪ?5Y iI Im"IIBI =&I.ICD6I <:I*F?2F:FBF_5JFG 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=2.251929J9w,ρ,A6|@Y6.@6Hz96(>y6H ׿?Aq`wտ e ?g?;d?*?ɨ6|@6av;4yNLBR~!IiV)>IVe> Vp=Vp=I^EI^5٢f= f]=9jgQ j>hh nG٣nFGyr9< r> vNusing accuracyPremultiplier from configtz59vdŪ?z5Yvl ivDB|~~=@vDv\ ;v ;vd5 B AEZj)5FNOT Ignoring new targets: 637.10 m.Bj=k:Jj=k:M ProNav: ac range: 637.099976 m, nav range: 397.961029 m, bearing: 345.163883 deg, approach rate: 0.161121 m/s, LOS rate: 0.108592 deg/s, cmd heading: 248.038238 deg, new cmd heading: 248.158747 deg. 2jM ;UHeadingCmd: 4.331187 target range: 637.099976 and range: 637.10 m. jU@jQjQjihhhhfffrfbf3@ɛuʈBuK y}/Iy }ϽɚyiyI}ע=IiS ib)@)E I_h*F?2F:FBF4JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503951G% GBO>zK KK 9K K K 4::51&$"   RK ?JK >ЅQ9w,bFA2,@Y2<@292'>y2H`N׿ ?@J` տHh??3?ؗ?ɨ2,@2Њ;2Cy:WB:!IIFIIF5٢NG]= NM=9RAeQ V>X\ bG٣`yf; f> nNusing accuracyPremultiplier from confighr59j?r5Yj rtIijDBpv~v>@jDj/;j;j5x zAx~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755944Zj!-FNOT Ignoring new targets: 637.10 m.Bj-:Jj5:E ProNav: ac range: 637.099976 m, nav range: 398.025391 m, bearing: 345.207431 deg, approach rate: 0.159441 m/s, LOS rate: 0.107863 deg/s, cmd heading: 248.158750 deg, new cmd heading: 248.289372 deg. 2jE ;MHeadingCmd: 4.333467 target range: 637.099976 and range: 637.10 m. jMë@jIjIjIiIhIhQhQhQfYfYfarfibfmPF@ɛ%шB%T !%V/I! -ӽɚ)i)I-$=IU`ieXMie1 )eë@)iJ uJ rJ 1J J [Q:*F-?2F1:F1BF=o0JF9J 9J 3J au@au@a}@a}@ U$?IGwWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009364Ga Bq O >H >I C I "II BI &I .I 6I V<:I FǮW9w,C9`A23@@Y2O@292$R%>y2Hڍ׿:?@K@ˢտ@?(?@?{?ɨ23@@2e*;2CyRaBR!I]Mb@Mb@Mb@YYY Y)YY]n?ktZd;O?y]V?] 0]j<=]1FA ] A)]AI]+OAYy]4AImTIm5٢8= <=9QQ > G٣yY; > Nusing accuracyPremultiplier from config59?5Y iNEBV?}:}>@D;;5B oAEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 637.10 m.Bj;Jj; ProNav: ac range: 637.099976 m, nav range: 398.091858 m, bearing: 345.255942 deg, approach rate: 0.155443 m/s, LOS rate: 0.113432 deg/s, cmd heading: 248.289370 deg, new cmd heading: 248.434880 deg. 2j;HeadingCmd: 4.336007 target range: 637.099976 and range: 637.10 m. j @j j j i h h hh܉Bfffrfbf @ɛMوBMV IU /IQ UkؽɚQiQI]g=I]'=i]|ie )e@)aWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260968*F2F:FBFJFG 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=3.511829U]9w,zA5I@Y5'Y@5ƅ954%>y5H s׿@G?2Ī`@`~տz?R???ɨ5I@5;5CyUBU!I)i iIVI5٢> D=9 mQ > G٣FGyH9; > Nusing accuracyPremultiplier from config59?5Y iEB  k >@D7:X:I5 tAZj9EFNOT Ignoring new targets: 637.10 m.BjE1;JjM1;] ProNav: ac range: 637.099976 m, nav range: 398.156158 m, bearing: 345.302919 deg, approach rate: 0.154628 m/s, LOS rate: 0.112950 deg/s, cmd heading: 248.434880 deg, new cmd heading: 248.575787 deg. 2je;eHeadingCmd: 4.338466 target range: 637.099976 and range: 637.10 m. jeԊ@jijijiiihihihqhqfyfyfyrfybf} @ɛB5 隵,I ܽɚiI=Iibif)Ԋ@)EErAzK}\MK]9KK K*F12F1:F1BF1JF1G=qA G=rAWill construct direction to contact in vehicle frame from tetrahedron phase data.5BDAT read: Rx Time:21:52:20.9841 5TRx dataTimestamp_ set to:1736373142.142560=checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766975G}Gy B J J O > Y Ie `hd9w,A>M@Y>h\@>9>J%>y>Hvd׿ ?ɰ ,`mտ M??>?`w?ɨ>M@>V;QQ UG٣Qy]͆: ]> eNusing accuracyPremultiplier from configam59ew?m5YeJ ie-FBu _?us:uou>@eDeF;e;e5}B }A}EZjFNOT Ignoring new targets: 637.10 m.Bj-;Jj-;E ProNav: ac range: 637.099976 m, nav range: 398.212860 m, bearing: 345.347783 deg, approach rate: 0.147005 m/s, LOS rate: 0.116299 deg/s, cmd heading: 248.575774 deg, new cmd heading: 248.710348 deg. 2jE;mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.015974uHeadingCmd: 4.340815 target range: 637.099976 and range: 637.10 m. j}@jyjyjyiyhyhyhh݉Bfffrfbf#@ɛBb{ K=^*I 6=ɚHm>Ii Im"IImj9w,\˭A: R@Y:Za@:C9:">y:H Q׿?w@bտ?:? ~?=n?ɨ: R@:\c;:CybBb!IIjAIj=5٢r= rR=9vwQ v>tt zG٣xyzA: z> Nusing accuracyPremultiplier from config|59~ ?5Y~ i~FB  c >@~D~":~":~5%B %A%EZjIMFNOT Ignoring new targets: 637.10 m.BjU;JjU;e ProNav: ac range: 637.099976 m, nav range: 398.269989 m, bearing: 345.392963 deg, approach rate: 0.146008 m/s, LOS rate: 0.115451 deg/s, cmd heading: 248.710356 deg, new cmd heading: 248.845874 deg. 2jmw;mHeadingCmd: 4.343180 target range: 637.099976 and range: 637.10 m. jmT@jqjqjqiqhqhqhyhyfffrfbf@8@ɛB5眾 1= (I9 =+ɚ9i9I=G=IERiE'iEE)MT@)I T$?I*F 2F :FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:52:20.9841 LVL= 18352, 16225, 16370, 26323, AGC= 68, IDX= 357, 0.01,-1.247,-1.935, 2.642,-2.248, PHS= 1.089, 0.360,-1.396, RAW= 46.6, -0.5, CAL= 47.0, -2.8, ROT= 103.0, 2.8 Ygot valid direction response: 21:52:20.9841 LVL= 18352, 16225, 16370, 26323, AGC= 68, IDX= 357, 0.01,-1.247,-1.935, 2.642,-2.248, PHS= 1.089, 0.360,-1.396, RAW= 46.6, -0.5, CAL= 47.0, -2.8, ROT= 103.0, 2.8 PDAT read: Bearing 103.0, 2.8 (Local) ~Local bearing/azimuth received: Bearing 103.0, 2.8 (Local) DAT read: Range 10 to 50 : 632.2 m (Round-trip 843.0 ms) speed -0.4 m/s ,DAT read: user:2113> BDAT read: Tx time:21:52:22.0870 %$Ping request sent.%م!م5P?م5 څ~Q?)څ+HIڅ?iڅ+H=ځځۅ8C?E 8X)ۅIۅ- zK a3JK ػ9K K K  %G[- q9w,)AVM@YVa\@Vs9V!>yVH`=Q׿?ۥ y;dտ`_? ߓ?X? c?ɨVM@V;VCnWill construct direction to contact in vehicle frame from tetrahedron phase data.yv̓Bv"II~PI~5٢ >  H=9 bQ >1 5G٣9y=R => ENusing accuracyPremultiplier from configAM59E~?M5YE iE"GBQUmU>@EDE;E);E5y })Ak2?k k kVA:k DBkDZk@"ȍ6m@%/H}@c"z@(j~?@?c*{?Jk?Rkn<*,XUz@9?'-s 9 ?"k*kCkMo3?kC  2kCDkMo3?kkkCk@ addTargetRange:: Added new target pos. range: 632.200012 m, deltaT: 4.534431 s, deltaX: -4.899963 m, approachRate: -1.080613 m/s, rangeRepo size: 4  Added new target pos. range: 632.200012 m, bearing: 356.018622 deg, lat: 36.902349 deg, lon: -122.119665 deg, deltaT: 4.534431 s, deltaX: -4.899963 m, approachRate: -1.080613 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 632.20 m.BjJj% ProNav: ac range: 632.200012 m, nav range: 427.902161 m, bearing: 346.466904 deg, approach rate: 0.000000 m/s, LOS rate: 0.115451 deg/s, cmd heading: 248.845867 deg, new cmd heading: 248.997750 deg. 2j!HeadingCmd: 4.345830 target range: 632.200012 and range: 632.20 m. j @jjj*J%="Jp=JxJyJ0JJZ:J9Jـ3Jih1h9hihqfyf!f)rf5@bf5W=? IɛBF !%t%I! %ɚ!i!I%=I-?i-8i5Z&)5 @)1*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.jHa bHe <Hm >Im C Im "IIm oBIm  =&Ii .Im BD6Im %<:Im m FG G B O >4`x9w,q!AyBM"IMb@Mb@Mb@ )YV-?Mb/$?y\?=>A lA)AIOAy0AI%I5٢o,> 5=9Q > G٣FGy > Nusing accuracyPremultiplier from config59p?5Y iGB^?t:>@D;;5 AB*** querying acoustic contact ***jjZj15FNOT Ignoring new targets: 632.20 m.Bj=J;Jj=J;M ProNav: ac range: 632.200012 m, nav range: 427.977234 m, bearing: 346.514471 deg, approach rate: 0.177052 m/s, LOS rate: 0.112161 deg/s, cmd heading: 248.997743 deg, new cmd heading: 249.140417 deg. 2jM;UHeadingCmd: 4.348320 target range: 632.200012 and range: 632.20 m. jUq%@jQjQjQiQhYhYhYh]BfafafarfabfmOh?-Will construct direction to contact in vehicle frame from tetrahedron phase data.-T****** received valid address query ******-R****** received valid ping request ******5Querying Benthos address 50 with one ping in standard two-way mode.ɛBꚾ 隕`!I dɚiI;=Iiuҹig.)q%@) S$?I ahEe =*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=0.988659G&GBO%>:9w,AVT!@YV0@V>`9V: >yVHa|׿ п?@?տ#?^?@ ?m8?ɨVT!@V41;VCyf#BzKjMKj9KhKj KjBKp:KrrAf"II~I~4٢ H>  -=9 =(Q  >)) -G٣)y5#8 5> =Nusing accuracyPremultiplier from config9E59=b?E5Y= i=QHBAMNM>@=D=a:= :=5UB UAUEZjy}FNOT Ignoring new targets: 632.20 m.Bj:Jj: ProNav: ac range: 632.200012 m, nav range: 428.058533 m, bearing: 346.564391 deg, approach rate: 0.171966 m/s, LOS rate: 0.105573 deg/s, cmd heading: 249.140412 deg, new cmd heading: 249.290144 deg. 2j;HeadingCmd: 4.350934 target range: 632.200012 and range: 632.20 m. j:@jjjihhhhfffrfbf D?ɛ}B}` }G=}}Iy }ɚiI_=ITi]Ni+K):@)uWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.241528E}|=*F ?2F :F BF o0JF J}yJ}vJyJyJ}]:J}ϣ9JyJy )I)G=  .G B! OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492284 H >I C I A#II BI  =&I .I 6I N<:I F vA- Aچ9w,vA &FY&vAy& B%4@Y%C@%19%q!>y%HS׿?@}@?a^տ'*? ?J1?E.?ɨ%4@%_{;%CyM[BM"I)Q QY]AMb@Mb@Mb@ )YzG?~jtI +?y W?9=j ;=9 Q  >  G٣FGyֱ; > %Nusing accuracyPremultiplier from config!-59%_V?-5Y% i%HB5oX?5{:55>@%D%x;%;%59 =A9ZjamFNOT Ignoring new targets: 632.20 m.Bjm:Jjm:} ProNav: ac range: 632.200012 m, nav range: 428.133514 m, bearing: 346.608564 deg, approach rate: 0.172702 m/s, LOS rate: 0.101724 deg/s, cmd heading: 249.290157 deg, new cmd heading: 249.422653 deg. 2j};HeadingCmd: 4.353247 target range: 632.200012 and range: 632.20 m. jM@jjjihhhhBfffrfbf`;?ɛmBms immIq u)AɚqiqIu£=I}<iĺiG)M@)}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746171Eî=E*F9 2F9 :FA BFE 4JFA GI  GM qA  I Ge I%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996292GBO>M9w,";A^G@Y^V@^;9^/!>y^H`+׿f?A=c0տ^?3?:? %?ɨ^G@^;^CyjBj #IIrIrB4٢E+b> E0=9EQ E>II MG٣IyUI; U> ]Nusing accuracyPremultiplier from configYe59]I?e5Y]5( i]~IBa>@]D];];]5B =AEZjFNOT Ignoring new targets: 632.20 m.Bjv:Jjv: ProNav: ac range: 632.200012 m, nav range: 428.212860 m, bearing: 346.655596 deg, approach rate: 0.168517 m/s, LOS rate: 0.099868 deg/s, cmd heading: 249.422662 deg, new cmd heading: 249.563730 deg. 2j;HeadingCmd: 4.355709 target range: 632.200012 and range: 632.20 m. ja@jjj!i!h!hAhIhIfIfIfQrfQbfU@!@ɛBe 隝Iy ɚiI1=IiJiH)a@)E]~=zKjIKh9KK K   RK >JK ?*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248357G IG B R$?I O >/9w,UAy%ɄB%S#IMb@Mb@Mb@ )Y(\?&1(\µ?yN?P=;A A)/AIKAy-AI=I=4٢Mӄ>UWill construct direction to contact in vehicle frame from tetrahedron phase data.]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500317 ];=9eQ e>ii mG٣qyu u> }Nusing accuracyPremultiplier from configy59}\@}D}4;}94;}k5 nAZjFNOT Ignoring new targets: 632.20 m.Bj#:Jj#: ProNav: ac range: 632.200012 m, nav range: 428.291656 m, bearing: 346.698286 deg, approach rate: 0.182493 m/s, LOS rate: 0.098852 deg/s, cmd heading: 249.563720 deg, new cmd heading: 249.691766 deg. 2j;ZHRHAAH>IC I#II!BI =&I.IAD6Ij<:I FHeadingCmd: 4.357944 target range: 632.200012 and range: 632.20 m. jFt@jjjihhhhTBf!f!f!rf!bf-`(`@ɛUBUu QU IQ ]NɚYiYI]D=IeRnie%im=4Q)mFt@)iEU=*F?2F:F BF 5JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753164J |J wJ J J ;g:J 9J J J ֊;a J ׊;a J :a J :a G- ʄGG BO5>iJ9w,sA (I.bh>o}@Y>@>C9>">y>H ֿ?SbB@Կ`??H??ɨ>o}@>;>CyF BF#IiJJ>IJ4< N=N=IRIR4٢Z> ZF=9^|Q ^>\\ bG٣bFGybk< b> jNusing accuracyPremultiplier from configdj59f0?n5Yf7 ifJBlnn>@fDf:f:f5MB MiAMEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 632.20 m.Bj:Jj: ProNav: ac range: 632.200012 m, nav range: 428.363434 m, bearing: 346.738103 deg, approach rate: 0.167879 m/s, LOS rate: 0.093113 deg/s, cmd heading: 249.691772 deg, new cmd heading: 249.811204 deg. 2j;HeadingCmd: 4.360028 target range: 632.200012 and range: 632.20 m. jY@jjjihhh h f f f rfbf@ɛ]%B]~F Y]6Ia zɚiI=I*i.i8?)Y@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004514*F?2F:FBF 5JF zK iLK 9K K K = Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258824G% NG B! OE >19w,_AJlJl@Yи@09Y#>yH roֿ?MHM+_Կy??[X?@X?ɨ@Ԉ;騥Cy?B#I }Q$?IyI I4٢L> #=9 mQ > G٣y,0< > Nusing accuracyPremultiplier from config59"?5Y? i5KB+>@D;`5B AEZjFNOT Ignoring new targets: 632.20 m.Bj:Jj:- ProNav: ac range: 632.200012 m, nav range: 428.449188 m, bearing: 346.786632 deg, approach rate: 0.177412 m/s, LOS rate: 0.100378 deg/s, cmd heading: 249.811191 deg, new cmd heading: 249.956747 deg. 2j-Ɖ;5HeadingCmd: 4.362568 target range: 632.200012 and range: 632.20 m. j5)@j1j9j9i9h9h9hAhAfAfAfIrfIbfMU @ɛ}-B}, y}I 2`ɚiIA}=Iii Z7))@)*F?2F:FBFo0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511651GI4GH->I-C I-T$II-BI- =&I).I-@D6I-[<:I- FGBOj>ө9w,"5AÑ@YN1܊@NV͠9N%>yNH.ֿ?DWsԿ?}?ੋ?7 ?ɨÑ@N. ;NCyrBr7$IWill construct direction to contact in vehicle frame from tetrahedron phase data.%BDAT read: Rx Time:21:52:25.3361 -TRx dataTimestamp_ set to:1736373146.681147-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.765834]Mb@Mb@Mb@YYY Y)YY]jt?)\(V-?y]@?]Ga]h=]9A ]XA)] AIYYy]\+AI}I}&4٢|> M=9DQ > G٣y1< > Nusing accuracyPremultiplier from config59?5YuF iKB"B?:j>@$D;K;5  AZjFNOT Ignoring new targets: 632.20 m.Bj:Jj:  ProNav: ac range: 632.200012 m, nav range: 428.514557 m, bearing: 346.822884 deg, approach rate: 0.163840 m/s, LOS rate: 0.090848 deg/s, cmd heading: 249.956756 deg, new cmd heading: 250.065495 deg. 2j dy;uHeadingCmd: 4.364466 target range: 632.200012 and range: 632.20 m. ju@jqjqjqiqhqhyhyh}ԊBfyffrfbf @JJJ1JJ:JH9J3JJ;J;JQ;JR;ɛ5B I ɚiI% =I%i-i-=a/)-@)) qIq*F?2F:FBFJFGrA GrAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016182G {TBG rAG qAG B) Oe >M9w,5 A6@Y6O@696%>y6Hiտ`?@⤿phӿ? ??`?ɨ6@6Pn;6CyRBR~$IIZIZ4٢bz> bl=9fQ f?dd jG٣jFGyj< j? rNusing accuracyPremultiplier from configlr59n?v5Yn+L inLBtvv>@n,Dn:n:n5zB ~ A~EZj!-FNOT Ignoring new targets: 632.20 m.Bj5:Jj5:E ProNav: ac range: 632.200012 m, nav range: 428.569946 m, bearing: 346.854382 deg, approach rate: 0.160598 m/s, LOS rate: 0.091317 deg/s, cmd heading: 250.065493 deg, new cmd heading: 250.159976 deg. 2jMz;MHeadingCmd: 4.366115 target range: 632.200012 and range: 632.20 m. jM7@jQjQjQiQhQhQhhfffrfbf@ɛM;BMʷ IM߿IIzKuBoHKu9KqKu Ku U<6ɚiIʡ=Ibi0iLJ)7@)EuC>Eu>5Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:52:25.3361 LVL= 16624, 25281, 20306, 21875, AGC= 69, IDX= 441, 0.22, 1.617, 0.865,-0.806, 0.551, PHS= 1.154, 0.360,-1.360, RAW= 48.0, -1.4, CAL= 49.1, -4.2, ROT= 100.9, 4.2 *F2F:FBFaJFa}Ygot valid direction response: 21:52:25.3361 LVL= 16624, 25281, 20306, 21875, AGC= 69, IDX= 441, 0.22, 1.617, 0.865,-0.806, 0.551, PHS= 1.154, 0.360,-1.360, RAW= 48.0, -1.4, CAL= 49.1, -4.2, ROT= 100.9, 4.2 5PDAT read: Bearing 100.9, 4.2 (Local) =~Local bearing/azimuth received: Bearing 100.9, 4.2 (Local) MDAT read: Range 10 to 50 : 633.7 m (Round-trip 845.0 ms) speed -0.4 m/s M,DAT read: user:2114> UBDAT read: Tx time:21:52:26.4370 U$Ping request sent.U Will construct direction to contact in vehicle frame from tetrahedron phase data.H% >I% C I% $II% $BI% =&I! .I% ?D6I% 9<:I% a FBI˫CJI˫CRI˔CZI =bI =jI˴w6l9w,A296@Y2E@2G927&>y2Hrտ?Zjz`Cӿ?$?? ?ɨ296@2ۉ;2Cy>BB$IMb@Mb@Mb@ )Y|?5^?/$&1?y2?P=6A A) AIGAy(AII4٢c> 9=9iTQ > G٣yp< > 5Nusing accuracyPremultiplier from config 559 ??=5Y R i LB=4?=:=s=>@ 5D ; ; 5EB E{ AMEke0/?ke`4b ka keA:kelDBke^DZke@"ee !ܺ>+@I铱|@%L{@ehUA?Y,?u(14y?JkeuC?RkeB*eg {y@ `E$7ZJ~@eBu?2sN'y?"ke*ke#Cke(h0?kemb 2ke Dke(h0?kakakeCke@= addTargetRange:: Added new target pos. range: 633.700012 m, deltaT: 4.288912 s, deltaX: 1.500000 m, approachRate: 0.349739 m/s, rangeRepo size: 4 m Added new target pos. range: 633.700012 m, bearing: 359.916192 deg, lat: 36.902266 deg, lon: -122.119665 deg, deltaT: 4.288912 s, deltaX: 1.500000 m, approachRate: 0.349739 m/s, posRepo size: 4 ZjiuFNOT Ignoring new targets: 633.70 m.Bj}Jjy ProNav: ac range: 633.700012 m, nav range: 419.694122 m, bearing: 346.607238 deg, approach rate: 0.000000 m/s, LOS rate: 0.091317 deg/s, cmd heading: 250.159968 deg, new cmd heading: 250.289250 deg. 2jHeadingCmd: 4.368371 target range: 633.700012 and range: 633.70 m. jɋ@jjjihhhhBfffrf̓@bf?ɛ DB ros s=տI ɚiI+=I%i%0ri-)-ɋ@))*F?2F:FBFJF5Will construct direction to contact in vehicle frame from tetrahedron phase data.J- J- J- 0J) J- ݒ:J- b9J- ـ3J) J- ;J- ;J- 0.;J- 1.;G R } P$?I G B O >f9w, ABcT@YBc@Bh9BK%>yBH@:;տ@'?` ӿ?`3? ??ɨBcT@B>`;@y^!B^$IIfIfm4٢n> r]=9v6Q v>tt zG٣xyz+#< z> Nusing accuracyPremultiplier from config|59~? 5Y~X i~LB  7 >@~=D~:~:~5 A5B*** querying acoustic contact ***j9j9ZjAMFNOT Ignoring new targets: 633.70 m.BjM:JjM:] ProNav: ac range: 633.700012 m, nav range: 419.757080 m, bearing: 346.639332 deg, approach rate: 0.184907 m/s, LOS rate: 0.094245 deg/s, cmd heading: 250.289250 deg, new cmd heading: 250.385516 deg. 2je[;mHeadingCmd: 4.370052 target range: 633.700012 and range: 633.70 m. jmw׋@jijijqiqhqhqhyhyfyffrfbf ?ɛJB~ 隵+ʿI ɚiI=Iiהi; )w׋@)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 :F BF 0JF "G=Gp=G+,G ?G?GBOA>zKKK9KK K  E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.9376439w,AF0{@YF@Fp9F">yFHgԿ4?@+ Rҿ@??wE? ?ɨF0{@FP;FCy~HB*%I 5a=5=IUIU4 9I=ch٢])-> e4=959Q > G٣FGy&< > Nusing accuracyPremultiplier from config59S?5Y_ i\MB >@GD@;{; 5B AEZjFNOT Ignoring new targets: 633.70 m.Bjm:Jjm: ProNav: ac range: 633.700012 m, nav range: 419.835236 m, bearing: 346.679849 deg, approach rate: 0.164817 m/s, LOS rate: 0.085428 deg/s, cmd heading: 250.385528 deg, new cmd heading: 250.507056 deg. 2jj;HeadingCmd: 4.372173 target range: 633.700012 and range: 633.70 m. j@jjjihhhhfff rf bf  P?ɛmSBusl qu¿Iq u%d ɚqiyI};=I}iĽioj)@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.190826Hw>IC I%IIBI =&IGD.I>D6IO<:Ig F*FY2Fa:FaBFe0JFaG} GY Ba O >`!9w,g}*AZ@YZf@ZZ젾9Zm">yZHԿ C?:>nҿ #?`-?_:? ?ɨZ@Z܉;ZCyfBfu%I~Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.441704eMb@Mb@Mb@aaa a)aYeNbX9?MbX?ye%?eʽe G=9!;Q > G٣y< > Nusing accuracyPremultiplier from config595㩛?5Y]e iMB'?:$>@ND=;8<;5 AZjFNOT Ignoring new targets: 633.70 m.Bj=:Jj=: ProNav: ac range: 633.700012 m, nav range: 419.902618 m, bearing: 346.712139 deg, approach rate: 0.173567 m/s, LOS rate: 0.083160 deg/s, cmd heading: 250.507051 deg, new cmd heading: 250.603905 deg. 2jId;HeadingCmd: 4.373863 target range: 633.700012 and range: 633.70 m. j@jjjihhhhHBf!f!f!rf!bf%@O?JJJJJ\:J:JJJk;Jm;JL;JL;ɛZB#q II % ɚ!iAIEѺ=IMdiMEڽiM[M)M@)Q -O$?I)EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.695141*F% ?2F! :F! BF% o0JF! GEoGMqAGMrAG)zK5uLK5ػ9K1K5 K5   BIOe?29w,JA6@Y67@6Y96 >y6HԿZ?^Ũ "vѿ ђ?@7? ?]?ɨ6@6;6CyRBR%IIZIZ4٢b%2> b7=9f;Q f>dd jG٣hyjY< j> rNusing accuracyPremultiplier from configlr59nة?v5Ynk inNBtv|v>@nWDnL:n:ng5~Will construct direction to contact in vehicle frame from tetrahedron phase data.~checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945711 AZj)-FNOT Ignoring new targets: 633.70 m.Bj=:Jj=:M ProNav: ac range: 633.700012 m, nav range: 419.976074 m, bearing: 346.748678 deg, approach rate: 0.164316 m/s, LOS rate: 0.081721 deg/s, cmd heading: 250.603903 deg, new cmd heading: 250.713500 deg. 2jMV`;MHeadingCmd: 4.375776 target range: 633.700012 and range: 633.70 m. j[@jjjihhhhff frfbf k@ɛcBIdh 隕}I  ɚiI=I%iӽis7)[@)E|= 9IA*Fy2F:FBF0JFGfGIBYOuy>) ϏC1MA }Yyy}BWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197967ZHRH@AHs>I IO&II6BI =&I.I6IB<:IX F9w,tdAR=@YR@R${9R>yRHҿ*?v п! ?@F#?`I? y*?ɨR=@RWV;RCy^ՆB^%I)` `MMb@Mb@Mb@III I)IYM/$?q= ףpMbPyM?M뽹MM-0A MA)M AIMBAIyM#AImImЬ4٢I:> ?=9Đ G٣FGyB= > Nusing accuracyPremultiplier from config59'ͩ?%5Yq iZNB%j?%:%%>@`Dd; ;G5]#B ]oA]EZj FNOT Ignoring new targets: 633.70 m.Bj%:Jj%:] ProNav: ac range: 633.700012 m, nav range: 420.048035 m, bearing: 346.783647 deg, approach rate: 0.156486 m/s, LOS rate: 0.076031 deg/s, cmd heading: 250.713486 deg, new cmd heading: 250.818375 deg. 2j]P;eHeadingCmd: 4.377606 target range: 633.700012 and range: 633.70 m. jeZ@jajjihhhh,Bfffrfbf @ Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450032ɛ-lB-,d 15I1 5 ɚ1i1I5n=I=i=i=')EZ@) 9IAEnp=EE*F} ?2Fy :F BF o0JF  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701586GiGABIOe?$+9w,A6@Y6K@6 96,>y6H aҿJ?#᭿* kBп ? ? ? 8?ɨ6@6\;4y>BB&IIJIJ94٢~> ~'=9  G٣ y Q<  > Nusing accuracyPremultiplier from config%59?%5Yx iNB!%9%>@iD::g51 5WA1]B*** querying acoustic contact ***jYjYZjaeFNOT Ignoring new targets: 633.70 m.Bjm:Jjm:} ProNav: ac range: 633.700012 m, nav range: 420.122345 m, bearing: 346.821004 deg, approach rate: 0.163143 m/s, LOS rate: 0.082000 deg/s, cmd heading: 250.818371 deg, new cmd heading: 250.930421 deg. 2ja;HeadingCmd: 4.379562 target range: 633.700012 and range: 633.70 m. j_%@jjjihhhhfffrfbfk@ɛtBje I ɚiI=Ii#ip)_%@)zKMK]9KK KBKpA:KqAWill construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953783Eq=JJJ2JJ:J7/:Jc3Ja@a@a@a@*F?2F:FBFJF -N$?I5dhG4G B O >H q>I C I &II BI &I .I =D6I @<:I S F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.205703P9w,>AyB 3&IMb@Mb@Mb@ )Yףp= ?q= ףp:vy?T,A A)AI>AyAII?4٢6> ?=9Q > G٣y > Nusing accuracyPremultiplier from config59l?5Y~ iNBv!?:>@qD;{;% 5 AZj%FNOT Ignoring new targets: 633.70 m.Bj-:Jj-:E ProNav: ac range: 633.700012 m, nav range: 420.189453 m, bearing: 346.855534 deg, approach rate: 0.157194 m/s, LOS rate: 0.080870 deg/s, cmd heading: 250.930413 deg, new cmd heading: 251.033987 deg. 2jE^;MHeadingCmd: 4.381370 target range: 633.700012 and range: 633.70 m. jM.4@jIjIjIiIhIhQhQhUBfYfYfYrfYbf] @ɛ}Bb 隍kI 5ɚi Inn=Ini+ļip],).4@)E!E!*E!"E!Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.457842*FU?2FQ:FQBFQJFQ ! I! G} XGQ BY O} > 9w,9A2@Y2d@2]92|>y2Hcѿ?m@$ο? *?? U?ɨ2@2܈;2Cy>?B>[&IiB>IBp=IjIj4٢r,> rF=9rxx zG٣zFGy~1= ~>  Nusing accuracyPremultiplier from config59?%5Y i+OB)55>@yD;;#5UWill construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:21:52:29.6880 mTRx dataTimestamp_ set to:1736373150.966063checking for new query: numPingsReceived=0, elapsed TxPingTime=3.716229%B Q@EZjFNOT Ignoring new targets: 633.70 m.Bj:Jj: ProNav: ac range: 633.700012 m, nav range: 420.250031 m, bearing: 346.889082 deg, approach rate: 0.139777 m/s, LOS rate: 0.077397 deg/s, cmd heading: 251.033986 deg, new cmd heading: 251.134614 deg. 2jwT;HeadingCmd: 4.383126 target range: 633.700012 and range: 633.70 m. jB@jjjih!h!h!hAfAfAfIrfIbfM¿@ɛEBE[ IMII M>ɚIiIIMڜ=I]%5ieieN<)eB@)a*F?2F:FBFJFzKE>KKE 9KAKE KERKM?JKM? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.961547G5 OPG B O5 >J ـ3K (3 K Ϛ.KK"KJ J J 0J J :J mQ:J ـ3J 9w,fA `Idʆ@YPٍ@9/>yH`п? dͿ`q?`?T2?@fg?ɨʆ@;騭CyOBm&IUMb@Mb@Mb@QQQ Q)QYU%C?i|?5   G٣yx< >jH!bH%<H-f>I-C I-H'II-BI- =&I).I-@MDMQ;M{;M7(5mWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:52:29.6880 LVL= 16496, 18481, 12594, 15971, AGC= 70, IDX= 460, 0.09,-1.793,-2.705, 2.049,-2.948, PHS= 1.243, 0.290,-1.289, RAW= 51.9, -2.2, CAL= 54.2, -5.7, ROT= 95.8, 5.7 Ygot valid direction response: 21:52:29.6880 LVL= 16496, 18481, 12594, 15971, AGC= 70, IDX= 460, 0.09,-1.793,-2.705, 2.049,-2.948, PHS= 1.243, 0.290,-1.289, RAW= 51.9, -2.2, CAL= 54.2, -5.7, ROT= 95.8, 5.7 PDAT read: Bearing 95.8, 5.7 (Local) ~Local bearing/azimuth received: Bearing 95.8, 5.7 (Local) DAT read: Range 10 to 50 : 635.1 m (Round-trip 846.8 ms) speed -0.3 m/s ,DAT read: user:2115> BDAT read: Tx time:21:52:30.7871 $Ping request sent.ImFim?mz>mm5g?mnF m*r?)m%˽Im?im%=iimq$?FlUk܁죿)m0Imq=im?m;Siiy }^@y:publishing transmit ping timeFpublishing direction and range infoi9m-=*?KJ?H墥 ?yiiii i)iIiiiiiii i)iIiiiiimq$?FlUk܁죿)iIiiiiiikmWL%?km+ ki kmmA:kmDBkmDZkmǴ="mx: W2@٫z@NR)}@m-=*?KJ?H墥 ?Jkm?Rkm;S*me9ãw@L ފ8@%8c@mh^F?dK?˚?"kmA*kmCkm"&?km 2kmODkikmC  kmCDkmCkm 3@  addTargetRange:: Added new target pos. range: 635.099976 m, deltaT: 4.283922 s, deltaX: 1.399963 m, approachRate: 0.326795 m/s, rangeRepo size: 4 } Added new target pos. range: 635.099976 m, bearing: 3.740624 deg, lat: 36.902266 deg, lon: -122.118865 deg, deltaT: 4.283922 s, deltaX: 1.399963 m, approachRate: 0.326795 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 635.10 m.BjJjM ProNav: ac range: 635.099976 m, nav range: 410.133514 m, bearing: 356.665094 deg, approach rate: 0.000000 m/s, LOS rate: 0.077397 deg/s, cmd heading: 251.134608 deg, new cmd heading: 251.259752 deg. 2jQ]HeadingCmd: 4.385310 target range: 635.099976 and range: 635.10 m. j]vT@jYjYjYiYhYhYhaheԊBfafifirfm؃@bf -#?ɛBܣV I ɚiI/=Ii=icr<) vT@)A *F ?2F :F BF JF G 5< Will construct direction to contact in vehicle frame from tetrahedron phase data.% JDAT read: TxSync time:21:52:30.7863 Gq B O >>9w,+AF@YFU@F9F>yFHп?`zܰ @Ϳd ?|_?@?z?ɨF@FR;FCyreBr&III4٢> r=9 @D;Q;0+5-&B -@-Ek]I_ %?k]tB kY kY:kYBkYZk]s="]x: W2@٫z@NR)}@]-=*?KJ?H墥 ?JkYRkY*]Ċw@ Y6@8@]AG6?p0?D@?"k]A*k]Ck]O8c&?k]@> 2k]/DkYk]mb k] Dk]Ck]ԍ;ZjFNOT Ignoring new targets: 635.10 m.Bja:Jja:E ProNav: ac range: 635.099976 m, nav range: 410.217377 m, bearing: 356.693055 deg, approach rate: 0.274569 m/s, LOS rate: 0.091527 deg/s, cmd heading: 251.259765 deg, new cmd heading: 251.343631 deg. 2jEB{;MHeadingCmd: 4.386774 target range: 635.099976 and range: 635.10 m. jMt`@jIjIjIiIhQhQhQhQfYfYfYrfY mM$?Imehbf]3?ɛBLv bz=]I ɚiI =Ii{Ժim<)t`@)*Fu?2Fy:FyBF}0JFy-Will construct direction to contact in vehicle frame from tetrahedron phase data.G F<G ?G ?Gq B O >_!:w,tA6@Y6a@6j96~>y6Hvп?!=[Ϳ `?E?@I?׉?ɨ6@6k;6Cy>|BB&I)@ @DFAIJIJ4٢Ru= R]=9VjTT VG٣VFGyZ: Z> bNusing accuracyPremultiplier from config\b59^?f5Y^ʖ i^OBdff>@^D^0;^;^S.5h j@lB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 635.10 m.Bjn:Jjn:- ProNav: ac range: 635.099976 m, nav range: 410.305969 m, bearing: 356.722577 deg, approach rate: 0.239368 m/s, LOS rate: 0.079747 deg/s, cmd heading: 251.343639 deg, new cmd heading: 251.432185 deg. zK5RIK5ͼ9K1K5 K52j5Z;MHeadingCmd: 4.388319 target range: 635.099976 and range: 635.10 m. jMm@jIjIjIiIhIhQhQhQfYfYfYrfYbfe V?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.ɛmBmNa imiIq uɚqiqIu}=I}i}61i}8<)}m@)*FE?2FA:FABFE0JFAJiJmBAJuJuJqJqJu:Ju\:JqJqG)ş< yIGB!Omx>H [>I C I 'II CBI =&I .I ;D6I <:I v FBIɦCJIɥCRIZI =bI =jIɝ6E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994997L:w,l"Ay~B~&IMb@Mb@Mb@ )YB`"?:vQy.?Խu%A  A)AIA4AyGAII4٢ = 7=9Q > G٣y >  Nusing accuracyPremultiplier from config 59?5Y i PB0?:f>@D;5;:25%nB %@%EZjimFNOT Ignoring new targets: 635.10 m.Bjuw:Jjuw: ProNav: ac range: 635.099976 m, nav range: 410.414093 m, bearing: 356.761764 deg, approach rate: 0.253918 m/s, LOS rate: 0.092003 deg/s, cmd heading: 251.432186 deg, new cmd heading: 251.549716 deg. 2j|;HeadingCmd: 4.390371 target range: 635.099976 and range: 635.10 m. j}@jjjihhhhBfffrfbf`?ɛB¶b NI )ɚiIl=IGiiMz<)}@)*Fe?2Fa:FiBFm`5JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247491Gp< q Iq Gq B O >t:w,y6Hп@?@G3Ϳ?@]A?y??ɨ6Y@6;6CyRBR&IIZIZ4٢b׀= f_=9f=Q f>hh jG٣hyj;< j> rNusing accuracyPremultiplier from configpv59r&~?v5Yr irWPBtvv>@rDr.:r:rl55| ~@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499262 Zj1FNOT Ignoring new targets: 635.10 m.BjP:JjP:5 ProNav: ac range: 635.099976 m, nav range: 410.502045 m, bearing: 356.793991 deg, approach rate: 0.241406 m/s, LOS rate: 0.088438 deg/s, cmd heading: 251.549720 deg, new cmd heading: 251.646382 deg. 2j5r;]HeadingCmd: 4.392058 target range: 635.099976 and range: 635.10 m. je@jajajaiahahahihifififqrfbfD?ɛB` KI vɚiI-=IxiV㸼iշ<)@)EUur=E]qAE]qAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752559zKKh9KK K*F2F:FBF0JFJ J J J J +:J ,J:J J e K$?Ii GU oKp<Gi Gm pAGaBO>:w,J[AF"@YFH2@FÊ9F>>yFHwп@?˭G -Ϳ-I??5??ɨF"@FG;DyRBR&IiV >IV> V=THV>IC I'IIlBI# =&I.I:D6Ii<:IX FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003952Mb@Mb@Mb@ )YCl?{GzMbpy;??ףA hA)@IK+AyAII4٢= =9b G٣FGy "; > Nusing accuracyPremultiplier from config 59Ar?5YY iPBT@?:G>@DO;N;:5! %H@!ZjIMFNOT Ignoring new targets: 635.10 m.BjUG:JjUG:e ProNav: ac range: 635.099976 m, nav range: 410.623169 m, bearing: 356.844787 deg, approach rate: 0.231761 m/s, LOS rate: 0.097165 deg/s, cmd heading: 251.646381 deg, new cmd heading: 251.798724 deg. 2je^;mHeadingCmd: 4.394717 target range: 635.099976 and range: 635.10 m. jm@jijijiiihqhqhQhUBfYfYfYrfYbfe ,@ɛBXY 隭YI ɚiIݚ=IWixiV<)@)EUtn== Will construct direction to contact in vehicle frame from tetrahedron phase data.E checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256137*F ?2F :F BF p0JF I fhG <GBO>/0:w,{{AJ @YJ@Jr9Jؗ>yJH@lп@>?୿zpοy??@,?w?ɨJ @J/;HyRBR&II^I^y4٢fz= j2=9jll nG٣lyn>û r> vNusing accuracyPremultiplier from configpz59rg?z5Yr irPB|~~>@rDr:r.:r>5qB @ EZj1=FNOT Ignoring new targets: 635.10 m.Bj=:Jj=:M ProNav: ac range: 635.099976 m, nav range: 410.730530 m, bearing: 356.889315 deg, approach rate: 0.233534 m/s, LOS rate: 0.096832 deg/s, cmd heading: 251.798721 deg, new cmd heading: 251.932269 deg. 2jU;UHeadingCmd: 4.397048 target range: 635.099976 and range: 635.10 m. j]@jYjYjYiYhYhYhahafififirfibfm@ɛB-` 隝I ɚiIn=Ili{iZrF<)@)EE*EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510539"E*F?2F:FBFo0JFzK jIK 9K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764614G c<G B I Oe >%:w,eA9@9Y@-l9 >IyHп`? az +Ͽ0?yO? v??ɨ9@a;C /YyByޝBޝ&I) AII4٢= "=9#. G٣FGyK > Nusing accuracyPremultiplier from configH%Q>I%C I%'II%BI%$ =&I%HD.I!6I%"<:I% Fe59\?e5Y iOQBim-m>@DÚ<Қ<iB5q u@qB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 635.10 m.Bj:Jj:Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015140 ProNav: ac range: 635.099976 m, nav range: 410.850281 m, bearing: 356.938106 deg, approach rate: 0.228608 m/s, LOS rate: 0.093117 deg/s, cmd heading: 251.932265 deg, new cmd heading: 252.078596 deg. 2j; HeadingCmd: 4.399601 target range: 635.099976 and range: 635.10 m. j Ɍ@j j jihhh9h9f9f9f9rfAbfE@Q@ɛɉB;X 隵I ɚiI=IIiնim;)Ɍ@)Ee>E*F2F:FBF|0JFG Y=<Gi By  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267093O >+:w,\A2@Y2kЍ@2g92V>y2H`Fѿ?`!b`vܲϿ?e?@l?`M?ɨ2@2Q;2Cy>ʇB>'IIJIJ4٢%B= %j=9%X@=D=_;=2;=uE5 y@ZjFNOT Ignoring new targets: 635.10 m.BjG:JjG:JJJJJ[:JF:JJJ+Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519037>2:w,:ABv@YBǠ@BLc9BdT>yBH,ѿͳ?1m<пm?`Q=?`s??ɨBv@Bw;BCyNׇBN'IIVIV4٢^.= ^Q=9b&`d fG٣hynr n> rNusing accuracyPremultiplier from configpv59rJ?v5Yr irQBxzzz>@rDra:ra:rH5sB @EZj)-FNOT Ignoring new targets: 635.10 m.Bj5t:Jj5t: ProNav: ac range: 635.099976 m, nav range: 411.031433 m, bearing: 357.009872 deg, approach rate: 0.254553 m/s, LOS rate: 0.099865 deg/s, cmd heading: 252.179846 deg, new cmd heading: 252.293848 deg. 2j;HeadingCmd: 4.403358 target range: 635.099976 and range: 635.10 m. jP@jjjihhhhfffrfbf-@]Will construct direction to contact in vehicle frame from tetrahedron phase data.eBDAT read: Rx Time:21:52:34.0396 mTRx dataTimestamp_ set to:1736373155.253812mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.773264ɛU։BuVc q}&Iy }ZɚyiyI}ᐚ=I+i4iY!)P@)zKBHK9KK KE )a bp**FM?2FI:FIBFMo5JFI IG&;jH) bH- 4=H= O>I9  I= (II= BI= % =&I9 .I= 9D6I= <:I= FG B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=4.023516O- >R8:w,A6^@Y6n@6_96@>y6Hҿ5?on2п? u?7?+?ɨ6^@6w2;4y>B>&'IiB=IBp; @ @ @  @ II4٢o= 9=9W  G٣y(g > bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config 59?? 5Y iRB+:d:C>@D;h>K5-uB -@5EZjiuFNOT Ignoring new targets: 635.10 m.Bj}p:Jj}p:} ProNav: ac range: 635.099976 m, nav range: 411.141663 m, bearing: 357.052201 deg, approach rate: 0.247591 m/s, LOS rate: 0.095050 deg/s, cmd heading: 252.293855 deg, new cmd heading: 252.420806 deg. 2jv;HeadingCmd: 4.405574 target range: 635.099976 and range: 635.10 m. jw@jjjihhhh)f1f9fArfqbf}@eWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:52:34.0396 LVL= 13360, 16305, 15426, 20163, AGC= 68, IDX= 444, 0.15, 0.029,-0.874,-2.413,-1.096, PHS= 1.213, 0.269,-1.320, RAW= 51.6, -1.5, CAL= 53.4, -4.6, ROT= 96.6, 4.6 Ygot valid direction response: 21:52:34.0396 LVL= 13360, 16305, 15426, 20163, AGC= 68, IDX= 444, 0.15, 0.029,-0.874,-2.413,-1.096, PHS= 1.213, 0.269,-1.320, RAW= 51.6, -1.5, CAL= 53.4, -4.6, ROT= 96.6, 4.6 PDAT read: Bearing 96.6, 4.6 (Local) ~Local bearing/azimuth received: Bearing 96.6, 4.6 (Local) DAT read: Range 10 to 50 : 636.3 m (Round-trip 848.4 ms) speed -0.2 m/s ,DAT read: user:2116> BDAT read: Tx time:21:52:35.1371 $Ping request sent.mmf?mPwּ mn?)mlImu?iml=iim׈ ?4CiCX}q)mIm?:w,A2O3@Y2B@2\921=y2H [ҿ?`k` ѿ?)f? Ĭ??ɨ2O3@2f͉;0yBBBH'IbWill construct direction to contact in vehicle frame from tetrahedron phase data.bJDAT read: TxSync time:21:52:35.1363 ININ4٢v> v[=9vxx zG٣zFGyzh > %bBottom track data is 0.8 s old, using for 20.0 s. -Nusing accuracyPremultiplier from config!-59%6?-5Y%| i%>RB5 :159:55>@%D%&;%R?%)N5 ;@k{8'?ko9 k kccA:kDBkDZk_@"H/v#@[H{@}@E&?cMP?Tkg?JkP*?RkR*)x@X|*`ғ@ Np? x m I$?Ii E:w,<Av@Yv.@vZ9v=yvH`nҿ?ī@Yѿ-d?` ?˾?`T ?ɨv@v2;vCy=B=e'II}I}@4٢^= >=9;Q >QY ]G٣Yy2 > bBottom track data is 1.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59o+?5Y iRBHI>IC I#(IIBI&I.I6Ic<:IJ F9 :  >@Ds<O?CP5wB @EUB*** querying acoustic contact ***jQjQZjYeFNOT Ignoring new targets: 636.30 m.Bj&:Jj&: ProNav: ac range: 636.299988 m, nav range: 386.727264 m, bearing: 0.719154 deg, approach rate: 0.315133 m/s, LOS rate: 0.103229 deg/s, cmd heading: 252.535945 deg, new cmd heading: 252.671080 deg. 2j;HeadingCmd: 4.409942 target range: 636.299988 and range: 636.30 m. j?@jjjihhhhfffrfbf?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.ɛeBeE;\ ae*jIa mɚiiiIm֓=Iupiu ﵼi},#Ѽ)}?@)*F?2F:FBF`5JF!GmGqGu ?GA BI Oe >u Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994735ML:w, 2Ay~8B~'I        Mb@Mb@Mb@ )YQ?~jtx:v?yh?ĻT=vA h@)@IAy AIuIaO4٢ > H=JJJ0JJ;:JU:Jـ3JJL)<JL)<J;J; I9Q >    G٣ y > Nusing accuracyPremultiplier from config%59p"?%5Y iRB%T:%Xi?-h:-->@D5;u;S51 5@1ZjaeFNOT Ignoring new targets: 636.30 m.Bjm;Jjm;} ProNav: ac range: 636.299988 m, nav range: 386.838196 m, bearing: 0.766779 deg, approach rate: 0.299290 m/s, LOS rate: 0.128453 deg/s, cmd heading: 252.671073 deg, new cmd heading: 252.813905 deg. 2j}O;HeadingCmd: 4.412435 target range: 636.299988 and range: 636.30 m. j2@jjjihhhhaBfffrfbf?ɛMBUP] ae\Ia m ɚiI+=Itiit|ۼ)2@)*Fe?2Fa:FiBFm4JFiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246809Gm ňGA BI Om >R:w,LA2@Y2i@2AX92e>y2Hӿ`f?ɫ`,ZҿV? ?? ?ɨ2@2ܫ;2Cy>gB>'IIFIF4٢N|> R`=9R;Q R>TT VG٣VFGyZ% Z> bNusing accuracyPremultiplier from config`f59b?f5Yb ib:SBdfj>@b Db;b;bV5nxB n@n EZjFNOT Ignoring new targets: 636.30 m.Bj : ;Jj : ; ProNav: ac range: 636.299988 m, nav range: 386.946075 m, bearing: 0.810848 deg, approach rate: 0.300203 m/s, LOS rate: 0.122598 deg/s, cmd heading: 252.813906 deg, new cmd heading: 252.946075 deg. 2jF;%HeadingCmd: 4.414742 target range: 636.299988 and range: 636.30 m. j%E@j!j!j!i)h)h)h1h9f9f9f9rfAbfE࡯?ɛmBm>Z imHIi u ɚqiqIu›=I&)iAi?0-)E@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.500950zK LK 9K K  K  I *JC="J%=E9*F?2F:FBFB5JFGԼH G>I  I U(II ܈BI & =&I .I 6I <:I q FBIȡCJIȡCRIȓCZI% =bI% =jIҎ5G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750928O- >p'Y:w,efAy~B~'IMb@Mb@Mb@ )YNbX9?Q?T㥛 ?ye?u<=3A $@)C@IAyAIIЬ4٢$> 7=9Q >  G٣ y  > -Nusing accuracyPremultiplier from config!59%?5Y% i%SB:f?l:>@%D%4<%<%Z5zB @ EZjMFNOT Ignoring new targets: 636.30 m.BjM`;JjM`;] ProNav: ac range: 636.299988 m, nav range: 387.070496 m, bearing: 0.865274 deg, approach rate: 0.264652 m/s, LOS rate: 0.115732 deg/s, cmd heading: 252.946084 deg, new cmd heading: 253.109309 deg. 2j]ٞ;eHeadingCmd: 4.417591 target range: 636.299988 and range: 636.30 m. je\@jajijiiihqhqhqhurBfyfyfyrfybf}vS?ɛB,PM :I ɚiI$=IiRiL.)\@)EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.003147E=t=*F?2F:FBF4JF H$?IhhJJJ1JJJ;:J3JJJJ;J;G FټG G G B O >B`:w,AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254904:@`@Y:o@:R9:>y:HӿW?yҿc?#?`?` ?ɨ:@`@:0;:CyFBJ"(IIRIR44٢ZI> ZY=9^p\\ ^G٣\yb0/ b> fNusing accuracyPremultiplier from configdj59f4?j5Yf if TBlnn>@f"Df ;f2 ;f]5p r@pZjFNOT Ignoring new targets: 636.30 m.Bj;Jj; ProNav: ac range: 636.299988 m, nav range: 387.175598 m, bearing: 0.910424 deg, approach rate: 0.278573 m/s, LOS rate: 0.119638 deg/s, cmd heading: 253.109298 deg, new cmd heading: 253.244712 deg. 2j6;HeadingCmd: 4.419954 target range: 636.299988 and range: 636.30 m. jCp@jjjihhhhf!f!f!rfibfm`@ɛB@iQ *I `LɚiI_=Ie`~ieGieE)eCp@)iEqEq*Eq"EqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508463*F2F:FBF4JFGqA GzKBoHK9KK K  G o y Iy G B O >6gf:w,YۚA-\@Y-dk@-P9->y-H`QӿR?Oyҿ? z? ?`?ɨ-\@-3n;-CyuB}^(III4٢\> 8=9 ;Q >!)HI I(II#BI&I.I6I<:I 5G٣FGy^ > Nusing accuracyPremultiplier from config59r?5Y iTB>@/D2;2;b5  v@-B*** querying acoustic contact ***j)j)Zj9=FNOT Ignoring new targets: 636.30 m.BjE;JjE;UWill construct direction to contact in vehicle frame from tetrahedron phase data.QiQ]checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759199e ProNav: ac range: 636.299988 m, nav range: 387.309631 m, bearing: 0.967629 deg, approach rate: 0.298469 m/s, LOS rate: 0.127342 deg/s, cmd heading: 253.244700 deg, new cmd heading: 253.416255 deg. 2jeɮ;mHeadingCmd: 4.422948 target range: 636.299988 and range: 636.30 m. jmʈ@jijijiiihqhqhqhqfyfyfyrfybf}8@ɛB$H 隵I cɚiI@t=ICiEiO)ʈ@)I*F?2F:FBFo0JFG ;+G B  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010991Oe >l:w,A:Z@Y:i@:cO9:.>y:H3ӿO? Z@oҿ` ?O? ? ?ɨ:Z@:<;8yFBF(I )I)Mb@Mb@Mb@ )Yףp= ?~jtx rh?y^?ĻC=A @)@IAyAJJJ0JJk:Jy6:Jـ3JJ"<J"<J;J;II4٢4w> @=9*;Q > G٣y > Nusing accuracyPremultiplier from config59?5Y= iTBg_?s:>@9D;;e5{B B@EZjFNOT Ignoring new targets: 636.30 m.Bj ;Jj ; ProNav: ac range: 636.299988 m, nav range: 387.427124 m, bearing: 1.013727 deg, approach rate: 0.295930 m/s, LOS rate: 0.116072 deg/s, cmd heading: 253.416247 deg, new cmd heading: 253.554498 deg. 2jQ;%HeadingCmd: 4.425361 target range: 636.299988 and range: 636.30 m. j%@j!j!j)i)h)h)h1h5Bf1f9f9rf9bf=cb @ɛmBm3C quIq u]6 ɚqiqIu#a=I}2i}TibX)@)*F?2F:FBFJFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.263695GIGQBaO{>Rxs:w,A6`@Y6o@6N96ٝ>y6Hӿ`N?@r Vҿz???@?ɨ6`@6;6Cy>RBB(IIJIJݜ4٢R̭> Rr=9R ;Q R?TT VG٣TyZ; Z? bNusing accuracyPremultiplier from configXf59Zꨛ?f5YZG iZ7UBdfj>@ZCDZi:Zq:Zh5n}B n@nEZjFNOT Ignoring new targets: 636.30 m.Bj ;Jj ; ProNav: ac range: 636.299988 m, nav range: 387.527283 m, bearing: 1.052974 deg, approach rate: 0.296176 m/s, LOS rate: 0.116026 deg/s, cmd heading: 253.554490 deg, new cmd heading: 253.672200 deg. 2jA;HeadingCmd: 4.427415 target range: 636.299988 and range: 636.30 m. jb@jjjihhhhfffrfbf6 @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516496ɛB%s > !%ǾI! %} ɚ)i)I-iH=I-i5ti5[)Ub@)YEazK$LKh9KK K G$?Iih*F?2F:FBF0JF"G%=G%>)) -ʏCG M6YQye BG_NHB>IC I)II~BI&I.I8D6I<:Iu FG! m Will construct direction to contact in vehicle frame from tetrahedron phase data.u BDAT read: Rx Time:21:52:38.3909 u TRx dataTimestamp_ set to:1736373159.536798} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768063B O >y:w,kAy B!)IMb@Mb@Mb@ )YM?Zd;OX9v?ynR?j}=A @)@IAy(AII4٢YR> 7=9Q > G٣FGy >  Nusing accuracyPremultiplier from config59Qਛ?5Y' iUBS?:>@ND;;ol5) -@)ZjIUFNOT Ignoring new targets: 636.30 m.Bj]M:Jj]M:m ProNav: ac range: 636.299988 m, nav range: 387.659912 m, bearing: 1.101676 deg, approach rate: 0.296884 m/s, LOS rate: 0.108979 deg/s, cmd heading: 253.672188 deg, new cmd heading: 253.818242 deg. 2jm;mHeadingCmd: 4.429964 target range: 636.299988 and range: 636.30 m. juD@jqjqjqiqhqhyhyh}Bfyffrfbf`Z@ɛm Bm*5 u=uIq u ɚqiqIu=I}\6i}i} e)D@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020589*F)2F):F)BF-0JF1 IGM T[G! B) O] >:w,tEAWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273272 X@Y @ BN9 ?>y HӿXV?ص@Nѿ@ 6?;?l?@?ɨ X@ r; Cy=BER)IIMIM@4٢:> ?=9:Q > G٣ylU< > Nusing accuracyPremultiplier from config59<֨?5Yl/ iUB>@YD;9;.p5 D@ZjFNOT Ignoring new targets: 636.30 m.BjK:JjK:- ProNav: ac range: 636.299988 m, nav range: 387.785736 m, bearing: 1.148440 deg, approach rate: 0.293302 m/s, LOS rate: 0.108975 deg/s, cmd heading: 253.818244 deg, new cmd heading: 253.958492 deg. 2j-;5HeadingCmd: 4.432412 target range: 636.299988 and range: 636.30 m. j5Q֍@j1j9j9i9h9h9hAhAfAfAfArfIbfM @ɛu'Bu%l2 qu{Iy }; ɚyiyI}P=I'iijX)Q֍@)*F!2F):F)BF-0JF)Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:52:38.3909 LVL= 15856, 19537, 16514, 25747, AGC= 67, IDX= 441, 0.32, 2.033, 1.240,-0.349, 0.916, PHS= 1.205, 0.371,-1.268, RAW= 49.4, -2.9, CAL= 51.5, -6.5, ROT= 98.5, 6.5 Ygot valid direction response: 21:52:38.3909 LVL= 15856, 19537, 16514, 25747, AGC= 67, IDX= 441, 0.32, 2.033, 1.240,-0.349, 0.916, PHS= 1.205, 0.371,-1.268, RAW= 49.4, -2.9, CAL= 51.5, -6.5, ROT= 98.5, 6.5 %PDAT read: Bearing 98.5, 6.5 (Local) %~Local bearing/azimuth received: Bearing 98.5, 6.5 (Local) 5DAT read: Range 10 to 50 : 637.2 m (Round-trip 849.7 ms) speed -0.3 m/s =,DAT read: user:2117> =BDAT read: Tx time:21:52:39.4871 E$Ping request sent.EM\?4QO f?)VI ?iV=鵐/?US'\)ѝIPL=iD?RHu:publishing transmit ping timeA}Fpublishing direction and range info9Xm?o&??y )Ii )Ii鵐/?US'\)IizKm k3IKi Ki Km Km G b I jhGi Bq O >J J J J J :J ::J J a @a @a @a @ᴆ:w,!AH>>IC I)IIBI( =&I.I6I<:In FM@YMmČ@MON9Md!>yMHUӿ_?@O`ѿC?j? -=9_Q > G٣yl"< > -Nusing accuracyPremultiplier from config!-59%!˨?55Y%7 i%ZVB55@?5:5t5>@%dD%;%;%ct5eB e@eEkuh$?k} k kXA:kLDBk6DZkuT@"$H](=@njz2"|@4J |@Xm?o&??JkD?RkRH*\_w@-I-F S@e-j?ұPr?"kl1*kMCko:k%?k x 2kDkO8c&?kk/DkоCkЭ<5 addTargetRange:: Added new target pos. range: 637.200012 m, deltaT: 4.535764 s, deltaX: 0.900024 m, approachRate: 0.198428 m/s, rangeRepo size: 4 u Added new target pos. range: 637.200012 m, bearing: 353.317857 deg, lat: 36.901993 deg, lon: -122.118579 deg, deltaT: 4.535764 s, deltaX: 0.900024 m, approachRate: 0.198428 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 637.20 m.BjJj ProNav: ac range: 637.200012 m, nav range: 381.631958 m, bearing: 1.215682 deg, approach rate: 0.000000 m/s, LOS rate: 0.108975 deg/s, cmd heading: 253.958482 deg, new cmd heading: 254.123702 deg. 2jHeadingCmd: 4.435295 target range: 637.200012 and range: 637.20 m. j @j j j i h h1h1h5Bf1f9f9rf=@bf= ȳ?ɛ/B4* 隭I *!ɚiIX=IiBiS)@)E E rA*F ?2F :F BF o0JF G rA G  Will construct direction to contact in vehicle frame from tetrahedron phase data. F$?I G{XGBO?:w,)A=A6ͅ@Y6܌@6O96l">y6H%ӿe?vg[ѿKo?;???ɨ6ͅ@6z;4y>!B>)IIJiIJ:4٢No> RV=9RgQ R>TT VG٣VFGyZ< Z> ^Nusing accuracyPremultiplier from config\b59^¨?b5Y^> i^VB`ff?@^mD^n:^*:^w5h n@l~B*** querying acoustic contact ***j|j|Zj FNOT Ignoring new targets: 637.20 m.Bj:Jj: ProNav: ac range: 637.200012 m, nav range: 381.738556 m, bearing: 1.253059 deg, approach rate: 0.305515 m/s, LOS rate: 0.107095 deg/s, cmd heading: 254.123690 deg, new cmd heading: 254.235790 deg. 2j;HeadingCmd: 4.437252 target range: 637.200012 and range: 637.20 m. j@jjjihhh!hifififqrfqbfu@!?Will construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ4Be$ AEPIA EV1!ɚIiIIMW[=IMGiUiU|P)U@)QE͢=*F= ?2F9 :F9 BF9 JFA } Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994716 Q IQ zKm Km 9Ki Km Km     G% ,SJQ JQ JU 1JQ JQ JQ JU 3JQ G!BQO}>*:w,I[AB @YBk@BP9B8>yBH'ҿ@|?@@3ѿ^8? ?@?`P?ɨB @Bf;@yNHBN*IIrHIr<3٢v > z)=9zQ z>|| ~G٣|yT}< >  Nusing accuracyPremultiplier from config 59 ?5Y 7G i VB?@ xD  ; . ; {5! %@!ZjFNOT Ignoring new targets: 637.20 m.Bj:Jj: ProNav: ac range: 637.200012 m, nav range: 381.874817 m, bearing: 1.301767 deg, approach rate: 0.277194 m/s, LOS rate: 0.099049 deg/s, cmd heading: 254.235787 deg, new cmd heading: 254.381857 deg. 2j;HeadingCmd: 4.439801 target range: 637.200012 and range: 637.20 m. j@jjjihhhhfffrfbf`%?ZHRHH;>I I=*IIhBI) =&I.I6I@<:I" Fɛ;B?g 隝)@)E=*F2F:FBFp0JFG _NG ?G 6?e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499744G B O >= PExceeded connect timeout, disconnecting.:w,}uA `I`zEI@YzX@zXO9z>yzH`>ҿӈ? 9@u {п,?w? {?Z?ɨzEI@z;zCy uB M*IMb@Mb@Mb@ )Ym?/$Zd;O?y.?j<d A @)@IAyAIIq4٢ KJ> 9=9;Q > G٣y%< %> -Nusing accuracyPremultiplier from config)559-s?55Y-TN i-BWB=0?=:=g=?@-D-;-;-5EB E@EEZjiuFNOT Ignoring new targets: 637.20 m.Bju:Jju: ProNav: ac range: 637.200012 m, nav range: 382.003021 m, bearing: 1.341819 deg, approach rate: 0.296178 m/s, LOS rate: 0.092498 deg/s, cmd heading: 254.381844 deg, new cmd heading: 254.501961 deg. 2j};HeadingCmd: 4.441897 target range: 637.200012 and range: 637.20 m. j$@jjjihhhhBfffrfbf`?ɛAB  =I !ɚiIգ=ISipiL,)$@)EE*E"EE}p>E}>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750731*F 2F:FBFo0JF"G%=G%=GU lL=G) BA O] >+:w,{A>@Y>ާ@>N9>0">y>Hѿ? m`̽Ͽ?ͣ???ɨ>@>p;>CyJBJ}*IIRIR%x4٢ZRF> ^P=9^hX;Q ^>\` bG٣bFGyb< b> jNusing accuracyPremultiplier from configdn59fz?n5YfT if|WBpr*r?@fDf3;f4;f*5zB z@zEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003067Zj!-FNOT Ignoring new targets: 637.20 m.Bj-N:Jj-N:= ProNav: ac range: 637.200012 m, nav range: 382.115204 m, bearing: 1.377689 deg, approach rate: 0.283496 m/s, LOS rate: 0.090621 deg/s, cmd heading: 254.501974 deg, new cmd heading: 254.609553 deg. 2j=x;EHeadingCmd: 4.443775 target range: 637.200012 and range: 637.20 m. jEh3@jAjIjIiIhhhhfffrfbfT@ɛMGBMI IM)>II U ɚQiQIUyB=I]qi]i]̆)]h3@)a E$?IkhzK%MLK%9K!K% K% JJ?AJK K(.KK"KJJJJJK:J>:JJ*F?2F:FBF%0JF!GH0GBOG>HI I*IIBI&I.I6I<:IN FBIǞCJIǟCRIZI( =bI( =jI5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255918O:w,-?AJ@YJI@J4)M9J‘$>yJH`#ѿ@?*`ϛο:?Qy?`?`?ɨJ@J;JCy^B^*IUMb@Mb@Mb@QQQ Q)QYUMb?A`"~jth?yU#?UٽUD;U A U@)Ub@IUAQyU(AImImq4٢}.> }?=9}J;Q }> G٣yo< > Nusing accuracyPremultiplier from config59?5Y)[ iWBP%?:?@D;;5 +@ZjFNOT Ignoring new targets: 637.20 m.BjZ:JjZ: ProNav: ac range: 637.200012 m, nav range: 382.237549 m, bearing: 1.414044 deg, approach rate: 0.287480 m/s, LOS rate: 0.085396 deg/s, cmd heading: 254.609563 deg, new cmd heading: 254.718590 deg. 2jlj;HeadingCmd: 4.445678 target range: 637.200012 and range: 637.20 m. jB@jjjihhhhBf f f rf bf 4@ɛMB Lt=I  ɚiIڗ=I m3i-ϻi-=\)MB@)Q-Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507768 nManaging dock network, ignoring radio surface power off*F2F:FBF0JF IGE +GI GM rAG! B) OM > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758775B:w,JAZ-@YZ=@ZK9Z%>yZH)пv?ۘ@nrͿ?.Q?2:? ?ɨZ-@Z̅;XyfڊBf*Iij!>Ij;InIn{4٢v> vR=9zR;Q z>xx ~G٣|y~=< ~>  Nusing accuracyPremultiplier from config 59摨?5Ya iWBE?@D,3;N3;M5) -@)MB*** querying acoustic contact ***jIjIZjQ]FNOT Ignoring new targets: 637.20 m.Bj]+:Jj]+:m ProNav: ac range: 637.200012 m, nav range: 382.347168 m, bearing: 1.447329 deg, approach rate: 0.281049 m/s, LOS rate: 0.085315 deg/s, cmd heading: 254.718600 deg, new cmd heading: 254.818427 deg. 2ju3j;uHeadingCmd: 4.447421 target range: 637.200012 and range: 637.20 m. j}EQ@jyjyjyiyhhhhfffrfbf@ɛ]RB]B Y]>Ia e. ɚaiaIeOv=ImXim׻imļ)mEQ@)qE*FU?2FQ:FQBFUd5JFQG]qA G]qAG-)GBO5O>%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011016 yIyzKm غKKm 9Ki Km Km *J R="J p=J J J 0J J :J <:J ـ3J R`:w,0A6w@Y6ꆎ@6y8J96e!'>y6H пx?` VT̿E??d??ɨ6w@6>;6CybBb*IInIn1h4٢v> vL=9z;Q z>xx ~G٣~FGy~6< >  Nusing accuracyPremultiplier from config 59?5Y4g iXBa?@D:3:͍5%B %@-EH9>I IV+IIMBI&I.I6I<:IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266949Zjq}FNOT Ignoring new targets: 637.20 m.Bj}?:Jj}?: ProNav: ac range: 637.200012 m, nav range: 382.458038 m, bearing: 1.481727 deg, approach rate: 0.235711 m/s, LOS rate: 0.073109 deg/s, cmd heading: 254.818430 deg, new cmd heading: 254.921594 deg. 2jH;HeadingCmd: 4.449221 target range: 637.200012 and range: 637.20 m. j`@jjjihhhhfffrfbf @ɛ5YB5_ 9=Þ>I9 =v< ɚ9i9I==IEWiiŻi )`@)*F ?2F :F BF R2JF E Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514735GM ~GU ?GU >G B) OM > I +:w,[A:T‡@Y:ю@:.H9:}&>y:Hο? j?˿@? ?@%Z??ɨ:T‡@:<;:CyF BF+IMMb@Mb@Mb@III I)IYMrh|?T㥛  G٣y#< > Nusing accuracyPremultiplier from config59?5Ybm i+XBE?:*?@D;;}5 @ZjFNOT Ignoring new targets: 637.20 m.Bj:Jj: ProNav: ac range: 637.200012 m, nav range: 382.576721 m, bearing: 1.516411 deg, approach rate: 0.338342 m/s, LOS rate: 0.098846 deg/s, cmd heading: 254.921593 deg, new cmd heading: 255.025612 deg. 2j;HeadingCmd: 4.451036 target range: 637.200012 and range: 637.20 m. jn@jjjihhhhBf f f rf bf kM @ɛ]B5 3>I  ɚiIP=IڃiitK)n@))Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:52:42.7427 TRx dataTimestamp_ set to:1736373164.072715checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767946E*F2F:FBF0JFG ȞG B O >q:w,ӤAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018708 D$?I!zKuKu]9KqKu Ku-@Y-@-G9-%>y-Hο@?m@|"\ʿ`?g?`C?X?ɨ-@-1*;-CyB+IU}Gi)Y ]A rYyBIIa4٢o= =9%U2;Q %>11 =G٣=FGyY< > Nusing accuracyPremultiplier from config59r? 5Yu iZXB9EE?@D{<L|<5B @HI I+IIBI* =&I.I6I<:I F5EWill construct direction to contact in vehicle frame from tetrahedron phase data.iAZjY e FNOT Ignoring new targets: 637.20 m.Bje :Jj :  ProNav: ac range: 637.200012 m, nav range: 382.736450 m, bearing: 1.563877 deg, approach rate: 0.245397 m/s, LOS rate: 0.072894 deg/s, cmd heading: 255.025603 deg, new cmd heading: 255.167943 deg. 2j H; HeadingCmd: 4.453521 target range: 637.200012 and range: 637.20 m. j >@j j j i  DAT read: 21:52:42.7427 LVL= 15936, 22385, 18866, 27603, AGC= 69, IDX= 443, 0.19,-2.893, 2.551, 0.997, 2.223, PHS= 1.255, 0.375,-1.229, RAW= 50.5, -3.7, CAL= 53.3, -7.9, ROT= 96.7, 7.9  Ygot valid direction response: 21:52:42.7427 LVL= 15936, 22385, 18866, 27603, AGC= 69, IDX= 443, 0.19,-2.893, 2.551, 0.997, 2.223, PHS= 1.255, 0.375,-1.229, RAW= 50.5, -3.7, CAL= 53.3, -7.9, ROT= 96.7, 7.9  PDAT read: Bearing 96.7, 7.9 (Local)  ~Local bearing/azimuth received: Bearing 96.7, 7.9 (Local) h h h h f f f rf  DAT read: Range 10 to 50 : 638.5 m (Round-trip 851.4 ms) speed -0.3 m/s  ,DAT read: user:2118>  BDAT read: Tx time:21:52:43.8372  $Ping request sent. qW I)kIEiף?>Oܢa? A %n?)0 I?i0 >P O? 2•nI)aI-=i3?L~M :publishing transmit ping time  Fpublishing direction and range info9OD]k?R&?s?y )Ii )IiP O? 2•nI)Iiɛ= fBe  a e >Ia m Hɚi ii Im =I} u2i r>i .f ) >@) Eur=ErAEmWill construct direction to contact in vehicle frame from tetrahedron phase data.uJDAT read: TxSync time:21:52:43.8364 *FA2FA:FABFEo0JFA"GM=GM= iIulhJ5J5J1J1J5K:J5mQ:J1J1J5y:H̿?`<Œ5ɿ((?`ez??`?ɨ:/V@:4r;:CyB&BB'+IUMb@Mb@Mb@QQQ Q)QYU)\(?MbV-yUG!?UUU A U@)U@IU AQyU@ImmIm3A4٢}4= }=9}c;Q > G٣y< > Nusing accuracyPremultiplier from config59f?5Y_~ iXB$?:2?@Di%;#;]5B /@"Ek=mb ?k= k9 k=&%A:k=DBk=DZk=!@"=G<5B@%{@³|@Will construct direction to contact in vehicle frame from tetrahedron phase data.=OD]k?R&?s?Jk=3?Rk=L~M*=c`w w@)E6{xF@=5.3`z?\1=ܡ^?"k=/*k=XCk=Ⱥ!?k=Q  2k=Dk="&?k=nD< k=ODk=Ck=Iu@ addTargetRange:: Added new target pos. range: 638.500000 m, deltaT: 4.288646 s, deltaX: 1.299988 m, approachRate: 0.303123 m/s, rangeRepo size: 4 - Added new target pos. range: 638.500000 m, bearing: 356.542926 deg, lat: 36.901986 deg, lon: -122.118781 deg, deltaT: 4.288646 s, deltaX: 1.299988 m, approachRate: 0.303123 m/s, posRepo size: 4 Zj15FNOT Ignoring new targets: 638.50 m.Bj=Jj9M ProNav: ac range: 638.500000 m, nav range: 382.041626 m, bearing: 358.918929 deg, approach rate: 0.000000 m/s, LOS rate: 0.072894 deg/s, cmd heading: 255.167944 deg, new cmd heading: 255.274163 deg. 2jIUHeadingCmd: 4.455375 target range: 638.500000 and range: 638.50 m. jUn@jQjYjYiYhYhYhaheBfafafirfm@bfm}?ɛlB| Ĺ>I )ɚi!I%0=IMiMۺiM)F)Mn@)QEYEY*EY"EY*F2F:FBFl0JFG] {# Will construct direction to contact in vehicle frame from tetrahedron phase data.G9 BI Oe > y I e:w,ZAzKVBJK+9KK K Bji@YBx@BC9B>yBH̿@?`ɿ? O?W&? ?ɨBji@B|;@yN/BN2+IIVIV1h4٢^p:= ^X=9bi;Q b>`` bG٣dyfq; f> jNusing accuracyPremultiplier from confighn59jA^?n5Yj* ijXBprr?@jDjP ;j ;j5t v@t B*** querying acoustic contact ***j j ZjFNOT Ignoring new targets: 638.50 m.Bj% :Jj% :- ProNav: ac range: 638.500000 m, nav range: 382.136017 m, bearing: 358.952180 deg, approach rate: 0.254499 m/s, LOS rate: 0.089630 deg/s, cmd heading: 255.274167 deg, new cmd heading: 255.373896 deg. 2j5 v;5HeadingCmd: 4.457115 target range: 638.500000 and range: 638.50 m. j5@j9j9j9i9h9hAhAhAfAfIfIrfIbfM0?ɛuqBuk y}$>Iy }ɚyiI(=IiGiӺ)@)*F2F:FBF0JFH6>IC I+II֋BI) =&I.I7D6I<:Ie F%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.GjGBO%>p:w,tABWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.218460J@YJ@JB9J&D>yJH#˿ ?`к@@ȿ9?-?`Y?`o?ɨJ@J;JC %B$?I!y5'B5)+Ii==I= G٣FGy"<  > Nusing accuracyPremultiplier from config 59 T?5Y T i XB%*?%:%%?@ D '; %; 5) -@)ZjFNOT Ignoring new targets: 638.50 m.Bjb:Jjb: ProNav: ac range: 638.500000 m, nav range: 382.245270 m, bearing: 358.993230 deg, approach rate: 0.239011 m/s, LOS rate: 0.089780 deg/s, cmd heading: 255.373888 deg, new cmd heading: 255.497004 deg. 2juv;HeadingCmd: 4.459264 target range: 638.500000 and range: 638.50 m. jJ@jjjihhhh`Bfffrf bf  y?J=J=J9J9J=:J=>:J9J9J=2!<J=3!<J=˕;J=˕;ɛwB 隵>I YɚiI=IBviiv9)J@) *F2F:FBF}0JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470241G pG B O >_x:w,A6ʸ@Y6ȏ@6L>969>y6H`?Z˿@?ú_*ȿ?R??m?ɨ6ʸ@67;6CyR.BR0+IIZIZ_v4٢f4 = f`=9f hh jG٣hyjl< n> rNusing accuracyPremultiplier from configpv59rL?v5Yr: irXBtvFz?@rDr:rn:r5~B @'EZjFNOT Ignoring new targets: 638.50 m.BjE:JjE: ProNav: ac range: 638.500000 m, nav range: 382.334015 m, bearing: 359.027027 deg, approach rate: 0.240271 m/s, LOS rate: 0.091480 deg/s, cmd heading: 255.496996 deg, new cmd heading: 255.598361 deg. 2j {;HeadingCmd: 4.461033 target range: 638.500000 and range: 638.50 m. j@jjjihhhhfffrfbfYt?ɛu{B6 隽>I /MɚiI^=IMg;)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722706 I*F?2F:FBF0JFJ9J=AAzK+KK9KK K #(-/0--,(%! GzQG B O >H 3>I  I ,II BI * =&I .I 6I <:I H FM Will construct direction to contact in vehicle frame from tetrahedron phase data.e checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977156#:w,kA:,܈@Y:}@:ܭ;9:;>y:Hʿ6?g ǿ?@*T?=?@!?ɨ:,܈@:;:CyZ9BZ>+IMb@Mb@Mb@ )YOn?~jty&1y8?Ľ`eA @)E@I$Ay\@II٢KD= :=9;Q > G٣y < > Nusing accuracyPremultiplier from config59C?5Y iYB=:? : # ?@D;';5 >@ZjAEFNOT Ignoring new targets: 638.50 m.BjMX:JjMX: ProNav: ac range: 638.500000 m, nav range: 382.436066 m, bearing: 359.071985 deg, approach rate: 0.240528 m/s, LOS rate: 0.105937 deg/s, cmd heading: 255.598356 deg, new cmd heading: 255.733196 deg. 2jh;HeadingCmd: 4.463386 target range: 638.500000 and range: 638.50 m. jԎ@jjjihhhhBf!f!f)rfbfW@ɛBX 隝>I ɚiI=I0i 3i;)Ԏ@)*F=?2F9:F9BF=0JF9Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226165 ImhJU JU JQ JQ JU K:JU ::JQ JQ JU <JU <JU 5;JU 6;G 7eD;GY Ba O >C:w,HA2@Y2%@2892>y2Hʿ@ "?@ǿ` ?`?? x)?ɨ2@2;2CyN6BR:+I)T TTVAIZIZ{4٢ m  Y=9 G٣FGy_; > -Nusing accuracyPremultiplier from config!-59%$I ɚiI=I'iٸiL;)@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478354E *F2F:FBF]5JF"G=G=G=͚;GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730616 A$?I :w,\A*J"J:@Y:@@:59:`?>y:Hazʿ;%?zǿ?@X? ?`;0?ɨ:@:g;:CyF9BF>+IININk4٢V\u< VQ=9V;Q Z>XX ZG٣Xy^%; ^>zK^K5MK^+9K\K^ K^ 5Nusing accuracyPremultiplier from config1=5953?E5Y5 i5_YBAEE?@5D5. ;5` ;5j5I U;@QmB*** querying acoustic contact ***jijiZjy}FNOT Ignoring new targets: 638.50 m.Bj:Jj: ProNav: ac range: 638.500000 m, nav range: 382.616699 m, bearing: 359.151949 deg, approach rate: 0.230782 m/s, LOS rate: 0.102151 deg/s, cmd heading: 255.848641 deg, new cmd heading: 255.973009 deg. 2j6;HeadingCmd: 4.467572 target range: 638.500000 and range: 638.50 m. jY@jjjihhhhfffrfbfN@ɛB t>I urɚiI_=Ifihi12y;)Y@)H}1>Iy I}1,II}BI}+ =&Iy.Iy6I}<:I}e FBIEÝCJIEÝCRIAZIE* =bIE* =jIEÉo5*F2F:FBF5JFWill construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984913G 1;GqBO>:w,A2Will construct direction to contact in vehicle frame from tetrahedron phase data.6checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234273>@ @IDY>Y@>o39> >y>H֏ʿ%?븿ǿW?k[?@?#6?ɨ>@>I;>Cyޝ:Bޝ?+IMb@Mb@Mb@ )Y?MbX9yfF?ʡv@ @)@IhAy=@IIHo4٢ Z; .=9Д;Q > G٣y > Nusing accuracyPremultiplier from config59*?5Yݯ iYBmG?:J?@D;_;g5B N@*EZj!%FNOT Ignoring new targets: 638.50 m.Bj-9:Jj-9:J=J=J9J9J=:J=J1:J9J9J=#<J=#<J=&;J=&;] ProNav: ac range: 638.500000 m, nav range: 382.720367 m, bearing: 359.202126 deg, approach rate: 0.226046 m/s, LOS rate: 0.109381 deg/s, cmd heading: 255.973005 deg, new cmd heading: 256.123496 deg. 2je";eHeadingCmd: 4.470198 target range: 638.500000 and range: 638.50 m. je @jijijiiihqhqhqhuĉBfyfyfyrfybf} @ɛB 隭>I J!ɚiIK =Iii:) @)*Fa2Fa:FaBFeD5JFaWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486192GM ;G! B) OM >r;w,A6@Y6@6j196 >y6Hʿ^%?@ǿ?`? ?O;?ɨ6@6;6CyRCBRK+IiV%>IV=I\I\٢fI ɚiIȒ=Iiiѫ)@)EqAE*F2F:FBFo0JF qIq}Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:52:47.0944 TRx dataTimestamp_ set to:1736373168.362358checking for new query: numPingsReceived=0, elapsed TxPingTime=3.741927JAJE@AzK5:IK1K1K5 K5GU9GIBYO>H} />I} C Iy Iy I} , =&Iy .Iy 6I} <:I} n F5 Will construct direction to contact in vehicle frame from tetrahedron phase data.M checking for new query: numPingsReceived=0, elapsed TxPingTime=3.994369 ;w,n)Afވ@Yf@f/9f`>yfHʿH$?@ %*ȿ? ?@???ɨfވ@fE];dyMBW+IMb@Mb@Mb@ )YʡE?S㥫 G٣yH > Nusing accuracyPremultiplier from config59?5YL iZB P?:~?@D;`;75 &@ Zj15FNOT Ignoring new targets: 638.50 m.Bj=;Jj=;E ProNav: ac range: 638.500000 m, nav range: 382.892395 m, bearing: 359.290164 deg, approach rate: 0.214470 m/s, LOS rate: 0.115165 deg/s, cmd heading: 256.236077 deg, new cmd heading: 256.387543 deg. 2jM; HeadingCmd: 4.474807 target range: 638.500000 and range: 638.50 m. j1@jjjihAhIhQh]Bfffrfbf`@ɛB b>I (ɚiI q=Ixi8Eiҏ)1@) aIenh}Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:52:47.0944 LVL= 14064, 20721, 20162, 23155, AGC= 70, IDX= 444,-0.41, 0.159,-0.839,-2.154,-0.976, PHS= 1.223, 0.184,-1.181, RAW= 55.5, -2.2, CAL= 58.5, -5.9, ROT= 91.5, 5.9 Ygot valid direction response: 21:52:47.0944 LVL= 14064, 20721, 20162, 23155, AGC= 70, IDX= 444,-0.41, 0.159,-0.839,-2.154,-0.976, PHS= 1.223, 0.184,-1.181, RAW= 55.5, -2.2, CAL= 58.5, -5.9, ROT= 91.5, 5.9 PDAT read: Bearing 91.5, 5.9 (Local) ~Local bearing/azimuth received: Bearing 91.5, 5.9 (Local) DAT read: Range 10 to 50 : 639.8 m (Round-trip 853.1 ms) speed -0.3 m/s ,DAT read: user:2119> BDAT read: Tx time:21:52:48.1872 $Ping request sent.}+}w?}nF }?)}BҽI}i?i}B=yy}G V?4'# ns)} I}e=i}X?}byy:publishing transmit ping timeFpublishing direction and range infoy9} pq.?z\@?:OE?yyyyy y)yIyiyyyyy y)yIyiyyy}G V?4'# ns)yIyiyyyy*FI2FI:FIBFU4JFQGu ˴GQ BY Ou >;w,CAf ̈@YfZۏ@fh-9f >yfH%˿@?Q>wȿ3?? qq }G٣yy} }> Nusing accuracyPremultiplier from config5Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:52:48.1864 9?5YJ iCZB?@ DT]<]<5 @k?kVPfE k k]P7A:kDBkDZk?rl<"U.w*@!˔Ny@~@ pq.?z\@?:OE?JkX?Rkb*蛠u@@;wۀ@Y}4?pK?O]?"kޞ@*kCk@vO?krD 2kFDko:k%?kkDkfCkU@ addTargetRange:: Added new target pos. range: 639.799988 m, deltaT: 4.283804 s, deltaX: 1.299988 m, approachRate: 0.303466 m/s, rangeRepo size: 4  Added new target pos. range: 639.799988 m, bearing: 0.826866 deg, lat: 36.901966 deg, lon: -122.118781 deg, deltaT: 4.283804 s, deltaX: 1.299988 m, approachRate: 0.303466 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 639.80 m.BjJj  ProNav: ac range: 639.799988 m, nav range: 380.801392 m, bearing: 359.331909 deg, approach rate: 0.000000 m/s, LOS rate: 0.115165 deg/s, cmd heading: 256.387543 deg, new cmd heading: 256.532252 deg. 2jHeadingCmd: 4.477333 target range: 639.799988 and range: 639.80 m. jOF@j!j!j!i!h!h)h)h)f)f1f1rf5`f@bf5@B?ɛ}B 隭>I ?ɚiI;/=I.&i i )OF@)*F]?2FY:FYBF]o0JFYG5̌GBOn> - @$?I) m Will construct direction to contact in vehicle frame from tetrahedron phase data.) G 5tA J5 J5 J5 1J1 J5 k:J5 f4:J5 3J1 aE @aE @aE @aE @ U YU 5tAy] B;w,]A2¢@Y2@2,92 >y2H`5˿? 8h``ɿ7?@߁? f?FA?ɨ2¢@2 ;2CzKvk3IKv9KtKv Kvy~iB~z+I) IyIxV4٢% = %L=9M$:Q M>QQ UG٣UFGyUsN ]> eNusing accuracyPremultiplier from configYe59]P ?5Y][ i]ZBm?@]*D]K;]};]*5B @.EB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 639.80 m.Bj ;Jj ; ProNav: ac range: 639.799988 m, nav range: 380.889954 m, bearing: 359.378130 deg, approach rate: 0.230652 m/s, LOS rate: 0.120351 deg/s, cmd heading: 256.532261 deg, new cmd heading: 256.670891 deg. 2j0;eHeadingCmd: 4.479752 target range: 639.799988 and range: 639.80 m. jm!Z@jijijiiihihihqhqfqfqfyrfybf}@?H.>I I7,IIBI&I.I6D6ID<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.ɛ B=Zi AE>II uɚyiyI=Ii㶼io)!Z@)EuY>Eu >*F2F:FBFf0JF  I ohG- TG5 rAG1  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001673G! B) Oe >;w,yA2(@Y2y@2+92>>y2Hw<̿`?@綿@&ɿnW?W?G`?@ I?ɨ2(@2];0yB~BB+IMb@Mb@Mb@ )Y^I +?p= ף~jt?yXY?<@ @)@I@y@IDI3٢i= 1=98;Q > G٣y > Nusing accuracyPremultiplier from config 59? 5Y iZB Z? y: H?@6D;;-5B X@0EZjAMFNOT Ignoring new targets: 639.80 m.BjM2 ;JjM2 ; ProNav: ac range: 639.799988 m, nav range: 381.002167 m, bearing: 359.433450 deg, approach rate: 0.248700 m/s, LOS rate: 0.122571 deg/s, cmd heading: 256.670887 deg, new cmd heading: 256.836797 deg. 2j=;HeadingCmd: 4.482648 target range: 639.799988 and range: 639.80 m. jq@jjji h h hhBfffrfbfA?ɛBI >I ɚiI=IeximuֶimW)mq@)i*F%?2F!:F)BF-o0JF1Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251041G.-GB)OE>n$;w,[A6Y@Y6i@6 +96T)>y6H@̿ ?@c·Fʿj? 4H?@޻?F?ɨ6Y@6;4y>B>+IIFWIF44٢N= Ra=9RT:Q R>TT VG٣TyVi Z> bNusing accuracyPremultiplier from configXb59Z?b5YZ iZ[Bdff?@Z@DZ4;Z~:ZV5l n(@pZj FNOT Ignoring new targets: 639.80 m.Bj ;Jj ;% ProNav: ac range: 639.799988 m, nav range: 381.092285 m, bearing: 359.476931 deg, approach rate: 0.248153 m/s, LOS rate: 0.119704 deg/s, cmd heading: 256.836805 deg, new cmd heading: 256.967219 deg. 2j%M;-HeadingCmd: 4.484924 target range: 639.799988 and range: 639.80 m. j-@j)j)j)i)h)h1h1h1f9f9f9rf9bf= ?ɛmBm,H imq>Iq uf;ɚqiqI}WM=I}o-i}߶iռ)@) I=Will construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=1.502337*F?2F:FBF0JFJJJ0JJ :JJ1:Jـ3JzKU&~JKU9KQKU KUVU>wR>+ BKa:KeoAGMaH,>I IP,IIBI&I.I6IP<:I FGB1O]> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757545*;w,A2D@Y2LT@2(92G >y2H@2Ϳ?ʿ V=T5Mb@Mb@Mb@111 1)1Y5v?{Gzkt?y5X?5ף5 0=1 5r@)5\@I5@1y5\@IqIJH4٢= <=9%;Q > G٣FGy/ > Nusing accuracyPremultiplier from config59?5Y iR[B+Y?z:꿑?@LD,;;$5 @Zj FNOT Ignoring new targets: 639.80 m.Bj  ;Jj  ; ProNav: ac range: 639.799988 m, nav range: 381.183563 m, bearing: 359.529437 deg, approach rate: 0.209231 m/s, LOS rate: 0.120327 deg/s, cmd heading: 256.967207 deg, new cmd heading: 257.124686 deg. 2j%(;%HeadingCmd: 4.487672 target range: 639.799988 and range: 639.80 m. j%@j)j)j)i)h)h)h1h5Bf1f9f9rfAbfEr?ɛmBmF\ qu>Iq uɚqiqI}d=I}^i}i)@)E*F?2F:FBFJF ?$?IGEMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.007346GBOF>1;w,,gA2B@Y2Q@2=&92 >y2H>Ϳ?M6Cʿ?@3?@+?zI?ɨ2B@2;2CyB̋BB+IRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.257974ININa4٢v+> vV=9v;Q z>xx zG٣xy~N ~> Nusing accuracyPremultiplier from config 59맛? 5Y i[B꿑?@VD:] ;{5B @5EZjQ]FNOT Ignoring new targets: 639.80 m.Bj]V:Jj]V:m ProNav: ac range: 639.799988 m, nav range: 381.264130 m, bearing: 359.575556 deg, approach rate: 0.194259 m/s, LOS rate: 0.111179 deg/s, cmd heading: 257.124684 deg, new cmd heading: 257.263014 deg. 2ju;uHeadingCmd: 4.490087 target range: 639.799988 and range: 639.80 m. j}ʮ@jyjyjyiyhyhyhhfffrfbf@@ɛB% !% ?I! -Mɚ)iiIm=IuAiu(iu)uʮ@)y*F!2F!:F!BF!JF) IphUWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.509860G ~>ԼGa Bi O >J J J J J [:J f4:J J 7;w,} =E=9EQ E>AI MG٣IyM M> UNusing accuracyPremultiplier from configQ]59U4䧛?e5YU iU[Baae?@UaDUm ;U;U5i m̺@qjH<bH<H+>I I,IIABI- =&I.I6ID<:I F}B*** querying acoustic contact ***jyjyZjFNOT Ignoring new targets: 639.80 m.Bj ;Jj ; ProNav: ac range: 639.799988 m, nav range: 381.351654 m, bearing: 359.625478 deg, approach rate: 0.212854 m/s, LOS rate: 0.121379 deg/s, cmd heading: 257.263009 deg, new cmd heading: 257.412740 deg. 2j;HeadingCmd: 4.492700 target range: 639.799988 and range: 639.80 m. j2ď@jjjihhhhfffrfbf @Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764574ɛBz( o?I! -ɚ1i1I=?=IU.i]^i] )2ď@)*FY2FY:FYBF]p0JFYG5G B O5 > I e Will construct direction to contact in vehicle frame from tetrahedron phase data.m checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014313,>;w,AyB 4,I) Mb@Mb@Mb@ )Yx?~jtI +?yKW?ļ94=C@ E@)/@IZ@y@IzI=X4٢ = ?=9Q > G٣FGy >  Nusing accuracyPremultiplier from config 59 Kܧ?5Y  i /\BW?|:뿑?@ lD ; :; 5! %V@)ZjQUFNOT Ignoring new targets: 639.80 m.Bj];Jj];u ProNav: ac range: 639.799988 m, nav range: 381.443451 m, bearing: 359.676568 deg, approach rate: 0.231957 m/s, LOS rate: 0.129063 deg/s, cmd heading: 257.412727 deg, new cmd heading: 257.565957 deg. 2ju&;}HeadingCmd: 4.495374 target range: 639.799988 and range: 639.80 m. j}ڏ@jyjyjyihhhhBfffrfbf  $ @ɛ=B=hHԽ 9=[$?I9 EvEɚAiAIE=IMiMiM%)Mڏ@)Q*F2F:FBF1JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266025GGqAGqAG B O >UD;w,A6C@Y6 S@6TM"96>y6H>Ϳ?Wʽ@ʿ?3??@CF?ɨ6C@6;6CyB"BB],IIJsIJK4٢R8> Rb=9V:TT VG٣XyZb9 Z> bNusing accuracyPremultiplier from config`f59bէ?f5Yb  ibo\Bhj뿑j?@buDbe:b:b5 !I! ?@Will construct direction to contact in vehicle frame from tetrahedron phase data.-checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519417ZjFNOT Ignoring new targets: 639.80 m.Bj:Jj: ProNav: ac range: 639.799988 m, nav range: 381.521545 m, bearing: 359.719848 deg, approach rate: 0.175848 m/s, LOS rate: 0.097436 deg/s, cmd heading: 257.565969 deg, new cmd heading: 257.695783 deg. 2j;JJJJJJJ{:J-.:JJHeadingCmd: 4.497640 target range: 639.799988 and range: 639.80 m. j@jjjihhh hff1f9rf9bf= @ɛ}B}Kս 隅2?I RɚiIs=IŒiXٷiXA)@)zKk3IK9KK KBKqA:KpAH*>I I,IIsBI&I.I6I\<:I$ FBIEǜCJIEǜCRIAZIE, =bIE, =jIE4*F2F:FBF0JF Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:52:51.4455  TRx dataTimestamp_ set to:1736373172.652674 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777097G _G B O >K;w,`r0A2O@Y2$_@2 92~>y2HͿ_?.@7jGʿՓ??j?`D?ɨ2O@23;2Cy>BB>,IEMb@Mb@Mb@AAA A)AYEX9v?I +l?yES?E9E=E@ E/@)E@IE@AyEG@IeqIeJH4٢u > u3=9u?;Q u>yy }G٣yy1T; > Nusing accuracyPremultiplier from config59kͧ?5Y i\BS?: 뿑?@D;{;5B w@:EZjFNOT Ignoring new targets: 639.80 m.Bjr$;Jjr$; ProNav: ac range: 639.799988 m, nav range: 381.616852 m, bearing: 359.773414 deg, approach rate: 0.255862 m/s, LOS rate: 0.143769 deg/s, cmd heading: 257.695770 deg, new cmd heading: 257.856428 deg. 2jU;HeadingCmd: 4.500443 target range: 639.799988 and range: 639.80 m. j@jjjihhhhBfffrfbf @ɛ5B5 9=[A?I9 =ɚ9i9IE=IE0iMiM[)M@)I ]>$?Ieqh*F?2F:FBFA5JFeWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.023394GgGBO> Will construct direction to contact in vehicle frame from tetrahedron phase data.fnR;w,2JADAT read: 21:52:51.4456 LVL= 16544, 22401, 18034, 24947, AGC= 69, IDX= 439, 0.27, 1.133, 0.322,-1.185,-0.047, PHS= 1.268, 0.416,-1.141, RAW= 50.4, -5.2, CAL= 54.2, -10.0, ROT= 95.8, 10.0 &Ygot valid direction response: 21:52:51.4456 LVL= 16544, 22401, 18034, 24947, AGC= 69, IDX= 439, 0.27, 1.133, 0.322,-1.185,-0.047, PHS= 1.268, 0.416,-1.141, RAW= 50.4, -5.2, CAL= 54.2, -10.0, ROT= 95.8, 10.0 *PDAT read: Bearing 95.8, 10.0 (Local) *~Local bearing/azimuth received: Bearing 95.8, 10.0 (Local) 2DAT read: Range 10 to 50 : 640.5 m (Round-trip 854.1 ms) speed -0.1 m/s 2,DAT read: user:2120> 6BDAT read: Tx time:21:52:52.5373 6$Ping request sent.:\direction in FSK: [0.086622,0.689608,0.718984]>:publishing transmit ping time4>Fpublishing direction and range infoY9]DM,?Y`0_D?]%j?y] DY]@]W ]rF)]saI]Ei]M?]>]J ]z0a?]޹ ]*r?)]¸2I]?i]¸2>YY`@Yo@9>yH̿A?;h`7r ʿ p?`?Su?E?ɨ`@&;C]޷9;:?_Q_"yhB5,I)]YwI]bQ=i]O?]fMYY=:publishing transmit ping time4=Fpublishing direction and range infoY9]DM,?Y`0_D?]%j?yYYYY Y)YIYiYYYYY Y)Yi]a=I]; ea=aImoImD4IYiYYY]޷9;:?_Q_")YIYiYYYY٢=O"> E1=9E ;Q E>II MG٣MFGy]U; ]> eNusing accuracyPremultiplier from configam59e+ŧ?5Ye ie]B꿑?@eDe'I%|@]DM,?Y`0_D?]%j?Jk]O?Rk]fM*]~Fx(v@LiyxqMX+sR@]5WxH?dBY'EZ?"k]k*k]Ck]: ?k]uZ- 2k]#Dk]Ⱥ!?k]Q  k]Dk]{Ck]ũ@ addTargetRange:: Added new target pos. range: 640.500000 m, deltaT: 4.289832 s, deltaX: 0.700012 m, approachRate: 0.163179 m/s, rangeRepo size: 4  Added new target pos. range: 640.500000 m, bearing: 350.858602 deg, lat: 36.901866 deg, lon: -122.118950 deg, deltaT: 4.289832 s, deltaX: 0.700012 m, approachRate: 0.163179 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 640.50 m.BjJj ProNav: ac range: 640.500000 m, nav range: 370.963959 m, bearing: 357.495510 deg, approach rate: 0.000000 m/s, LOS rate: 0.143769 deg/s, cmd heading: 257.856416 deg, new cmd heading: 258.068889 deg. 2j  HeadingCmd: 4.504152 target range: 640.500000 and range: 640.50 m. j"@jjjihhhhfff!rfM@bfU-?ɛĊB\ƽ Q?I t9ɚiI=I`ibni $)"@) iIi}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:52:52.5365 *F?2F:FBF1JF*J% C="J! G zK K K K K G B O >X;w,+eAH"(>I"C I"-II"BI &I .I 6I"<:I"k Fq@Y@9>>yH ̿?@û@ɿHG? ??=F?ɨq@L ;CyeBe,IIKI4٢i> \=9X;Q > G٣y"; > Nusing accuracyPremultiplier from config 59 |?5Y % i E]B!%꿑%?@ DeWill construct direction to contact in vehicle frame from tetrahedron phase data. L; oR< P5 j@}B*** querying acoustic contact ***jyjyZj%FNOT Ignoring new targets: 640.50 m.Bj-;Jj5; ProNav: ac range: 640.500000 m, nav range: 371.030365 m, bearing: 357.541791 deg, approach rate: 0.165519 m/s, LOS rate: 0.115335 deg/s, cmd heading: 258.068890 deg, new cmd heading: 258.207707 deg. 2jN;HeadingCmd: 4.506575 target range: 640.500000 and range: 640.50 m. j5@jjjihhhhfffrfbf%/?ɛmNJBm|ɲ im]?Iq u9}ɚqiI#=Igi򺸼i׹$)5@)*F?2F:FBFa5JF 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.G5 !G B OE >^;w,v~AJ3K;m3 K;S}-K3K3"K3J:J:J8J8J::J:+:J8J8J:Y }@=9Q > G٣y > Nusing accuracyPremultiplier from config59ƶ?5Y!. i]BJ?:u?@DyH;?F;5 @ZjFNOT Ignoring new targets: 640.50 m.Bj;Jj; ProNav: ac range: 640.500000 m, nav range: 371.108521 m, bearing: 357.590701 deg, approach rate: 0.213142 m/s, LOS rate: 0.133358 deg/s, cmd heading: 258.207706 deg, new cmd heading: 258.354406 deg. 2j ;HeadingCmd: 4.509135 target range: 640.500000 and range: 640.50 m. jJ@jjjih h h h Bfffrfbf`A?ɛʊB! J=Wp?I ɚiIp=I5i5ji=`.)=J@)9uWill construct direction to contact in vehicle frame from tetrahedron phase data.}checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988432*F?2F:FBF94JFG- w!G B O- > I e;w,߉ArWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.239178ynjB'-I!!I-.I-3٢> [=9Q > G٣y > Nusing accuracyPremultiplier from config59鯧?55Yx5 E~Gi]B]|uAIae?@iD<<:5 Y|uAy BB k@>EZjIUFNOT Ignoring new targets: 640.50 m.BjU:JjU:e ProNav: ac range: 640.500000 m, nav range: 371.178253 m, bearing: 357.634194 deg, approach rate: 0.168178 m/s, LOS rate: 0.104875 deg/s, cmd heading: 258.354419 deg, new cmd heading: 258.484874 deg. 2je;uHeadingCmd: 4.511412 target range: 640.500000 and range: 640.50 m. ju}]@jqjqjyiyhyhyhyhfffrfbfm?JJAAɛ͊B曽 |?I $ɚiI{,=Iui\i 6)}]@)*Fa2Fa:FaBFel0JFazKBoHKKK KHaIa Iev-IIeBIa&Ia.Ia6Iel<:Ie- FWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492633G ;+GA Bi O > l;w,eA>S@Y>@>} 9>>y>H@˿?඼ɿ`VS?>?`m??B?ɨ>S@>S;>CyF݌BJC-I-Mb@Mb@Mb@))) )))Y- r?Zd;aa eG٣eFGyetW< e> }Nusing accuracyPremultiplier from configi}59mT?5Ym< im]BBD?:>?@mDm/;m;m5 @ZjYeFNOT Ignoring new targets: 640.50 m.Bje;Jje; =$?Irh ProNav: ac range: 640.500000 m, nav range: 371.256531 m, bearing: 357.678673 deg, approach rate: 0.209349 m/s, LOS rate: 0.118930 deg/s, cmd heading: 258.484875 deg, new cmd heading: 258.618283 deg. 2j=;HeadingCmd: 4.513741 target range: 640.500000 and range: 640.50 m. jp@jjjihhhhBfffrfbf כ?ɛЊB: !%9?I! %A5ɚ!i!I%=I-,}iu@iu&*)up@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743363*F)2F):F)BF-o0JF)JJJJJJJJJJJJG 3G B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iե A checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996190r;w,J@AvyɈ@Yv؏@v9v>yvH`A˿ ?[Ocȿ ?`*?`n ?`pC?ɨvyɈ@v;vCy=B=q-IImMIm{4٢5> G=9;Q > G٣yt\< > Nusing accuracyPremultiplier from config59?5YD i#^B￑?@Dz::C5 @ZjFNOT Ignoring new targets: 640.50 m.Bj3;Jj3;} ProNav: ac range: 640.500000 m, nav range: 371.336426 m, bearing: 357.724917 deg, approach rate: 0.205772 m/s, LOS rate: 0.119077 deg/s, cmd heading: 258.618283 deg, new cmd heading: 258.756984 deg. 2j}q;HeadingCmd: 4.516161 target range: 640.500000 and range: 640.50 m. je@jjjihhhhfffrfbf@@ɛ%ԊB%w !%?I! -Mɚ)i)I-g=I-iiq )e@) qIqWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247203E-(z=*J "J *F ?2F :F BF 4JF zKU k3IKU +9KQ KU KU Hm &>Ii  Im -IIm SBIi &Ii .Ii 6Im <:Im A FG )GiBWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500533O=>z;w,2A5D,@Y5;@595>y5H ɿz?`KȾ ƿ?-? p?`bC?ɨ5D,@5d ;1yޅBލ-I ==IjI;4٢D= =9%;Q ->9Q ]G٣eFGyu+< }> Nusing accuracyPremultiplier from config59?5YN ie^B?@D<}<5I M@QB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 640.50 m.Bj:Jj: ProNav: ac range: 640.500000 m, nav range: 371.435577 m, bearing: 357.784987 deg, approach rate: 0.177246 m/s, LOS rate: 0.107355 deg/s, cmd heading: 258.756990 deg, new cmd heading: 258.937152 deg. 2jZ;HeadingCmd: 4.519306 target range: 640.500000 and range: 640.50 m. j'@jjjihhhhff f rf bfM`Y@ɛ؊B 隝>?I k ɚiIh=Ii#)iJ )'@) yI}shEBJ=*F?2F:F!BF%_0JF!EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756057J J J 1J J J ':J 3J J J J ;J ;GE G B O- >d;w,Ay;B-IMb@Mb@Mb@ )YQ?#~jI +?y( R=9Q > G٣y > Nusing accuracyPremultiplier from config59?5YU i^BQ=?:?@Dg5;M;.5B Y@CEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007314ZjFNOT Ignoring new targets: 640.50 m.Bj:Jj: ProNav: ac range: 640.500000 m, nav range: 371.511139 m, bearing: 357.825716 deg, approach rate: 0.203326 m/s, LOS rate: 0.109573 deg/s, cmd heading: 258.937143 deg, new cmd heading: 259.059304 deg. 2je;HeadingCmd: 4.521438 target range: 640.500000 and range: 640.50 m. j@jjjih!h!h!h%;Bf)f)f)rfibfu:e@ɛڊBb 隽-?I $ɚiIԊ=IiPUi )@)EE*E"E yIy*FM ?2FI :FI BFM ?4JFI G= vu Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260764G B) OE >B;w,A6؀@Y6*@696} >y6Hۀȿ+'?` ſ6??y?B?ɨ6؀@6;4y>WBB-IIJbIJ-4٢R> R^=9V;Q V>TX ZG٣Xy^< ^> bNusing accuracyPremultiplier from config`f59bڈ?f5Yb\ ib^BhjRj?@bDb:b:bi5p r@pZjFNOT Ignoring new targets: 640.50 m.Bj:Jj: ProNav: ac range: 640.500000 m, nav range: 371.583099 m, bearing: 357.865937 deg, approach rate: 0.197580 m/s, LOS rate: 0.110414 deg/s, cmd heading: 259.059294 deg, new cmd heading: 259.179936 deg. 2j;HeadingCmd: 4.523543 target range: 640.500000 and range: 640.50 m. j@jjjihhhhfffrfbf@I6 @ɛ݊B4D ?I Bɚ i I A=I;ifidؼ)@)E%J>E%>HM$>II IM+.IIMBIM. =&II.II6IMU<:IM FzKiKm9KiKm Km*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515036GGBO > m <$?Ii ɍ;w, 9Av@Yv⽐@vY~Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:52:55.8054  TRx dataTimestamp_ set to:1736373176.936809 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.7643729v @">yvH`ǿ ,?@[@;Ŀ@?ݹ??XB?ɨv@vl`;vCy%lB%-I-A-AMb@Mb@Mb@ )Y^I +?K~jtx?yX9?^; 7@)d@I@y@IQI4٢*= +=9_;Q > G٣FGy@< > Nusing accuracyPremultiplier from config59?5Y7e i^B:?:e?@D;j;5 I@ZjFNOT Ignoring new targets: 640.50 m.JJJ0JJ:J,:Jـ3JJL<JM<J;J;Bj:Jj: ProNav: ac range: 640.500000 m, nav range: 371.677673 m, bearing: 357.916972 deg, approach rate: 0.201387 m/s, LOS rate: 0.108647 deg/s, cmd heading: 259.179943 deg, new cmd heading: 259.333008 deg. 2j ;HeadingCmd: 4.526215 target range: 640.500000 and range: 640.50 m. j֐@jjjihhhhRBfffrfbfm@ɛmBmo im?Ii u\ɚqiqIu =I}gi}si}`˼)}֐@)*F?2F:FBF%o0JF!Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.015186GE ݼG B1 OU >;w,hSA6ԉ@Y6@6` 96 >y6H`?=ǿ3?R WĿR? ??E?ɨ6ԉ@6 ;6CyBBB .IIJKIJ4٢n= nr=9ru;Q r?pt vG٣tyv b< v? Nusing accuracyPremultiplier from config|59~y?5Y~^k i~ _B   ?@~D~;:~:~5 @Zj9EFNOT Ignoring new targets: 640.50 m.BjE$:JjM$:U ProNav: ac range: 640.500000 m, nav range: 371.744110 m, bearing: 357.953353 deg, approach rate: 0.203706 m/s, LOS rate: 0.111531 deg/s, cmd heading: 259.333021 deg, new cmd heading: 259.442145 deg. 2j];eHeadingCmd: 4.528120 target range: 640.500000 and range: 640.50 m. je[@jajajaiihihihihifqfqfqrfybf}W@ɛB D!=隭?I )ɚiI=Iisi)[@) Ith*FQ2FQ:FQBF]?1JFY5Will construct direction to contact in vehicle frame from tetrahedron phase data.5checking for new query: numPingsReceived=0, elapsed TxPingTime=4.267452G5p6ϼGB!O=>ZH9 RH= AAHM ">II  IM |.IIM ܍BIM / =&II .II 6IM P<:IM  FBIɛCJIɛCRIZI- =bI. =jIɢ65zK BHK K K K  Will construct direction to contact in vehicle frame from tetrahedron phase data.5 DAT read: 21:52:55.8054 LVL= 12944, 24897, 14706, 20627, AGC= 72, IDX= 104,-0.34,-2.135,-2.668, 2.058, 2.853, PHS= 1.383, 0.809,-0.797, RAW= 44.7, -14.1, CAL= 52.1, -22.3, ROT= 97.9, 22.3 ˚;w,HmA*Ygot valid direction response: 21:52:55.8054 LVL= 12944, 24897, 14706, 20627, AGC= 72, IDX= 104,-0.34,-2.135,-2.668, 2.058, 2.853, PHS= 1.383, 0.809,-0.797, RAW= 44.7, -14.1, CAL= 52.1, -22.3, ROT= 97.9, 22.3 bPDAT read: Bearing 97.9, 22.3 (Local) j~Local bearing/azimuth received: Bearing 97.9, 22.3 (Local) DAT read: Range 10 to 50 : 648.0 m (Round-trip 864.0 ms) speed -0.4 m/s ,DAT read: user:2121> @Yd @Xd9J!>yHƿ19?6(@jÿ:n?F\?`? F?BDAT read: Tx time:21:52:56.8873 m$Ping request sent.mu.jX?.*~"e*GϿ)1I|>i:?2:publishing transmit ping timeiFpublishing direction and range info9ϙ\-?ǺG ?$܌?y )Ii )Iiu.jX?.*~"e*GϿ)Ii=Mb@Mb@Mb@999 9)9Y=7A`?1Zdy=6?="۽==@ =@)= @I=@9y=@I}ZI}4٢ f= =99;Q > G٣y%< %> -Nusing accuracyPremultiplier from config)559-gn?55Y-u i-;_B58?5:=E?@-D-Wg;-e;- 5]B e0@eHEk5!?k2n k kUlA:k"DBk DZk@=Will construct direction to contact in vehicle frame from tetrahedron phase data."2e@dȾ1}@L>uFz@ϙ\-?ǺG ?$܌?Jk:?Rk2*)%Bw@@Ydgw@4&a?*:~пPH?"k&*kCk!?k; 2kDkk x kkCkI@ addTargetRange:: Added new target pos. range: 648.000000 m, deltaT: 4.538616 s, deltaX: 7.500000 m, approachRate: 1.652486 m/s, rangeRepo size: 4  Added new target pos. range: 648.000000 m, bearing: 335.835494 deg, lat: 36.901866 deg, lon: -122.119169 deg, deltaT: 4.538616 s, deltaX: 7.500000 m, approachRate: 1.652486 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 648.00 m.Bj Jj M  ProNav: ac range: 648.000000 m, nav range: 373.040039 m, bearing: 355.033247 deg, approach rate: 0.000000 m/s, LOS rate: 0.111531 deg/s, cmd heading: 259.442140 deg, new cmd heading: 259.645096 deg. 2jQ J J J J J :J !:J J J <J <J ly;J my; HeadingCmd: 4.531662 target range: 648.000000 and range: 648.00 m. j `@j j j i h h h h IBf f f rf @@bf 0(?ɛ} B} + 隍 ?I A0 ɚ i I k=I 1i mi Ș) `@) E! *F 2F :F BF 1JF G rA G rAWill construct direction to contact in vehicle frame from tetrahedron phase data.GB}G?G?GBO?;w,SA :m @Y:@:S9:$N!>y:H`fƿ`;?+Єÿ@c?=Z?U?F?ɨ:m @:Gو;:CyVBVE.IiZ j4=9n9Q n>ll nG٣rFGyr; r> vNusing accuracyPremultiplier from configtz59ve?~5Yv} ivc_B|~~?@vDv;v;vy5 V@ %B*** querying acoustic contact ***j!j! E;$?IAZjAMFNOT Ignoring new targets: 648.00 m.BjU;JjU;e ProNav: ac range: 648.000000 m, nav range: 373.116394 m, bearing: 355.081222 deg, approach rate: 0.181866 m/s, LOS rate: 0.114247 deg/s, cmd heading: 259.645106 deg, new cmd heading: 259.789003 deg. 2jeМ;mHeadingCmd: 4.534173 target range: 648.000000 and range: 648.00 m. jm@jijijiiqhqhqhqhyfyfyfyrfybfD?ɛB@ȼ 隭?I S ɚiI~=I߿ili)@)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:FBFo0JFJYJYG(H!>IC I.IIBI&I.I5D6I^<:I FGBO>zK KK 9K K K 7 BK :K qA Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.920810A,;w,ܮAy B ].IMb@Mb@Mb@ )Y-?rh|Mb`y?5?@ Ʒ@) @I@y@IIF3٢D=  =9Q > G٣y5 => ENusing accuracyPremultiplier from config9M59=3[?M5Y= i=_BM7?M:MU?@=D=;=;=5Y ]@YZjFNOT Ignoring new targets: 648.00 m.Bj:Jj: ProNav: ac range: 648.000000 m, nav range: 373.211517 m, bearing: 355.135491 deg, approach rate: 0.186786 m/s, LOS rate: 0.106537 deg/s, cmd heading: 259.789004 deg, new cmd heading: 259.951769 deg. 2j:;HeadingCmd: 4.537014 target range: 648.000000 and range: 648.00 m. j9/@jjjihhhhRBfffrfbf-?ɛB> ŵ?I  ɚiI=I߿iviU̼)9/@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.170318E J=*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=1.422316G6G rAG pAGBO?;w,A>Q@Y>?a@>9>>y>H_Zſ@H? aH<I¿ ?? o?FP?ɨ>Q@>];>CyJ׍BJv.IIR^IR&4٢Z= ZD=9^*%`` fG٣dyfX< f> nNusing accuracyPremultiplier from confighr59jR?r5Yj ij_Bprv?@jDjD;jf;j5x zӜ@xZjFNOT Ignoring new targets: 648.00 m.Bj%:Jj%:5 ProNav: ac range: 648.000000 m, nav range: 373.286407 m, bearing: 355.179551 deg, approach rate: 0.180349 m/s, LOS rate: 0.106083 deg/s, cmd heading: 259.951782 deg, new cmd heading: 260.083935 deg. 2j5;=HeadingCmd: 4.539321 target range: 648.000000 and range: 648.00 m. j=B@j9j9j9i9hAhAhAhIfIfQfQrfQbfU?ɛBf 隅J?I "ɚiIr=I6߿iiij)B@)E]$= aIa*F2F:FBFo0JFGS&żGB) ďCOH>GG%Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.6741715vAI -YvAyBJJJJJ:JH:JJa@a@a@a@jH <bH H >I  I /II LBI &I .I 6I Z<:I  FzK] .OK] h9KY K] K] qYB.4*;w,nAV@YV@VkG 9V>yVHթĿO?Cq F) 9?`z?U?XT?ɨV@V\ ;TyrBv.I)x xzAxI~BI~3٢<= C=9;Q > G٣FGyZ< %> -Nusing accuracyPremultiplier from config)559-J?55Y- i-_B15=?@-&D-n:-n:-:5EB E@ELEmWill construct direction to contact in vehicle frame from tetrahedron phase data.iiimchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.926499Zjy}FNOT Ignoring new targets: 648.00 m.Bj:Jj: ProNav: ac range: 648.000000 m, nav range: 373.360382 m, bearing: 355.223924 deg, approach rate: 0.176359 m/s, LOS rate: 0.105767 deg/s, cmd heading: 260.083932 deg, new cmd heading: 260.217024 deg. 2j,;HeadingCmd: 4.541644 target range: 648.000000 and range: 648.00 m. j%U@jjjihhhhfffrfbfK@ɛB  ?I BɚiI4=I޿iOi)%U@)E E *E"E 1I5uh*F]?2FY:FYBF]W3JFY Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.178659G} p6ϼG ?G ?GY Ba O >;w,A6@Y6@6" 96\>y6H"ĿU?`h@%OE?A(?+?X?ɨ6@6Ch;6CyBBB.IMb@Mb@Mb@ )Yd;O?!rhMbpy4?l罹@ @)@Ij@y@I-EI-3٢= = =6=9=6;Q E>AA EG٣AyM< > Nusing accuracyPremultiplier from config59A?5Yǝ i_B 7?:@@0D;V;J5 @ZjaeFNOT Ignoring new targets: 648.00 m.Bj!:Jj!: ProNav: ac range: 648.000000 m, nav range: 373.436859 m, bearing: 355.273301 deg, approach rate: 0.161936 m/s, LOS rate: 0.104532 deg/s, cmd heading: 260.217011 deg, new cmd heading: 260.365112 deg. 2jz;HeadingCmd: 4.544229 target range: 648.000000 and range: 648.00 m. jRj@jjjihhhhPBfffrfbf @MWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.430245ɛB, ?I ɚiIi=I$޿i#,iE~)Rj@)*Fy2F:FBFl0JFGU|G)B9OUu> :$?I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.682932;w,8 AJw͊@YJܑ@J9J>yJH}ÿW[?@XY?]??\?ɨJw͊@J;JCyVBV.IIbOIb 4٢j = jR=9n;Q n>pp rG٣pyv<[< v> zNusing accuracyPremultiplier from configx~59z;?~5Yzn iz `B|@@z9Dz\ ;z ;z"5  @ -B*** querying acoustic contact ***j)j)Zj1JEJEJAJAJE :JE7:JAJAUFNOT Ignoring new targets: 648.00 m.BjU:Jj]:m ProNav: ac range: 648.000000 m, nav range: 373.497040 m, bearing: 355.312927 deg, approach rate: 0.165325 m/s, LOS rate: 0.108839 deg/s, cmd heading: 260.365117 deg, new cmd heading: 260.483974 deg. 2jmd;mHeadingCmd: 4.546303 target range: 648.000000 and range: 648.00 m. juP{@jqjqjqiqhqhqhhfffrfbf@ɛmBm$ q隕?I eɚiI:=I+R޿iiQ)P{@)HU>IQ IU>/IIUzBIU0 =&IUID.IQ6IU<:IU4 F*F?2F:FBFo0JFzKLK9KK K]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.934184G ͍G! BI O > I ;w,i:A 6}@Y6@6;96~>y6H ¿ ^?ani?.i?3? ^?ɨ6}@6<ʼn;6CyBBB.I Ja=J=%Mb@Mb@Mb@!!! !)!Y%㥛 ?bX9ȶMb`?y%5?%E%;%=@ %V@)%l@I%@!y%@I=EI=3٢E = MC=9MI;Q M>QQ UG٣UFGyU0< ]> eNusing accuracyPremultiplier from configYm59]O4?m5Y] i]/`Bm6?m:u,쿑u@@]BD];];]7&5y }@yWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.186185Zj9EFNOT Ignoring new targets: 648.00 m.BjE{:JjE{:u ProNav: ac range: 648.000000 m, nav range: 373.554138 m, bearing: 355.357773 deg, approach rate: 0.129967 m/s, LOS rate: 0.102063 deg/s, cmd heading: 260.483963 deg, new cmd heading: 260.618481 deg. 2j};}HeadingCmd: 4.548651 target range: 648.000000 and range: 648.00 m. j}@jjjihhhh2Bfffrfbf" @ɛBͼ ?I E JɚAiIIM=IM:޿iUbչiU6)U@)Q*F2F:FBFJFG= ^m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=3.439357G B) OM > ;w,sTA2%@Y2v*@2 .92>y2H7P¿_c? @j l??6?Vb?ɨ2%@2;2CyBBB.IIJAIJk3٢V= VV=9VXX ZG٣XyZT< ^> bNusing accuracyPremultiplier from config`f59b7.?f5Yb ibM`Bdf뿑j@@bKDb:b7:b)5nB =@=QEZjFNOT Ignoring new targets: 648.00 m.Bj:Jj: Ivh ProNav: ac range: 648.000000 m, nav range: 373.605103 m, bearing: 355.398714 deg, approach rate: 0.134195 m/s, LOS rate: 0.107788 deg/s, cmd heading: 260.618490 deg, new cmd heading: 260.741297 deg. 2j;HeadingCmd: 4.550794 target range: 648.000000 and range: 648.00 m. j@jjjihhhhfffrf!bf% @ɛmBmXYr im?Ii u ɚqiqIuM=I}ݿi#i)@)*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:53:00.1486 TRx dataTimestamp_ set to:1736373181.477140checking for new query: numPingsReceived=0, elapsed TxPingTime=3.691735JJJJJ:J7/:JJGMhAZH) RH) H5 >I1  I5 j/II5 BI5 1 =&I1 .I1 6I5 i<:I5  FGI BY Ou >zK BHK 9K K K  !&)154431.+'#$"  ;w,YLnAWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.942192y=B=.IIMHIM<3٢X< 8=9Q > G٣y > Nusing accuracyPremultiplier from config U59 '?}5Y  i q`B@@ UD < < t-5 @1Zjq}FNOT Ignoring new targets: 648.00 m. IBjd:Jjd: ProNav: ac range: 648.000000 m, nav range: 373.664764 m, bearing: 355.446437 deg, approach rate: 0.119918 m/s, LOS rate: 0.095904 deg/s, cmd heading: 260.741297 deg, new cmd heading: 260.884441 deg. 2j;HeadingCmd: 4.553292 target range: 648.000000 and range: 648.00 m. j@jjjihhhhfffrfbf@@ɛMBMۼ QUG?IQ UrɚQiQIUT=I]$mݿi]ci}B:)}@)*F]?2FY:FYBF]p0JFYWill construct direction to contact in vehicle frame from tetrahedron phase data.%DAT read: 21:53:00.1486 LVL= 11376, 23601, 15250, 23267, AGC= 71, IDX= 374,-0.00,-1.938,-3.035, 1.915, 3.032, PHS= 1.401, 0.263,-1.121, RAW= 56.8, -5.0, CAL= 62.0, -10.2, ROT= 88.0, 10.2 -Ygot valid direction response: 21:53:00.1486 LVL= 11376, 23601, 15250, 23267, AGC= 71, IDX= 374,-0.00,-1.938,-3.035, 1.915, 3.032, PHS= 1.401, 0.263,-1.121, RAW= 56.8, -5.0, CAL= 62.0, -10.2, ROT= 88.0, 10.2 58DAT read: $Error in header 5*Received a bad headerX#Rx 1: Read direction message, but no range.\direction in FSK: [0.070620,0.611951,0.787736]9~V'??="5?p,1\ ;)ZIGiS?>|}?¸ c?)K6I ?iK6>최?LV9u! Za)=IfE=i [?`9hT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG] Ge ?Ge ?G1 BA O] >;w,9A6X@Y67h@696o>y6H ``k? y?e??`j?ɨ6X@6&;6Cy>'BB.IMMb@Mb@Mb@III I)MGBYMbX9?~jtyME6?MĽMI M(@)M@IM@IyM=@IeXIe4٢uS= }Q=9}i G٣FGy< > Nusing accuracyPremultiplier from config59 ?5Y i`B7?:뿑@@^D;U;05 ?@ZjFNOT Ignoring new targets: 648.00 m.Bj;Jj; ProNav: ac range: 648.000000 m, nav range: 373.717682 m, bearing: 355.488342 deg, approach rate: 0.164528 m/s, LOS rate: 0.130273 deg/s, cmd heading: 260.884430 deg, new cmd heading: 261.010130 deg. 2jϲ;HeadingCmd: 4.555486 target range: 648.000000 and range: 648.00 m. jƑ@jjjihhhh1Bf f frfbf@ɛBj# ?I 0ɚiI=I?%ݿi-iʻ)Ƒ@)-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*F2F:FBF?2JFGKGQBaO\> qIq 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,Af{@Yf@fԲ9fP%>yfHLq?R@q@N??`?p?ɨf{@f;fCJ!J%@Ay54B5.IIEVIEn4٢Uy= UM=9] aa eG٣aye.< m> uNusing accuracyPremultiplier from configi}59m?}5Ym@ im`By}뿑}@@mgDm ;m ;mW45 o@JJJJJ :JS2:JJB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 648.00 m.Bj :Jj : ProNav: ac range: 648.000000 m, nav range: 373.770905 m, bearing: 355.531292 deg, approach rate: 0.132760 m/s, LOS rate: 0.107120 deg/s, cmd heading: 261.010133 deg, new cmd heading: 261.138965 deg. 2j;HeadingCmd: 4.557735 target range: 648.000000 and range: 648.00 m. jؑ@jjjihhhhfffrfbf@ɛ-B-7 1隵?I GɚiI4=Iܿi帼iI)ؑ@)H>IC I/IIBI&I.I6II<:I FBIšCJIšCRIZI0 =bI0 =jI«r5*F?2F:FBF`5JFzKE$tMKEh9KAKE KE 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 GY6G B O5 > m 8$?Ii KF;w,7߻A2@Y2h@292#>y2Hu? @߼? ?q?#v?ɨ2@2f;2Cy:7B>.I Mb@Mb@Mb@    ) AY Zd;O?Ky jWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse G٣yN; > Nusing accuracyPremultiplier from config59?5Y i`B=?:o鿑@@qDy;;75B T@SEZjFNOT Ignoring new targets: 648.00 m.Bjv;Jjv; ProNav: ac range: 648.000000 m, nav range: 373.824036 m, bearing: 355.577262 deg, approach rate: 0.129826 m/s, LOS rate: 0.112311 deg/s, cmd heading: 261.138978 deg, new cmd heading: 261.276867 deg. 2j';HeadingCmd: 4.560142 target range: 648.000000 and range: 648.00 m. j@jjjih!h!h!h%Bf)f)f)rf)bf5@sA@ɛ]B]H+ Y] ?IY eϔɚaiaIe =Imܿimim #)m@)q*F2F:FBF4JFG߻GBO>>M Will construct direction to contact in vehicle frame from tetrahedron phase data.M T****** received valid address query ******U R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapse8.;w,A2s@Y2Ź@2߽92>y2Hv$y?`r}Z@)?`?H?`z?ɨ2s@2i;2CyRABV.II^QI^4٢f_= fX=9fhh jG٣jFGynb< n> vNusing accuracyPremultiplier from configtz59vJ?z5Yv' iv`Bxz近~@@ IwhvzDvw;vx;v@;5 B ʖ@VEZjamFNOT Ignoring new targets: 648.00 m.Bjx:Jjx: ProNav: ac range: 648.000000 m, nav range: 373.872040 m, bearing: 355.619454 deg, approach rate: 0.124589 m/s, LOS rate: 0.109489 deg/s, cmd heading: 261.276866 deg, new cmd heading: 261.403424 deg. 2jH;HeadingCmd: 4.562350 target range: 648.000000 and range: 648.00 m. j@jjjihhhhfffrfbf`@ɛB`` [?I ɚiI}=ITDܿi#Ti1)@)*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 ******received new query, but waiting for acoustic response period to elapseGҸG ?G>GBjH<bH4=H>I I/IIˎBI2 =&I.I6I<:I= FO>zK .KK 9K K K fe)] 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 elapseT^;w,ͮA2s@Y2ϒ@2Jٽ92w>y2Hw|?}ے`+?@H? {2?@~?ɨ2s@2j;2CyZDBZ.IIbIIbd4٢j[< nI=9n ;Q n>pp rG٣pyr; v> zNusing accuracyPremultiplier from configx~59z?~5Yz iz`B|~近~@@zDz:z:z>5  @ Zj15FNOT Ignoring new targets: 648.00 m.BjE;JjE;m ProNav: ac range: 648.000000 m, nav range: 373.923035 m, bearing: 355.664802 deg, approach rate: 0.127630 m/s, LOS rate: 0.113484 deg/s, cmd heading: 261.403415 deg, new cmd heading: 261.539443 deg. 2jmě;HeadingCmd: 4.564724 target range: 648.000000 and range: 648.00 m. j9@jjjihhhhf!f)f1rf9bfe ޡ@ IɛB 隍?I dɚiI\B|=Iۿiix|)9@)*F2F:FBF4JFG 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 elapseJA JE JA JA JA JE 7:JA JA JE r@y6H~?` 2?78?@m+??ɨ6~֋@6cy;6Cy>HB>/I Mb@Mb@Mb@    ) Y Gz?lMb`y p=?   @ @) ?@I @ y @I-HI-<3٢< E=9 G٣y!; > Nusing accuracyPremultiplier from config595?5Y iaBb>?:G忑@@D;;B5 Z@ZjFNOT Ignoring new targets: 648.00 m.Bj%n;Jj%n;= ProNav: ac range: 648.000000 m, nav range: 373.969391 m, bearing: 355.713346 deg, approach rate: 0.107237 m/s, LOS rate: 0.112283 deg/s, cmd heading: 261.539445 deg, new cmd heading: 261.685057 deg. 2j=;EHeadingCmd: 4.567266 target range: 648.000000 and range: 648.00 m. jE '@jAjAjAiAhIhIhIhMBfQfQfQrfYbf]  @ɛB; 隅s?I rɚiI {=I>ۿi첷i) '@)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*F2F:FBFo0JF IG-XG B Om > H~G  PY y B 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 elapseky2H`^ ?i d`H?Mj??@&?ɨ2@2d;0yNKBN/I\^AIbJIb)4٢juD< jQ=9jF ll rG٣rFGyr; r> vNusing accuracyPremultiplier from configtz59v'?~5Yv/ iv.aB俑 @@vDvu;vu;vE5 4@5B*** querying acoustic contact ***j1j1Zj9EFNOT Ignoring new targets: 648.00 m.BjE:JjE:] ProNav: ac range: 648.000000 m, nav range: 374.009064 m, bearing: 355.755378 deg, approach rate: 0.105458 m/s, LOS rate: 0.111716 deg/s, cmd heading: 261.685065 deg, new cmd heading: 261.811146 deg. 2j]V;eHeadingCmd: 4.569467 target range: 648.000000 and range: 648.00 m. je9@jajajaiahahihihifififqrfqbfu@L@ɛB: 隭?I ^ɚiIy=I![ۿihi6Gn)9@)H>I I/IIՎBI3 =&I.I4D6I<:IT F*F)2F):F)BF)JF1zK_MKh9KK KWill 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 elapseGqGqBO> ) I5 xhy:H9 ?vdUkUh?p?`O??ɨ:W@:.;:Cy^UB^/IMMb@Mb@Mb@III I)IYM%C?y&1~jth?yMZD?M`eMD;M\@ M׫@)M(@IM@IyM3@IeMIe{4}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 elapse٢upK= @=9+;Q > G٣y\; > Nusing accuracyPremultiplier from config59?5Y iLaBD?:ῑ@@D;M;I5UB U@UXEZjFNOT Ignoring new targets: 648.00 m.Bj:Jj: ProNav: ac range: 648.000000 m, nav range: 374.047333 m, bearing: 355.805057 deg, approach rate: 0.085183 m/s, LOS rate: 0.110570 deg/s, cmd heading: 261.811150 deg, new cmd heading: 261.960173 deg. 2jė;HeadingCmd: 4.572068 target range: 648.000000 and range: 648.00 m. jaN@jjjih h h)h5Bf1f1f1rf1bf=x@ɛB` 隭,?I mɚiItx=Iۿi]iۇ)aN@)JsKs KsKsKs"KsJJJJJ:J>:JJJ#<J#<Jʕ;J˕;*F2F:FBFJF- 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 ԑG B O >{y:HȘ`E?`kd#N?Ʒ?? ?ɨ:6@:~;:CyFQBF /IINDIN3٢V¼ VX=9VXX ZG٣Xy^; ^> f7$?Ih rNusing accuracyPremultiplier from configlr59nQ?v5Yn' infaBtvLῑv@@nDn :nP:nL5x z@|ZjFNOT Ignoring new targets: 648.00 m.Bjf ;Jjf ; ProNav: ac range: 648.000000 m, nav range: 374.081146 m, bearing: 355.849287 deg, approach rate: 0.091842 m/s, LOS rate: 0.120123 deg/s, cmd heading: 261.960185 deg, new cmd heading: 262.092863 deg. 2j;HeadingCmd: 4.574383 target range: 648.000000 and range: 648.00 m. jYa@jjjihhhhff f rf bf  @ɛB.; 隅?I DɚiI@w=Iڿiζi(;)Ya@)*FQ2FY: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 elapseGuZHyRH}?AH>I I/IIߎBI&I.I6I<:IJ FG B O >= Will construct direction to contact in vehicle frame from tetrahedron phase data.9 i9 E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapsezKE FKKE 9KA KE KE  EX3^;74/0+"}l[H0;ަy2HY ?@YF௨@ꮺ?? ?@?ɨ2n @2[;2CyNTBN/IiR=IRC= V=V=IZAIZk3٢bk< bI=9b ;Q f>dd fG٣fFGyjj!; j> nNusing accuracyPremultiplier from configlr59no?r5Yn* inaBtv+ῑv@@nDn:nz:njP5zB zՕ@z[EZjQ]FNOT Ignoring new targets: 648.00 m.Bje :Jje : ProNav: ac range: 648.000000 m, nav range: 374.117035 m, bearing: 355.896361 deg, approach rate: 0.084339 m/s, LOS rate: 0.110613 deg/s, cmd heading: 262.092855 deg, new cmd heading: 262.234062 deg. 2jӗ;HeadingCmd: 4.576848 target range: 648.000000 and range: 648.00 m. ju@jjjihhhhfffrfbf T @ IɛBV I?I  ɚi!I-u=I=Fiڿie{ieopͻ)eu@)q*Fu?2Fq:FqBFuo0JFyWill 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 elapseJ- J- J- /J) J- :J- =:J- (N3J) J- '<J- '<J- ;J- ;G G ?G >G B O >"I3٢!= 4=9Q > G٣y > Nusing accuracyPremultiplier from config599馛?5Y iaBcN?:޿@@D;o;cT5B V@\EZj!-FNOT Ignoring new targets: 648.00 m.Bj-;Jj-;= ProNav: ac range: 648.000000 m, nav range: 374.153107 m, bearing: 355.952036 deg, approach rate: 0.085926 m/s, LOS rate: 0.132611 deg/s, cmd heading: 262.234048 deg, new cmd heading: 262.401059 deg. 2j=;EHeadingCmd: 4.579762 target range: 648.000000 and range: 648.00 m. jEj@jIjIjIiIhIhIhQhUBfQfQfYrfYbf]#!@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 elapseɛY]< y}e?I wɚiIt=I ڿiFi )j@)*FU?2FQ:FQBFU0JFQ 1I5yhG= ڻ 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! B1 OM >X(y6H?1`~v2? ތ? $v?@?ɨ6I@6~;4yB_BF/IINNIN@ 4٢Vr< V_=9V5{XX ZG٣Xy^m; ^> %Nusing accuracyPremultiplier from config%59䦛?%5Y iaB)-޿-@@D::W51 5:@1UB*** querying acoustic contact ***jQjQZjaeFNOT Ignoring new targets: 648.00 m.Bjm ;Jjm ; ProNav: ac range: 648.000000 m, nav range: 374.182892 m, bearing: 355.998248 deg, approach rate: 0.078925 m/s, LOS rate: 0.122442 deg/s, cmd heading: 262.401060 deg, new cmd heading: 262.539683 deg. 2j;HeadingCmd: 4.582182 target range: 648.000000 and range: 648.00 m. j<@jjjihhhH>I III&I.I6I<:IT Fhfffrfbf@!@ɛBqZ< !%?I! %ɚ!i)I-s=I5|ٿi=Wi=)=<@)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 ******received new query, but waiting for acoustic response period to elapsezK19OKKK K G׹ Y IY G B O5 > /y:H e@? 19` Ul?4ϴ?o?@C?ɨ:" @:;:Cy^eBb%/IddrWill 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 elapseeMb@Mb@Mb@aaa a)aYe(\? G٣FGy>6; > Nusing accuracyPremultiplier from config59tছ?5YP! iaBJN?:Lݿ@@D;;\[5 ݔ@ZjFNOT Ignoring new targets: 648.00 m.Bj ;Jj ;= ProNav: ac range: 648.000000 m, nav range: 374.212830 m, bearing: 356.049780 deg, approach rate: 0.065476 m/s, LOS rate: 0.112695 deg/s, cmd heading: 262.539686 deg, new cmd heading: 262.694268 deg. 2j=;EHeadingCmd: 4.584880 target range: 648.000000 and range: 648.00 m. jEV@jAjAjAiAhIhIJuJuJu0JqJu:Ju>:Juـ3JqJu#<Ju#<Juʕ;Ju˕;hhBfffrfbf"@ɛ B q:  ?I   ݽɚ iI7Sr=Ibٿiܵi -)V@)*F2F:FBFR2JFWill 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 > 9 IA 6@Y>/@>-39>5 >y>H@p ?-.`WԹ@ܷ?@?]? T?ɨ>@>;hh jG٣hyn@ n> vNusing accuracyPremultiplier from configpv59reܦ?z5YrC) iraBxzNݿz@@rDr;r;r^5 @Zj)-FNOT Ignoring new targets: 648.00 m.Bj5;Jj5;M ProNav: ac range: 648.000000 m, nav range: 374.240173 m, bearing: 356.096372 deg, approach rate: 0.079593 m/s, LOS rate: 0.135612 deg/s, cmd heading: 262.694266 deg, new cmd heading: 262.834032 deg. 2jM#;UHeadingCmd: 4.587319 target range: 648.000000 and range: 648.00 m. jUR˒@jQjQjQiQhQhYhYhYfafafarfabfm`"#@ɛF< 隕H?I O۽ɚiI8q=I"ٿi绵iNR)R˒@)*F5?2F1:F1BF53JF1Will 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 K7GBO$>jHbH<H>IC I/IIBI4 =&I.I6I<:I6 FBImǙCJImǙCRIiZIm3 =bIm3 =jIm45 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 KK K K K   V3<y2H?6)@Ĵ 0@ $?``?M?@?ɨ2&@2;2CynzBn?/IIvFIv%3٢5= 5D=95c;Q 5>99 =G٣9yE6: E> MNusing accuracyPremultiplier from configIU59Mצ?U5YM1 iMbBy}4ݿ@@MDMK;Md;MSb5B @^EZjIuFNOT Ignoring new targets: 648.00 m.BjuQ;Jj}Q; Izh= ProNav: ac range: 648.000000 m, nav range: 374.270203 m, bearing: 356.147452 deg, approach rate: 0.068012 m/s, LOS rate: 0.115681 deg/s, cmd heading: 262.834039 deg, new cmd heading: 262.987269 deg. 2jEȞ;}HeadingCmd: 4.589994 target range: 648.000000 and range: 648.00 m. j};@jjj ihh!hIhQfYfafrfbf@1$@ɛ B@Ϻ 隵?I ׽ɚiIo=I}ؿizif);@)Will construct direction to contact in vehicle frame from tetrahedron phase data.CCy6H`:?@չ?? :?ঞ?ɨ6%@6 ;6CyFBFE/IMb@Mb@Mb@ )Yn?ˡE{Gzt?yV?'@ "@)@Iݸ@y׳@I=(I=̍3٢M%< MD=9U;Q U>QQ UG٣UFGy] ]>Will construct direction to contact in vehicle frame from tetrahedron phase data. ?I BսɚiIn=I^ؿirwi؇)1@)*Fu?2Fq:FqBFu54JFq 6$?IGM_GBO-p> Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Response Not Received  *response not received ,DAT read: user:2123>  BDAT read: Tx time:21:53:07.8374  $Ping request sent. yVH ꒼@?`& 2빿@,?@|c?KIj3٢E= ML=9U(;Q e> G٣y[ > Nusing accuracyPremultiplier from config59Φ?5YC i LPAA2R.@Y2=@2EP92\ >y2H`}Q? l. չા@$U?^Ʊ?8??ɨ2R.@2ˉ;0y:B>h/IBWill construct direction to contact in vehicle frame from tetrahedron phase data.Fchecking for new query: numPingsReceived=0, elapsed TxPingTime=0.501551Mb@Mb@Mb@ )Y +?ˡE:v?yV?T<@ O@)׫@I@y@IIb1٢]f= A=9;Q > G٣y!; > Nusing accuracyPremultiplier from config59ɦ?5YL iXbBW?|:ݿ@@ DG;F;+m5 @ZjFNOT Ignoring new targets: 648.00 m.Bjb;Jjb; ProNav: ac range: 648.000000 m, nav range: 374.369415 m, bearing: 356.305474 deg, approach rate: 0.080108 m/s, LOS rate: 0.126231 deg/s, cmd heading: 263.302891 deg, new cmd heading: 263.461294 deg. 2jC;HeadingCmd: 4.598267 target range: 648.000000 and range: 648.00 m. j%@jjjihhh!h%Bf!f!f)rf)bf-4&@ɛ< 隽6?I  ~ϽɚiIUl=If׿i]i\)%@)*Fe?2Fa:FaBFej0JFaG=ݗGB!OEr>5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753395 I vVy:H ݇?Nr`Ÿ% )vE= x  G٣-FGy= M>U-GmtA YtAyA Nusing accuracyPremultiplier from configE59cŦ?E5YU irbBAEݿE@@D<\<p5]B ]@ecE@ BZj FNOT Ignoring new targets: 648.00 m.Bj ;Jj ; ProNav: ac range: 648.000000 m, nav range: 374.402100 m, bearing: 356.355662 deg, approach rate: 0.079682 m/s, LOS rate: 0.122343 deg/s, cmd heading: 263.461297 deg, new cmd heading: 263.611846 deg. 2j%;%HeadingCmd: 4.600894 target range: 648.000000 and range: 648.00 m. j%:@j)j)j)i)h1h1h1h1f9f9f9rf9bf=@R'@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005600ɛD < ?I ~̽ɚiIyk=IQU׿iai%4¼):@)*F?2F:FBFo0JFJJJ1JJ:JG:J3JZHRH@AH>I I0IIBI&I.I6Iʰ<:IZ FG 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=1.257358%\yRH4ͼ ? t`; (?'? ? ?ɨR@R:;Py^ŽB^/II I 3٢= F=9#;Q >!! %G٣!y- -> 5Nusing accuracyPremultiplier from config1=595?=5Y5^ i5bB9=޿E@@5D5K ;5 ;5t5I MI@IZjquFNOT Ignoring new targets: 648.00 m.Bj}!;Jj}!; ProNav: ac range: 648.000000 m, nav range: 374.434875 m, bearing: 356.405397 deg, approach rate: 0.093104 m/s, LOS rate: 0.141265 deg/s, cmd heading: 263.611834 deg, new cmd heading: 263.761026 deg. 2j;HeadingCmd: 4.603498 target range: 648.000000 and range: 648.00 m. jO@jjjihhhhfffrfbf`p`(@ɛ"= j<?I |ɽɚ i I@i=I-ֿi-mi-jӼ)5O@)1 qIu{h*F?2F:FBF0JFGB}GBOB>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509419GcyVH w&?`G5?`I?`??ɨV8C@V҉;VCybێBb/IUMb@Mb@Mb@QQQ Q)QYUtV?y&1Mb?yUR?U`eU G٣yf.< > Nusing accuracyPremultiplier from config59ͻ?5Yf ibB/S?:߿@@*DF;:;w5 @ZjFNOT Ignoring new targets: 648.00 m.Bj;Jj;=Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769431 ProNav: ac range: 648.000000 m, nav range: 374.474243 m, bearing: 356.457550 deg, approach rate: 0.094131 m/s, LOS rate: 0.124689 deg/s, cmd heading: 263.761033 deg, new cmd heading: 263.917476 deg. 2j%;HeadingCmd: 4.606229 target range: 648.000000 and range: 648.00 m. j:f@jjjihhhhBfffrfbfB)@ɛ,< ?I [`ƽɚiIzh=Iֿi%vi%jü)%:f@)I*F2F:FBF JF  iIiG- EG5 qAG1  Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021778G B O= >jiyVHnﺿ?`[\B? v?? Z?ɨVg[@V *;TyjBj/Iir>Ir>IzKIz4٢%= %P=9-;Q ->11HYIY I]80II]EBI]4 =&IY.IY6I]<:I]& F 5G٣yb; > Nusing accuracyPremultiplier from config59ɶ?5Yo ibB  a߿ @@5D6;7;K{5 ܌@=B*** querying acoustic contact ***j9j9ZjAEFNOT Ignoring new targets: 648.00 m.BjM;JjM;] ProNav: ac range: 648.000000 m, nav range: 374.512909 m, bearing: 356.509681 deg, approach rate: 0.092732 m/s, LOS rate: 0.125011 deg/s, cmd heading: 263.917471 deg, new cmd heading: 264.073846 deg. 2j];eHeadingCmd: 4.608958 target range: 648.000000 and range: 648.00 m. je|@jajajiiihihihihqfqfqfyrfybf}  *@ɛlJ'= 隵?I 8>ýɚiI&'g=IMֿi}iZü)|@)*F?2F:FBF0JFMWill construct direction to contact in vehicle frame from tetrahedron phase data.Uchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.274505zK]k3IK]h9KYK] K] qIqGͿGi B O >py2H`s?(@:ȷ8?h?@ ??ɨ2u@2;2CRWill construct direction to contact in vehicle frame from tetrahedron phase data.Rchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.525207yB/IMb@Mb@Mb@ )YCl?333333Mb`?yO?;@ )׫@I@y@IUI4٢= @=9;Q > G٣FGy< > Nusing accuracyPremultiplier from config59p?5YNx ibBP?:ῑ@@@D;;~5 B @dEZjFNOT Ignoring new targets: 648.00 m.Bj$;Jj$; ProNav: ac range: 648.000000 m, nav range: 374.556732 m, bearing: 356.559576 deg, approach rate: 0.103783 m/s, LOS rate: 0.118150 deg/s, cmd heading: 264.073855 deg, new cmd heading: 264.223525 deg. 2j+;HeadingCmd: 4.611570 target range: 648.000000 and range: 648.00 m. j@jjjihh h h Bfffrfbf*@ɛ!== 9=?I9 EɘɚAiAIEAe=IM}տiMiMϾ)M@)Q]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.778763Em$=*F! 2F! :F! BF- o0JF) e 5$?Ie |hGMnGU?GU ?G1B9O]?SHxy6HÊ?>`@ >@u>?w? - ?J?ɨ6z@6{;6Cy>B>/IZWill construct direction to contact in vehicle frame from tetrahedron phase data.bchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.031692IfSIf4٢v= v-=9z<;Q z>|  G٣ y ;  > %Nusing accuracyPremultiplier from config!=59%5?=5Y%X i%bBAEῑE@@%LD%Ӝ;%;%5]B @gEZjaeFNOT Ignoring new targets: 648.00 m.Bjm ;Jjm ; ProNav: ac range: 648.000000 m, nav range: 374.607910 m, bearing: 356.618428 deg, approach rate: 0.104633 m/s, LOS rate: 0.120305 deg/s, cmd heading: 264.223518 deg, new cmd heading: 264.400048 deg. 2j ;HeadingCmd: 4.614651 target range: 648.000000 and range: 648.00 m. j9@jjjihhhhfffrfbf@>+@JeJeJe1JaJe[:Je[O:Je3Jaɛ} B:= 隅@I =jHbH<ɚiIq@d=Iտi]iż)9@HiIi Imp0IImsBIi&Ii.Ii6Imʰ<:ImZ F)E:W<*F?2F:FBFJFeWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.283013zK BoHK 9K K K G Aܾ I II G B O >ug~yH ָ?`~S&?ɬ?>?`D?ɨ2@Iʼn;Cy)B0I) !%A=Mb@Mb@Mb@999 9)9Y=E?I +?y=F?=L=94<=M@ ="@)=@I99y=Q@I];I]&3٢m= m)=9mt;Q m>qq uG٣uFGy}; }> Nusing accuracyPremultiplier from config59?5Y ibBG?:ݿ@@XD;W;+5 @ZjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534426FNOT Ignoring new targets: 648.00 m.Bj;Jj;m ProNav: ac range: 648.000000 m, nav range: 374.646698 m, bearing: 356.674918 deg, approach rate: 0.086997 m/s, LOS rate: 0.126688 deg/s, cmd heading: 264.400038 deg, new cmd heading: 264.569490 deg. 2jm;uHeadingCmd: 4.617609 target range: 648.000000 and range: 648.00 m. jusÓ@jqjyjyiyhyhyhhBfffrfbf`,@ɛ5= @I ˷ɚi9I=Ϲb=IE1տiE iM Ƽ)MsÓ@)IEyEy*Ey"Ey*F 2F :F BF n0JF } Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:53:11.1016  TRx dataTimestamp_ set to:1736373192.321272 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787471 IIM}hG%ͿGB O%?8y6H ͎?p+ oﵿA??&?͠?ɨ60@6};6CyRIBR>0IIZ^IZ&4٢b6> b8=9fR;Q f>hh jG٣hyj; n> vNusing accuracyPremultiplier from configpz59r}?z5Yr ircBxzݿ~@@rcDr;r{;r 5B !@iEZj)-FNOT Ignoring new targets: 648.00 m.Bj5;Jj5;E ProNav: ac range: 648.000000 m, nav range: 374.682037 m, bearing: 356.727325 deg, approach rate: 0.079578 m/s, LOS rate: 0.118001 deg/s, cmd heading: 264.569481 deg, new cmd heading: 264.726687 deg. 2jE;MHeadingCmd: 4.620352 target range: 648.000000 and range: 648.00 m. jMٓ@jIjIjIiQhQhQhQhQfYfYfarfabfe@Ц-@ɛ Bn= 隕@I n1ɚiI%1a=IԿiiƼ)ٓ@) Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038948*F!2F!:F)BF-0JF)He>Ia Ie0IIeBIe5 =&Ia.Ia6Ie<:Ie9 FBIUƘCJIUƘCRIQZIU5 =bIU4 =jIUƦ44G)GBO-> Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: Range 10 to 50 : 645.0 m (Round-trip 860.1 ms) speed -0.3 m/s  ,DAT read: user:2124>  BDAT read: Tx time:21:53:12.1874  $Ping request sent.  G٣y > eNusing accuracyPremultiplier from configYPExceeded connect timeout, disconnecting.59]Ȝ?5Y]  i]cB!!-@@]nD] <]<]5Y ]@auB*** querying acoustic contact ***jqjq addTargetRange:: Added new target pos. range: 645.000000 m, deltaT: 15.131095 s, deltaX: -3.000000 m, approachRate: -0.198267 m/s, rangeRepo size: 4 ZjFNOT Ignoring new targets: 648.00 m.Bj:Jj:% ProNav: ac range: 648.000000 m, nav range: 374.718231 m, bearing: 356.780498 deg, approach rate: 0.070676 m/s, LOS rate: 0.103820 deg/s, cmd heading: 264.726685 deg, new cmd heading: 264.886187 deg. 2j%;5HeadingCmd: 4.623136 target range: 648.000000 and range: 645.00 m. j=@j9j9jaiahihihyhyfffrf(@bfY?Will construct direction to contact in vehicle frame from tetrahedron phase data.%JDAT read: TxSync time:21:53:12.1866 -T****** received valid address query ******-R****** received valid ping request ******-Querying Benthos address 50 with one ping in standard two-way mode.ɛMBML1= IMc @II U(MɚQiQIUj_=I|ԿiDiWڼ)@)*FM?2FQ:FQBFUo0JFQJJJ0JJ+:J"I:Jـ3JJ2 G٣FGy > Nusing accuracyPremultiplier from config59 ?5Y i&cBA?:翑@@yD I; ;5 @ZjFNOT Ignoring new targets: 648.00 m.BjG;JjG; ProNav: ac range: 648.000000 m, nav range: 374.779480 m, bearing: 356.832434 deg, approach rate: 0.146719 m/s, LOS rate: 0.124390 deg/s, cmd heading: 264.886183 deg, new cmd heading: 265.041965 deg. 2j;HeadingCmd: 4.625855 target range: 648.000000 and range: 645.00 m. j@jjjihhhhMBfffrfbf.?ɛ!%愕= !- @I) -٫ɚ)i)I-h]=I5h#Կi5ѵi5')5@)9*F?2F:FBF0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752875G ԼZH RH AAG B H I  I 0II ӏBI &I .I 6I <:I ; FO% > m^=9iQ m>qq uG٣qyy }> Nusing accuracyPremultiplier from config59?5Y i-cB@@D": :-5 Q@ZjaeFNOT Ignoring new targets: 648.00 m.Bjm ;Jjm ; ProNav: ac range: 648.000000 m, nav range: 374.828979 m, bearing: 356.874237 deg, approach rate: 0.135671 m/s, LOS rate: 0.114561 deg/s, cmd heading: 265.041966 deg, new cmd heading: 265.167358 deg. 2j>;HeadingCmd: 4.628044 target range: 648.000000 and range: 645.00 m. j@jjjihhhhfffrfbf?5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005337ɛBf= :<@I aCɚ i I \=Iӿii)@)zKDMKs9KK K $.2775/*$*F2F:FBF0JF I~h nManaging dock network, ignoring radio surface power offG EG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256889[y6H`?y:¿`U@?@?@?P?ɨ6@6\;6CyRBR0IJEJEJAJAJE{:JE,J:JAJAJE.<JE.<JE;JE;uMb@Mb@Mb@qqq q)qYuQ?A`"Mb`yu5?uٽuud@ u@)u@IqqyuQ@II(*3٢= E=9e G٣yn< > Nusing accuracyPremultiplier from config59?5Y i5cB7?:}濑@@Dw;;ϙ5B R@nEZj1=FNOT Ignoring new targets: 648.00 m.Bj=;Jj=;M ProNav: ac range: 648.000000 m, nav range: 374.881165 m, bearing: 356.919143 deg, approach rate: 0.131153 m/s, LOS rate: 0.112844 deg/s, cmd heading: 265.167369 deg, new cmd heading: 265.302069 deg. 2jM;HeadingCmd: 4.630394 target range: 648.000000 and range: 645.00 m. j1,@jjjihhhhBf!f!f!rf)bf5?ɛ}B}N= y}i@Iy ɚiIPqZ=Iӿi=iD)1,@)*Fe?2Fa:FaBFe`5JFaGi GiEWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.509437 4$?IG p.Gi Bq O > ~G |uA  Y |uAy 4B-y2Hi@?@=I¿`uo@>?B? ?ѝ?ɨ2-@2\;2CyNBN0IIV7IV3٢^R< ^\=9b;Q b>`d fG٣fFGyf'< f> =Nusing accuracyPremultiplier from configh]59jم?]5Yj ij;cBYe濑e@@jDjM Will construct direction to contact in vehicle frame from tetrahedron phase data.I iM AU checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013227 y I zK YLK 59K K K  zV %G٣!y% %> 5Nusing accuracyPremultiplier from config)559-U?=5Y-\ i-CcBAIM@@-D->;-Ŏ;-?5a eU@aB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 648.00 m.BjH:JjH: ProNav: ac range: 648.000000 m, nav range: 374.986420 m, bearing: 357.011115 deg, approach rate: 0.127488 m/s, LOS rate: 0.111156 deg/s, cmd heading: 265.422189 deg, new cmd heading: 265.577927 deg. 2j;HeadingCmd: 4.635209 target range: 648.000000 and range: 645.00 m. jS@jjjihhhhfffrfbf@ɛB|= @I ɚiIV=I ҿi i 1Sʼ)S@)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266029J]J]JYJYJ] :J]H:JYJYJ] 0<J] 0<J]ڝ;J]ڝ;E-r=*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=2.516767G źG ?G ? qIqGBO>Zlƍ@Y2Ք@21#92>y2HY@ܙ?¿`@` AĨ?d?u?`?ɨ2>ƍ@2Wn;2Cy>BB0IEMb@Mb@Mb@AAA A)AYEQ?Zd;O~jthyE\/?EjEDA A)AIAAyAI]AI]k3٢uV= u9=9}yy G٣y1= > Nusing accuracyPremultiplier from config59z?5Y iHcB0?:ῑ@@D;;5 @ZjFNOT Ignoring new targets: 648.00 m.Bj:Jj: ProNav: ac range: 648.000000 m, nav range: 375.027985 m, bearing: 357.055867 deg, approach rate: 0.098105 m/s, LOS rate: 0.105615 deg/s, cmd heading: 265.577918 deg, new cmd heading: 265.712157 deg. 2j;HeadingCmd: 4.637552 target range: 648.000000 and range: 645.00 m. jf@jjjihhhhBf f frfbf BQ@ɛ=B=_+= 9E?@IA EqɚAiAIMA9U=IMҿiMӵiUj)Uf@)QEeU<*F2F:FBF#5JF]Will construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.770043jH<bHHE>IA IE?1IIEBIE5 =&IA.IA6IEڰ<:IEc FG ~ʼG B O% >y6Hy?@0¿ 6@l?l?L?H?ɨ6@6u;6CyBBB0IiFC>IF= F=Fp=IJTIJ4٢R< VY=9V;Q V>TX ZG٣ZFGyZDb< Z>bWill construct direction to contact in vehicle frame from tetrahedron phase data.fchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.020996 fNusing accuracyPremultiplier from configdj59ftv?j5Yf ifKcBῑ@@fDfJK KL.KK"KJ! J! J! J! J! J! J! J! J! J! J! J! mxy6H`ߩ@_?X¿ l@=??^??ɨ6'@6Ї;6Cy>BB0I Mb@Mb@Mb@    ) Y HzG?Cl绿~jty =*? ;߽ D  ߟ@) I ?@ y \@I%RI%W4٢-6 5B=95;Q 5>9 G٣yP< > Nusing accuracyPremultiplier from config59Yq?5YO iIcB,?:㿑@@D'<;:;5 @ZjFNOT Ignoring new targets: 648.00 m.Bj :Jj : ProNav: ac range: 648.000000 m, nav range: 375.109650 m, bearing: 357.139533 deg, approach rate: 0.112361 m/s, LOS rate: 0.107532 deg/s, cmd heading: 265.830635 deg, new cmd heading: 265.963114 deg. 2j;%HeadingCmd: 4.641932 target range: 648.000000 and range: 645.00 m. j%@j!j!j!i)h)h)h)h-Bf1f1f1rf9bf= @ɛmBm%= im@Iq uѐɚqiqIuwQ=I}ҿi}JWi})}@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525306 I*F2F:FBF!5JF} Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:53:15.4528  TRx dataTimestamp_ set to:1736373196.604671 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777931G 9"G rAG rAGy B O >zyH: ?¿h/V?ˣ?? 9?;?ɨK@O;騕CyB0IILI4٢=< =6=9=;Q E>AA MG٣IyMR< M> ]Nusing accuracyPremultiplier from configQe59U`l?m5YU iUFcBim 㿑m@@UDU";U;U5u—B u`@}sEZjFNOT Ignoring new targets: 648.00 m.Bj:Jj: ProNav: ac range: 648.000000 m, nav range: 375.154388 m, bearing: 357.183711 deg, approach rate: 0.103093 m/s, LOS rate: 0.101788 deg/s, cmd heading: 265.963113 deg, new cmd heading: 266.095631 deg. 2j;HeadingCmd: 4.644245 target range: 648.000000 and range: 645.00 m. j@jjjihhhhfffrfbf`L@ɛBr= 隍@I qrɚiIP=Iѿii9Q)@)*F12F1:F1BF5`0JF1G İ˻Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029191GBO-p> AIAzK= BoIK9 K9 K= K= yH@Bp@"? )¿Hš?;???ɨTu@;Cy-B-0I)9 99=AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283380Mb@Mb@Mb@ )YuV?B`"۹Mbyr(?νM@ )׫@I(@yf@I.I3٢\d 6=9{;Q > G٣FGy6< > Nusing accuracyPremultiplier from config 59g? 5Y iAcB x*?:࿑@@D ; ;߳5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 648.00 m.Bj:Jj: ProNav: ac range: 648.000000 m, nav range: 375.196350 m, bearing: 357.229758 deg, approach rate: 0.090011 m/s, LOS rate: 0.098763 deg/s, cmd heading: 266.095619 deg, new cmd heading: 266.233745 deg. 2j ;HeadingCmd: 4.646656 target range: 648.000000 and range: 645.00 m. jg@jjj9i9h9hAhAhEBfIfQfQrfybf}`H@ɛBy= i@I ɚ i I 9N=Iyѿi=$i=)=g@)9*F?2F:FBFJF Will construct direction to contact in vehicle frame from tetrahedron phase data. DAT read: 21:53:15.4528 LVL= 15728, 30385, 20322, 28915, AGC= 71, IDX= 432,-0.16,-1.776,-2.966, 2.211,-2.995, PHS= 1.308, 0.076,-1.079, RAW= 61.1, -3.0, CAL= 65.9, -7.5, ROT= 84.1, 7.5  Ygot valid direction response: 21:53:15.4528 LVL= 15728, 30385, 20322, 28915, AGC= 71, IDX= 432,-0.16,-1.776,-2.966, 2.211,-2.995, PHS= 1.308, 0.076,-1.079, RAW= 61.1, -3.0, CAL= 65.9, -7.5, ROT= 84.1, 7.5  PDAT read: Bearing 84.1, 7.5 (Local)  ~Local bearing/azimuth received: Bearing 84.1, 7.5 (Local)  DAT read: Range 10 to 50 : 645.9 m (Round-trip 861.2 ms) speed 0.0 m/s  ,DAT read: user:2125>  BDAT read: Tx time:21:53:16.5375  $Ping request sent. ڡ ڡ ۥ v}?_uNt_뿚g =ʪ)ۥ ]Iۥ oU=iۥ J?ۥ I3zۡ ۡ E :publishing transmit ping time E Fpublishing direction and range infoء 9إ Rʿޘ?İg[?mK?yء ء ء ء ١ )١ I١ i١ ١ ١ ١ ١ ڡ )ڡ Iڡ iڡ ڡ ڡ ۥ v}?_uNt_뿚g =ʪ)ۡ Iۡ iۡ ۡ ۡ ۡ = 3$?I9 G 4λG B O >)yZHY?¿:`C \?Ci?Y?@?ɨZ꜎@Zt;XybBb0II2I?3٢% n=9$ G٣yCa< > Nusing accuracyPremultiplier from config59d?5Y i 2k5#Dk5: ?k5> k5#Dk5$Ck5(@ addTargetRange:: Added new target pos. range: 645.900024 m, deltaT: 4.536077 s, deltaX: 0.900024 m, approachRate: 0.198415 m/s, rangeRepo size: 4 e Added new target pos. range: 645.900024 m, bearing: 357.852366 deg, lat: 36.901824 deg, lon: -122.119085 deg, deltaT: 19.667172 s, deltaX: -2.099976 m, approachRate: -0.106776 m/s, posRepo size: 4 ZjaeFNOT Ignoring new targets: 645.90 m.BjmJji} ProNav: ac range: 645.900024 m, nav range: 370.285004 m, bearing: 358.382971 deg, approach rate: 0.000000 m/s, LOS rate: 0.098763 deg/s, cmd heading: 266.233752 deg, new cmd heading: 266.343704 deg. 2jHeadingCmd: 4.648574 target range: 645.900024 and range: 645.90 m. j@jjjihhhhfffrf@3/@bfi?ɛ%B-w= )-a@I) -Gɚ)i1I5oL=]Will construct direction to contact in vehicle frame from tetrahedron phase data.Ie:ѿieq?ie:)e@)i*F?2F:FBFo0JFZHRHHI III&I.I6I<:IK FBIJIRIZIbI5 =jIk4G˴JJJ1JJ:JHM:J3JJd1<Je1<JT;JU;GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. i Ky2H?{?¿ ҟ????ɨ29@2ˆ;2CyRBV0II^,I^3٢v zO=9zTa;Q z>|| ~G٣|yl8 >  Nusing accuracyPremultiplier from config 59 /`?5Y U i 6cB_࿑@@ D ; c; @5! %@) AIEhZjFNOT Ignoring new targets: 645.90 m.Bj:Jj: ProNav: ac range: 645.900024 m, nav range: 370.324127 m, bearing: 358.421923 deg, approach rate: 0.106984 m/s, LOS rate: 0.106503 deg/s, cmd heading: 266.343691 deg, new cmd heading: 266.460533 deg. 2j/;5HeadingCmd: 4.650614 target range: 645.900024 and range: 645.90 m. j5є@j9j9j9i9h9h9hAhAfAfAfIrfIbfM@?ɛBΰ= 隽@I z݀ɚiI K=Iпiﳼih)є@zKKKK K)*F2F:FBFp0JF}Will construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >3y6H@\?`d¿`8o?,?W|?7?ɨ6@6R;6Cy>B>0I Fp=F=Mb@Mb@Mb@ )Y@5^I ?ˡE{Gzyb0?什ף7@ Ȟ@)I@yp@I%6I%m3٢5 5F=9=w;Q =>AA EG٣EFGyE; E> UNusing accuracyPremultiplier from configQ59U\?5YU iU/cB1?:ۿ@@UDU~_I$ I&21II&BI$&I$.I$6I&<:I&F FZ@ώ@YZޕ@Z(9Z%%>yZH֧?`¿`Z@^? b?F? d?ɨZ@ώ@Z;ZCJrJrJr0JpJr:JrwR:Jrـ3JpJr6<Jr6<JrϦ;JrϦ;yzBz0II I (*٢ L=9;Q %>!! %G٣!y->; 5> =Nusing accuracyPremultiplier from config9E59=_Y?E5Y= i=(cBAMAۿM@@=D=:=:=^5Q UM@YZjFNOT Ignoring new targets: 645.90 m.Bj;Jj; ProNav: ac range: 645.900024 m, nav range: 370.389984 m, bearing: 358.508756 deg, approach rate: 0.087809 m/s, LOS rate: 0.116839 deg/s, cmd heading: 266.592747 deg, new cmd heading: 266.721024 deg. 2j_;HeadingCmd: 4.655160 target range: 645.900024 and range: 645.90 m. j@jjjihhhhfffrfbfI?ɛBJ= @I rɚiIG=I#cпi}9i38G:)@)*Fq2Fq:FqBFu)3JFqWill construct direction to contact in vehicle frame from tetrahedron phase data. !I!G]zQG)B9O]>zK% BoHK% ]9K! K% K% IyfH߬? `@&&?X? $? ?ɨfH@f!;fCy~B~0IUWill construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yx?T㥛 /$yK7? @ @)@Iy@INI@ 4٢X @=9, G٣yE.< > UNusing accuracyPremultiplier from configQ]59UV?]5YU] iUcBe8?e:eֿe@@UDUD;U;U75 @ZjFNOT Ignoring new targets: 645.90 m.Bj:Jj: ProNav: ac range: 645.900024 m, nav range: 370.415802 m, bearing: 358.557575 deg, approach rate: 0.057527 m/s, LOS rate: 0.108771 deg/s, cmd heading: 266.721018 deg, new cmd heading: 266.867465 deg. 2jL;%HeadingCmd: 4.657716 target range: 645.900024 and range: 645.90 m. j% @j!j!j!i!hIhQhhABfffrfbf`u?ɛBl= ^@I %jɚ i I DF=Ibпii+;) @)!*F?2F:FBF$1JF Will construct direction to contact in vehicle frame from tetrahedron phase data.  I G }:G B O >) = C5q G٣FGy > Nusing accuracyPremultiplier from config59T?5Y icBA@De::5ŗB ۄ@vEB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 645.90 m.Bj f;Jj f;% ProNav: ac range: 645.900024 m, nav range: 370.438538 m, bearing: 358.600138 deg, approach rate: 0.060433 m/s, LOS rate: 0.113130 deg/s, cmd heading: 266.867457 deg, new cmd heading: 266.995139 deg. 2j%G;-HeadingCmd: 4.659944 target range: 645.900024 and range: 645.90 m. j-C@j)j)j)i1h1h1h9h9f9f9f9rfAbfE`@ɛmBmah= iuh@Iq }^cɚyiyI}D=I]Ͽinič9)C@)E*F?2F:FBFA5JFmWill construct direction to contact in vehicle frame from tetrahedron phase data.uT****** received valid address query ******uR****** received valid ping request ******uQuerying Benthos address 50 with one ping in standard two-way mode.jH=<bH=<HE>IA IE1IIEBIE4 =&IA.IA6IEӰ<:IE] FJJJJJK:J>L:JJJq5<Jr5<Jo;Jo;G-:G1G5?G B O5 > Will construct direction to contact in vehicle frame from tetrahedron phase data.% checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510911y6H@? g@Б@?|?@S? ?ɨ6$@6։;6CyBgBBb0IIJ<IJ3 PIP٢Zӭ Z[=9Z\\ ^G٣\yb< b> jNusing accuracyPremultiplier from configdn59fQ?n5Yf ifcBpr ֿrA@f DfTE;f%;f5t vޅ@tZjFNOT Ignoring new targets: 645.90 m.Bj:Jj:- ProNav: ac range: 645.900024 m, nav range: 370.459229 m, bearing: 358.641452 deg, approach rate: 0.055518 m/s, LOS rate: 0.110847 deg/s, cmd heading: 266.995127 deg, new cmd heading: 267.119061 deg. 2j-%;5HeadingCmd: 4.662107 target range: 645.900024 and range: 645.90 m. j5/@j1j1jihhhhfffrfbfH@ɛ5B5IS= 9=@I9 =X\ɚ9i9I=`C=IEϿiEPiE6};)M/@)IzKK+9KK K RK ?JK?*F-?2F):F)BF-3JF1}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763122GUzQGa Bq O >=w,A66@Y6SE@6@v96$ >y6Hѐ@H?`@!|x?n? 2? @?ɨ66@6;6Cy>TB>L0I ~@~ ~@~ ~@~  ~@~ IUI4٢Ǯ D=9;Q m>qq uG٣qy}; }> bBottom track data is 0.4 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59-O?5Y$ icB+:o:տA@Dx1;>5ǗB "@yEZjFNOT Ignoring new targets: 645.90 m.BjT:JjT: ProNav: ac range: 645.900024 m, nav range: 370.482544 m, bearing: 358.688790 deg, approach rate: 0.054545 m/s, LOS rate: 0.110738 deg/s, cmd heading: 267.119054 deg, new cmd heading: 267.261060 deg. 2j;HeadingCmd: 4.664586 target range: 645.900024 and range: 645.90 m. jID@jjjihhhhfffrfbf@ɛ-B-= )- @I) 5Uɚ1i1I=9A=IEG.ϿiE iE+\;)EID@)IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015194 Ih*F?2F:FBF`0JFG!j;GBO> Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266477HE >IE C IE 0IIE ďBIE 6 =&IA .IE 3D6IE <:IE ; Ft =w,,AJbJbJb1J`Jb:JbQN:Jb3J`Jb:<Jb:<Jb:;Jb:;y~KB~@0Ii%>I<IMI{4٢%@ -I=9-Q ->11 5G٣5FGy5 5> EbBottom track data is 0.8 s old, using for 20.0 s. ENusing accuracyPremultiplier from config9M59=L?M5Y=, i=bBM :QUA:QUA@=D=e&;=&S?=5Y e@aZjFNOT Ignoring new targets: 645.90 m.Bj:Jj: ProNav: ac range: 645.900024 m, nav range: 370.504395 m, bearing: 358.732623 deg, approach rate: 0.055278 m/s, LOS rate: 0.110883 deg/s, cmd heading: 267.261068 deg, new cmd heading: 267.392559 deg. 2j2;HeadingCmd: 4.666881 target range: 645.900024 and range: 645.90 m. jW@jjjihhhhfffrfbf@#- @ɛBd=  @I MɚiI@=Iοi:i=:)W@)*F2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521231 IhGg;GiByO>zKe 2QKKe ]9Ka Ke Ke  ${Z, BKu qA:Ku rAΗ=w,uFA~B@Y~UQ@~:9~F >y~Hwg?[ َ( 1?:]@#[?`T?ɨ~B@~;~Cy ?B 10I=Will construct direction to contact in vehicle frame from tetrahedron phase data.EBDAT read: Rx Time:21:53:19.8036 MTRx dataTimestamp_ set to:1736373201.145933]checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774084        Mb@Mb@Mb@ )YV-?Mb?y&1?yM?>`<?@ Ȟ@)׫@I@y=@INI@ 4٢-MH 5-=95@99 =G٣9y=K; E> mNusing accuracyPremultiplier from configau59e?Q?u5Ye36 ie cBuT:uIP?}:}}A@e*DeL?;e=;eF5ƗB o@xEZjFNOT Ignoring new targets: 645.90 m.Bj\ ;Jj\ ; ProNav: ac range: 645.900024 m, nav range: 370.443359 m, bearing: 358.791619 deg, approach rate: -0.126935 m/s, LOS rate: 0.122714 deg/s, cmd heading: 267.392562 deg, new cmd heading: 267.569578 deg. 2jo;HeadingCmd: 4.669970 target range: 645.900024 and range: 645.90 m. jep@jjjihh1h9h=ɉBf9f9frfbf#@ɛBR$=  @I aEɚiI1?=I}οi ưi BQw9) ep@)*F?2F:FBFJFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022213 i Ii G} :G B O >+=w,`AF@@YF'P@Fo;9F >yFH` ??- ]o +??ɨF@@F;FCyR;BR-0IIZPIZ 4٢b b{=9fp;Q f ?hl nG٣lyn{ n? vNusing accuracyPremultiplier from configpv59rAT?z5Yr= ircB|~~A@r2Dr-;rd.;r5 @Zj)-FNOT Ignoring new targets: 645.90 m.Bj5a;Jj5a;E ProNav: ac range: 645.900024 m, nav range: 370.402252 m, bearing: 358.831576 deg, approach rate: -0.129844 m/s, LOS rate: 0.126225 deg/s, cmd heading: 267.569573 deg, new cmd heading: 267.689458 deg. 2jEA;MHeadingCmd: 4.672062 target range: 645.900024 and range: 645.90 m. jM@jQjQjQiQhYhYhYhafafafarfabfm@ɛBm{> 隝M @I }?ɚiIW==IH9οipiM)@)*Fm?2Fi:FiBFmo0JFiGE9mWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:53:19.8036 LVL= 15600, 25313, 21874, 32403, AGC= 68, IDX= 455, 0.05,-2.465, 2.672, 1.346, 2.524, PHS= 1.383, 0.195,-1.181, RAW= 57.6, -3.6, CAL= 62.0, -8.2, ROT= 88.0, 8.2 Ygot valid direction response: 21:53:19.8036 LVL= 15600, 25313, 21874, 32403, AGC= 68, IDX= 455, 0.05,-2.465, 2.672, 1.346, 2.524, PHS= 1.383, 0.195,-1.181, RAW= 57.6, -3.6, CAL= 62.0, -8.2, ROT= 88.0, 8.2 PDAT read: Bearing 88.0, 8.2 (Local)  ~Local bearing/azimuth received: Bearing 88.0, 8.2 (Local) G!B9Ou6>}DAT read: Range 10 to 50 : 646.5 m (Round-trip 862.0 ms) speed -0.2 m/s ,DAT read: user:2126> BDAT read: Tx time:21:53:20.8875 $Ping request sent.u+u?u uc?)uCIu ?iuC>qquHw?\FAA MG٣MFGyM M> ]Nusing accuracyPremultiplier from configQ]59U5X?]5YUE iU-cBaaeA@U=DUz:U:U5 @k}a R,?k}^ ky k}iA:k}!DBk} DZk}@"}&h+;@%Ujx@Fy@}<?R U?Iu?Jk}?Rk}k*}#Mss@vfcA>a.@}U/,]q?m,d?"k} *k}ϞCk}o?k}/ 2k}gDk}@vO?k}/ k}FDk}~Ck}@E addTargetRange:: Added new target pos. range: 646.500000 m, deltaT: 4.293592 s, deltaX: 0.599976 m, approachRate: 0.139737 m/s, rangeRepo size: 4 ] Added new target pos. range: 646.500000 m, bearing: 353.752002 deg, lat: 36.901635 deg, lon: -122.119395 deg, deltaT: 4.293592 s, deltaX: 0.599976 m, approachRate: 0.139737 m/s, posRepo size: 4 ZjY]FNOT Ignoring new targets: 646.50 m.BjeJjau ProNav: ac range: 646.500000 m, nav range: 350.987091 m, bearing: 354.314335 deg, approach rate: 0.000000 m/s, LOS rate: 0.126225 deg/s, cmd heading: 267.689457 deg, new cmd heading: 267.857232 deg. 2jq}HeadingCmd: 4.674991 target range: 646.500000 and range: 646.50 m. j}@jyjjihhhhfffrf4@bfJ?ɛB>= @I '7ɚiIK<=ISͿi4iz!)@)zK% MK!K!K% K%9[osi^_r}kVE:2&  *FE?2FA:FABFAJFI]Will construct direction to contact in vehicle frame from tetrahedron phase data.G%!G B O% >$=w,\rAy*B0IMb@Mb@Mb@ )Y7A`?MbQyV?u @ ߟ@)I@y̬@I@I3٢p B=9Q > G٣y > Nusing accuracyPremultiplier from config59EW?5YFO i$cBV?}:ͿA@ID;E;u5 ‰@%B*** querying acoustic contact ***j!j!Zj)5FNOT Ignoring new targets: 646.50 m.Bj=#;Jj=#;M ProNav: ac range: 646.500000 m, nav range: 350.963470 m, bearing: 354.371740 deg, approach rate: -0.058887 m/s, LOS rate: 0.143123 deg/s, cmd heading: 267.857234 deg, new cmd heading: 268.029459 deg. 2jMr;MHeadingCmd: 4.677997 target range: 646.500000 and range: 646.50 m. jU&@jQjQjQiQhQhYhYh]݉BfYfafarfabfe?ɛBq= 隝@I 1ɚiIIG;=IvͿiivһ)&@)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. Ih*F2F:FBF0JFGxG B O >m Will construct direction to contact in vehicle frame from tetrahedron phase data.u checking for new query: numPingsReceived=0, elapsed TxPingTime=0.971559H >I  I 0II BI 6 =&I .I 6I a<:I  FBI˗CJI˗CRIZIbIjIe/5 +=w,LA6&@Y6x#@6R<96z>y6H ?@Lv@Iꀿ b??ɨ6&@6;6CyB0BB0IIJIJ3٢R= R_=9VACTX ZG٣XyZs Z> bNusing accuracyPremultiplier from config\f59^OV?f5Y^\W i^cBdfͿfA@^RD^:^X:^5jǗB nv@rzEZj FNOT Ignoring new targets: 646.50 m.Bj ;Jj ; ProNav: ac range: 646.500000 m, nav range: 350.944824 m, bearing: 354.421801 deg, approach rate: -0.050980 m/s, LOS rate: 0.136877 deg/s, cmd heading: 268.029464 deg, new cmd heading: 268.179655 deg. 2j%߻;%HeadingCmd: 4.680618 target range: 646.500000 and range: 646.50 m. j-Ǖ@j)j)j)i)h)h)h1h1f1f1f9rf9bf=`?ɛB =  @I iM*ɚiI9=I Ϳi Яi y^) Ǖ@) *F2F:FBF 2JF IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224220G ܻGBO>zK MK 9K K K ^Y1=w,i8AWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474871y )B 0I =R=Mb@Mb@Mb@ )YV-? rhy&1y\?C `e@ Ȟ@)@I@y@IJJJJJk:JS:JJa@a@a@a@I3٢MSü M=9UQ ]>YY uG٣uFGyu }> Nusing accuracyPremultiplier from config59T?5YYc i cB ]?u:iпA@aD;;F5 ܉@Zj!%FNOT Ignoring new targets: 646.50 m.Bj-;Jj-;] ProNav: ac range: 646.500000 m, nav range: 350.926941 m, bearing: 354.496161 deg, approach rate: -0.033140 m/s, LOS rate: 0.137806 deg/s, cmd heading: 268.179646 deg, new cmd heading: 268.402734 deg. 2j]&;eHeadingCmd: 4.684512 target range: 646.500000 and range: 646.50 m. je@jajajaiahihihihmȉBfqfqfqrfbf?ɛފBqw= t @I  ɚiI8=IX̿iůiƶ)@)*F 2F :F BF p0JF  IWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727321GM GSGU qAGU qAG) B1 Oe >è8=w,QA6@Y6@6@<96Y@ >y6Hࡾ`  @I %ɚ!i!I%L7=I-T̿i-i-+)-@)1Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980394*F?2F:FBF_5JFjHQbHU4<He >Ia Ie}0IIe}BIe7 =&Ia.Ia6Iek<:Ie FGJiGABQOm5> I  Will construct direction to contact in vehicle frame from tetrahedron phase data. i  checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230980>=w,8A q @Y @ g<9 ( >y H@㕿γ?@l3@O顗 І`,*?.?ɨ q @ ; Cy%?B%10II5CI53٢E*}= EA=9E;Q M>II MG٣IyU; > Nusing accuracyPremultiplier from config59P?5YYt ibBпA@vD:z:5ɗB @{EZj!%FNOT Ignoring new targets: 646.50 m.Bj-.;Jj-.; ProNav: ac range: 646.500000 m, nav range: 350.903320 m, bearing: 354.601638 deg, approach rate: -0.030925 m/s, LOS rate: 0.138294 deg/s, cmd heading: 268.537001 deg, new cmd heading: 268.719189 deg. 2jѽ;HeadingCmd: 4.690034 target range: 646.500000 and range: 646.50 m. j@jjjihzKNK59KK Kc7 d98xuld\SOIFDA>;63310,)%%"hhhfffrfbfIx@ɛ؊B=  @I  ɚiI5=I^˿iE=w,A> @Y>f@>C<9>F >y>HD?`X` e芿 U?`s?ɨ> @>ꮉ;>CyFHBJ<0ILNA !I%h-Mb@Mb@Mb@))) )))Y- +?Zd;Oaa eG٣aym] m> uNusing accuracyPremultiplier from configq}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.73482459uN?5Yu!} iubBW?|:ҿA@uDu{;uz;uK5˗B 7@~E5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 646.50 m.BjMK;JjMK;} ProNav: ac range: 646.500000 m, nav range: 350.896820 m, bearing: 354.656192 deg, approach rate: -0.015968 m/s, LOS rate: 0.134019 deg/s, cmd heading: 268.719176 deg, new cmd heading: 268.882841 deg. 2j};HeadingCmd: 4.692891 target range: 646.500000 and range: 646.50 m. j),@jjjihhhhBffAafqrfbfE@ YyBɛՊB}= M@I  ɚiI}4=IɎ˿iECiEc)E),@)A*F2F:FBF2JF"G=G=5 Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988054HM >II  IM 0IIM BIM 8 =&II .II 6IM <:IM + FG TG B O >y2H Y.?Fb 1`@?}?˱?ɨ2@2(;2Cy>UB>L0IIJ@IJ3٢N= RK=9R;Q R>TT VG٣VFGyZB: Z> ^Nusing accuracyPremultiplier from config\b59^L?b5Y^ i^bBdfxҿfA@^D^m ;^;^5h jd@hZj|FNOT Ignoring new targets: 646.50 m.BjD$;JjD$; ProNav: ac range: 646.500000 m, nav range: 350.890289 m, bearing: 354.711468 deg, approach rate: -0.016967 m/s, LOS rate: 0.143615 deg/s, cmd heading: 268.882828 deg, new cmd heading: 269.048659 deg. 2j;HeadingCmd: 4.695785 target range: 646.500000 and range: 646.50 m. jC@jjjihhhhfffrfbfk @ɛMҊBU > QUM@IQ UɚQiYI]3=I/˿ii&-ͼ)C@) iIiWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239783*F?2F:FBF`0JFG:XGBO?>zK]OK]9KYK] K]   Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.493484S=w,MAZ@YZ !@ZϚ<9Zƒ >yZH W?Jw엿3 ?@?ɨZ@Z$;ZCyfeBf`0IJJJ0JJ:J]:Jـ3JMb@Mb@Mb@ )Y> ףp=?Dl~jtxyQ?OĻ @)(@Iy@I-II-d4٢={= =4=9EQW;Q E>AI MG٣IyM M> }Nusing accuracyPremultiplier from configi59myI?5Ymߏ imbBR?:@ֿA@mDmk;m<;m5 a@ZjFNOT Ignoring new targets: 646.50 m.Bj;Jj; ProNav: ac range: 646.500000 m, nav range: 350.894531 m, bearing: 354.772822 deg, approach rate: 0.009231 m/s, LOS rate: 0.133507 deg/s, cmd heading: 269.048665 deg, new cmd heading: 269.232724 deg. 2j@;HeadingCmd: 4.698997 target range: 646.500000 and range: 646.50 m. j0^@jjjihhhh-Bfffrfbf`- @ɛϊBv= @I ?ɚiI1=Iʿi7үiS)0^@)*Fe?2Fa:FaBFaJFa aIaWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:53:24.1541 TRx dataTimestamp_ set to:1736373205.432582checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743779GM G! B1 OU >DY=w,?fA6@Y6*@6/<964>y6H`:A? `q7ݒ`啿$?v?ɨ6@6jЉ;6CyV|BZ|0IIfHIf<3٢r= rc=9r.;Q r>tt vG٣tyzE; z> ~Nusing accuracyPremultiplier from config|59~F?5Y~ i~bB  ֿ A@~D~:~":~5̗B  @EZj%FNOT Ignoring new targets: 646.50 m.Bj-;Jj-;]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=3.995508 ProNav: ac range: 646.500000 m, nav range: 350.897766 m, bearing: 354.820667 deg, approach rate: 0.008441 m/s, LOS rate: 0.124839 deg/s, cmd heading: 269.232725 deg, new cmd heading: 269.376259 deg. 2jZ;HeadingCmd: 4.701503 target range: 646.500000 and range: 646.50 m. jr@jjjihhhhfffrfbf/@ɛ-̊B-^ >ZHQRHQH] >IY I]0II]BI]7 =&IY.IY6I]<:I]F F y}@Iy }3ɚyiyI}"0=Itʿiﯼi DAT read: Range 10 to 50 : 646.8 m (Round-trip 862.5 ms) speed -0.1 m/s  ,DAT read: user:2127>  BDAT read: Tx time:21:53:25.2375  $Ping request sent. I NY?i K N1A?Z?']ə?) I A5i ,? =9  :publishing transmit ping timeة  Fpublishing direction and range info 9 BoȿUX/?c/?y  ) I i ) I i N1A?Z?']ə?) I i *-`=w,oA.@Y=@Uq<9">yH(?!¿j#'̕`v? ?ɨ.@;J;Cy5B50II@I3٢Ml= M6=9M;Q M>YY ]G٣]FGy].; e> mNusing accuracyPremultiplier from configam5zKu+LKqKqKu Ku9eC?5YeE iebBտA@eDe;e5;e5 @k=n*?k= k9 k=2{A:k=!DBk= DZk= >"=.Vk_ RI}@Oz@=BoȿUX/?c/?Jk=,?Rk==9*=STy@jDUMZ@&3}~@= {; ?$I\t ?iyc?"k=jB*k=Ck=O_6+?k= 2k=/ Dk=: ?k9k=#Dk=Ck=L]@ addTargetRange:: Added new target pos. range: 646.799988 m, deltaT: 4.282555 s, deltaX: 0.299988 m, approachRate: 0.070049 m/s, rangeRepo size: 4  Added new target pos. range: 646.799988 m, bearing: 14.551929 deg, lat: 36.901824 deg, lon: -122.119395 deg, deltaT: 4.282555 s, deltaX: 0.299988 m, approachRate: 0.070049 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 646.80 m.BjJj ProNav: ac range: 646.799988 m, nav range: 371.840271 m, bearing: 355.170172 deg, approach rate: 0.000000 m/s, LOS rate: 0.124839 deg/s, cmd heading: 269.376268 deg, new cmd heading: 269.545289 deg. 2jHeadingCmd: 4.704453 target range: 646.799988 and range: 646.80 m. jኖ@jjj!i!h!h!hQhYfaffrf`f6@bf?}Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:53:25.2367 ɛȊB= @I ̢ռɚiI.=I%ʿi-i-)-ኖ@)1JJJJJ:JwR:JJ*F) 2F) :F) BF- 3JF) 9 IA  Will construct direction to contact in vehicle frame from tetrahedron phase data.GU 5mGU ?GU >GBO5>\Fg=w,MAF)@YF=9@F<9Fә >yFHJS?@W`>F ?z?ɨF)@F ;FCybBf0IMb@Mb@Mb@ )Y/$?(\µ{Gzy1H?#d@ @)V@IΫ@y@I I 2٢= 2=9%Q %>!! %G٣IyM֣ U> ]Nusing accuracyPremultiplier from configQ]59U@?e5YUɪ iUbBecI?e:eؿeA@UDU|;U;U5 @B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 646.80 m.Bj ;Jj ; ProNav: ac range: 646.799988 m, nav range: 371.854706 m, bearing: 355.226193 deg, approach rate: 0.032582 m/s, LOS rate: 0.126444 deg/s, cmd heading: 269.545301 deg, new cmd heading: 269.713355 deg. 2j;EHeadingCmd: 4.707386 target range: 646.799988 and range: 646.80 m. jE袖@jIjIjIiQhQhQhYh]}BfYfYfYrfabf?ɛĊB> L*<隵@I gƼɚiI7,=I̳ɿi>iV)袖@)*F2F:FBFa0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******Querying Benthos address 50 with one ping in standard two-way mode.HqIq Iu0IIuΏBIu6 =&Iq.Iq6Iu<:Iu$ FG] 8GA BY O} >km=w,wKA62@Y6B@6t<96x>y6H:@7?CV @ M`?@\?ɨ62@6BĊ;6CyBBB0I)D DDFAIJIJ2٢R= Vf=9Z;Q Z>X\ ^G٣\ybG; b> fNusing accuracyPremultiplier from configdj59f<=?j5Yf ifbBhjؿnA@fDf:f ;f5rΗB r5@rE IhZjFNOT Ignoring new targets: 646.80 m.Bj;Jj; ProNav: ac range: 646.799988 m, nav range: 371.865601 m, bearing: 355.268755 deg, approach rate: 0.030401 m/s, LOS rate: 0.118764 deg/s, cmd heading: 269.713351 deg, new cmd heading: 269.841035 deg. 2j;HeadingCmd: 4.709615 target range: 646.799988 and range: 646.80 m. j*@jjjihhhhfffrfbf?Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987958ɛ-Buv$> qu@Iq }ɚyiyI}:_+=Ijɿiii`)*@)*F2F:FBFo0JFzK>BKKH9KK KG ? Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243478G Bq O > Ut=w,+Ay5B=0IMb@Mb@Mb@ )YS?ˡEMbPy/=?什 @)I@yIIb1٢s= 7=9Q > G٣FGy >  Nusing accuracyPremultiplier from config%599?-5Y ibB5X>?5:56ٿ5A@D;; 5 \@ZjAEFNOT Ignoring new targets: 646.80 m.BjmB:JjmB:} ProNav: ac range: 646.799988 m, nav range: 371.880157 m, bearing: 355.319619 deg, approach rate: 0.031560 m/s, LOS rate: 0.110272 deg/s, cmd heading: 269.841049 deg, new cmd heading: 269.993635 deg. 2j}[;HeadingCmd: 4.712278 target range: 646.799988 and range: 646.80 m. jʖ@jjjihhhhBfffrfbf ? IɛB-> )-E@I) 5Хɚ1i1I5)=I=~ɿi=Qi=hL)=ʖ@)A Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493001*F2F:FBFJFG% MG B O5 >}z=w,?A2Will construct direction to contact in vehicle frame from tetrahedron phase data.2checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743707:x@Y:@:<9:Gk>y:H?pd¿욿,p`Q[? ?ɨ:x@:{;:CyFʏBF0IIR/IR3٢V= Va=9ZE X\ ^G٣\y^< b> fNusing accuracyPremultiplier from config`j59b7?j5Yb ibwbBhjؿjA@bDb:b:b 5p r5@pZj FNOT Ignoring new targets: 646.80 m.BjR;JjR;jH<bH<H!I! I% 1II%BI%7 =&I!.I!6I%<:I%) FBIJIRIZI7 =bI7 =jI4U ProNav: ac range: 646.799988 m, nav range: 371.889923 m, bearing: 355.361125 deg, approach rate: 0.029482 m/s, LOS rate: 0.125300 deg/s, cmd heading: 269.993635 deg, new cmd heading: 270.118147 deg. 2jU;]HeadingCmd: 4.714451 target range: 646.799988 and range: 646.80 m. j]ܖ@jYjYjaiahahahahifififirfQbfU=?ɛB+> 隥!@I ϖɚiI'=JK(3 K(.KK"KJJJ1JJJT:J3JJ47D=w, AVկ@YV(@Vg<9V>yVHMuYO?Y¿_@ x` ݝk࿩?̤?ɨVկ@VɊ;VCybϏBb0IIjOIj 4٢r< r/=9v;Q v>tt vG٣xyzk< z> Nusing accuracyPremultiplier from config|59~3?5Y~ i~fbB)5>׿=A@~D~L<~u<~!5a m@qWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251904Zj)5FNOT Ignoring new targets: 646.80 m.Bj5:Jj5:e ProNav: ac range: 646.799988 m, nav range: 371.900452 m, bearing: 355.414631 deg, approach rate: 0.019849 m/s, LOS rate: 0.100869 deg/s, cmd heading: 270.118136 deg, new cmd heading: 270.278649 deg. 2jms;mHeadingCmd: 4.717252 target range: 646.799988 and range: 646.80 m. ju@jqjqjqiqhyhhhfffrfbf@ɛEBE> AE#@IA MɚIiIIM&=IUpȿiU䰼iU6H׼)U@)YE] &<EaEepA*F2F:FBFo0JFGqA GrAG IGBO>e Will construct direction to contact in vehicle frame from tetrahedron phase data.a ie Am checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500164j=w,L#A2ޏ@Y2@2M<92>y2Hq? ?¿@=;?@?ɨ2ޏ@2ي;2CybُBb0I}Mb@Mb@Mb@yyy y)yY}> ףp=?p= ף{Gzy}1?}}#}@ } @)}@I}׫@yy}@I<I3٢/= ?=9G;Q > G٣FGyZ< > Nusing accuracyPremultiplier from config59Y/?5Y iPbB5?:߿A@D7;;5їB @EB*** querying acoustic contact ***jjZj FNOT Ignoring new targets: 646.80 m.Bj;Jj;- ProNav: ac range: 646.799988 m, nav range: 371.929810 m, bearing: 355.460912 deg, approach rate: 0.080297 m/s, LOS rate: 0.126573 deg/s, cmd heading: 270.278645 deg, new cmd heading: 270.417476 deg. 2j-;5HeadingCmd: 4.719676 target range: 646.799988 and range: 646.80 m. j5@j1j9j9i9h9h9hAhEΊBfAfAfArfIbfMA@ɛ}B}6> y}$@Iy  eɚiI_$=I!ȿii¼)@)EE*E"EWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751999Hm >Ii Im21IImBIm6 =&Ii.Ii6Im<:Im$ FJ9J=BAJMJMJM0JIJM:JMdP:JMـ3JIJMd1<JMe1<JM;JM;*F2F:FBFJF  I hG5 f} Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003745G BA O} >(=w,-?Ay֏B0II-;I-&3٢=3 =?=9=Q E>II MG٣QyU U> ]Nusing accuracyPremultiplier from configYe59]*?e5Y]y i]:bBiimA@]D]X;];]5q uR@qZjFNOT Ignoring new targets: 646.80 m.Bj:Jj: ProNav: ac range: 646.799988 m, nav range: 371.959503 m, bearing: 355.507298 deg, approach rate: 0.069332 m/s, LOS rate: 0.108300 deg/s, cmd heading: 270.417489 deg, new cmd heading: 270.556638 deg. 2j;HeadingCmd: 4.722104 target range: 646.799988 and range: 646.80 m. jz@jjjihhhhfffrfbfY@ɛ B  !&> $@I )AɚiIs"=Iǿii׼)z@)!*F2F:FBF3JFG] ټzKK9KK KBK:KqAGYBaO}7>Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259279=w,PYA @IDy~ΏB~0IMb@Mb@Mb@ )YuV?/$/$yr(?1@ "@)Ʒ@I@y׳@IKI4٢ B=9Q > G٣FGy > Nusing accuracyPremultiplier from config59i&?5Y ibB+?:DῑA@DN;;H5 /@Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507976)E= MCZjaFNOT Ignoring new targets: 646.80 m..~GBj:Jj5:AY YyB ProNav: ac range: 646.799988 m, nav range: 371.990601 m, bearing: 355.550261 deg, approach rate: 0.073021 m/s, LOS rate: 0.100873 deg/s, cmd heading: 270.556634 deg, new cmd heading: 270.685510 deg. 2jt;HeadingCmd: 4.724353 target range: 646.799988 and range: 646.80 m. j-@jjjih)h)h)h-Bf1f1f1rf1bf=@ @ɛBrr> 隝$@I ɚiIϔ =I͇ǿi!iN%)-@)*F2F:FBF0JF"G=Gp= Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:53:28.5052  TRx dataTimestamp_ set to:1736373209.716607 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760869ZHi RHm ?AHm >Ii  Im 81IIm BIi &Ii .Ii 6Im j<:Im  FG= GGA GE rAG B O% >J= J= J9 J9 J= :J= HM:J9 J9 J= 0<J= 0<J= T;J= U;4=w,1sA6~@Y6׍@60=96ɣ>y6H`k9??F¿@E?Ǥ2?u?ɨ6~@6H@;6Cy>ƏB>0IIJVIJn4٢n+ r[=9r$pt vG٣tyvU= v> ~Nusing accuracyPremultiplier from configx59z"?5Yz9 izbB޿A@zDz;z;z 5 @ZjFNOT Ignoring new targets: 646.80 m.BjL:JjL:% ProNav: ac range: 646.799988 m, nav range: 372.013641 m, bearing: 355.588579 deg, approach rate: 0.059223 m/s, LOS rate: 0.098485 deg/s, cmd heading: 270.685506 deg, new cmd heading: 270.800453 deg. 2j%-;-HeadingCmd: 4.726359 target range: 646.799988 and range: 646.80 m. j-V>@j)j)j)i)h)hQhQhQfYfYfYrfYbf]@@ɛ B => _#@I <\ɚiIS=I%Fǿi%i%<)%V>@)) u1$?Iq*F2F:FBFP5JF5Will construct direction to contact in vehicle frame from tetrahedron phase data.9i9Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=4.016682G+GyBO^>zK BoHK K K  K RK% ?JK% ?=w,bAFWill construct direction to contact in vehicle frame from tetrahedron phase data.UDAT read: 21:53:28.5052 LVL= 24016, 30817, 32754, 32755, AGC= 67, IDX= 439, 0.30, 0.711,-0.297,-1.690,-0.432, PHS= 1.231, 0.182,-1.261, RAW= 54.8, -1.4, CAL= 57.2, -4.7, ROT= 92.8, 4.7 eYgot valid direction response: 21:53:28.5052 LVL= 24016, 30817, 32754, 32755, AGC= 67, IDX= 439, 0.30, 0.711,-0.297,-1.690,-0.432, PHS= 1.231, 0.182,-1.261, RAW= 54.8, -1.4, CAL= 57.2, -4.7, ROT= 92.8, 4.7 PDAT read: Bearing 92.8, 4.7 (Local) ~Local bearing/azimuth received: Bearing 92.8, 4.7 (Local) W@YǗ@$=9h9>yHp?`?0 ÿ? + @0?@?ɨW@;Cy%B%0IMDAT read: Range 10 to 50 : 647.6 m (Round-trip 863.5 ms) speed -0.1 m/s U,DAT read: user:2128> UBDAT read: Tx time:21:53:29.5875 ]$Ping request sent.]JshJGt?J+ȼ Jr?)JIJ4Q?iJ=HHJ1@!?'^* Pyb)JsIJ G٣yB< > Nusing accuracyPremultiplier from config59{?5Y4 iaB%?:k޿A@D;;%5-җB 59@5EkJf?kJJ kH kJ\:A:kJ!DBkJ DZkJ(v@"Jqn^@.3p z@Jf7~@J+ܳ? ŕ??JkJS?RkJw8_*J:"u@&)0ahJ@@Jf𮴵?xÚ#G?"kJi*kJCkJVm?kJ$: 2kJDkJVm?kJ$: kJDkJKCkJ,v@ addTargetRange:: Added new target pos. range: 647.599976 m, deltaT: 4.286265 s, deltaX: 0.799988 m, approachRate: 0.186640 m/s, rangeRepo size: 4  Added new target pos. range: 647.599976 m, bearing: 357.134520 deg, lat: 36.901529 deg, lon: -122.119268 deg, deltaT: 4.286265 s, deltaX: 0.799988 m, approachRate: 0.186640 m/s, posRepo size: 4 Zj%FNOT Ignoring new targets: 647.60 m.Bj%Jj!-Will construct direction to contact in vehicle frame from tetrahedron phase data.5JDAT read: TxSync time:21:53:29.5868 U ProNav: ac range: 647.599976 m, nav range: 338.587677 m, bearing: 357.134634 deg, approach rate: 0.000000 m/s, LOS rate: 0.098485 deg/s, cmd heading: 270.800444 deg, new cmd heading: 270.977763 deg. 2jQ]HeadingCmd: 4.729454 target range: 647.599976 and range: 647.60 m. j]W@jYjYjaiahahahhBfffrf<@bf?ɛB% "|> ) - "@I) - ɚ) i) I5 =I5 ƿi= ei= ()= W@)9 *F ?2F :F BF 0JF G rA G GG% ?G%>Will construct direction to contact in vehicle frame from tetrahedron phase data.GBO-?HQIQ IU&1IIUBIU5 =&IQ.IQ6IU<:IU$ F_=w,5A-@Y- @-R2=9-d>y-Hl? ?Lÿ``;נ?HT?.?ɨ-@-Έ;-CyMBM0IiU=IUp;I]I]0٢m u^=9uqy }G٣}FGy}< }> Nusing accuracyPremultiplier from config59X?5Y^ iaB>ݿA@D:q:(5 @JJJJJ+:JdP:JJJ2<J2<J;J;B*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 647.60 m.Bj2;Jj2;  ProNav: ac range: 647.599976 m, nav range: 338.613220 m, bearing: 357.174498 deg, approach rate: 0.073500 m/s, LOS rate: 0.114699 deg/s, cmd heading: 270.977756 deg, new cmd heading: 271.097339 deg. 2j o;HeadingCmd: 4.731541 target range: 647.599976 and range: 647.60 m. jh@jjjihhhhf!f!f)rf)bf-)?ɛ]B]B> e:e@Ii m<:ɚiiiImcZ=IuFƿiuiuJ )uh@)y*F}?2Fy:FyBF}`5JFy !I%hGUp6ϼG)B9O]_> 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,Ay~B0IzK-KK-9K)K- K-BK1:K5pAIFI%3٢M MT=9MQ M>QQ UG٣Qy > Nusing accuracyPremultiplier from config59?5Y iaBA@ DN;;i,5 ك@Zj  FNOT Ignoring new targets: 647.60 m.Bj:Jj:% ProNav: ac range: 647.599976 m, nav range: 338.640778 m, bearing: 357.217203 deg, approach rate: 0.070105 m/s, LOS rate: 0.108630 deg/s, cmd heading: 271.097339 deg, new cmd heading: 271.225442 deg. 2j%;-HeadingCmd: 4.733777 target range: 647.599976 and range: 647.60 m. j-{@j)j)j)i)h1h1h1h9f9f9f9rf9bfE?ɛBa0> Will construct direction to contact in vehicle frame from tetrahedron phase data.%checking for new query: numPingsReceived=0, elapsed TxPingTime=0.917361K@Iq }@fɚyiI=ISƿiEi^){@)*F?2F:FBF_5JF qIyG -, Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=1.167568G BI Om >;=w,AN^@YN1n@NB=9N>yNHd?@?D¿ %`-?`E᫿> uK??ɨN^@N7;NCynBn0IMb@Mb@Mb@ )Y?i|?5y&1yf&?`@ )?@Iy3@II2٢p C=9 G٣y< > ENusing accuracyPremultiplier from configE59??E5Y iaBME)?M:MؿMA@(D";U;/5Y ] @YZjFNOT Ignoring new targets: 647.60 m.Bj:Jj: ProNav: ac range: 647.599976 m, nav range: 338.660339 m, bearing: 357.262634 deg, approach rate: 0.046515 m/s, LOS rate: 0.108021 deg/s, cmd heading: 271.225446 deg, new cmd heading: 271.361730 deg. 2jD;HeadingCmd: 4.736156 target range: 647.599976 and range: 647.60 m. j@jjjihhhhBfffrfbf :?ɛBC%-> =@I $:ɚiI?=I ƿi -i I:) @)*F?2F:FBFg0JFWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.418971jH%<bH%p<H)I) I-0II-ݏBI)&I).I)6I-<:I-7 FG6G B O > a Ia l=w,A @:H@Y:@:+Q=9:`>y:H`U?(?`¿` y\?7"g?`?ɨ:H@:;:CyBhBFd0I)H HINKIN4٢V V\=9^"`` bG٣bFGyb̔< b> jNusing accuracyPremultiplier from confighn59j?n5Yjk  ijmaBln׿nA@j0Dj@:j:j@35t v@tZj!%FNOT Ignoring new targets: 647.60 m.Bj%k;Jj-k;5Will construct direction to contact in vehicle frame from tetrahedron phase data.=checking for new query: numPingsReceived=0, elapsed TxPingTime=1.671719 ProNav: ac range: 647.599976 m, nav range: 338.676727 m, bearing: 357.303936 deg, approach rate: 0.045590 m/s, LOS rate: 0.114896 deg/s, cmd heading: 271.361722 deg, new cmd heading: 271.485624 deg. 2j;HeadingCmd: 4.738318 target range: 647.599976 and range: 647.60 m. jM@jjjihhh h f f frfbfV?ɛ]B]1> aea@I ̿D;ɚyiIov=I7ſi?}i<;)M@)Eܪ&<zKK+9KK KWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.923997*F ?2F :F BF `5JF JU JU JQ JQ JU :JU wR:JQ JQ ae @ae @ae @ae @G 7: AIIGBO>=w,A2 Ǒ@Y2\֘@2ra=92_>y2HJ??`¿?(R *?@?ɨ2 Ǒ@2,ˆ;2Cy:QB:G0I Mb@Mb@Mb@    ) Y ʡE?Q롿y /? ̽ \  1@)  @I (@ y µ@I%_I%b(4٢5> 5!=9=~99 EG٣AyEx@< E> MNusing accuracyPremultiplier from configIU59M?]5YM iM?aB]1?]:]^ҿ]A@M;DM;M;M75e՗B eG@mEWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.174982Zj)-FNOT Ignoring new targets: 647.60 m.BjU;JjU;e ProNav: ac range: 647.599976 m, nav range: 338.685822 m, bearing: 357.362902 deg, approach rate: 0.017334 m/s, LOS rate: 0.112388 deg/s, cmd heading: 271.485621 deg, new cmd heading: 271.662512 deg. 2jeB;mHeadingCmd: 4.741405 target range: 647.599976 and range: 647.60 m. jm@jijjihhhhBfffrfbfd@ɛB> +P<@I ^;ɚiI =I% Yſi%i%;)%@)QE-?B:*F?2F:FBF5JFM Will construct direction to contact in vehicle frame from tetrahedron phase data.U checking for new query: numPingsReceived=0, elapsed TxPingTime=2.427076Hi Ii  Im 0IIm BIi &Ii .Ii 6Im W<:Im  FBIAJIARIAZIE5 =bIE6 =jIEɔ5G ;G B O >=w,5Ayr&Br0IIzWIz44٢-V -K=9-Q ->11 5G٣1y= => ENusing accuracyPremultiplier from configAM59E?M5YE iEaBIQUA@EDDE:E:E1;5Y ]@YB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 647.60 m.Bj ;Jj ; ProNav: ac range: 647.599976 m, nav range: 338.693329 m, bearing: 357.409770 deg, approach rate: 0.019576 m/s, LOS rate: 0.122212 deg/s, cmd heading: 271.662523 deg, new cmd heading: 271.803124 deg. 2j;HeadingCmd: 4.743859 target range: 647.599976 and range: 647.60 m. j͗@jjjihhhhfffrfbfe@ɛBz1> @I u;ɚiIvl=I ſi 9i @ȉ;)͗@ 9I=h)Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.680564E#2:EV>E>*Fq2Fq:FqBFuT5JFqzK} :IK} h9Ky K}  K} m Will construct direction to contact in vehicle frame from tetrahedron phase data.} checking for new query: numPingsReceived=0, elapsed TxPingTime=2.934061G ;G B O>"=w,DTAJ&J&J$J$J&K:J&S:J$J$jj@Yj @j~=9j>yjH ?`?h1?@f?>?k?ɨjj@j;jCyB/Ii >I <Mb@Mb@Mb@ )Y"~j?/$J +ySC?H@ ^@)ݸ@I@yp@IOI 4٢ $=9f G٣FGy^< > Nusing accuracyPremultiplier from config59 ?5Y& i`BD?:̿A@PD<<?5 W@Zj IFNOT Ignoring new targets: 647.60 m.Bj L ;Jj L ; ProNav: ac range: 647.599976 m, nav range: 338.687622 m, bearing: 357.474116 deg, approach rate: -0.010956 m/s, LOS rate: 0.123533 deg/s, cmd heading: 271.803116 deg, new cmd heading: 271.996157 deg. 2j%;-HeadingCmd: 4.747229 target range: 647.599976 and range: 647.60 m. j-L@j)j1j1i1h1h1h9h=MBf9f9f9rfAbf@ݫ @ɛBw> W@I p<ɚiI=I<Ŀi 쭼i0;)L@) EqAErAE4|E<}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.183922*Fu?2Fq:FqBFu5JFqG :Gq By O >=w, nA2 @Y2/@2W=92>y2H`l?Ƞ?$.?{*? -?ɨ2 @2=;2Cy^Bb/IIjPIj 4nWill construct direction to contact in vehicle frame from tetrahedron phase data.rchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.434818ZHRHH!I! I%Q0II%YBI!&I!.I!6I%<:I%3 F٢-B K=9  G٣y&; > Nusing accuracyPremultiplier from config59d ?5Y. i`B̿A@ZD";"; C5 ǎ@Zj%FNOT Ignoring new targets: 647.60 m.Bj%;Jj%;5 ProNav: ac range: 647.599976 m, nav range: 338.682983 m, bearing: 357.525445 deg, approach rate: -0.012288 m/s, LOS rate: 0.135969 deg/s, cmd heading: 271.996164 deg, new cmd heading: 272.150153 deg. 2j=;=HeadingCmd: 4.749916 target range: 647.599976 and range: 647.60 m. jEP@jAjAjAiAhAhAhIhIfIfIfQrfQbfU @ɛB->  @I H6<ɚiIN=I+BĿi Wi/;)P@)EE*E"E*JQ"JU= I*FI2FI:FQBFU@5JFQWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:53:32.8639 TRx dataTimestamp_ set to:1736373214.000824checking for new query: numPingsReceived=0, elapsed TxPingTime=3.688561G} *;GQ BY Ou >s=w,IAB@YBD@B=9BK >yBH@?o?_ ?⳿ ֒*Q?-?ɨB@BU;BCyNώBN/IIVQIV4٢b bH=9bdd fG٣dyn: n> rNusing accuracyPremultiplier from configpv59r ?v5Yr7 ir`Bx~̿~A@rdDr8;rE9;rF5 ֗B }@ EZj15FNOT Ignoring new targets: 647.60 m.Bj=;Jj=;U ProNav: ac range: 647.599976 m, nav range: 338.678406 m, bearing: 357.578329 deg, approach rate: -0.011131 m/s, LOS rate: 0.128592 deg/s, cmd heading: 272.150144 deg, new cmd heading: 272.308799 deg. 2jU;]HeadingCmd: 4.752685 target range: 647.599976 and range: 647.60 m. j]@jYjYjaiahahahahifififqrfqbfu@ɛB)%> 隝@I 6Q<ɚiI=Inÿii2;)@)EzK K +9K K  K Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=3.941155*F2F:FBF`0JF "G5=G5=JeJeJaJaJek:Je"I:JaJaG&;GQBiOY> Ih -G  M YI yM B} Will construct direction to contact in vehicle frame from tetrahedron phase data.y iy  checking for new query: numPingsReceived=0, elapsed TxPingTime=4.191098=w, %AyUBU/I)Y YMb@Mb@Mb@ )Y#~j?S㥫X9vyE?/]@ )M@I@y@I5SI54٢=ս E4=9EQ E>II MG٣MFGyU U> ]Nusing accuracyPremultiplier from configYe59] ?e5Y]E@ i]^`BmF?m:uǿuA@]oD]V;]VT;]J5 @ZjFNOT Ignoring new targets: 647.60 m.Bj;Jj; ProNav: ac range: 647.599976 m, nav range: 338.660889 m, bearing: 357.637117 deg, approach rate: -0.038462 m/s, LOS rate: 0.129086 deg/s, cmd heading: 272.308796 deg, new cmd heading: 272.485168 deg. 2j.;HeadingCmd: 4.755764 target range: 647.599976 and range: 647.60 m. j7/@jjjihhhhBfffrfbf@ɛ-B5&> 15#@I1 =0r<ɚ9i9I=@=Iuÿiuiu+;)u7/@)yWill construct direction to contact in vehicle frame from tetrahedron phase data.HI I/II BI&I.I6I<:IL F*F12F1:F9BF9JF9DAT read: 21:53:32.8639 LVL= 22864, 30177, 30658, 32755, AGC= 67, IDX= 512,-0.06, 2.436, 1.149, 1.259, 1.782, PHS= 0.742,-0.586,-0.526, RAW= 92.3, 5.8, CAL= 100.3, 4.9, ROT= 49.7, -4.9 Ygot valid direction response: 21:53:32.8639 LVL= 22864, 30177, 30658, 32755, AGC= 67, IDX= 512,-0.06, 2.436, 1.149, 1.259, 1.782, PHS= 0.742,-0.586,-0.526, RAW= 92.3, 5.8, CAL= 100.3, 4.9, ROT= 49.7, -4.9 8DAT read: $Error in header *Received a bad headerMX#Rx 1: Read direction message, but no range.U^direction in FSK: [-0.197304,0.073207,0.977605]9R:&AAɿ.?lfH?PYu w)Ii=??3?4Q= ?)%=I^?i%mZ%0? Lݿ*ʃV?)ޘIͽiR2@뭿}T****** received valid address query ******}R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseJIJM@AG -; I G B O >=w,A6 @Y6J@6&=96>y6H j??/W 0?|>G`?{?ɨ6 @6;4ynBnk/IIvQIv4٢~ b=9|   G٣y| > %Nusing accuracyPremultiplier from config%59 ?-5YG i;`B)- ȿ-A@xD*: :M5=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 elapseA E@AeB*** querying acoustic contact ***jajaZjiuFNOT Ignoring new targets: 647.60 m.Bj},;Jj},; ProNav: ac range: 647.599976 m, nav range: 338.647247 m, bearing: 357.684306 deg, approach rate: -0.037952 m/s, LOS rate: 0.131293 deg/s, cmd heading: 272.485179 deg, new cmd heading: 272.626752 deg. 2j5;HeadingCmd: 4.758235 target range: 647.599976 and range: 647.60 m. juC@jjjihhhhfffrfbf%3@ɛB0> V@I <ɚiI. =I1ÿi?Ti׹)uC@)*F?2F:FBFo0JFGb;GABIOm5>zKmjIKiKiKm Km)n<" BKq:KuqAWill 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 elapseJm Jm Ji Ji Jm :Jm 5K:Ji Ji '=w,AZ@YZ @Z猜=9Z>yZH)??L`w?[@??ɨZ@Z;ZCyB]/I QIYMb@Mb@Mb@ )YJ +?:vyH?T̼@ @)I(@y@IU`IU(*4٢e"K e6=9eȜ;Q m>ii mG٣iyu }> Nusing accuracyPremultiplier from configy59}W ?5Y}P i}`B?I?:ǿA@}D};};}Q5ؗB T@EZjFNOT Ignoring new targets: 647.60 m.Bj;Jj; ProNav: ac range: 647.599976 m, nav range: 338.630310 m, bearing: 357.743522 deg, approach rate: -0.037907 m/s, LOS rate: 0.132538 deg/s, cmd heading: 272.626755 deg, new cmd heading: 272.804410 deg. 2j;HeadingCmd: 4.761335 target range: 647.599976 and range: 647.60 m. j\@jjjihhhhBfffrfbf@ɛ%B-o> )-K@I) 5J<ɚ1i1I5 =I=¿i=$i=;)=\@)AMWill 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 elapse*F?2F:FBFp0JFG;GrAGG 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 elapsejH <bH <H I  I /II ЎBI &I .I 6I <:I O FA=w,A~@Y~@~@$=9~>y~HI? ?*@p?7`6W?@?ɨ~@~ 6;~Cy BQ/Ii=II%^I%&4٢5[ 5`=95&;Q =>99 EG٣EFGyE E> UNusing accuracyPremultiplier from configIe59M ?e5YM]X iM_Bam2ȿmA@MDML?;M=;MT5q u@qZjFNOT Ignoring new targets: 647.60 m.BjG;JjG;5 ProNav: ac range: 647.599976 m, nav range: 338.617279 m, bearing: 357.791676 deg, approach rate: -0.034369 m/s, LOS rate: 0.127013 deg/s, cmd heading: 272.804422 deg, new cmd heading: 272.948890 deg. 2j=U;=HeadingCmd: 4.763857 target range: 647.599976 and range: 647.60 m. jEq@jAjAjAiAhAhAhIhIfIfIfqrfqbf}@ɛB{%> c@I "<ɚiI =IZy¿i˫i)q@) QI]h*Fi2Fi:FiBFm0JFiGEQpGB O%N>]Will construct direction to contact in vehicle frame from tetrahedron phase data.YiY]T****** received valid address query ******eR****** received valid ping request ******ereceived new query, but waiting for acoustic response period to elapse>w,{ A>yّ@Y>@>ou=9>z#>y>Hհ?`Ϭ?!|?@먴? G?ɨ>yّ@>[y; G٣yɻ > Nusing accuracyPremultiplier from config-59 ?-5Ya i_B1=ȿ=A@Df<l<X5A M*@IZjizKuzMKuh9KqKu KuRK?JK>FNOT Ignoring new targets: 647.60 m.Bj;Jj; ProNav: ac range: 647.599976 m, nav range: 338.603455 m, bearing: 357.847103 deg, approach rate: -0.033055 m/s, LOS rate: 0.132533 deg/s, cmd heading: 272.948894 deg, new cmd heading: 273.115182 deg. 2j;HeadingCmd: 4.766759 target range: 647.599976 and range: 647.60 m. jJ@jjjihhhWill 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 elapsehfffrfbf 0@ɛB#> U@I <ɚiI =IE¿iܣiMI)J@)*F2F:FBFx1JF AIAG- ԑG1 G5 >G B O >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<>w,W%Ay~B~J/IMb@Mb@Mb@ )Y-?:vMby5^?E@ @)@I@yG@IjI;4٢; H=9Q > G٣y > Nusing accuracyPremultiplier from config59 ? 5YQj i_B ^? t:ǿA@Dܚ;\;\5) -Q@)ZjiFNOT Ignoring new targets: 647.60 m.Bjg);Jjg); ProNav: ac range: 647.599976 m, nav range: 338.586395 m, bearing: 357.906881 deg, approach rate: -0.042264 m/s, LOS rate: 0.148104 deg/s, cmd heading: 273.115168 deg, new cmd heading: 273.294509 deg. 2jI;HeadingCmd: 4.769889 target range: 647.599976 and range: 647.60 m. j@jjjihhhhBfffrfbf 9@ɛB9i!> p@I <ɚ i I m=Iilim)@)!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 elapseHI I}/IIBI&I.I6I<<:I F*F2F:FBF1JF"G=G=GN<8GBO>J=J=J9J9J=:J=,J:J9J9J=6w,2?A2p@Y2@2Z=92!X>y2H@xWill 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| G٣FGyC > Nusing accuracyPremultiplier from config59# ?5YZs ij_B>ȿA@D;J;_5ٗB  EEB*** querying acoustic contact ***jAjAZjQFNOT Ignoring new targets: 647.60 m.Bj%;Jj%; ProNav: ac range: 647.599976 m, nav range: 338.571838 m, bearing: 357.964881 deg, approach rate: -0.036330 m/s, LOS rate: 0.144759 deg/s, cmd heading: 273.294501 deg, new cmd heading: 273.468510 deg. 2j;HeadingCmd: 4.772926 target range: 647.599976 and range: 647.60 m. jϻ@jjjihhhhfffrfbf@"q@ɛ]|B]+> Ye@Ia eŭ<ɚaiaIe=I/Pii宼)ϻ@)*FA2FA:FABFES5JFAWill 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 BoIK 9K K  K BK5 rA:K1 G K7G B O >O>w,YA6@Y6޵@6h=96>y6H@}??M>@|? M@&??ɨ6@6ƈ;6Cy>BBR/I dIfheMb@Mb@Mb@aaa a)aYe^I +?&1~jtyeXY?ePeļe\@ a)e@Ie?@aye3@I}fI}44٢R< @=9D;Q > G٣yk > Nusing accuracyPremultiplier from config59> ?5Y]| i?_BY?y:ȿA@D;m;c5 @Zj)5FNOT Ignoring new targets: 647.60 m.Bj5a%;Jj5a%;E ProNav: ac range: 647.599976 m, nav range: 338.558624 m, bearing: 358.022718 deg, approach rate: -0.033033 m/s, LOS rate: 0.144587 deg/s, cmd heading: 273.468507 deg, new cmd heading: 273.642023 deg. 2jEu;mHeadingCmd: 4.775954 target range: 647.599976 and range: 647.60 m. juԘ@jqjqjqiqhyhyhyh}#Bfffrfbfm@ɛ-yB5:/> 15 @I1 5Cl<ɚ9i9I=3=I=iEiEȼ)EԘ@)i5Will construct direction to contact in vehicle frame from tetrahedron phase data.5T****** received valid address query ******=R****** received valid ping request ******=received new query, but waiting for acoustic response period to elapse*F 2F :F BF 4JF GᆝGBOe>ZH RH @AH I  I p/II BI &I .I 6I ~<:I FBIiJIiRIiZIibIm5 =jIm3 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,yrAF@YFD@F5=9F >yFH7??Nx wHf?@UḦn??ɨF@F;FCybBb\/IIjKIj4٢rz#= vV=9v߁;Q v>xx zG٣xyz z> %Nusing accuracyPremultiplier from config!-59%L ?-5Y%ڄ i%_B)-ȿ-A@%D%:%:%sf5 z@ZjFNOT Ignoring new targets: 647.60 m.Bj ;Jj ;J5J1J1J1J5K:J1J1J1J5q5<J5r5<J1J1} ProNav: ac range: 647.599976 m, nav range: 338.547028 m, bearing: 358.077218 deg, approach rate: -0.029399 m/s, LOS rate: 0.138169 deg/s, cmd heading: 273.642021 deg, new cmd heading: 273.805528 deg. 2j};HeadingCmd: 4.778808 target range: 647.599976 and range: 647.60 m. j@jjjihhhhfffrfbf@@ɛvB ->  m@I  5\<ɚ1i1I5*=I=mi=iE9|)E@)A I*F2F:FBF`0JFG G=Will 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 elapseGe Ga Bq O > #>w,@ÌA:@Y:X@:s=9:y >y:H@? -? =?c˸v@P?/?ɨ:@:Cu;:CyFBFc/IiR G٣FGy ʩ9  > Nusing accuracyPremultiplier from config%59[ ?-5Yˍ i^B)-ȿ-A@Da;M;i51 5@9ZjaeFNOT Ignoring new targets: 647.60 m.Bjm);Jjm);} ProNav: ac range: 647.599976 m, nav range: 338.535065 m, bearing: 358.134618 deg, approach rate: -0.030928 m/s, LOS rate: 0.148404 deg/s, cmd heading: 273.805536 deg, new cmd heading: 273.977743 deg. 2j};HeadingCmd: 4.781814 target range: 647.599976 and range: 647.60 m. j@jjjihhhhfffrfbf @ɛsB 8> @I <ɚiI=I ,i wͫi 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 elapsezK5BoHK5ػ9K1K5 K5X C[ $*F?2F:FBFg0JFGc׼GBO%M> IM Will construct direction to contact in vehicle frame from tetrahedron phase data.M T****** received valid address query ******M R****** received valid ping request ******U received new query, but waiting for acoustic response period to elapse5)>w,A26@Y2@2ɻ=92^>y2H\f?@r?@ ? 8p?ߎ?ɨ26@2+;2CyRBRy/IMb@Mb@Mb@ )YOn?S㥫II MG٣IyUV ]> eNusing accuracyPremultiplier from configam59eC ?m5Ye ie^BmY?mz:moɿmA@eDex;e[;em5ڗB  @EZjFNOT Ignoring new targets: 647.60 m.Bj&#;Jj&#; ProNav: ac range: 647.599976 m, nav range: 338.524139 m, bearing: 358.198268 deg, approach rate: -0.024482 m/s, LOS rate: 0.142635 deg/s, cmd heading: 273.977739 deg, new cmd heading: 274.168694 deg. 2j;HeadingCmd: 4.785146 target range: 647.599976 and range: 647.60 m. j@jjjihhhh{BfffrfbfH @ɛoB^-> 隕K@I 2<ɚiIUc=Ii#i' )@)HM >II IM/IIMBII&II.II6IM<:IM) F*F?2F:FBFb0JFWill 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 elapseJKـ3 KKK"KJ=J=J9J9J=[:J=B:J9J9J=+<J=+<J=_;J=`; I hG VG ?G ?G B O >0>w,zA6b@Y6@6W=96>y6H?@i?r : ? ⷿ*??ɨ6b@6ƈ;6CyRBR/IIZLIZ4٢b= bf=9bM;Q f>dd fG٣dyj8; j> rNusing accuracyPremultiplier from configpv59r8 ?v5Yr vtIir^BtzKɿzB@rDr;r;rp5| ~@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 elapseZjQeFNOT Ignoring new targets: 647.60 m.Bje ;Jje ;u ProNav: ac range: 647.599976 m, nav range: 338.515411 m, bearing: 358.248802 deg, approach rate: -0.024264 m/s, LOS rate: 0.140485 deg/s, cmd heading: 274.168684 deg, new cmd heading: 274.320289 deg. 2j;HeadingCmd: 4.787792 target range: 647.599976 and range: 647.60 m. j5@jjjihhhh f f f rf bf i!@ɛlBB>  @I B=ɚiI:=I ii;iu )5@)ErAErA*F2F:FBFn0JF"G=G>GRG9BIOeV>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- dOK- 9K) K- K- $0 #3aC) %'))'%#!&3FV^^M2qG6>w,VA IJk@YJ@J=9Jb>yJH0?]?5s{?;@K|}?@?ɨJk@J;JCyrʎBr/I)  Mb@Mb@Mb@ )Y}?5^I?(\µ~jtyMB?D@ (@)@Il@y@IUI4٢*= :=9'r;Q > G٣FGym; > Nusing accuracyPremultiplier from config59 ?5YL ij^BC?:HϿB@)  D<~G<t5 WY!y%@A) 5@1uB*** querying acoustic contact ***jqjqZjFNOT Ignoring new targets: 647.60 m.Bj;Jj; ProNav: ac range: 647.599976 m, nav range: 338.521576 m, bearing: 358.304893 deg, approach rate: 0.012963 m/s, LOS rate: 0.117949 deg/s, cmd heading: 274.320287 deg, new cmd heading: 274.488555 deg. 2j;HeadingCmd: 4.790729 target range: 647.599976 and range: 647.60 m. jM@jjjihhhhϊBfffrfbf"@-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 elapseɛuiBu4> q} @Iy }=ɚyiyI}=Iii)M@)*Fy2Fy:FyBF}o0JFyG HU >IU C IU /IIU ˎBIQ &IQ .IQ 6IU n<:IU  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 elapseq<>w,M1A]@Y]@]=9]>y]H@(?T?J¿ώ?v8 Q?,|?ɨ]@];]Cym؎Bu/II:I3٢Y= N=9J G٣y< > Nusing accuracyPremultiplier from config59 ?5Y6 iB^B\οB@D;;Cx5ۗB 7@E*J"Ja=JJJJJ:JC:JJJ*<J*<JE;JE;ZjFNOT Ignoring new targets: 647.60 m.Bj";Jj"; ProNav: ac range: 647.599976 m, nav range: 338.525269 m, bearing: 358.355793 deg, approach rate: 0.009776 m/s, LOS rate: 0.134756 deg/s, cmd heading: 274.488555 deg, new cmd heading: 274.641256 deg. 2j;HeadingCmd: 4.793394 target range: 647.599976 and range: 647.60 m. j|c@jjjihhhhfffrfbfBb#@ IɛufBuAK> qu=@Iy }k=ɚyiyI}[YC>w, AJU@YJ@J=9J>yJHhB?X?`(¿@-w?@ƫk?bw?ɨJU@J8;JCyR܎BR/IIZVIZn4٢zQ< zU=9;Q >   G٣ y M9<  > Nusing accuracyPremultiplier from config%59 ?%5Y޷ i^B!%Ϳ%B@D|;9;{5) 5@1ZjQ]FNOT Ignoring new targets: 647.60 m.Bje;Jje;u ProNav: ac range: 647.599976 m, nav range: 338.527802 m, bearing: 358.404998 deg, approach rate: 0.007048 m/s, LOS rate: 0.136915 deg/s, cmd heading: 274.641251 deg, new cmd heading: 274.788863 deg. 2ju;}HeadingCmd: 4.795970 target range: 647.599976 and range: 647.60 m. jx@jjjihhhhfffrfbf`$@ɛcBnQ> @I =ɚiI#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 elapsezKJiOK59KK K*Fi2Fq:FqBFu`5JFqGy GyGMG)BaOC> !I%hE Will construct direction to contact in vehicle frame from tetrahedron phase data.M w,S'AJ:@YJbI@J=9Ji$>yJH`̳?ݎ?¿`O]  G٣ y c<  > Nusing accuracyPremultiplier from config59?%5Y̿ i]B% 2?%:%ο%B@ D3;^;o5) 5G@1ZjQ]FNOT Ignoring new targets: 647.60 m.Bj];Jje;u ProNav: ac range: 647.599976 m, nav range: 338.533386 m, bearing: 358.456003 deg, approach rate: 0.012781 m/s, LOS rate: 0.116728 deg/s, cmd heading: 274.788865 deg, new cmd heading: 274.941876 deg. 2j}8;}HeadingCmd: 4.798641 target range: 647.599976 and range: 647.60 m. j}x@jjjihhhhBfffrfbf`$@ɛ`B/D> @I #=ɚiIEI I/IIBI3 =&I.I4D6I9<:I F*F 2F :F BF _5JF Will construct direction to contact in vehicle frame from tetrahedron phase data.\kP>w,LAA:&o@Y:y~@:"=9:*}>y:Hp?A?Ȭ¿i`+?@r T?p?ɨ:&o@:%\;:CyBBB/IINMIN{4٢V,= Vc=9V;Q Z>XX ZG٣ZFGy^A< b> fNusing accuracyPremultiplier from config`f59b?j5YbZ ib]BhjοjB@bDbn:b:b5p rʎ@p~Will construct direction to contact in vehicle frame from tetrahedron phase data. 隥!@I Ju+=ɚiI BDAT read: Tx time:21:53:40.5376 $Ping request sent.JA JE JA JA JA JE <:JA JA am @am @au @au @ ) I) V>w,,[A:ͣ@Y: @:=9:5 >y:H??$¿[? a55@?`n?ɨ:ͣ@:#;:CyBBB/IMb@Mb@Mb@ )Y)\(?EԸ~jtxyG!?ƽĻ@ @)@I@y @I PI  4٢= =3=9=;Q =>AA EG٣AyMRg< M> }Nusing accuracyPremultiplier from configq59uu?5Yu iu]B0#?:пB@uDuZBfffrfbf &@ɛ[B>F> @I 3= Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:53:40.5369 checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249900ɚi!I-tI  I /II BI 2 =&I .I 6I <:I ; FO > Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500980ݿ\>w,yuA 6@Y6 Ù@6A=966>y6Ht??``g? 0@+? w?ɨ6@6L;6CyFߎBF/I)H HIN%IN)3٢V9 Vg=9Z(úQ Z>X\ ^G٣\y^; b> fNusing accuracyPremultiplier from config`f59b[?j5Yb ib]BhjпjB@b"Db:b:b5rܗB rӏ@rEZjFNOT Ignoring new targets: 647.60 m.Bj;Jj; ProNav: ac range: 647.599976 m, nav range: 338.553925 m, bearing: 358.584439 deg, approach rate: 0.022334 m/s, LOS rate: 0.113287 deg/s, cmd heading: 275.213894 deg, new cmd heading: 275.327204 deg. 2j~;HeadingCmd: 4.805366 target range: 647.599976 and range: 647.60 m. jř@jjjihhhhfffrfbf Z'@ɛ]XB]>]> ]ծ ;]@IY e;:=ɚaiaIe6xc>w,SA>@Y>F@>k=9>?>y>H@??¿Ԩ̴?`3澿l W?q?ɨ>@>+;>CyPR/IIZIZ<2٢b bI=9f;Q f>dd jG٣jFGyj!w< j> rNusing accuracyPremultiplier from configlv59n:?z5Yn ind]BxzϿzB@n+Dn.;n;n45 ڏ@Zj)-FNOT Ignoring new targets: 647.60 m.Bj5:Jj5:E ProNav: ac range: 647.599976 m, nav range: 338.561066 m, bearing: 358.627879 deg, approach rate: 0.017571 m/s, LOS rate: 0.106882 deg/s, cmd heading: 275.327193 deg, new cmd heading: 275.457511 deg. 2jE;MHeadingCmd: 4.807641 target range: 647.599976 and range: 647.60 m. jM1ؙ@jIjIjIiIhQhQhQhQfYfafirfibfm (@ɛVBlTV> 隝@I ZA=ɚiIiJJJ/JJ:J8:J(N3J IhGU^GBO5>% Will construct direction to contact in vehicle frame from tetrahedron phase data.- checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256893[i>w,\:A^o@Y^*@^N=9^V>y^H?`?¿`ɡ@OT?@ l?n?ɨ^o@^j;^CynˎBn/IMb@Mb@Mb@ )Y9v?A`"Mby?ٽ@ @)@I @y@II3٢ <=94;Q > G٣yEv< > Nusing accuracyPremultiplier from configU59?U5Y7 i=]BUt?U:]Xҿ]B@3D<ĕ<5a e@aZjFNOT Ignoring new targets: 647.60 m.Bj:Jj: ProNav: ac range: 647.599976 m, nav range: 338.573517 m, bearing: 358.670902 deg, approach rate: 0.027437 m/s, LOS rate: 0.094801 deg/s, cmd heading: 275.457513 deg, new cmd heading: 275.586577 deg. 2j; HeadingCmd: 4.809893 target range: 647.599976 and range: 647.60 m. j@jjjihhhhZBfff!rf!bf%o )@ɛSBBF> 隕@I I=ɚiII I/IIBI3 =&I.I6I<:ID FBIUĘCJIUĘCRIQZIU3 =bIU4 =jIUA5Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509105*F2F:FBF`0JF IG ݗGy B O >

w,A6o^@Y6m@6M=96x>y6H м?z?FߗE?S`.l? k?ɨ6o^@6;4ybBb/Iif=If> df=IjMIj{4rWill construct direction to contact in vehicle frame from tetrahedron phase data.vchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.761108٢~G ~W=9;Q > G٣ y <  > Nusing accuracyPremultiplier from config59x?5Y i]B!%Nѿ-B@:DC;GD;R51 5@1ZjYeFNOT Ignoring new targets: 647.60 m.Bje:Jje:u ProNav: ac range: 647.599976 m, nav range: 338.582764 m, bearing: 358.708455 deg, approach rate: 0.025622 m/s, LOS rate: 0.104052 deg/s, cmd heading: 275.586576 deg, new cmd heading: 275.699231 deg. 2juю;}HeadingCmd: 4.811859 target range: 647.599976 and range: 647.60 m. j}@jjjihhhhfffrfbf@)@ɛQBٍ]> e @I "P=ɚiIz&w>w,AyBc/IMb@Mb@Mb@ )Y-?Cl绿I +y??;߽9@ @)@I @y@I;I&3٢2 5=9Q > G٣FGy > Nusing accuracyPremultiplier from config59?5Y i\B ? : ѿ B@BD_;;C5 Z@5B*** querying acoustic contact ***j1j1ZjAEFNOT Ignoring new targets: 647.60 m.BjMm:Jjm: ProNav: ac range: 647.599976 m, nav range: 338.594299 m, bearing: 358.753011 deg, approach rate: 0.025627 m/s, LOS rate: 0.098978 deg/s, cmd heading: 275.699220 deg, new cmd heading: 275.832883 deg. 2jۇ;HeadingCmd: 4.814192 target range: 647.599976 and range: 647.60 m. j @jjjihh)h)h-OBf)f1f1rf1bf5 *@mWill construct direction to contact in vehicle frame from tetrahedron phase data.mchecking for new query: numPingsReceived=0, elapsed TxPingTime=2.264968ɛOBA> 隵 @I ]X=ɚiIB jH bH p<H >I  I /II ˎBI 2 =&I .I 6I n<:I  F Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516912'W}>w,0AV@YV@V?=9V{>yVHg?`[o?`q1@?SC`!Rd?h?ɨV@V;Ty^qB^4/IIjGIj3٢v\J v[=9vYjxx zG٣xy~.= ~> Nusing accuracyPremultiplier from config 59? 5Y i\B  ϿB@ID* ; ;5ޗB ʖ@EZjAMFNOT Ignoring new targets: 647.60 m.BjM:JjU:m ProNav: ac range: 647.599976 m, nav range: 338.600586 m, bearing: 358.789882 deg, approach rate: 0.016819 m/s, LOS rate: 0.098640 deg/s, cmd heading: 275.832873 deg, new cmd heading: 275.943485 deg. 2jmd;mHeadingCmd: 4.816123 target range: 647.599976 and range: 647.60 m. ju@jqjqjqiqhqhqhyhyfyfy /$?Ihfrfbf@n+@ɛ=MB=T> ae@Ia mi^=ɚiiiImE>*F?2F:FBFl0JF"G =G =G G B O >9>w,l AWill construct direction to contact in vehicle frame from tetrahedron phase data."checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021044> @Y>^*@>=9>>y>H`K? qj?`"y`"Խ? ѿ|>?f?ɨ> @>;\` bG٣`yb< b> jNusing accuracyPremultiplier from configdj59f ?n5Yf if\BlnοnB@fRDf;f;fp5p vg@tZjFNOT Ignoring new targets: 647.60 m.Bjt:Jjt: ProNav: ac range: 647.599976 m, nav range: 338.606506 m, bearing: 358.834113 deg, approach rate: 0.012782 m/s, LOS rate: 0.095493 deg/s, cmd heading: 275.943495 deg, new cmd heading: 276.076185 deg. 2j;HeadingCmd: 4.818439 target range: 647.599976 and range: 647.60 m. j0@jjjizKJKh9KK Khhhhfff rfibfu`S_,@ɛJBJ?> ;<隝@I pf=ɚiJJJ/JJ{:Jy6:J(N3JIW`/>w,.A6rG@Y6V@6n=96ɞ>y6H?f?9p7#? ¿ Y?e?ɨ6rG@6VS;6Cy>*B>.I Mb@Mb@Mb@    ) Y X9v?&1+y ? н  -@  @) @I z@ y \@I-rI-J4٢=:W =B=9=;Q =>AA EG٣EFGyMR< M> UNusing accuracyPremultiplier from configQ]59U?]5YUg iUX\B]h ?e:eʿeB@UZDU;U<;U5i m=@iH>IC ID/IIBI1 =&I.I6I<:I) FZjIUFNOT Ignoring new targets: 647.60 m.BjU:JjU: ProNav: ac range: 647.599976 m, nav range: 338.604858 m, bearing: 358.877817 deg, approach rate: -0.003838 m/s, LOS rate: 0.101795 deg/s, cmd heading: 276.076192 deg, new cmd heading: 276.207303 deg. 2j;HeadingCmd: 4.820727 target range: 647.599976 and range: 647.60 m. jeC@jjjihhhhBfffrfbf@4-@ɛHBa C> g?EWill construct direction to contact in vehicle frame from tetrahedron phase data.Mchecking for new query: numPingsReceived=0, elapsed TxPingTime=3.524953II Um=ɚQiQIU]i]3y;)]eC@)*F2F:FBF?1JFJJBA QIYG= 7:G B! OE >  nManaging dock network, ignoring radio surface power off Will construct direction to contact in vehicle frame from tetrahedron phase data. BDAT read: Rx Time:21:53:43.8153  TRx dataTimestamp_ set to:1736373225.092600 checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777883>w,HAyB.IIkI=4٢%$s %L=9-Q ->)) -G٣1y5 5> =Nusing accuracyPremultiplier from config9E59=?E5Y= i=#\BIIMB@=bD=n:=:=5Q UG@YZjyFNOT Ignoring new targets: 647.60 m.Bju:Jju: ProNav: ac range: 647.599976 m, nav range: 338.603455 m, bearing: 358.919296 deg, approach rate: -0.003735 m/s, LOS rate: 0.110358 deg/s, cmd heading: 276.207304 deg, new cmd heading: 276.331742 deg. 2jy;HeadingCmd: 4.822899 target range: 647.599976 and range: 647.60 m. j0U@jjjihhhhfffrfbf -@ɛFB5G> ?I yr=ɚiIM]Will construct direction to contact in vehicle frame from tetrahedron phase data.echecking for new query: numPingsReceived=0, elapsed TxPingTime=4.029095zKBoHKKK K i Ii J J J 0J J :J f4:J ـ3J <>w,abAB@YBj@Ba>9B>yBH? c?" b?`¿`@`?f?ɨB@BD;BCyNƍBNb.ITTIZlIZm?4٢r rN=9vR<tx zG٣xyz,< ~> Nusing accuracyPremultiplier from config|59~o? 5Y~B i~[B  ɿ B@~jD~:~a:~5 w@UB*** querying acoustic contact ***jQjQZjy}FNOT Ignoring new targets: 647.60 m.BjW:JjW:Will construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:53:43.8153 LVL= 22480, 29137, 26322, 32755, AGC= 74, IDX= 413,-0.15, 0.315,-0.266,-1.569,-0.475, PHS= 0.878, 0.257,-1.097, RAW= 47.9, -0.4, CAL= 48.5, -2.8, ROT= 101.5, 2.8 Ygot valid direction response: 21:53:43.8153 LVL= 22480, 29137, 26322, 32755, AGC= 74, IDX= 413,-0.15, 0.315,-0.266,-1.569,-0.475, PHS= 0.878, 0.257,-1.097, RAW= 47.9, -0.4, CAL= 48.5, -2.8, ROT= 101.5, 2.8 PDAT read: Bearing 101.5, 2.8 (Local) ~Local bearing/azimuth received: Bearing 101.5, 2.8 (Local) DAT read: Range 10 to 50 : 655.1 m (Round-trip 873.5 ms) speed 0.0 m/s ,DAT read: user:2131> BDAT read: Tx time:21:53:44.9376 $Ping request sent.?ry[?yؽ#DعؽWؽq ٽf)ٹIٽJiٽ`?ٽ>ٽjٽV?ٽ ڽ8X?)ڽ+HIڽ?iڽ+H=ڹڹ۽켥;"?˜r)/ iu)۽jI۽;i۽b?۽JA۹۹E:publishing transmit ping timeMFpublishing direction and range infoع9ؽ)짿9ro?ag>?ry[?yعععع ٹ)ٹIٹiٹٹٹٹٹ ڹ)ڹIڹiڹڹڹ۽켥;"?˜r)/ iu)۹I۹i۹۹۹۹ ProNav: ac range: 647.599976 m, nav range: 338.600342 m, bearing: 358.960386 deg, approach rate: -0.007727 m/s, LOS rate: 0.102002 deg/s, cmd heading: 276.331750 deg, new cmd heading: 276.455022 deg. 2j;HeadingCmd: 4.825050 target range: 647.599976 and range: 647.60 m. jf@jjjihhhhfffrfx@bf@| ?ɛUDBU5T5> QUn?IY ]y=ɚYiYIe Y I] hl>w,|A2@Y2@2>92>y2H 1W?Pc?i \ ?Z¿`]B?f?ɨ2@2;0yZB^3.IIfgIf64٢z9 ~H=9~:;Q ~>| G٣FGy; > Nusing accuracyPremultiplier from config59]?5Y i[B|ɿ%B@rDX:X:5-ߗB -@-ELE EAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_MidcourseLMUEntering Midcourse tracking update period 60.000000 s sec at 655.099976 m (mode 1.000000 count ).LU1MUkЌ,?kRA k k!#fA:k#DBk"DZk'@")5@20ٽ}@dy#|@)짿9ro?ag>?ry[?Jkb?RkJA*cy@IoS@2?P.EHI\a?"kp*kCkRC-?kO` 2k DkkkkLCkA@ addTargetRange:: Added new target pos. range: 655.099976 m, deltaT: 15.373582 s, deltaX: 7.500000 m, approachRate: 0.487850 m/s, rangeRepo size: 4  Added new target pos. range: 655.099976 m, bearing: 359.141811 deg, lat: 36.901529 deg, lon: -122.119268 deg, deltaT: 15.373582 s, deltaX: 7.500000 m, approachRate: 0.487850 m/s, posRepo size: 4 ZjFNOT Ignoring new targets: 655.10 m.BjJj ProNav: ac range: 655.099976 m, nav range: 338.596741 m, bearing: 359.002640 deg, approach rate: 0.000000 m/s, LOS rate: 0.102002 deg/s, cmd heading: 276.455021 deg, new cmd heading: 276.580084 deg. 2jHeadingCmd: 4.827233 target range: 655.099976 and range: 655.10 m. jx@jjjihhhh1C Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangeqCTransitioning to midcourse guidance. Received last range of 655.099976 m 0.000620 min ago.qCCfffrfbf n?ɛCB<> !%`?I! %$~=ɚ!i)I-M0>w,SAR@YRY@R>9R~>yRH#?@p?n_@?¿U?s?ɨR@RuK;RCyZqBZ-IIbDIb3٢jvX j:=9n:Q n>pp vGzKvk3IKtKtKv Kv0) ٣|y̻ >  Nusing accuracyPremultiplier from config 59 4?5Y  i {[BɿB@ zD : ": 5! %@!2l=N@1M=qM=ZjI]FNOT Ignoring new targets: 655.10 m.BjeB:JjmB: ProNav: ac range: 655.099976 m, nav range: 338.594025 m, bearing: 359.048561 deg, approach rate: -0.006238 m/s, LOS rate: 0.105463 deg/s, cmd heading: 276.580096 deg, new cmd heading: 276.717858 deg. 2j;HeadingCmd: 4.829638 target range: 655.099976 and range: 655.10 m. jd@jjjihhhhrh@CCompleted lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange1C I Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRangefffrfbf@2?ɛuAB}7.> 隭?I B=ɚiI \>w,DA6@Y6@6>96 >y6H`P?o?>`^_Ǫ?¿ !?o?ɨ6@6;6CHF>ID IFD.IIFBID&ID.ID6IFb<:IF Fy>PBN-I)P PTTWill construct direction to contact in vehicle frame from tetrahedron phase data. =@= =@= =@E  E@E IECIE3٢U ]5=9e;Q e>ai mG٣iymV m> }bBottom track data is 0.4 s old, using for 20.0 s. }Nusing accuracyPremultiplier from configq59u?5Yu9# iu>[B+::ʿB@uDu?';u>u5 @:lqMMIAggregate::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.=gqguHBgq{}Navigating to dock waypoint ( 36.903300 arcdeg , -122.119000 arcdeg )=}q?}~}:Initialize WaypointComponent.~ZNavigating to waypoint: 36.903300,-122.119000fffrfbf^ ?ɛPB= "*5=`9I ]=ɚiI j >w,&A6}@Y6׌@6j1>96ױ >y6H`? q?>D_`p?ÿ*"?Un?ɨ6}@6V;6Cy>B>-IIJYIJ4٢Rm RC=9VG?;Q V>XX ZG٣ZFGyZR ^> bbBottom track data is 0.9 s old, using for 20.0 s. bNusing accuracyPremultiplier from config\f59^?j5Y^) i^[Bj :hj^:j(ʿnB@^D^V;^^?^5p r@pBl|M~~tCompleted lineCaptureHoming:UpdatePingUpdateRate_MidcourseL~ ~Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourseh h  ="h *h gggfffrf!bf% L?ɛIMxg= QUƽIQ Uā=ɚQiQIUX<]{>]u>ɠ]URia e>e(kpHeading = 0.400000)e:e(kiHeading = 0.001000i<)??)# PauseEEEEWill construct direction to contact in vehicle frame from tetrahedron phase data. yIzKLK59KK KBK:KpAGuĝ:GIBO> Will construct direction to contact in vehicle frame from tetrahedron phase data./>w,Ay=B=p-I        Mb@Mb@Mb@ )Y/$?ˡEQy&Q?什up@ @)@I@y(@IU~IUT_4٢e e2=9eQ e>ii mG٣iyu u> }Nusing accuracyPremultiplier from configy59}?5Y}3 i}ZBT:R?:B@}D} ;};}5B @Ehh"h*hgggfffrfbf-M@ɛXZ=  I {=ɚiIR< 7> % ?ɠ =I ti i4)|P ?|P ?)G5qA G1jHm<bHm<HqIq Iu-IIuDBIu0 =&Iq.Iq6Iu<:IuJ FBI5ęCJI5ęCRI1ZI51 =bI51 =jI5T"5Will construct direction to contact in vehicle frame from tetrahedron phase data.G!G?G>GBO> qIuhJJJJJK:JJ1:JJJ<J<J%;J&;;>w,-A2ԓ@Y2'@21 >92 >y2H@?Hm?@gY@?`_ÿSL? j?ɨ2ԓ@2P=;2CyfBfF-Iij)>IjC=In$Ind5٢z? ze=9z0;Q ~>| G٣y; > Nusing accuracyPremultiplier from config 59 ?5Y 7; i pZBYB@ D  ; K ; 65! -@)hIhI"hI*hIgIgIgQfQfQfQ]Will construct direction to contact in vehicle frame from tetrahedron phase data.rfabfe*@ɛOBg!@= 隭_I })=ɚiI<>i?ɠ%:=IШiiDȌ)??)G|GBO= Will construct direction to contact in vehicle frame from tetrahedron phase data. a Ia zK jIK 9K K  K RK- >JK- >/A>w,mAr@Yr@r >9r >yrHW,?\l?X ?6zÿ/-^?@^i?ɨr@r㞊;rCyҌB5-IMb@Mb@Mb@ )Y+?333333Qy_?@ @)@I@yf@I5I5H4٢Eb E*=9M :Q M>QQ UG٣UFGyUx}: U> eNusing accuracyPremultiplier from configYe59]?m5Y] F i]ZBma?mq:m}uB@]D];]k;]g5y }@yhh"h*hgggfffrfbf i@ɛA= yI ⭀=ɚ i I <o9>?ɠu=Iii)gb?gb?)mWill construct direction to contact in vehicle frame from tetrahedron phase data.E:<"G=G=G 3G qAG Hu >Iq  Iu W-IIu BIq &Iu HD.Iq 6Iu <:Iu N FG B O > Will construct direction to contact in vehicle frame from tetrahedron phase data.k>w,I8Ay%B--IIEIE4٢U~+ Up=9uQ u?yy }G٣yy ? Nusing accuracyPremultiplier from config59?5YM iYBB@DX;;i5 @hh"h*hgggfffrfbf @ 1$?IɛNBQ#= I fB=ɚi!I%<%]>-]?ɠ-Q=I-ޒi)i-&)-<?-<?JEJEJAJAJE:JE8:JAJAJE<JE<JEk;JEk;)YEM<}Will construct direction to contact in vehicle frame from tetrahedron phase data.GGiByO>S>w,F&RA:@Y: @:Nk >9:G/>y:H??e?` ;W?@'ÿ?@*?a?ɨ:@:;:CyBBF-I)H HLNAIR'IR5٢Zf ZU=9Z~:Q ^>dd jG٣hyv.: v> ~Nusing accuracyPremultiplier from configx59z?5YzV izYBYB@zDz: ;z ;z5B @Eh9h9"h9*h9gAgAgAfAfAfIrfIbfMF @ɛ = Y=隝I =ɚiI? <2>?ɠ=IR|ii 0)?頭?)Eu+,=Will construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:53:48.2153 TRx dataTimestamp_ set to:1736373229.377064GUoNG)B1OM> IhzKBoIKKK K)9 EC~GY YyB Will construct direction to contact in vehicle frame from tetrahedron phase data.}>w,kA2+@Y2~@2 >92˕>y2H=?w[? esT?Qÿy6 2?DY?ɨ2+@2;2CybBb,I-only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 73.74, 62.19, 74.51  @ @ @  @ I%I%v4٢5 5C=955Q =>9A EG٣EFGyE; E> UbBottom track data is 0.4 s old, using for 20.0 s. UNusing accuracyPremultiplier from configI]59M ?]5YM_ iM9YB]+:aeC:e󾿑eB@MDMg5;M>M5i m@ihh"h*hgggfffrfbf`3@ɛMBI = I ]~=ɚiI<S>@ɠB4=IvziiR)> ?> ?)ZH RH AAH>I I -IIBI/ =&I.I6I0<:I FWill construct direction to contact in vehicle frame from tetrahedron phase data.EE6=GEӽGU?GU> IGQJ#K+cw3 K+.-K#K#"K#J]J]JYJYJ][:J]$-:JYJYJ]f<J]f<J];J];BO>e>w,مAR6@YR @R/>9R*>yRH}?>?N¿N@?@6ÿI?I?ɨR6@R;RCyZB^,IIfIf4٢r  rP=9rHQ r>tt vG٣tyz¹< z> bBottom track data is 0.8 s old, using for 20.0 s. Nusing accuracyPremultiplier from config|59~ ? 5Y~h i~XB  :  :  B@~D~=7;~O?~5 9@!EWill construct direction to contact in vehicle frame from tetrahedron phase data.}DAT read: 21:53:48.2153 LVL= 21232, 32753, 24386, 32755, AGC= 69, IDX= 444,-0.18, 2.320, 1.630, 0.186, 1.400, PHS= 1.008, 0.276,-1.217, RAW= 48.8, -0.7, CAL= 49.7, -3.2, ROT= 100.3, 3.2 Ygot valid direction response: 21:53:48.2153 LVL= 21232, 32753, 24386, 32755, AGC= 69, IDX= 444,-0.18, 2.320, 1.630, 0.186, 1.400, PHS= 1.008, 0.276,-1.217, RAW= 48.8, -0.7, CAL= 49.7, -3.2, ROT= 100.3, 3.2 8DAT read: $Error in header *Received a bad headerhh"h*hgggfffrfbf-2@ɛLB= 뮾IX#Rx 2: Read direction message, but no range.%\direction in FSK: [0.006583,0.715634,0.698444]A9Ehz?Gz?} Y?AERE EB_)AIEEiE%?EO>EƛE^ Z?E+H E^?)EdIE?iEd=AE𰙧?}_2~I\쭲)EIEEe:)@ɠe3b>IeNXdiiim#q)m9$?m9$?)iEUT=G-GBO (>Will construct direction to contact in vehicle frame from tetrahedron phase data. I zK5 BoHK5 9K1 K5  K5 >w,ȟAy=B=,Ii%=I ==I-I`5٢}  2=9Q > G٣y > bBottom track data is 1.3 s old, using for 20.0 s. Nusing accuracyPremultiplier from config59?5Y>s iXB9:B@D6;i? 5B l@Ehh"h*hgggfffrf!bf%@@ɛUKB]s= amIi m?{=ɚiiqIu<}[n>}B@ɠ}7>I9Lii )<)?項<)?)MWill construct direction to contact in vehicle frame from tetrahedron phase data.E-tY=H I C I ,II BI &I .I 6I s<:I ) FG !& G rAG  Will construct direction to contact in vehicle frame from tetrahedron phase data.G B O >3 >w,*A2@Y2@2\2=92L>y2H`~??=ƿ`: :?MNÿT`.??6$?ɨ2@2;2C `I`y~B~,IJu@AJu@A        Mb@Mb@Mb@ )Y+?~jtkty 0@ /@)~@I@yp@II4٢9< L=9-Q > G٣FGyg= > Nusing accuracyPremultiplier from config59?5Y| iWXBT:`?q: B@Da;;5B @Ehh"h*hgggfffrfbfͥ@ɛ^= cI z=ɚi)I-r<5%>5mX@ɠ5 $->I=z{6i9i9)=.?=.?)9EiEi*Ei"EiWill construct direction to contact in vehicle frame from tetrahedron phase data.G)IGBO>>w,ٵA6%@Y65@6b=96a>y6H P??ȿ`*?YÿJ`?^?ɨ6%@6;4y>BB,IIFIF+4٢Nή; R_=9RQ R>TT VG٣TyV\!= Z> ^Nusing accuracyPremultiplier from configXb59Z?b5YZ` iZXB`bbB@ZDZ;Z;Z5h j@hhh"h*hgggfWill construct direction to contact in vehicle frame from tetrahedron phase data.ffrf!bf%;0@ɛJB= 隥dI y=ɚiI<'>l@ɠD=>I!ii)2?2?) IhG,JJJ1JJ :J+:J3Ja@a@a@a@GBO%>zKBHKh9KK K Will construct direction to contact in vehicle frame from tetrahedron phase data.>w,!A2C@Y2@2K =92xu>y2H_?ц? ʿ@EQ?¿`7`}/?{?ɨ2C@2~;2CyBBB-I)D DDDMb@Mb@Mb@ )YAI MG٣IyM]= M> Nusing accuracyPremultiplier from configQ59U?5YUu iUWBrT?:B@UDUוI III&I.I6Ig<:I F->-]@ɠ5N>I5v i1i1)5[7?5[7?)9G k%]GB %Will construct direction to contact in vehicle frame from tetrahedron phase data.O5.> Ih*J4="J ?w,gA:TG@Y:V@:=9:>y:H?`VD?@X̿[s?@¿*VA2??BWill construct direction to contact in vehicle frame from tetrahedron phase data.ɨ:TG@:;:CyRBR-II^ I^e4٢fw= fQ=9fؼQ j>hh jG٣jFGynH= n> rNusing accuracyPremultiplier from configpv59r-?v5Yrƕ irWBxzzB@rDr*:r:r5~B Dz@EhAhA"hA*hIgIgIgQfQfafarfabfeR@ɛGB!= (-=bI |w=ɚiI<>@ɠ:_>Ir3ii)%;?%;?)G\~GBO&>5Will construct direction to contact in vehicle frame from tetrahedron phase data. I J J J 0J J :J 7/:J ـ3J zK K K K  K "HO)  RK- ?JK- ?+?w,D"Ae@Ye? @e=9e->yeH B??E0Ͽ@?`7g¿`vk^?O?ɨe@e9;ay޵B޽-III4٢}I= }2=9ȼQ > G٣yfD= > Nusing accuracyPremultiplier from config59"?5Y iWB!B@D:e:5B O@h9h9"hA*hAgIWill construct direction to contact in vehicle frame from tetrahedron phase data.gIgfffrfbf=@ɛ]FBe:m1= ae7Ii uv=ɚqiqIua<>@ɠʌr>Iq ii)ÿ@?頕ÿ@?)H >I  I -II BI . =&I .I 5D6I ^<:I  FBIȚCJIRIZI/ =bI/ =jImK5G= BG B! OM >E Will construct direction to contact in vehicle frame from tetrahedron phase data.U?w,̘@Y>Lܟ@>+=9>>y>H`? e?RпN;?g¿n`Q?@A?ɨ>̘@>C;>CyRʌBR+-IiVa=IV=uMb@Mb@Mb@qqq q)qYu-? rhQyu5>?uCuuu`A u@)u@Iu5@qyu@II4٢= Z=9Q > G٣yf= > Nusing accuracyPremultiplier from config59'?5Y i_WB ??:LB@$D";!;&5 @hh"h*hgggfffrfbf v@ɛ5EB5Π*= 9=0vI9 ="v=ɚ9i9I=~EC@ɠE6>IMiIiI)MmD?MmD?)I"G}>G}>Will construct direction to contact in vehicle frame from tetrahedron phase data.G:GBO>>?w,?UAyfьBf5-IIrIr4٢va#= vV=9zQ z>x| ~G٣~FGy >  Nusing accuracyPremultiplier from config 59 P,?5Y  i =WBB@ -D ; K; ~5! %@!hIhI"hQ*hQgQgQgQfYfYfYrfYbfeN+@Will construct direction to contact in vehicle frame from tetrahedron phase data.ɛ CBl5= 15cI1 5)hu=ɚ9i9I= *E8@ɠES`>IEXiIiI)MHH?MHH?)y %2$?I%hJiJmJiJiJiJmy6:JiJizKELKE]9KAKE KEBK}qA:KyEW= Will construct direction to contact in vehicle frame from tetrahedron phase data.G G ?G ?G B O >g?w,oA>@Y>I@>|\3=9> >y>H>? A? wҿ`C'\K?Ǣ¿i~?iH?ɨ>@>͘;QQ UG٣Yy]> ]> mNusing accuracyPremultiplier from configam59e2?m5Ye ie'WBu'?u:uuB@e6De#;e ;e5}B @Ehh"h*hgggfffrfbf Vj @ɛmBBmg9= <隕VI Rt=ɚiI<%>@ɠ&>I5Jii)K?頥K?H>I I1-IIόBI&I.I6Id<:I F)EI6=Will construct direction to contact in vehicle frame from tetrahedron phase data. I GJ GBO>Q"?w,A.Will construct direction to contact in vehicle frame from tetrahedron phase data.6{@Y6F@67=96 U>y6H?T?ҿ`L`?N¿ 4?*?@5?ɨ6{@65O;6CyF܌BFA-IIvIvD4٢~< O=9 sQ  > G٣y%= %> -Nusing accuracyPremultiplier from config)=59-'8?E5Y- i-WBA ޤ B@->D-|=-^~=-5 Q@hqhq"hq*hqgygygyfyfyfrfbf h!@ɛ@Bl@= 隽XHI ts=ɚiI<}>@ɠ:>I̼ii)]O?]O?) Will construct direction to contact in vehicle frame from tetrahedron phase data.  I E +,=G- rA G) J J J J J :J -.:J J GG  Y y AzK k3IK 9K K  K   RK ?JK ?G :G qAG pAGB!OM?)?w,֩A:Will construct direction to contact in vehicle frame from tetrahedron phase data.^h@Y^bw@^<9^>y^H w?\?G*ӿ?%¿]37J?+?ɨ^h@^;^CynތBnE-IMb@Mb@Mb@ )Y ףp= ?J +MbpyQ?HA =@)@I@y@II34٢ p'<  =9 Q > G٣FGyh]= > %Nusing accuracyPremultiplier from config!-59%@?-5Y% i%WB-?5:55B@%HD%;%;%@59 =$@9hh"h*hgggfffrfbfJ"@ɛ}>BM@= 隅>I @s=ɚiI<J>@ɠf>Iͼ=ii)\Q?頽\Q?)*E="E=EG<H>I I]-IIBI&I.I6I<:I< F5Will construct direction to contact in vehicle frame from tetrahedron phase data.G3  I G B O >0?w,zA:jN@Y:]@:0*<9:q>y:HT??@ӿ*$?z¿X4&?O3?ɨ:jN@:Bs;:CyBBFJ-IININ4٢VO< Ve=9V+Q V>XX ZG٣Xy^x= ^> bNusing accuracyPremultiplier from config`f59bF?f5Yb ibVBdjnjB@bODb:b*:b^5l nޯ@lhh "h *h g g g fffrfbfS"@ɛEU@ɠU#>IUq>iQiQ)QY)YWill construct direction to contact in vehicle frame from tetrahedron phase data.E<GM :G! B) OM >E Will construct direction to contact in vehicle frame from tetrahedron phase data.  I 7?w,{gA67@Y6G@6į:96[>y6H`?4>?_ҿ`eu?T7¿ uUЪ?I?ɨ67@66;4yf݌BfC-I n=np=IrIr~4٢zؼ zF=9zQ ~>|| ~G٣y= >  Nusing accuracyPremultiplier from config 59 ^N?5Y  i VBјB@ WD ; ; 5! -8@)hQhQ"hQ*hQgQgQgYfafafarfabfel#@ɛ:B>= <隕x:I !r=ɚiI<>g@ɠ5>Imh>ii)頩)EE*E"EzK#LKh9KK KBK:KqAWill construct direction to contact in vehicle frame from tetrahedron phase data.G G B O >jH bH 4=H I  I |-II BI &I .I 6I <:I c FH,=?w,_@Ab@YbV-@boZڻ9b?>ybH?@? ҿ_4?W@K{?B$? _?ɨb@b;`yn،Bn=-IeMb@Mb@Mb@aaa a)aYeq= ףp?MbMbye ?eee&A a)e@Ie$@aye@II4٢ ==9KQ > G٣FGWill construct direction to contact in vehicle frame from tetrahedron phase data.y= >  Nusing accuracyPremultiplier from config 59 U?55Y  i VB= ?=:==B@ ^D $; k; 5E֗B Eگ@ME 3$?Ihhh"h*hgggfffrfbf`V$@ɛU8BUj?= Q]j@IY ]mq=ɚYiYI]g=e@ɠeJ>Ie]å>iiii)ii)*JmR="Jmp=JuJuJqJqJu:Ju$-:JqJqJu Will construct direction to contact in vehicle frame from tetrahedron phase data.D?w,A:@Y:@:X^9:/E>y:H`/?@? ѿ 3?`ʋ? ִ?@2q?ɨ:@:;:CyJӌBJ7-IIPIP٢ZǼ Z^=9^Q ^>\\ bG٣`yb= b> fNusing accuracyPremultiplier from configdj59fx\?j5Yf} ifVBlnnB@feDf;fy;f5p r2@thh"h*hgggfffrf!bf%j%@ɛM6BM4= IM(FII Up=ɚQiQIU <]3>]@ɠ] >Iep>iaia)aa)iWill construct direction to contact in vehicle frame from tetrahedron phase data. IGGYBiOZ>zK BoHK +9K K  K RK ?JK >\@J?w,\*A:Will construct direction to contact in vehicle frame from tetrahedron phase data.BBDAT read: Response Not Received B*response not receivedB,DAT read: user:2133> JBDAT read: Tx time:21:53:55.8877 N$Ping request sent.NyH`>b?`?#ѿ{`7?``? =?`Y?ɨ@;騍CyȌB*-IMb@Mb@Mb@ )Y(\?Mb~jty?DA S@)h@Ih@yf@II-4٢7% =94Q > G٣yZ= > Nusing accuracyPremultiplier from config59h? 5Y iVB%?%:%7%B@nD<4<5) -@)hIhQ"hQ*hQgQgQgQfYfYHm>Ii Im-IImBIm- =&Ii.Ii6Imv<:Im- FfYrfbf`&@ɛ3B == >VI 5o=ɚiI"<{9>@ɠs>I?ii)!!)!G1 G1Will construct direction to contact in vehicle frame from tetrahedron phase data. qIqGA J J J J J :J @0:J J J r<J s<J @;J @;G B! OE >{'Q?w,VDA69֡@Y6@6[ɼ96NB>y6H*%?t?Uп`N?`;?x?`?ɨ69֡@6;6Cy>B>-IIJIJЬ4٢RU R=9R"Q R&?TT VG٣VFGyZ= Z&? ^Nusing accuracyPremultiplier from config\b59^n?b5Y^$ i^VB`ffB@^rD^[K;^K;^ 5l n@lh|h|"h*hgggff f rf bf @'@ɛ52B== AEPtIA Ero=ɚAiAIE U@ɠU>I 5?ii))mWill construct direction to contact in vehicle frame from tetrahedron phase data.qiuAE<G% J G B % Will construct direction to contact in vehicle frame from tetrahedron phase data.O- > e 4$?Ia PW?w,Ů^A>͘@Y>!@>b9>յ>y>H`-?@JB?wп]@@?\`k??H?ɨ>͘@>MX;>CybBb -IIjIj4٢r+> rF=9vQ v>tt vG٣tyzk= z> Nusing accuracyPremultiplier from config|59~y? 5Y~ i~VB  ;} B@~yD~e:~e:~ 5ԗB a@EhAhA"hI*hIgIgIgIfIfQfQrfQbfUu'@ɛ0B''= 隅I Җn=ɚiI<}>~@ɠd>IS&?ii)頙)Euԅ<zKVBJKKK Kd]t- V6pR;' [BK:KpAWill construct direction to contact in vehicle frame from tetrahedron phase data.G:GBO>ZHa RHe @AHm >Ii  Im |-IIm BIi &Ii .Ii 6Im <:Im J FBI)JI-˚CRI)ZI-. =bI-. =jI-t4z]?w,xA2u@Y2H@2am92v>y2H|?? Gп?v?]?`ڡ?ɨ2u@2;0y^Bb,IuMb@Mb@Mb@qqq q)qYu(\?MbI +yquu9uA q)u$@Iu~@qyu@II4٢ ?=9.Q > G٣y= > Nusing accuracyPremultiplier from config59⃦?5Y iVB?:xB@D/;Y;Z5 ^@Will construct direction to contact in vehicle frame from tetrahedron phase data. Ihh"h*hgggfffrfbfu(@ɛ-BJ"= I! %m=ɚ!i!I%R<-c>M@ɠUNN>I]>?iaii)頁)JUJQJQJQJU:JQJQJQJU<JU<JQJQE'<"G>G> Will construct direction to contact in vehicle frame from tetrahedron phase data.G 3G ?G >Gq B O >d?w,A6{b@Y6q@6@96>y6H:?`L?Ͽ`` ? ¿?@E,? M?ɨ6{b@6V;4y>B>,IIJIJ 4٢r rR=9vNQ v>tt zG٣zFGyz֗= z> Nusing accuracyPremultiplier from config|59~? 5Y~M i~VB  Rq B@~D~:~:~5 h@EhAhA"hA*hAgAgIgIfIfIfQrfQbfU |)@ɛ}+B}Ԣ= 隅 I l=ɚiI<?@ɠ;>IM?ii)頑)EE*E"E IWill construct direction to contact in vehicle frame from tetrahedron phase data.G= :G! B) Ou >zKU اNKU 59KQ KU  KU oD/  RK ?JK ?] Will construct direction to contact in vehicle frame from tetrahedron phase data.ķj?w,0A:P@Y:s_@:2Y%9:в>y:H@F??*Ͽ@Bu?ݏ¿`??#?ɨ:P@:c;8yfBf,IMb@Mb@Mb@ )YV-?Qy&1yh?`A /@)@Iy@II4٢ ==9LQ > G٣y= > Nusing accuracyPremultiplier from config59p?5Y iVB?:nB@Dۢ;Ǚ;5җB $@Eh)h)"h)*h)g)g1g1f1f1f1rf9bf=`[*@ɛe(Be = qubI xwk=ɚ i Iga<]?]KAɠ]">I]Y?iYia)aa)aHI I]-IIBI. =&I.I6Iɰ<:Ii F 5$?IhGWill construct direction to contact in vehicle frame from tetrahedron phase data.GBO>J J J J J [:J 7:J J J f<J f<J ;J ;}q?w,ZA6@@Y6O@6w\(96@>y6H`?3?@gο@9a`h*?,ÿ ?`f?\?ɨ6@@6s;6CyBiBB,I)D DIJIJ4٢VU V_=9VVQ V>XX ZG٣XyZۣ= ^> bNusing accuracyPremultiplier from config`f59bS?f5Yb ibVBdfugjC@bDbY;bY;b5l n@lhh"h *h g g g f ffrfbf+@ɛE&BE ^< IMII M ^j=ɚIiIIMI]\^?ii))GqA GqAWill construct direction to contact in vehicle frame from tetrahedron phase data.G!GBO%n> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.) M bGw?w,:yA@L brY`ybBb(@Yb7@b.)9b}>ybH@ ^??Ϳ`?`Qÿ:?2?`?ɨb(@bz;bCyrXBv,II~I~T4٢   D=9 jQ > G٣FGy*= > %Nusing accuracyPremultiplier from config!-59%!?-5Y% i%VB15C`5C@%D%n:%n:%`5=ЗB =@EEhaha"ha*higigigifififqrfqbfu+@ɛ#B8< 隥:˾I ;i=ɚiI<HW?Aɠ3>I_?ii)q)qzK-:LK-9K)K- K-BK]pA:KY-Will construct direction to contact in vehicle frame from tetrahedron phase data.GBGqBO>jH bH <H >I  I +-II ʌBI &I .I 6I <:I P F}?w,SA !I!y=JB=,I}Will construct direction to contact in vehicle frame from tetrahedron phase data.Mb@Mb@Mb@ )Yrh|?MbL7A`堿y?+ A =@)@IQ@y\@II4٢k 1=9Q > G٣y > Nusing accuracyPremultiplier from config 59? 5Y iVB5?5:5l5C@D;;p"59 =Z@9hyhy"h*hgggfffrfbf`K,@ɛB< 隝VվI hNg=ɚiIa<t? Aɠ>I .V?i i ))5 Will construct direction to contact in vehicle frame from tetrahedron phase data.Gm :GI BQ O >Є?w,/A6Y@Y6@6(96i>y6H&?`|? H˿;@?MĿP?5??ɨ6Y@6э;6Cy>6B>v,IiF=IFp;IJIJ4٢V Vu=9VU:Q V?XX ZG٣XyZ+> ^? bNusing accuracyPremultiplier from config`f59b˦?f5Yb  ibVBdf^jC@bDb@:b:bS%5l n@lhh"h*hgggfffrfbfh-@ɛB< @I f=ɚ!i!I%<-C?-D Aɠ->I-\Q?i1i1)11)9"GM>GM> 6$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.BDAT read: Rx Time:21:53:59.1643 TRx dataTimestamp_ set to:1736373240.465015G3J J J J J  :J *:J J a@a@a@a@GBO>zK K K K  K @PRKRK ?JK ?E Will construct direction to contact in vehicle frame from tetrahedron phase data.?w,.Azͩ@Yzܰ@z@$9z>yzHVB? ? @˿?ſ?7? ?ɨzͩ@zg;zCy ,B i,IMb@Mb@Mb@ )YMb?/$y ?̽,E A /@)p@I;@yp@II4٢%q0 %4=9-r ;Q ->11 5G٣5FGy5 w= => ENusing accuracyPremultiplier from config9U59=ڦ?]5Y= i=VB]"?e:eceC@=D=;=;=I)5uΗB u@}Ehh"h*hgggfffrfbfKo.@HyIy I},II}BIy&Iy.Iy6I}<:I}A FɛB*< I JAd=ɚiI<H?Aɠ>I i i)) 7$?IWill construct direction to contact in vehicle frame from tetrahedron phase data.DAT read: 21:53:59.1643 LVL= 17008, 32753, 23954, 32755, AGC= 72, IDX= 449, 0.26, 0.548,-0.909,-0.705,-0.197, PHS= 0.833,-0.665,-0.511, RAW= 95.4, 4.8, CAL= 104.2, 3.4, ROT= 45.8, -3.4 Ygot valid direction response: 21:53:59.1643 LVL= 17008, 32753, 23954, 32755, AGC= 72, IDX= 449, 0.26, 0.548,-0.909,-0.705,-0.197, PHS= 0.833,-0.665,-0.511, RAW= 95.4, 4.8, CAL= 104.2, 3.4, ROT= 45.8, -3.4 PDAT read: Bearing 45.8, -3.4 (Local) ~Local bearing/azimuth received: Bearing 45.8, -3.4 (Local) DAT read: Range 10 to 50 : 654.2 m (Round-trip 872.3 ms) speed 0.3 m/s ,DAT read: user:2134> BDAT read: Tx time:21:54:00.2878 $Ping request sent.9؝oz~?ǿ :?Lp?yؙؙؙؙ ٙ)ٙIٙiٙٙٙٙٙ ڙ)ڙIڙiڙڙڙ۝7_s?U~ڿh?)ۙIۙiۙۙۙۙ?w,GA6O@Y6@6j96>y6H?eN?;ʿ`M7?VKƿ ?  ?!?ɨ6O@6;6Cy>"BB\,IIJIJ~4٢Vj Vf=9V\;Q V>XX ZG٣Xy^^= n> Nusing accuracyPremultiplier from config|%59~l禛?%5Y~3 i~VB!-]-C@~D~M;~s;~r,51 5@5Ek `?kXPU k kH=A:k#DBkl"DZk;O@"gzcV^)@6@oz~?ǿ :?Lp?JkxB@RkB *ZeR\jp}*62~M@b%vԿC3xVӃ7?"ky*k2VkVe`?kNQY 2k+DkkO` kkCkC+<hh"h*hgggfffrfq@bfී?ɛBf< |I b=ɚiID<Will construct direction to contact in vehicle frame from tetrahedron phase data.JDAT read: TxSync time:21:54:00.2871 -!<?-Aɠ-̓>I1i1i1)11)9GGiByO> I  Will construct direction to contact in vehicle frame from tetrahedron phase data.L ?w,aA6|@Y6勲@696d>y6H tb??YXɿ?`ǿ2o?@5??ɨ6|@6;6Cy>BBN,IJKm3 KS}-KK"KJfJdJdJdJf[:JdJdJdI^I^4٢v ] vF=9z;Q z>xx ~G٣|y~}}= >  Nusing accuracyPremultiplier from config 59?5Y> i{VBVC@D::/5%˗B %S@%Ehh"h*hgggfffrfbf`%?ɛ=B=L< 9EIA M\a=ɚIiIIMkCIqiyiy)yy)yzKLK59KK KE>850-0<DEB@852.,*&#"  =Will construct direction to contact in vehicle frame from tetrahedron phase data.GBGBO5>ZHi RHm ?AHq Iq  Iu ,IIu BIq &Iq .Iq 6Iu V<:Iu  F7?w,{A @IBhRN @YR@R9R>yRH L\? ?0ȿ@|?@ȿ?W9?9?ɨRN @R@;RCy^B^M,IMMb@Mb@Mb@III I)IYMK7A`?7A`¿I +yM+?MM94M A M@)MZ@IM@IyM@IeIe4٢mns uB=}Will construct direction to contact in vehicle frame from tetrahedron phase data.9} G٣FGy= > ENusing accuracyPremultiplier from configM59 ?M5Y iaVBUv/?U:UXUC@Dx;;35Y ]`@Yhyh"h*hgggfffrfbf`E?ɛBj< LI _=ɚiI<S8?AɠB>Iii))*J"Ja=G5:G BO1- Will construct direction to contact in vehicle frame from tetrahedron phase data.#?w,ڎAZ߭@YZ@Z9Z>yZH@/??@nǿ`@ ?<ɿ`Ou?jc?@?ɨZ߭@Zx;ZCybBbD,IInInh4٢v  vS=9v;Q v>x| ~G٣|y== >  Nusing accuracyPremultiplier from config 59 ??5Y $ i HVBQC@ D  ; \ ; 75%ɗB %@%Ehihi"hq*hqgggfffrfbf?ɛ BƟ< I ]=ɚiIrIAiIiI)II)Q m8$?IiWill construct direction to contact in vehicle frame from tetrahedron phase data.JJJJJ{:J,:JJG-BGBO)zK ޕMK 9K K ! K )39?DMU[bhnuvxxvqicT=+= Will construct direction to contact in vehicle frame from tetrahedron phase data.L?w,cbAyB=,Ii=Ip> Mb@Mb@Mb@ )Ysh|?? ףp= ǿS㥫y)?Q8/] A @)Iy@II 4٢ 0=9Q > G٣y > Nusing accuracyPremultiplier from config59&?5Yh* i!VB0?:\C@D ;3;";5  @ h)h1"h1*h1g1g1g1f9f9f9rf9bf=A ?ɛm Bu`՟< quIq u<\=ɚqiyI}<}G?!Aɠ_?Iii)頉)H>I I,IIiBI&I.I4D6Is<:I+ FBIJIRIZIbIjI$n4 ]:$?IYGm:Will construct direction to contact in vehicle frame from tetrahedron phase data.GIBQOm>J J /?w,+A:@Y:笶@:h9:sR>y:H??0ſ Hcc? ̿̔?@? ?ɨ:@:.ۍ;:CyB BFA,IININJ4٢Vȏ< Zu=9Z0 b? jNusing accuracyPremultiplier from confighn59j4?n5Yj. ijVBprNrC@jDj;j;j >5vǗB v@vEhh"h*hgggfffrf!bf%q@ɛB"< I YZ=ɚiI+8<?q$Aɠ?Iii))Will construct direction to contact in vehicle frame from tetrahedron phase data.G]BG1BAO]v> a Ie h Will construct direction to contact in vehicle frame from tetrahedron phase data.\?w,A68n@Y6}@6g҇96W>y6HJ?W?@iÿ @pV?̿?q??ɨ68n@6%;4JRJRJPJPJR :JR*:JPJPyZBZI,IIfIf4٢n= nG=9n.pp rG٣rFGyv~= v> zNusing accuracyPremultiplier from configt~59vD?~5Yv3 ivUBhHC@vDv>+;v+;vA5  R@ Eh9h9"h9*h9g9g9gAfAfAfArfAbfM@ɛuBu< y}Iy }NY=ɚyiyI}K<D?'Aɠ*?Iii)頉)zK%MK%59K!K%" K%"  G:5Will construct direction to contact in vehicle frame from tetrahedron phase data.GB O%o>jH bH p<H I  I ,II ZBI &I .I 6I <:I 8 F = ;$?I9 ?w,tA:K@Y: [@:@rM9:O>y:H@*?@>?g¿߿??Ϳ?`Ey?@?ɨ:K@:Y;8yFBFN,I)H HMb@Mb@Mb@ )Y rh?ClǿT㥛 yC+?d;E A )@I@y=@I5I54٢E{< ED=9EII MG٣IyU= U> eNusing accuracyPremultiplier from configYm59]kV?m5Y]'9 i]UBmI2?m:m6AmC@]D] ;];}Will construct direction to contact in vehicle frame from tetrahedron phase data.]EE5ŗB @Ehh"h*hgggfffrfbfQ@ɛB(g< I W=ɚiIm\- Will construct direction to contact in vehicle frame from tetrahedron phase data.l?w,jA6@Y6q,@69H96->y6H"?"2?K`\|޿j?@ο@?il?9?ɨ6@6;6CyR!BR\,IIXIX٢~k= ~O=9` G٣ y =  > Nusing accuracyPremultiplier from config59tg?%5Y= iUB!%:%C@Dy;;H5) -8@1hQhQ"hQ*hQgQgQgYfYfYfarfabfeCt @ɛBj< 隝ھI .]V=ɚiI<3c?-Aɠ. ?Iii)頩) <$?IWill construct direction to contact in vehicle frame from tetrahedron phase data. MYIyMBG:GBOg>JJJJJ:J$-:JJzK] #MK] 9KY K] # K] RK ?JK >E Will construct direction to contact in vehicle frame from tetrahedron phase data.?w,0A"BDAT read: Rx Time:21:54:03.5541 &TRx dataTimestamp_ set to:1736373244.768932i@Y@9 >yH`?b?`~ Nܿ v?ο@x?=}? ?ɨi@G5;Cy5%B5a,IMb@Mb@Mb@ )YPn?(\ȿV-y$?Gm A @)p@IyII~4٢ j<  -=9 ;Q  > G٣FGy%Sc= -> =Nusing accuracyPremultiplier from config9E59=?{?M5Y=xC i=TUBM),?M:MS;UC@=D=`;=N;=L5e—B eԹ@eEhh"h*hgggfffrfbf E@ɛBB< KҾI T=ɚiI:<k?{1Aɠ ?Iii))H9I9 I=,II=_BI9&I9.I96I=<:I=K F IWill construct direction to contact in vehicle frame from tetrahedron phase data.G BGBO >}?w,sJA>dz@Y>I׺@> 29>>y>H@A?l?p ̓ۿ >?qϿ?Rf?U~??ɨ>dz@>E;>CyF6BFv,IiJp=IJ<IRIR4٢^= ^z=9^B mBDAT read: Tx time:21:54:04.6378 u$Ping request sent.u 'g @)C=Iz0>iCC?W';?)Ii0n:publishing transmit ping timeiFpublishing direction and range info9에Fnп@HcԿ3#?y )Ii )IiC?W';?)Ii$?3Aɠ?Iii))"G>G>G5: IG) B1 OU > Will construct direction to contact in vehicle frame from tetrahedron phase data. JDAT read: TxSync time:21:54:04.6371 Ȫ?w,>ZdA6ޞ@Y63@696>y6H`>?`? k^ٿ!?Ͽ <> }?`?ɨ6ޞ@6.U;6Cy^@B^,IIfIfm4٢n_C= nH=9r;Q r>pt vG٣tyvO= v> ~Nusing accuracyPremultiplier from configx~59zך?5YzK izUB. C@zDz6;z5;zES5B @Ek-HeE?k-w- k) k-PA:k-!DBk- DZk-v@"-B6eE/if@-에Fnп@HcԿ3#?Jk-0Rk-n*-rOpM@-:LJݿ61ٿ8?"k-~*k-5k-:D?k-f'. 2k-Dk)k)k- Dk-צCk-,<hh"h*hgggfffrf4@bfD?ɛ=B=< 9=I9 E،R=ɚAiAIE>:ZH! RH% @AH) I)  I- ,II- nBI- / =&I) .I) 6I- |<:I- 1 F =$?I ?w,,~A:\@Y:fk@:{L:9:6t>y:H?@?@겺ԡؿi?!п@I)u?@V?ɨ:\@:>;8yFPBF,IMb@Mb@Mb@ )YZd;?QſS㥫y?(/] A )@Ip@y@I5I54٢E= ED=9E:Q M>II MG٣MFGyU1c= U>]Will construct direction to contact in vehicle frame from tetrahedron phase data. eNusing accuracyPremultiplier from configau59e?u5YeO ieTB}%?}:}{}C@e&De?F;eD;eV5 @MAggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal1NEntering Terminal tracking update period 2.000000 s sec at 646.599976 m (mode 0.000000 count ).1NqNh9h9"h9*h9g9g9gA1>E |EAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangeq>E|MrTransitioning to terminal guidance at range 646.599976 m q>M>MfIfIfIrfQbfu`yI?ɛB8<< I Q=ɚiIh< ?@9Aɠ3?Iii))JJJJJJJ1:JJJ  Will construct direction to contact in vehicle frame from tetrahedron phase data.?w,[ A: 2@Y:aA@:v%;9:>y:H?A?w׿.?@?п`d@\??ɨ: 2@:,A;:CyR]BR,I)T TIZIZ\4٢b= bS=9fd;Q f>hh jG٣hyn= n> rNusing accuracyPremultiplier from configpv59rF?v5YreS irTBtzzC@r.Dr:r:rOZ5B @EZl@qNNB*** querying acoustic contact ***jjh)h)"h)*h)g)g)g)g5@>5|5Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange1>5 |5Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRangef1f9f9rf9bf=by?ɛmBuc< qugIq }sP=ɚyiyI}<S ?;Aɠ?Iii)頉)GrA GpA =>$?IEhmWill 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.G:GYBiOZ>zK K K K % K RK >JK >- Will construct direction to contact in vehicle frame from tetrahedron phase data.= checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500175?w,A@Y@^Z;9>yHf%? ?@ wտ ?`wпEt^?k?ɨ@;CykB,IEMb@Mb@Mb@AAA A)AYE$C?PnˡEyE?EE'E A E@)E@IAAyE=@IUIU:4٢em= m&=9m!;Q m>qq uG٣qyu`= }> Nusing accuracyPremultiplier from config59Lԧ?5YhW iTB?:C@8D 2; 2;^5HI I,IIBI&I.I6IӰ<:Io FB @EblNNI~Aggregate::initialize lineCaptureHoming:UpdateNumPings_TerminalqB  Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidanceB  Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guideCAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl1DInitialize.qDAggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlD Initialize.D1EBhh7h]h7qD]eAggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControlDeeDReached init depth of 70.210609 m.hahmBm$Terminal guidance.BmqEmmInitialize.mdInitializing internal variables to default values.mZTransitioning guidance mode to: UNINITIALIZED*jiuDRollout timeout set to 300.00 sec.uVIIR 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? %?$?I1ɛEkBE^Z; MM8II MP=ɚIiM\;IIiU)}mWill construct direction to contact in vehicle frame from tetrahedron phase data.uchecking for new query: numPingsReceived=0, elapsed TxPingTime=1.748827G 3J J @AJ J J J J {:J $-:J J J <J <J ;J ;G B O >E?w,rAy~B~,II I &4٢%=> %y=9-Q -?)) -G٣-FGy5 5? =Nusing accuracyPremultiplier from config9E59=⧛?E5Y= Z i=qTBIIMC@=>D=;=;=xa5Q U@jlNrCompleted lineCaptureHoming:UpdatePingUpdateRate_TerminalMAggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal  addTargetRange:: Added new target pos. range: 646.599976 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 BjU#:JjU#:e Added new target pos. range: 646.599976 m, bearing: 220.982554 deg, lat: 36.901529 deg, lon: -122.119271 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 ZjamFNOT Ignoring new targets: 646.60 m.BjmJjm ProNav pure pursuit: ac range: 646.599976 m, nav range: 332.842163 m, bearing: 1.063003 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 340.403432 deg, new cmd heading: 1.063003 deg. HeadingCmd: 0.018553 target range: 646.599976 and range: 646.60 m. jD<jjjWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001068i hhhhff!f!rf!bf%2@ɛyW^= ]<隥(4=I P=ɚiI Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252741?w,A6Ƹ@Y6Xտ@6/<96W>y6Hff fG٣dyjG > j> =Nusing accuracyPremultiplier from configlE59n?E5Yn\ inQTBAEEC@nFDn;n;nd5UB Uɲ@U}EZjFNOT Ignoring new targets: 646.60 m.Bjlf:Jjlf: ProNav pure pursuit: ac range: 646.599976 m, nav range: 332.631287 m, bearing: 1.082480 deg, approach rate: -0.544923 m/s, LOS rate: 0.050362 deg/s, cmd heading: 1.063003 deg, new cmd heading: 1.082480 deg. HeadingCmd: 0.018893 target range: 646.599976 and range: 646.60 m. j,Ś<jjjihhhhfffrfbf@]?]?]N@]@ɛ I7e= %=I! %Q=ɚ!i)I-GG$eBO >zKKWill construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510903KK& KjH bH <H I  I -II BI &I .I 6I <:I 3 FBIJIRIZI/ =bIjI¨4  I K ?w,qA2j@Y2@27<92i>y2HZ?`2? ,п {?@̞ѿi?@a?ɨ2j@2Ր;0yBBB,I-Mb@Mb@Mb@))) )))Y-Q?~jt?y&1|?y-?-<-`;-@ )EWill construct direction to contact in vehicle frame from tetrahedron phase data.Echecking for new query: numPingsReceived=0, elapsed TxPingTime=2.756896))I-Z@)y-@IUNIU@ 4٢= 8=9:Q  >    G٣ yc= > =Nusing accuracyPremultiplier from config9E59=S ?E5Y=}^ i=TTBM?M:M1iMC@=ND=;=:=h5y }@yZjFNOT Ignoring new targets: 646.60 m.Bj9Jj9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 332.376312 m, bearing: 1.093545 deg, approach rate: -0.573111 m/s, LOS rate: 0.024890 deg/s, cmd heading: 1.082480 deg, new cmd heading: 1.093545 deg. HeadingCmd: 0.019086 target range: 646.599976 and range: 646.60 m. j+Z<jjjihhh h Bf f1f1rf1bf5s@*Jua="Ju%=J}J}JyJyJ}:J}@0:JyJyJ} <J} <J}@;J}@;]?]?]i'=]O@ɛBMTQ= IM`9II UQ=ɚQiQIU[H@w, A .@$?I,y B-IIRIW4٢-= 5C=95Q 5>99 =G٣9y= E> MNusing accuracyPremultiplier from configAU59EA?U5YE_ iEWTBQQ]C@EVDE;E4;Enl5eB e\@ezEB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 646.60 m.Bj9Jj9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 332.140900 m, bearing: 1.103777 deg, approach rate: -0.576866 m/s, LOS rate: 0.025090 deg/s, cmd heading: 1.093545 deg, new cmd heading: 1.103777 deg. HeadingCmd: 0.019265 target range: 646.599976 and range: 646.60 m. jН<jjjihhhhfffrfbf @]]]]ɛ [= =I  w!Q=ɚ i I I Will construct direction to contact in vehicle frame from tetrahedron phase data. checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516036zK BHK 9K K ' K 3 @w,5Ah*@Y9@+|f<9Er>yH D?-?@"˿`$?fѿ Gό@,?ޭ?ɨh*@Ey;y-B-!-I9=AMb@Mb@Mb@ )YHzG?L7A`堿Mby= ?+E A @)@Ip@y(@INI@ 4٢M= @=9Q;Q > G٣y_= > Nusing accuracyPremultiplier from configH)I) I-1-II-όBI-. =&I).I)6I-<:I-H F5951?5Ya iLTB ?:7C@]D<<4p5B ;@wE EA$?IIZjQUFNOT Ignoring new targets: 646.60 m.Bj]9Jj]9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 331.917236 m, bearing: 1.115183 deg, approach rate: -0.485576 m/s, LOS rate: 0.024781 deg/s, cmd heading: 1.103777 deg, new cmd heading: 1.115183 deg. HeadingCmd: 0.019464 target range: 646.599976 and range: 646.60 m. j,r<jjjihhhhjBfffrfbf @]U ?]U ?]U@]Uf|@ɛB*c= 隍 =I XgQ=ɚiI@w,`OA6ϻ@Y60@6<96%>y6H f? D?[Mȿ{5?`-(ѿ@bF??ɨ6ϻ@6v;4yRЌBR2-IIZKIZ4٢fʚ= f_=9jhh jG٣lynhb= n> vNusing accuracyPremultiplier from configpv59r2A?v5Yrb irBTBxz9~zC@rdDrU:r:r^s5 X@Zj)-FNOT Ignoring new targets: 646.60 m.Bj5L9Jj5L9= ProNav pure pursuit: ac range: 646.599976 m, nav range: 331.728485 m, bearing: 1.124127 deg, approach rate: -0.570059 m/s, LOS rate: 0.027026 deg/s, cmd heading: 1.115183 deg, new cmd heading: 1.124127 deg. MHeadingCmd: 0.019620 target range: 646.599976 and range: 646.60 m. jU<jQjQjQiQhQhQ}Will construct direction to contact in vehicle frame from tetrahedron phase data.checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016777hhfffrfbf 0@]Y]Y]Y]]@ɛqmp= 隕=I Q=ɚiIii)<)#StartingGGm ABqO> EB$?IA) Aq !YyB @ @ B- Will construct direction to contact in vehicle frame from tetrahedron phase data.5 checking for new query: numPingsReceived=0, elapsed TxPingTime=4.269042U@w,-yiAJN@YJ^@JX<9J>yJH|??ރ ƿs?@DпZ ?5?ɨJN@Jܐ;JCy ،B =-II%OI% 4٢=:(= =C=9=3EL?EL? EG٣AyE= M> UNusing accuracyPremultiplier from configI]59MS?]5YM4d iM6TBY]n]C@MkDMz ;M ;Mw5mB m@mtEZjFNOT Ignoring new targets: 646.60 m.Bj!9Jj!9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 331.509735 m, bearing: 1.133900 deg, approach rate: -0.523421 m/s, LOS rate: 0.023401 deg/s, cmd heading: 1.124127 deg, new cmd heading: 1.133900 deg. HeadingCmd: 0.019790 target range: 646.599976 and range: 646.60 m. j><jjjihhhhfffrfbf@ɛ]s= =I R=ɚiIi i ) ><)#Starting#BInit string: /1z16352aE13561N3m50Will construct direction to contact in vehicle frame from tetrahedron phase data.zK-BoIK-ŷ9K)K-( K-,zJ#wZ2eH<833/..'$"!   GzQEDAT read: 21:54:07.9100 LVL= 28656, 32753, 30946, 32755, AGC= 73, IDX= 501, 0.09,-1.246,-2.924,-1.555,-1.989, PHS= 0.832,-0.888, 0.431, RAW= 137.1, -4.9, CAL= 142.7, -14.8, ROT= 7.3, 14.8 UYgot valid direction response: 21:54:07.9100 LVL= 28656, 32753, 30946, 32755, AGC= 73, IDX= 501, 0.09,-1.246,-2.924,-1.555,-1.989, PHS= 0.832,-0.888, 0.431, RAW= 137.1, -4.9, CAL= 142.7, -14.8, ROT= 7.3, 14.8 }8DAT read: $Error in header *Received a bad headerGBX#Rx 1: Read direction message, but no range.`direction in FSK: [-0.029944,-0.680007,0.732594]ؙ9؝tӜé.a%S@Ҥhq?ؙ؝oؙ ٝx)ٙIٙiٝT?ٝScٝ>ٝf$@ٝ% ڝe@)ڝ AIڝw>iڝ A>ڙ۝%x?f??ͻ|)۝ >I۝Eɭ=i۝ο۝vR-T****** received valid address query ******-R****** received valid ping request ******-received new query, but waiting for acoustic response period to elapseO=r>ZH1RH5AAH5>I1 I5]-II5BI1&I1.I16I5<:I59 F 9 I9 5 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,^AyBM-I %=%=Mb@Mb@Mb@ )Y\(\?MbMb`y>\ A @)Iyz@I2I?3٢;j= A=9Q > G٣y > Nusing accuracyPremultiplier from config*J C="J M59d?M5YVe i/TBU>U:UUUC@qDh<h<z5Y ]@YZjFNOT Ignoring new targets: 646.60 m.Bj*9Jj*9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 331.307526 m, bearing: 1.142026 deg, approach rate: -0.459736 m/s, LOS rate: 0.018487 deg/s, cmd heading: 1.133900 deg, new cmd heading: 1.142026 deg. HeadingCmd: 0.019932 target range: 646.599976 and range: 646.60 m. jH<jjjihhhhBfffrfbf#@ɛMBMt{x= IU^>IQ UR=ɚQiQIUiYiY)]H<)a#mStartingG'HWill 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 elapseGrAGrAGBO>  D$?I c&@w,J'A:pݼ@Y:@:En=9:YZ>y:H`P?@?larĿm?7e˿͠ ?'B?ɨ:pݼ@:;:CyRBRV-IIZSIZ4٢.%=  X=9   G٣FGy<= > %Nusing accuracyPremultiplier from config!-59%%t?-5Y%Df i%'TB)-3D-C@%wD%:%j:%~5=B =@@=qE]B*** querying acoustic contact ***jYjYZjiuFNOT Ignoring new targets: 646.60 m.Bj}9Jj}9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 331.126587 m, bearing: 1.148749 deg, approach rate: -0.498768 m/s, LOS rate: 0.018542 deg/s, cmd heading: 1.142026 deg, new cmd heading: 1.148749 deg. HeadingCmd: 0.020049 target range: 646.599976 and range: 646.60 m. j><jjjihhhhfffrfbfu@ɛJN=  >I (S=ɚiI=ii)><)#StartingWill construct direction to contact in vehicle frame from tetrahedron phase data.T****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapseG g{GBO>JEJAJE1JAJEK:JAJE3JAaU@aU@aU@aU@ Will construct direction to contact in vehicle frame from tetrahedron phase data.ա iա  T****** received valid address query ****** R****** received valid ping request ****** received new query, but waiting for acoustic response period to elapsezKm OKm 9Ki Km ) Km  ,pungc\TRQKDB>610,*& RK ?JK ?#-@w,A<@Y@}=9O>yH? ?k#y? Ŀ`)?:ʿk`?Q?ɨ<@ 1;Cy5B5c-IHI I-IIBI/ =&I.I6I[<:I F IMb@Mb@Mb@ )Yoʡ?~jtx?Mb`y>;A /@)@I@y@IMI{4٢],= e)=9eOii mG٣iym; u> }Nusing accuracyPremultiplier from configq59u?5Yug iuTB>:C@uDu;u%;u<5 @ZjFNOT Ignoring new targets: 646.60 m.Bjo9Jjo9 ProNav pure pursuit: ac range: 646.599976 m, nav range: 330.906525 m, bearing: 1.155040 deg, approach rate: -0.457615 m/s, LOS rate: 0.013089 deg/s, cmd heading: 1.148749 deg, new cmd heading: 1.155040 deg. HeadingCmd: 0.020159 target range: 646.599976 and range: 646.60 m. j%<jjjihhhhIBfffrfbf@ɛ-B5(= 15t6>IA ES=ɚIiIIM{ 4@w,LA2$@Y2x#@28=92>I>y2H`?DZ?(C?ÿW?ɿ\? Z?ɨ2$@2ܒ;0yBBBi-IDFAIJ?IJT3٢bc< f=9fI oBT=ɚ!i!I%g- Will construct direction to contact in vehicle frame from tetrahedron phase data.- T****** received valid address query ******5 R****** received valid ping request ******5 received new query, but waiting for acoustic response period to elapseJE JA JE 0JA JE :JA JE ـ3JA /:@w,AB=%@YB4@BO=9BE>yBH`g?8?Δ?Sÿ`_?(ɿ`-r?u^?ɨB=%@B@;BCyRBRl-IIZWIZ44٢zs;< ~G=9`  G٣ FGy<; > Nusing accuracyPremultiplier from config%59墨?%5YVh i TB)- -C@D::51 5@1ZjYeFNOT Ignoring new targets: 646.60 m.BjeNo9JjeNo9u ProNav pure pursuit: ac range: 646.599976 m, nav range: 330.573517 m, bearing: 1.164311 deg, approach rate: -0.471900 m/s, LOS rate: 0.013076 deg/s, cmd heading: 1.159112 deg, new cmd heading: 1.164311 deg. }HeadingCmd: 0.020321 target range: 646.599976 and range: 646.60 m. j}\x<jyjyjyihhhhfffrfbf -@ɛB~= G>I T=ɚiIÞI I-II%BI&I.I6I<:ID F I= Will construct direction to contact in vehicle frame from tetrahedron phase data.E T****** received valid address query ******E R****** received valid ping request ******E received new query, but waiting for acoustic response period to elapseA@w,A2A@Y2BQ@2be=92B>y2H_?`?@71?¿`j?ȿ𵬿`$?_?ɨ2A@2h;2Cy>BBp-IMMb@Mb@Mb@III I)IYM/$?Q?MbpyM>Mu G٣y`< > Nusing accuracyPremultiplier from config59.?5Yh iTB>:彑C@D;:O5B @kEZj9EFNOT Ignoring new targets: 646.60 m.BjE19JjE19u ProNav pure pursuit: ac range: 646.599976 m, nav range: 330.392578 m, bearing: 1.168497 deg, approach rate: -0.418129 m/s, LOS rate: 0.009678 deg/s, cmd heading: 1.164311 deg, new cmd heading: 1.168497 deg. }HeadingCmd: 0.020394 target range: 646.599976 and range: 646.60 m. j}<jjjihhhhOBfffrfbf@ɛB?= Vۺ< Q>I  -eU=ɚ1i1I5,WGȣEGyBO^>Will construct direction to contact in vehicle frame from tetrahedron phase data.ՑiՑT****** received valid address query ******R****** received valid ping request ******received new query, but waiting for acoustic response period to elapse F$?I CG@w,xAbq@YbA@bw=9bE>ybH=?K? .?""¿ ?Oɿo?@Z?ɨbq@bߐ;bCyBi 11 5G٣1y=?v< => ENusing accuracyPremultiplier from configAM59E:?U5YEXi iESBQ]ٽ]C@EDE.F;EF;E5a e@aB*** querying acoustic contact ***jjZjFNOT Ignoring new targets: 646.60 m.Bja09Jja09 ProNav pure pursuit: ac range: 646.599976 m, nav range: 330.226288 m, bearing: 1.172175 deg, approach rate: -0.435501 m/s, LOS rate: 0.009638 deg/s, cmd heading: 1.168497 deg, new cmd heading: 1.172175 deg. HeadingCmd: 0.020458 target range: 646.599976 and range: 646.60 m. j1<jjjihhhhfffrfbfm@ɛB7= R>I #7V=ɚiIc- 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 K9K K + K RK- ?JK) -xM@w,~8AHu>IuC Iu-IIu*BIu0 =&Iq.Iq6Iu<:IuR FBI)JI)RI)ZI)bI-/ =jI-4@Yn@=90N>yHZ? ]?@? `?`mʿ7@?`J?ɨ@OL;騕CyBn-I I]Mb@Mb@Mb@YYY Y)YY]{Gz?Q?Mby]>Y]]A ]@)]@IYYy]@ImRImW4٢x /=9Ӱ;Q >  G٣ FGy 0<  > =Nusing accuracyPremultiplier from config1=595Ѩ?E5Y5i i5SBE>E:EoǽEC@5D5G ;5r;5ӓ5B @hEZjFNOT Ignoring new targets: 646.60 m.Bj 9Jj 9  ProNav pure pursuit: ac range: 646.599976 m, nav range: 330.018768 m, bearing: 1.176440 deg, approach rate: -0.427476 m/s, LOS rate: 0.008792 deg/s, cmd heading: 1.172175 deg, new cmd heading: 1.176440 deg. 5HeadingCmd: 0.020533 target range: 646.599976 and range: 646.60 m. j5P4<j1j1j1i1h9h9h9h=QBfAfAfArfAbfE`Z @ɛBp= BQ>I W=ɚiIST@w,S#RA6+!@Y60@6Qo=96\>y6H??آ? ־@?.̿ `Y?@C1?ɨ6+!@6t;6CyrBr`-IIzSIz4٢ s=9 ;Q  ?   G٣y= ? %Nusing accuracyPremultiplier from config!-59%+ި?-5Y%5j i%SB15Y5C@%D%;%8;%59 EM@A]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 elapseZjquFNOT Ignoring new targets: 646.60 m.Bj}29Jj}29 ProNav pure pursuit: ac range: 646.599976 m, nav range: 329.871735 m, bearing: 1.179124 deg, approach rate: -0.461446 m/s, LOS rate: 0.008426 deg/s, cmd heading: 1.176440 deg, new cmd heading: 1.179124 deg.